+ python -m lidar_slam --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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: True 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters Centerline goodness : 0.468215 Centerline is valid? [0, False] SLAMing on 0.03264 meters Centerline goodness : 0.466344 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999801e-01 6.30022300e-04 -1.50069721e-05 2.84016546e-03] [-6.30016919e-04 9.99999738e-01 3.55901640e-04 -1.29622589e-03] [ 1.52311941e-05 -3.55892115e-04 9.99999937e-01 -7.77958239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06264 meters Centerline goodness : 0.089611 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99997567e-01 2.09978537e-03 -6.75436748e-04 9.15559316e-03] [-2.09885427e-03 9.99996850e-01 1.37629485e-03 -3.62897524e-03] [ 6.78324544e-04 -1.37487386e-03 9.99998825e-01 -4.74275378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09264000000000001 meters Centerline goodness : 0.465180 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99996483e-01 2.49433794e-03 -9.01407947e-04 1.11441722e-02] [-2.49304426e-03 9.99995865e-01 1.43346465e-03 -4.00824352e-03] [ 9.04979765e-04 -1.43121236e-03 9.99998566e-01 -5.72207999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12264000000000001 meters Centerline goodness : 0.457799 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 0.99999474 0.00302356 -0.00117143 0.01362374] [-0.00302178 0.99999429 0.00151267 -0.00475165] [ 0.001176 -0.00150912 0.99999817 -0.00706462] [ 0. 0. 0. 1. ]] SLAMing on 0.15264000000000003 meters Centerline goodness : 0.481911 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99996581 0.00817141 -0.00126413 0.01747786] [-0.00816381 0.99994923 0.00590671 -0.00669516] [ 0.00131233 -0.00589619 0.99998176 -0.00882765] [ 0. 0. 0. 1. ]] SLAMing on 0.18264000000000002 meters Centerline goodness : 0.482401 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99996021 0.00876973 -0.00163363 0.02064818] [-0.00876064 0.99994655 0.00549111 -0.00219379] [ 0.0016817 -0.00547658 0.99998359 -0.01043366] [ 0. 0. 0. 1. ]] SLAMing on 0.21264000000000002 meters Centerline goodness : 0.496732 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99932411e-01 1.14722313e-02 -1.88703792e-03 2.76460371e-02] [-1.14606536e-02 9.99916107e-01 6.03586228e-03 2.10110504e-04] [ 1.95612442e-03 -6.01382764e-03 9.99980004e-01 -1.48772946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24264000000000002 meters Centerline goodness : 0.508329 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 0.9999302 0.0116249 -0.00211138 0.02969832] [-0.01161294 0.99991695 0.00558909 0.00349796] [ 0.00217618 -0.00556418 0.99998215 -0.01596644] [ 0. 0. 0. 1. ]] SLAMing on 0.27264 meters Centerline goodness : 0.500022 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 0.99992942 0.01164665 -0.00234894 0.03220355] [-0.01163443 0.99991905 0.00515093 0.00745214] [ 0.00240874 -0.00512324 0.99998398 -0.0175302 ] [ 0. 0. 0. 1. ]] SLAMing on 0.30264 meters Centerline goodness : 0.485465 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992825 0.01174275 -0.00236698 0.03579428] [-0.01173148 0.99992005 0.00471961 0.01062976] [ 0.00242221 -0.0046915 0.99998606 -0.01856185] [ 0. 0. 0. 1. ]] SLAMing on 0.33264 meters Centerline goodness : 0.502731 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992787 0.0117312 -0.00257675 0.03798057] [-0.01171912 0.99992051 0.00465244 0.01104582] [ 0.00263113 -0.0046219 0.99998586 -0.02013776] [ 0. 0. 0. 1. ]] SLAMing on 0.36264 meters Centerline goodness : 0.438168 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992833 0.01164585 -0.00277543 0.04004374] [-0.01163323 0.9999221 0.00452242 0.01192851] [ 0.00282789 -0.00448981 0.99998592 -0.0216181 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39264 meters Centerline goodness : 0.071649 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957285e-01 8.60800794e-03 -3.36610683e-03 5.06911967e-02] [-8.60592116e-03 9.99962767e-01 6.33933713e-04 1.83473885e-02] [ 3.37143840e-03 -6.04938185e-04 9.99994134e-01 -2.82762426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42264 meters Centerline goodness : 0.436576 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957104e-01 8.54159821e-03 -3.58202638e-03 5.26494898e-02] [-8.53937218e-03 9.99963336e-01 6.36277479e-04 1.83176474e-02] [ 3.58732988e-03 -6.05661929e-04 9.99993382e-01 -2.93152919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45264 meters Centerline goodness : 0.407310 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957499e-01 8.42495055e-03 -3.74442753e-03 5.43325794e-02] [-8.42295267e-03 9.99964376e-01 5.49013376e-04 1.91047563e-02] [ 3.74891955e-03 -5.17450906e-04 9.99992839e-01 -3.03066949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48264 meters Centerline goodness : 0.380397 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997579 0.00558813 0.00414619 0.08530552] [-0.00560702 0.99997389 0.00455758 0.0204173 ] [-0.00412061 -0.00458071 0.99998102 -0.04543966] [ 0. 0. 0. 1. ]] SLAMing on 0.51264 meters Centerline goodness : 0.366686 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997807 0.00539252 0.00384454 0.08787463] [-0.00540939 0.99997572 0.00439202 0.02188 ] [-0.00382076 -0.00441272 0.99998296 -0.04684976] [ 0. 0. 0. 1. ]] SLAMing on 0.54264 meters Centerline goodness : 0.459174 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.05 [[ 9.99992511e-01 1.03882080e-03 3.72810128e-03 9.26414112e-02] [-1.03670940e-03 9.99999301e-01 -5.68234144e-04 3.07133059e-02] [-3.72868897e-03 5.64364931e-04 9.99992889e-01 -4.84936781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57264 meters Centerline goodness : 0.367937 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.05 [[ 9.99993704e-01 7.97152106e-04 3.45778879e-03 9.51807409e-02] [-7.94178365e-04 9.99999314e-01 -8.61300313e-04 3.30144165e-02] [-3.45847301e-03 8.58548789e-04 9.99993651e-01 -4.98866816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6026400000000001 meters Centerline goodness : 0.400103 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99994612e-01 5.50532600e-04 3.23621753e-03 9.72523313e-02] [-5.46664925e-04 9.99999136e-01 -1.19588500e-03 3.60465089e-02] [-3.23687310e-03 1.19410943e-03 9.99994048e-01 -5.08460135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63264 meters Centerline goodness : 0.403983 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99995667e-01 2.86366670e-04 2.92977066e-03 9.98992345e-02] [-2.81661998e-04 9.99998671e-01 -1.60610253e-03 3.94213535e-02] [-2.93022670e-03 1.60527036e-03 9.99994418e-01 -5.21630217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66264 meters Centerline goodness : 0.340640 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99996633e-01 7.71321444e-05 2.59367640e-03 1.02856777e-01] [-7.22006462e-05 9.99998190e-01 -1.90139433e-03 4.10507239e-02] [-2.59381836e-03 1.90120067e-03 9.99994829e-01 -5.37375163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69264 meters Centerline goodness : 0.293647 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.06 [[ 9.99997988e-01 -8.21106095e-04 1.83014471e-03 1.13471779e-01] [ 8.25816742e-04 9.99996345e-01 -2.57465269e-03 4.28708184e-02] [-1.82802396e-03 2.57615888e-03 9.99995011e-01 -5.98953857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7226400000000001 meters Centerline goodness : 0.292458 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.06 [[ 0.99999831 -0.00103778 0.00151524 0.11608989] [ 0.00104202 0.99999554 -0.00279872 0.04448516] [-0.00151233 0.00280029 0.99999494 -0.06110719] [ 0. 0. 0. 1. ]] SLAMing on 0.7526400000000001 meters Centerline goodness : 0.306577 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99997516e-01 -2.12730425e-03 6.65746016e-04 1.27014718e-01] [ 2.12949239e-03 9.99992276e-01 -3.30348076e-03 4.76715068e-02] [-6.58713365e-04 3.30489025e-03 9.99994322e-01 -6.65604273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78264 meters Centerline goodness : 0.283675 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99997370e-01 -2.25919662e-03 3.95187797e-04 1.29402147e-01] [ 2.26046475e-03 9.99992201e-01 -3.23845406e-03 4.67795219e-02] [-3.87868410e-04 3.23933885e-03 9.99994678e-01 -6.73995471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81264 meters Centerline goodness : 0.320178 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99996021e-01 -2.81227752e-03 2.23377485e-04 1.33052618e-01] [ 2.81300091e-03 9.99990575e-01 -3.30697961e-03 4.68543096e-02] [-2.14075235e-04 3.30759481e-03 9.99994507e-01 -6.79102446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8426400000000001 meters Centerline goodness : 0.303569 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99995412e-01 -3.02874681e-03 -6.01300328e-05 1.35545412e-01] [ 3.02851567e-03 9.99989183e-01 -3.53018571e-03 4.88668252e-02] [ 7.08214210e-05 3.52998741e-03 9.99993767e-01 -6.91357777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8726400000000001 meters Centerline goodness : 0.277679 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99994791e-01 -3.20957016e-03 -3.41350708e-04 1.38141536e-01] [ 3.20828348e-03 9.99987988e-01 -3.70538629e-03 5.03096818e-02] [ 3.53239305e-04 3.70427184e-03 9.99993077e-01 -7.04618604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90264 meters Centerline goodness : 0.277679 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99994791e-01 -3.20957016e-03 -3.41350708e-04 1.38141536e-01] [ 3.20828348e-03 9.99987988e-01 -3.70538629e-03 5.03096818e-02] [ 3.53239305e-04 3.70427184e-03 9.99993077e-01 -7.04618604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.93264 meters Centerline goodness : 0.299125 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99993728e-01 -3.51582786e-03 -4.26557633e-04 1.41483454e-01] [ 3.51411543e-03 9.99986020e-01 -3.95097608e-03 5.23417737e-02] [ 4.40442622e-04 3.94945233e-03 9.99992104e-01 -7.09934863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96264 meters Centerline goodness : 0.272619 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99993329e-01 -3.58865583e-03 -6.80826344e-04 1.43652923e-01] [ 3.58592267e-03 9.99985674e-01 -3.97409560e-03 5.23016637e-02] [ 6.95078251e-04 3.97162770e-03 9.99991871e-01 -7.18506185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9926400000000001 meters Centerline goodness : 0.268489 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 9.99992819e-01 -3.67882502e-03 -9.10057345e-04 1.45802247e-01] [ 3.67516553e-03 9.99985284e-01 -3.99067154e-03 5.20441451e-02] [ 9.24724935e-04 3.98729827e-03 9.99991623e-01 -7.27011545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02264 meters Centerline goodness : 0.271569 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 0.99999232 -0.00374519 -0.00115158 0.1478748 ] [ 0.00374063 0.99998523 -0.00394355 0.05145819] [ 0.00116634 0.00393921 0.99999156 -0.07344847] [ 0. 0. 0. 1. ]] SLAMing on 1.05264 meters Centerline goodness : 0.263966 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.08 [[ 0.99998574 -0.00482721 -0.00228342 0.15962949] [ 0.00481781 0.99997997 -0.00410399 0.04879458] [ 0.00230319 0.00409293 0.99998897 -0.07979721] [ 0. 0. 0. 1. ]] SLAMing on 1.08264 meters Centerline goodness : 0.258342 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.08 [[ 0.99998455 -0.00487879 -0.00266567 0.1628966 ] [ 0.00486876 0.99998109 -0.00375703 0.04527416] [ 0.00268395 0.00374399 0.99998939 -0.0812794 ] [ 0. 0. 0. 1. ]] SLAMing on 1.11264 meters Centerline goodness : 0.118974 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 0.9999812 -0.00517683 -0.00328503 0.17013244] [ 0.00516631 0.99998152 -0.00320314 0.04126291] [ 0.00330155 0.00318611 0.99998947 -0.08415778] [ 0. 0. 0. 1. ]] SLAMing on 1.14264 meters Centerline goodness : 0.262773 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.09 [[ 0.99998016 -0.00516759 -0.0036013 0.17308587] [ 0.00515677 0.99998218 -0.00300712 0.03992072] [ 0.00361677 0.00298849 0.99998899 -0.08560216] [ 0. 0. 0. 1. ]] SLAMing on 1.1726400000000001 meters Centerline goodness : 0.136927 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.09 [[ 0.99997923 -0.0050751 -0.00397376 0.17626364] [ 0.00506441 0.99998354 -0.00269471 0.03760524] [ 0.00398737 0.00267453 0.99998847 -0.08701218] [ 0. 0. 0. 1. ]] SLAMing on 1.2026400000000002 meters Centerline goodness : 0.137765 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.09 [[ 0.9999798 -0.00438893 -0.00459769 0.18454335] [ 0.00438063 0.99998876 -0.00181285 0.03376927] [ 0.00460559 0.00179267 0.99998779 -0.09146159] [ 0. 0. 0. 1. ]] SLAMing on 1.2326400000000002 meters Centerline goodness : 0.056285 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99997821 -0.0044012 -0.00492078 0.18753744] [ 0.00439181 0.99998852 -0.00191859 0.03538472] [ 0.00492917 0.00189693 0.99998605 -0.09288742] [ 0. 0. 0. 1. ]] SLAMing on 1.26264 meters Centerline goodness : 0.094869 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99997664 -0.00430164 -0.00531141 0.19070779] [ 0.00429116 0.99998882 -0.00198456 0.03648028] [ 0.00531989 0.00196172 0.99998393 -0.09401287] [ 0. 0. 0. 1. ]] SLAMing on 1.29264 meters Centerline goodness : 0.113230 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.10 [[ 0.99998022 -0.00252382 -0.0057618 0.19793279] [ 0.00251619 0.99999595 -0.0013307 0.03435219] [ 0.00576514 0.00131617 0.99998252 -0.09614848] [ 0. 0. 0. 1. ]] SLAMing on 1.32264 meters Centerline goodness : 0.113866 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.10 [[ 0.99997897 -0.00220481 -0.0060984 0.2007015 ] [ 0.00219531 0.99999637 -0.00156415 0.03704211] [ 0.00610183 0.00155073 0.99998018 -0.09678299] [ 0. 0. 0. 1. ]] SLAMing on 1.35264 meters Centerline goodness : 0.116322 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.10 [[ 9.99974852e-01 -7.65982511e-04 -7.05042509e-03 2.08780739e-01] [ 7.59715902e-04 9.99999314e-01 -8.91462420e-04 3.71484842e-02] [ 7.05110310e-03 8.86083682e-04 9.99974748e-01 -1.00536947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38264 meters Centerline goodness : 0.066883 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.10 [[ 9.99971176e-01 1.12733040e-03 -7.50847640e-03 2.16866344e-01] [-1.13156981e-03 9.99999203e-01 -5.60391220e-04 3.86157569e-02] [ 7.50783867e-03 5.68871432e-04 9.99971654e-01 -1.03867808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4126400000000001 meters Centerline goodness : 0.116014 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.10 [[ 9.99968423e-01 1.15535416e-03 -7.86242180e-03 2.19793297e-01] [-1.16239058e-03 9.99998928e-01 -8.90432263e-04 4.16022281e-02] [ 7.86138460e-03 8.99543351e-04 9.99968694e-01 -1.04847204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4426400000000001 meters Centerline goodness : 0.116489 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.11 [[ 9.99956238e-01 2.10816367e-03 -9.11474430e-03 2.33249445e-01] [-2.11640396e-03 9.99997360e-01 -8.94510198e-04 4.54258415e-02] [ 9.11283446e-03 9.13761533e-04 9.99958060e-01 -1.12071911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4726400000000002 meters Centerline goodness : 0.112372 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.11 [[ 0.99995364 0.00209405 -0.00939889 0.2358578 ] [-0.00210389 0.99999725 -0.00103687 0.04647962] [ 0.00939669 0.00105659 0.99995529 -0.11314002] [ 0. 0. 0. 1. ]] SLAMing on 1.5026400000000002 meters Centerline goodness : 0.158325 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.11 [[ 9.99950963e-01 2.14078043e-03 -9.66895416e-03 2.38639142e-01] [-2.15034624e-03 9.99997209e-01 -9.79045601e-04 4.59062660e-02] [ 9.66683125e-03 9.99789191e-04 9.99952775e-01 -1.14467720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53264 meters Centerline goodness : 0.120522 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.12 [[ 9.99948618e-01 2.19487091e-03 -9.89664502e-03 2.41044857e-01] [-2.20360027e-03 9.99997193e-01 -8.71233680e-04 4.48833342e-02] [ 9.89470499e-03 8.92997164e-04 9.99950647e-01 -1.15646392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56264 meters Centerline goodness : 0.343849 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.12 [[ 9.99993389e-01 2.00817311e-03 -3.03153030e-03 2.80637515e-01] [-2.01022422e-03 9.99997753e-01 -6.73697138e-04 4.36640940e-02] [ 3.03017059e-03 6.79786739e-04 9.99995178e-01 -1.18256672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59264 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.62264 meters Centerline goodness : 0.479250 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99994117e-01 1.62458790e-03 -3.02092236e-03 2.86962439e-01] [-1.62639630e-03 9.99998500e-01 -5.96264844e-04 4.33151888e-02] [ 3.01994914e-03 6.01174554e-04 9.99995259e-01 -1.19888349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65264 meters Centerline goodness : 0.074028 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99993368e-01 1.61771518e-03 -3.26309272e-03 2.89218400e-01] [-1.61933366e-03 9.99998567e-01 -4.93415905e-04 4.25585684e-02] [ 3.26228983e-03 4.98696669e-04 9.99994554e-01 -1.20729201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6826400000000001 meters Centerline goodness : 0.074786 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99992375e-01 1.60852125e-03 -3.55840592e-03 2.91845882e-01] [-1.60979898e-03 9.99998641e-01 -3.56239671e-04 4.12885941e-02] [ 3.55782806e-03 3.61965273e-04 9.99993605e-01 -1.21704096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7126400000000002 meters Centerline goodness : 0.195637 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.13 [[ 9.99988098e-01 9.20375098e-04 -4.79128669e-03 3.04644251e-01] [-9.22015173e-04 9.99999517e-01 -3.40106058e-04 3.82981336e-02] [ 4.79097135e-03 3.44519650e-04 9.99988464e-01 -1.28727401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7426400000000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.7726400000000002 meters Centerline goodness : 0.331342 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.14 [[ 9.99983207e-01 5.00390810e-04 -5.77364962e-03 3.19345644e-01] [-5.02036732e-04 9.99999834e-01 -2.83629066e-04 3.65623525e-02] [ 5.77350674e-03 2.86522888e-04 9.99983292e-01 -1.35813973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80264 meters Centerline goodness : 0.118530 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.14 [[ 9.99981919e-01 4.18213052e-04 -5.99886299e-03 3.21394745e-01] [-4.20947401e-04 9.99999808e-01 -4.54555840e-04 3.81091090e-02] [ 5.99867174e-03 4.57072827e-04 9.99981903e-01 -1.36396266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.83264 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.86264 meters Centerline goodness : 0.115913 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99979379e-01 4.74672511e-04 -6.40437000e-03 3.26057774e-01] [-4.79458871e-04 9.99999607e-01 -7.45843812e-04 4.12479645e-02] [ 6.40401345e-03 7.48899064e-04 9.99979214e-01 -1.37805800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89264 meters Centerline goodness : 0.181054 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99977104e-01 6.60016021e-04 -6.73463051e-03 3.30652596e-01] [-6.66183789e-04 9.99999361e-01 -9.13626515e-04 4.27189656e-02] [ 6.73402320e-03 9.18092099e-04 9.99976905e-01 -1.38677250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9226400000000001 meters Centerline goodness : 0.181340 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99975353e-01 6.90799143e-04 -6.98684604e-03 3.32808321e-01] [-6.97303588e-04 9.99999326e-01 -9.28562722e-04 4.24921628e-02] [ 6.98619988e-03 9.33411789e-04 9.99975161e-01 -1.39117363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9526400000000002 meters Centerline goodness : 0.182438 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99973629e-01 7.32966715e-04 -7.22524329e-03 3.34804270e-01] [-7.39328951e-04 9.99999341e-01 -8.77924987e-04 4.16910319e-02] [ 7.22459504e-03 8.83243667e-04 9.99973512e-01 -1.39544769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9826400000000002 meters Centerline goodness : 0.184211 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99970798e-01 7.15652457e-04 -7.60856845e-03 3.39150052e-01] [-7.22460156e-04 9.99999341e-01 -8.92030351e-04 4.16065304e-02] [ 7.60792505e-03 8.97501190e-04 9.99970657e-01 -1.40691147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01264 meters Centerline goodness : 0.185487 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99969128e-01 6.71793301e-04 -7.82894739e-03 3.41215784e-01] [-6.79075375e-04 9.99999339e-01 -9.27526090e-04 4.18483690e-02] [ 7.82831912e-03 9.32813900e-04 9.99968923e-01 -1.41459696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04264 meters Centerline goodness : 0.187122 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99966729e-01 6.19151123e-04 -8.13370848e-03 3.43855545e-01] [-6.26336960e-04 9.99999416e-01 -8.80946296e-04 4.15501034e-02] [ 8.13315829e-03 8.86011428e-04 9.99966533e-01 -1.42416469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0726400000000003 meters Centerline goodness : 0.190464 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.15 [[ 9.99996318e-01 -2.70855143e-03 1.68511194e-04 3.71740539e-01] [ 2.70800386e-03 9.99991312e-01 3.16903186e-03 3.66341080e-02] [-1.77093216e-04 -3.16856387e-03 9.99994964e-01 -1.54492923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10264 meters Centerline goodness : 0.190956 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.16 [[ 9.99996189e-01 -2.75282413e-03 -2.09358323e-04 3.74501610e-01] [ 2.75357161e-03 9.99989518e-01 3.65800764e-03 3.23717194e-02] [ 1.99286277e-04 -3.65857018e-03 9.99993288e-01 -1.55060668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1326400000000003 meters Centerline goodness : 0.191848 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.16 [[ 9.99995562e-01 -2.90244334e-03 -6.71770098e-04 3.77943339e-01] [ 2.90521675e-03 9.99987106e-01 4.16502655e-03 2.73127966e-02] [ 6.59672683e-04 -4.16695971e-03 9.99991101e-01 -1.56137917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16264 meters Centerline goodness : 0.193991 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998754 -0.00470412 -0.00167078 0.38765888] [ 0.00471082 0.99998079 0.00402784 0.02189163] [ 0.0016518 -0.00403566 0.99999049 -0.16045713] [ 0. 0. 0. 1. ]] SLAMing on 2.1926400000000004 meters Centerline goodness : 0.110272 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998722 -0.00464874 -0.0019876 0.39003211] [ 0.00465753 0.99997928 0.00444441 0.01856983] [ 0.0019669 -0.00445361 0.99998815 -0.16098709] [ 0. 0. 0. 1. ]] SLAMing on 2.22264 meters Centerline goodness : 0.109874 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998692 -0.00454899 -0.00233931 0.39268889] [ 0.00456037 0.99997768 0.00488198 0.01531218] [ 0.00231705 -0.00489258 0.99998535 -0.16167937] [ 0. 0. 0. 1. ]] SLAMing on 2.25264 meters Centerline goodness : 0.109780 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.16 [[ 0.99998634 -0.00435788 -0.00288447 0.3976126 ] [ 0.00437305 0.99997652 0.00527602 0.01248758] [ 0.00286141 -0.00528856 0.99998192 -0.16341468] [ 0. 0. 0. 1. ]] SLAMing on 2.2826400000000002 meters Centerline goodness : 0.109908 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.16 [[ 0.99998561 -0.00433211 -0.00316335 0.39981031] [ 0.00434858 0.99997693 0.00521817 0.01309498] [ 0.00314067 -0.00523185 0.99998138 -0.16418032] [ 0. 0. 0. 1. ]] SLAMing on 2.31264 meters Centerline goodness : 0.109104 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.17 [[ 0.99998665 -0.00277936 -0.00435516 0.41057439] [ 0.00280543 0.99997812 0.00599098 0.0124822 ] [ 0.00433841 -0.00600312 0.99997257 -0.16921639] [ 0. 0. 0. 1. ]] SLAMing on 2.3426400000000003 meters Centerline goodness : 0.109255 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:-0.19 [[ 0.99999301 -0.00114277 0.0035613 0.42486664] [ 0.00111862 0.99997643 0.00677457 0.01112091] [-0.00356896 -0.00677053 0.99997071 -0.19330735] [ 0. 0. 0. 1. ]] SLAMing on 2.37264 meters Centerline goodness : 0.109228 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.19 [[ 9.99994394e-01 -9.77669541e-04 3.20242397e-03 4.27308062e-01] [ 9.56587845e-04 9.99977907e-01 6.57797307e-03 1.27799604e-02] [-3.20878430e-03 -6.57487280e-03 9.99973237e-01 -1.93843745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4026400000000003 meters Centerline goodness : 0.109144 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.19 [[ 9.99996227e-01 -1.96206876e-04 2.73990854e-03 4.31607461e-01] [ 1.78262683e-04 9.99978546e-01 6.54790332e-03 1.41922667e-02] [-2.74113450e-03 -6.54739020e-03 9.99974809e-01 -1.94287376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.43264 meters Centerline goodness : 0.108401 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.19 [[ 9.99997125e-01 -6.91107984e-05 2.39710171e-03 4.33981977e-01] [ 5.35637592e-05 9.99978969e-01 6.48522326e-03 1.50335936e-02] [-2.39749950e-03 -6.48507622e-03 9.99976098e-01 -1.94888590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4626400000000004 meters Centerline goodness : 0.108458 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.20 [[ 9.99997830e-01 -5.15631857e-05 2.08281428e-03 4.36114123e-01] [ 3.84932902e-05 9.99980313e-01 6.27466599e-03 1.66004804e-02] [-2.08309681e-03 -6.27457220e-03 9.99978145e-01 -1.95327932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49264 meters Centerline goodness : 0.108350 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.20 [[ 9.99998383e-01 -4.17953484e-05 1.79788716e-03 4.38064311e-01] [ 3.08991059e-05 9.99981636e-01 6.06018286e-03 1.83196692e-02] [-1.79810743e-03 -6.06011751e-03 9.99980021e-01 -1.95762767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52264 meters Centerline goodness : 0.108539 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998938 0.00404954 -0.00219962 0.46517381] [-0.00403955 0.99998159 0.00452817 0.01672397] [ 0.00221792 -0.00451924 0.99998733 -0.19424941] [ 0. 0. 0. 1. ]] SLAMing on 2.5526400000000002 meters Centerline goodness : 0.108534 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998874 0.00407784 -0.00242558 0.46674249] [-0.00406662 0.99998109 0.00461276 0.01602034] [ 0.00244435 -0.00460285 0.99998642 -0.19457736] [ 0. 0. 0. 1. ]] SLAMing on 2.58264 meters Centerline goodness : 0.108125 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998789 0.00410617 -0.00271443 0.46866363] [-0.00409339 0.99998059 0.00469746 0.01525623] [ 0.00273366 -0.00468629 0.99998528 -0.19496344] [ 0. 0. 0. 1. ]] SLAMing on 2.6126400000000003 meters Centerline goodness : 0.108142 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.20 [[ 0.99999137 0.00204229 -0.00361663 0.47702923] [-0.00203664 0.9999967 0.00156662 0.01727635] [ 0.00361982 -0.00155924 0.99999223 -0.19853794] [ 0. 0. 0. 1. ]] SLAMing on 2.64264 meters Centerline goodness : 0.108348 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.20 [[ 0.99999049 0.00204085 -0.00385377 0.47834705] [-0.00203454 0.99999659 0.00164028 0.01668803] [ 0.00385711 -0.00163243 0.99999123 -0.19844794] [ 0. 0. 0. 1. ]] SLAMing on 2.6726400000000003 meters Centerline goodness : 0.130442 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.20 [[ 9.99988331e-01 8.09492092e-04 -4.76253710e-03 4.86308040e-01] [-8.04142669e-04 9.99999044e-01 1.12503738e-03 1.56634715e-02] [ 4.76344326e-03 -1.12119449e-03 9.99988026e-01 -2.01812014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70264 meters Centerline goodness : 0.108302 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.20 [[ 9.99986569e-01 7.84334334e-04 -5.12305322e-03 4.88448896e-01] [-7.75821470e-04 9.99998316e-01 1.66345397e-03 1.13878233e-02] [ 5.12434929e-03 -1.65945705e-03 9.99985494e-01 -2.02237002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7326400000000004 meters Centerline goodness : 0.081110 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.20 [[ 9.99984504e-01 7.18109400e-04 -5.52048394e-03 4.90692157e-01] [-7.05730101e-04 9.99997233e-01 2.24405114e-03 6.52549453e-03] [ 5.52208014e-03 -2.24012040e-03 9.99982244e-01 -2.02549437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76264 meters Centerline goodness : 0.080905 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:-0.20 [[ 9.99981144e-01 -1.15987871e-04 -6.13981468e-03 4.95091965e-01] [ 1.32544201e-04 9.99996356e-01 2.69621384e-03 7.18746289e-04] [ 6.13947958e-03 -2.69697680e-03 9.99977516e-01 -2.03473296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79264 meters Centerline goodness : 0.081089 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99979418e-01 -3.75483226e-05 -6.41574201e-03 4.96715594e-01] [ 5.66787088e-05 9.99995553e-01 2.98163276e-03 -1.12916995e-03] [ 6.41560153e-03 -2.98193503e-03 9.99974974e-01 -2.03770925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8226400000000003 meters Centerline goodness : 0.081222 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99977604e-01 -2.72316698e-06 -6.69267980e-03 4.98611618e-01] [ 2.37554191e-05 9.99995062e-01 3.14249809e-03 -2.21201794e-03] [ 6.69263819e-03 -3.14258670e-03 9.99972666e-01 -2.04489201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85264 meters Centerline goodness : 0.081222 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99977604e-01 -2.72316698e-06 -6.69267980e-03 4.98611618e-01] [ 2.37554191e-05 9.99995062e-01 3.14249809e-03 -2.21201794e-03] [ 6.69263819e-03 -3.14258670e-03 9.99972666e-01 -2.04489201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8826400000000003 meters Centerline goodness : 0.082145 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.21 [[ 9.99974464e-01 1.90078524e-04 -7.14382421e-03 5.01807885e-01] [-1.66487267e-04 9.99994532e-01 3.30277842e-03 -2.73730389e-03] [ 7.14441294e-03 -3.30150472e-03 9.99969028e-01 -2.05097096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91264 meters Centerline goodness : 0.081735 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.21 [[ 9.99972304e-01 2.28997526e-04 -7.43898953e-03 5.03383228e-01] [-2.05585249e-04 9.99995024e-01 3.14785108e-03 -1.46320379e-03] [ 7.43967337e-03 -3.14623455e-03 9.99967376e-01 -2.05243099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9426400000000004 meters Centerline goodness : 0.081533 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 9.99969154e-01 3.80403408e-04 -7.84514786e-03 5.05722321e-01] [-3.57118604e-04 9.99995528e-01 2.96923901e-03 2.34204979e-04] [ 7.84624229e-03 -2.96634578e-03 9.99964818e-01 -2.05650633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97264 meters Centerline goodness : 0.081062 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99996405 0.00115066 -0.0084012 0.50927857] [-0.0011258 0.99999498 0.0029633 0.00178321] [ 0.00840457 -0.00295373 0.99996032 -0.20629731] [ 0. 0. 0. 1. ]] SLAMing on 3.0026400000000004 meters Centerline goodness : 0.081179 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99996152 0.00123184 -0.00868569 0.51084518] [-0.0012063 0.99999493 0.00294568 0.00191407] [ 0.00868927 -0.00293509 0.99995794 -0.20649561] [ 0. 0. 0. 1. ]] SLAMing on 3.0326400000000002 meters Centerline goodness : 0.081151 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99995763 0.00140557 -0.00909712 0.51359609] [-0.00138002 0.99999509 0.00281496 0.00320211] [ 0.00910103 -0.00280229 0.99995466 -0.20711575] [ 0. 0. 0. 1. ]] SLAMing on 3.06264 meters Centerline goodness : 0.164391 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99995544 0.00130528 -0.00934953 0.51493704] [-0.00128104 0.99999581 0.00259773 0.00471106] [ 0.00935288 -0.00258564 0.99995292 -0.20728922] [ 0. 0. 0. 1. ]] SLAMing on 3.0926400000000003 meters Centerline goodness : 0.082106 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.21 [[ 0.99995319 0.00120225 -0.00960026 0.51625154] [-0.00117926 0.99999642 0.00240057 0.00600121] [ 0.00960311 -0.00238914 0.99995103 -0.20738686] [ 0. 0. 0. 1. ]] SLAMing on 3.12264 meters Centerline goodness : 0.165987 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.21 [[ 0.99995041 0.0011497 -0.00989211 0.51780236] [-0.00112609 0.99999651 0.00239176 0.00608954] [ 0.00989483 -0.0023805 0.99994821 -0.20748388] [ 0. 0. 0. 1. ]] SLAMing on 3.1526400000000003 meters Centerline goodness : 0.164310 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:-0.21 [[ 9.99945788e-01 9.17709746e-04 -1.03720376e-02 5.20493969e-01] [-8.90581290e-04 9.99996172e-01 2.61985392e-03 3.79968486e-03] [ 1.03744021e-02 -2.61047475e-03 9.99942777e-01 -2.07540743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18264 meters Centerline goodness : 0.082517 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:-0.21 [[ 9.99942754e-01 9.23159224e-04 -1.06600831e-02 5.21924650e-01] [-8.93101218e-04 9.99995613e-01 2.82409465e-03 2.28391084e-03] [ 1.06626434e-02 -2.81441244e-03 9.99939192e-01 -2.07662501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2126400000000004 meters Centerline goodness : 0.083877 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99997466e-01 -5.85418205e-04 -2.17398119e-03 5.49645574e-01] [ 5.88008348e-04 9.99999118e-01 1.19098044e-03 2.51639897e-03] [ 2.17328205e-03 -1.19225574e-03 9.99996928e-01 -2.05660531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24264 meters Centerline goodness : 0.083534 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99996931e-01 -5.64369551e-04 -2.41239179e-03 5.50782296e-01] [ 5.67606766e-04 9.99998939e-01 1.34143703e-03 1.45837730e-03] [ 2.41163217e-03 -1.34280221e-03 9.99996190e-01 -2.05715552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2726400000000004 meters Centerline goodness : 0.117371 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99996276e-01 -5.74971219e-04 -2.66802030e-03 5.52124114e-01] [ 5.78757850e-04 9.99998826e-01 1.41871095e-03 8.75438731e-04] [ 2.66720145e-03 -1.42024980e-03 9.99995434e-01 -2.05907432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3026400000000002 meters Centerline goodness : 0.115958 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99994988e-01 -8.16772449e-04 -3.05890998e-03 5.54304398e-01] [ 8.20959519e-04 9.99998728e-01 1.36780569e-03 8.57461614e-04] [ 3.05778890e-03 -1.37031008e-03 9.99994386e-01 -2.05882959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33264 meters Centerline goodness : 0.115151 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.21 [[ 9.99993980e-01 -8.63211960e-04 -3.36090430e-03 5.55679415e-01] [ 8.68363226e-04 9.99998450e-01 1.53154502e-03 -3.73820571e-04] [ 3.35957705e-03 -1.53445428e-03 9.99993179e-01 -2.05855256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3626400000000003 meters Centerline goodness : 0.114804 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.21 [[ 9.99992751e-01 -9.41075776e-04 -3.68957558e-03 5.57206570e-01] [ 9.47950867e-04 9.99997817e-01 1.86207697e-03 -2.78756558e-03] [ 3.68781517e-03 -1.86556100e-03 9.99991460e-01 -2.06020974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39264 meters Centerline goodness : 0.115932 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.21 [[ 0.99999139 -0.00103534 -0.00401907 0.55863213] [ 0.00104417 0.99999704 0.00219665 -0.00533572] [ 0.00401678 -0.00220083 0.99998951 -0.20610998] [ 0. 0. 0. 1. ]] SLAMing on 3.4226400000000003 meters Centerline goodness : 0.115801 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 9.99986377e-01 -3.24991491e-03 -4.08467550e-03 5.56828545e-01] [ 3.25369924e-03 9.99994283e-01 9.20166790e-04 -6.62001012e-03] [ 4.08166168e-03 -9.33444560e-04 9.99991234e-01 -2.03446981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45264 meters Centerline goodness : 0.112218 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 0.99998474 -0.00328552 -0.0044404 0.55866509] [ 0.00329134 0.99999373 0.00130414 -0.00921931] [ 0.00443608 -0.00131873 0.99998929 -0.20403858] [ 0. 0. 0. 1. ]] SLAMing on 3.4826400000000004 meters Centerline goodness : 0.105115 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 0.99997987 -0.00392758 -0.0049839 0.56163344] [ 0.00393662 0.99999062 0.00180645 -0.01447752] [ 0.00497676 -0.00182603 0.99998595 -0.20443774] [ 0. 0. 0. 1. ]] SLAMing on 3.51264 meters Centerline goodness : 0.108351 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.20 [[ 0.99997863 -0.00384223 -0.00528872 0.56282724] [ 0.00385407 0.99999009 0.00222887 -0.01719121] [ 0.00528011 -0.00224921 0.99998353 -0.20424024] [ 0. 0. 0. 1. ]] SLAMing on 3.5426400000000005 meters Centerline goodness : 0.103122 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.20 [[ 0.99997725 -0.00376173 -0.00559924 0.564003 ] [ 0.00377607 0.99998961 0.00255355 -0.01918242] [ 0.00558958 -0.00257464 0.99998106 -0.20402453] [ 0. 0. 0. 1. ]] SLAMing on 3.5726400000000003 meters Centerline goodness : 0.106753 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.20 [[ 0.99997512 -0.00358754 -0.00607324 0.56600243] [ 0.00360579 0.99998901 0.00299724 -0.02178851] [ 0.00606242 -0.00301907 0.99997707 -0.2032845 ] [ 0. 0. 0. 1. ]] SLAMing on 3.60264 meters Centerline goodness : 0.115096 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.20 [[ 0.99997436 -0.00345657 -0.00627226 0.56681345] [ 0.00347721 0.99998856 0.00328334 -0.02341217] [ 0.00626084 -0.00330506 0.99997494 -0.2032802 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6326400000000003 meters Centerline goodness : 0.110423 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.21 [[ 9.99999555e-01 -7.72501772e-04 5.40848857e-04 5.85417055e-01] [ 7.74686315e-04 9.99991496e-01 -4.05061064e-03 -2.29678729e-02] [-5.37715154e-04 4.05102783e-03 9.99991650e-01 -2.09267142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66264 meters Centerline goodness : 0.111109 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.21 [[ 9.99999709e-01 -6.99771899e-04 3.04695232e-04 5.86415081e-01] [ 7.00946222e-04 9.99992261e-01 -3.87119234e-03 -2.39376035e-02] [-3.01983923e-04 3.87140479e-03 9.99992460e-01 -2.09336041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6926400000000004 meters Centerline goodness : 0.113737 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.21 [[ 9.99999821e-01 -5.95319717e-04 6.73971963e-05 5.87299342e-01] [ 5.95559294e-04 9.99993298e-01 -3.61231017e-03 -2.54074879e-02] [-6.52462651e-05 3.61234966e-03 9.99993473e-01 -2.09288147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72264 meters Centerline goodness : 0.114118 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.21 [[ 9.99999893e-01 -4.38956933e-04 -1.43862939e-04 5.88131708e-01] [ 4.38504090e-04 9.99994997e-01 -3.13280006e-03 -2.81681470e-02] [ 1.45237384e-04 3.13273664e-03 9.99995082e-01 -2.09354567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7526400000000004 meters Centerline goodness : 0.109256 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:-0.21 [[ 0.9999857 -0.00178856 -0.00503954 0.63689006] [ 0.00177152 0.9999927 -0.00338439 -0.03467814] [ 0.00504556 0.00337541 0.99998157 -0.20856191] [ 0. 0. 0. 1. ]] SLAMing on 3.7826400000000002 meters Centerline goodness : 0.117658 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.21 [[ 0.99998473 -0.00173178 -0.00524878 0.63757543] [ 0.00171654 0.9999943 -0.00290661 -0.03764858] [ 0.00525378 0.00289756 0.999982 -0.20831106] [ 0. 0. 0. 1. ]] SLAMing on 3.8126400000000005 meters Centerline goodness : 0.117907 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.21 [[ 0.99997856 -0.00288454 -0.00587844 0.6429621 ] [ 0.0028615 0.99998821 -0.00392347 -0.03866285] [ 0.00588969 0.00390656 0.99997502 -0.21148519] [ 0. 0. 0. 1. ]] SLAMing on 3.8426400000000003 meters Centerline goodness : 0.111408 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.21 [[ 0.99995684 -0.00631397 -0.00681626 0.64691461] [ 0.00625886 0.9999478 -0.00807614 -0.03943869] [ 0.0068669 0.00803313 0.99994416 -0.21057041] [ 0. 0. 0. 1. ]] SLAMing on 3.87264 meters Centerline goodness : 0.110347 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.21 [[ 0.99996904 -0.00290322 -0.00731329 0.64741836] [ 0.00288498 0.9999927 -0.00250345 -0.04712199] [ 0.00732051 0.00248227 0.99997012 -0.21156525] [ 0. 0. 0. 1. ]] SLAMing on 3.9026400000000003 meters Centerline goodness : 0.111470 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.21 [[ 0.99996722 -0.00280026 -0.00759785 0.64802003] [ 0.0027873 0.99999464 -0.00171547 -0.05116143] [ 0.00760261 0.00169424 0.99996966 -0.21169274] [ 0. 0. 0. 1. ]] SLAMing on 3.93264 meters Centerline goodness : 0.108738 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.21 [[ 0.99995457 -0.00423166 -0.00854081 0.65477608] [ 0.00421078 0.9999881 -0.00246155 -0.05787112] [ 0.00855112 0.00242547 0.9999605 -0.21470375] [ 0. 0. 0. 1. ]] SLAMing on 3.9626400000000004 meters Centerline goodness : 0.109969 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.22 [[ 9.99958995e-01 -6.23599761e-04 -9.03438998e-03 6.55004607e-01] [ 6.54215929e-04 9.99994053e-01 3.38628842e-03 -6.66948837e-02] [ 9.03222456e-03 -3.39206001e-03 9.99953455e-01 -2.15283534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99264 meters Centerline goodness : 0.106220 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.22 [[ 0.99995154 -0.00141739 -0.00974182 0.66086262] [ 0.00144708 0.99999433 0.00304092 -0.07330599] [ 0.00973745 -0.00305487 0.99994792 -0.21832743] [ 0. 0. 0. 1. ]] SLAMing on 4.022640000000001 meters Centerline goodness : 0.108519 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 0.99994663 -0.00100949 -0.01028161 0.6625354 ] [ 0.00104693 0.99999284 0.00363695 -0.07587634] [ 0.01027787 -0.00364752 0.99994053 -0.21814358] [ 0. 0. 0. 1. ]] SLAMing on 4.052640000000001 meters Centerline goodness : 0.107798 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 9.99944366e-01 -7.48011574e-04 -1.05216364e-02 6.63194758e-01] [ 7.90650049e-04 9.99991491e-01 4.04888097e-03 -7.77531586e-02] [ 1.05185182e-02 -4.05697465e-03 9.99936449e-01 -2.17814048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0826400000000005 meters Centerline goodness : 0.106379 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 9.99941684e-01 -5.00863874e-04 -1.07878664e-02 6.63966243e-01] [ 5.48234374e-04 9.99990220e-01 4.38858119e-03 -7.92806496e-02] [ 1.07855629e-02 -4.39423954e-03 9.99932179e-01 -2.17536893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112640000000001 meters Centerline goodness : 0.105253 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99935951e-01 5.28039451e-04 -1.13054927e-02 6.65679078e-01] [-4.68455790e-04 9.99985991e-01 5.27232822e-03 -8.21067939e-02] [ 1.13081184e-02 -5.26669441e-03 9.99922191e-01 -2.17313619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142640000000001 meters Centerline goodness : 0.105680 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99932260e-01 7.71338119e-04 -1.16137948e-02 6.66665735e-01] [-7.07751583e-04 9.99984744e-01 5.47820181e-03 -8.27337857e-02] [ 1.16178431e-02 -5.46961103e-03 9.99917551e-01 -2.17238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17264 meters Centerline goodness : 0.103570 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99929368e-01 1.03808849e-03 -1.18397862e-02 6.67155999e-01] [-9.69759449e-04 9.99982852e-01 5.77541954e-03 -8.39355718e-02] [ 1.18455786e-02 -5.76352987e-03 9.99913228e-01 -2.16758456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202640000000001 meters Centerline goodness : 0.082548 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.22 [[ 0.99992624 0.00180537 -0.01201104 0.6674513 ] [-0.00172699 0.99997717 0.00653302 -0.08670513] [ 0.01202256 -0.00651179 0.99990652 -0.21560788] [ 0. 0. 0. 1. ]] SLAMing on 4.232640000000001 meters Centerline goodness : 0.159490 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.22 [[ 0.99992439 0.00193444 -0.01214384 0.66789235] [-0.00185383 0.9999762 0.00664535 -0.08707559] [ 0.0121564 -0.00662234 0.99990418 -0.21566765] [ 0. 0. 0. 1. ]] SLAMing on 4.262640000000001 meters Centerline goodness : 0.150922 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99948533e-01 6.08428170e-03 -8.11864252e-03 6.88612446e-01] [-6.08415700e-03 9.99981491e-01 4.00586150e-05 -8.73449875e-02] [ 8.11873597e-03 9.33854237e-06 9.99967042e-01 -2.19799455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2926400000000005 meters Centerline goodness : 0.088019 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99947070e-01 6.26557247e-03 -8.16085187e-03 6.88660484e-01] [-6.26238175e-03 9.99980304e-01 4.16474246e-04 -8.91599127e-02] [ 8.16330058e-03 -3.65345832e-04 9.99966613e-01 -2.19644568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322640000000001 meters Centerline goodness : 0.086523 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99944856e-01 6.46502788e-03 -8.27581301e-03 6.88867234e-01] [-6.45812841e-03 9.99978776e-01 8.60143376e-04 -9.13510268e-02] [ 8.28119822e-03 -8.06649680e-04 9.99965385e-01 -2.19343135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352640000000001 meters Centerline goodness : 0.745178 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.22 [[ 0.99994117 0.00681383 -0.00843984 0.68915677] [-0.00679831 0.99997515 0.00186643 -0.09658641] [ 0.00845235 -0.00180894 0.99996264 -0.21901098] [ 0. 0. 0. 1. ]] SLAMing on 4.382640000000001 meters Centerline goodness : 0.358946 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.22 [[ 0.99993905 0.00700978 -0.0085294 0.68923005] [-0.0069893 0.99997263 0.00242813 -0.09952467] [ 0.00854619 -0.00236837 0.99996068 -0.21864074] [ 0. 0. 0. 1. ]] SLAMing on 4.412640000000001 meters Centerline goodness : 0.405772 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.21 [[ 0.99997168 0.00473062 -0.00585287 0.70316627] [-0.00466495 0.99992658 0.01118364 -0.10527675] [ 0.00590534 -0.01115602 0.99992033 -0.21435247] [ 0. 0. 0. 1. ]] SLAMing on 4.442640000000001 meters Centerline goodness : 0.790928 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.21 [[ 0.99995927 0.00682765 -0.00590232 0.68451747] [-0.00681744 0.99997523 0.00174954 -0.10714992] [ 0.00591412 -0.00170923 0.99998105 -0.21483193] [ 0. 0. 0. 1. ]] SLAMing on 4.472640000000001 meters Centerline goodness : 0.820098 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.21 [[ 0.99995619 0.00707771 -0.00612536 0.68475257] [-0.00706333 0.99997225 0.00236705 -0.1100715 ] [ 0.00614195 -0.00232368 0.99997844 -0.21421729] [ 0. 0. 0. 1. ]] SLAMing on 4.50264 meters Centerline goodness : 0.786526 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.21 [[ 0.99995229 0.00731777 -0.00647129 0.68537539] [-0.00730094 0.99996991 0.00262076 -0.11158328] [ 0.00649027 -0.00257339 0.99997563 -0.21320872] [ 0. 0. 0. 1. ]] SLAMing on 4.532640000000001 meters Centerline goodness : 0.825616 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.21 [[ 0.99994264 0.00809386 -0.00701447 0.68690611] [-0.00807757 0.99996462 0.00234681 -0.11075439] [ 0.00703322 -0.00229001 0.99997264 -0.21127732] [ 0. 0. 0. 1. ]] SLAMing on 4.562640000000001 meters Centerline goodness : 0.900650 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.21 [[ 0.99993505 0.00841779 -0.00768397 0.68903862] [-0.00840487 0.99996321 0.00171251 -0.10815665] [ 0.00769811 -0.00164782 0.99996901 -0.21041218] [ 0. 0. 0. 1. ]] SLAMing on 4.592640000000001 meters Centerline goodness : 0.817458 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.21 [[ 9.99929899e-01 8.61412408e-03 -8.12367407e-03 6.90709855e-01] [-8.60730525e-03 9.99962575e-01 8.73967847e-04 -1.04579090e-01] [ 8.13089850e-03 -8.03983638e-04 9.99966620e-01 -2.09895379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6226400000000005 meters Centerline goodness : 0.951703 Centerline is valid? [False, True] Translation: X:0.69, Y:-0.10, Z:-0.21 [[ 9.99923035e-01 8.88284726e-03 -8.66130595e-03 6.92598345e-01] [-8.88308812e-03 9.99960545e-01 1.06610305e-05 -1.00927255e-01] [ 8.66105892e-03 6.62789341e-05 9.99962490e-01 -2.09114768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652640000000001 meters Centerline goodness : 0.096172 Centerline is valid? [True, False] Translation: X:0.69, Y:-0.09, Z:-0.21 [[ 0.99991428 0.00965433 -0.00884497 0.6940331 ] [-0.00966728 0.99995226 -0.00142229 -0.09390642] [ 0.00883081 0.00150768 0.99995987 -0.20798821] [ 0. 0. 0. 1. ]] SLAMing on 4.682640000000001 meters Centerline goodness : 0.088576 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.21 [[ 0.99991336 0.00966907 -0.00893254 0.69428684] [-0.00968729 0.99995108 -0.0019988 -0.09058853] [ 0.00891278 0.00208516 0.99995811 -0.20816729] [ 0. 0. 0. 1. ]] SLAMing on 4.71264 meters Centerline goodness : 0.095010 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.08, Z:-0.21 [[ 0.99990957 0.0101619 -0.00880787 0.69363314] [-0.01018758 0.99994397 -0.00287638 -0.08400446] [ 0.00877814 0.00296585 0.99995707 -0.20790418] [ 0. 0. 0. 1. ]] SLAMing on 4.742640000000001 meters Centerline goodness : 0.095010 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.08, Z:-0.21 [[ 0.99990957 0.0101619 -0.00880787 0.69363314] [-0.01018758 0.99994397 -0.00287638 -0.08400446] [ 0.00877814 0.00296585 0.99995707 -0.20790418] [ 0. 0. 0. 1. ]] SLAMing on 4.772640000000001 meters Centerline goodness : 0.992188 Centerline is valid? [False, True] Translation: X:0.65, Y:-0.08, Z:-0.21 [[ 0.99991786 0.01013506 -0.00784517 0.6488098 ] [-0.01016301 0.99994212 -0.00353108 -0.07856132] [ 0.00780892 0.00361052 0.99996299 -0.20873666] [ 0. 0. 0. 1. ]] SLAMing on 4.802640000000001 meters Centerline goodness : 0.091750 Centerline is valid? [True, False] Translation: X:0.65, Y:-0.07, Z:-0.21 [[ 0.99992062 0.00977608 -0.0079482 0.64923624] [-0.00981313 0.9999411 -0.00463611 -0.07303795] [ 0.0079024 0.00471374 0.99995767 -0.20910923] [ 0. 0. 0. 1. ]] SLAMing on 4.8326400000000005 meters Centerline goodness : 0.994541 Centerline is valid? [False, True] Translation: X:0.60, Y:-0.07, Z:-0.21 [[ 0.99993806 0.00881458 -0.00679507 0.60317151] [-0.00885516 0.999943 -0.00596456 -0.06687888] [ 0.0067421 0.00602437 0.99995912 -0.20892028] [ 0. 0. 0. 1. ]] SLAMing on 4.862640000000001 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.07, Z:-0.21 [[ 9.99954291e-01 6.60725086e-03 -6.91091425e-03 6.33822631e-01] [-6.60855255e-03 9.99978150e-01 -1.65532541e-04 -6.76895228e-02] [ 6.90966953e-03 2.11196115e-04 9.99976106e-01 -2.14298684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892640000000001 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.06, Z:-0.20 [[ 9.99971317e-01 3.09774512e-03 -6.91147056e-03 6.60424903e-01] [-3.09877003e-03 9.99995189e-01 -1.37587826e-04 -6.34852160e-02] [ 6.91101110e-03 1.59000937e-04 9.99976106e-01 -2.01274515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922640000000001 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.06, Z:-0.19 [[ 9.99976077e-01 -2.99386915e-04 -6.91062730e-03 6.91787468e-01] [ 2.98152761e-04 9.99999939e-01 -1.79617364e-04 -6.07855315e-02] [ 6.91068066e-03 1.77552644e-04 9.99976105e-01 -1.89488557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952640000000001 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.06, Z:-0.20 [[ 9.99971480e-01 -3.04576576e-03 -6.91109886e-03 7.22494843e-01] [ 3.04476011e-03 9.99995353e-01 -1.56029313e-04 -5.78087176e-02] [ 6.91154197e-03 1.34982225e-04 9.99976106e-01 -2.01504324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982640000000001 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.06, Z:-0.20 [[ 9.99964527e-01 -4.81445742e-03 -6.91121123e-03 7.51050179e-01] [ 4.81353300e-03 9.99988404e-01 -1.50384668e-04 -5.54598120e-02] [ 6.91185511e-03 1.17111990e-04 9.99976106e-01 -1.98793196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012640000000001 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.05, Z:-0.20 [[ 9.99929249e-01 -9.68175396e-03 -6.91085496e-03 7.81903170e-01] [ 9.68082269e-03 9.99953126e-01 -1.68194529e-04 -5.07888906e-02] [ 6.91215943e-03 1.01279868e-04 9.99976106e-01 -2.02167680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0426400000000005 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.05, Z:-0.20 [[ 9.99911522e-01 -1.13658284e-02 -6.91124088e-03 8.10687515e-01] [ 1.13650714e-02 9.99935404e-01 -1.48794815e-04 -4.92546622e-02] [ 6.91248562e-03 7.02349036e-05 9.99976106e-01 -2.03019025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072640000000001 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.05, Z:-0.20 [[ 9.99908259e-01 -1.16493967e-02 -6.91122344e-03 8.39629321e-01] [ 1.16486405e-02 9.99932141e-01 -1.49668850e-04 -4.90885216e-02] [ 6.91249800e-03 6.91487617e-05 9.99976106e-01 -2.00425188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102640000000001 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.05, Z:-0.20 [[ 9.99902700e-01 -1.21173915e-02 -6.91083135e-03 8.70952467e-01] [ 1.21165111e-02 9.99926578e-01 -1.69258032e-04 -4.62621739e-02] [ 6.91237491e-03 8.55063988e-05 9.99976106e-01 -1.99046174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132640000000001 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.04, Z:-0.20 [[ 9.99916562e-01 -1.09133951e-02 -6.91132481e-03 8.98374544e-01] [ 1.09126568e-02 9.99940445e-01 -1.44516434e-04 -4.26539426e-02] [ 6.91249036e-03 6.90834604e-05 9.99976106e-01 -1.99909174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162640000000001 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.04, Z:-0.20 [[ 9.99964330e-01 -4.85528622e-03 -6.91120717e-03 9.25497889e-01] [ 4.85436275e-03 9.99988206e-01 -1.50388277e-04 -3.58796649e-02] [ 6.91185584e-03 1.16833406e-04 9.99976106e-01 -1.98535172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192640000000001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.03, Z:-0.20 [[ 9.99974445e-01 -1.83100930e-03 -6.91069802e-03 9.54511441e-01] [ 1.82983872e-03 9.99998310e-01 -1.75706474e-04 -3.12044262e-02] [ 6.91100806e-03 1.63056521e-04 9.99976105e-01 -1.96080972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222640000000001 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.03, Z:-0.19 [[ 9.99976026e-01 4.36355188e-04 -6.91058686e-03 9.86601738e-01] [-4.37617882e-04 9.99999888e-01 -1.81207718e-04 -2.64454322e-02] [ 6.91050701e-03 1.84227570e-04 9.99976105e-01 -1.92501261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25264 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:-0.19 [[ 9.99962329e-01 5.25098257e-03 -6.91140412e-03 1.01546658e+00] [-5.25207875e-03 9.99986198e-01 -1.40464240e-04 -1.86284732e-02] [ 6.91057115e-03 1.76758187e-04 9.99976106e-01 -1.92611734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282640000000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:-0.20 [[ 9.99943842e-01 8.03402730e-03 -6.91138608e-03 1.04249334e+00] [-8.03519607e-03 9.99967707e-01 -1.41356361e-04 -1.54156831e-02] [ 6.91002723e-03 1.96882765e-04 9.99976106e-01 -1.95810943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312640000000001 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.01, Z:-0.20 [[ 9.99938640e-01 8.65788311e-03 -6.91062636e-03 1.07021340e+00] [-8.65932383e-03 9.99962491e-01 -1.78584338e-04 -1.07571207e-02] [ 6.90882099e-03 2.38414732e-04 9.99976105e-01 -1.96424399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342640000000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.01, Z:-0.19 [[ 9.99949572e-01 7.28670643e-03 -6.91060852e-03 1.10159688e+00] [-7.28812047e-03 9.99973425e-01 -1.79456647e-04 -5.78176906e-03] [ 6.90911723e-03 2.29812945e-04 9.99976105e-01 -1.93012430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3726400000000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.00, Z:-0.20 [[ 9.99954982e-01 6.50143970e-03 -6.91123002e-03 1.12796371e+00] [-6.50262388e-03 9.99978847e-01 -1.48884086e-04 -1.14138768e-03] [ 6.91011587e-03 1.93818513e-04 9.99976106e-01 -1.97200814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402640000000001 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:1.16, Y:0.00, Z:-0.19 [[ 9.99970081e-01 3.47601028e-03 -6.91043058e-03 1.16120808e+00] [-3.47739182e-03 9.99993936e-01 -1.87915441e-04 2.71799772e-03] [ 6.90973548e-03 2.11940094e-04 9.99976105e-01 -1.93459746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432640000000001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:1.19, Y:0.01, Z:-0.20 [[ 9.99973809e-01 2.14810308e-03 -6.91132197e-03 1.19044156e+00] [-2.14914946e-03 9.99997680e-01 -1.43976908e-04 5.88283722e-03] [ 6.91099666e-03 1.58826601e-04 9.99976106e-01 -1.95046580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:0.01, Z:-0.19 [[ 9.99976115e-01 7.23686902e-05 -6.91121907e-03 1.21848336e+00] [-7.34008361e-05 9.99999986e-01 -1.49090002e-04 1.14420587e-02] [ 6.91120819e-03 1.49593730e-04 9.99976106e-01 -1.85290927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.25, Y:0.02, Z:-0.18 [[ 9.99973344e-01 -2.35611342e-03 -6.91089056e-03 1.25073667e+00] [ 2.35502488e-03 9.99997213e-01 -1.65645461e-04 1.61578758e-02] [ 6.91126158e-03 1.49365727e-04 9.99976106e-01 -1.75817301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:0.02, Z:-0.19 [[ 9.99956392e-01 -6.28067121e-03 -6.91145822e-03 1.27810228e+00] [ 6.27987478e-03 9.99980272e-01 -1.36930276e-04 2.28278158e-02] [ 6.91218188e-03 9.35212125e-05 9.99976106e-01 -1.85303799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.31, Y:0.03, Z:-0.19 [[ 9.99936293e-01 -8.92437208e-03 -6.91124417e-03 1.30584948e+00] [ 8.92356480e-03 9.99960173e-01 -1.47635572e-04 2.54817889e-02] [ 6.91228647e-03 8.59532313e-05 9.99976106e-01 -1.85519027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5826400000000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.33, Y:0.03, Z:-0.19 [[ 9.99918711e-01 -1.07147704e-02 -6.91125542e-03 1.33278813e+00] [ 1.07140098e-02 9.99942593e-01 -1.47074940e-04 2.73547654e-02] [ 6.91243453e-03 7.30157263e-05 9.99976106e-01 -1.88115690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.36, Y:0.03, Z:-0.19 [[ 9.99842653e-01 -1.63373843e-02 -6.91075687e-03 1.36417045e+00] [ 1.63365860e-02 9.99866534e-01 -1.71948440e-04 3.14746454e-02] [ 6.91264371e-03 5.90232100e-05 9.99976106e-01 -1.85984181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.39, Y:0.04, Z:-0.19 [[ 9.99778024e-01 -1.99031258e-02 -6.91143921e-03 1.39332767e+00] [ 1.99026494e-02 9.99801913e-01 -1.37700963e-04 3.57644760e-02] [ 6.91281082e-03 1.14444729e-07 9.99976106e-01 -1.86510834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672640000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.42, Y:0.04, Z:-0.19 [[ 9.99720231e-01 -2.26206339e-02 -6.91133031e-03 1.42332032e+00] [ 2.26201848e-02 9.99744121e-01 -1.43148040e-04 3.93306393e-02] [ 6.91279994e-03 -1.32275770e-05 9.99976106e-01 -1.87911366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:0.04, Z:-0.19 [[ 9.99617543e-01 -2.67768651e-02 -6.91141930e-03 1.45178268e+00] [ 2.67765460e-02 9.99641434e-01 -1.38714348e-04 4.22118547e-02] [ 6.91265544e-03 -4.64026407e-05 9.99976106e-01 -1.85436166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.48, Y:0.04, Z:-0.18 [[ 9.99581383e-01 -2.80943358e-02 -6.91141247e-03 1.47950463e+00] [ 2.80940459e-02 9.99605275e-01 -1.39053472e-04 4.32629694e-02] [ 6.91259098e-03 -5.51742778e-05 9.99976106e-01 -1.84686980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.51, Y:0.04, Z:-0.18 [[ 9.99561991e-01 -2.87760265e-02 -6.91138493e-03 1.50717174e+00] [ 2.87757434e-02 9.99585883e-01 -1.40409072e-04 4.40343764e-02] [ 6.91256323e-03 -5.85326680e-05 9.99976106e-01 -1.83203325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7926400000000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.53, Y:0.04, Z:-0.18 [[ 9.99552985e-01 -2.90871805e-02 -6.91135839e-03 1.53492352e+00] [ 2.90868959e-02 9.99576877e-01 -1.41703905e-04 4.48695770e-02] [ 6.91255580e-03 -5.93894013e-05 9.99976106e-01 -1.81695267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.56, Y:0.05, Z:-0.18 [[ 9.99511959e-01 -3.04644442e-02 -6.91103466e-03 1.56402456e+00] [ 3.04640842e-02 9.99535850e-01 -1.57386584e-04 4.70479064e-02] [ 6.91262159e-03 -5.32285684e-05 9.99976106e-01 -1.84045610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852640000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:-0.18 [[ 9.99483796e-01 -3.13747437e-02 -6.91132689e-03 1.59192616e+00] [ 3.13745029e-02 9.99507689e-01 -1.43291559e-04 4.83744933e-02] [ 6.91242010e-03 -7.36218539e-05 9.99976106e-01 -1.81765396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.62, Y:0.05, Z:-0.18 [[ 9.99439135e-01 -3.27665861e-02 -6.91129857e-03 1.62104784e+00] [ 3.27663692e-02 9.99463028e-01 -1.44644608e-04 4.81159767e-02] [ 6.91232691e-03 -8.18946780e-05 9.99976106e-01 -1.79926725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.65, Y:0.05, Z:-0.18 [[ 9.99438766e-01 -3.27778472e-02 -6.91127349e-03 1.64948947e+00] [ 3.27776223e-02 9.99462659e-01 -1.45833207e-04 4.72860116e-02] [ 6.91233988e-03 -8.07837518e-05 9.99976106e-01 -1.78944427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942640000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.68, Y:0.05, Z:-0.17 [[ 9.99435898e-01 -3.28651989e-02 -6.91124819e-03 1.68024933e+00] [ 3.28649679e-02 9.99459790e-01 -1.47022362e-04 4.60556955e-02] [ 6.91234659e-03 -8.01985239e-05 9.99976106e-01 -1.68364443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:0.04, Z:-0.18 [[ 9.99461581e-01 -3.20746104e-02 -6.91144233e-03 1.70797134e+00] [ 3.20744237e-02 9.99485474e-01 -1.37893407e-04 4.25335757e-02] [ 6.91230909e-03 -8.38613671e-05 9.99976106e-01 -1.78912338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.74, Y:0.04, Z:-0.18 [[ 9.99473346e-01 -3.17059342e-02 -6.91123332e-03 1.73698008e+00] [ 3.17056710e-02 9.99497238e-01 -1.47675100e-04 4.19164251e-02] [ 6.91244079e-03 -7.15279642e-05 9.99976106e-01 -1.77515149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.77, Y:0.04, Z:-0.18 [[ 9.99504740e-01 -3.07003355e-02 -6.91120782e-03 1.76507543e+00] [ 3.07000400e-02 9.99528632e-01 -1.48858875e-04 4.15220212e-02] [ 6.91252012e-03 -6.33892063e-05 9.99976106e-01 -1.77619299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:1.79, Y:0.04, Z:-0.18 [[ 9.99570645e-01 -2.84738520e-02 -6.91119877e-03 1.79307293e+00] [ 2.84735005e-02 9.99594537e-01 -1.49278194e-04 4.04016077e-02] [ 6.91264705e-03 -4.75719209e-05 9.99976106e-01 -1.77176737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.82, Y:0.04, Z:-0.18 [[ 9.99605860e-01 -2.72095472e-02 -6.91118976e-03 1.82199983e+00] [ 2.72091626e-02 9.99629751e-01 -1.49694161e-04 3.96182489e-02] [ 6.91270401e-03 -3.84125254e-05 9.99976106e-01 -1.76451815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:1.85, Y:0.04, Z:-0.17 [[ 9.99639314e-01 -2.59514523e-02 -6.91116446e-03 1.85075090e+00] [ 2.59510295e-02 9.99663204e-01 -1.50853367e-04 3.90639139e-02] [ 6.91275167e-03 -2.85528767e-05 9.99976106e-01 -1.74647237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.88, Y:0.04, Z:-0.18 [[ 9.99688396e-01 -2.39864103e-02 -6.91113851e-03 1.87845367e+00] [ 2.39859325e-02 9.99712285e-01 -1.52032903e-04 3.84819818e-02] [ 6.91279679e-03 -1.37845729e-05 9.99976106e-01 -1.76629608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182640000000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:1.91, Y:0.04, Z:-0.18 [[ 9.99787370e-01 -1.94280997e-02 -6.91112924e-03 1.90691768e+00] [ 1.94275100e-02 9.99811256e-01 -1.52452997e-04 3.73773343e-02] [ 6.91278668e-03 1.81545482e-05 9.99976106e-01 -1.76361158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212640000000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:1.93, Y:0.04, Z:-0.18 [[ 9.99833315e-01 -1.68990667e-02 -6.91110300e-03 1.93497614e+00] [ 1.68984085e-02 9.99857200e-01 -1.53633626e-04 3.74402566e-02] [ 6.91271235e-03 3.68213762e-05 9.99976106e-01 -1.76125954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.96, Y:0.04, Z:-0.18 [[ 9.99928842e-01 -9.72357288e-03 -6.91107244e-03 1.96083907e+00] [ 9.72273382e-03 9.99952721e-01 -1.54996119e-04 3.59731007e-02] [ 6.91225281e-03 8.77905720e-05 9.99976106e-01 -1.80775472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272640000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.99, Y:0.04, Z:-0.17 [[ 9.99944734e-01 -7.92299916e-03 -6.91044330e-03 1.99196583e+00] [ 7.92192359e-03 9.99968604e-01 -1.83003569e-04 3.66502352e-02] [ 6.91167628e-03 1.28249452e-04 9.99976106e-01 -1.74963422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.02, Y:0.04, Z:-0.18 [[ 9.99959697e-01 -5.73066867e-03 -6.91106976e-03 2.02037491e+00] [ 5.72973364e-03 9.99983573e-01 -1.55086813e-04 3.67359657e-02] [ 6.91184498e-03 1.15481973e-04 9.99976106e-01 -1.80270558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3326400000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.05, Y:0.04, Z:-0.18 [[ 9.99963030e-01 -5.11655972e-03 -6.91077699e-03 2.04950465e+00] [ 5.11552088e-03 9.99986902e-01 -1.67989333e-04 3.71493420e-02] [ 6.91154600e-03 1.32630898e-04 9.99976106e-01 -1.79704995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362640000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.08, Y:0.04, Z:-0.18 [[ 9.99960229e-01 -5.63729254e-03 -6.91102078e-03 2.07713843e+00] [ 5.63634015e-03 9.99984103e-01 -1.57276870e-04 3.79565229e-02] [ 6.91179754e-03 1.18317751e-04 9.99976106e-01 -1.80987226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392640000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.10, Y:0.04, Z:-0.18 [[ 9.99951723e-01 -6.98501778e-03 -6.91101164e-03 2.10489387e+00] [ 6.98409479e-03 9.99975598e-01 -1.57677712e-04 3.95571399e-02] [ 6.91194438e-03 1.09402940e-04 9.99976106e-01 -1.81469828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422640000000001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:2.13, Y:0.04, Z:-0.17 [[ 9.99922165e-01 -1.03875690e-02 -6.91098224e-03 2.13361548e+00] [ 1.03867184e-02 9.99946044e-01 -1.58955958e-04 4.10507800e-02] [ 6.91226051e-03 8.71611596e-05 9.99976106e-01 -1.74769549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452640000000001 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:2.16, Y:0.04, Z:-0.18 [[ 9.99897081e-01 -1.25724025e-02 -6.91097416e-03 2.16105517e+00] [ 1.25716017e-02 9.99920962e-01 -1.59306221e-04 4.16236390e-02] [ 6.91243079e-03 7.24078105e-05 9.99976106e-01 -1.77683677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482640000000001 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:2.19, Y:0.04, Z:-0.18 [[ 9.99868952e-01 -1.46395765e-02 -6.91096409e-03 2.18888297e+00] [ 1.46388221e-02 9.99892834e-01 -1.59741932e-04 4.25996130e-02] [ 6.91256202e-03 5.85526247e-05 9.99976106e-01 -1.77078744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512640000000001 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:2.22, Y:0.04, Z:-0.18 [[ 9.99846836e-01 -1.60792665e-02 -6.91093293e-03 2.21703941e+00] [ 1.60785372e-02 9.99870719e-01 -1.61078994e-04 4.36216647e-02] [ 6.91262951e-03 4.99366303e-05 9.99976106e-01 -1.75841102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542640000000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:2.25, Y:0.05, Z:-0.17 [[ 9.99819774e-01 -1.76821678e-02 -6.91092322e-03 2.24543784e+00] [ 1.76814740e-02 9.99843657e-01 -1.61494299e-04 4.53035276e-02] [ 6.91269832e-03 3.92698843e-05 9.99976106e-01 -1.70294113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572640000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.27, Y:0.05, Z:-0.17 [[ 9.99806931e-01 -1.83940274e-02 -6.91091742e-03 2.27391563e+00] [ 1.83933488e-02 9.99830815e-01 -1.61742267e-04 4.60547026e-02] [ 6.91272329e-03 3.45961254e-05 9.99976106e-01 -1.68963385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.30, Y:0.05, Z:-0.16 [[ 9.99811746e-01 -1.81304088e-02 -6.91089018e-03 2.30388803e+00] [ 1.81297159e-02 9.99835630e-01 -1.62897904e-04 4.72721887e-02] [ 6.91270764e-03 3.75747618e-05 9.99976106e-01 -1.64299018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.33, Y:0.05, Z:-0.16 [[ 9.99822192e-01 -1.75449417e-02 -6.91088622e-03 2.33184789e+00] [ 1.75442337e-02 9.99846075e-01 -1.63065670e-04 5.12369346e-02] [ 6.91268344e-03 4.17904722e-05 9.99976106e-01 -1.64816434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.36, Y:0.05, Z:-0.16 [[ 9.99818796e-01 -1.77374069e-02 -6.91087635e-03 2.36032404e+00] [ 1.77367005e-02 9.99842679e-01 -1.63483034e-04 5.21092804e-02] [ 6.91268889e-03 4.08772664e-05 9.99976106e-01 -1.64619511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692640000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.39, Y:0.05, Z:-0.17 [[ 9.99813292e-01 -1.80449554e-02 -6.91084462e-03 2.38777606e+00] [ 1.80442472e-02 9.99837176e-01 -1.64813382e-04 5.49116303e-02] [ 6.91269342e-03 4.00816210e-05 9.99976106e-01 -1.68257182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.42, Y:0.06, Z:-0.17 [[ 9.99799581e-01 -1.87893203e-02 -6.91083475e-03 2.41619836e+00] [ 1.87886270e-02 9.99823465e-01 -1.65226290e-04 5.78952898e-02] [ 6.91271923e-03 3.53480784e-05 9.99976106e-01 -1.67284500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.44, Y:0.06, Z:-0.17 [[ 9.99783990e-01 -1.96013951e-02 -6.91080716e-03 2.44459209e+00] [ 1.96007133e-02 9.99807874e-01 -1.66372327e-04 5.93329002e-02] [ 6.91274054e-03 3.08796384e-05 9.99976106e-01 -1.66742379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782640000000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:2.47, Y:0.06, Z:-0.16 [[ 9.99766809e-01 -2.04589384e-02 -6.91077932e-03 2.47303310e+00] [ 2.04582692e-02 9.99790694e-01 -1.67520782e-04 6.06609365e-02] [ 6.91276015e-03 2.60991344e-05 9.99976106e-01 -1.64756780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812640000000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:2.50, Y:0.06, Z:-0.17 [[ 9.99740984e-01 -2.16842507e-02 -6.91075018e-03 2.50181037e+00] [ 2.16836025e-02 9.99764869e-01 -1.68714521e-04 6.30248126e-02] [ 6.91278369e-03 1.88208614e-05 9.99976106e-01 -1.65874475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:0.06, Z:-0.16 [[ 9.99692074e-01 -2.38327490e-02 -6.91072085e-03 2.52915295e+00] [ 2.38321439e-02 9.99715960e-01 -1.69907130e-04 6.45817563e-02] [ 6.91280729e-03 5.15751774e-06 9.99976106e-01 -1.64774308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8726400000000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.56, Y:0.07, Z:-0.17 [[ 9.99656153e-01 -2.52946301e-02 -6.91069669e-03 2.55687605e+00] [ 2.52940532e-02 9.99680040e-01 -1.70884547e-04 6.53886811e-02] [ 6.91280800e-03 -3.97374102e-06 9.99976106e-01 -1.66134824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:0.07, Z:-0.16 [[ 9.99616727e-01 -2.68074826e-02 -6.91068623e-03 2.58521487e+00] [ 2.68069389e-02 9.99640615e-01 -1.71306301e-04 6.65296663e-02] [ 6.91279492e-03 -1.40136989e-05 9.99976106e-01 -1.63696993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.61, Y:0.07, Z:-0.17 [[ 9.99543997e-01 -2.93945642e-02 -6.91067549e-03 2.61256457e+00] [ 2.93940793e-02 9.99567886e-01 -1.71738535e-04 6.93154776e-02] [ 6.91273747e-03 -3.14727219e-05 9.99976106e-01 -1.65203676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:0.07, Z:-0.16 [[ 9.99505258e-01 -3.06835937e-02 -6.91066480e-03 2.64121895e+00] [ 3.06831367e-02 9.99529147e-01 -1.72167770e-04 7.17240897e-02] [ 6.91269361e-03 -3.99582814e-05 9.99976106e-01 -1.63029364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.67, Y:0.07, Z:-0.16 [[ 9.99451401e-01 -3.23904188e-02 -6.91063575e-03 2.66924572e+00] [ 3.23899946e-02 9.99475291e-01 -1.73326003e-04 7.46823858e-02] [ 6.91262378e-03 -5.06045379e-05 9.99976106e-01 -1.63745192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:0.08, Z:-0.16 [[ 9.99439101e-01 -3.27677614e-02 -6.91060180e-03 2.69691407e+00] [ 3.27673369e-02 9.99462991e-01 -1.74669205e-04 7.57062551e-02] [ 6.91261426e-03 -5.18707838e-05 9.99976106e-01 -1.61718569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.72, Y:0.08, Z:-0.16 [[ 9.99449505e-01 -3.24489029e-02 -6.91056673e-03 2.72487783e+00] [ 3.24484613e-02 9.99473395e-01 -1.76045853e-04 7.74554515e-02] [ 6.91264008e-03 -4.82883162e-05 9.99976106e-01 -1.62355029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:0.08, Z:-0.16 [[ 9.99490541e-01 -3.11593208e-02 -6.91055580e-03 2.75345478e+00] [ 3.11588454e-02 9.99514430e-01 -1.76473708e-04 8.05781287e-02] [ 6.91269904e-03 -3.89411381e-05 9.99976106e-01 -1.64512987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:0.08, Z:-0.16 [[ 9.99505152e-01 -3.06870621e-02 -6.91052512e-03 2.78112717e+00] [ 3.06865672e-02 9.99529041e-01 -1.77667221e-04 8.24277152e-02] [ 6.91272262e-03 -3.44809907e-05 9.99976106e-01 -1.64737598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:0.08, Z:-0.16 [[ 9.99517687e-01 -3.02760240e-02 -6.91048931e-03 2.80917882e+00] [ 3.02755097e-02 9.99541576e-01 -1.79049111e-04 8.43391596e-02] [ 6.91274227e-03 -3.02558321e-05 9.99976106e-01 -1.64389110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.84, Y:0.09, Z:-0.16 [[ 9.99550631e-01 -2.91681615e-02 -6.91045299e-03 2.83652013e+00] [ 2.91676111e-02 9.99574518e-01 -1.80440293e-04 8.74690524e-02] [ 6.91277583e-03 -2.12021962e-05 9.99976106e-01 -1.64629900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:0.09, Z:-0.16 [[ 9.99556557e-01 -2.89643851e-02 -6.91042781e-03 2.86477865e+00] [ 2.89638231e-02 9.99580444e-01 -1.81399299e-04 8.91646403e-02] [ 6.91278262e-03 -1.88335499e-05 9.99976106e-01 -1.64678378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232640000000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.89, Y:0.09, Z:-0.17 [[ 9.99557498e-01 -2.89318973e-02 -6.91041664e-03 2.89253061e+00] [ 2.89313316e-02 9.99581385e-01 -1.81823808e-04 9.17348092e-02] [ 6.91278434e-03 -1.81842046e-05 9.99976106e-01 -1.66180879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:0.09, Z:-0.16 [[ 9.99550286e-01 -2.91800163e-02 -6.91038106e-03 2.92027853e+00] [ 2.91794473e-02 9.99574172e-01 -1.83166179e-04 9.35505749e-02] [ 6.91278322e-03 -1.85572937e-05 9.99976106e-01 -1.63813404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:0.10, Z:-0.16 [[ 9.99525147e-01 -3.00287897e-02 -6.91034401e-03 2.94955931e+00] [ 3.00282314e-02 9.99549034e-01 -1.84553338e-04 9.60879236e-02] [ 6.91276960e-03 -2.30397064e-05 9.99976106e-01 -1.63026942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:0.10, Z:-0.17 [[ 9.99488806e-01 -3.12149784e-02 -6.91031231e-03 2.97775738e+00] [ 3.12144403e-02 9.99512693e-01 -1.85732806e-04 9.73366363e-02] [ 6.91274252e-03 -3.00636712e-05 9.99976106e-01 -1.65420219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.01, Y:0.10, Z:-0.16 [[ 9.99356096e-01 -3.52085318e-02 -6.91030018e-03 3.00674233e+00] [ 3.52080860e-02 9.99379986e-01 -1.86183089e-04 9.96048243e-02] [ 6.91257093e-03 -5.72352381e-05 9.99976106e-01 -1.63068895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:0.10, Z:-0.16 [[ 9.99261248e-01 -3.78048536e-02 -6.91026848e-03 3.03487820e+00] [ 3.78044618e-02 9.99285138e-01 -1.87352315e-04 1.00757038e-01] [ 6.91241142e-03 -7.40250729e-05 9.99976106e-01 -1.64633785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:0.10, Z:-0.16 [[ 9.99146630e-01 -4.07217474e-02 -6.91025725e-03 3.06308166e+00] [ 4.07214225e-02 9.99170521e-01 -1.87765566e-04 1.01619370e-01] [ 6.91217148e-03 -9.37901731e-05 9.99976106e-01 -1.64507721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:0.10, Z:-0.16 [[ 9.98964194e-01 -4.49754223e-02 -6.91022101e-03 3.09103713e+00] [ 4.49751900e-02 9.98988086e-01 -1.89089930e-04 1.00304420e-01] [ 6.91173286e-03 -1.21894434e-04 9.99976106e-01 -1.61406543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:0.10, Z:-0.16 [[ 9.98910907e-01 -4.61437996e-02 -6.91018154e-03 3.11815367e+00] [ 4.61435854e-02 9.98934799e-01 -1.90521468e-04 9.99291809e-02] [ 6.91161220e-03 -1.28546580e-04 9.99976106e-01 -1.64783939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.10, Z:-0.16 [[ 9.98882746e-01 -4.67494327e-02 -6.91016436e-03 3.14674456e+00] [ 4.67492287e-02 9.98906639e-01 -1.91142782e-04 9.95286458e-02] [ 6.91154487e-03 -1.32115627e-04 9.99976106e-01 -1.63292275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:0.10, Z:-0.16 [[ 9.98935669e-01 -4.56045879e-02 -6.91013103e-03 3.17469665e+00] [ 4.56043482e-02 9.98959562e-01 -1.92340174e-04 9.81858156e-02] [ 6.91171306e-03 -1.22996561e-04 9.99976106e-01 -1.61708506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562640000000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:3.20, Y:0.10, Z:-0.16 [[ 9.98992522e-01 -4.43417664e-02 -6.91009138e-03 3.20284388e+00] [ 4.43414866e-02 9.99016414e-01 -1.93754140e-04 9.88697709e-02] [ 6.91188611e-03 -1.12844788e-04 9.99976106e-01 -1.62087680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:0.10, Z:-0.16 [[ 9.99084399e-01 -4.22210163e-02 -6.91005072e-03 3.22981602e+00] [ 4.22206759e-02 9.99108291e-01 -1.95193672e-04 9.90045307e-02] [ 6.91213024e-03 -9.67320597e-05 9.99976106e-01 -1.63408039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.26, Y:0.10, Z:-0.16 [[ 9.99272773e-01 -3.74990260e-02 -6.91003301e-03 3.25902463e+00] [ 3.74985684e-02 9.99296662e-01 -1.95818654e-04 9.97494850e-02] [ 6.91251593e-03 -6.34400960e-05 9.99976106e-01 -1.64208386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:0.10, Z:-0.16 [[ 9.99353465e-01 -3.52831918e-02 -6.90999742e-03 3.28699865e+00] [ 3.52826725e-02 9.99377353e-01 -1.97066568e-04 9.95758746e-02] [ 6.91264807e-03 -4.68640185e-05 9.99976106e-01 -1.64066982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.10, Z:-0.16 [[ 9.99412371e-01 -3.35732659e-02 -6.90998472e-03 3.31467809e+00] [ 3.35727027e-02 9.99436258e-01 -1.97510808e-04 9.92629545e-02] [ 6.91272036e-03 -3.45921177e-05 9.99976106e-01 -1.63109709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.10, Z:-0.16 [[ 9.99506186e-01 -3.06535026e-02 -6.90994455e-03 3.34265818e+00] [ 3.06528600e-02 9.99530071e-01 -1.98906158e-04 9.89257399e-02] [ 6.91279454e-03 -1.30016284e-05 9.99976106e-01 -1.62746775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.10, Z:-0.16 [[ 9.99542834e-01 -2.94342744e-02 -6.90993200e-03 3.37097625e+00] [ 2.94335996e-02 9.99566718e-01 -1.99341415e-04 9.96922023e-02] [ 6.91280552e-03 -4.13388865e-06 9.99976106e-01 -1.62012023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.10, Z:-0.16 [[ 9.99630914e-01 -2.62733535e-02 -6.90989142e-03 3.39852896e+00] [ 2.62725936e-02 9.99654796e-01 -2.00738348e-04 1.01259004e-01] [ 6.91278016e-03 1.91234896e-05 9.99976106e-01 -1.62313348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.10, Z:-0.16 [[ 9.99673432e-01 -2.46024801e-02 -6.90987883e-03 3.42748066e+00] [ 2.46016773e-02 9.99697313e-01 -2.01170532e-04 1.03108038e-01] [ 6.91273659e-03 3.11102266e-05 9.99976106e-01 -1.60923816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.11, Z:-0.16 [[ 9.99707816e-01 -2.31632751e-02 -6.90984357e-03 3.45546597e+00] [ 2.31624296e-02 9.99731694e-01 -2.02374706e-04 1.05396347e-01] [ 6.91267728e-03 4.22668100e-05 9.99976106e-01 -1.59584822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:0.11, Z:-0.16 [[ 9.99746541e-01 -2.14267994e-02 -6.90980172e-03 3.48229371e+00] [ 2.14259026e-02 9.99770418e-01 -2.03793534e-04 1.07176023e-01] [ 6.91258200e-03 5.56931423e-05 9.99976106e-01 -1.61124352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:0.11, Z:-0.16 [[ 9.99773629e-01 -2.01232717e-02 -6.90978348e-03 3.51060918e+00] [ 2.01223395e-02 9.99797504e-01 -2.04410204e-04 1.08584985e-01] [ 6.91249768e-03 6.53229230e-05 9.99976106e-01 -1.61121839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:0.11, Z:-0.16 [[ 9.99784069e-01 -1.95977032e-02 -6.90974244e-03 3.53965409e+00] [ 1.95967489e-02 9.99807944e-01 -2.05788240e-04 1.10057286e-01] [ 6.91244836e-03 7.03353162e-05 9.99976106e-01 -1.62299788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9526400000000015 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:0.11, Z:-0.16 [[ 9.99750426e-01 -2.12448125e-02 -6.90970608e-03 3.56756162e+00] [ 2.12438892e-02 9.99774302e-01 -2.07001814e-04 1.11255566e-01] [ 6.91254428e-03 6.01611211e-05 9.99976106e-01 -1.61821429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:0.11, Z:-0.16 [[ 9.99610772e-01 -2.70288883e-02 -6.90966371e-03 3.59479807e+00] [ 2.70280934e-02 9.99634653e-01 -2.08406588e-04 1.10269413e-01] [ 6.91277228e-03 2.15704342e-05 9.99976106e-01 -1.62952080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:0.11, Z:-0.16 [[ 9.99500356e-01 -3.08430647e-02 -6.90964521e-03 3.62304137e+00] [ 3.08423567e-02 9.99524239e-01 -2.09018252e-04 1.09646488e-01] [ 6.91280463e-03 -4.19592501e-06 9.99976106e-01 -1.63049503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.11, Z:-0.16 [[ 9.99364031e-01 -3.49827131e-02 -6.90962575e-03 3.65056622e+00] [ 3.49820996e-02 9.99387917e-01 -2.09659342e-04 1.08985286e-01] [ 6.91273094e-03 -3.21872113e-05 9.99976106e-01 -1.61902510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:0.11, Z:-0.16 [[ 9.99219308e-01 -3.88977049e-02 -6.90958414e-03 3.67813594e+00] [ 3.88971756e-02 9.99243196e-01 -2.11022012e-04 1.08226745e-01] [ 6.91256321e-03 -5.79060388e-05 9.99976106e-01 -1.61126105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.11, Z:-0.16 [[ 9.98994779e-01 -4.42909599e-02 -6.90957119e-03 3.70651121e+00] [ 4.42905566e-02 9.99018669e-01 -2.11445004e-04 1.06330122e-01] [ 6.91215572e-03 -9.47962993e-05 9.99976106e-01 -1.58361232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:0.11, Z:-0.16 [[ 9.98932553e-01 -4.56728970e-02 -6.90955161e-03 3.73485713e+00] [ 4.56725223e-02 9.98956443e-01 -2.12082849e-04 1.05621783e-01] [ 6.91202754e-03 -1.03720188e-04 9.99976106e-01 -1.57542837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.10, Z:-0.16 [[ 9.98898772e-01 -4.64058408e-02 -6.90953874e-03 3.76252611e+00] [ 4.64054808e-02 9.98922663e-01 -2.12501531e-04 1.04108648e-01] [ 6.91195615e-03 -1.08372949e-04 9.99976106e-01 -1.56834323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.79, Y:0.10, Z:-0.16 [[ 9.98915828e-01 -4.60372356e-02 -6.90949677e-03 3.79060223e+00] [ 4.60368574e-02 9.98939719e-01 -2.13857332e-04 1.01263765e-01] [ 6.91201617e-03 -1.04466044e-04 9.99976106e-01 -1.59280473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.10, Z:-0.16 [[ 9.98953039e-01 -4.52226161e-02 -6.90948371e-03 3.81942392e+00] [ 4.52222155e-02 9.98976929e-01 -2.14278742e-04 1.00430958e-01] [ 6.91210506e-03 -9.84077610e-05 9.99976106e-01 -1.55659454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.10, Z:-0.16 [[ 9.99027973e-01 -4.35358431e-02 -6.90944661e-03 3.84758628e+00] [ 4.35353939e-02 9.99051862e-01 -2.15468142e-04 9.98575080e-02] [ 6.91227609e-03 -8.55467792e-05 9.99976106e-01 -1.55117417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.10, Z:-0.15 [[ 9.99036761e-01 -4.33336987e-02 -6.90942654e-03 3.87567554e+00] [ 4.33332402e-02 9.99060651e-01 -2.16110017e-04 1.00235289e-01] [ 6.91230102e-03 -8.35059890e-05 9.99976106e-01 -1.54371940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.10, Z:-0.15 [[ 9.99047227e-01 -4.30917524e-02 -6.90938437e-03 3.90392439e+00] [ 4.30912790e-02 9.99071116e-01 -2.17449936e-04 9.96132107e-02] [ 6.91233665e-03 -8.04914541e-05 9.99976106e-01 -1.53503495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:0.10, Z:-0.15 [[ 9.99050724e-01 -4.30106125e-02 -6.90934073e-03 3.93143057e+00] [ 4.30101275e-02 9.99074612e-01 -2.18827650e-04 9.73422893e-02] [ 6.91235883e-03 -7.85517039e-05 9.99976106e-01 -1.54705937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:0.09, Z:-0.16 [[ 9.99014866e-01 -4.38355831e-02 -6.90932175e-03 3.96037785e+00] [ 4.38351137e-02 9.99038755e-01 -2.19425425e-04 9.16078588e-02] [ 6.91229884e-03 -8.36616434e-05 9.99976106e-01 -1.56290670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:0.09, Z:-0.16 [[ 9.98995867e-01 -4.42664601e-02 -6.90928334e-03 3.98812339e+00] [ 4.42659927e-02 9.99019756e-01 -2.20628168e-04 9.07495896e-02] [ 6.91227699e-03 -8.54396587e-05 9.99976106e-01 -1.60461952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432640000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.02, Y:0.09, Z:-0.16 [[ 9.98974415e-01 -4.47479550e-02 -6.90926971e-03 4.01669805e+00] [ 4.47474962e-02 9.98998305e-01 -2.21054330e-04 9.06418578e-02] [ 6.91224046e-03 -8.83449004e-05 9.99976106e-01 -1.62621997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.04, Y:0.09, Z:-0.17 [[ 9.98956687e-01 -4.51419949e-02 -6.90923155e-03 4.04475490e+00] [ 4.51415373e-02 9.98980576e-01 -2.22240535e-04 8.77959795e-02] [ 6.91222050e-03 -8.98846652e-05 9.99976106e-01 -1.65672094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.09, Z:-0.16 [[ 9.98987663e-01 -4.44512302e-02 -6.90921796e-03 4.07333817e+00] [ 4.44507532e-02 9.99011552e-01 -2.22662322e-04 8.67564963e-02] [ 6.91228617e-03 -8.46830298e-05 9.99976106e-01 -1.61852194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:0.09, Z:-0.16 [[ 9.99057672e-01 -4.28489331e-02 -6.90918074e-03 4.10266423e+00] [ 4.28484098e-02 9.99081560e-01 -2.23811381e-04 8.59188231e-02] [ 6.91242515e-03 -7.24469307e-05 9.99976106e-01 -1.58958177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:0.09, Z:-0.16 [[ 9.99049202e-01 -4.30459644e-02 -6.90914210e-03 4.13113600e+00] [ 4.30454377e-02 9.99073090e-01 -2.24997945e-04 8.70386271e-02] [ 6.91242320e-03 -7.26230276e-05 9.99976106e-01 -1.58761289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.16, Y:0.08, Z:-0.16 [[ 9.99269415e-01 -3.75885751e-02 -6.90909746e-03 4.15886842e+00] [ 3.75879084e-02 9.99293299e-01 -2.26360520e-04 8.38470978e-02] [ 6.91272336e-03 -3.35033783e-05 9.99976106e-01 -1.55677951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.19, Y:0.08, Z:-0.16 [[ 9.99405307e-01 -3.37830988e-02 -6.90908358e-03 4.18666815e+00] [ 3.37823383e-02 9.99429188e-01 -2.26783359e-04 8.33377987e-02] [ 6.91280124e-03 -6.75650565e-06 9.99976106e-01 -1.57076078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.22, Y:0.09, Z:-0.16 [[ 9.99639293e-01 -2.59528166e-02 -6.90903957e-03 4.21543627e+00] [ 2.59518598e-02 9.99663168e-01 -2.28116361e-04 8.54495729e-02] [ 6.91263264e-03 4.87316511e-05 9.99976106e-01 -1.56315078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:0.09, Z:-0.16 [[ 9.99724906e-01 -2.24137822e-02 -6.90900051e-03 4.24398806e+00] [ 2.24127328e-02 9.99748777e-01 -2.29293339e-04 8.79338789e-02] [ 6.91240414e-03 7.43806801e-05 9.99976106e-01 -1.57768209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.09, Z:-0.16 [[ 9.99788066e-01 -1.93929990e-02 -6.90896083e-03 4.27230628e+00] [ 1.93918692e-02 9.99811933e-01 -2.30482656e-04 8.98695293e-02] [ 6.91213124e-03 9.64561446e-05 9.99976106e-01 -1.60504454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:0.09, Z:-0.16 [[ 9.99873539e-01 -1.43238626e-02 -6.90892133e-03 4.29975472e+00] [ 1.43226037e-02 9.99897399e-01 -2.31660535e-04 9.25691636e-02] [ 6.91153075e-03 1.32677497e-04 9.99976106e-01 -1.59835210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:0.10, Z:-0.16 [[ 9.99895514e-01 -1.26976094e-02 -6.90887623e-03 4.32808584e+00] [ 1.26963025e-02 9.99919372e-01 -2.32997879e-04 9.55371894e-02] [ 6.91127770e-03 1.45256351e-04 9.99976106e-01 -1.57773858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:0.10, Z:-0.16 [[ 9.99911473e-01 -1.13716070e-02 -6.90882951e-03 4.35610297e+00] [ 1.13702589e-02 9.99935329e-01 -2.34375251e-04 9.90509959e-02] [ 6.91104793e-03 1.55799322e-04 9.99976106e-01 -1.58928882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:0.10, Z:-0.16 [[ 9.99921676e-01 -1.04360292e-02 -6.90881506e-03 4.38405998e+00] [ 1.04346558e-02 9.99945530e-01 -2.34800336e-04 1.01977513e-01] [ 6.91088912e-03 1.62690838e-04 9.99976106e-01 -1.57875799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.41, Y:0.11, Z:-0.15 [[ 9.99922529e-01 -1.03539300e-02 -6.90880142e-03 4.41275888e+00] [ 1.03525519e-02 9.99946383e-01 -2.35200941e-04 1.05836809e-01] [ 6.91086625e-03 1.63658994e-04 9.99976106e-01 -1.54368622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.44, Y:0.11, Z:-0.16 [[ 9.99920719e-01 -1.05272874e-02 -6.90876164e-03 4.44061413e+00] [ 1.05259054e-02 9.99944573e-01 -2.36363825e-04 1.08874623e-01] [ 6.91086698e-03 1.63624114e-04 9.99976106e-01 -1.55586769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:0.12, Z:-0.15 [[ 9.99913656e-01 -1.11780486e-02 -6.90874751e-03 4.46866406e+00] [ 1.11766793e-02 9.99937511e-01 -2.36776000e-04 1.15509512e-01] [ 6.91096248e-03 1.59538700e-04 9.99976106e-01 -1.49838940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:0.12, Z:-0.15 [[ 9.99908132e-01 -1.16617735e-02 -6.90873289e-03 4.49599941e+00] [ 1.16604128e-02 9.99931987e-01 -2.37201757e-04 1.19111806e-01] [ 6.91102920e-03 1.56621288e-04 9.99976106e-01 -1.50200559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:0.12, Z:-0.15 [[ 9.99896508e-01 -1.26191564e-02 -6.90871825e-03 4.52371837e+00] [ 1.26178156e-02 9.99920364e-01 -2.37627514e-04 1.22722177e-01] [ 6.91116673e-03 1.50429988e-04 9.99976106e-01 -1.48036571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:0.13, Z:-0.15 [[ 9.99865435e-01 -1.48789312e-02 -6.90867146e-03 4.55174133e+00] [ 1.48776349e-02 9.99889293e-01 -2.38980048e-04 1.28931310e-01] [ 6.91146240e-03 1.36163198e-04 9.99976106e-01 -1.49190201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:0.13, Z:-0.15 [[ 9.99842470e-01 -1.63494852e-02 -6.90865693e-03 4.57917372e+00] [ 1.63482212e-02 9.99866330e-01 -2.39399453e-04 1.32262390e-01] [ 6.91164751e-03 1.26417489e-04 9.99976106e-01 -1.50300105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:4.61, Y:0.14, Z:-0.15 [[ 9.99812004e-01 -1.81170491e-02 -6.90863527e-03 4.60742146e+00] [ 1.81158230e-02 9.99835866e-01 -2.40022808e-04 1.35769183e-01] [ 6.91184984e-03 1.14822071e-04 9.99976106e-01 -1.54565887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:0.14, Z:-0.15 [[ 9.99770573e-01 -2.02749405e-02 -6.90859496e-03 4.63502501e+00] [ 2.02737579e-02 9.99794437e-01 -2.41177531e-04 1.38046085e-01] [ 6.91206467e-03 1.01059017e-04 9.99976106e-01 -1.54114953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:0.14, Z:-0.16 [[ 9.99650734e-01 -2.55084545e-02 -6.90858064e-03 4.66345004e+00] [ 2.55073940e-02 9.99674604e-01 -2.41587055e-04 1.40356186e-01] [ 6.91249513e-03 6.52827885e-05 9.99976106e-01 -1.55812816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.69, Y:0.14, Z:-0.16 [[ 9.99588341e-01 -2.78463742e-02 -6.90854005e-03 4.69180775e+00] [ 2.78453616e-02 9.99612213e-01 -2.42742298e-04 1.42140491e-01] [ 6.91262050e-03 5.02715755e-05 9.99976106e-01 -1.57152716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:0.15, Z:-0.16 [[ 9.99490126e-01 -3.11730930e-02 -6.90849262e-03 4.71941307e+00] [ 3.11721505e-02 9.99514001e-01 -2.44084759e-04 1.46486326e-01] [ 6.91274397e-03 2.86077340e-05 9.99976106e-01 -1.56147520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:0.15, Z:-0.16 [[ 9.99459683e-01 -3.21343379e-02 -6.90847793e-03 4.74714723e+00] [ 3.21334155e-02 9.99483559e-01 -2.44499917e-04 1.50316607e-01] [ 6.91276695e-03 2.23748175e-05 9.99976106e-01 -1.56375528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.78, Y:0.15, Z:-0.16 [[ 9.99447289e-01 -3.25175448e-02 -6.90843152e-03 4.77571498e+00] [ 3.25166225e-02 9.99471165e-01 -2.45804184e-04 1.53693248e-01] [ 6.91277105e-03 2.10294650e-05 9.99976106e-01 -1.57353843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:0.15, Z:-0.15 [[ 9.99424436e-01 -3.32125205e-02 -6.90838990e-03 4.80408473e+00] [ 3.32116068e-02 9.99448312e-01 -2.46968430e-04 1.53631672e-01] [ 6.91278107e-03 1.73875543e-05 9.99976106e-01 -1.52994705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:0.15, Z:-0.15 [[ 9.99405979e-01 -3.37633598e-02 -6.90834682e-03 4.83221783e+00] [ 3.37624510e-02 9.99429855e-01 -2.48167781e-04 1.53903112e-01] [ 6.91278704e-03 1.47776427e-05 9.99976106e-01 -1.51770363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:0.15, Z:-0.15 [[ 9.99388439e-01 -3.42786235e-02 -6.90829715e-03 4.85909268e+00] [ 3.42777175e-02 9.99412315e-01 -2.49542669e-04 1.54366411e-01] [ 6.91279123e-03 1.25894001e-05 9.99976106e-01 -1.51988313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.89, Y:0.16, Z:-0.15 [[ 9.99351493e-01 -3.53393296e-02 -6.90827553e-03 4.88758218e+00] [ 3.53384448e-02 9.99375371e-01 -2.50139830e-04 1.55675308e-01] [ 6.91280019e-03 5.84989938e-06 9.99976106e-01 -1.52032819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.16, Z:-0.15 [[ 9.99347170e-01 -3.54613974e-02 -6.90823200e-03 4.91531524e+00] [ 3.54605072e-02 9.99371047e-01 -2.51336331e-04 1.57131378e-01] [ 6.91279978e-03 6.20284014e-06 9.99976106e-01 -1.50350348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:0.16, Z:-0.15 [[ 9.99357504e-01 -3.51689761e-02 -6.90818164e-03 4.94263313e+00] [ 3.51680694e-02 9.99381380e-01 -2.52712984e-04 1.58437594e-01] [ 6.91279576e-03 9.60320552e-06 9.99976106e-01 -1.52411921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:0.16, Z:-0.15 [[ 9.99371277e-01 -3.47753830e-02 -6.90815971e-03 4.97056432e+00] [ 3.47744628e-02 9.99395153e-01 -2.53310874e-04 1.58157498e-01] [ 6.91279032e-03 1.29240688e-05 9.99976106e-01 -1.51173266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:0.16, Z:-0.15 [[ 9.99382621e-01 -3.44478605e-02 -6.90810960e-03 4.99850817e+00] [ 3.44469231e-02 9.99406496e-01 -2.54670224e-04 1.57951168e-01] [ 6.91278246e-03 1.65498753e-05 9.99976106e-01 -1.50476262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:0.16, Z:-0.15 [[ 9.99399336e-01 -3.39594838e-02 -6.90805857e-03 5.02540467e+00] [ 3.39585252e-02 9.99423210e-01 -2.56047093e-04 1.57574569e-01] [ 6.91276930e-03 2.13058139e-05 9.99976106e-01 -1.51101913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:0.16, Z:-0.15 [[ 9.99404233e-01 -3.38150492e-02 -6.90803632e-03 5.05411041e+00] [ 3.38140830e-02 9.99428107e-01 -2.56645929e-04 1.57773835e-01] [ 6.91276416e-03 2.29041143e-05 9.99976106e-01 -1.50597237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.08, Y:0.16, Z:-0.15 [[ 9.99437623e-01 -3.28133662e-02 -6.90799156e-03 5.08239618e+00] [ 3.28123678e-02 9.99461496e-01 -2.57845218e-04 1.58081263e-01] [ 6.91273234e-03 3.10326525e-05 9.99976106e-01 -1.52962750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:0.16, Z:-0.15 [[ 9.99436068e-01 -3.28606946e-02 -6.90797563e-03 5.11077843e+00] [ 3.28596943e-02 9.99459941e-01 -2.58271301e-04 1.59084383e-01] [ 6.91273189e-03 3.11316857e-05 9.99976106e-01 -1.48456264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:0.16, Z:-0.15 [[ 9.99444570e-01 -3.26011052e-02 -6.90792466e-03 5.13905000e+00] [ 3.26000894e-02 9.99468442e-01 -2.59627314e-04 1.60046780e-01] [ 6.91271684e-03 3.42841475e-05 9.99976106e-01 -1.48345665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.17, Y:0.16, Z:-0.15 [[ 9.99468719e-01 -3.18521766e-02 -6.90787346e-03 5.16676728e+00] [ 3.18511336e-02 9.99492590e-01 -2.60982564e-04 1.60455939e-01] [ 6.91268120e-03 4.08203082e-05 9.99976106e-01 -1.47936010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:0.16, Z:-0.15 [[ 9.99484774e-01 -3.13443427e-02 -6.90781955e-03 5.19358486e+00] [ 3.13432777e-02 9.99508644e-01 -2.62401866e-04 1.60178085e-01] [ 6.91265016e-03 4.57529631e-05 9.99976106e-01 -1.46622994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:0.16, Z:-0.15 [[ 9.99526092e-01 -2.99978827e-02 -6.90779613e-03 5.22045141e+00] [ 2.99967814e-02 9.99549961e-01 -2.63016931e-04 1.60352104e-01] [ 6.91257730e-03 5.56806355e-05 9.99976106e-01 -1.47238996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:0.16, Z:-0.15 [[ 9.99547592e-01 -2.92727542e-02 -6.90776028e-03 5.24692472e+00] [ 2.92716290e-02 9.99571459e-01 -2.63955015e-04 1.62150401e-01] [ 6.91252671e-03 6.16342035e-05 9.99976106e-01 -1.47695927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:0.16, Z:-0.15 [[ 9.99564273e-01 -2.86975303e-02 -6.90773787e-03 5.27459697e+00] [ 2.86963874e-02 9.99588139e-01 -2.64540156e-04 1.64517616e-01] [ 6.91248449e-03 6.61977666e-05 9.99976106e-01 -1.47348905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.17, Z:-0.15 [[ 9.99586328e-01 -2.79187507e-02 -6.90768616e-03 5.30284126e+00] [ 2.79175798e-02 9.99610193e-01 -2.65883706e-04 1.66573805e-01] [ 6.91241663e-03 7.29278377e-05 9.99976106e-01 -1.47802920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:0.17, Z:-0.15 [[ 9.99578486e-01 -2.81981382e-02 -6.90767007e-03 5.33030770e+00] [ 2.81969711e-02 9.99602351e-01 -2.66301144e-04 1.68298914e-01] [ 6.91243243e-03 7.14135207e-05 9.99976106e-01 -1.46528995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.36, Y:0.17, Z:-0.15 [[ 9.99559290e-01 -2.88706003e-02 -6.90761873e-03 5.35877232e+00] [ 2.88694402e-02 9.99583155e-01 -2.67626222e-04 1.70868653e-01] [ 6.91246585e-03 6.80891904e-05 9.99976106e-01 -1.47014241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.39, Y:0.17, Z:-0.15 [[ 9.99476962e-01 -3.15925295e-02 -6.90757233e-03 5.38671719e+00] [ 3.15914261e-02 9.99500830e-01 -2.68818474e-04 1.72468245e-01] [ 6.91261693e-03 5.04578111e-05 9.99976106e-01 -1.46471106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.41, Y:0.17, Z:-0.14 [[ 9.99414465e-01 -3.35113863e-02 -6.90755587e-03 5.41371819e+00] [ 3.35103258e-02 9.99438335e-01 -2.69240825e-04 1.71893556e-01] [ 6.91269877e-03 3.76087274e-05 9.99976106e-01 -1.44153604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:0.17, Z:-0.15 [[ 9.99344646e-01 -3.55325849e-02 -6.90753294e-03 5.44047646e+00] [ 3.55315686e-02 9.99368518e-01 -2.69827744e-04 1.72073871e-01] [ 6.91275863e-03 2.42154306e-05 9.99976106e-01 -1.45063298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:0.17, Z:-0.14 [[ 9.99270110e-01 -3.75703682e-02 -6.90751005e-03 5.46880631e+00] [ 3.75693966e-02 9.99293984e-01 -2.70412492e-04 1.73253104e-01] [ 6.91279274e-03 1.07041362e-05 9.99976106e-01 -1.43124598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:0.18, Z:-0.14 [[ 9.99131336e-01 -4.10957359e-02 -6.90745606e-03 5.49655823e+00] [ 4.10948390e-02 9.99155213e-01 -2.71784605e-04 1.75141346e-01] [ 6.91278992e-03 -1.23122796e-05 9.99976106e-01 -1.44066133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:0.18, Z:-0.15 [[ 9.99058011e-01 -4.28413148e-02 -6.90740204e-03 5.52566217e+00] [ 4.28404502e-02 9.99081889e-01 -2.73150704e-04 1.76536738e-01] [ 6.91276241e-03 -2.30228137e-05 9.99976106e-01 -1.45472817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.55, Y:0.18, Z:-0.15 [[ 9.98993382e-01 -4.43228173e-02 -6.90735478e-03 5.55406391e+00] [ 4.43219799e-02 9.99017261e-01 -2.74340677e-04 1.77966399e-01] [ 6.91272620e-03 -3.20831192e-05 9.99976106e-01 -1.47758667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:0.18, Z:-0.15 [[ 9.98934854e-01 -4.56228823e-02 -6.90729994e-03 5.58234090e+00] [ 4.56220664e-02 9.98958733e-01 -2.75714400e-04 1.77967555e-01] [ 6.91268649e-03 -3.97045732e-05 9.99976106e-01 -1.47451478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:0.18, Z:-0.15 [[ 9.98824889e-01 -4.79700918e-02 -6.90728285e-03 5.61068388e+00] [ 4.79693291e-02 9.98848771e-01 -2.76141927e-04 1.76604651e-01] [ 6.91257754e-03 -5.55202952e-05 9.99976106e-01 -1.46339849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.64, Y:0.18, Z:-0.15 [[ 9.98779135e-01 -4.89134979e-02 -6.90722846e-03 5.63831845e+00] [ 4.89127484e-02 9.98803017e-01 -2.77495781e-04 1.77692729e-01] [ 6.91253391e-03 -6.06945314e-05 9.99976106e-01 -1.49885802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:0.18, Z:-0.15 [[ 9.98734488e-01 -4.98167934e-02 -6.90721153e-03 5.66574142e+00] [ 4.98160626e-02 9.98758371e-01 -2.77916660e-04 1.78329589e-01] [ 6.91248024e-03 -6.65251286e-05 9.99976106e-01 -1.46836823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:0.18, Z:-0.15 [[ 9.98737371e-01 -4.97589708e-02 -6.90717445e-03 5.69416819e+00] [ 4.97582323e-02 9.98761253e-01 -2.78834977e-04 1.78699967e-01] [ 6.91249275e-03 -6.52058794e-05 9.99976106e-01 -1.45362562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262640000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.72, Y:0.18, Z:-0.15 [[ 9.98766963e-01 -4.91614261e-02 -6.90711958e-03 5.72209961e+00] [ 4.91606639e-02 9.98790844e-01 -2.80187776e-04 1.79047309e-01] [ 6.91254222e-03 -5.97162901e-05 9.99976106e-01 -1.47306622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.75, Y:0.18, Z:-0.15 [[ 9.98904577e-01 -4.62810795e-02 -6.90706342e-03 5.74990325e+00] [ 4.62802389e-02 9.98928456e-01 -2.81565277e-04 1.79641010e-01] [ 6.91269335e-03 -3.84037015e-05 9.99976106e-01 -1.45755019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:0.18, Z:-0.14 [[ 9.98968112e-01 -4.48887951e-02 -6.90701018e-03 5.77749988e+00] [ 4.48879123e-02 9.98991990e-01 -2.82865499e-04 1.81315951e-01] [ 6.91274533e-03 -2.74676539e-05 9.99976106e-01 -1.43626264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:0.18, Z:-0.14 [[ 9.99028505e-01 -4.35240238e-02 -6.90695301e-03 5.80571778e+00] [ 4.35230988e-02 9.99052381e-01 -2.84254640e-04 1.82225189e-01] [ 6.91277975e-03 -1.66335095e-05 9.99976106e-01 -1.43421355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:0.18, Z:-0.14 [[ 9.99110734e-01 -4.15936872e-02 -6.90693532e-03 5.83455810e+00] [ 4.15927130e-02 9.99134608e-01 -2.84683769e-04 1.82611751e-01] [ 6.91279916e-03 -2.84756889e-06 9.99976106e-01 -1.44119610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:0.18, Z:-0.15 [[ 9.99142491e-01 -4.08237425e-02 -6.90688546e-03 5.86231401e+00] [ 4.08227417e-02 9.99166364e-01 -2.85888193e-04 1.84232093e-01] [ 6.91279866e-03 3.68504077e-06 9.99976106e-01 -1.48279908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:0.19, Z:-0.15 [[ 9.99155211e-01 -4.05112226e-02 -6.90686773e-03 5.89091614e+00] [ 4.05102113e-02 9.99179083e-01 -2.86315974e-04 1.86397977e-01] [ 6.91279678e-03 6.27542641e-06 9.99976106e-01 -1.48780260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:0.19, Z:-0.15 [[ 9.99147216e-01 -4.07079368e-02 -6.90681833e-03 5.91937084e+00] [ 4.07069220e-02 9.99171088e-01 -2.87502878e-04 1.87775236e-01] [ 6.91279683e-03 6.10238512e-06 9.99976106e-01 -1.48583382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.19, Z:-0.15 [[ 9.99141481e-01 -4.08484673e-02 -6.90676145e-03 5.94804856e+00] [ 4.08474464e-02 9.99165353e-01 -2.88862665e-04 1.89614039e-01] [ 6.91279634e-03 6.49110237e-06 9.99976106e-01 -1.50606716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.19, Z:-0.15 [[ 9.99129097e-01 -4.11502620e-02 -6.90671076e-03 5.97668001e+00] [ 4.11492401e-02 9.99152969e-01 -2.90069737e-04 1.90378185e-01] [ 6.91279701e-03 5.61121542e-06 9.99976106e-01 -1.53080785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:0.19, Z:-0.15 [[ 9.99130625e-01 -4.11131691e-02 -6.90666002e-03 6.00450985e+00] [ 4.11121379e-02 9.99154496e-01 -2.91272787e-04 1.91124060e-01] [ 6.91279556e-03 7.07200282e-06 9.99976106e-01 -1.54551022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:0.19, Z:-0.15 [[ 9.99122901e-01 -4.13004427e-02 -6.90664193e-03 6.03292224e+00] [ 4.12994131e-02 9.99146773e-01 -2.91701085e-04 1.92469821e-01] [ 6.91279638e-03 6.20497595e-06 9.99976106e-01 -1.51406174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.19, Z:-0.15 [[ 9.99108684e-01 -4.16429647e-02 -6.90659138e-03 6.06201015e+00] [ 4.16419349e-02 9.99132556e-01 -2.92893168e-04 1.93645378e-01] [ 6.91279724e-03 5.02827833e-06 9.99976106e-01 -1.47097552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.20, Z:-0.15 [[ 9.99098109e-01 -4.18959289e-02 -6.90654053e-03 6.09011965e+00] [ 4.18948969e-02 9.99121980e-01 -2.94087305e-04 1.95427174e-01] [ 6.91279751e-03 4.47326620e-06 9.99976106e-01 -1.45781194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.20, Z:-0.14 [[ 9.99086705e-01 -4.21669900e-02 -6.90652249e-03 6.11860141e+00] [ 4.21659616e-02 9.99110577e-01 -2.94510506e-04 1.97848291e-01] [ 6.91279829e-03 3.02136862e-06 9.99976106e-01 -1.43756556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.15, Y:0.20, Z:-0.14 [[ 9.99081532e-01 -4.22894059e-02 -6.90647129e-03 6.14639965e+00] [ 4.22883721e-02 9.99105403e-01 -2.95706320e-04 2.00081510e-01] [ 6.91279802e-03 3.37129531e-06 9.99976106e-01 -1.44236070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:0.20, Z:-0.14 [[ 9.99112515e-01 -4.15509760e-02 -6.90645311e-03 6.17442604e+00] [ 4.15499217e-02 9.99136385e-01 -2.96130311e-04 1.99822696e-01] [ 6.91279310e-03 8.90491328e-06 9.99976106e-01 -1.40694580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.20, Z:-0.14 [[ 9.99155552e-01 -4.05028986e-02 -6.90639415e-03 6.20141265e+00] [ 4.05018098e-02 9.99179421e-01 -2.97499033e-04 2.00091137e-01] [ 6.91277648e-03 1.75263480e-05 9.99976106e-01 -1.40235831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:0.20, Z:-0.14 [[ 9.99205699e-01 -3.92463125e-02 -6.90636846e-03 6.22869426e+00] [ 3.92451896e-02 9.99229566e-01 -2.98094303e-04 2.01375693e-01] [ 6.91274666e-03 2.68157874e-05 9.99976106e-01 -1.39533128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:0.21, Z:-0.14 [[ 9.99333517e-01 -3.58444435e-02 -6.90633829e-03 6.25582546e+00] [ 3.58432345e-02 9.99357380e-01 -2.98791656e-04 2.06628598e-01] [ 6.91261016e-03 5.10470137e-05 9.99976106e-01 -1.40047323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:0.21, Z:-0.14 [[ 9.99401353e-01 -3.39004194e-02 -6.90631318e-03 6.28427546e+00] [ 3.38991600e-02 9.99425213e-01 -2.99370950e-04 2.09250327e-01] [ 6.91249232e-03 6.50735175e-05 9.99976106e-01 -1.40126324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:0.21, Z:-0.14 [[ 9.99459563e-01 -3.21385446e-02 -6.90626174e-03 6.31311496e+00] [ 3.21372350e-02 9.99483420e-01 -3.00552957e-04 2.11392120e-01] [ 6.91235344e-03 7.84423702e-05 9.99976106e-01 -1.39468318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:0.22, Z:-0.14 [[ 9.99587089e-01 -2.78918430e-02 -6.90620856e-03 6.34026672e+00] [ 2.78904236e-02 9.99610941e-01 -3.01769808e-04 2.16361218e-01] [ 6.91193856e-03 1.09028122e-04 9.99976106e-01 -1.40184428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:0.22, Z:-0.14 [[ 9.99640619e-01 -2.59024760e-02 -6.90618218e-03 6.36904651e+00] [ 2.59010050e-02 9.99664467e-01 -3.02372475e-04 2.19790407e-01] [ 6.91169712e-03 1.23386749e-04 9.99976106e-01 -1.41080604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:0.22, Z:-0.14 [[ 9.99681561e-01 -2.42710073e-02 -6.90612983e-03 6.39695226e+00] [ 2.42694891e-02 9.99705406e-01 -3.03563356e-04 2.22356698e-01] [ 6.91146312e-03 1.35858447e-04 9.99976106e-01 -1.43974983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.23, Z:-0.14 [[ 9.99727281e-01 -2.23084838e-02 -6.90611127e-03 6.42476850e+00] [ 2.23069159e-02 9.99751124e-01 -3.03985103e-04 2.27024464e-01] [ 6.91117395e-03 1.49848158e-04 9.99976106e-01 -1.43569572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:0.23, Z:-0.14 [[ 9.99732115e-01 -2.20908076e-02 -6.90605285e-03 6.45294303e+00] [ 2.20892254e-02 9.99755957e-01 -3.05306572e-04 2.31698693e-01] [ 6.91111194e-03 1.52675427e-04 9.99976106e-01 -1.43437469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.48, Y:0.24, Z:-0.15 [[ 9.99726975e-01 -2.23222331e-02 -6.90599351e-03 6.48035550e+00] [ 2.23206472e-02 9.99750816e-01 -3.06642904e-04 2.36020321e-01] [ 6.91111761e-03 1.52412938e-04 9.99976106e-01 -1.45562602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:0.24, Z:-0.14 [[ 9.99702746e-01 -2.33822003e-02 -6.90593403e-03 6.50845359e+00] [ 2.33806304e-02 9.99726588e-01 -3.07976761e-04 2.38899305e-01] [ 6.91124704e-03 1.46420122e-04 9.99976106e-01 -1.42061885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.54, Y:0.24, Z:-0.14 [[ 9.99637435e-01 -2.60251152e-02 -6.90587275e-03 6.53577216e+00] [ 2.60235990e-02 9.99661281e-01 -3.09344667e-04 2.44670029e-01] [ 6.91158433e-03 1.29516846e-04 9.99976106e-01 -1.42703828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:0.25, Z:-0.14 [[ 9.99581348e-01 -2.80969251e-02 -6.90585370e-03 6.56325300e+00] [ 2.80954553e-02 9.99605197e-01 -3.09769447e-04 2.48573363e-01] [ 6.91183081e-03 1.15616658e-04 9.99976106e-01 -1.39329993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:0.25, Z:-0.14 [[ 9.99459834e-01 -3.21302037e-02 -6.90579289e-03 6.59205406e+00] [ 3.21288209e-02 9.99483688e-01 -3.11119230e-04 2.53878696e-01] [ 6.91222367e-03 8.90761917e-05 9.99976106e-01 -1.37579860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:6.62, Y:0.26, Z:-0.14 [[ 9.99408878e-01 -3.36779775e-02 -6.90573791e-03 6.61954181e+00] [ 3.36766232e-02 9.99432733e-01 -3.12334830e-04 2.57761780e-01] [ 6.91233932e-03 7.95882690e-05 9.99976106e-01 -1.40265360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:0.26, Z:-0.14 [[ 9.99347165e-01 -3.54620327e-02 -6.90571831e-03 6.64776833e+00] [ 3.54607180e-02 9.99371022e-01 -3.12767581e-04 2.61643836e-01] [ 6.91246614e-03 6.76816660e-05 9.99976106e-01 -1.36922776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:0.27, Z:-0.14 [[ 9.99296808e-01 -3.68537944e-02 -6.90565624e-03 6.67554933e+00] [ 3.68525035e-02 9.99320666e-01 -3.14132046e-04 2.65490762e-01] [ 6.91254195e-03 5.94204306e-05 9.99976106e-01 -1.37336711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:0.27, Z:-0.14 [[ 9.99198243e-01 -3.94358040e-02 -6.90563700e-03 6.70350758e+00] [ 3.94345718e-02 9.99222105e-01 -3.14554402e-04 2.69618198e-01] [ 6.91266985e-03 4.19813676e-05 9.99976106e-01 -1.39047591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:0.27, Z:-0.14 [[ 9.99139729e-01 -4.08914918e-02 -6.90561809e-03 6.73272038e+00] [ 4.08902915e-02 9.99163593e-01 -3.14969153e-04 2.72426950e-01] [ 6.91272173e-03 3.23254578e-05 9.99976106e-01 -1.37984763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:0.28, Z:-0.14 [[ 9.99090773e-01 -4.20706466e-02 -6.90558810e-03 6.75997884e+00] [ 4.20694700e-02 9.99114638e-01 -3.15625296e-04 2.75264202e-01] [ 6.91275271e-03 2.48238905e-05 9.99976106e-01 -1.39219437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:0.28, Z:-0.14 [[ 9.99043271e-01 -4.31839837e-02 -6.90554340e-03 6.78758050e+00] [ 4.31828270e-02 9.99067136e-01 -3.16600231e-04 2.77748163e-01] [ 6.91277353e-03 1.80964450e-05 9.99976106e-01 -1.39371646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:0.28, Z:-0.14 [[ 9.98982513e-01 -4.45674094e-02 -6.90548320e-03 6.81565686e+00] [ 4.45662766e-02 9.99006379e-01 -3.17907911e-04 2.81095032e-01] [ 6.91279010e-03 9.83276936e-06 9.99976106e-01 -1.40565148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:0.28, Z:-0.14 [[ 9.98965689e-01 -4.49429211e-02 -6.90546450e-03 6.84475703e+00] [ 4.49417945e-02 9.98989556e-01 -3.18313603e-04 2.84894826e-01] [ 6.91279286e-03 7.64040099e-06 9.99976106e-01 -1.38859133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:0.29, Z:-0.14 [[ 9.98981931e-01 -4.45804536e-02 -6.90541136e-03 6.87215705e+00] [ 4.45793104e-02 9.99005797e-01 -3.19462208e-04 2.88698276e-01] [ 6.91278775e-03 1.12984970e-05 9.99976106e-01 -1.38500326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:0.29, Z:-0.14 [[ 9.98989028e-01 -4.44211497e-02 -6.90534926e-03 6.89864183e+00] [ 4.44199935e-02 9.99012893e-01 -3.20798869e-04 2.90100329e-01] [ 6.91278320e-03 1.37389810e-05 9.99976106e-01 -1.38708330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:0.29, Z:-0.14 [[ 9.99005465e-01 -4.40499389e-02 -6.90532219e-03 6.92544444e+00] [ 4.40487698e-02 9.99029330e-01 -3.21380578e-04 2.92486864e-01] [ 6.91277619e-03 1.68900067e-05 9.99976106e-01 -1.39285579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:0.30, Z:-0.14 [[ 9.99036417e-01 -4.33422901e-02 -6.90527948e-03 6.95372945e+00] [ 4.33410977e-02 9.99060281e-01 -3.22295565e-04 2.96216577e-01] [ 6.91275949e-03 2.27026135e-05 9.99976106e-01 -1.37653848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:0.30, Z:-0.14 [[ 9.99045016e-01 -4.31436533e-02 -6.90521755e-03 6.98147086e+00] [ 4.31424471e-02 9.99068879e-01 -3.23617095e-04 3.00779900e-01] [ 6.91274998e-03 2.54000630e-05 9.99976106e-01 -1.35749209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:0.31, Z:-0.13 [[ 9.99039957e-01 -4.32606491e-02 -6.90515327e-03 7.00965230e+00] [ 4.32594362e-02 9.99063820e-01 -3.24982749e-04 3.05802687e-01] [ 6.91274777e-03 2.59577141e-05 9.99976106e-01 -1.33021628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:0.31, Z:-0.13 [[ 9.99003281e-01 -4.40994698e-02 -6.90509561e-03 7.03751148e+00] [ 4.40982685e-02 9.99027145e-01 -3.26203315e-04 3.07718090e-01] [ 6.91276335e-03 2.13754217e-05 9.99976106e-01 -1.33140538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:0.31, Z:-0.13 [[ 9.98943043e-01 -4.54435628e-02 -6.90507524e-03 7.06418422e+00] [ 4.54423906e-02 9.98966908e-01 -3.26633963e-04 3.09297157e-01] [ 6.91278507e-03 1.25055989e-05 9.99976106e-01 -1.34173354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.09, Y:0.31, Z:-0.14 [[ 9.98782779e-01 -4.88393321e-02 -6.90504704e-03 7.09236013e+00] [ 4.88382369e-02 9.98806648e-01 -3.27229120e-04 3.10487989e-01] [ 6.91278854e-03 -1.03995135e-05 9.99976106e-01 -1.38672026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:0.31, Z:-0.14 [[ 9.98660967e-01 -5.12698145e-02 -6.90502732e-03 7.12018742e+00] [ 5.12687745e-02 9.98684838e-01 -3.27644716e-04 3.11042475e-01] [ 6.91274437e-03 -2.68062998e-05 9.99976106e-01 -1.35042695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:0.31, Z:-0.14 [[ 9.98529888e-01 -5.37622948e-02 -6.90496150e-03 7.14836170e+00] [ 5.37613049e-02 9.98553761e-01 -3.29025985e-04 3.11268292e-01] [ 6.91266447e-03 -4.26774601e-05 9.99976106e-01 -1.35123752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:0.31, Z:-0.13 [[ 9.98213755e-01 -5.93432521e-02 -6.90494112e-03 7.17610794e+00] [ 5.93423927e-02 9.98237633e-01 -3.29453088e-04 3.09751277e-01] [ 6.91232290e-03 -8.08911238e-05 9.99976106e-01 -1.33879154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:0.31, Z:-0.13 [[ 9.98037595e-01 -6.22356936e-02 -6.90487631e-03 7.20391560e+00] [ 6.22348941e-02 9.98061475e-01 -3.30805912e-04 3.08624993e-01] [ 6.91207897e-03 -9.95675086e-05 9.99976106e-01 -1.33897057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.23, Y:0.30, Z:-0.14 [[ 9.97736943e-01 -6.68828594e-02 -6.90481168e-03 7.23323664e+00] [ 6.68821618e-02 9.97760826e-01 -3.32149465e-04 3.03372943e-01] [ 6.91156571e-03 -1.30410941e-04 9.99976106e-01 -1.38371932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:0.30, Z:-0.14 [[ 9.97611633e-01 -6.87266613e-02 -6.90475467e-03 7.26204334e+00] [ 6.87259997e-02 9.97635518e-01 -3.33330293e-04 3.01556567e-01] [ 6.91133718e-03 -1.42001990e-04 9.99976106e-01 -1.35269077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:0.30, Z:-0.14 [[ 9.97565118e-01 -6.93985560e-02 -6.90469722e-03 7.28896619e+00] [ 6.93979022e-02 9.97589003e-01 -3.34516094e-04 2.99663555e-01] [ 6.91126496e-03 -1.45469916e-04 9.99976106e-01 -1.35727852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:0.30, Z:-0.14 [[ 9.97639306e-01 -6.83237886e-02 -6.90466867e-03 7.31758129e+00] [ 6.83231050e-02 9.97663190e-01 -3.35104406e-04 2.95413158e-01] [ 6.91142938e-03 -1.37435075e-04 9.99976106e-01 -1.35307873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:0.29, Z:-0.14 [[ 9.97745023e-01 -6.67622316e-02 -6.90460326e-03 7.34509293e+00] [ 6.67615014e-02 9.97768905e-01 -3.36446899e-04 2.93443649e-01] [ 6.91166038e-03 -1.25273460e-04 9.99976106e-01 -1.37248239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.37, Y:0.29, Z:-0.13 [[ 9.97867847e-01 -6.49005892e-02 -6.90455705e-03 7.37410781e+00] [ 6.48998079e-02 9.97891728e-01 -3.37392503e-04 2.91087379e-01] [ 6.91189734e-03 -1.11431296e-04 9.99976106e-01 -1.33049189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:0.29, Z:-0.13 [[ 9.98032753e-01 -6.23133309e-02 -6.90449703e-03 7.40098624e+00] [ 6.23124792e-02 9.98056632e-01 -3.38616308e-04 2.89103706e-01] [ 6.91217936e-03 -9.22861611e-05 9.99976106e-01 -1.34435251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:0.29, Z:-0.13 [[ 9.98221751e-01 -5.92086532e-02 -6.90444953e-03 7.42900597e+00] [ 5.92077205e-02 9.98245626e-01 -3.39582097e-04 2.87792744e-01] [ 6.91244274e-03 -6.98184829e-05 9.99976106e-01 -1.33546364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:0.29, Z:-0.13 [[ 9.98664159e-01 -5.12076786e-02 -6.90438203e-03 7.45567596e+00] [ 5.12065452e-02 9.98688026e-01 -3.40948889e-04 2.85514726e-01] [ 6.91278287e-03 -1.30561148e-05 9.99976106e-01 -1.34190810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:0.29, Z:-0.13 [[ 9.98887459e-01 -4.66494839e-02 -6.90435267e-03 7.48437868e+00] [ 4.66482375e-02 9.98911320e-01 -3.41542524e-04 2.85723565e-01] [ 6.91276882e-03 1.90866612e-05 9.99976106e-01 -1.34915918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:0.28, Z:-0.13 [[ 9.99288811e-01 -3.70702399e-02 -6.90429446e-03 7.51278725e+00] [ 3.70687566e-02 9.99312659e-01 -3.42715250e-04 2.84601288e-01] [ 6.91225339e-03 8.65379038e-05 9.99976106e-01 -1.34246071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:0.28, Z:-0.13 [[ 9.99445011e-01 -3.25883812e-02 -6.90422703e-03 7.54106498e+00] [ 3.25867817e-02 9.99468851e-01 -3.44068179e-04 2.84711000e-01] [ 6.91177248e-03 1.18890686e-04 9.99976106e-01 -1.32902954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:0.29, Z:-0.13 [[ 9.99576567e-01 -2.82669197e-02 -6.90415831e-03 7.56895459e+00] [ 2.82652077e-02 9.99600400e-01 -3.45441657e-04 2.85284511e-01] [ 6.91116398e-03 1.50147917e-04 9.99976106e-01 -1.33922246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:0.29, Z:-0.14 [[ 9.99680738e-01 -2.43054523e-02 -6.90413708e-03 7.59715166e+00] [ 2.43036429e-02 9.99704563e-01 -3.45865535e-04 2.85775921e-01] [ 6.91050376e-03 1.77959431e-04 9.99976106e-01 -1.37008976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:7.63, Y:0.29, Z:-0.14 [[ 9.99808579e-01 -1.83067749e-02 -6.90411619e-03 7.62648765e+00] [ 1.83048197e-02 9.99832393e-01 -3.46281989e-04 2.87101105e-01] [ 6.90929832e-03 2.19837101e-04 9.99976106e-01 -1.40854185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:0.29, Z:-0.14 [[ 9.99836897e-01 -1.66886916e-02 -6.90406322e-03 7.65434612e+00] [ 1.66866906e-02 9.99860707e-01 -3.47334876e-04 2.89261387e-01] [ 6.90889810e-03 2.32072258e-04 9.99976106e-01 -1.36234337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:0.29, Z:-0.14 [[ 9.99833673e-01 -1.68808127e-02 -6.90399626e-03 7.68278380e+00] [ 1.68788071e-02 9.99857482e-01 -3.48660796e-04 2.90885367e-01] [ 6.90889800e-03 2.32071584e-04 9.99976106e-01 -1.36037477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.29, Z:-0.14 [[ 9.99849311e-01 -1.59276776e-02 -6.90392901e-03 7.71036799e+00] [ 1.59256402e-02 9.99873118e-01 -3.49987374e-04 2.93186225e-01] [ 6.90862751e-03 2.39985145e-04 9.99976106e-01 -1.36686435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422640000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:7.74, Y:0.30, Z:-0.14 [[ 9.99856668e-01 -1.54589598e-02 -6.90386184e-03 7.73780607e+00] [ 1.54569021e-02 9.99880473e-01 -3.51307438e-04 2.95220632e-01] [ 6.90846749e-03 2.44544768e-04 9.99976106e-01 -1.40288745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.77, Y:0.30, Z:-0.14 [[ 9.99834683e-01 -1.68209192e-02 -6.90383271e-03 7.76549399e+00] [ 1.68188901e-02 9.99858491e-01 -3.51879037e-04 2.96611044e-01] [ 6.90877468e-03 2.35706062e-04 9.99976106e-01 -1.36392420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:0.30, Z:-0.13 [[ 9.99809437e-01 -1.82600228e-02 -6.90376642e-03 7.79402411e+00] [ 1.82580189e-02 9.99833246e-01 -3.53174889e-04 2.98719451e-01] [ 6.90906417e-03 2.27058489e-04 9.99976106e-01 -1.34563719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:0.30, Z:-0.13 [[ 9.99740178e-01 -2.17236056e-02 -6.90370834e-03 7.82114290e+00] [ 2.17216765e-02 9.99763994e-01 -3.54306437e-04 3.02392652e-01] [ 6.90977584e-03 2.04254262e-04 9.99976106e-01 -1.30582637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:0.31, Z:-0.13 [[ 9.99689857e-01 -2.39275789e-02 -6.90367133e-03 7.84866763e+00] [ 2.39256973e-02 9.99713676e-01 -3.55026221e-04 3.05295956e-01] [ 6.91018956e-03 1.89740962e-04 9.99976106e-01 -1.29930560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:0.31, Z:-0.13 [[ 9.99640932e-01 -2.58910526e-02 -6.90360529e-03 7.87660996e+00] [ 2.58892089e-02 9.99664755e-01 -3.56305778e-04 3.08291401e-01] [ 6.91051602e-03 1.77448960e-04 9.99976106e-01 -1.29412732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:0.31, Z:-0.13 [[ 9.99549907e-01 -2.91945913e-02 -6.90353886e-03 7.90419776e+00] [ 2.91928175e-02 9.99573735e-01 -3.57588310e-04 3.13255058e-01] [ 6.91103576e-03 1.55893612e-04 9.99976106e-01 -1.27091725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.32, Z:-0.13 [[ 9.99493598e-01 -3.10626608e-02 -6.90351818e-03 7.93288123e+00] [ 3.10609288e-02 9.99517429e-01 -3.57986952e-04 3.16066049e-01] [ 6.91130677e-03 1.43375979e-04 9.99976106e-01 -1.25593072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.96, Y:0.32, Z:-0.12 [[ 9.99446039e-01 -3.25569975e-02 -6.90346058e-03 7.96137579e+00] [ 3.25552934e-02 9.99469871e-01 -3.59094354e-04 3.18770391e-01] [ 6.91149189e-03 1.34151244e-04 9.99976106e-01 -1.24194921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:0.32, Z:-0.12 [[ 9.99334864e-01 -3.58074391e-02 -6.90339920e-03 7.98935283e+00] [ 3.58058045e-02 9.99358702e-01 -3.60270559e-04 3.23358667e-01] [ 6.91187242e-03 1.12849169e-04 9.99976106e-01 -1.21489730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:0.33, Z:-0.12 [[ 9.99293742e-01 -3.69372643e-02 -6.90332744e-03 8.01738326e+00] [ 3.69356472e-02 9.99317581e-01 -3.61640315e-04 3.26185736e-01] [ 6.91197448e-03 1.06406037e-04 9.99976106e-01 -1.22583241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:0.33, Z:-0.12 [[ 9.99259543e-01 -3.78511449e-02 -6.90330511e-03 8.04402700e+00] [ 3.78495466e-02 9.99283384e-01 -3.62066139e-04 3.29363534e-01] [ 6.91206270e-03 1.00511076e-04 9.99976106e-01 -1.24846429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.34, Z:-0.12 [[ 9.99224561e-01 -3.87636554e-02 -6.90327402e-03 8.07140787e+00] [ 3.87620748e-02 9.99248403e-01 -3.62657844e-04 3.36005571e-01] [ 6.91214348e-03 9.47914007e-05 9.99976106e-01 -1.24042857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.34, Z:-0.12 [[ 9.99210808e-01 -3.91165842e-02 -6.90320340e-03 8.10049170e+00] [ 3.91150028e-02 9.99234649e-01 -3.63997122e-04 3.39989555e-01] [ 6.91215835e-03 9.36910376e-05 9.99976106e-01 -1.24655905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.13, Y:0.34, Z:-0.13 [[ 9.99202101e-01 -3.93383659e-02 -6.90314009e-03 8.12797697e+00] [ 3.93367815e-02 9.99225943e-01 -3.65193871e-04 3.42742011e-01] [ 6.91216280e-03 9.33551702e-05 9.99976106e-01 -1.29924747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.34, Z:-0.13 [[ 9.99171756e-01 -4.01017216e-02 -6.90311761e-03 8.15718274e+00] [ 4.01001525e-02 9.99195599e-01 -3.65618331e-04 3.44707804e-01] [ 6.91222666e-03 8.84994409e-05 9.99976106e-01 -1.26806094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:0.35, Z:-0.13 [[ 9.99148263e-01 -4.06828703e-02 -6.90305878e-03 8.18474551e+00] [ 4.06813074e-02 9.99172106e-01 -3.66725808e-04 3.51125865e-01] [ 6.91226323e-03 8.55879984e-05 9.99976106e-01 -1.26781859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:0.36, Z:-0.13 [[ 9.99124641e-01 -4.12589290e-02 -6.90302543e-03 8.21285627e+00] [ 4.12573755e-02 9.99148484e-01 -3.67352438e-04 3.55758856e-01] [ 6.91230396e-03 8.22301605e-05 9.99976106e-01 -1.25013735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:0.36, Z:-0.13 [[ 9.99080376e-01 -4.23172810e-02 -6.90295326e-03 8.24092385e+00] [ 4.23157435e-02 9.99104220e-01 -3.68703621e-04 3.59751498e-01] [ 6.91237227e-03 7.62609533e-05 9.99976106e-01 -1.25070228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:0.36, Z:-0.12 [[ 9.99018131e-01 -4.37621294e-02 -6.90288073e-03 8.26907294e+00] [ 4.37606170e-02 9.99041977e-01 -3.70056624e-04 3.63602075e-01] [ 6.91246207e-03 6.76189572e-05 9.99976106e-01 -1.23905564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:0.37, Z:-0.12 [[ 9.98880446e-01 -4.67996412e-02 -6.90280702e-03 8.29668449e+00] [ 4.67981919e-02 9.98904295e-01 -3.71426514e-04 3.68763666e-01] [ 6.91262621e-03 4.79717948e-05 9.99976106e-01 -1.22417571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:0.37, Z:-0.12 [[ 9.98781762e-01 -4.88604587e-02 -6.90278412e-03 8.32436517e+00] [ 4.88590557e-02 9.98805614e-01 -3.71851475e-04 3.70745649e-01] [ 6.91270837e-03 3.41349580e-05 9.99976106e-01 -1.20278479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.37, Z:-0.12 [[ 9.98582880e-01 -5.27691591e-02 -6.90270852e-03 8.35172391e+00] [ 5.27678397e-02 9.98606737e-01 -3.73249655e-04 3.72420637e-01] [ 6.91278730e-03 8.47969873e-06 9.99976106e-01 -1.22007055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.37, Z:-0.12 [[ 9.98485180e-01 -5.45866057e-02 -6.90267570e-03 8.37935431e+00] [ 5.45853256e-02 9.98509040e-01 -3.73855657e-04 3.74082491e-01] [ 6.91279159e-03 -3.49546729e-06 9.99976106e-01 -1.23704379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:0.38, Z:-0.12 [[ 9.98384676e-01 -5.63949748e-02 -6.90264267e-03 8.40771557e+00] [ 5.63937337e-02 9.98408537e-01 -3.74464402e-04 3.75819408e-01] [ 6.91277528e-03 -1.54062717e-05 9.99976106e-01 -1.23091449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:0.38, Z:-0.12 [[ 9.98272051e-01 -5.83546589e-02 -6.90256866e-03 8.43643227e+00] [ 5.83534552e-02 9.98295915e-01 -3.75823705e-04 3.76454110e-01] [ 6.91273716e-03 -2.76144308e-05 9.99976106e-01 -1.20655228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:0.38, Z:-0.12 [[ 9.98227050e-01 -5.91194697e-02 -6.90250406e-03 8.46450684e+00] [ 5.91182761e-02 9.98250914e-01 -3.77006539e-04 3.76918375e-01] [ 6.91271941e-03 -3.17260159e-05 9.99976106e-01 -1.20335343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:0.38, Z:-0.12 [[ 9.98197116e-01 -5.96227587e-02 -6.90243029e-03 8.49293359e+00] [ 5.96215678e-02 9.98220980e-01 -3.78352358e-04 3.76981821e-01] [ 6.91270914e-03 -3.38634831e-05 9.99976106e-01 -1.20536937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.37, Z:-0.12 [[ 9.98179013e-01 -5.99250844e-02 -6.90236954e-03 8.52104711e+00] [ 5.99238931e-02 9.98202877e-01 -3.79457319e-04 3.74942803e-01] [ 6.91270415e-03 -3.48505230e-05 9.99976106e-01 -1.20063529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.55, Y:0.37, Z:-0.12 [[ 9.98205463e-01 -5.94828748e-02 -6.90229376e-03 8.54979889e+00] [ 5.94816635e-02 9.98229326e-01 -3.80830773e-04 3.74587583e-01] [ 6.91272496e-03 -3.04125571e-05 9.99976106e-01 -1.21383618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.37, Z:-0.12 [[ 9.98234421e-01 -5.89949097e-02 -6.90222722e-03 8.57712820e+00] [ 5.89936784e-02 9.98258283e-01 -3.82033051e-04 3.73889333e-01] [ 6.91274350e-03 -2.58292312e-05 9.99976106e-01 -1.19134272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.37, Z:-0.12 [[ 9.98264157e-01 -5.84895852e-02 -6.90219416e-03 8.60505141e+00] [ 5.84883377e-02 9.98288019e-01 -3.82629472e-04 3.73065496e-01] [ 6.91275757e-03 -2.17325753e-05 9.99976106e-01 -1.18900439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.37, Z:-0.12 [[ 9.98360011e-01 -5.68299966e-02 -6.90211845e-03 8.63364549e+00] [ 5.68287000e-02 9.98383870e-01 -3.83990199e-04 3.69388059e-01] [ 6.91278589e-03 -8.87795914e-06 9.99976106e-01 -1.18345355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412640000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:8.66, Y:0.37, Z:-0.12 [[ 9.98428627e-01 -5.56114995e-02 -6.90204242e-03 8.66130307e+00] [ 5.56101643e-02 9.98452483e-01 -3.85351959e-04 3.68945526e-01] [ 6.91279140e-03 9.22713513e-07 9.99976106e-01 -1.20405126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:8.69, Y:0.37, Z:-0.12 [[ 9.98483689e-01 -5.46139757e-02 -6.90196578e-03 8.68876278e+00] [ 5.46126072e-02 9.98507543e-01 -3.86719803e-04 3.68687765e-01] [ 6.91278520e-03 9.19906895e-06 9.99976106e-01 -1.21367337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:0.36, Z:-0.12 [[ 9.98631084e-01 -5.18490271e-02 -6.90194197e-03 8.71694838e+00] [ 5.18475897e-02 9.98654934e-01 -3.87144343e-04 3.64204410e-01] [ 6.91273146e-03 2.87653191e-05 9.99976106e-01 -1.19291879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:0.36, Z:-0.12 [[ 9.98727442e-01 -4.99585752e-02 -6.90191840e-03 8.74547253e+00] [ 4.99570898e-02 9.98751290e-01 -3.87563997e-04 3.62237999e-01] [ 6.91266205e-03 4.22710419e-05 9.99976106e-01 -1.17912557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:8.77, Y:0.36, Z:-0.12 [[ 9.98854403e-01 -4.73523684e-02 -6.90184253e-03 8.77460334e+00] [ 4.73508115e-02 9.98878246e-01 -3.88910495e-04 3.60942502e-01] [ 6.91251619e-03 6.16571155e-05 9.99976106e-01 -1.19806732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:0.36, Z:-0.12 [[ 9.98969189e-01 -4.48656236e-02 -6.90177582e-03 8.80291287e+00] [ 4.48639991e-02 9.98993028e-01 -3.90090814e-04 3.60145309e-01] [ 6.91232759e-03 8.00474396e-05 9.99976106e-01 -1.15364470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:0.36, Z:-0.11 [[ 9.99241000e-01 -3.83378522e-02 -6.90169901e-03 8.83035207e+00] [ 3.83360627e-02 9.99264826e-01 -3.91445084e-04 3.58282457e-01] [ 6.91163222e-03 1.26564012e-04 9.99976106e-01 -1.13942547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.36, Z:-0.11 [[ 9.99366764e-01 -3.49061383e-02 -6.90165853e-03 8.85832559e+00] [ 3.49042621e-02 9.99390584e-01 -3.92157508e-04 3.58876243e-01] [ 6.91114125e-03 1.51011882e-04 9.99976106e-01 -1.12800179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.89, Y:0.36, Z:-0.11 [[ 9.99595711e-01 -2.75822943e-02 -6.90158064e-03 8.88650766e+00] [ 2.75802341e-02 9.99619516e-01 -3.93523510e-04 3.60849368e-01] [ 6.90980898e-03 2.03017203e-04 9.99976106e-01 -1.13233369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682640000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:8.91, Y:0.36, Z:-0.12 [[ 9.99689856e-01 -2.39282316e-02 -6.90155646e-03 8.91402667e+00] [ 2.39260815e-02 9.99713653e-01 -3.93947077e-04 3.63371978e-01] [ 6.90900668e-03 2.28697694e-04 9.99976106e-01 -1.16665141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:0.36, Z:-0.11 [[ 9.99750871e-01 -2.12265019e-02 -6.90151986e-03 8.94225388e+00] [ 2.12242831e-02 9.99774662e-01 -3.94587264e-04 3.64959976e-01] [ 6.90834039e-03 2.48009150e-04 9.99976106e-01 -1.12276392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:0.37, Z:-0.11 [[ 9.99826744e-01 -1.72873232e-02 -6.90144116e-03 8.97026543e+00] [ 1.72850012e-02 9.99850525e-01 -3.95958898e-04 3.67934870e-01] [ 6.90725464e-03 2.76598877e-04 9.99976106e-01 -1.13296822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.37, Z:-0.11 [[ 9.99845308e-01 -1.61780876e-02 -6.90141669e-03 8.99814771e+00] [ 1.61757363e-02 9.99869086e-01 -3.96384977e-04 3.72635755e-01] [ 6.90692595e-03 2.84688163e-04 9.99976106e-01 -1.12414469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.38, Z:-0.11 [[ 9.99859162e-01 -1.52979311e-02 -6.90133897e-03 9.02535548e+00] [ 1.52955496e-02 9.99882937e-01 -3.97733555e-04 3.77809816e-01] [ 6.90661558e-03 2.92117767e-04 9.99976106e-01 -1.14993960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:0.38, Z:-0.12 [[ 9.99862856e-01 -1.50545895e-02 -6.90131491e-03 9.05406843e+00] [ 1.50521994e-02 9.99886630e-01 -3.98150609e-04 3.84690858e-01] [ 6.90652650e-03 2.94216037e-04 9.99976106e-01 -1.16351331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:0.39, Z:-0.12 [[ 9.99848783e-01 -1.59619291e-02 -6.90124960e-03 9.08241708e+00] [ 1.59595527e-02 9.99872559e-01 -3.99279394e-04 3.88670424e-01] [ 6.90674337e-03 2.89078160e-04 9.99976106e-01 -1.15614122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:0.39, Z:-0.12 [[ 9.99812629e-01 -1.80853852e-02 -6.90118171e-03 9.10994395e+00] [ 1.80830512e-02 9.99836408e-01 -4.00449422e-04 3.93503342e-01] [ 6.90729502e-03 2.75579967e-04 9.99976106e-01 -1.16153976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922640000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.14, Y:0.40, Z:-0.12 [[ 9.99665487e-01 -2.49256584e-02 -6.90110286e-03 9.13676549e+00] [ 2.49234779e-02 9.99689281e-01 -4.01803809e-04 4.00039011e-01] [ 6.90897378e-03 2.29669916e-04 9.99976106e-01 -1.20532001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:0.40, Z:-0.12 [[ 9.99531932e-01 -2.98042168e-02 -6.90106857e-03 9.16434895e+00] [ 2.98021483e-02 9.99555736e-01 -4.02391814e-04 4.03577805e-01] [ 6.90999565e-03 1.96536799e-04 9.99976106e-01 -1.18379421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.41, Z:-0.11 [[ 9.99358887e-01 -3.51310454e-02 -6.90104424e-03 9.19186797e+00] [ 3.51291010e-02 9.99382701e-01 -4.02808586e-04 4.07403028e-01] [ 6.91093533e-03 1.60122859e-04 9.99976106e-01 -1.14887319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:0.41, Z:-0.12 [[ 9.99150435e-01 -4.06298525e-02 -6.90096291e-03 9.21859564e+00] [ 4.06280296e-02 9.99174259e-01 -4.04197257e-04 4.11448377e-01] [ 6.91168697e-03 1.23481339e-04 9.99976106e-01 -1.18777389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.42, Z:-0.12 [[ 9.98684051e-01 -5.08187283e-02 -6.90088182e-03 9.24714322e+00] [ 5.08171389e-02 9.98707892e-01 -4.05576984e-04 4.16514337e-01] [ 6.91257604e-03 5.43601960e-05 9.99976106e-01 -1.19152048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:0.42, Z:-0.12 [[ 9.98438116e-01 -5.54410200e-02 -6.90081948e-03 9.27565226e+00] [ 5.54395337e-02 9.98461964e-01 -4.06634919e-04 4.19136481e-01] [ 6.91275002e-03 2.34215883e-05 9.99976106e-01 -1.15537977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102640000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.30, Y:0.42, Z:-0.12 [[ 9.98212319e-01 -5.93678854e-02 -6.90074812e-03 9.30325157e+00] [ 5.93664846e-02 9.98236172e-01 -4.07842291e-04 4.21114035e-01] [ 6.91278912e-03 -2.55995801e-06 9.99976106e-01 -1.16762121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.42, Z:-0.11 [[ 9.97790973e-01 -6.60723412e-02 -6.90072292e-03 9.33098312e+00] [ 6.60710977e-02 9.97814834e-01 -4.08268204e-04 4.23627348e-01] [ 6.91261894e-03 -4.85720102e-05 9.99976106e-01 -1.13956011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:0.43, Z:-0.11 [[ 9.97624533e-01 -6.85395608e-02 -6.90069811e-03 9.35911484e+00] [ 6.85383734e-02 9.97648397e-01 -4.08687125e-04 4.26103839e-01] [ 6.91248165e-03 -6.52463212e-05 9.99976106e-01 -1.12982750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:9.39, Y:0.43, Z:-0.11 [[ 9.97387013e-01 -7.19133361e-02 -6.90061882e-03 9.38790648e+00] [ 7.19122202e-02 9.97410880e-01 -4.10021637e-04 4.28090713e-01] [ 6.91223832e-03 -8.72885637e-05 9.99976106e-01 -1.14591238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.42, Y:0.43, Z:-0.11 [[ 9.97278436e-01 -7.34037052e-02 -6.90054869e-03 9.41601689e+00] [ 7.34026168e-02 9.97302305e-01 -4.11198452e-04 4.29703618e-01] [ 6.91211661e-03 -9.64389827e-05 9.99976106e-01 -1.11899292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:0.43, Z:-0.11 [[ 9.97202787e-01 -7.44243579e-02 -6.90046694e-03 9.44320088e+00] [ 7.44232845e-02 9.97226657e-01 -4.12565762e-04 4.30622589e-01] [ 6.91203452e-03 -1.02143687e-04 9.99976106e-01 -1.10156863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:0.43, Z:-0.11 [[ 9.97188262e-01 -7.46187217e-02 -6.90043154e-03 9.47161814e+00] [ 7.46176488e-02 9.97212132e-01 -4.13157012e-04 4.32508011e-01] [ 6.91202330e-03 -1.02898655e-04 9.99976106e-01 -1.09959988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.43, Z:-0.11 [[ 9.97136085e-01 -7.53127679e-02 -6.90035075e-03 9.50030315e+00] [ 7.53117024e-02 9.97159955e-01 -4.14501966e-04 4.32912709e-01] [ 6.91197074e-03 -1.06362295e-04 9.99976106e-01 -1.10059341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:0.43, Z:-0.11 [[ 9.97119837e-01 -7.55275961e-02 -6.90027923e-03 9.52887805e+00] [ 7.55265274e-02 9.97143706e-01 -4.15689233e-04 4.30721264e-01] [ 6.91196601e-03 -1.06662148e-04 9.99976106e-01 -1.10353641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.56, Y:0.43, Z:-0.11 [[ 9.97164837e-01 -7.49311389e-02 -6.90019754e-03 9.55565442e+00] [ 7.49300466e-02 9.97188705e-01 -4.17040909e-04 4.30877412e-01] [ 6.91204840e-03 -1.01173593e-04 9.99976106e-01 -1.12089136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.43, Z:-0.11 [[ 9.97213441e-01 -7.42814967e-02 -6.90016198e-03 9.58390140e+00] [ 7.42803848e-02 9.97237309e-01 -4.17628291e-04 4.31348504e-01] [ 6.91212102e-03 -9.60821426e-05 9.99976106e-01 -1.10854395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.43, Z:-0.11 [[ 9.97283973e-01 -7.33284751e-02 -6.90013668e-03 9.61247069e+00] [ 7.33273375e-02 9.97307840e-01 -4.18046016e-04 4.32502855e-01] [ 6.91221508e-03 -8.90580591e-05 9.99976106e-01 -1.11370099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46264 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:9.64, Y:0.43, Z:-0.11 [[ 9.97510484e-01 -7.01799404e-02 -6.90006553e-03 9.64111810e+00] [ 7.01787194e-02 9.97534346e-01 -4.19217118e-04 4.30178976e-01] [ 6.91247298e-03 -6.60642919e-05 9.99976106e-01 -1.12771261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.43, Z:-0.11 [[ 9.97620892e-01 -6.85926088e-02 -6.89999114e-03 9.66880923e+00] [ 6.85913413e-02 9.97644752e-01 -4.20437959e-04 4.29407497e-01] [ 6.91257888e-03 -5.38419557e-05 9.99976106e-01 -1.09931367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.70, Y:0.43, Z:-0.11 [[ 9.97936239e-01 -6.38408432e-02 -6.89996477e-03 9.69676812e+00] [ 6.38394592e-02 9.97960093e-01 -4.20870221e-04 4.28546427e-01] [ 6.91275819e-03 -2.04883740e-05 9.99976106e-01 -1.11575096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:0.43, Z:-0.11 [[ 9.98089695e-01 -6.13950589e-02 -6.89987994e-03 9.72484996e+00] [ 6.13936069e-02 9.98113544e-01 -4.22256365e-04 4.28996088e-01] [ 6.91278808e-03 -2.15879020e-06 9.99976106e-01 -1.08919805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.43, Z:-0.11 [[ 9.98241082e-01 -5.88823857e-02 -6.89984131e-03 9.75302332e+00] [ 5.88808693e-02 9.98264927e-01 -4.22886732e-04 4.28586447e-01] [ 6.91277016e-03 1.58742548e-05 9.99976106e-01 -1.08279599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:0.43, Z:-0.11 [[ 9.98516833e-01 -5.40048848e-02 -6.89980147e-03 9.78117254e+00] [ 5.40032474e-02 9.98540670e-01 -4.23535736e-04 4.26694233e-01] [ 6.91260538e-03 5.02958760e-05 9.99976106e-01 -1.06974031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.43, Z:-0.11 [[ 9.98638822e-01 -5.17000752e-02 -6.89971617e-03 9.80856111e+00] [ 5.16983732e-02 9.98662655e-01 -4.24920762e-04 4.27361230e-01] [ 6.91245730e-03 6.76382676e-05 9.99976106e-01 -1.07811651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.43, Z:-0.11 [[ 9.98786171e-01 -4.87706802e-02 -6.89967925e-03 9.83772556e+00] [ 4.87689042e-02 9.98809998e-01 -4.25519440e-04 4.25739693e-01] [ 6.91222149e-03 8.85131359e-05 9.99976106e-01 -1.06187846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.43, Z:-0.11 [[ 9.98826067e-01 -4.79466728e-02 -6.89960602e-03 9.86542409e+00] [ 4.79448689e-02 9.98849892e-01 -4.26703441e-04 4.25982915e-01] [ 6.91212975e-03 9.54018133e-05 9.99976106e-01 -1.05475202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.43, Z:-0.10 [[ 9.98856755e-01 -4.73030509e-02 -6.89958008e-03 9.89377490e+00] [ 4.73012288e-02 9.98880579e-01 -4.27122564e-04 4.27796413e-01] [ 6.91206075e-03 1.00275642e-04 9.99976106e-01 -1.03179838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.43, Z:-0.10 [[ 9.98888594e-01 -4.66258817e-02 -6.89949558e-03 9.92076445e+00] [ 4.66240340e-02 9.98912417e-01 -4.28483244e-04 4.30345530e-01] [ 6.91197021e-03 1.06324709e-04 9.99976106e-01 -1.03680006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.95, Y:0.43, Z:-0.11 [[ 9.98983125e-01 -4.45546084e-02 -6.89945896e-03 9.94829651e+00] [ 4.45527073e-02 9.99006943e-01 -4.29072039e-04 4.31684419e-01] [ 6.91172454e-03 1.21246150e-04 9.99976106e-01 -1.09097006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.43, Z:-0.11 [[ 9.99016103e-01 -4.38089520e-02 -6.89943300e-03 9.97658390e+00] [ 4.38070302e-02 9.99039919e-01 -4.29489097e-04 4.33972007e-01] [ 6.91162445e-03 1.26822854e-04 9.99976106e-01 -1.07077175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.44, Z:-0.11 [[ 9.99070845e-01 -4.25422876e-02 -6.89934949e-03 1.00035083e+01] [ 4.25403264e-02 9.99094658e-01 -4.30826389e-04 4.37456052e-01] [ 6.91143156e-03 1.36925505e-04 9.99976106e-01 -1.07294298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.44, Z:-0.11 [[ 9.99128138e-01 -4.11747807e-02 -6.89931316e-03 1.00308120e+01] [ 4.11727829e-02 9.99151948e-01 -4.31407427e-04 4.42080533e-01] [ 6.91122529e-03 1.46967377e-04 9.99976106e-01 -1.06117926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.45, Z:-0.11 [[ 9.99262485e-01 -3.77741484e-02 -6.89922917e-03 1.00587903e+01] [ 3.77720604e-02 9.99286287e-01 -4.32746389e-04 4.47336673e-01] [ 6.91065173e-03 1.71829131e-04 9.99976106e-01 -1.07249206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.45, Z:-0.10 [[ 9.99297890e-01 -3.68256467e-02 -6.89920310e-03 1.00869409e+01] [ 3.68235332e-02 9.99321690e-01 -4.33161635e-04 4.50723312e-01] [ 6.91047476e-03 1.78804473e-04 9.99976106e-01 -1.04492427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:0.45, Z:-0.11 [[ 9.99308120e-01 -3.65470170e-02 -6.89911729e-03 1.01141965e+01] [ 3.65448875e-02 9.99331918e-01 -4.34524100e-04 4.54611069e-01] [ 6.91038868e-03 1.82095996e-04 9.99976106e-01 -1.05163578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.46, Z:-0.10 [[ 9.99203554e-01 -3.93021593e-02 -6.89908008e-03 1.01426645e+01] [ 3.93000913e-02 9.99227358e-01 -4.35114131e-04 4.61916509e-01] [ 6.91085049e-03 1.63633110e-04 9.99976106e-01 -1.04094770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.47, Z:-0.10 [[ 9.99088593e-01 -4.21234735e-02 -6.89900489e-03 1.01711707e+01] [ 4.21214646e-02 9.99112402e-01 -4.36303036e-04 4.65771104e-01] [ 6.91125995e-03 1.45309197e-04 9.99976106e-01 -1.03423185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.47, Z:-0.10 [[ 9.98935673e-01 -4.56062126e-02 -6.89892969e-03 1.01998054e+01] [ 4.56042785e-02 9.98959488e-01 -4.37488958e-04 4.68822983e-01] [ 6.91170348e-03 1.22402616e-04 9.99976106e-01 -1.02242806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.47, Z:-0.10 [[ 9.98556721e-01 -5.32623787e-02 -6.89885368e-03 1.02274820e+01] [ 5.32606190e-02 9.98580550e-01 -4.38684209e-04 4.72421256e-01] [ 6.91242647e-03 7.06138477e-05 9.99976106e-01 -1.01881407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:0.48, Z:-0.10 [[ 9.98351339e-01 -5.69825444e-02 -6.89876703e-03 1.02550654e+01] [ 5.69808640e-02 9.98375174e-01 -4.40042762e-04 4.75255767e-01] [ 6.91263249e-03 4.62195754e-05 9.99976106e-01 -1.02112329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.48, Z:-0.10 [[ 9.98064981e-01 -6.17956492e-02 -6.89867919e-03 1.02827617e+01] [ 6.17940743e-02 9.98088822e-01 -4.41415497e-04 4.80310990e-01] [ 6.91277215e-03 1.42638549e-05 9.99976106e-01 -1.02473124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.48, Z:-0.10 [[ 9.97989239e-01 -6.30070402e-02 -6.89865183e-03 1.03104618e+01] [ 6.30054912e-02 9.98013083e-01 -4.41842644e-04 4.84440805e-01] [ 6.91278398e-03 6.30125689e-06 9.99976106e-01 -1.02366097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.49, Z:-0.10 [[ 9.97940412e-01 -6.37757297e-02 -6.89856444e-03 1.03378899e+01] [ 6.37741897e-02 9.97964256e-01 -4.43202906e-04 4.87869706e-01] [ 6.91278632e-03 2.33973326e-06 9.99976106e-01 -1.02562467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.49, Z:-0.10 [[ 9.97872391e-01 -6.48313385e-02 -6.89847693e-03 1.03659197e+01] [ 6.48298144e-02 9.97896236e-01 -4.44560829e-04 4.90933008e-01] [ 6.91278564e-03 -3.61200235e-06 9.99976106e-01 -1.01447899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.49, Z:-0.10 [[ 9.97820233e-01 -6.56292187e-02 -6.89844969e-03 1.03945955e+01] [ 6.56277107e-02 9.97844079e-01 -4.44983139e-04 4.94004529e-01] [ 6.91278108e-03 -8.71628116e-06 9.99976106e-01 -9.90055612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.42, Y:0.50, Z:-0.10 [[ 9.97771283e-01 -6.63692605e-02 -6.89837054e-03 1.04227625e+01] [ 6.63677618e-02 9.97795130e-01 -4.46206846e-04 4.97272919e-01] [ 6.91277495e-03 -1.26170350e-05 9.99976106e-01 -1.00391748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:0.50, Z:-0.10 [[ 9.97649638e-01 -6.81734069e-02 -6.89834235e-03 1.04496413e+01] [ 6.81719482e-02 9.97673487e-01 -4.46642181e-04 5.01565013e-01] [ 6.91274239e-03 -2.46810276e-05 9.99976106e-01 -9.90469918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:10.48, Y:0.51, Z:-0.10 [[ 9.97405585e-01 -7.16555175e-02 -6.89830374e-03 1.04775747e+01] [ 7.16541380e-02 9.97429438e-01 -4.47237704e-04 5.06304864e-01] [ 6.91261828e-03 -4.82146249e-05 9.99976106e-01 -9.96226607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.51, Z:-0.10 [[ 9.97221056e-01 -7.41793694e-02 -6.89827653e-03 1.05057774e+01] [ 7.41780473e-02 9.97244913e-01 -4.47657017e-04 5.09395617e-01] [ 6.91247810e-03 -6.52876802e-05 9.99976106e-01 -9.66782483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.53, Y:0.51, Z:-0.10 [[ 9.97063218e-01 -7.62715802e-02 -6.89818850e-03 1.05339006e+01] [ 7.62702989e-02 9.97087077e-01 -4.49009564e-04 5.11842752e-01] [ 6.91234127e-03 -7.84359774e-05 9.99976106e-01 -9.73536494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:10.56, Y:0.51, Z:-0.10 [[ 9.96888544e-01 -7.85216270e-02 -6.89816131e-03 1.05622586e+01] [ 7.85203966e-02 9.96912406e-01 -4.49426784e-04 5.13762306e-01] [ 6.91215231e-03 -9.36179498e-05 9.99976106e-01 -9.71569127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:0.51, Z:-0.10 [[ 9.96558473e-01 -8.26052462e-02 -6.89807359e-03 1.05890633e+01] [ 8.26041043e-02 9.96582339e-01 -4.50769254e-04 5.13572225e-01] [ 6.91173422e-03 -1.20591271e-04 9.99976106e-01 -9.60940643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:0.52, Z:-0.10 [[ 9.96386163e-01 -8.46583267e-02 -6.89803538e-03 1.06170769e+01] [ 8.46572299e-02 9.96410031e-01 -4.51353199e-04 5.15008164e-01] [ 6.91148245e-03 -1.34246485e-04 9.99976106e-01 -9.50058345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.52, Z:-0.10 [[ 9.96010535e-01 -8.89687145e-02 -6.89794608e-03 1.06439640e+01] [ 8.89677117e-02 9.96034408e-01 -4.52713809e-04 5.16451635e-01] [ 6.91086900e-03 -1.62786754e-04 9.99976106e-01 -9.59375750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572640000000002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:10.67, Y:0.52, Z:-0.10 [[ 9.95825694e-01 -9.10143189e-02 -6.89788437e-03 1.06706097e+01] [ 9.10133585e-02 9.95849568e-01 -4.53652164e-04 5.16663467e-01] [ 6.91054401e-03 -1.76041142e-04 9.99976106e-01 -9.84177265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.52, Z:-0.10 [[ 9.95638797e-01 -9.30365872e-02 -6.89784587e-03 1.06980591e+01] [ 9.30356713e-02 9.95662673e-01 -4.54236801e-04 5.16617410e-01] [ 6.91018829e-03 -1.89489939e-04 9.99976106e-01 -9.78941026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63264 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.73, Y:0.51, Z:-0.10 [[ 9.95401054e-01 -9.55466475e-02 -6.89781865e-03 1.07268623e+01] [ 9.55457889e-02 9.95424932e-01 -4.54649801e-04 5.11689563e-01] [ 6.90970092e-03 -2.06498633e-04 9.99976106e-01 -1.00640473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.75, Y:0.51, Z:-0.10 [[ 9.95344149e-01 -9.61376400e-02 -6.89773844e-03 1.07545062e+01] [ 9.61367872e-02 9.95368028e-01 -4.55863407e-04 5.09665138e-01] [ 6.90961394e-03 -2.09385437e-04 9.99976106e-01 -1.02676495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.78, Y:0.51, Z:-0.10 [[ 9.95389871e-01 -9.56630849e-02 -6.89771000e-03 1.07829689e+01] [ 9.56622177e-02 9.95413749e-01 -4.56293343e-04 5.06741133e-01] [ 6.90972580e-03 -2.05660464e-04 9.99976106e-01 -1.01162711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:10.81, Y:0.51, Z:-0.10 [[ 9.95572165e-01 -9.37469272e-02 -6.89762050e-03 1.08111478e+01] [ 9.37460047e-02 9.95596041e-01 -4.57642222e-04 5.06874182e-01] [ 6.91014622e-03 -1.91008506e-04 9.99976106e-01 -1.01746311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.51, Z:-0.10 [[ 9.95808553e-01 -9.12016938e-02 -6.89759270e-03 1.08396445e+01] [ 9.12007074e-02 9.95832426e-01 -4.58060836e-04 5.07836634e-01] [ 6.91062240e-03 -1.72924436e-04 9.99976106e-01 -9.74041054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.87, Y:0.51, Z:-0.10 [[ 9.96150374e-01 -8.73891070e-02 -6.89751454e-03 1.08674720e+01] [ 8.73880211e-02 9.96174243e-01 -4.59234766e-04 5.08576444e-01] [ 6.91125845e-03 -1.45293262e-04 9.99976106e-01 -9.69740958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:0.51, Z:-0.09 [[ 9.96537722e-01 -8.28552559e-02 -6.89742444e-03 1.08961795e+01] [ 8.28540520e-02 9.96561586e-01 -4.60584174e-04 5.10069251e-01] [ 6.91187005e-03 -1.12490060e-04 9.99976106e-01 -9.37841366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.51, Z:-0.09 [[ 9.97334854e-01 -7.26334383e-02 -6.89734374e-03 1.09236857e+01] [ 7.26319815e-02 9.97358703e-01 -4.61789418e-04 5.11133287e-01] [ 6.91266716e-03 -4.04090618e-05 9.99976106e-01 -9.27961897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.51, Z:-0.09 [[ 9.97683289e-01 -6.76792521e-02 -6.89731497e-03 1.09514656e+01] [ 6.76776739e-02 9.97707131e-01 -4.62218764e-04 5.12101840e-01] [ 6.91278295e-03 -5.64629654e-06 9.99976106e-01 -9.26992216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.51, Z:-0.09 [[ 9.98241624e-01 -5.88734832e-02 -6.89728678e-03 1.09793379e+01] [ 5.88716919e-02 9.98265451e-01 -4.62639038e-04 5.12012318e-01] [ 6.91256027e-03 5.57706029e-05 9.99976106e-01 -9.33720974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.51, Z:-0.09 [[ 9.98437525e-01 -5.54521208e-02 -6.89719630e-03 1.10075833e+01] [ 5.54502385e-02 9.98461344e-01 -4.63984067e-04 5.14304964e-01] [ 6.91231279e-03 8.08079233e-05 9.99976106e-01 -9.40254973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:0.52, Z:-0.10 [[ 9.98592169e-01 -5.25938190e-02 -6.89710499e-03 1.10367735e+01] [ 5.25918592e-02 9.98615982e-01 -4.65337436e-04 5.17495874e-01] [ 6.91203315e-03 1.01950745e-04 9.99976106e-01 -9.61226119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992640000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.06, Y:0.52, Z:-0.10 [[ 9.98792000e-01 -4.86515351e-02 -6.89703045e-03 1.10647074e+01] [ 4.86494736e-02 9.98815804e-01 -4.66439629e-04 5.22205652e-01] [ 6.91155602e-03 1.30339269e-04 9.99976106e-01 -1.02058823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.53, Z:-0.10 [[ 9.98828797e-01 -4.78901381e-02 -6.89700190e-03 1.10938021e+01] [ 4.78880556e-02 9.98852600e-01 -4.66861335e-04 5.25295980e-01] [ 6.91144634e-03 1.36030535e-04 9.99976106e-01 -9.84334329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.53, Z:-0.10 [[ 9.98825528e-01 -4.79582909e-02 -6.89692132e-03 1.11216214e+01] [ 4.79562018e-02 9.98849330e-01 -4.68048764e-04 5.28574936e-01] [ 6.91143206e-03 1.36748903e-04 9.99976106e-01 -9.77217485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:0.53, Z:-0.10 [[ 9.98771912e-01 -4.90622179e-02 -6.89689268e-03 1.11501006e+01] [ 4.90601523e-02 9.98795716e-01 -4.68470464e-04 5.31362221e-01] [ 6.91157106e-03 1.29532535e-04 9.99976106e-01 -9.56549162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:0.53, Z:-0.09 [[ 9.98688156e-01 -5.07385646e-02 -6.89681463e-03 1.11783284e+01] [ 5.07365310e-02 9.98711962e-01 -4.69616598e-04 5.33639308e-01] [ 6.91175895e-03 1.19080085e-04 9.99976106e-01 -9.30132800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:0.54, Z:-0.09 [[ 9.98678092e-01 -5.09362638e-02 -6.89677094e-03 1.12067346e+01] [ 5.09342305e-02 9.98701899e-01 -4.70257365e-04 5.35759517e-01] [ 6.91177139e-03 1.18354007e-04 9.99976106e-01 -9.28163786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:0.54, Z:-0.09 [[ 9.98558314e-01 -5.32327762e-02 -6.89667758e-03 1.12340565e+01] [ 5.32307883e-02 9.98582125e-01 -4.71622632e-04 5.37244207e-01] [ 6.91200474e-03 1.03827117e-04 9.99976106e-01 -9.26508205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:0.54, Z:-0.09 [[ 9.98207490e-01 -5.94495054e-02 -6.89664858e-03 1.12621405e+01] [ 5.94476628e-02 9.98231312e-01 -4.72046296e-04 5.39059445e-01] [ 6.91251348e-03 6.12105085e-05 9.99976106e-01 -9.24422113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:11.29, Y:0.54, Z:-0.09 [[ 9.98005606e-01 -6.27474973e-02 -6.89656153e-03 1.12897419e+01] [ 6.27457247e-02 9.98029433e-01 -4.73314724e-04 5.41420382e-01] [ 6.91267071e-03 3.96409968e-05 9.99976106e-01 -9.36099374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:0.54, Z:-0.09 [[ 9.97780062e-01 -6.62373470e-02 -6.89646793e-03 1.13174235e+01] [ 6.62356483e-02 9.97803895e-01 -4.74674572e-04 5.43956075e-01] [ 6.91276375e-03 1.68288001e-05 9.99976106e-01 -9.19448653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.35, Y:0.54, Z:-0.09 [[ 9.97369730e-01 -7.21530448e-02 -6.89637425e-03 1.13453544e+01] [ 7.21514780e-02 9.97393572e-01 -4.76031847e-04 5.44962229e-01] [ 6.91274649e-03 -2.28038404e-05 9.99976106e-01 -9.17792580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:0.55, Z:-0.09 [[ 9.97201186e-01 -7.44461953e-02 -6.89627979e-03 1.13733995e+01] [ 7.44446740e-02 9.97225031e-01 -4.77396326e-04 5.46966640e-01] [ 6.91268317e-03 -3.73311183e-05 9.99976106e-01 -9.13623937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.55, Z:-0.09 [[ 9.97055102e-01 -7.63777917e-02 -6.89618608e-03 1.14011786e+01] [ 7.63763072e-02 9.97078949e-01 -4.78746185e-04 5.48336767e-01] [ 6.91260754e-03 -4.93689010e-05 9.99976106e-01 -9.19248786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.55, Z:-0.09 [[ 9.97030240e-01 -7.67016580e-02 -6.89609161e-03 1.14287158e+01] [ 7.67001719e-02 9.97054087e-01 -4.80103169e-04 5.49216333e-01] [ 6.91260103e-03 -5.02540335e-05 9.99976106e-01 -9.17260464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:0.55, Z:-0.09 [[ 9.97054362e-01 -7.63874564e-02 -6.89599682e-03 1.14570672e+01] [ 7.63859534e-02 9.97078209e-01 -4.81460838e-04 5.49678428e-01] [ 6.91262572e-03 -4.67146633e-05 9.99976106e-01 -9.12826068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:0.55, Z:-0.09 [[ 9.97101257e-01 -7.57728817e-02 -6.89596732e-03 1.14851999e+01] [ 7.57713611e-02 9.97125102e-01 -4.81882996e-04 5.49942558e-01] [ 6.91265578e-03 -4.20306885e-05 9.99976106e-01 -8.98275735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.55, Z:-0.09 [[ 9.97271194e-01 -7.35024690e-02 -6.89587289e-03 1.15126991e+01] [ 7.35008847e-02 9.97295035e-01 -4.83230506e-04 5.50275005e-01] [ 6.91273843e-03 -2.49408946e-05 9.99976106e-01 -8.87064026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.55, Z:-0.09 [[ 9.97362541e-01 -7.22523999e-02 -6.89584363e-03 1.15404279e+01] [ 7.22507829e-02 9.97386380e-01 -4.83647733e-04 5.52182772e-01] [ 6.91276522e-03 -1.58579688e-05 9.99976106e-01 -8.66452676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.57, Y:0.55, Z:-0.09 [[ 9.97477793e-01 -7.06434741e-02 -6.89574794e-03 1.15679215e+01] [ 7.06418092e-02 9.97501629e-01 -4.85008251e-04 5.54212113e-01] [ 6.91278247e-03 -3.34315015e-06 9.99976106e-01 -8.86369728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:0.56, Z:-0.09 [[ 9.97791064e-01 -6.60714960e-02 -6.89565182e-03 1.15946879e+01] [ 6.60697125e-02 9.97814891e-01 -4.86370975e-04 5.56840141e-01] [ 6.91271933e-03 2.97028800e-05 9.99976106e-01 -8.84136917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.56, Z:-0.09 [[ 9.97929366e-01 -6.39486531e-02 -6.89560993e-03 1.16213210e+01] [ 6.39468148e-02 9.97953189e-01 -4.86964203e-04 5.58860470e-01] [ 6.91263662e-03 4.50035874e-05 9.99976106e-01 -8.94361630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.56, Z:-0.09 [[ 9.98032948e-01 -6.23112043e-02 -6.89554367e-03 1.16487558e+01] [ 6.23093204e-02 9.98056767e-01 -4.87900627e-04 5.60639146e-01] [ 6.91254570e-03 5.72842614e-05 9.99976106e-01 -8.88589300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:0.56, Z:-0.09 [[ 9.98226593e-01 -5.91280199e-02 -6.89544646e-03 1.16764477e+01] [ 5.91260506e-02 9.98250405e-01 -4.89270593e-04 5.63196489e-01] [ 6.91231182e-03 8.07024006e-05 9.99976106e-01 -9.15508045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:0.57, Z:-0.09 [[ 9.98308028e-01 -5.77367773e-02 -6.89541629e-03 1.17044752e+01] [ 5.77347719e-02 9.98331837e-01 -4.89695501e-04 5.66225283e-01] [ 6.91218705e-03 9.07616630e-05 9.99976106e-01 -9.18578849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:0.57, Z:-0.09 [[ 9.98427272e-01 -5.56366523e-02 -6.89532351e-03 1.17318576e+01] [ 5.56345879e-02 9.98451076e-01 -4.90998468e-04 5.70343824e-01] [ 6.91196069e-03 1.06607779e-04 9.99976106e-01 -9.04385384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:0.57, Z:-0.09 [[ 9.98448447e-01 -5.52553608e-02 -6.89522754e-03 1.17598657e+01] [ 5.52532779e-02 9.98472249e-01 -4.92342423e-04 5.73611919e-01] [ 6.91189791e-03 1.10594604e-04 9.99976106e-01 -9.01594711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:0.58, Z:-0.09 [[ 9.98437754e-01 -5.54482527e-02 -6.89513179e-03 1.17870767e+01] [ 5.54461652e-02 9.98461556e-01 -4.93679805e-04 5.76657271e-01] [ 6.91189770e-03 1.10599940e-04 9.99976106e-01 -9.05953922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:0.58, Z:-0.09 [[ 9.98354583e-01 -5.69261373e-02 -6.89509020e-03 1.18143052e+01] [ 5.69240811e-02 9.98378388e-01 -4.94259955e-04 5.77732737e-01] [ 6.91204535e-03 1.00950017e-04 9.99976106e-01 -9.23157971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:0.58, Z:-0.09 [[ 9.98267703e-01 -5.84298766e-02 -6.89504897e-03 1.18420861e+01] [ 5.84278522e-02 9.98291511e-01 -4.94834460e-04 5.78663566e-01] [ 6.91218197e-03 9.11143578e-05 9.99976106e-01 -9.25329272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:0.58, Z:-0.09 [[ 9.98168139e-01 -6.01067790e-02 -6.89495512e-03 1.18699635e+01] [ 6.01047857e-02 9.98191950e-01 -4.96138750e-04 5.79791735e-01] [ 6.91231000e-03 8.08100939e-05 9.99976106e-01 -9.16481317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.58, Z:-0.09 [[ 9.98068820e-01 -6.17340394e-02 -6.89485724e-03 1.18971972e+01] [ 6.17320755e-02 9.98092633e-01 -4.97495259e-04 5.81156150e-01] [ 6.91241861e-03 7.09006577e-05 9.99976106e-01 -9.23842232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:0.58, Z:-0.09 [[ 9.97901702e-01 -6.43789923e-02 -6.89481469e-03 1.19238714e+01] [ 6.43770874e-02 9.97925520e-01 -4.98084205e-04 5.81164790e-01] [ 6.91257770e-03 5.31709875e-05 9.99976106e-01 -9.31912729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:0.58, Z:-0.09 [[ 9.97846147e-01 -6.52344086e-02 -6.89477260e-03 1.19520662e+01] [ 6.52325202e-02 9.97869966e-01 -4.98666261e-04 5.82049120e-01] [ 6.91261670e-03 4.78288152e-05 9.99976106e-01 -9.28027437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:0.58, Z:-0.09 [[ 9.97873131e-01 -6.48203480e-02 -6.89467778e-03 1.19802144e+01] [ 6.48184406e-02 9.97896948e-01 -4.99973825e-04 5.81490156e-01] [ 6.91258639e-03 5.20081844e-05 9.99976106e-01 -9.03593608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:0.58, Z:-0.09 [[ 9.97938916e-01 -6.37995615e-02 -6.89464822e-03 1.20093020e+01] [ 6.37976270e-02 9.97962731e-01 -5.00381048e-04 5.82546251e-01] [ 6.91252606e-03 5.94875249e-05 9.99976106e-01 -8.66374688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:0.58, Z:-0.09 [[ 9.98040362e-01 -6.21924489e-02 -6.89456231e-03 1.20373113e+01] [ 6.21904678e-02 9.98064173e-01 -5.01561972e-04 5.83897209e-01] [ 6.91240900e-03 7.18030362e-05 9.99976106e-01 -8.65628054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:0.59, Z:-0.09 [[ 9.98261199e-01 -5.85409613e-02 -6.89453187e-03 1.20643126e+01] [ 5.85388902e-02 9.98285003e-01 -5.01980160e-04 5.85019894e-01] [ 6.91209416e-03 9.75090722e-05 9.99976106e-01 -8.67982432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:0.59, Z:-0.09 [[ 9.98385679e-01 -5.63782043e-02 -6.89449107e-03 1.20913102e+01] [ 5.63760779e-02 9.98409478e-01 -5.02539859e-04 5.87336966e-01] [ 6.91185752e-03 1.13044233e-04 9.99976106e-01 -8.70041614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:0.59, Z:-0.09 [[ 9.98516016e-01 -5.40206730e-02 -6.89445113e-03 1.21188951e+01] [ 5.40184866e-02 9.98539809e-01 -5.03087244e-04 5.89682242e-01] [ 6.91156102e-03 1.29912855e-04 9.99976106e-01 -8.64471271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:0.59, Z:-0.09 [[ 9.98644662e-01 -5.15878549e-02 -6.89435647e-03 1.21470426e+01] [ 5.15856016e-02 9.98668449e-01 -5.04381117e-04 5.91998646e-01] [ 6.91119622e-03 1.48047984e-04 9.99976106e-01 -8.58181855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.19264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:12.18, Y:0.59, Z:-0.09 [[ 9.98866077e-01 -4.71065730e-02 -6.89425854e-03 1.21755482e+01] [ 4.71042037e-02 9.98889853e-01 -5.05716186e-04 5.94535158e-01] [ 6.91042745e-03 1.80394184e-04 9.99976106e-01 -8.89576844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:0.60, Z:-0.09 [[ 9.98959023e-01 -4.50925733e-02 -6.89417346e-03 1.22032089e+01] [ 4.50901481e-02 9.98982793e-01 -5.06873426e-04 5.98115159e-01] [ 6.91001688e-03 1.95486481e-04 9.99976106e-01 -8.62801529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.60, Z:-0.09 [[ 9.99103465e-01 -4.17700682e-02 -6.89407305e-03 1.22308842e+01] [ 4.17675546e-02 9.99127226e-01 -5.08235367e-04 6.03900984e-01] [ 6.90928511e-03 2.19831144e-04 9.99976106e-01 -8.71815097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:0.61, Z:-0.09 [[ 9.99147004e-01 -4.07153037e-02 -6.89404197e-03 1.22582621e+01] [ 4.07127622e-02 9.99170762e-01 -5.08656649e-04 6.07922040e-01] [ 6.90903528e-03 2.27547276e-04 9.99976106e-01 -8.57602257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:0.61, Z:-0.09 [[ 9.99193409e-01 -3.95601426e-02 -6.89394327e-03 1.22857068e+01] [ 3.95575643e-02 9.99217163e-01 -5.09990876e-04 6.11480567e-01] [ 6.90872175e-03 2.36871918e-04 9.99976106e-01 -8.62421309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.31, Y:0.62, Z:-0.09 [[ 9.99222346e-01 -3.88223726e-02 -6.89391269e-03 1.23134103e+01] [ 3.88197740e-02 9.99246098e-01 -5.10403904e-04 6.16739556e-01] [ 6.90853045e-03 2.42386854e-04 9.99976106e-01 -8.66380523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:0.62, Z:-0.09 [[ 9.99208914e-01 -3.91665993e-02 -6.89381088e-03 1.23414031e+01] [ 3.91639995e-02 9.99232665e-01 -5.11775324e-04 6.20289795e-01] [ 6.90856552e-03 2.41381259e-04 9.99976106e-01 -8.69963648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:0.62, Z:-0.09 [[ 9.99086366e-01 -4.21771111e-02 -6.89377915e-03 1.23703656e+01] [ 4.21745799e-02 9.99110125e-01 -5.12202294e-04 6.24362025e-01] [ 6.90924777e-03 2.20992089e-04 9.99976106e-01 -8.83273999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:0.63, Z:-0.09 [[ 9.98977336e-01 -4.46851096e-02 -6.89369054e-03 1.23975313e+01] [ 4.46826298e-02 9.99001101e-01 -5.13392150e-04 6.27529515e-01] [ 6.90974542e-03 2.04838900e-04 9.99976106e-01 -8.85137678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:0.63, Z:-0.09 [[ 9.98860890e-01 -4.72165154e-02 -6.89364631e-03 1.24247851e+01] [ 4.72140917e-02 9.98884661e-01 -5.13985421e-04 6.30728217e-01] [ 6.91022615e-03 1.87922687e-04 9.99976106e-01 -8.99301580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:0.63, Z:-0.09 [[ 9.98725609e-01 -4.99963561e-02 -6.89360252e-03 1.24525833e+01] [ 4.99939946e-02 9.98749386e-01 -5.14572077e-04 6.33913552e-01] [ 6.91070801e-03 1.69277584e-04 9.99976106e-01 -8.89958823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:0.64, Z:-0.09 [[ 9.98605133e-01 -5.23475657e-02 -6.89350021e-03 1.24817460e+01] [ 5.23452508e-02 9.98628914e-01 -5.15939062e-04 6.36997570e-01] [ 6.91105678e-03 1.54377399e-04 9.99976106e-01 -8.94637630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:0.64, Z:-0.09 [[ 9.98412619e-01 -5.58992139e-02 -6.89341689e-03 1.25093650e+01] [ 5.58969759e-02 9.98436408e-01 -5.17049905e-04 6.39567909e-01] [ 6.91154108e-03 1.30907993e-04 9.99976106e-01 -9.06150917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.64, Z:-0.09 [[ 9.98360403e-01 -5.68241732e-02 -6.89338498e-03 1.25372436e+01] [ 5.68219543e-02 9.98384193e-01 -5.17474964e-04 6.41881549e-01] [ 6.91165169e-03 1.24930908e-04 9.99976106e-01 -9.04912477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612640000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:12.56, Y:0.65, Z:-0.09 [[ 9.98280244e-01 -5.82154255e-02 -6.89335323e-03 1.25646715e+01] [ 5.82132368e-02 9.98304037e-01 -5.17897510e-04 6.46576645e-01] [ 6.91181199e-03 1.15722448e-04 9.99976106e-01 -9.11915549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.59, Y:0.65, Z:-0.09 [[ 9.98273518e-01 -5.83306605e-02 -6.89325131e-03 1.25910199e+01] [ 5.83284652e-02 9.98297311e-01 -5.19250588e-04 6.49984406e-01] [ 6.91180247e-03 1.16281342e-04 9.99976106e-01 -9.26504154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:0.65, Z:-0.09 [[ 9.98284770e-01 -5.81377739e-02 -6.89320682e-03 1.26200237e+01] [ 5.81355700e-02 9.98308562e-01 -5.19840497e-04 6.52841741e-01] [ 6.91176976e-03 1.18208343e-04 9.99976106e-01 -8.91970220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702640000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.65, Y:0.66, Z:-0.09 [[ 9.98271047e-01 -5.83729561e-02 -6.89312147e-03 1.26485321e+01] [ 5.83707499e-02 9.98294838e-01 -5.20969802e-04 6.55946325e-01] [ 6.91177813e-03 1.17712400e-04 9.99976106e-01 -8.64946390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:0.66, Z:-0.08 [[ 9.98268367e-01 -5.84187830e-02 -6.89303118e-03 1.26764992e+01] [ 5.84165697e-02 9.98292158e-01 -5.22161790e-04 6.58149505e-01] [ 6.91176302e-03 1.18590361e-04 9.99976106e-01 -8.41455316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:12.70, Y:0.66, Z:-0.08 [[ 9.98157097e-01 -6.02901009e-02 -6.89299915e-03 1.27045244e+01] [ 6.02879293e-02 9.98180892e-01 -5.22584162e-04 6.60390793e-01] [ 6.91196669e-03 1.06056445e-04 9.99976106e-01 -8.49821680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.66, Z:-0.08 [[ 9.98114050e-01 -6.09986211e-02 -6.89289763e-03 1.27323172e+01] [ 6.09964572e-02 9.98137845e-01 -5.23919874e-04 6.61866870e-01] [ 6.91202037e-03 1.02489452e-04 9.99976106e-01 -8.33244905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.76, Y:0.66, Z:-0.09 [[ 9.98040715e-01 -6.21869776e-02 -6.89279512e-03 1.27612186e+01] [ 6.21848327e-02 9.98064512e-01 -5.25265067e-04 6.63410058e-01] [ 6.91211884e-03 9.56086117e-05 9.99976106e-01 -8.59844886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.66, Z:-0.09 [[ 9.98013375e-01 -6.26242225e-02 -6.89270383e-03 1.27894353e+01] [ 6.26220798e-02 9.98037173e-01 -5.26460194e-04 6.64858900e-01] [ 6.91214381e-03 9.37788661e-05 9.99976106e-01 -8.75136516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882640000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:12.82, Y:0.67, Z:-0.09 [[ 9.97989881e-01 -6.29975251e-02 -6.89267131e-03 1.28173069e+01] [ 6.29953884e-02 9.98013679e-01 -5.26885734e-04 6.67136389e-01] [ 6.91217275e-03 9.16201248e-05 9.99976106e-01 -8.78172882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:0.67, Z:-0.09 [[ 9.98042496e-01 -6.21584180e-02 -6.89256707e-03 1.28452763e+01] [ 6.21562519e-02 9.98066291e-01 -5.28245859e-04 6.69040075e-01] [ 6.91207377e-03 9.87956805e-05 9.99976106e-01 -8.56850387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.67, Z:-0.09 [[ 9.98094792e-01 -6.13129617e-02 -6.89246244e-03 1.28733101e+01] [ 6.13107660e-02 9.98118585e-01 -5.29607481e-04 6.71265095e-01] [ 6.91196666e-03 1.06016317e-04 9.99976106e-01 -8.56810556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.67, Z:-0.09 [[ 9.98256697e-01 -5.86179282e-02 -6.89235751e-03 1.28999489e+01] [ 5.86156589e-02 9.98280483e-01 -5.30969555e-04 6.73872910e-01] [ 6.91163032e-03 1.26043838e-04 9.99976106e-01 -8.57154108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.93, Y:0.68, Z:-0.09 [[ 9.98352246e-01 -5.69674304e-02 -6.89231195e-03 1.29290570e+01] [ 5.69651176e-02 9.98376028e-01 -5.31560321e-04 6.76219655e-01] [ 6.91140065e-03 1.38063079e-04 9.99976106e-01 -8.54174016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.68, Z:-0.09 [[ 9.98563931e-01 -5.31278842e-02 -6.89221979e-03 1.29557230e+01] [ 5.31254719e-02 9.98587703e-01 -5.32752541e-04 6.78262764e-01] [ 6.91078995e-03 1.65835043e-04 9.99976106e-01 -8.67447206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062640000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.98, Y:0.68, Z:-0.09 [[ 9.98622115e-01 -5.20227729e-02 -6.89217402e-03 1.29833196e+01] [ 5.20203301e-02 9.98645884e-01 -5.33344019e-04 6.81569550e-01] [ 6.91058725e-03 1.74075964e-04 9.99976106e-01 -8.74924048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.01, Y:0.68, Z:-0.09 [[ 9.98611838e-01 -5.22196854e-02 -6.89206831e-03 1.30117023e+01] [ 5.22172379e-02 9.98635606e-01 -5.34706613e-04 6.83954247e-01] [ 6.91058702e-03 1.74079584e-04 9.99976106e-01 -8.72955243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.69, Z:-0.09 [[ 9.98675771e-01 -5.09824045e-02 -6.89196261e-03 1.30391401e+01] [ 5.09799182e-02 9.98699535e-01 -5.36065574e-04 6.87921466e-01] [ 6.91032976e-03 1.84004010e-04 9.99976106e-01 -8.52366436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.69, Z:-0.09 [[ 9.98726410e-01 -4.99805899e-02 -6.89185597e-03 1.30662102e+01] [ 4.99780704e-02 9.98750171e-01 -5.37433053e-04 6.91939924e-01] [ 6.91010355e-03 1.92306921e-04 9.99976106e-01 -8.54933717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.70, Z:-0.09 [[ 9.98822224e-01 -4.80277871e-02 -6.89180955e-03 1.30929072e+01] [ 4.80252170e-02 9.98845979e-01 -5.38027669e-04 6.96301055e-01] [ 6.90969653e-03 2.06413344e-04 9.99976106e-01 -8.68440445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:13.12, Y:0.70, Z:-0.09 [[ 9.98847725e-01 -4.74944889e-02 -6.89176377e-03 1.31208009e+01] [ 4.74919020e-02 9.98871478e-01 -5.38613456e-04 6.99018940e-01] [ 6.90956743e-03 2.10689855e-04 9.99976106e-01 -8.74842369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.70, Z:-0.09 [[ 9.98904095e-01 -4.62937724e-02 -6.89165763e-03 1.31476851e+01] [ 4.62911477e-02 9.98927844e-01 -5.39968062e-04 7.01376749e-01] [ 6.90926586e-03 2.20353567e-04 9.99976106e-01 -8.82436907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272640000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.18, Y:0.71, Z:-0.08 [[ 9.98971236e-01 -4.48215937e-02 -6.89158443e-03 1.31763968e+01] [ 4.48189275e-02 9.98994981e-01 -5.40900744e-04 7.06455856e-01] [ 6.90890229e-03 2.31470862e-04 9.99976106e-01 -8.48703461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:0.71, Z:-0.08 [[ 9.98997005e-01 -4.42435523e-02 -6.89149165e-03 1.32051182e+01] [ 4.42408643e-02 9.99020747e-01 -5.42080222e-04 7.10667203e-01] [ 6.90872669e-03 2.36650972e-04 9.99976106e-01 -8.21357504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:0.72, Z:-0.08 [[ 9.98932869e-01 -4.56687236e-02 -6.89139769e-03 1.32325776e+01] [ 4.56660613e-02 9.98956614e-01 -5.43272114e-04 7.15515605e-01] [ 6.90901784e-03 2.27989383e-04 9.99976106e-01 -8.24239626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:0.72, Z:-0.08 [[ 9.98858484e-01 -4.72677174e-02 -6.89136446e-03 1.32596606e+01] [ 4.72650901e-02 9.98882233e-01 -5.43693354e-04 7.18408185e-01] [ 6.90936066e-03 2.17351758e-04 9.99976106e-01 -8.32543569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.72, Z:-0.08 [[ 9.98738740e-01 -4.97336844e-02 -6.89131845e-03 1.32875696e+01] [ 4.97311118e-02 9.98762494e-01 -5.44275821e-04 7.21504138e-01] [ 6.90985925e-03 2.00876419e-04 9.99976106e-01 -8.18730867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:0.72, Z:-0.08 [[ 9.98480664e-01 -5.46705969e-02 -6.89121015e-03 1.33148369e+01] [ 5.46681323e-02 9.98504430e-01 -5.45643648e-04 7.24687608e-01] [ 6.91073453e-03 1.68085044e-04 9.99976106e-01 -8.33718262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.34, Y:0.73, Z:-0.08 [[ 9.98347588e-01 -5.70491561e-02 -6.89117647e-03 1.33415921e+01] [ 5.70467452e-02 9.98371359e-01 -5.46068723e-04 7.26759234e-01] [ 6.91110597e-03 1.52047204e-04 9.99976106e-01 -8.42538451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.73, Z:-0.08 [[ 9.98219356e-01 -5.92505672e-02 -6.89112948e-03 1.33691678e+01] [ 5.92482046e-02 9.98243132e-01 -5.46661050e-04 7.29160507e-01] [ 6.91141265e-03 1.37400592e-04 9.99976106e-01 -8.32716316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.73, Z:-0.08 [[ 9.98057166e-01 -6.19225839e-02 -6.89102080e-03 1.33958530e+01] [ 6.19202756e-02 9.98080948e-01 -5.48027544e-04 7.33007347e-01] [ 6.91173186e-03 1.20268910e-04 9.99976106e-01 -8.37253852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:0.74, Z:-0.08 [[ 9.98027060e-01 -6.24059402e-02 -6.89097340e-03 1.34228207e+01] [ 6.24036392e-02 9.98050843e-01 -5.48622995e-04 7.36951128e-01] [ 6.91177914e-03 1.17518777e-04 9.99976106e-01 -8.44388938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.45, Y:0.74, Z:-0.08 [[ 9.98029752e-01 -6.23628864e-02 -6.89092637e-03 1.34510180e+01] [ 6.23605804e-02 9.98053534e-01 -5.49213090e-04 7.41309526e-01] [ 6.91176392e-03 1.18408836e-04 9.99976106e-01 -8.45183288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.48, Y:0.75, Z:-0.09 [[ 9.98043555e-01 -6.21416099e-02 -6.89081817e-03 1.34801302e+01] [ 6.21392893e-02 9.98067335e-01 -5.50567193e-04 7.45528901e-01] [ 6.91171366e-03 1.21299494e-04 9.99976106e-01 -8.65153018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632640000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.51, Y:0.75, Z:-0.09 [[ 9.98093313e-01 -6.13372253e-02 -6.89076613e-03 1.35076764e+01] [ 6.13348810e-02 9.98117092e-01 -5.51217840e-04 7.50106308e-01] [ 6.91160162e-03 1.27522520e-04 9.99976106e-01 -8.85895948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.75, Z:-0.09 [[ 9.98083771e-01 -6.14923011e-02 -6.89073214e-03 1.35355773e+01] [ 6.14899575e-02 9.98107550e-01 -5.51642335e-04 7.53381558e-01] [ 6.91161353e-03 1.26874435e-04 9.99976106e-01 -8.86617291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:0.76, Z:-0.09 [[ 9.98052414e-01 -6.19991696e-02 -6.89069875e-03 1.35626268e+01] [ 6.19968353e-02 9.98076193e-01 -5.52059104e-04 7.56050057e-01] [ 6.91166959e-03 1.23782405e-04 9.99976106e-01 -8.88308990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:0.76, Z:-0.08 [[ 9.97917299e-01 -6.41372293e-02 -6.89065345e-03 1.35914403e+01] [ 6.41349420e-02 9.97941082e-01 -5.52623996e-04 7.58799986e-01] [ 6.91190993e-03 1.09541386e-04 9.99976106e-01 -8.47681826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.76, Z:-0.08 [[ 9.97823092e-01 -6.55865686e-02 -6.89055927e-03 1.36201180e+01] [ 6.55843078e-02 9.97846878e-01 -5.53795835e-04 7.61816409e-01] [ 6.91204462e-03 1.00677712e-04 9.99976106e-01 -8.28017949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.76, Z:-0.08 [[ 9.97583500e-01 -6.91352497e-02 -6.89046482e-03 1.36491105e+01] [ 6.91330654e-02 9.97607293e-01 -5.54968566e-04 7.64669685e-01] [ 6.91234584e-03 7.72685294e-05 9.99976106e-01 -8.01910971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.77, Z:-0.08 [[ 9.97420633e-01 -7.14465160e-02 -6.89036956e-03 1.36773576e+01] [ 7.14443787e-02 9.97444430e-01 -5.56148772e-04 7.66641539e-01] [ 6.91249563e-03 6.24360880e-05 9.99976106e-01 -7.87065737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.71, Y:0.77, Z:-0.08 [[ 9.97239310e-01 -7.39343075e-02 -6.89033538e-03 1.37051942e+01] [ 7.39322267e-02 9.97263113e-01 -5.56571925e-04 7.67983466e-01] [ 6.91262706e-03 4.56175652e-05 9.99976106e-01 -7.99756326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:0.77, Z:-0.08 [[ 9.97049189e-01 -7.64554707e-02 -6.89028374e-03 1.37335278e+01] [ 7.64534456e-02 9.97072996e-01 -5.57210393e-04 7.68923807e-01] [ 6.91271764e-03 2.87802369e-05 9.99976106e-01 -7.80927324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:0.77, Z:-0.08 [[ 9.96737933e-01 -8.04115518e-02 -6.89017526e-03 1.37626751e+01] [ 8.04096119e-02 9.96761748e-01 -5.58548610e-04 7.67216673e-01] [ 6.91277690e-03 2.69026865e-06 9.99976106e-01 -7.90056727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.79, Y:0.77, Z:-0.08 [[ 9.96621918e-01 -8.18369023e-02 -6.89007894e-03 1.37918199e+01] [ 8.18349884e-02 9.96645735e-01 -5.59734308e-04 7.67438762e-01] [ 6.91277471e-03 -6.00605029e-06 9.99976106e-01 -8.15029055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.77, Z:-0.08 [[ 9.96630195e-01 -8.17360597e-02 -6.88998203e-03 1.38200565e+01] [ 8.17341351e-02 9.96654010e-01 -5.60924645e-04 7.66203918e-01] [ 6.91277599e-03 -4.11228427e-06 9.99976106e-01 -8.25990624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.77, Z:-0.08 [[ 9.96701291e-01 -8.08644816e-02 -6.88994752e-03 1.38484597e+01] [ 8.08625332e-02 9.96725105e-01 -5.61348171e-04 7.67832180e-01] [ 6.91277680e-03 2.35783678e-06 9.99976106e-01 -8.18009550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.77, Z:-0.08 [[ 9.96862768e-01 -7.88489189e-02 -6.88985134e-03 1.38759773e+01] [ 7.88469142e-02 9.96886577e-01 -5.62526269e-04 7.69902005e-01] [ 6.91275491e-03 1.75179756e-05 9.99976106e-01 -8.09310515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.77, Z:-0.08 [[ 9.97102790e-01 -7.57532634e-02 -6.88974013e-03 1.39042435e+01] [ 7.57511754e-02 9.97126592e-01 -5.63885025e-04 7.72322158e-01] [ 6.91265923e-03 4.03454191e-05 9.99976106e-01 -8.04093882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.78, Z:-0.08 [[ 9.97659615e-01 -6.80281179e-02 -6.88962829e-03 1.39321144e+01] [ 6.80258362e-02 9.97683400e-01 -5.65248188e-04 7.75640080e-01] [ 6.91212055e-03 9.52525641e-05 9.99976106e-01 -7.88252659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112640000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.96, Y:0.78, Z:-0.08 [[ 9.97920977e-01 -6.40800807e-02 -6.88959346e-03 1.39597099e+01] [ 6.40777020e-02 9.97944752e-01 -5.65672490e-04 7.78409971e-01] [ 6.91168197e-03 1.23027128e-04 9.99976106e-01 -7.97219429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.78, Z:-0.08 [[ 9.98333291e-01 -5.72989893e-02 -6.88948366e-03 1.39874583e+01] [ 5.72964399e-02 9.98357049e-01 -5.67006634e-04 7.82057964e-01] [ 6.91065348e-03 1.71318713e-04 9.99976106e-01 -7.89238908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:0.79, Z:-0.08 [[ 9.98464954e-01 -5.49569941e-02 -6.88937364e-03 1.40149829e+01] [ 5.49543798e-02 9.98488705e-01 -5.68340203e-04 7.86254994e-01] [ 6.91019603e-03 1.88866519e-04 9.99976106e-01 -7.79623299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:0.79, Z:-0.08 [[ 9.98554381e-01 -5.33074785e-02 -6.88926116e-03 1.40423475e+01] [ 5.33048156e-02 9.98578125e-01 -5.69700381e-04 7.90735347e-01] [ 6.90983479e-03 2.01646015e-04 9.99976106e-01 -7.78712181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:0.80, Z:-0.08 [[ 9.98612911e-01 -5.21995571e-02 -6.88914951e-03 1.40702038e+01] [ 5.21968586e-02 9.98636652e-01 -5.71047373e-04 7.96851757e-01] [ 6.90956562e-03 2.10663316e-04 9.99976106e-01 -7.75819928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.80, Z:-0.08 [[ 9.98590510e-01 -5.26263700e-02 -6.88903777e-03 1.40973527e+01] [ 5.26236723e-02 9.98614251e-01 -5.72392292e-04 8.00561708e-01] [ 6.90961421e-03 2.09059045e-04 9.99976106e-01 -7.90329985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:0.80, Z:-0.08 [[ 9.98530473e-01 -5.37534827e-02 -6.88898913e-03 1.41254827e+01] [ 5.37508078e-02 9.98554216e-01 -5.72977093e-04 8.04584281e-01] [ 6.90982865e-03 2.01846357e-04 9.99976106e-01 -7.65437078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.81, Z:-0.08 [[ 9.98467073e-01 -5.49185595e-02 -6.88887527e-03 1.41520935e+01] [ 5.49159029e-02 9.98490818e-01 -5.74342687e-04 8.08294057e-01] [ 6.91002078e-03 1.95153456e-04 9.99976106e-01 -7.72024486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.81, Z:-0.08 [[ 9.98334255e-01 -5.72822802e-02 -6.88879661e-03 1.41796838e+01] [ 5.72796734e-02 9.98358006e-01 -5.75284652e-04 8.13294634e-01] [ 6.91043886e-03 1.79738354e-04 9.99976106e-01 -7.93162216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.82, Z:-0.08 [[ 9.98256045e-01 -5.86294554e-02 -6.88874627e-03 1.42076918e+01] [ 5.86268765e-02 9.98279799e-01 -5.75886819e-04 8.17713381e-01] [ 6.91066017e-03 1.71016822e-04 9.99976106e-01 -7.89537042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.83, Z:-0.08 [[ 9.98129123e-01 -6.07519598e-02 -6.88863334e-03 1.42357263e+01] [ 6.07494221e-02 9.98152881e-01 -5.77234506e-04 8.25011981e-01] [ 6.91097734e-03 1.57674077e-04 9.99976106e-01 -8.14931884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:0.83, Z:-0.08 [[ 9.98045250e-01 -6.21146299e-02 -6.88853385e-03 1.42636742e+01] [ 6.21121164e-02 9.98069011e-01 -5.78419378e-04 8.28922883e-01] [ 6.91116047e-03 1.49427297e-04 9.99976106e-01 -8.40361298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:0.83, Z:-0.08 [[ 9.97826468e-01 -6.55354009e-02 -6.88848290e-03 1.42924978e+01] [ 6.55329647e-02 9.97850237e-01 -5.79025489e-04 8.32932678e-01] [ 6.91162096e-03 1.26344252e-04 9.99976106e-01 -8.24656711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:0.84, Z:-0.08 [[ 9.97724543e-01 -6.70692594e-02 -6.88838427e-03 1.43196086e+01] [ 6.70668517e-02 9.97748315e-01 -5.80196418e-04 8.36888935e-01] [ 6.91178715e-03 1.16893960e-04 9.99976106e-01 -8.16194335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.84, Z:-0.08 [[ 9.97613054e-01 -6.87076767e-02 -6.88832364e-03 1.43476186e+01] [ 6.87053031e-02 9.97636830e-01 -5.80915415e-04 8.41563015e-01] [ 6.91195871e-03 1.06264438e-04 9.99976106e-01 -7.84795359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:0.85, Z:-0.08 [[ 9.97549088e-01 -6.96302364e-02 -6.88820817e-03 1.43750560e+01] [ 6.96278753e-02 9.97572864e-01 -5.82281351e-04 8.45379570e-01] [ 6.91203395e-03 1.01242930e-04 9.99976106e-01 -7.85958939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.85, Z:-0.07 [[ 9.97420950e-01 -7.14423009e-02 -6.88815179e-03 1.44035781e+01] [ 7.14399784e-02 9.97444730e-01 -5.82947589e-04 8.50086988e-01] [ 6.91219782e-03 8.93547225e-05 9.99976106e-01 -7.46250707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.85, Z:-0.08 [[ 9.97415005e-01 -7.15252534e-02 -6.88805150e-03 1.44308330e+01] [ 7.15229247e-02 9.97438785e-01 -5.84130158e-04 8.54344737e-01] [ 6.91218978e-03 8.99665952e-05 9.99976106e-01 -7.52276435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.86, Z:-0.07 [[ 9.97479812e-01 -7.06157242e-02 -6.88801587e-03 1.44585100e+01] [ 7.06133710e-02 9.97503589e-01 -5.84550016e-04 8.60828846e-01] [ 6.91209898e-03 9.66908204e-05 9.99976106e-01 -7.46735906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682640000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.49, Y:0.87, Z:-0.08 [[ 9.97561122e-01 -6.94576428e-02 -6.88790071e-03 1.44865448e+01] [ 6.94552525e-02 9.97584896e-01 -5.85903884e-04 8.65259712e-01] [ 6.91196121e-03 1.06074053e-04 9.99976106e-01 -7.73559212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.51, Y:0.87, Z:-0.08 [[ 9.97649222e-01 -6.81805548e-02 -6.88778552e-03 1.45142536e+01] [ 6.81781248e-02 9.97672992e-01 -5.87254856e-04 8.69965017e-01] [ 6.91179695e-03 1.16278049e-04 9.99976106e-01 -7.75944291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.88, Z:-0.08 [[ 9.97805237e-01 -6.58579513e-02 -6.88767054e-03 1.45414122e+01] [ 6.58554567e-02 9.97829000e-01 -5.88600302e-04 8.76259080e-01] [ 6.91148142e-03 1.33717774e-04 9.99976106e-01 -7.80601180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.88, Z:-0.08 [[ 9.97836568e-01 -6.53815194e-02 -6.88763482e-03 1.45687608e+01] [ 6.53790106e-02 9.97860330e-01 -5.89018072e-04 8.80222672e-01] [ 6.91140845e-03 1.37437022e-04 9.99976106e-01 -7.88475426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:14.60, Y:0.88, Z:-0.08 [[ 9.97819512e-01 -6.56413134e-02 -6.88760013e-03 1.45961060e+01] [ 6.56388080e-02 9.97843274e-01 -5.89423442e-04 8.83400175e-01] [ 6.91143599e-03 1.36044349e-04 9.99976106e-01 -8.19018371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.89, Z:-0.08 [[ 9.97773610e-01 -6.63353922e-02 -6.88756552e-03 1.46249084e+01] [ 6.63329005e-02 9.97797373e-01 -5.89827580e-04 8.86460544e-01] [ 6.91152123e-03 1.31642196e-04 9.99976106e-01 -7.83110015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.89, Z:-0.08 [[ 9.97681717e-01 -6.77034279e-02 -6.88746632e-03 1.46524776e+01] [ 6.77009608e-02 9.97705483e-01 -5.90983694e-04 8.90650418e-01] [ 6.91167453e-03 1.23325540e-04 9.99976106e-01 -7.53641328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.68, Y:0.90, Z:-0.08 [[ 9.97638708e-01 -6.83342588e-02 -6.88743097e-03 1.46812963e+01] [ 6.83318039e-02 9.97662475e-01 -5.91395348e-04 8.95011897e-01] [ 6.91174399e-03 1.19368308e-04 9.99976106e-01 -7.53741793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.90, Z:-0.07 [[ 9.97614718e-01 -6.86836227e-02 -6.88733331e-03 1.47086402e+01] [ 6.86811683e-02 9.97638485e-01 -5.92530472e-04 8.98809106e-01] [ 6.91176591e-03 1.18087021e-04 9.99976106e-01 -7.26791662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.90, Z:-0.07 [[ 9.97623914e-01 -6.85499337e-02 -6.88721916e-03 1.47372670e+01] [ 6.85474670e-02 9.97647679e-01 -5.93854384e-04 9.02763018e-01] [ 6.91172689e-03 1.20341907e-04 9.99976106e-01 -7.19004991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.91, Z:-0.07 [[ 9.97609918e-01 -6.87533146e-02 -6.88711282e-03 1.47656143e+01] [ 6.87508443e-02 9.97633684e-01 -5.95085026e-04 9.05396631e-01] [ 6.91172981e-03 1.20167903e-04 9.99976106e-01 -7.17036256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.91, Z:-0.07 [[ 9.97644778e-01 -6.82456347e-02 -6.88699122e-03 1.47921647e+01] [ 6.82431425e-02 9.97668541e-01 -5.96489029e-04 9.08818324e-01] [ 6.91164226e-03 1.25094241e-04 9.99976106e-01 -7.31187600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.91, Z:-0.07 [[ 9.97782518e-01 -6.62013307e-02 -6.88693836e-03 1.48211097e+01] [ 6.61987856e-02 9.97806276e-01 -5.97098726e-04 9.14292811e-01] [ 6.91135905e-03 1.39867714e-04 9.99976106e-01 -7.42361310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.92, Z:-0.07 [[ 9.97858611e-01 -6.50443193e-02 -6.88684178e-03 1.48483260e+01] [ 6.50417391e-02 9.97882365e-01 -5.98210616e-04 9.18485737e-01] [ 6.91116816e-03 1.48997448e-04 9.99976106e-01 -7.44312354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.92, Z:-0.07 [[ 9.97893939e-01 -6.45000625e-02 -6.88680482e-03 1.48759652e+01] [ 6.44974663e-02 9.97917691e-01 -5.98635823e-04 9.22500993e-01] [ 6.91107641e-03 1.53193597e-04 9.99976106e-01 -7.37598192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:0.93, Z:-0.08 [[ 9.97917569e-01 -6.41334483e-02 -6.88668673e-03 1.49031895e+01] [ 6.41308341e-02 9.97941319e-01 -5.99991190e-04 9.25954518e-01] [ 6.91098875e-03 1.57092786e-04 9.99976106e-01 -7.64632370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.93, Z:-0.07 [[ 9.97861432e-01 -6.50010596e-02 -6.88663537e-03 1.49312452e+01] [ 6.49984620e-02 9.97885183e-01 -6.00580157e-04 9.29029344e-01] [ 6.91110975e-03 1.51675068e-04 9.99976106e-01 -7.46110430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.93, Z:-0.08 [[ 9.97783232e-01 -6.61906103e-02 -6.88651670e-03 1.49592742e+01] [ 6.61880316e-02 9.97806986e-01 -6.01937809e-04 9.31528284e-01] [ 6.91125711e-03 1.44798468e-04 9.99976106e-01 -7.55762014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.93, Z:-0.08 [[ 9.97565119e-01 -6.94003630e-02 -6.88639821e-03 1.49870335e+01] [ 6.93978514e-02 9.97588880e-01 -6.03290344e-04 9.32648570e-01] [ 6.91166285e-03 1.23920165e-04 9.99976106e-01 -8.12120251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:0.93, Z:-0.08 [[ 9.97430595e-01 -7.13076896e-02 -6.88636148e-03 1.50149395e+01] [ 7.13052206e-02 9.97454360e-01 -6.03709322e-04 9.33955279e-01] [ 6.91188040e-03 1.11124624e-04 9.99976106e-01 -7.89729340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:0.94, Z:-0.08 [[ 9.97306221e-01 -7.30265853e-02 -6.88624571e-03 1.50426350e+01] [ 7.30241481e-02 9.97329989e-01 -6.05027000e-04 9.36053029e-01] [ 6.91204241e-03 1.00534964e-04 9.99976106e-01 -7.85592731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:0.94, Z:-0.08 [[ 9.97203290e-01 -7.44189523e-02 -6.88612821e-03 1.50700883e+01] [ 7.44165391e-02 9.97227061e-01 -6.06361400e-04 9.38772468e-01] [ 6.91215817e-03 9.22237538e-05 9.99976106e-01 -7.84865047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:0.94, Z:-0.08 [[ 9.97049926e-01 -7.64462387e-02 -6.88601064e-03 1.50970141e+01] [ 7.64438646e-02 9.97073702e-01 -6.07693640e-04 9.40241650e-01] [ 6.91231601e-03 7.95076342e-05 9.99976106e-01 -7.93638149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.94, Z:-0.08 [[ 9.96959226e-01 -7.76201280e-02 -6.88595969e-03 1.51253792e+01] [ 7.76177780e-02 9.96983004e-01 -6.08270373e-04 9.41480765e-01] [ 6.91239880e-03 7.19478703e-05 9.99976106e-01 -7.92742161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:0.94, Z:-0.08 [[ 9.96879988e-01 -7.86312607e-02 -6.88584459e-03 1.51534488e+01] [ 7.86289258e-02 9.96903767e-01 -6.09570591e-04 9.40873041e-01] [ 6.91245571e-03 6.62421606e-05 9.99976106e-01 -7.85339941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.94, Z:-0.08 [[ 9.96880073e-01 -7.86301861e-02 -6.88572772e-03 1.51814522e+01] [ 7.86278421e-02 9.96903852e-01 -6.10887850e-04 9.43449030e-01] [ 6.91244271e-03 6.75720128e-05 9.99976106e-01 -7.64940122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.95, Z:-0.08 [[ 9.96934374e-01 -7.79387077e-02 -6.88560606e-03 1.52086668e+01] [ 7.79363378e-02 9.96958150e-01 -6.12256099e-04 9.47358228e-01] [ 6.91237953e-03 7.37402312e-05 9.99976107e-01 -7.85254743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.95, Z:-0.08 [[ 9.97057849e-01 -7.63428756e-02 -6.88555314e-03 1.52360748e+01] [ 7.63404634e-02 9.97081621e-01 -6.12850694e-04 9.51817431e-01] [ 6.91224527e-03 8.54012772e-05 9.99976107e-01 -7.64882291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:0.95, Z:-0.08 [[ 9.97083319e-01 -7.60095072e-02 -6.88543101e-03 1.52634961e+01] [ 7.60070777e-02 9.97107089e-01 -6.14219731e-04 9.53514585e-01] [ 6.91219861e-03 8.90867581e-05 9.99976107e-01 -7.75001731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:0.95, Z:-0.08 [[ 9.97093273e-01 -7.58788333e-02 -6.88537779e-03 1.52901262e+01] [ 7.58763966e-02 9.97117041e-01 -6.14815823e-04 9.54883583e-01] [ 6.91217904e-03 9.05910650e-05 9.99976107e-01 -8.04070189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:0.96, Z:-0.08 [[ 9.97063082e-01 -7.62745202e-02 -6.88532545e-03 1.53187485e+01] [ 7.62720888e-02 9.97086852e-01 -6.15401398e-04 9.57673717e-01] [ 6.91220692e-03 8.84358600e-05 9.99976107e-01 -7.69202832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.96, Z:-0.08 [[ 9.97033601e-01 -7.66589324e-02 -6.88521815e-03 1.53464703e+01] [ 7.66565019e-02 9.97057371e-01 -6.16599574e-04 9.60680608e-01] [ 6.91222537e-03 8.69737558e-05 9.99976107e-01 -7.78186373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:0.96, Z:-0.08 [[ 9.97013975e-01 -7.69137690e-02 -6.88517998e-03 1.53746469e+01] [ 7.69113417e-02 9.97037745e-01 -6.17025455e-04 9.63389558e-01] [ 6.91224208e-03 8.56345712e-05 9.99976107e-01 -7.57393483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.97, Z:-0.08 [[ 9.96985943e-01 -7.72762900e-02 -6.88514138e-03 1.54020081e+01] [ 7.72738683e-02 9.97009713e-01 -6.17455837e-04 9.66619737e-01] [ 6.91226753e-03 8.35532810e-05 9.99976107e-01 -7.59154402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:0.97, Z:-0.08 [[ 9.96972418e-01 -7.74505904e-02 -6.88510301e-03 1.54300994e+01] [ 7.74481700e-02 9.96996188e-01 -6.17883484e-04 9.70121483e-01] [ 6.91227689e-03 8.27741631e-05 9.99976107e-01 -7.61349308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:0.97, Z:-0.07 [[ 9.96896507e-01 -7.84216205e-02 -6.88498180e-03 1.54573255e+01] [ 7.84192139e-02 9.96920279e-01 -6.19231150e-04 9.73928219e-01] [ 6.91233909e-03 7.73945107e-05 9.99976107e-01 -7.49582866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.98, Z:-0.07 [[ 9.96804659e-01 -7.95805844e-02 -6.88494413e-03 1.54850805e+01] [ 7.95782025e-02 9.96828433e-01 -6.19649652e-04 9.75719175e-01] [ 6.91242016e-03 6.97781819e-05 9.99976107e-01 -7.38779348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:0.98, Z:-0.07 [[ 9.96657584e-01 -8.14018278e-02 -6.88490763e-03 1.55127318e+01] [ 8.13994866e-02 9.96681363e-01 -6.20054976e-04 9.77369901e-01] [ 6.91253273e-03 5.75545483e-05 9.99976107e-01 -7.13668593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:0.98, Z:-0.07 [[ 9.96478801e-01 -8.35619477e-02 -6.88478606e-03 1.55403345e+01] [ 8.35596487e-02 9.96502584e-01 -6.21401911e-04 9.79191698e-01] [ 6.91263265e-03 4.39235262e-05 9.99976107e-01 -6.98935481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.85264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:15.57, Y:0.98, Z:-0.07 [[ 9.96159385e-01 -8.72873432e-02 -6.88466152e-03 1.55681486e+01] [ 8.72851236e-02 9.96183176e-01 -6.22778637e-04 9.82577933e-01] [ 6.91274467e-03 1.94582518e-05 9.99976107e-01 -7.33551642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.99, Z:-0.07 [[ 9.96035781e-01 -8.86866652e-02 -6.88462300e-03 1.55960928e+01] [ 8.86844761e-02 9.96059574e-01 -6.23204234e-04 9.85393469e-01] [ 6.91276456e-03 1.01745328e-05 9.99976107e-01 -7.09929257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.99, Z:-0.07 [[ 9.95899690e-01 -9.02020621e-02 -6.88450797e-03 1.56237767e+01] [ 9.01999004e-02 9.95923485e-01 -6.24472395e-04 9.87215635e-01] [ 6.91277186e-03 9.29930972e-07 9.99976107e-01 -6.94328343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.65, Y:0.99, Z:-0.07 [[ 9.95900807e-01 -9.01897272e-02 -6.88438689e-03 1.56515170e+01] [ 9.01875561e-02 9.95924602e-01 -6.25804321e-04 9.89795811e-01] [ 6.91277140e-03 2.35299944e-06 9.99976107e-01 -7.16787523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972640000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:15.68, Y:0.99, Z:-0.07 [[ 9.95945504e-01 -8.96948120e-02 -6.88426639e-03 1.56789927e+01] [ 8.96926199e-02 9.95969297e-01 -6.27127120e-04 9.91807537e-01] [ 6.91276801e-03 7.11654716e-06 9.99976107e-01 -7.26415155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:0.99, Z:-0.07 [[ 9.96157571e-01 -8.73080839e-02 -6.88422895e-03 1.57070401e+01] [ 8.73058320e-02 9.96181358e-01 -6.27537804e-04 9.93801549e-01] [ 6.91272967e-03 2.40931980e-05 9.99976107e-01 -6.90346668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:1.00, Z:-0.07 [[ 9.96327707e-01 -8.53446562e-02 -6.88410597e-03 1.57341692e+01] [ 8.53423481e-02 9.96351488e-01 -6.28884040e-04 9.97368711e-01] [ 6.91266112e-03 3.90688253e-05 9.99976107e-01 -7.00992950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:1.00, Z:-0.07 [[ 9.96703510e-01 -8.08376309e-02 -6.88405997e-03 1.57616109e+01] [ 8.08352118e-02 9.96727281e-01 -6.29387129e-04 1.00224085e+00] [ 6.91240854e-03 7.08379151e-05 9.99976107e-01 -6.83970116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:1.01, Z:-0.07 [[ 9.96894064e-01 -7.84527629e-02 -6.88393825e-03 1.57906659e+01] [ 7.84502778e-02 9.96917828e-01 -6.30715737e-04 1.00567671e+00] [ 6.91220216e-03 8.87099069e-05 9.99976107e-01 -6.77988167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:1.01, Z:-0.07 [[ 9.97076457e-01 -7.60996156e-02 -6.88383877e-03 1.58187971e+01] [ 7.60970668e-02 9.97100214e-01 -6.31799536e-04 1.00951265e+00] [ 6.91195682e-03 1.06112504e-04 9.99976107e-01 -6.62143888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:1.01, Z:-0.07 [[ 9.97266126e-01 -7.35723293e-02 -6.88371338e-03 1.58460806e+01] [ 7.35697109e-02 9.97289876e-01 -6.33162816e-04 1.01348519e+00] [ 6.91164093e-03 1.24999026e-04 9.99976107e-01 -6.56289601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:1.02, Z:-0.07 [[ 9.97557415e-01 -6.95112826e-02 -6.88367448e-03 1.58734483e+01] [ 6.95085647e-02 9.97581154e-01 -6.33585409e-04 1.01890980e+00] [ 6.91106527e-03 1.53563489e-04 9.99976107e-01 -6.80482902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:1.02, Z:-0.07 [[ 9.97628641e-01 -6.84814557e-02 -6.88363602e-03 1.59011511e+01] [ 6.84787104e-02 9.97652376e-01 -6.34003055e-04 1.02349681e+00] [ 6.91089328e-03 1.61117090e-04 9.99976107e-01 -6.70822129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:1.03, Z:-0.07 [[ 9.97703134e-01 -6.73874896e-02 -6.88351137e-03 1.59278192e+01] [ 6.73847089e-02 9.97726865e-01 -6.35353525e-04 1.03036132e+00] [ 6.91067910e-03 1.70050794e-04 9.99976107e-01 -6.75520660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:1.03, Z:-0.07 [[ 9.97688007e-01 -6.76110906e-02 -6.88342518e-03 1.59550164e+01] [ 6.76083088e-02 9.97711738e-01 -6.36285902e-04 1.03482846e+00] [ 6.91069408e-03 1.69438078e-04 9.99976107e-01 -6.70115399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:1.04, Z:-0.07 [[ 9.97664099e-01 -6.79629721e-02 -6.88330058e-03 1.59825830e+01] [ 6.79601894e-02 9.97687830e-01 -6.37630955e-04 1.03844726e+00] [ 6.91072052e-03 1.68351100e-04 9.99976107e-01 -6.78870461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:1.04, Z:-0.07 [[ 9.97597890e-01 -6.89280090e-02 -6.88326185e-03 1.60110403e+01] [ 6.89252464e-02 9.97621623e-01 -6.38048818e-04 1.04196030e+00] [ 6.91087029e-03 1.62085636e-04 9.99976107e-01 -6.70345256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:1.05, Z:-0.07 [[ 9.97447180e-01 -7.10756252e-02 -6.88315593e-03 1.60386954e+01] [ 7.10729059e-02 9.97470919e-01 -6.39189409e-04 1.04682247e+00] [ 6.91117866e-03 1.48351780e-04 9.99976107e-01 -6.50227463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:1.05, Z:-0.06 [[ 9.97340741e-01 -7.25539112e-02 -6.88309897e-03 1.60672750e+01] [ 7.25512228e-02 9.97364482e-01 -6.39802155e-04 1.05120002e+00] [ 6.91137859e-03 1.38723508e-04 9.99976107e-01 -6.35074613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:16.10, Y:1.06, Z:-0.06 [[ 9.97227343e-01 -7.40962318e-02 -6.88299157e-03 1.60952024e+01] [ 7.40935722e-02 9.97251088e-01 -6.40955581e-04 1.05548579e+00] [ 6.91156322e-03 1.29192998e-04 9.99976107e-01 -6.43450320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:1.06, Z:-0.06 [[ 9.97056537e-01 -7.63602545e-02 -6.88286260e-03 1.61231825e+01] [ 7.63576393e-02 9.97080287e-01 -6.42337467e-04 1.06033476e+00] [ 6.91181567e-03 1.14887630e-04 9.99976107e-01 -6.40058576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:1.06, Z:-0.07 [[ 9.96977348e-01 -7.73873074e-02 -6.88275051e-03 1.61510802e+01] [ 7.73847083e-02 9.97001100e-01 -6.43536352e-04 1.06369646e+00] [ 6.91191137e-03 1.08971525e-04 9.99976107e-01 -6.56344954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:1.07, Z:-0.07 [[ 9.96832348e-01 -7.92331876e-02 -6.88271093e-03 1.61801133e+01] [ 7.92306296e-02 9.96856104e-01 -6.43959311e-04 1.06804802e+00] [ 6.91209536e-03 9.65979517e-05 9.99976107e-01 -6.69139819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.21, Y:1.07, Z:-0.07 [[ 9.96820143e-01 -7.93865983e-02 -6.88260798e-03 1.62074449e+01] [ 7.93840364e-02 9.96843899e-01 -6.45057848e-04 1.07143534e+00] [ 6.91209472e-03 9.66374548e-05 9.99976107e-01 -6.98131745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:1.08, Z:-0.07 [[ 9.96832203e-01 -7.92350244e-02 -6.88255136e-03 1.62354797e+01] [ 7.92324547e-02 9.96855958e-01 -6.45661367e-04 1.07555839e+00] [ 6.91207132e-03 9.82946044e-05 9.99976107e-01 -6.87928845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:1.08, Z:-0.07 [[ 9.96950742e-01 -7.77293457e-02 -6.88242772e-03 1.62631337e+01] [ 7.77267310e-02 9.96974492e-01 -6.46976573e-04 1.08183828e+00] [ 6.91189395e-03 1.10055166e-04 9.99976107e-01 -6.90235145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:1.09, Z:-0.07 [[ 9.97011419e-01 -7.69471506e-02 -6.88238925e-03 1.62913129e+01] [ 7.69445144e-02 9.97035166e-01 -6.47385541e-04 1.08585323e+00] [ 6.91179859e-03 1.15888677e-04 9.99976107e-01 -6.64960703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:1.09, Z:-0.07 [[ 9.97062806e-01 -7.62784062e-02 -6.88226136e-03 1.63188787e+01] [ 7.62757448e-02 9.97086551e-01 -6.48742354e-04 1.08927897e+00] [ 6.91169527e-03 1.21887261e-04 9.99976107e-01 -6.60166183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:1.09, Z:-0.07 [[ 9.97137705e-01 -7.52929795e-02 -6.88213088e-03 1.63466672e+01] [ 7.52902851e-02 9.97161446e-01 -6.50123607e-04 1.09426739e+00] [ 6.91154532e-03 1.30105166e-04 9.99976107e-01 -6.84975004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:1.10, Z:-0.07 [[ 9.97116237e-01 -7.55767689e-02 -6.88206961e-03 1.63750241e+01] [ 7.55740768e-02 9.97139978e-01 -6.50771573e-04 1.09894745e+00] [ 6.91156995e-03 1.28788845e-04 9.99976107e-01 -6.71168987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:1.10, Z:-0.07 [[ 9.97085959e-01 -7.59751917e-02 -6.88195804e-03 1.64029070e+01] [ 7.59725009e-02 9.97109700e-01 -6.51949237e-04 1.10395982e+00] [ 6.91159909e-03 1.27209866e-04 9.99976107e-01 -6.73159475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:1.11, Z:-0.07 [[ 9.96948993e-01 -7.77518104e-02 -6.88189776e-03 1.64307416e+01] [ 7.77491575e-02 9.96972739e-01 -6.52584956e-04 1.11053104e+00] [ 6.91180412e-03 1.15532163e-04 9.99976107e-01 -6.66485117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:1.11, Z:-0.07 [[ 9.96813540e-01 -7.94695340e-02 -6.88177047e-03 1.64582473e+01] [ 7.94669128e-02 9.96837290e-01 -6.53924482e-04 1.11474965e+00] [ 6.91197250e-03 1.04967724e-04 9.99976107e-01 -6.62247598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:1.12, Z:-0.06 [[ 9.96461253e-01 -8.37711996e-02 -6.88173100e-03 1.64857399e+01] [ 8.37686781e-02 9.96485013e-01 -6.54339585e-04 1.12006582e+00] [ 6.91235662e-03 7.55505335e-05 9.99976107e-01 -6.36388849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:1.12, Z:-0.06 [[ 9.96445405e-01 -8.39594917e-02 -6.88169172e-03 1.65140535e+01] [ 8.39569718e-02 9.96469166e-01 -6.54752521e-04 1.12295462e+00] [ 6.91236629e-03 7.46591436e-05 9.99976107e-01 -6.34420995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:1.13, Z:-0.06 [[ 9.96222809e-01 -8.65607229e-02 -6.88156774e-03 1.65415657e+01] [ 8.65582561e-02 9.96246575e-01 -6.56052888e-04 1.12563325e+00] [ 6.91252671e-03 5.79183481e-05 9.99976107e-01 -6.28467215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932640000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.57, Y:1.13, Z:-0.06 [[ 9.95974738e-01 -8.93698257e-02 -6.88152925e-03 1.65697661e+01] [ 8.93674231e-02 9.95998510e-01 -6.56456449e-04 1.12778571e+00] [ 6.91266028e-03 3.88295041e-05 9.99976107e-01 -6.47779994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:1.13, Z:-0.06 [[ 9.95639013e-01 -9.30354828e-02 -6.88140525e-03 1.65973128e+01] [ 9.30331588e-02 9.95662794e-01 -6.57753704e-04 1.13051138e+00] [ 6.91275361e-03 1.46863815e-05 9.99976107e-01 -6.07518128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.63, Y:1.13, Z:-0.06 [[ 9.94962213e-01 -1.00014216e-01 -6.88127477e-03 1.66251489e+01] [ 1.00012049e-01 9.94986008e-01 -6.59115923e-04 1.13491626e+00] [ 6.91269308e-03 -3.24149555e-05 9.99976107e-01 -6.19731577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:1.14, Z:-0.06 [[ 9.94565266e-01 -1.03887342e-01 -6.88123441e-03 1.66527441e+01] [ 1.03885265e-01 9.94589069e-01 -6.59537058e-04 1.13759279e+00] [ 6.91251808e-03 -5.89062117e-05 9.99976107e-01 -6.05955777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:1.14, Z:-0.06 [[ 9.94213763e-01 -1.07199086e-01 -6.88110740e-03 1.66794170e+01] [ 1.07197079e-01 9.94237572e-01 -6.60859473e-04 1.13884204e+00] [ 6.91229905e-03 -8.05990324e-05 9.99976107e-01 -6.14458056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:1.14, Z:-0.06 [[ 9.93608565e-01 -1.12670631e-01 -6.88105234e-03 1.67085702e+01] [ 1.12668752e-01 9.93632384e-01 -6.61432291e-04 1.13860251e+00] [ 6.91176044e-03 -1.18074789e-04 9.99976107e-01 -6.15978430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112640000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:16.74, Y:1.14, Z:-0.06 [[ 9.93426913e-01 -1.14261195e-01 -6.88093892e-03 1.67371257e+01] [ 1.14259346e-01 9.93450735e-01 -6.62610146e-04 1.14000474e+00] [ 6.91158445e-03 -1.27956828e-04 9.99976107e-01 -6.35834224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:1.14, Z:-0.06 [[ 9.93298708e-01 -1.15370408e-01 -6.88082384e-03 1.67646826e+01] [ 1.15368576e-01 9.93322531e-01 -6.63803026e-04 1.14114895e+00] [ 6.91146058e-03 -1.34476163e-04 9.99976107e-01 -6.32966788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:1.14, Z:-0.06 [[ 9.93389573e-01 -1.14585384e-01 -6.88078326e-03 1.67917607e+01] [ 1.14583531e-01 9.93413395e-01 -6.64223348e-04 1.14086832e+00] [ 6.91157255e-03 -1.28591895e-04 9.99976107e-01 -6.36297847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:1.14, Z:-0.06 [[ 9.93571707e-01 -1.12995211e-01 -6.88072809e-03 1.68199448e+01] [ 1.12993316e-01 9.93595526e-01 -6.64794384e-04 1.14320205e+00] [ 6.91177923e-03 -1.16955393e-04 9.99976107e-01 -6.43428163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:1.14, Z:-0.06 [[ 9.94143344e-01 -1.07850219e-01 -6.88060198e-03 1.68477116e+01] [ 1.07848192e-01 9.94167151e-01 -6.66097136e-04 1.14452163e+00] [ 6.91230719e-03 -7.98644481e-05 9.99976107e-01 -6.21610797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:1.15, Z:-0.06 [[ 9.94434967e-01 -1.05127333e-01 -6.88047269e-03 1.68750290e+01] [ 1.05125231e-01 9.94458768e-01 -6.67429988e-04 1.14683784e+00] [ 6.91251152e-03 -5.95955607e-05 9.99976107e-01 -6.21129853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292640000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.90, Y:1.15, Z:-0.06 [[ 9.94709511e-01 -1.02497065e-01 -6.88043253e-03 1.69037792e+01] [ 1.02494897e-01 9.94733306e-01 -6.67843723e-04 1.14912699e+00] [ 6.91264741e-03 -4.08987222e-05 9.99976107e-01 -6.01531763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:1.15, Z:-0.06 [[ 9.95097940e-01 -9.86547079e-02 -6.88032398e-03 1.69312317e+01] [ 9.86524407e-02 9.95121725e-01 -6.68960118e-04 1.15095978e+00] [ 6.91275594e-03 -1.30799183e-05 9.99976107e-01 -5.90507479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:1.15, Z:-0.06 [[ 9.95164540e-01 -9.79806116e-02 -6.88020492e-03 1.69590190e+01] [ 9.79783199e-02 9.95188324e-01 -6.70182429e-04 1.15298260e+00] [ 6.91276448e-03 -7.16912945e-06 9.99976107e-01 -5.79890026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.99, Y:1.15, Z:-0.06 [[ 9.95162840e-01 -9.79978868e-02 -6.88007445e-03 1.69871881e+01] [ 9.79955862e-02 9.95186623e-01 -6.71519140e-04 1.15436516e+00] [ 6.91276551e-03 -5.94603486e-06 9.99976107e-01 -5.75056334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:1.16, Z:-0.06 [[ 9.95133299e-01 -9.82974275e-02 -6.87994227e-03 1.70137646e+01] [ 9.82951248e-02 9.95157081e-01 -6.72870640e-04 1.15522172e+00] [ 6.91276472e-03 -6.66880463e-06 9.99976107e-01 -5.99758777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:1.15, Z:-0.06 [[ 9.94978291e-01 -9.98542364e-02 -6.87984716e-03 1.70425250e+01] [ 9.98519641e-02 9.95002076e-01 -6.73841775e-04 1.15460099e+00] [ 6.91274816e-03 -1.65083133e-05 9.99976107e-01 -6.37381631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:1.16, Z:-0.06 [[ 9.94878117e-01 -1.00847418e-01 -6.87973796e-03 1.70714330e+01] [ 1.00845162e-01 9.94901904e-01 -6.74954792e-04 1.15618045e+00] [ 6.91273184e-03 -2.22905384e-05 9.99976107e-01 -6.26629601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:1.16, Z:-0.07 [[ 9.94803319e-01 -1.01582611e-01 -6.87962220e-03 1.70991907e+01] [ 1.01580365e-01 9.94827107e-01 -6.76132603e-04 1.15568241e+00] [ 6.91271797e-03 -2.62155739e-05 9.99976107e-01 -6.50045347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:1.16, Z:-0.06 [[ 9.94791814e-01 -1.01695227e-01 -6.87956268e-03 1.71273895e+01] [ 1.01692978e-01 9.94815601e-01 -6.76737758e-04 1.15658618e+00] [ 6.91271728e-03 -2.63900376e-05 9.99976107e-01 -6.42269617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:1.16, Z:-0.07 [[ 9.94812486e-01 -1.01492812e-01 -6.87943260e-03 1.71548254e+01] [ 1.01490550e-01 9.94836272e-01 -6.78057429e-04 1.15723345e+00] [ 6.91272704e-03 -2.36574034e-05 9.99976107e-01 -6.51465405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:1.16, Z:-0.06 [[ 9.94985314e-01 -9.97842588e-02 -6.87937453e-03 1.71837410e+01] [ 9.97819516e-02 9.95009096e-01 -6.78646127e-04 1.15660758e+00] [ 6.91275843e-03 -1.11944867e-05 9.99976107e-01 -6.49766594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:1.16, Z:-0.07 [[ 9.95109144e-01 -9.85417052e-02 -6.87925783e-03 1.72113589e+01] [ 9.85393601e-02 9.95132922e-01 -6.79827003e-04 1.15841823e+00] [ 6.91276726e-03 -1.37559808e-06 9.99976107e-01 -6.83525659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:1.16, Z:-0.07 [[ 9.95225847e-01 -9.73559971e-02 -6.87921634e-03 1.72397010e+01] [ 9.73536208e-02 9.95249622e-01 -6.80246595e-04 1.16066657e+00] [ 6.91276355e-03 7.28237458e-06 9.99976107e-01 -6.70177070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:1.16, Z:-0.07 [[ 9.95337764e-01 -9.62050637e-02 -6.87909959e-03 1.72670255e+01] [ 9.62026518e-02 9.95361535e-01 -6.81425236e-04 1.16267839e+00] [ 6.91274768e-03 1.64606480e-05 9.99976107e-01 -6.89268030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:1.16, Z:-0.06 [[ 9.95481501e-01 -9.47061762e-02 -6.87905819e-03 1.72961643e+01] [ 9.47037256e-02 9.95505268e-01 -6.81842873e-04 1.16390693e+00] [ 6.91271340e-03 2.72895266e-05 9.99976107e-01 -6.46335883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:1.17, Z:-0.07 [[ 9.95500348e-01 -9.45078709e-02 -6.87894582e-03 1.73238596e+01] [ 9.45054078e-02 9.95524114e-01 -6.82974747e-04 1.16515835e+00] [ 6.91270293e-03 2.98040189e-05 9.99976107e-01 -6.51914410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:1.17, Z:-0.06 [[ 9.95495991e-01 -9.45537603e-02 -6.87888279e-03 1.73523078e+01] [ 9.45512939e-02 9.95519756e-01 -6.83608955e-04 1.16526410e+00] [ 6.91270152e-03 3.01227057e-05 9.99976107e-01 -6.34384958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:1.17, Z:-0.06 [[ 9.95486438e-01 -9.46542830e-02 -6.87882039e-03 1.73798243e+01] [ 9.46518147e-02 9.95510204e-01 -6.84236315e-04 1.16739569e+00] [ 6.91270178e-03 3.00551399e-05 9.99976107e-01 -6.10981934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:1.17, Z:-0.06 [[ 9.95477663e-01 -9.47465414e-02 -6.87868575e-03 1.74074393e+01] [ 9.47440659e-02 9.95501427e-01 -6.85587104e-04 1.17022921e+00] [ 6.91269849e-03 3.07719911e-05 9.99976107e-01 -6.09182750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:1.17, Z:-0.06 [[ 9.95494625e-01 -9.45681566e-02 -6.87855030e-03 1.74353818e+01] [ 9.45656675e-02 9.95518389e-01 -6.86943419e-04 1.17225435e+00] [ 6.91268629e-03 3.33737812e-05 9.99976107e-01 -6.09656013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:1.17, Z:-0.06 [[ 9.95494507e-01 -9.45694173e-02 -6.87841509e-03 1.74627913e+01] [ 9.45669189e-02 9.95518269e-01 -6.88294619e-04 1.17366287e+00] [ 6.91267951e-03 3.47229904e-05 9.99976107e-01 -6.11413102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:1.17, Z:-0.06 [[ 9.95426815e-01 -9.52792971e-02 -6.87837301e-03 1.74903789e+01] [ 9.52768127e-02 9.95450579e-01 -6.88714944e-04 1.17379677e+00] [ 6.91270067e-03 3.02158659e-05 9.99976107e-01 -6.16138688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:1.17, Z:-0.06 [[ 9.95347788e-01 -9.61013455e-02 -6.87833167e-03 1.75181439e+01] [ 9.60988779e-02 9.95371554e-01 -6.89127561e-04 1.17493554e+00] [ 6.91272177e-03 2.49216380e-05 9.99976107e-01 -6.18351413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:1.18, Z:-0.06 [[ 9.95257009e-01 -9.70369813e-02 -6.87829121e-03 1.75466159e+01] [ 9.70345332e-02 9.95280776e-01 -6.89531155e-04 1.17560526e+00] [ 6.91274104e-03 1.88289380e-05 9.99976107e-01 -5.94698138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:1.18, Z:-0.06 [[ 9.95197579e-01 -9.76446100e-02 -6.87815640e-03 1.75749591e+01] [ 9.76421671e-02 9.95221347e-01 -6.90873261e-04 1.17694612e+00] [ 6.91274813e-03 1.59573001e-05 9.99976107e-01 -6.00299356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:1.18, Z:-0.06 [[ 9.95196807e-01 -9.76524856e-02 -6.87803871e-03 1.76024064e+01] [ 9.76500349e-02 9.95220574e-01 -6.92042971e-04 1.17918925e+00] [ 6.91274535e-03 1.70782351e-05 9.99976107e-01 -6.23406355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:17.63, Y:1.18, Z:-0.06 [[ 9.95243933e-01 -9.71710219e-02 -6.87799686e-03 1.76307523e+01] [ 9.71685568e-02 9.95267699e-01 -6.92458615e-04 1.18144224e+00] [ 6.91273502e-03 2.08402068e-05 9.99976107e-01 -6.20760737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:1.18, Z:-0.06 [[ 9.95280759e-01 -9.67931072e-02 -6.87787761e-03 1.76573598e+01] [ 9.67906249e-02 9.95304523e-01 -6.93641103e-04 1.18269744e+00] [ 6.91272237e-03 2.46535714e-05 9.99976107e-01 -6.24882146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:1.18, Z:-0.06 [[ 9.95403389e-01 -9.55237572e-02 -6.87781836e-03 1.76844653e+01] [ 9.55212406e-02 9.95427150e-01 -6.94228050e-04 1.18306046e+00] [ 6.91268240e-03 3.40592111e-05 9.99976107e-01 -6.35660565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:1.19, Z:-0.06 [[ 9.95464347e-01 -9.48864090e-02 -6.87776061e-03 1.77134678e+01] [ 9.48838732e-02 9.95488105e-01 -6.94799716e-04 1.18504923e+00] [ 6.91265593e-03 3.90597794e-05 9.99976107e-01 -6.19418571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:1.19, Z:-0.06 [[ 9.95504949e-01 -9.44594908e-02 -6.87764220e-03 1.77427236e+01] [ 9.44569367e-02 9.95528705e-01 -6.95969904e-04 1.18710604e+00] [ 6.91263120e-03 4.32004695e-05 9.99976107e-01 -6.22341078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:1.19, Z:-0.06 [[ 9.95655874e-01 -9.28551545e-02 -6.87753172e-03 1.77713108e+01] [ 9.28525546e-02 9.95679626e-01 -6.97059926e-04 1.19038611e+00] [ 6.91254382e-03 5.54354205e-05 9.99976107e-01 -6.13683881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:1.19, Z:-0.06 [[ 9.95745584e-01 -9.18881539e-02 -6.87741257e-03 1.77978833e+01] [ 9.18855228e-02 9.95769332e-01 -6.98233525e-04 1.19345038e+00] [ 6.91247591e-03 6.33282994e-05 9.99976107e-01 -6.23383006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:1.20, Z:-0.06 [[ 9.95824099e-01 -9.10333216e-02 -6.87735328e-03 1.78256709e+01] [ 9.10306661e-02 9.95847845e-01 -6.98817004e-04 1.19584416e+00] [ 6.91241308e-03 6.98487633e-05 9.99976107e-01 -6.13816570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:1.20, Z:-0.06 [[ 9.95973189e-01 -8.93874189e-02 -6.87721690e-03 1.78536138e+01] [ 8.93847149e-02 9.95996929e-01 -7.00156660e-04 1.19870113e+00] [ 6.91227210e-03 8.26191895e-05 9.99976107e-01 -6.05965631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:1.20, Z:-0.06 [[ 9.95991820e-01 -8.91795936e-02 -6.87717442e-03 1.78819337e+01] [ 8.91768818e-02 9.96015559e-01 -7.00573647e-04 1.20233855e+00] [ 6.91224959e-03 8.44806514e-05 9.99976107e-01 -5.97744053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.37264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:17.91, Y:1.21, Z:-0.06 [[ 9.95983349e-01 -8.92741581e-02 -6.87705889e-03 1.79103226e+01] [ 8.92714407e-02 9.96007087e-01 -7.01705891e-04 1.20613314e+00] [ 6.91224359e-03 8.49624280e-05 9.99976107e-01 -6.06245492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:1.21, Z:-0.06 [[ 9.95829218e-01 -9.09773402e-02 -6.87694184e-03 1.79385385e+01] [ 9.09746556e-02 9.95852960e-01 -7.02851145e-04 1.20936191e+00] [ 6.91236641e-03 7.42922909e-05 9.99976107e-01 -5.66176220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:1.21, Z:-0.06 [[ 9.95739717e-01 -9.19517564e-02 -6.87680272e-03 1.79665273e+01] [ 9.19490856e-02 9.95763461e-01 -7.04209674e-04 1.21219021e+00] [ 6.91242219e-03 6.88938194e-05 9.99976107e-01 -5.80154162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:1.22, Z:-0.06 [[ 9.95634111e-01 -9.30882812e-02 -6.87675952e-03 1.79941004e+01] [ 9.30856346e-02 9.95657857e-01 -7.04631324e-04 1.21516602e+00] [ 6.91249256e-03 6.14274582e-05 9.99976107e-01 -5.81558485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:1.22, Z:-0.06 [[ 9.95495312e-01 -9.45610650e-02 -6.87671865e-03 1.80225322e+01] [ 9.45584508e-02 9.95519062e-01 -7.05029933e-04 1.21872989e+00] [ 6.91257288e-03 5.16021312e-05 9.99976107e-01 -5.59134893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522640000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.05, Y:1.22, Z:-0.05 [[ 9.95460647e-01 -9.49252964e-02 -6.87660242e-03 1.80505965e+01] [ 9.49226830e-02 9.95484397e-01 -7.06161759e-04 1.22205572e+00] [ 6.91258303e-03 5.02106902e-05 9.99976107e-01 -5.43362891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:1.23, Z:-0.06 [[ 9.95446235e-01 -9.50763220e-02 -6.87646445e-03 1.80782852e+01] [ 9.50737029e-02 9.95469985e-01 -7.07502744e-04 1.22502679e+00] [ 6.91258072e-03 5.05100049e-05 9.99976107e-01 -5.52250961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:1.23, Z:-0.05 [[ 9.95387826e-01 -9.56858946e-02 -6.87642164e-03 1.81059087e+01] [ 9.56832873e-02 9.95411577e-01 -7.07918531e-04 1.22820078e+00] [ 6.91260753e-03 4.66948595e-05 9.99976107e-01 -5.36110226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:1.23, Z:-0.05 [[ 9.95299189e-01 -9.66035295e-02 -6.87628297e-03 1.81323085e+01] [ 9.66009347e-02 9.95322941e-01 -7.09263007e-04 1.23090546e+00] [ 6.91263949e-03 4.16735327e-05 9.99976107e-01 -5.47369591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:1.23, Z:-0.05 [[ 9.95166622e-01 -9.79597511e-02 -6.87622261e-03 1.81598265e+01] [ 9.79571847e-02 9.95190377e-01 -7.09847640e-04 1.23317327e+00] [ 6.91268707e-03 3.28412688e-05 9.99976107e-01 -5.34540278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:1.23, Z:-0.05 [[ 9.94848624e-01 -1.01138199e-01 -6.87608345e-03 1.81870279e+01] [ 1.01135699e-01 9.94872386e-01 -7.11193102e-04 1.23346705e+00] [ 6.91275434e-03 1.21119741e-05 9.99976107e-01 -5.46857617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:1.24, Z:-0.05 [[ 9.94672576e-01 -1.02855177e-01 -6.87602307e-03 1.82151557e+01] [ 1.02852714e-01 9.94696342e-01 -7.11776429e-04 1.23566080e+00] [ 6.91276488e-03 7.66860244e-07 9.99976107e-01 -5.33587702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:1.24, Z:-0.05 [[ 9.94526575e-01 -1.04257440e-01 -6.87588298e-03 1.82426244e+01] [ 1.04255002e-01 9.94550344e-01 -7.13127188e-04 1.23865676e+00] [ 6.91276059e-03 -7.62125206e-06 9.99976107e-01 -5.33108376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:1.24, Z:-0.05 [[ 9.94505999e-01 -1.04453544e-01 -6.87574220e-03 1.82709240e+01] [ 1.04451101e-01 9.94529767e-01 -7.14481908e-04 1.24178334e+00] [ 6.91276046e-03 -7.62229896e-06 9.99976107e-01 -5.31139630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:1.24, Z:-0.05 [[ 9.94323415e-01 -1.06177551e-01 -6.87560105e-03 1.82986364e+01] [ 1.06175140e-01 9.94347186e-01 -7.15837642e-04 1.24343001e+00] [ 6.91274045e-03 -1.82437749e-05 9.99976107e-01 -5.27114301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:1.24, Z:-0.05 [[ 9.94306251e-01 -1.06338172e-01 -6.87555723e-03 1.83258719e+01] [ 1.06335762e-01 9.94330022e-01 -7.16258309e-04 1.24492484e+00] [ 6.91273857e-03 -1.89375023e-05 9.99976107e-01 -5.41086738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:1.25, Z:-0.05 [[ 9.94378514e-01 -1.05660298e-01 -6.87549664e-03 1.83541234e+01] [ 1.05657867e-01 9.94402283e-01 -7.16839478e-04 1.24535566e+00] [ 6.91275103e-03 -1.36405347e-05 9.99976107e-01 -5.47481154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:1.25, Z:-0.05 [[ 9.94463399e-01 -1.04858373e-01 -6.87536050e-03 1.83825603e+01] [ 1.04855914e-01 9.94487165e-01 -7.18142848e-04 1.24679042e+00] [ 6.91276106e-03 -6.75542877e-06 9.99976107e-01 -5.37478817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:1.25, Z:-0.05 [[ 9.94578454e-01 -1.03761407e-01 -6.87522048e-03 1.84100535e+01] [ 1.03758912e-01 9.94602217e-01 -7.19480871e-04 1.24732333e+00] [ 6.91276388e-03 2.21477416e-06 9.99976107e-01 -5.44665950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:1.25, Z:-0.05 [[ 9.94828203e-01 -1.01338928e-01 -6.87517706e-03 1.84375691e+01] [ 1.01336373e-01 9.94851959e-01 -7.19895550e-04 1.24755811e+00] [ 6.91273681e-03 1.94668895e-05 9.99976107e-01 -5.39829277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:1.25, Z:-0.05 [[ 9.94953683e-01 -1.00099458e-01 -6.87513474e-03 1.84653502e+01] [ 1.00096871e-01 9.94977436e-01 -7.20299460e-04 1.25067508e+00] [ 6.91270552e-03 2.84851276e-05 9.99976107e-01 -5.39291381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:1.25, Z:-0.05 [[ 9.95114055e-01 -9.84923972e-02 -6.87499997e-03 1.84940965e+01] [ 9.84897624e-02 9.95137803e-01 -7.21583525e-04 1.25327148e+00] [ 6.91264285e-03 4.09407942e-05 9.99976107e-01 -5.38990372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:1.25, Z:-0.06 [[ 9.95519273e-01 -9.43086006e-02 -6.87488643e-03 1.85222805e+01] [ 9.43058586e-02 9.95543009e-01 -7.22663607e-04 1.25392704e+00] [ 6.91239852e-03 7.10834814e-05 9.99976107e-01 -5.56098641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:1.26, Z:-0.05 [[ 9.95763266e-01 -9.16965308e-02 -6.87484278e-03 1.85497842e+01] [ 9.16937237e-02 9.95786994e-01 -7.23078678e-04 1.25694850e+00] [ 6.91218283e-03 8.96352520e-05 9.99976107e-01 -5.45246238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:1.26, Z:-0.06 [[ 9.96011582e-01 -8.89587944e-02 -6.87470363e-03 1.85770236e+01] [ 8.89559129e-02 9.96035301e-01 -7.24399195e-04 1.26048625e+00] [ 6.91188918e-03 1.09964450e-04 9.99976107e-01 -5.51466241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:1.26, Z:-0.05 [[ 9.96438041e-01 -8.40474299e-02 -6.87466044e-03 1.86053742e+01] [ 8.40444287e-02 9.96461745e-01 -7.24808819e-04 1.26243548e+00] [ 6.91125446e-03 1.44450170e-04 9.99976107e-01 -5.28494923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:1.26, Z:-0.05 [[ 9.96596585e-01 -8.21461296e-02 -6.87453929e-03 1.86342526e+01] [ 8.21430752e-02 9.96620283e-01 -7.25956110e-04 1.26494177e+00] [ 6.91093978e-03 1.58789582e-04 9.99976107e-01 -5.05768001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:1.27, Z:-0.05 [[ 9.96801633e-01 -7.96193905e-02 -6.87441500e-03 1.86617187e+01] [ 7.96162680e-02 9.96825321e-01 -7.27131204e-04 1.27138960e+00] [ 6.91048468e-03 1.77490305e-04 9.99976107e-01 -5.01745916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:1.28, Z:-0.05 [[ 9.96817647e-01 -7.94186551e-02 -6.87427203e-03 1.86893690e+01] [ 7.94155185e-02 9.96841334e-01 -7.28480325e-04 1.27603781e+00] [ 6.91041342e-03 1.80238166e-04 9.99976107e-01 -5.01584617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:1.28, Z:-0.05 [[ 9.96783236e-01 -7.98493918e-02 -6.87422765e-03 1.87166040e+01] [ 7.98462626e-02 9.96806924e-01 -7.28898804e-04 1.27971487e+00] [ 6.91047985e-03 1.77672723e-04 9.99976107e-01 -5.11366584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:1.28, Z:-0.05 [[ 9.96692693e-01 -8.09717336e-02 -6.87418417e-03 1.87437031e+01] [ 8.09686282e-02 9.96716384e-01 -7.29308658e-04 1.28283624e+00] [ 6.91066537e-03 1.70303348e-04 9.99976107e-01 -5.18139048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:1.29, Z:-0.05 [[ 9.96404384e-01 -8.44455414e-02 -6.87412624e-03 1.87722676e+01] [ 8.44425148e-02 9.96428085e-01 -7.29854284e-04 1.28575942e+00] [ 6.91120539e-03 1.46761502e-04 9.99976107e-01 -5.00593621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:1.29, Z:-0.05 [[ 9.96245597e-01 -8.62986538e-02 -6.87400126e-03 1.87995791e+01] [ 8.62956632e-02 9.96269303e-01 -7.31029489e-04 1.28940827e+00] [ 6.91144330e-03 1.35088413e-04 9.99976107e-01 -5.07057144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:1.29, Z:-0.05 [[ 9.96089659e-01 -8.80802993e-02 -6.87395676e-03 1.88266645e+01] [ 8.80773482e-02 9.96113370e-01 -7.31447712e-04 1.29386587e+00] [ 6.91166636e-03 1.23147619e-04 9.99976107e-01 -5.15172231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:1.30, Z:-0.05 [[ 9.95927238e-01 -8.98981946e-02 -6.87391376e-03 1.88549077e+01] [ 8.98952840e-02 9.95950954e-01 -7.31851523e-04 1.29884955e+00] [ 6.91187310e-03 1.10938436e-04 9.99976107e-01 -4.88420645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:1.31, Z:-0.05 [[ 9.95665024e-01 -9.27572717e-02 -6.87379283e-03 1.88826894e+01] [ 9.27544214e-02 9.95688747e-01 -7.32985605e-04 1.30540897e+00] [ 6.91214791e-03 9.22334525e-05 9.99976107e-01 -4.87549033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:1.31, Z:-0.05 [[ 9.95547219e-01 -9.40132315e-02 -6.87365197e-03 1.89098278e+01] [ 9.40104021e-02 9.95570944e-01 -7.34304167e-04 1.30958521e+00] [ 6.91224249e-03 8.48396856e-05 9.99976107e-01 -4.99456675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:1.31, Z:-0.05 [[ 9.95275503e-01 -9.68474360e-02 -6.87360826e-03 1.89377915e+01] [ 9.68446712e-02 9.95299236e-01 -7.34713099e-04 1.31429194e+00] [ 6.91245213e-03 6.55696171e-05 9.99976107e-01 -4.94934487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:1.32, Z:-0.05 [[ 9.95094019e-01 -9.86947293e-02 -6.87346444e-03 1.89644154e+01] [ 9.86919993e-02 9.95117756e-01 -7.36056137e-04 1.31762877e+00] [ 6.91255137e-03 5.40891112e-05 9.99976107e-01 -5.39508303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:1.32, Z:-0.05 [[ 9.94887793e-01 -1.00752346e-01 -6.87340187e-03 1.89910127e+01] [ 1.00749661e-01 9.94911535e-01 -7.36639988e-04 1.32133119e+00] [ 6.91264501e-03 4.03812254e-05 9.99976107e-01 -5.37430081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:1.33, Z:-0.05 [[ 9.94417074e-01 -1.05296916e-01 -6.87334527e-03 1.90193861e+01] [ 1.05294336e-01 9.94440828e-01 -7.37167723e-04 1.32624503e+00] [ 6.91275664e-03 9.32784597e-06 9.99976107e-01 -4.74473388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:1.33, Z:-0.05 [[ 9.94181411e-01 -1.07499218e-01 -6.87321968e-03 1.90470553e+01] [ 1.07496682e-01 9.94205169e-01 -7.38336792e-04 1.32922217e+00] [ 6.91276116e-03 -4.80759719e-06 9.99976107e-01 -4.79494593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:1.33, Z:-0.05 [[ 9.93944197e-01 -1.09670836e-01 -6.87317545e-03 1.90748787e+01] [ 1.09668350e-01 9.93967961e-01 -7.38748345e-04 1.33188755e+00] [ 6.91273533e-03 -1.94951790e-05 9.99976107e-01 -4.82869880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:1.34, Z:-0.05 [[ 9.93582337e-01 -1.12902170e-01 -6.87313282e-03 1.91023125e+01] [ 1.12899758e-01 9.93606108e-01 -7.39144774e-04 1.33595381e+00] [ 6.91263780e-03 -4.15738372e-05 9.99976107e-01 -4.59057733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:1.34, Z:-0.05 [[ 9.93435308e-01 -1.14188659e-01 -6.87298937e-03 1.91297902e+01] [ 1.14186269e-01 9.93459082e-01 -7.40476176e-04 1.33964441e+00] [ 6.91258770e-03 -4.91858332e-05 9.99976107e-01 -4.55530053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:1.34, Z:-0.04 [[ 9.93337060e-01 -1.15040205e-01 -6.87284527e-03 1.91576353e+01] [ 1.15037826e-01 9.93360835e-01 -7.41811255e-04 1.34285624e+00] [ 6.91255344e-03 -5.37685662e-05 9.99976107e-01 -4.44762551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:1.35, Z:-0.04 [[ 9.93290508e-01 -1.15441465e-01 -6.87269959e-03 1.91852328e+01] [ 1.15439086e-01 9.93314283e-01 -7.43158573e-04 1.34624808e+00] [ 6.91254198e-03 -5.52058026e-05 9.99976107e-01 -4.48146016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:1.35, Z:-0.04 [[ 9.93305295e-01 -1.15314168e-01 -6.87265447e-03 1.92131520e+01] [ 1.15311783e-01 9.93329069e-01 -7.43575554e-04 1.35005727e+00] [ 6.91255227e-03 -5.39005059e-05 9.99976107e-01 -4.44187430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:1.35, Z:-0.05 [[ 9.93372431e-01 -1.14734395e-01 -6.87250825e-03 1.92395089e+01] [ 1.14731987e-01 9.93396203e-01 -7.44924561e-04 1.35321604e+00] [ 6.91259207e-03 -4.85090079e-05 9.99976107e-01 -4.56205064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:1.36, Z:-0.05 [[ 9.93441792e-01 -1.14132275e-01 -6.87244471e-03 1.92671851e+01] [ 1.14129849e-01 9.93465561e-01 -7.45510335e-04 1.35686635e+00] [ 6.91262393e-03 -4.37299528e-05 9.99976107e-01 -4.61893096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:1.36, Z:-0.05 [[ 9.93686544e-01 -1.11981357e-01 -6.87229857e-03 1.92938113e+01] [ 1.11978870e-01 9.93710307e-01 -7.46855057e-04 1.36167335e+00] [ 6.91270776e-03 -2.74124044e-05 9.99976107e-01 -4.72811280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:1.37, Z:-0.05 [[ 9.93816498e-01 -1.10822115e-01 -6.87219670e-03 1.93218799e+01] [ 1.10819593e-01 9.93840258e-01 -7.47791255e-04 1.36511078e+00] [ 6.91273755e-03 -1.84067572e-05 9.99976107e-01 -4.82422592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:1.37, Z:-0.05 [[ 9.93901162e-01 -1.10060230e-01 -6.87215159e-03 1.93493163e+01] [ 1.10057687e-01 9.93924920e-01 -7.48205517e-04 1.36804800e+00] [ 6.91275039e-03 -1.26907795e-05 9.99976107e-01 -4.92601542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:1.37, Z:-0.05 [[ 9.94005200e-01 -1.09116620e-01 -6.87208425e-03 1.93773315e+01] [ 1.09114051e-01 9.94028955e-01 -7.48823501e-04 1.37289086e+00] [ 6.91275982e-03 -5.50649462e-06 9.99976107e-01 -4.95399716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:1.38, Z:-0.05 [[ 9.93967591e-01 -1.09458688e-01 -6.87193955e-03 1.94051870e+01] [ 1.09456118e-01 9.93991346e-01 -7.50149119e-04 1.37720732e+00] [ 6.91275878e-03 -6.55191328e-06 9.99976107e-01 -5.01515479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:1.38, Z:-0.05 [[ 9.93787837e-01 -1.11078857e-01 -6.87189446e-03 1.94338530e+01] [ 1.11076322e-01 9.93811595e-01 -7.50561961e-04 1.38069485e+00] [ 6.91273996e-03 -1.74054152e-05 9.99976107e-01 -4.82343053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:1.38, Z:-0.05 [[ 9.93627641e-01 -1.12502841e-01 -6.87177349e-03 1.94613635e+01] [ 1.12500333e-01 9.93651403e-01 -7.51667831e-04 1.38379116e+00] [ 6.91271213e-03 -2.61988745e-05 9.99976107e-01 -4.83842847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:1.39, Z:-0.05 [[ 9.93469071e-01 -1.13894628e-01 -6.87163351e-03 1.94894009e+01] [ 1.13892144e-01 9.93492835e-01 -7.52945362e-04 1.38624923e+00] [ 6.91267508e-03 -3.45971438e-05 9.99976107e-01 -4.94078137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:1.39, Z:-0.05 [[ 9.93283574e-01 -1.15501179e-01 -6.87158996e-03 1.95175169e+01] [ 1.15498731e-01 9.93307342e-01 -7.53342618e-04 1.38816172e+00] [ 6.91261271e-03 -4.53770721e-05 9.99976107e-01 -4.91819575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:1.39, Z:-0.05 [[ 9.92888498e-01 -1.18849545e-01 -6.87144782e-03 1.95456184e+01] [ 1.18847168e-01 9.92912273e-01 -7.54636831e-04 1.38923428e+00] [ 6.91243312e-03 -6.73818870e-05 9.99976107e-01 -4.84513903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:1.39, Z:-0.05 [[ 9.92713879e-01 -1.20299372e-01 -6.87130160e-03 1.95732489e+01] [ 1.20297021e-01 9.92737657e-01 -7.55965899e-04 1.39175730e+00] [ 6.91234207e-03 -7.61392706e-05 9.99976107e-01 -5.06282023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:1.39, Z:-0.05 [[ 9.92321540e-01 -1.23493913e-01 -6.87125616e-03 1.96025032e+01] [ 1.23491635e-01 9.92345325e-01 -7.56378703e-04 1.39217992e+00] [ 6.91206709e-03 -9.79717791e-05 9.99976107e-01 -5.23204975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:1.39, Z:-0.05 [[ 9.92184430e-01 -1.24590711e-01 -6.87113254e-03 1.96307035e+01] [ 1.24588452e-01 9.92208216e-01 -7.57500063e-04 1.39382216e+00] [ 6.91197163e-03 -1.04483996e-04 9.99976107e-01 -5.23421225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:1.40, Z:-0.05 [[ 9.92102942e-01 -1.25237939e-01 -6.87099157e-03 1.96589895e+01] [ 1.25235686e-01 9.92126729e-01 -7.58776549e-04 1.39580288e+00] [ 6.91192201e-03 -1.07708900e-04 9.99976107e-01 -5.18647661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:1.40, Z:-0.05 [[ 9.92233830e-01 -1.24196692e-01 -6.87085012e-03 1.96874100e+01] [ 1.24194406e-01 9.92257614e-01 -7.60055277e-04 1.39690913e+00] [ 6.91204969e-03 -9.91685930e-05 9.99976107e-01 -4.77018859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:1.40, Z:-0.05 [[ 9.92475934e-01 -1.22246935e-01 -6.87072022e-03 1.97153590e+01] [ 1.22244594e-01 9.92499713e-01 -7.61227734e-04 1.40035063e+00] [ 6.91224560e-03 -8.44081979e-05 9.99976107e-01 -4.73152131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:1.40, Z:-0.04 [[ 9.92762082e-01 -1.19900970e-01 -6.87067407e-03 1.97440041e+01] [ 1.19898570e-01 9.92785854e-01 -7.61644061e-04 1.40478439e+00] [ 6.91242989e-03 -6.76526514e-05 9.99976107e-01 -4.47288109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:1.41, Z:-0.05 [[ 9.93466801e-01 -1.13914486e-01 -6.87054500e-03 1.97712397e+01] [ 1.13911935e-01 9.93490558e-01 -7.62806565e-04 1.40874421e+00] [ 6.91271631e-03 -2.48140742e-05 9.99976107e-01 -4.52169774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:1.41, Z:-0.05 [[ 9.93822401e-01 -1.10769277e-01 -6.87040627e-03 1.97989797e+01] [ 1.10766642e-01 9.93846149e-01 -7.64054028e-04 1.41181279e+00] [ 6.91276052e-03 -1.67782267e-06 9.99976107e-01 -4.68187409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:1.42, Z:-0.05 [[ 9.94116658e-01 -1.08096570e-01 -6.87036006e-03 1.98264291e+01] [ 1.08093868e-01 9.94140398e-01 -7.64469329e-04 1.41534855e+00] [ 6.91273900e-03 1.73278980e-05 9.99976107e-01 -4.58933405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:1.42, Z:-0.05 [[ 9.94527672e-01 -1.04247346e-01 -6.87021047e-03 1.98553398e+01] [ 1.04244543e-01 9.94551401e-01 -7.65811365e-04 1.41968284e+00] [ 6.91261124e-03 4.54386445e-05 9.99976107e-01 -4.53894475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:1.42, Z:-0.05 [[ 9.94607233e-01 -1.03485524e-01 -6.87007905e-03 1.98826086e+01] [ 1.03482695e-01 9.94630959e-01 -7.66988460e-04 1.42287802e+00] [ 6.91256552e-03 5.19179776e-05 9.99976107e-01 -4.67869985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:1.43, Z:-0.05 [[ 9.94586125e-01 -1.03688196e-01 -6.87001345e-03 1.99103909e+01] [ 1.03685367e-01 9.94609851e-01 -7.67575626e-04 1.42578263e+00] [ 6.91257158e-03 5.11001984e-05 9.99976107e-01 -4.53218155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:1.43, Z:-0.04 [[ 9.94289202e-01 -1.06497831e-01 -6.86986358e-03 1.99394140e+01] [ 1.06495061e-01 9.94312934e-01 -7.68914637e-04 1.42884565e+00] [ 6.91268195e-03 3.29169828e-05 9.99976107e-01 -4.39949292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:1.43, Z:-0.04 [[ 9.94060000e-01 -1.08616404e-01 -6.86973344e-03 1.99679057e+01] [ 1.08613676e-01 9.94083737e-01 -7.70075572e-04 1.43184407e+00] [ 6.91273313e-03 1.93543228e-05 9.99976107e-01 -4.30680534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:1.43, Z:-0.04 [[ 9.93822456e-01 -1.10768833e-01 -6.86960363e-03 1.99945504e+01] [ 1.10766148e-01 9.93846198e-01 -7.71231865e-04 1.43424384e+00] [ 6.91275790e-03 5.54801558e-06 9.99976107e-01 -4.35116334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:1.43, Z:-0.05 [[ 9.93477015e-01 -1.13825433e-01 -6.86953913e-03 2.00234089e+01] [ 1.13822817e-01 9.93500765e-01 -7.71805972e-04 1.43431031e+00] [ 6.91274353e-03 -1.51388039e-05 9.99976107e-01 -4.58194379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:1.44, Z:-0.05 [[ 9.93394168e-01 -1.14546231e-01 -6.86941019e-03 2.00524516e+01] [ 1.14543624e-01 9.93417918e-01 -7.72951882e-04 1.43631154e+00] [ 6.91273389e-03 -1.90012491e-05 9.99976107e-01 -4.67744328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:1.44, Z:-0.05 [[ 9.93372268e-01 -1.14736002e-01 -6.86928092e-03 2.00807247e+01] [ 1.14733393e-01 9.93396018e-01 -7.74098987e-04 1.43969194e+00] [ 6.91273334e-03 -1.91674381e-05 9.99976107e-01 -4.65775563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:1.44, Z:-0.05 [[ 9.93456610e-01 -1.14003417e-01 -6.86913279e-03 2.01086303e+01] [ 1.14000780e-01 9.93480358e-01 -7.75411213e-04 1.44141288e+00] [ 6.91274803e-03 -1.27491022e-05 9.99976107e-01 -4.86966614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:1.44, Z:-0.05 [[ 9.93578406e-01 -1.12937006e-01 -6.86908680e-03 2.01363944e+01] [ 1.12934342e-01 9.93602150e-01 -7.75818423e-04 1.44450465e+00] [ 6.91275802e-03 -4.91936350e-06 9.99976107e-01 -5.07675519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.17, Y:1.45, Z:-0.05 [[ 9.93739729e-01 -1.11508598e-01 -6.86904160e-03 2.01654313e+01] [ 1.11505897e-01 9.93763469e-01 -7.76218385e-04 1.44706424e+00] [ 6.91275764e-03 5.42040495e-06 9.99976107e-01 -5.09415693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:1.45, Z:-0.05 [[ 9.93911762e-01 -1.09964664e-01 -6.86891506e-03 2.01933367e+01] [ 1.09961918e-01 9.93935497e-01 -7.77336560e-04 1.45082829e+00] [ 6.91273806e-03 1.72848760e-05 9.99976107e-01 -4.97338042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:1.46, Z:-0.05 [[ 9.94397242e-01 -1.05484340e-01 -6.86876907e-03 2.02222184e+01] [ 1.05481478e-01 9.94420963e-01 -7.78624478e-04 1.45506554e+00] [ 6.91258064e-03 4.97341194e-05 9.99976107e-01 -4.50675218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:1.46, Z:-0.04 [[ 9.94657431e-01 -1.03002027e-01 -6.86863177e-03 2.02501204e+01] [ 1.02999097e-01 9.94681144e-01 -7.79833738e-04 1.45839070e+00] [ 6.91242296e-03 6.82045516e-05 9.99976107e-01 -4.45364316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:1.46, Z:-0.04 [[ 9.94899303e-01 -1.00638951e-01 -6.86858306e-03 2.02775540e+01] [ 1.00635962e-01 9.94923009e-01 -7.80262520e-04 1.46214102e+00] [ 6.91223613e-03 8.50561706e-05 9.99976107e-01 -4.41993186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:1.47, Z:-0.04 [[ 9.95281354e-01 -9.67876476e-02 -6.86853649e-03 2.03045188e+01] [ 9.67845642e-02 9.95305048e-01 -7.80672295e-04 1.46718431e+00] [ 6.91184848e-03 1.12220268e-04 9.99976107e-01 -4.24200217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:1.47, Z:-0.04 [[ 9.95415221e-01 -9.54010614e-02 -6.86849165e-03 2.03324054e+01] [ 9.53979423e-02 9.95438909e-01 -7.81066586e-04 1.47165091e+00] [ 6.91167842e-03 1.22245597e-04 9.99976107e-01 -3.93497035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:1.48, Z:-0.04 [[ 9.95508890e-01 -9.44186207e-02 -6.86833652e-03 2.03591299e+01] [ 9.44154688e-02 9.95532575e-01 -7.82428345e-04 1.47578090e+00] [ 6.91152855e-03 1.30437160e-04 9.99976107e-01 -4.02268705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:1.48, Z:-0.04 [[ 9.95566844e-01 -9.38055705e-02 -6.86826918e-03 2.03872781e+01] [ 9.38024000e-02 9.95590527e-01 -7.83019049e-04 1.48056845e+00] [ 6.91143528e-03 1.35287671e-04 9.99976107e-01 -3.79010232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:1.49, Z:-0.04 [[ 9.95527323e-01 -9.42240880e-02 -6.86813835e-03 2.04146071e+01] [ 9.42209195e-02 9.95551005e-01 -7.84164919e-04 1.48549859e+00] [ 6.91146926e-03 1.33535292e-04 9.99976107e-01 -3.63658572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:1.49, Z:-0.03 [[ 9.95398184e-01 -9.55786818e-02 -6.86809200e-03 2.04417027e+01] [ 9.55755427e-02 9.95421870e-01 -7.84570714e-04 1.49052897e+00] [ 6.91163721e-03 1.24538643e-04 9.99976107e-01 -3.44270373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:1.50, Z:-0.04 [[ 9.95025569e-01 -9.93828427e-02 -6.86793715e-03 2.04679345e+01] [ 9.93797849e-02 9.95049265e-01 -7.85923896e-04 1.49541303e+00] [ 6.91204316e-03 9.94802553e-05 9.99976107e-01 -3.75179101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:1.50, Z:-0.04 [[ 9.94848229e-01 -1.01142645e-01 -6.86783074e-03 2.04957095e+01] [ 1.01139622e-01 9.94871930e-01 -7.86852626e-04 1.49926405e+00] [ 6.91219638e-03 8.81891327e-05 9.99976107e-01 -3.58542129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:1.50, Z:-0.04 [[ 9.94711603e-01 -1.02477613e-01 -6.86767643e-03 2.05231099e+01] [ 1.02474613e-01 9.94735308e-01 -7.88197135e-04 1.50312614e+00] [ 6.91229279e-03 8.02663484e-05 9.99976107e-01 -3.72381542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:1.51, Z:-0.04 [[ 9.94573510e-01 -1.03809288e-01 -6.86762850e-03 2.05512669e+01] [ 1.03806317e-01 9.94597218e-01 -7.88614584e-04 1.50853783e+00] [ 6.91238972e-03 7.14319523e-05 9.99976107e-01 -3.85661018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:1.51, Z:-0.04 [[ 9.94572866e-01 -1.03815466e-01 -6.86749296e-03 2.05776891e+01] [ 1.03812487e-01 9.94596573e-01 -7.89793075e-04 1.51325432e+00] [ 6.91237771e-03 7.25752367e-05 9.99976107e-01 -3.83209944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:1.52, Z:-0.04 [[ 9.94586649e-01 -1.03683353e-01 -6.86738631e-03 2.06053452e+01] [ 1.03680364e-01 9.94610354e-01 -7.90719327e-04 1.51807474e+00] [ 6.91235797e-03 7.44257716e-05 9.99976107e-01 -3.82246801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:1.53, Z:-0.04 [[ 9.94660186e-01 -1.02975512e-01 -6.86723322e-03 2.06315356e+01] [ 1.02972498e-01 9.94683888e-01 -7.92046708e-04 1.52533097e+00] [ 6.91228765e-03 8.06811668e-05 9.99976107e-01 -3.91323414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:1.53, Z:-0.04 [[ 9.94714340e-01 -1.02451083e-01 -6.86716647e-03 2.06589604e+01] [ 1.02448052e-01 9.94738040e-01 -7.92625039e-04 1.53042131e+00] [ 6.91223700e-03 8.49076667e-05 9.99976107e-01 -4.09537874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:1.54, Z:-0.04 [[ 9.94631839e-01 -1.03249010e-01 -6.86641403e-03 2.06860641e+01] [ 1.03245953e-01 9.94655536e-01 -7.99135757e-04 1.53711821e+00] [ 6.91222670e-03 8.59164057e-05 9.99976107e-01 -3.94760569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:1.54, Z:-0.04 [[ 9.94523585e-01 -1.04286541e-01 -6.86699613e-03 2.07133256e+01] [ 1.04283544e-01 9.94547290e-01 -7.94101991e-04 1.54315789e+00] [ 6.91236655e-03 7.36384657e-05 9.99976107e-01 -3.86684975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:1.55, Z:-0.04 [[ 9.94370128e-01 -1.05739755e-01 -6.86684458e-03 2.07396713e+01] [ 1.05736784e-01 9.94393835e-01 -7.95410418e-04 1.54921474e+00] [ 6.91245442e-03 6.48543006e-05 9.99976107e-01 -3.89808016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:1.55, Z:-0.04 [[ 9.94023554e-01 -1.08949629e-01 -6.86673976e-03 2.07671273e+01] [ 1.08946727e-01 9.94047271e-01 -7.96314254e-04 1.55422354e+00] [ 6.91262206e-03 4.34462994e-05 9.99976107e-01 -3.82088180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:1.56, Z:-0.04 [[ 9.93815800e-01 -1.10828726e-01 -6.86658996e-03 2.07940065e+01] [ 1.10825861e-01 9.93839520e-01 -7.97603860e-04 1.55744123e+00] [ 6.91268590e-03 3.16755743e-05 9.99976107e-01 -3.76429281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522640000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.82, Y:1.56, Z:-0.04 [[ 9.93602764e-01 -1.12722665e-01 -6.86648542e-03 2.08219497e+01] [ 1.12719839e-01 9.93626489e-01 -7.98502806e-04 1.56108676e+00] [ 6.91273117e-03 1.94054646e-05 9.99976107e-01 -3.69972974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:1.57, Z:-0.04 [[ 9.93432095e-01 -1.14217011e-01 -6.86632991e-03 2.08497399e+01] [ 1.14214210e-01 9.93455824e-01 -7.99837858e-04 1.56626724e+00] [ 6.91275053e-03 1.03521500e-05 9.99976107e-01 -3.51612402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:1.57, Z:-0.04 [[ 9.93168189e-01 -1.16489498e-01 -6.86628155e-03 2.08775773e+01] [ 1.16486749e-01 9.93191923e-01 -8.00252766e-04 1.57175763e+00] [ 6.91275642e-03 -5.04522703e-06 9.99976107e-01 -3.51064391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:1.57, Z:-0.04 [[ 9.93032437e-01 -1.17641131e-01 -6.86613031e-03 2.09051535e+01] [ 1.17638401e-01 9.93056174e-01 -8.01548307e-04 1.57461577e+00] [ 6.91274814e-03 -1.17571234e-05 9.99976107e-01 -3.50703604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:1.58, Z:-0.04 [[ 9.92878080e-01 -1.18936859e-01 -6.86597822e-03 2.09316865e+01] [ 1.18934151e-01 9.92901820e-01 -8.02849035e-04 1.57702358e+00] [ 6.91273061e-03 -1.94680812e-05 9.99976107e-01 -3.57747374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:1.58, Z:-0.04 [[ 9.92445883e-01 -1.22490930e-01 -6.86591195e-03 2.09607926e+01] [ 1.22488303e-01 9.92469632e-01 -8.03415289e-04 1.57901625e+00] [ 6.91262020e-03 -4.36477052e-05 9.99976107e-01 -3.80241115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:1.58, Z:-0.04 [[ 9.92218268e-01 -1.24321236e-01 -6.86578380e-03 2.09886428e+01] [ 1.24318645e-01 9.92242021e-01 -8.04508988e-04 1.58085101e+00] [ 6.91253674e-03 -5.52964240e-05 9.99976107e-01 -4.05884077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.58, Z:-0.04 [[ 9.91814444e-01 -1.27502826e-01 -6.86573839e-03 2.10184129e+01] [ 1.27500309e-01 9.91838204e-01 -8.04896351e-04 1.57911635e+00] [ 6.91232819e-03 -7.70759363e-05 9.99976107e-01 -4.18906348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:1.58, Z:-0.04 [[ 9.91639525e-01 -1.28856176e-01 -6.86566568e-03 2.10467111e+01] [ 1.28853687e-01 9.91663289e-01 -8.05516025e-04 1.58008808e+00] [ 6.91222433e-03 -8.58848072e-05 9.99976107e-01 -4.21072528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:1.58, Z:-0.04 [[ 9.91521700e-01 -1.29759710e-01 -6.86550941e-03 2.10742889e+01] [ 1.29757233e-01 9.91545465e-01 -8.06845753e-04 1.58134275e+00] [ 6.91216079e-03 -9.08444346e-05 9.99976107e-01 -4.16324269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:1.58, Z:-0.04 [[ 9.91525737e-01 -1.29728872e-01 -6.86535295e-03 2.11020633e+01] [ 1.29726385e-01 9.91549500e-01 -8.08174897e-04 1.58284504e+00] [ 6.91218090e-03 -8.92912096e-05 9.99976107e-01 -4.09797270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:1.58, Z:-0.04 [[ 9.91959465e-01 -1.26369649e-01 -6.86519572e-03 2.11298292e+01] [ 1.26367073e-01 9.91983219e-01 -8.09508263e-04 1.58220013e+00] [ 6.91245623e-03 -6.45353030e-05 9.99976107e-01 -4.03615991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.58, Z:-0.04 [[ 9.92298738e-01 -1.23677336e-01 -6.86514689e-03 2.11586629e+01] [ 1.23674693e-01 9.92322485e-01 -8.09922220e-04 1.58443271e+00] [ 6.91260864e-03 -4.53601339e-05 9.99976107e-01 -3.85115310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:1.58, Z:-0.04 [[ 9.93176036e-01 -1.16422650e-01 -6.86502004e-03 2.11870916e+01] [ 1.16419826e-01 9.93199762e-01 -8.10995949e-04 1.58434430e+00] [ 6.91275457e-03 6.23730385e-06 9.99976107e-01 -3.70201086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:1.59, Z:-0.04 [[ 9.93625124e-01 -1.12525490e-01 -6.86497126e-03 2.12154141e+01] [ 1.12522569e-01 9.93648838e-01 -8.11408637e-04 1.58661896e+00] [ 6.91267487e-03 3.37718038e-05 9.99976107e-01 -3.57425408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:1.59, Z:-0.03 [[ 9.94100751e-01 -1.08243110e-01 -6.86481776e-03 2.12432212e+01] [ 1.08240078e-01 9.94124451e-01 -8.12705314e-04 1.58995155e+00] [ 6.91245294e-03 6.48625535e-05 9.99976107e-01 -3.47834603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:1.59, Z:-0.03 [[ 9.95039940e-01 -9.92390678e-02 -6.86476990e-03 2.12717162e+01] [ 9.92358190e-02 9.95063612e-01 -8.13109313e-04 1.59486319e+00] [ 6.91157494e-03 1.27845178e-04 9.99976107e-01 -3.28094428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:1.60, Z:-0.03 [[ 9.95469208e-01 -9.48363435e-02 -6.86463285e-03 2.12995536e+01] [ 9.48329820e-02 9.95492864e-01 -8.14264770e-04 1.59843630e+00] [ 6.91091491e-03 1.59581902e-04 9.99976107e-01 -3.27064560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:1.60, Z:-0.03 [[ 9.96157113e-01 -8.73148489e-02 -6.86458392e-03 2.13274277e+01] [ 8.73113061e-02 9.96180743e-01 -8.14677056e-04 1.60299201e+00] [ 6.90949971e-03 2.12190557e-04 9.99976107e-01 -3.23815791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:1.61, Z:-0.03 [[ 9.96415944e-01 -8.43098262e-02 -6.86443009e-03 2.13538814e+01] [ 8.43062032e-02 9.96439561e-01 -8.15971111e-04 1.60792085e+00] [ 6.90878409e-03 2.34332587e-04 9.99976107e-01 -3.26061305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:1.61, Z:-0.03 [[ 9.96634410e-01 -8.16867970e-02 -6.86436371e-03 2.13813122e+01] [ 8.16831080e-02 9.96658017e-01 -8.16529201e-04 1.61281347e+00] [ 6.90812278e-03 2.53078537e-04 9.99976107e-01 -3.18404895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:1.62, Z:-0.03 [[ 9.96782838e-01 -7.98552249e-02 -6.86421207e-03 2.14090086e+01] [ 7.98514838e-02 9.96806436e-01 -8.17801962e-04 1.61777676e+00] [ 6.90759653e-03 2.67053441e-04 9.99976107e-01 -3.12886228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:1.62, Z:-0.03 [[ 9.96859689e-01 -7.88900773e-02 -6.86405974e-03 2.14362671e+01] [ 7.88863045e-02 9.96883283e-01 -8.19078500e-04 1.62459272e+00] [ 6.90728358e-03 2.75026032e-04 9.99976107e-01 -3.11841667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:1.63, Z:-0.03 [[ 9.96832738e-01 -7.92299205e-02 -6.86389993e-03 2.14626545e+01] [ 7.92261466e-02 9.96856331e-01 -8.20415562e-04 1.62969791e+00] [ 6.90732356e-03 2.74016748e-04 9.99976107e-01 -3.25942405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:1.63, Z:-0.03 [[ 9.96746248e-01 -8.03106762e-02 -6.86383056e-03 2.14900483e+01] [ 8.03069239e-02 9.96769845e-01 -8.20995540e-04 1.63479584e+00] [ 6.90759403e-03 2.67111106e-04 9.99976107e-01 -3.19146042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:1.64, Z:-0.03 [[ 9.96416163e-01 -8.43072962e-02 -6.86367768e-03 2.15171560e+01] [ 8.43036297e-02 9.96439773e-01 -8.22271592e-04 1.64131794e+00] [ 6.90856493e-03 2.40691762e-04 9.99976107e-01 -3.22724564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:1.65, Z:-0.03 [[ 9.96211754e-01 -8.66892887e-02 -6.86352379e-03 2.15436441e+01] [ 8.66856699e-02 9.96235372e-01 -8.23554143e-04 1.64602581e+00] [ 6.90907850e-03 2.25465160e-04 9.99976107e-01 -3.27770680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:1.65, Z:-0.03 [[ 9.95951452e-01 -8.96303390e-02 -6.86345661e-03 2.15715965e+01] [ 8.96267861e-02 9.95975080e-01 -8.24113611e-04 1.65117280e+00] [ 6.90969733e-03 2.05627590e-04 9.99976107e-01 -3.13146918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:1.66, Z:-0.03 [[ 9.95442366e-01 -9.51177741e-02 -6.86329925e-03 2.15978164e+01] [ 9.51143425e-02 9.95466012e-01 -8.25422117e-04 1.65748394e+00] [ 6.91069344e-03 1.68861950e-04 9.99976107e-01 -3.24115667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:1.66, Z:-0.03 [[ 9.95166976e-01 -9.79570622e-02 -6.86318679e-03 2.16257868e+01] [ 9.79536916e-02 9.95190631e-01 -8.26356112e-04 1.66251790e+00] [ 6.91112661e-03 1.50087831e-04 9.99976107e-01 -3.25125896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:1.67, Z:-0.03 [[ 9.94555458e-01 -1.03982401e-01 -6.86303202e-03 2.16531082e+01] [ 1.03979165e-01 9.94579131e-01 -8.27639506e-04 1.66874288e+00] [ 6.91188837e-03 1.09521047e-04 9.99976107e-01 -3.23346454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:1.67, Z:-0.03 [[ 9.94262603e-01 -1.06746319e-01 -6.86287369e-03 2.16800938e+01] [ 1.06743140e-01 9.94286284e-01 -8.28950317e-04 1.67346147e+00] [ 6.91214858e-03 9.16296164e-05 9.99976107e-01 -3.30186972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:1.68, Z:-0.03 [[ 9.93977625e-01 -1.09368112e-01 -6.86276446e-03 2.17072368e+01] [ 1.09364988e-01 9.94001313e-01 -8.29853629e-04 1.67802813e+00] [ 6.91235641e-03 7.43097840e-05 9.99976107e-01 -3.28265690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:1.68, Z:-0.03 [[ 9.93712177e-01 -1.11754257e-01 -6.86260245e-03 2.17352165e+01] [ 1.11751181e-01 9.93735872e-01 -8.31191226e-04 1.68291620e+00] [ 6.91250339e-03 5.90609115e-05 9.99976107e-01 -3.30539779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:1.69, Z:-0.03 [[ 9.93218713e-01 -1.16058154e-01 -6.86243850e-03 2.17620237e+01] [ 1.16055172e-01 9.93242419e-01 -8.32542625e-04 1.68718722e+00] [ 6.91268838e-03 3.04754320e-05 9.99976107e-01 -3.35120274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:1.69, Z:-0.03 [[ 9.92967799e-01 -1.18185692e-01 -6.86232590e-03 2.17896765e+01] [ 1.18182754e-01 9.92991511e-01 -8.33469760e-04 1.69074564e+00] [ 6.91273556e-03 1.66000581e-05 9.99976107e-01 -3.38818921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:1.69, Z:-0.03 [[ 9.92945893e-01 -1.18369598e-01 -6.86227603e-03 2.18179123e+01] [ 1.18366662e-01 9.92969606e-01 -8.33880142e-04 1.69437777e+00] [ 6.91273758e-03 1.57331540e-05 9.99976107e-01 -3.36850659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:1.70, Z:-0.03 [[ 9.92690591e-01 -1.20491913e-01 -6.86212135e-03 2.18452305e+01] [ 1.20489019e-01 9.92714309e-01 -8.35151091e-04 1.69809704e+00] [ 6.91275500e-03 2.23636246e-06 9.99976107e-01 -3.28470561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:1.70, Z:-0.03 [[ 9.92325784e-01 -1.23460328e-01 -6.86196560e-03 2.18716706e+01] [ 1.23457496e-01 9.92349509e-01 -8.36428791e-04 1.70157534e+00] [ 6.91273397e-03 -1.71512370e-05 9.99976107e-01 -3.25829579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:1.70, Z:-0.03 [[ 9.92175720e-01 -1.24660557e-01 -6.86189812e-03 2.18985881e+01] [ 1.24657749e-01 9.92199448e-01 -8.36982073e-04 1.70436250e+00] [ 6.91271018e-03 -2.49554835e-05 9.99976107e-01 -3.33031594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:1.71, Z:-0.03 [[ 9.92055500e-01 -1.25613694e-01 -6.86179181e-03 2.19264346e+01] [ 1.25610903e-01 9.92079230e-01 -8.37852699e-04 1.70695208e+00] [ 6.91268691e-03 -3.07194864e-05 9.99976107e-01 -3.22714032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:1.71, Z:-0.03 [[ 9.91966278e-01 -1.26316351e-01 -6.86162897e-03 2.19543375e+01] [ 1.26313568e-01 9.91990009e-01 -8.39184138e-04 1.70960753e+00] [ 6.91267007e-03 -3.42744742e-05 9.99976107e-01 -3.23545560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:1.71, Z:-0.03 [[ 9.91914293e-01 -1.26723931e-01 -6.86157835e-03 2.19818124e+01] [ 1.26721155e-01 9.91938024e-01 -8.39597880e-04 1.71341960e+00] [ 6.91265761e-03 -3.66979942e-05 9.99976107e-01 -3.20282769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:1.72, Z:-0.04 [[ 9.91870852e-01 -1.27063500e-01 -6.86141692e-03 2.20097580e+01] [ 1.27060723e-01 9.91894584e-01 -8.40915080e-04 1.71622587e+00] [ 6.91265189e-03 -3.77374380e-05 9.99976107e-01 -3.57430396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:1.72, Z:-0.04 [[ 9.91825627e-01 -1.27416040e-01 -6.86133888e-03 2.20385323e+01] [ 1.27413267e-01 9.91849359e-01 -8.41551333e-04 1.71586217e+00] [ 6.91264171e-03 -3.95534200e-05 9.99976107e-01 -3.59636348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:1.72, Z:-0.04 [[ 9.91788595e-01 -1.27703982e-01 -6.86119534e-03 2.20654491e+01] [ 1.27701208e-01 9.91812327e-01 -8.42719988e-04 1.71829548e+00] [ 6.91263681e-03 -4.03828612e-05 9.99976107e-01 -3.73623635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:1.72, Z:-0.04 [[ 9.91709145e-01 -1.28319509e-01 -6.86112419e-03 2.20934890e+01] [ 1.28316746e-01 9.91732878e-01 -8.43298874e-04 1.72163569e+00] [ 6.91261414e-03 -4.40899228e-05 9.99976107e-01 -3.64135052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932640000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.12, Y:1.72, Z:-0.04 [[ 9.91621398e-01 -1.28995850e-01 -6.86096554e-03 2.21219813e+01] [ 1.28993093e-01 9.91645132e-01 -8.44587636e-04 1.72287748e+00] [ 6.91259138e-03 -4.75059960e-05 9.99976107e-01 -3.58872469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:1.72, Z:-0.03 [[ 9.91614077e-01 -1.29052129e-01 -6.86082211e-03 2.21504641e+01] [ 1.29049367e-01 9.91637810e-01 -8.45751178e-04 1.72463628e+00] [ 6.91259660e-03 -4.67259736e-05 9.99976107e-01 -3.13036769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:1.73, Z:-0.03 [[ 9.91594044e-01 -1.29205973e-01 -6.86067664e-03 2.21787044e+01] [ 1.29203206e-01 9.91617776e-01 -8.46929602e-04 1.72595595e+00] [ 6.91259727e-03 -4.66110666e-05 9.99976107e-01 -3.09937162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:1.73, Z:-0.03 [[ 9.91571938e-01 -1.29375514e-01 -6.86062499e-03 2.22062822e+01] [ 1.29372748e-01 9.91595671e-01 -8.47347791e-04 1.72578421e+00] [ 6.91259209e-03 -4.73716128e-05 9.99976107e-01 -3.21222426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:1.73, Z:-0.03 [[ 9.91612528e-01 -1.29064044e-01 -6.86051267e-03 2.22343329e+01] [ 1.29061264e-01 9.91636259e-01 -8.48256158e-04 1.72696480e+00] [ 6.91261249e-03 -4.42850023e-05 9.99976107e-01 -3.06099439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:1.73, Z:-0.03 [[ 9.91717301e-01 -1.28256503e-01 -6.86034745e-03 2.22624866e+01] [ 1.28253694e-01 9.91741029e-01 -8.49590274e-04 1.72806978e+00] [ 6.91265352e-03 -3.73115321e-05 9.99976107e-01 -3.08943796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:1.73, Z:-0.03 [[ 9.91905084e-01 -1.26796056e-01 -6.86029618e-03 2.22905843e+01] [ 1.26793210e-01 9.91928808e-01 -8.50004085e-04 1.72925115e+00] [ 6.91270258e-03 -2.67155990e-05 9.99976107e-01 -2.93620636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:1.73, Z:-0.03 [[ 9.92002484e-01 -1.26031784e-01 -6.86013050e-03 2.23182923e+01] [ 1.26028910e-01 9.92026204e-01 -8.51339170e-04 1.73157867e+00] [ 6.91272501e-03 -2.00441970e-05 9.99976107e-01 -2.91708753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:1.73, Z:-0.03 [[ 9.92103437e-01 -1.25234618e-01 -6.86007889e-03 2.23472224e+01] [ 1.25231722e-01 9.92127154e-01 -8.51754855e-04 1.72988426e+00] [ 6.91273974e-03 -1.40705727e-05 9.99976107e-01 -2.78021542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.73, Z:-0.03 [[ 9.92106695e-01 -1.25208813e-01 -6.85993745e-03 2.23750723e+01] [ 1.25205909e-01 9.92130411e-01 -8.52892456e-04 1.73072400e+00] [ 6.91274222e-03 -1.27443884e-05 9.99976107e-01 -2.74015459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:1.73, Z:-0.03 [[ 9.92162013e-01 -1.24769726e-01 -6.85977283e-03 2.24030413e+01] [ 1.24766802e-01 9.92185726e-01 -8.54214410e-04 1.73243379e+00] [ 6.91274879e-03 -8.35282856e-06 9.99976107e-01 -2.78059281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:1.73, Z:-0.03 [[ 9.92230846e-01 -1.24221153e-01 -6.85960689e-03 2.24307297e+01] [ 1.24218207e-01 9.92254557e-01 -8.55544902e-04 1.73435384e+00] [ 6.91275297e-03 -3.19002399e-06 9.99976107e-01 -2.80037174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.73, Z:-0.03 [[ 9.92522707e-01 -1.21867243e-01 -6.85943976e-03 2.24578845e+01] [ 1.21864232e-01 9.92546409e-01 -8.56882796e-04 1.73422809e+00] [ 6.91273825e-03 1.45552751e-05 9.99976107e-01 -2.94105758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322640000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.49, Y:1.74, Z:-0.03 [[ 9.92725260e-01 -1.20206103e-01 -6.85936695e-03 2.24854466e+01] [ 1.20203048e-01 9.92748957e-01 -8.57465289e-04 1.73633380e+00] [ 6.91270194e-03 2.67106380e-05 9.99976107e-01 -2.94975224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:1.74, Z:-0.03 [[ 9.92956825e-01 -1.18278045e-01 -6.85920304e-03 2.25128217e+01] [ 1.18274935e-01 9.92980515e-01 -8.58774423e-04 1.73913248e+00] [ 6.91262913e-03 4.14541314e-05 9.99976107e-01 -2.89323416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:1.74, Z:-0.03 [[ 9.93400784e-01 -1.14489455e-01 -6.85903683e-03 2.25410916e+01] [ 1.14486245e-01 9.93424461e-01 -8.60099894e-04 1.74175063e+00] [ 6.91240734e-03 6.91585351e-05 9.99976107e-01 -2.90787519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:1.75, Z:-0.03 [[ 9.93610128e-01 -1.12658200e-01 -6.85887027e-03 2.25682628e+01] [ 1.12654937e-01 9.93633797e-01 -8.61426108e-04 1.74512856e+00] [ 6.91225203e-03 8.32361075e-05 9.99976107e-01 -2.90240198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:1.75, Z:-0.03 [[ 9.93982583e-01 -1.09323289e-01 -6.85879763e-03 2.25955066e+01] [ 1.09319943e-01 9.94006241e-01 -8.62004062e-04 1.75056696e+00] [ 6.91192477e-03 1.07013660e-04 9.99976107e-01 -3.05362958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:1.76, Z:-0.03 [[ 9.94088596e-01 -1.08355065e-01 -6.85874634e-03 2.26227082e+01] [ 1.08351693e-01 9.94112251e-01 -8.62411996e-04 1.75536610e+00] [ 6.91181047e-03 1.14157153e-04 9.99976107e-01 -3.00499970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:1.76, Z:-0.03 [[ 9.94167160e-01 -1.07631861e-01 -6.85857647e-03 2.26498318e+01] [ 1.07628462e-01 9.94190811e-01 -8.63760796e-04 1.75945307e+00] [ 6.91170189e-03 1.20544579e-04 9.99976107e-01 -3.14004323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:1.76, Z:-0.03 [[ 9.94195985e-01 -1.07365286e-01 -6.85845925e-03 2.26772494e+01] [ 1.07361874e-01 9.94219634e-01 -8.64690587e-04 1.76293290e+00] [ 6.91165259e-03 1.23334869e-04 9.99976107e-01 -3.15202796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:1.77, Z:-0.03 [[ 9.94187893e-01 -1.07440206e-01 -6.85828715e-03 2.27051968e+01] [ 1.07436787e-01 9.94211540e-01 -8.66053408e-04 1.76694643e+00] [ 6.91163719e-03 1.24187476e-04 9.99976107e-01 -3.38353770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:1.77, Z:-0.03 [[ 9.94106975e-01 -1.08186348e-01 -6.85823354e-03 2.27326688e+01] [ 1.08182944e-01 9.94130625e-01 -8.66477775e-04 1.77200424e+00] [ 6.91172106e-03 1.19427704e-04 9.99976107e-01 -3.32450978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:1.78, Z:-0.03 [[ 9.93747781e-01 -1.11437487e-01 -6.85818244e-03 2.27595772e+01] [ 1.11434157e-01 9.93771441e-01 -8.66882002e-04 1.77740599e+00] [ 6.91206900e-03 9.72262841e-05 9.99976107e-01 -3.44326559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:1.78, Z:-0.04 [[ 9.93451149e-01 -1.14051655e-01 -6.85811234e-03 2.27875728e+01] [ 1.14048384e-01 9.93474818e-01 -8.67436292e-04 1.78087912e+00] [ 6.91229445e-03 7.95989524e-05 9.99976107e-01 -3.62357872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:1.78, Z:-0.03 [[ 9.93085567e-01 -1.17192252e-01 -6.85803745e-03 2.28156838e+01] [ 1.17189052e-01 9.93109245e-01 -8.68027905e-04 1.78410203e+00] [ 6.91250654e-03 5.83390797e-05 9.99976107e-01 -3.37398834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:1.79, Z:-0.03 [[ 9.92108903e-01 -1.25191428e-01 -6.85786886e-03 2.28434459e+01] [ 1.25188410e-01 9.92132605e-01 -8.69357834e-04 1.78548370e+00] [ 6.91275145e-03 3.97194920e-06 9.99976107e-01 -3.27087868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:1.79, Z:-0.03 [[ 9.91520325e-01 -1.29770623e-01 -6.85781643e-03 2.28712811e+01] [ 1.29767712e-01 9.91544041e-01 -8.69771232e-04 1.78748070e+00] [ 6.91269777e-03 -2.75272904e-05 9.99976107e-01 -3.16237350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:1.79, Z:-0.03 [[ 9.90896931e-01 -1.34447927e-01 -6.85765073e-03 2.28990008e+01] [ 1.34445118e-01 9.90920658e-01 -8.71075751e-04 1.78968759e+00] [ 6.91250210e-03 -5.88313758e-05 9.99976107e-01 -3.08382664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:1.79, Z:-0.03 [[ 9.89812991e-01 -1.42208358e-01 -6.85748478e-03 2.29275765e+01] [ 1.42205726e-01 9.89836739e-01 -8.72380239e-04 1.78905544e+00] [ 6.91185013e-03 -1.11680310e-04 9.99976107e-01 -3.20719409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:1.79, Z:-0.03 [[ 9.89369233e-01 -1.45263539e-01 -6.85743319e-03 2.29563930e+01] [ 1.45260978e-01 9.89392989e-01 -8.72785516e-04 1.78932772e+00] [ 6.91148024e-03 -1.32610313e-04 9.99976107e-01 -3.24509762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:1.79, Z:-0.03 [[ 9.89059006e-01 -1.47360984e-01 -6.85728677e-03 2.29848539e+01] [ 1.47358465e-01 9.89082767e-01 -8.73934460e-04 1.79015193e+00] [ 6.91120801e-03 -1.46106501e-04 9.99976107e-01 -3.17755841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.01, Y:1.79, Z:-0.03 [[ 9.88907606e-01 -1.48373602e-01 -6.85711640e-03 2.30132205e+01] [ 1.48371098e-01 9.88931368e-01 -8.75269186e-04 1.79123725e+00] [ 6.91108434e-03 -1.51837535e-04 9.99976107e-01 -3.30086434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:1.79, Z:-0.03 [[ 9.89208163e-01 -1.46356387e-01 -6.85703668e-03 2.30415245e+01] [ 1.46353830e-01 9.89231919e-01 -8.75893259e-04 1.78852584e+00] [ 6.91139212e-03 -1.37112818e-04 9.99976107e-01 -2.88195869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:1.79, Z:-0.03 [[ 9.89487811e-01 -1.44453636e-01 -6.85698490e-03 2.30690003e+01] [ 1.44451031e-01 9.89511562e-01 -8.76298397e-04 1.78905240e+00] [ 6.91165033e-03 -1.23411955e-04 9.99976107e-01 -3.11804215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:1.79, Z:-0.03 [[ 9.90340227e-01 -1.38489090e-01 -6.85608671e-03 2.30983940e+01] [ 1.38486293e-01 9.90363957e-01 -8.83320235e-04 1.78832494e+00] [ 6.91235137e-03 -7.46864682e-05 9.99976107e-01 -2.85641529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:1.79, Z:-0.03 [[ 9.90815058e-01 -1.35050007e-01 -6.85688552e-03 2.31252584e+01] [ 1.35047171e-01 9.90838782e-01 -8.77075176e-04 1.79090164e+00] [ 6.91251711e-03 -5.69836972e-05 9.99976107e-01 -2.87624691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:1.79, Z:-0.03 [[ 9.91324870e-01 -1.31255425e-01 -6.85677613e-03 2.31531436e+01] [ 1.31252493e-01 9.91348583e-01 -8.77929499e-04 1.79333337e+00] [ 6.91268831e-03 -2.96556122e-05 9.99976107e-01 -2.78771356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:1.79, Z:-0.03 [[ 9.92372780e-01 -1.23082301e-01 -6.85661041e-03 2.31804620e+01] [ 1.23079164e-01 9.92396466e-01 -8.79221866e-04 1.79419746e+00] [ 6.91269260e-03 2.86099731e-05 9.99976107e-01 -2.85137617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:1.80, Z:-0.03 [[ 9.92836579e-01 -1.19283336e-01 -6.85653801e-03 2.32081422e+01] [ 1.19280105e-01 9.92860253e-01 -8.79786138e-04 1.79756404e+00] [ 6.91252789e-03 5.56352878e-05 9.99976107e-01 -2.66006323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:1.80, Z:-0.03 [[ 9.93286875e-01 -1.15473697e-01 -6.85637068e-03 2.32361761e+01] [ 1.15470365e-01 9.93310535e-01 -8.81088265e-04 1.80145569e+00] [ 6.91224774e-03 8.34657814e-05 9.99976107e-01 -2.59375200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:1.81, Z:-0.03 [[ 9.94051879e-01 -1.08691558e-01 -6.85620346e-03 2.32635256e+01] [ 1.08688056e-01 9.94075514e-01 -8.82387572e-04 1.80636260e+00] [ 6.91149206e-03 1.31951598e-04 9.99976107e-01 -2.52200059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:1.81, Z:-0.03 [[ 9.94393539e-01 -1.05520062e-01 -6.85603710e-03 2.32909542e+01] [ 1.05516476e-01 9.94417162e-01 -8.83678244e-04 1.81078337e+00] [ 6.91100674e-03 1.55299063e-04 9.99976107e-01 -2.71365657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:1.82, Z:-0.03 [[ 9.94607727e-01 -1.03481799e-01 -6.85472495e-03 2.33195620e+01] [ 1.03478094e-01 9.94631331e-01 -8.93843943e-04 1.81677965e+00] [ 6.91042078e-03 1.79710218e-04 9.99976107e-01 -2.70997040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:1.83, Z:-0.02 [[ 9.94937030e-01 -1.00266185e-01 -6.85550112e-03 2.33489499e+01] [ 1.00262446e-01 9.94960629e-01 -8.87836653e-04 1.82508395e+00] [ 6.90997371e-03 1.95992251e-04 9.99976107e-01 -2.47315558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:1.83, Z:-0.03 [[ 9.94972247e-01 -9.99161004e-02 -6.85572298e-03 2.33752447e+01] [ 9.99123646e-02 9.94995846e-01 -8.86120215e-04 1.83016841e+00] [ 6.90995356e-03 1.96693527e-04 9.99976107e-01 -2.69839241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:1.84, Z:-0.03 [[ 9.94913527e-01 -1.00499121e-01 -6.85565018e-03 2.34030802e+01] [ 1.00495395e-01 9.94937128e-01 -8.86683053e-04 1.83510178e+00] [ 6.91005177e-03 1.93211688e-04 9.99976107e-01 -2.54694962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:1.84, Z:-0.02 [[ 9.94791980e-01 -1.01695221e-01 -6.85549055e-03 2.34303219e+01] [ 1.01691515e-01 9.94815585e-01 -8.87915515e-04 1.83987273e+00] [ 6.91024561e-03 1.86146011e-04 9.99976107e-01 -2.44387783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:1.85, Z:-0.03 [[ 9.94451349e-01 -1.04973900e-01 -6.85532480e-03 2.34574242e+01] [ 1.04970263e-01 9.94474964e-01 -8.89193417e-04 1.84665327e+00] [ 6.91079098e-03 1.64654344e-04 9.99976107e-01 -2.67974581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:1.85, Z:-0.03 [[ 9.94234455e-01 -1.07008662e-01 -6.85527320e-03 2.34850927e+01] [ 1.07005071e-01 9.94258077e-01 -8.89591027e-04 1.85197013e+00] [ 6.91110470e-03 1.50913054e-04 9.99976107e-01 -2.72507451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.51, Y:1.86, Z:-0.03 [[ 9.93814430e-01 -1.10841714e-01 -6.85510901e-03 2.35115455e+01] [ 1.10838205e-01 9.93838065e-01 -8.90854475e-04 1.85983784e+00] [ 6.91161211e-03 1.25536057e-04 9.99976107e-01 -2.95197023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:1.87, Z:-0.03 [[ 9.93602941e-01 -1.12721798e-01 -6.85499667e-03 2.35392814e+01] [ 1.12718327e-01 9.93626582e-01 -8.91718087e-04 1.86633399e+00] [ 6.91182297e-03 1.13329955e-04 9.99976107e-01 -2.75286033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:1.87, Z:-0.03 [[ 9.93405539e-01 -1.14448447e-01 -6.85484482e-03 2.35666280e+01] [ 1.14445010e-01 9.93429183e-01 -8.92883852e-04 1.87237478e+00] [ 6.91199207e-03 1.02492979e-04 9.99976107e-01 -2.78752873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:1.88, Z:-0.03 [[ 9.93383122e-01 -1.14642865e-01 -6.85466968e-03 2.35948397e+01] [ 1.14639424e-01 9.93406766e-01 -8.94226379e-04 1.87625128e+00] [ 6.91199192e-03 1.02494010e-04 9.99976107e-01 -2.76784033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:1.88, Z:-0.03 [[ 9.93038030e-01 -1.17594591e-01 -6.85449442e-03 2.36225550e+01] [ 1.17591210e-01 9.93061682e-01 -8.95567847e-04 1.88287402e+00] [ 6.91224969e-03 8.33046363e-05 9.99976107e-01 -2.81580872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:1.89, Z:-0.03 [[ 9.92890904e-01 -1.18830432e-01 -6.85431792e-03 2.36495769e+01] [ 1.18827072e-01 9.92914560e-01 -8.96916612e-04 1.88827882e+00] [ 6.91233305e-03 7.60618174e-05 9.99976107e-01 -3.18907738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:1.89, Z:-0.03 [[ 9.92726936e-01 -1.20192551e-01 -6.85426326e-03 2.36774349e+01] [ 1.20189220e-01 9.92750596e-01 -8.97334144e-04 1.89468566e+00] [ 6.91242682e-03 6.69992188e-05 9.99976107e-01 -2.96924161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.70, Y:1.90, Z:-0.03 [[ 9.92583505e-01 -1.21371361e-01 -6.85410384e-03 2.37047277e+01] [ 1.21368049e-01 9.92607168e-01 -8.98550194e-04 1.90136888e+00] [ 6.91249086e-03 6.00168880e-05 9.99976107e-01 -3.15837363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:1.91, Z:-0.03 [[ 9.92333008e-01 -1.23402684e-01 -6.85404754e-03 2.37309849e+01] [ 1.23399419e-01 9.92356677e-01 -8.98979453e-04 1.91002682e+00] [ 6.91259632e-03 4.63015041e-05 9.99976107e-01 -3.29230983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:1.92, Z:-0.03 [[ 9.92180964e-01 -1.24619252e-01 -6.85397129e-03 2.37582462e+01] [ 1.24616011e-01 9.92204636e-01 -8.99560410e-04 1.91597819e+00] [ 6.91264464e-03 3.84121535e-05 9.99976107e-01 -3.25463446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:1.92, Z:-0.03 [[ 9.91850323e-01 -1.27224061e-01 -6.85380274e-03 2.37862437e+01] [ 1.27220873e-01 9.91874003e-01 -9.00842804e-04 1.92199944e+00] [ 6.91271764e-03 2.15544585e-05 9.99976107e-01 -3.15352250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:1.93, Z:-0.03 [[ 9.91645840e-01 -1.28808211e-01 -6.85365334e-03 2.38134035e+01] [ 1.28805053e-01 9.91669524e-01 -9.01977989e-04 1.92641690e+00] [ 6.91274132e-03 1.16575383e-05 9.99976107e-01 -2.94160375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:1.93, Z:-0.03 [[ 9.91405964e-01 -1.30641665e-01 -6.85347492e-03 2.38406263e+01] [ 1.30638542e-01 9.91429652e-01 -9.03331676e-04 1.93145170e+00] [ 6.91275101e-03 2.40439858e-07 9.99976107e-01 -2.98583037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:1.94, Z:-0.03 [[ 9.90772070e-01 -1.35365199e-01 -6.85339167e-03 2.38686591e+01] [ 1.35362185e-01 9.90795772e-01 -9.03962830e-04 1.93892493e+00] [ 6.91267660e-03 -3.20689463e-05 9.99976107e-01 -2.63516479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:1.94, Z:-0.03 [[ 9.90387776e-01 -1.38148785e-01 -6.85323627e-03 2.38962344e+01] [ 1.38145829e-01 9.90411485e-01 -9.05139422e-04 1.94351511e+00] [ 6.91256783e-03 -5.03069884e-05 9.99976107e-01 -2.68875079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:1.95, Z:-0.03 [[ 9.89514198e-01 -1.44272957e-01 -6.85318124e-03 2.39249579e+01] [ 1.44270145e-01 9.89537925e-01 -9.05555874e-04 1.94702830e+00] [ 6.91212997e-03 -9.26490590e-05 9.99976107e-01 -2.53859586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.95, Y:1.95, Z:-0.02 [[ 9.89088955e-01 -1.47160034e-01 -6.85303290e-03 2.39526698e+01] [ 1.47157283e-01 9.89112689e-01 -9.06677110e-04 1.94968393e+00] [ 6.91184843e-03 -1.11689389e-04 9.99976107e-01 -2.47543522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.98, Y:1.95, Z:-0.03 [[ 9.88731310e-01 -1.49544089e-01 -6.85285859e-03 2.39793455e+01] [ 1.49541387e-01 9.88755050e-01 -9.07992667e-04 1.95198985e+00] [ 6.91158347e-03 -1.27025198e-04 9.99976107e-01 -2.53394209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:1.95, Z:-0.03 [[ 9.88449408e-01 -1.51396196e-01 -6.85274022e-03 2.40073257e+01] [ 1.51393532e-01 9.88473152e-01 -9.08885101e-04 1.95399907e+00] [ 6.91135148e-03 -1.39073604e-04 9.99976107e-01 -2.50025336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:1.95, Z:-0.03 [[ 9.88239353e-01 -1.52761331e-01 -6.85256603e-03 2.40356626e+01] [ 1.52758690e-01 9.88263100e-01 -9.10196554e-04 1.95481157e+00] [ 6.91118098e-03 -1.47296955e-04 9.99976107e-01 -2.60460852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03264 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.06, Y:1.96, Z:-0.03 [[ 9.88220068e-01 -1.52886034e-01 -6.85251189e-03 2.40635259e+01] [ 1.52883394e-01 9.88243815e-01 -9.10604003e-04 1.95912036e+00] [ 6.91117113e-03 -1.47758125e-04 9.99976107e-01 -3.19399473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:1.96, Z:-0.03 [[ 9.88646776e-01 -1.50101954e-01 -6.85245798e-03 2.40913595e+01] [ 1.50099243e-01 9.88670515e-01 -9.11009465e-04 1.96324048e+00] [ 6.91156746e-03 -1.27882188e-04 9.99976107e-01 -2.77026918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:1.97, Z:-0.03 [[ 9.88801088e-01 -1.49082035e-01 -6.85240487e-03 2.41188872e+01] [ 1.49079297e-01 9.88824824e-01 -9.11408787e-04 1.96638564e+00] [ 6.91170271e-03 -1.20349701e-04 9.99976107e-01 -2.76214525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.15, Y:1.97, Z:-0.03 [[ 9.88942981e-01 -1.48137867e-01 -6.85223480e-03 2.41461876e+01] [ 1.48135098e-01 9.88966713e-01 -9.12685602e-04 1.96941922e+00] [ 6.91183543e-03 -1.12462454e-04 9.99976107e-01 -3.16052398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:1.97, Z:-0.03 [[ 9.89465348e-01 -1.44607652e-01 -6.85216084e-03 2.41750955e+01] [ 1.44604794e-01 9.89489070e-01 -9.13240541e-04 1.97310247e+00] [ 6.91219983e-03 -8.72354386e-05 9.99976107e-01 -2.53396766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:1.98, Z:-0.02 [[ 9.89692586e-01 -1.43044169e-01 -6.85201021e-03 2.42022163e+01] [ 1.43041266e-01 9.89716303e-01 -9.14369333e-04 1.97796650e+00] [ 6.91234141e-03 -7.51756663e-05 9.99976107e-01 -2.40820327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:1.98, Z:-0.02 [[ 9.89910210e-01 -1.41530313e-01 -6.85183296e-03 2.42296621e+01] [ 1.41527365e-01 9.89933920e-01 -9.15695635e-04 1.98226471e+00] [ 6.91246055e-03 -6.32654032e-05 9.99976107e-01 -2.48694468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:1.99, Z:-0.02 [[ 9.90070624e-01 -1.40403752e-01 -6.85177789e-03 2.42564903e+01] [ 1.40400774e-01 9.90094331e-01 -9.16107531e-04 1.98661029e+00] [ 6.91253138e-03 -5.49837620e-05 9.99976107e-01 -2.47313717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:1.99, Z:-0.02 [[ 9.90400937e-01 -1.38054476e-01 -6.85170343e-03 2.42838023e+01] [ 1.38051438e-01 9.90424636e-01 -9.16664060e-04 1.99098365e+00] [ 6.91264546e-03 -3.80225649e-05 9.99976107e-01 -2.47026079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:1.99, Z:-0.02 [[ 9.90511096e-01 -1.37261878e-01 -6.85165063e-03 2.43108970e+01] [ 1.37258818e-01 9.90534793e-01 -9.17058555e-04 1.99483737e+00] [ 6.91267552e-03 -3.20927947e-05 9.99976107e-01 -2.37491245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:2.00, Z:-0.02 [[ 9.90589152e-01 -1.36697427e-01 -6.85159815e-03 2.43384529e+01] [ 1.36694352e-01 9.90612847e-01 -9.17450501e-04 1.99893195e+00] [ 6.91269427e-03 -2.77582516e-05 9.99976107e-01 -2.15737585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362640000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:24.37, Y:2.00, Z:-0.02 [[ 9.90495057e-01 -1.37377576e-01 -6.85154607e-03 2.43662554e+01] [ 1.37374514e-01 9.90518753e-01 -9.17839280e-04 2.00383824e+00] [ 6.91267540e-03 -3.21125403e-05 9.99976107e-01 -2.31524708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:2.01, Z:-0.02 [[ 9.90447930e-01 -1.37716945e-01 -6.85136791e-03 2.43934864e+01] [ 1.37713881e-01 9.90471626e-01 -9.19167272e-04 2.00645914e+00] [ 6.91267042e-03 -3.31411435e-05 9.99976107e-01 -1.95641242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:2.01, Z:-0.02 [[ 9.90387281e-01 -1.38152430e-01 -6.85131249e-03 2.44211570e+01] [ 1.38149374e-01 9.90410978e-01 -9.19580132e-04 2.01000853e+00] [ 6.91265733e-03 -3.57640646e-05 9.99976107e-01 -2.08746400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:2.01, Z:-0.02 [[ 9.90330485e-01 -1.38558976e-01 -6.85126074e-03 2.44488625e+01] [ 1.38555927e-01 9.90354183e-01 -9.19965554e-04 2.01402734e+00] [ 6.91264422e-03 -3.82128518e-05 9.99976107e-01 -2.18228009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:2.02, Z:-0.02 [[ 9.90327196e-01 -1.38582490e-01 -6.85109665e-03 2.44767781e+01] [ 1.38579433e-01 9.90350893e-01 -9.21185896e-04 2.01786258e+00] [ 6.91264993e-03 -3.71456462e-05 9.99976107e-01 -2.09858456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:2.02, Z:-0.02 [[ 9.90455278e-01 -1.37664108e-01 -6.85092291e-03 2.45039697e+01] [ 1.37661020e-01 9.90478971e-01 -9.22476243e-04 2.02222879e+00] [ 6.91268694e-03 -2.94335747e-05 9.99976107e-01 -2.40742076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:2.03, Z:-0.02 [[ 9.90522766e-01 -1.37177676e-01 -6.85086908e-03 2.45315296e+01] [ 1.37174574e-01 9.90546458e-01 -9.22875857e-04 2.02631416e+00] [ 6.91270206e-03 -2.56354999e-05 9.99976107e-01 -2.20484174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:2.03, Z:-0.02 [[ 9.90699676e-01 -1.35894153e-01 -6.85069142e-03 2.45594372e+01] [ 1.35891011e-01 9.90723361e-01 -9.24192748e-04 2.02959928e+00] [ 6.91273242e-03 -1.53499289e-05 9.99976107e-01 -2.40317443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:2.03, Z:-0.02 [[ 9.91137815e-01 -1.32660849e-01 -6.85063618e-03 2.45869141e+01] [ 1.32657627e-01 9.91161490e-01 -9.24602059e-04 2.03344923e+00] [ 6.91274526e-03 7.61892749e-06 9.99976107e-01 -2.25540903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:2.04, Z:-0.02 [[ 9.91364564e-01 -1.30955615e-01 -6.85046029e-03 2.46130113e+01] [ 1.30952343e-01 9.91388232e-01 -9.25903378e-04 2.03824803e+00] [ 6.91271796e-03 2.08239693e-05 9.99976107e-01 -2.29159417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:2.04, Z:-0.02 [[ 9.91592122e-01 -1.29221268e-01 -6.85038363e-03 2.46404832e+01] [ 1.29217951e-01 9.91615784e-01 -9.26470198e-04 2.04317265e+00] [ 6.91266819e-03 3.34880126e-05 9.99976107e-01 -2.33217801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:2.05, Z:-0.02 [[ 9.91907504e-01 -1.26777665e-01 -6.85032918e-03 2.46691943e+01] [ 1.26774287e-01 9.91931157e-01 -9.26872623e-04 2.04929717e+00] [ 6.91256170e-03 5.09263131e-05 9.99976107e-01 -2.21441495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:2.05, Z:-0.02 [[ 9.91970857e-01 -1.26281009e-01 -6.85017660e-03 2.46961566e+01] [ 1.26277611e-01 9.91994508e-01 -9.27998921e-04 2.05473845e+00] [ 6.91252621e-03 5.55239492e-05 9.99976107e-01 -2.24997870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:2.06, Z:-0.02 [[ 9.91950599e-01 -1.26440044e-01 -6.85012245e-03 2.47231057e+01] [ 1.26436647e-01 9.91974250e-01 -9.28398465e-04 2.06213992e+00] [ 6.91253182e-03 5.48188966e-05 9.99976107e-01 -2.38390064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:2.07, Z:-0.02 [[ 9.91842867e-01 -1.27282377e-01 -6.85006856e-03 2.47501390e+01] [ 1.27278998e-01 9.91866520e-01 -9.28795907e-04 2.06736191e+00] [ 6.91257302e-03 4.93497311e-05 9.99976107e-01 -2.41202605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812640000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.78, Y:2.07, Z:-0.03 [[ 9.91620193e-01 -1.29005706e-01 -6.84989532e-03 2.47781377e+01] [ 1.29002359e-01 9.91643851e-01 -9.30071870e-04 2.07298775e+00] [ 6.91264115e-03 3.86253906e-05 9.99976107e-01 -2.89936957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:2.08, Z:-0.02 [[ 9.91425095e-01 -1.30496594e-01 -6.84974292e-03 2.48061625e+01] [ 1.30493275e-01 9.91448757e-01 -9.31192900e-04 2.07621736e+00] [ 6.91268660e-03 2.93626233e-05 9.99976107e-01 -2.38999941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:2.08, Z:-0.02 [[ 9.90866586e-01 -1.34671792e-01 -6.84956154e-03 2.48336654e+01] [ 1.34668563e-01 9.90890261e-01 -9.32525145e-04 2.08006152e+00] [ 6.91274865e-03 1.58739716e-06 9.99976107e-01 -2.32408907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:2.08, Z:-0.02 [[ 9.90512939e-01 -1.37248694e-01 -6.84937854e-03 2.48612591e+01] [ 1.37245518e-01 9.90536620e-01 -9.33867326e-04 2.08420696e+00] [ 6.91273234e-03 -1.50388356e-05 9.99976107e-01 -2.31739355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:2.09, Z:-0.02 [[ 9.90184919e-01 -1.39595540e-01 -6.84919609e-03 2.48886035e+01] [ 1.39592411e-01 9.90208606e-01 -9.35203553e-04 2.08809917e+00] [ 6.91268316e-03 -3.00713398e-05 9.99976107e-01 -2.33700241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:2.09, Z:-0.02 [[ 9.89596769e-01 -1.43705685e-01 -6.84913948e-03 2.49160435e+01] [ 1.43702652e-01 9.89620469e-01 -9.35617955e-04 2.09075424e+00] [ 6.91250225e-03 -5.83549997e-05 9.99976107e-01 -2.39116952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:2.09, Z:-0.02 [[ 9.89349867e-01 -1.45395772e-01 -6.84908367e-03 2.49438681e+01] [ 1.45392776e-01 9.89373572e-01 -9.36026312e-04 2.09376371e+00] [ 6.91239665e-03 -6.97497788e-05 9.99976107e-01 -2.36829709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:2.10, Z:-0.02 [[ 9.89110235e-01 -1.47017128e-01 -6.84890631e-03 2.49729454e+01] [ 1.47014162e-01 9.89133943e-01 -9.37322321e-04 2.09659285e+00] [ 6.91228814e-03 -7.97711173e-05 9.99976107e-01 -2.47836676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:2.10, Z:-0.03 [[ 9.88897403e-01 -1.48441980e-01 -6.84875094e-03 2.50009998e+01] [ 1.48439039e-01 9.88921115e-01 -9.38456185e-04 2.09817489e+00] [ 6.91218070e-03 -8.85851263e-05 9.99976107e-01 -2.63587478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:2.10, Z:-0.03 [[ 9.88840518e-01 -1.48820446e-01 -6.84869572e-03 2.50285641e+01] [ 1.48817512e-01 9.88864231e-01 -9.38859015e-04 2.10113642e+00] [ 6.91215164e-03 -9.08240223e-05 9.99976107e-01 -2.58842580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:2.10, Z:-0.03 [[ 9.88778669e-01 -1.49230829e-01 -6.84864096e-03 2.50559729e+01] [ 1.49227903e-01 9.88802382e-01 -9.39258253e-04 2.10300113e+00] [ 6.91211879e-03 -9.32898015e-05 9.99976107e-01 -2.59031726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:2.11, Z:-0.03 [[ 9.88763076e-01 -1.49334112e-01 -6.84852157e-03 2.50838041e+01] [ 1.49331181e-01 9.88786789e-01 -9.40127968e-04 2.10661694e+00] [ 6.91212083e-03 -9.31339957e-05 9.99976107e-01 -2.58345755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:2.11, Z:-0.03 [[ 9.88787795e-01 -1.49170364e-01 -6.84834804e-03 2.51119741e+01] [ 1.49167421e-01 9.88811506e-01 -9.41390374e-04 2.11012424e+00] [ 6.91215288e-03 -9.07151006e-05 9.99976107e-01 -2.62511605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:2.11, Z:-0.03 [[ 9.88940827e-01 -1.48152431e-01 -6.84817470e-03 2.51395652e+01] [ 1.48149455e-01 9.88964535e-01 -9.42649627e-04 2.11066986e+00] [ 6.91225774e-03 -8.23286453e-05 9.99976107e-01 -2.71958863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:2.11, Z:-0.03 [[ 9.89004314e-01 -1.47728029e-01 -6.84809934e-03 2.51671583e+01] [ 1.47725039e-01 9.89028019e-01 -9.43196832e-04 2.11289034e+00] [ 6.91229873e-03 -7.88100033e-05 9.99976107e-01 -2.68843574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:2.12, Z:-0.03 [[ 9.89101682e-01 -1.47074703e-01 -6.84792679e-03 2.51949628e+01] [ 1.47071688e-01 9.89125385e-01 -9.44447947e-04 2.11605157e+00] [ 6.91236262e-03 -7.29811014e-05 9.99976107e-01 -2.56695703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292640000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.22, Y:2.12, Z:-0.03 [[ 9.89264533e-01 -1.45975315e-01 -6.84774999e-03 2.52220831e+01] [ 1.45972265e-01 9.89288231e-01 -9.45728064e-04 2.11991234e+00] [ 6.91245142e-03 -6.40063482e-05 9.99976107e-01 -2.97736035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:2.12, Z:-0.02 [[ 9.89384978e-01 -1.45156726e-01 -6.84769498e-03 2.52494368e+01] [ 1.45153654e-01 9.89408673e-01 -9.46126183e-04 2.12244481e+00] [ 6.91250538e-03 -5.78849173e-05 9.99976107e-01 -2.26467931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:2.12, Z:-0.02 [[ 9.89657188e-01 -1.43289077e-01 -6.84761457e-03 2.52762208e+01] [ 1.43285956e-01 9.89680877e-01 -9.46707844e-04 2.12491543e+00] [ 6.91260608e-03 -4.42507770e-05 9.99976107e-01 -2.32578674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:2.13, Z:-0.02 [[ 9.89712358e-01 -1.42907522e-01 -6.84753460e-03 2.53035949e+01] [ 1.42904389e-01 9.89736045e-01 -9.47285913e-04 2.12926198e+00] [ 6.91262609e-03 -4.10021709e-05 9.99976107e-01 -2.32498612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:2.13, Z:-0.02 [[ 9.89684575e-01 -1.43099813e-01 -6.84735004e-03 2.53317737e+01] [ 1.43096674e-01 9.89708261e-01 -9.48618057e-04 2.13335193e+00] [ 6.91262597e-03 -4.10003616e-05 9.99976107e-01 -2.30529775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:2.14, Z:-0.02 [[ 9.89629412e-01 -1.43480809e-01 -6.84716548e-03 2.53596621e+01] [ 1.43477670e-01 9.89653099e-01 -9.49948374e-04 2.13602927e+00] [ 6.91261790e-03 -4.23185006e-05 9.99976107e-01 -2.34423169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:2.14, Z:-0.02 [[ 9.89524144e-01 -1.44205017e-01 -6.84697966e-03 2.53886607e+01] [ 1.44201887e-01 9.89547832e-01 -9.51285872e-04 2.13873897e+00] [ 6.91259407e-03 -4.60270480e-05 9.99976107e-01 -2.10614306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:2.14, Z:-0.02 [[ 9.89465124e-01 -1.44609436e-01 -6.84681606e-03 2.54157722e+01] [ 1.44606307e-01 9.89488812e-01 -9.52461915e-04 2.14259659e+00] [ 6.91258287e-03 -4.76649399e-05 9.99976107e-01 -2.09147657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:2.15, Z:-0.02 [[ 9.89421984e-01 -1.44904315e-01 -6.84675803e-03 2.54437026e+01] [ 1.44901190e-01 9.89445672e-01 -9.52878871e-04 2.14706804e+00] [ 6.91257136e-03 -4.93040843e-05 9.99976107e-01 -2.30299199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:2.15, Z:-0.02 [[ 9.89403266e-01 -1.45032062e-01 -6.84670243e-03 2.54712094e+01] [ 1.45028938e-01 9.89426955e-01 -9.53278216e-04 2.15039994e+00] [ 6.91256784e-03 -4.97933995e-05 9.99976107e-01 -2.06893323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:2.16, Z:-0.02 [[ 9.89511161e-01 -1.44294098e-01 -6.84651847e-03 2.54988714e+01] [ 1.44290947e-01 9.89534846e-01 -9.54597615e-04 2.15509588e+00] [ 6.91261140e-03 -4.33056364e-05 9.99976107e-01 -2.09879596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:2.16, Z:-0.02 [[ 9.89577621e-01 -1.43837613e-01 -6.84646128e-03 2.55268188e+01] [ 1.43834448e-01 9.89601303e-01 -9.55007569e-04 2.16003437e+00] [ 6.91263302e-03 -3.97028625e-05 9.99976107e-01 -2.03443318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:2.16, Z:-0.02 [[ 9.89626609e-01 -1.43500183e-01 -6.84628139e-03 2.55545009e+01] [ 1.43497001e-01 9.89650290e-01 -9.56295458e-04 2.16458261e+00] [ 6.91265293e-03 -3.60454186e-05 9.99976107e-01 -1.90759393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:2.17, Z:-0.02 [[ 9.89706222e-01 -1.42950077e-01 -6.84609408e-03 2.55817313e+01] [ 1.42946873e-01 9.89729900e-01 -9.57634490e-04 2.16870768e+00] [ 6.91267793e-03 -3.08509268e-05 9.99976107e-01 -1.83255011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:2.17, Z:-0.02 [[ 9.89913744e-01 -1.41505873e-01 -6.84590647e-03 2.56091184e+01] [ 1.41502625e-01 9.89937416e-01 -9.58973819e-04 2.17435024e+00] [ 6.91271939e-03 -1.94123697e-05 9.99976107e-01 -2.01078628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:2.18, Z:-0.02 [[ 9.89964667e-01 -1.41149186e-01 -6.84584837e-03 2.56380008e+01] [ 1.41145926e-01 9.89988337e-01 -9.59388404e-04 2.17943735e+00] [ 6.91272693e-03 -1.65029855e-05 9.99976107e-01 -2.10944492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:2.18, Z:-0.02 [[ 9.90001382e-01 -1.40891451e-01 -6.84570073e-03 2.56659478e+01] [ 1.40888178e-01 9.90025050e-01 -9.60440733e-04 2.18390604e+00] [ 6.91273309e-03 -1.36406512e-05 9.99976107e-01 -2.00173188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802640000000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:25.69, Y:2.19, Z:-0.03 [[ 9.90066992e-01 -1.40429660e-01 -6.84551120e-03 2.56937202e+01] [ 1.40426367e-01 9.90090658e-01 -9.61789730e-04 2.18787449e+00] [ 6.91274049e-03 -9.05400093e-06 9.99976107e-01 -2.54485348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:2.19, Z:-0.02 [[ 9.89952446e-01 -1.41234894e-01 -6.84545245e-03 2.57214320e+01] [ 1.41231617e-01 9.89976113e-01 -9.62207652e-04 2.19176464e+00] [ 6.91273171e-03 -1.42544975e-05 9.99976107e-01 -2.04863873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:2.20, Z:-0.02 [[ 9.89913418e-01 -1.41508188e-01 -6.84526430e-03 2.57482504e+01] [ 1.41504908e-01 9.89937085e-01 -9.63544357e-04 2.19615111e+00] [ 6.91273040e-03 -1.48130074e-05 9.99976107e-01 -2.13192664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:2.20, Z:-0.02 [[ 9.89861282e-01 -1.41872428e-01 -6.84518217e-03 2.57757009e+01] [ 1.41869153e-01 9.89884950e-01 -9.64127434e-04 2.20228164e+00] [ 6.91272591e-03 -1.67677814e-05 9.99976107e-01 -2.02339434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:2.21, Z:-0.02 [[ 9.89916136e-01 -1.41489186e-01 -6.84500056e-03 2.58036670e+01] [ 1.41485893e-01 9.89939801e-01 -9.65415082e-04 2.20734499e+00] [ 6.91273429e-03 -1.27910515e-05 9.99976107e-01 -2.01216655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:2.21, Z:-0.02 [[ 9.90037054e-01 -1.40640609e-01 -6.84481846e-03 2.58313738e+01] [ 1.40637286e-01 9.90060715e-01 -9.66704493e-04 2.21227656e+00] [ 6.91274376e-03 -5.56342629e-06 9.99976107e-01 -1.88864656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:2.22, Z:-0.02 [[ 9.90492681e-01 -1.37395049e-01 -6.84463266e-03 2.58585457e+01] [ 1.37391640e-01 9.90516330e-01 -9.68018250e-04 2.21718458e+00] [ 6.91272133e-03 1.84196877e-05 9.99976107e-01 -1.75976576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:2.22, Z:-0.02 [[ 9.90749617e-01 -1.35529886e-01 -6.84444705e-03 2.58858036e+01] [ 1.35526424e-01 9.90773258e-01 -9.69328809e-04 2.22211980e+00] [ 6.91266813e-03 3.27587145e-05 9.99976107e-01 -1.61652837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:2.23, Z:-0.02 [[ 9.91001216e-01 -1.33677770e-01 -6.84426197e-03 2.59140210e+01] [ 1.33674254e-01 9.91024849e-01 -9.70633902e-04 2.22720699e+00] [ 6.91258586e-03 4.69977625e-05 9.99976107e-01 -1.83088241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:2.23, Z:-0.02 [[ 9.91304858e-01 -1.31407097e-01 -6.84495709e-03 2.59418204e+01] [ 1.31403561e-01 9.91328488e-01 -9.65736344e-04 2.23380325e+00] [ 6.91250558e-03 5.78873914e-05 9.99976107e-01 -1.53671714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:2.24, Z:-0.02 [[ 9.91341662e-01 -1.31129203e-01 -6.84406061e-03 2.59681563e+01] [ 1.31125617e-01 9.91365285e-01 -9.72048401e-04 2.23918629e+00] [ 6.91242802e-03 6.62004089e-05 9.99976107e-01 -1.57751242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:2.24, Z:-0.01 [[ 9.91278013e-01 -1.31609505e-01 -6.84393221e-03 2.59959412e+01] [ 1.31605924e-01 9.91301636e-01 -9.72951540e-04 2.24493085e+00] [ 6.91245087e-03 6.37634448e-05 9.99976107e-01 -1.49493416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:2.25, Z:-0.02 [[ 9.90928399e-01 -1.34216508e-01 -6.84374708e-03 2.60230435e+01] [ 1.34212980e-01 9.90952030e-01 -9.74252017e-04 2.25076287e+00] [ 6.91258577e-03 4.68942981e-05 9.99976107e-01 -1.51232525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:2.26, Z:-0.01 [[ 9.90621966e-01 -1.36459826e-01 -6.84368952e-03 2.60510483e+01] [ 1.36456349e-01 9.90645605e-01 -9.74656230e-04 2.25546463e+00] [ 6.91267236e-03 3.16509845e-05 9.99976107e-01 -1.27256644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:2.26, Z:-0.01 [[ 9.90275625e-01 -1.38950904e-01 -6.84350885e-03 2.60784679e+01] [ 1.38947478e-01 9.90299271e-01 -9.75923115e-04 2.25931196e+00] [ 6.91272722e-03 1.55445792e-05 9.99976107e-01 -1.24421281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:2.26, Z:-0.01 [[ 9.89906983e-01 -1.41553291e-01 -6.84332850e-03 2.61069838e+01] [ 1.41549918e-01 9.89930637e-01 -9.77186115e-04 2.26206427e+00] [ 6.91274445e-03 -1.34923171e-06 9.99976107e-01 -1.33500199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:2.26, Z:-0.02 [[ 9.89144463e-01 -1.46786928e-01 -6.84316825e-03 2.61362457e+01] [ 1.46783673e-01 9.89168133e-01 -9.78307070e-04 2.26318501e+00] [ 6.91264665e-03 -3.67783483e-05 9.99976107e-01 -1.54085705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:2.27, Z:-0.02 [[ 9.88737357e-01 -1.49504553e-01 -6.84300736e-03 2.61626657e+01] [ 1.49501355e-01 9.88761036e-01 -9.79431180e-04 2.26576617e+00] [ 6.91252846e-03 -5.46386744e-05 9.99976107e-01 -1.54347311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:2.27, Z:-0.02 [[ 9.87978403e-01 -1.54440442e-01 -6.84292757e-03 2.61907788e+01] [ 1.54437359e-01 9.88002096e-01 -9.79988326e-04 2.26855634e+00] [ 6.91217661e-03 -8.85963573e-05 9.99976107e-01 -1.58715242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:2.27, Z:-0.01 [[ 9.87659404e-01 -1.56467495e-01 -6.84287117e-03 2.62191336e+01] [ 1.56464457e-01 9.87683103e-01 -9.80381969e-04 2.27115529e+00] [ 6.91198614e-03 -1.02382648e-04 9.99976107e-01 -1.49428118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:2.27, Z:-0.01 [[ 9.87353181e-01 -1.58388365e-01 -6.84271271e-03 2.62483250e+01] [ 1.58385366e-01 9.87376885e-01 -9.81486721e-04 2.27318033e+00] [ 6.91179243e-03 -1.14711518e-04 9.99976107e-01 -1.48437259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:2.27, Z:-0.02 [[ 9.87057158e-01 -1.60222803e-01 -6.84254968e-03 2.62775231e+01] [ 1.60219840e-01 9.87080867e-01 -9.82621950e-04 2.27197928e+00] [ 6.91158832e-03 -1.26408186e-04 9.99976107e-01 -1.53924273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:2.27, Z:-0.02 [[ 9.87038953e-01 -1.60334921e-01 -6.84238328e-03 2.63066777e+01] [ 1.60331952e-01 9.87062661e-01 -9.83779329e-04 2.27407130e+00] [ 6.91159523e-03 -1.26024148e-04 9.99976107e-01 -1.66159895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:2.28, Z:-0.02 [[ 9.87146041e-01 -1.59674286e-01 -6.84221755e-03 2.63344422e+01] [ 1.59671294e-01 9.87169746e-01 -9.84930662e-04 2.27655057e+00] [ 6.91169826e-03 -1.20235323e-04 9.99976107e-01 -1.69350997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:2.28, Z:-0.02 [[ 9.87368880e-01 -1.58290499e-01 -6.84202734e-03 2.63628097e+01] [ 1.58287464e-01 9.87392580e-01 -9.86250188e-04 2.27952651e+00] [ 6.91188106e-03 -1.09214412e-04 9.99976107e-01 -1.91928831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:2.28, Z:-0.02 [[ 9.87920713e-01 -1.54809058e-01 -6.84251845e-03 2.63900892e+01] [ 1.54805963e-01 9.87944405e-01 -9.82845422e-04 2.28311338e+00] [ 6.91218119e-03 -8.82893107e-05 9.99976107e-01 -1.71659036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:2.29, Z:-0.01 [[ 9.88196717e-01 -1.53037378e-01 -6.84180284e-03 2.64174329e+01] [ 1.53034206e-01 9.88220398e-01 -9.87801918e-04 2.28731310e+00] [ 6.91237975e-03 -7.08872554e-05 9.99976107e-01 -1.37783636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:2.29, Z:-0.01 [[ 9.88810536e-01 -1.49019854e-01 -6.84160810e-03 2.64455501e+01] [ 1.49016577e-01 9.88834203e-01 -9.89148879e-04 2.28991208e+00] [ 6.91261892e-03 -4.14321861e-05 9.99976107e-01 -1.43160814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:2.29, Z:-0.01 [[ 9.89061158e-01 -1.47347276e-01 -6.84151791e-03 2.64746598e+01] [ 1.47343954e-01 9.89084819e-01 -9.89772318e-04 2.29299324e+00] [ 6.91268176e-03 -2.91109452e-05 9.99976107e-01 -1.37113502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:2.30, Z:-0.01 [[ 9.89257694e-01 -1.46021951e-01 -6.84135576e-03 2.65036870e+01] [ 1.46018591e-01 9.89281350e-01 -9.90891810e-04 2.29645640e+00] [ 6.91271762e-03 -1.87177788e-05 9.99976107e-01 -1.24728462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:2.30, Z:-0.01 [[ 9.89431757e-01 -1.44837830e-01 -6.84119292e-03 2.65309335e+01] [ 1.44834433e-01 9.89455407e-01 -9.92014781e-04 2.30041792e+00] [ 6.91273660e-03 -9.30937007e-06 9.99976107e-01 -1.18817728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:2.31, Z:-0.01 [[ 9.89814695e-01 -1.42197296e-01 -6.84100757e-03 2.65589526e+01] [ 1.42193827e-01 9.89838335e-01 -9.93291359e-04 2.30504479e+00] [ 6.91273489e-03 1.04253346e-05 9.99976107e-01 -9.95915867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.59, Y:2.31, Z:-0.01 [[ 9.89934542e-01 -1.41360553e-01 -6.84084495e-03 2.65864623e+01] [ 1.41357056e-01 9.89958178e-01 -9.94410099e-04 2.30905684e+00] [ 6.91272076e-03 1.73992041e-05 9.99976107e-01 -9.28394581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:2.31, Z:-0.01 [[ 9.89952904e-01 -1.41231907e-01 -6.84078707e-03 2.66145717e+01] [ 1.41228405e-01 9.89976539e-01 -9.94808061e-04 2.31249841e+00] [ 6.91271735e-03 1.86996817e-05 9.99976107e-01 -6.79587508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:2.31, Z:-0.01 [[ 9.89698582e-01 -1.43003225e-01 -6.84059135e-03 2.66431478e+01] [ 1.42999756e-01 9.89722222e-01 -9.96152063e-04 2.31357673e+00] [ 6.91273824e-03 7.68739111e-06 9.99976107e-01 -9.22665666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:2.32, Z:-0.01 [[ 9.89484223e-01 -1.44479017e-01 -6.84004288e-03 2.66710798e+01] [ 1.44475557e-01 9.89507864e-01 -9.99914679e-04 2.31609798e+00] [ 6.91274292e-03 1.18079283e-06 9.99976107e-01 -1.03491345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:2.32, Z:-0.01 [[ 9.89183198e-01 -1.46525803e-01 -6.84035249e-03 2.66988939e+01] [ 1.46522407e-01 9.89206848e-01 -9.97792174e-04 2.31922098e+00] [ 6.91272583e-03 -1.52656566e-05 9.99976107e-01 -8.31457734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:2.32, Z:-0.01 [[ 9.88633493e-01 -1.50189978e-01 -6.84015451e-03 2.67261237e+01] [ 1.50186659e-01 9.88657154e-01 -9.99147533e-04 2.32034859e+00] [ 6.91262964e-03 -3.95092395e-05 9.99976107e-01 -1.06852402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:2.32, Z:-0.01 [[ 9.88452622e-01 -1.51375782e-01 -6.84006882e-03 2.67539166e+01] [ 1.51372488e-01 9.88476287e-01 -9.99733821e-04 2.32300887e+00] [ 6.91258132e-03 -4.72087165e-05 9.99976107e-01 -9.55813799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972640000000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:26.78, Y:2.33, Z:-0.01 [[ 9.88432475e-01 -1.51507291e-01 -6.83987461e-03 2.67820845e+01] [ 1.51503991e-01 9.88456139e-01 -1.00106081e-03 2.32616658e+00] [ 6.91258406e-03 -4.67872823e-05 9.99976107e-01 -1.31382242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:2.33, Z:-0.01 [[ 9.88752758e-01 -1.49402818e-01 -6.83968025e-03 2.68100198e+01] [ 1.49399459e-01 9.88776414e-01 -1.00238699e-03 2.32903788e+00] [ 6.91267395e-03 -3.07316274e-05 9.99976107e-01 -1.04292040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:2.33, Z:-0.01 [[ 9.89063395e-01 -1.47332348e-01 -6.83961991e-03 2.68371437e+01] [ 1.47328936e-01 9.89087043e-01 -1.00279853e-03 2.33302898e+00] [ 6.91272410e-03 -1.58426032e-05 9.99976107e-01 -9.35500892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:2.34, Z:-0.01 [[ 9.89432003e-01 -1.44836261e-01 -6.83880774e-03 2.68646949e+01] [ 1.44832751e-01 9.89455637e-01 -1.00833297e-03 2.33683312e+00] [ 6.91274004e-03 7.19357255e-06 9.99976107e-01 -8.10449686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:2.34, Z:-0.01 [[ 9.89775700e-01 -1.42468547e-01 -6.83936834e-03 2.68921617e+01] [ 1.42465007e-01 9.89799330e-01 -1.00451607e-03 2.34143559e+00] [ 6.91271414e-03 1.98749341e-05 9.99976107e-01 -8.58991892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:2.35, Z:-0.01 [[ 9.90358518e-01 -1.38359058e-01 -6.83930761e-03 2.69193332e+01] [ 1.38355417e-01 9.90382133e-01 -1.00492937e-03 2.34756103e+00] [ 6.91256914e-03 4.89851079e-05 9.99976107e-01 -7.72926271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:2.35, Z:-0.01 [[ 9.90538068e-01 -1.37067732e-01 -6.83911634e-03 2.69477980e+01] [ 1.37064051e-01 9.90561676e-01 -1.00622940e-03 2.35318806e+00] [ 6.91248812e-03 5.93115386e-05 9.99976107e-01 -6.72331677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:2.36, Z:-0.01 [[ 9.90707460e-01 -1.35837981e-01 -6.83894202e-03 2.69752600e+01] [ 1.35834263e-01 9.90731062e-01 -1.00741278e-03 2.35932501e+00] [ 6.91239721e-03 6.90887110e-05 9.99976107e-01 -8.24054703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:2.36, Z:-0.01 [[ 9.90688682e-01 -1.35974919e-01 -6.83788114e-03 2.70032180e+01] [ 1.35971155e-01 9.90712277e-01 -1.01460871e-03 2.36367921e+00] [ 6.91233413e-03 7.54067699e-05 9.99976107e-01 -9.42667759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:2.37, Z:-0.01 [[ 9.90615744e-01 -1.36505238e-01 -6.83875684e-03 2.70313550e+01] [ 1.36501527e-01 9.90639347e-01 -1.00867150e-03 2.36777638e+00] [ 6.91243055e-03 6.57051153e-05 9.99976107e-01 -8.93838604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:2.37, Z:-0.01 [[ 9.90463240e-01 -1.37607425e-01 -6.83856576e-03 2.70601712e+01] [ 1.37603731e-01 9.90486847e-01 -1.00996534e-03 2.37264351e+00] [ 6.91248816e-03 5.93213739e-05 9.99976107e-01 -8.94528478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:2.38, Z:-0.00 [[ 9.90551415e-01 -1.36971196e-01 -6.83995950e-03 2.70888740e+01] [ 1.36967552e-01 9.90575029e-01 -1.00053449e-03 2.37833321e+00] [ 6.91253749e-03 5.42283443e-05 9.99976107e-01 -4.79547592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:2.38, Z:-0.00 [[ 9.90524512e-01 -1.37165701e-01 -6.83831933e-03 2.71170143e+01] [ 1.37161985e-01 9.90548114e-01 -1.01162163e-03 2.38269804e+00] [ 6.91244411e-03 6.40785625e-05 9.99976107e-01 -4.59839197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:2.39, Z:-0.00 [[ 9.90588509e-01 -1.36702763e-01 -6.83812050e-03 2.71438133e+01] [ 1.36699027e-01 9.90612109e-01 -1.01296388e-03 2.38949801e+00] [ 6.91239993e-03 6.86659647e-05 9.99976107e-01 -3.20747221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:2.40, Z:-0.00 [[ 9.90897775e-01 -1.34442778e-01 -6.83655894e-03 2.71713226e+01] [ 1.34438916e-01 9.90921354e-01 -1.02348998e-03 2.39769820e+00] [ 6.91209308e-03 9.50743687e-05 9.99976107e-01 -6.87625523e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:2.40, Z:-0.00 [[ 9.91016935e-01 -1.33561511e-01 -6.83787659e-03 2.71978711e+01] [ 1.33557690e-01 9.91040521e-01 -1.01460981e-03 2.40374756e+00] [ 6.91212559e-03 9.22445070e-05 9.99976107e-01 -7.50461948e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:2.41, Z:-0.00 [[ 9.91111824e-01 -1.32855549e-01 -6.83779054e-03 2.72248026e+01] [ 1.32851706e-01 9.91135406e-01 -1.01518940e-03 2.40951185e+00] [ 6.91204985e-03 9.77540748e-05 9.99976107e-01 -2.22153774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:2.42, Z:-0.00 [[ 9.91256876e-01 -1.31768935e-01 -6.83759994e-03 2.72525893e+01] [ 1.31765058e-01 9.91280453e-01 -1.01647147e-03 2.41718078e+00] [ 6.91191853e-03 1.06627581e-04 9.99976107e-01 -3.02399828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:2.42, Z:-0.00 [[ 9.91288239e-01 -1.31532797e-01 -6.83742926e-03 2.72793598e+01] [ 1.31528906e-01 9.91311813e-01 -1.01761831e-03 2.42364023e+00] [ 6.91187458e-03 1.09433467e-04 9.99976107e-01 -4.46268252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:2.43, Z:-0.00 [[ 9.91286165e-01 -1.31548435e-01 -6.83729541e-03 2.73065415e+01] [ 1.31544539e-01 9.91309738e-01 -1.01851685e-03 2.43107137e+00] [ 6.91186182e-03 1.10232790e-04 9.99976107e-01 -4.06364668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:2.44, Z:-0.00 [[ 9.91239287e-01 -1.31901210e-01 -6.83723577e-03 2.73340782e+01] [ 1.31897318e-01 9.91262861e-01 -1.01891707e-03 2.43922632e+00] [ 6.91189428e-03 1.08177565e-04 9.99976107e-01 -2.59300166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:2.45, Z:0.00 [[ 9.90969642e-01 -1.33911995e-01 -6.83706823e-03 2.73600465e+01] [ 1.33908144e-01 9.90993223e-01 -1.02004004e-03 2.45108020e+00] [ 6.91208388e-03 9.52895919e-05 9.99976107e-01 2.66886603e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:2.46, Z:-0.00 [[ 9.90745054e-01 -1.35563720e-01 -6.83485683e-03 2.73883682e+01] [ 1.35559806e-01 9.90768625e-01 -1.03484734e-03 2.45754548e+00] [ 6.91204946e-03 9.87380157e-05 9.99976107e-01 -1.88118409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:2.46, Z:-0.00 [[ 9.90480088e-01 -1.37486192e-01 -6.83682711e-03 2.74166802e+01] [ 1.37482415e-01 9.90503681e-01 -1.02166251e-03 2.46377806e+00] [ 6.91236690e-03 7.19928713e-05 9.99976107e-01 -1.61548534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:2.47, Z:-0.00 [[ 9.90193540e-01 -1.39534990e-01 -6.83665516e-03 2.74440239e+01] [ 1.39531254e-01 9.90217139e-01 -1.02281185e-03 2.46987481e+00] [ 6.91249115e-03 5.88546234e-05 9.99976107e-01 -2.42263234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:2.48, Z:-0.00 [[ 9.89606797e-01 -1.43637209e-01 -6.83659417e-03 2.74709811e+01] [ 1.43633568e-01 9.89630411e-01 -1.02321932e-03 2.47814183e+00] [ 6.91267387e-03 3.06203834e-05 9.99976107e-01 -4.20128133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:2.49, Z:-0.01 [[ 9.89300277e-01 -1.45733396e-01 -6.83653380e-03 2.74998329e+01] [ 1.45729802e-01 9.89323899e-01 -1.02362252e-03 2.48525549e+00] [ 6.91272226e-03 1.63833280e-05 9.99976107e-01 -5.82363183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:2.49, Z:-0.00 [[ 9.89041866e-01 -1.47476913e-01 -6.83724458e-03 2.75283183e+01] [ 1.47473394e-01 9.89065498e-01 -1.01887660e-03 2.49218612e+00] [ 6.91274350e-03 -6.00046294e-07 9.99976107e-01 -3.65149970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:2.50, Z:-0.00 [[ 9.88386888e-01 -1.51804553e-01 -6.83639705e-03 2.75554723e+01] [ 1.51801098e-01 9.88410531e-01 -1.02453192e-03 2.49932783e+00] [ 6.91269545e-03 -2.51386618e-05 9.99976107e-01 -2.80645048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:2.50, Z:-0.00 [[ 9.87970255e-01 -1.54492848e-01 -6.83633754e-03 2.75840658e+01] [ 1.54489454e-01 9.87993906e-01 -1.02492892e-03 2.50482452e+00] [ 6.91260401e-03 -4.35427669e-05 9.99976107e-01 -3.93081067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:2.51, Z:0.00 [[ 9.87525530e-01 -1.57310504e-01 -6.83616835e-03 2.76105768e+01] [ 1.57307170e-01 9.87549189e-01 -1.02605612e-03 2.51060550e+00] [ 6.91246192e-03 -6.21216863e-05 9.99976107e-01 2.66098775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:2.52, Z:0.00 [[ 9.86687331e-01 -1.62485144e-01 -6.83299933e-03 2.76407895e+01] [ 1.62481788e-01 9.86710987e-01 -1.04713994e-03 2.51649833e+00] [ 6.91234020e-03 -7.70382320e-05 9.99976107e-01 3.67187584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:2.52, Z:0.00 [[ 9.86323532e-01 -1.64678862e-01 -6.83829047e-03 2.76672262e+01] [ 1.64675803e-01 9.86347229e-01 -1.01187769e-03 2.52023316e+00] [ 6.91156372e-03 -1.28062198e-04 9.99976107e-01 1.16889221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:2.52, Z:0.00 [[ 9.85854196e-01 -1.67465734e-01 -6.83606718e-03 2.76945793e+01] [ 1.67462639e-01 9.85877888e-01 -1.02668125e-03 2.52396038e+00] [ 6.91146141e-03 -1.32627836e-04 9.99976107e-01 3.89594533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:2.53, Z:-0.00 [[ 9.85109148e-01 -1.71794173e-01 -6.83587102e-03 2.77226709e+01] [ 1.71791174e-01 9.85132852e-01 -1.02798571e-03 2.52610492e+00] [ 6.91084307e-03 -1.61664179e-04 9.99976107e-01 -2.59110434e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:2.53, Z:-0.00 [[ 9.84788097e-01 -1.73625100e-01 -6.83581033e-03 2.77497755e+01] [ 1.73622141e-01 9.84811807e-01 -1.02838912e-03 2.52928079e+00] [ 6.91054088e-03 -1.74102662e-04 9.99976107e-01 -9.08974365e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.78, Y:2.53, Z:-0.00 [[ 9.84317896e-01 -1.76271244e-01 -6.83573091e-03 2.77776257e+01] [ 1.76268346e-01 9.84341613e-01 -1.02891676e-03 2.53057044e+00] [ 6.91006283e-03 -1.92141802e-04 9.99976107e-01 -2.53767851e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.81, Y:2.53, Z:0.00 [[ 9.84143848e-01 -1.77240401e-01 -6.83567433e-03 2.78053684e+01] [ 1.77237524e-01 9.84167567e-01 -1.02929248e-03 2.53324851e+00] [ 6.90988119e-03 -1.98566128e-04 9.99976107e-01 2.97562616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:2.54, Z:0.00 [[ 9.84091050e-01 -1.77533326e-01 -6.83548250e-03 2.78325029e+01] [ 1.77530447e-01 9.84114769e-01 -1.03056483e-03 2.53605690e+00] [ 6.90985889e-03 -1.99336632e-04 9.99976107e-01 4.78404178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:2.54, Z:0.00 [[ 9.84030350e-01 -1.77869601e-01 -6.83192919e-03 2.78617101e+01] [ 1.77866567e-01 9.84054050e-01 -1.05408752e-03 2.53804509e+00] [ 6.91047772e-03 -1.77917676e-04 9.99976107e-01 4.98704155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:2.54, Z:0.00 [[ 9.84194159e-01 -1.76960837e-01 -6.83522913e-03 2.78912291e+01] [ 1.76957932e-01 9.84217875e-01 -1.03223610e-03 2.53715177e+00] [ 6.91002005e-03 -1.93627277e-04 9.99976107e-01 3.18212096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:2.54, Z:0.00 [[ 9.84375117e-01 -1.75951444e-01 -6.83507060e-03 2.79194027e+01] [ 1.75948507e-01 9.84398829e-01 -1.03328475e-03 2.53870024e+00] [ 6.91024344e-03 -1.85480673e-04 9.99976107e-01 3.54708556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:2.54, Z:0.00 [[ 9.84668118e-01 -1.74304277e-01 -6.83487214e-03 2.79460462e+01] [ 1.74301292e-01 9.84691824e-01 -1.03459587e-03 2.54090502e+00] [ 6.91057720e-03 -1.72593473e-04 9.99976107e-01 4.51385140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:2.54, Z:0.00 [[ 9.85124820e-01 -1.71704326e-01 -6.83478586e-03 2.79737347e+01] [ 1.71701274e-01 9.85148517e-01 -1.03516552e-03 2.54374725e+00] [ 6.91102155e-03 -1.53774199e-04 9.99976107e-01 3.50754711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:2.54, Z:0.00 [[ 9.86304142e-01 -1.64795106e-01 -6.83472473e-03 2.80022556e+01] [ 1.64791886e-01 9.86327817e-01 -1.03556897e-03 2.54488721e+00] [ 6.91193582e-03 -1.04921207e-04 9.99976107e-01 3.72012125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:2.55, Z:0.00 [[ 9.86984064e-01 -1.60672792e-01 -6.83454398e-03 2.80295573e+01] [ 1.60669464e-01 9.87007725e-01 -1.03676053e-03 2.54678405e+00] [ 6.91232691e-03 -7.48363944e-05 9.99976107e-01 4.25674152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:2.55, Z:0.01 [[ 9.88343233e-01 -1.52088606e-01 -6.83445967e-03 2.80573449e+01] [ 1.52085069e-01 9.88366863e-01 -1.03731600e-03 2.54883737e+00] [ 6.91271741e-03 -1.41950203e-05 9.99976107e-01 6.19177710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:2.55, Z:0.00 [[ 9.88984001e-01 -1.47864596e-01 -6.83426038e-03 2.80845134e+01] [ 1.47860949e-01 9.89007614e-01 -1.03862733e-03 2.55268509e+00] [ 6.91271177e-03 1.66655807e-05 9.99976107e-01 4.33655063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.11, Y:2.56, Z:0.00 [[ 9.89506168e-01 -1.44328923e-01 -6.83417348e-03 2.81124944e+01] [ 1.44325188e-01 9.89529767e-01 -1.03919884e-03 2.55669707e+00] [ 6.91260454e-03 4.19502888e-05 9.99976107e-01 4.08236157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:2.56, Z:0.00 [[ 9.90276145e-01 -1.38947663e-01 -6.83397804e-03 2.81403745e+01] [ 1.38943791e-01 9.90299722e-01 -1.04048253e-03 2.56052223e+00] [ 6.91225917e-03 8.08262144e-05 9.99976107e-01 2.66038346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:2.57, Z:0.00 [[ 9.90514067e-01 -1.37241326e-01 -6.83378285e-03 2.81680980e+01] [ 1.37237405e-01 9.90537637e-01 -1.04176295e-03 2.56605003e+00] [ 6.91209204e-03 9.40302357e-05 9.99976107e-01 3.02112627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:2.57, Z:0.00 [[ 9.90674682e-01 -1.36077101e-01 -6.83358082e-03 2.81958469e+01] [ 1.36073143e-01 9.90698245e-01 -1.04308649e-03 2.57176455e+00] [ 6.91195671e-03 1.03492562e-04 9.99976107e-01 3.82332325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:2.58, Z:0.00 [[ 9.90933665e-01 -1.34178149e-01 -6.83337180e-03 2.82223431e+01] [ 1.34174136e-01 9.90957219e-01 -1.04445403e-03 2.57800785e+00] [ 6.91172202e-03 1.18122905e-04 9.99976107e-01 1.61375824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:2.58, Z:0.00 [[ 9.91019496e-01 -1.33542745e-01 -6.83322835e-03 2.82495741e+01] [ 1.33538710e-01 9.91043047e-01 -1.04539169e-03 2.58275407e+00] [ 6.91162791e-03 1.23503052e-04 9.99976107e-01 2.96590374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:2.59, Z:0.00 [[ 9.91091692e-01 -1.33005894e-01 -6.83302711e-03 2.82769049e+01] [ 1.33001837e-01 9.91115238e-01 -1.04670541e-03 2.58790644e+00] [ 6.91153528e-03 1.28575878e-04 9.99976107e-01 3.39475382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:2.59, Z:0.00 [[ 9.91160345e-01 -1.32493327e-01 -6.83293215e-03 2.83037630e+01] [ 1.32489254e-01 9.91183888e-01 -1.04732490e-03 2.59385928e+00] [ 6.91145582e-03 1.32776827e-04 9.99976107e-01 4.31986082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.33, Y:2.60, Z:0.01 [[ 9.91240801e-01 -1.31890054e-01 -6.83287079e-03 2.83316039e+01] [ 1.31885964e-01 9.91264342e-01 -1.04772511e-03 2.60364423e+00] [ 6.91136568e-03 1.37388128e-04 9.99976107e-01 6.19535557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:2.61, Z:0.00 [[ 9.91225505e-01 -1.32004969e-01 -6.83269622e-03 2.83583726e+01] [ 1.32000873e-01 9.91249045e-01 -1.04886231e-03 2.61060933e+00] [ 6.91135864e-03 1.37737207e-04 9.99976107e-01 4.81284834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.62, Z:0.00 [[ 9.91133218e-01 -1.32696116e-01 -6.83263436e-03 2.83859433e+01] [ 1.32692035e-01 9.91156760e-01 -1.04926514e-03 2.61774352e+00] [ 6.91144514e-03 1.33325382e-04 9.99976107e-01 4.29782809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:2.63, Z:0.01 [[ 9.90830894e-01 -1.34935011e-01 -6.83243875e-03 2.84140246e+01] [ 1.34930974e-01 9.90854444e-01 -1.05053735e-03 2.62649398e+00] [ 6.91170656e-03 1.18997246e-04 9.99976107e-01 7.75167612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.44, Y:2.63, Z:0.01 [[ 9.90579601e-01 -1.36767592e-01 -6.83226028e-03 2.84423935e+01] [ 1.36763591e-01 9.90603157e-01 -1.05169676e-03 2.63305956e+00] [ 6.91189663e-03 1.07384911e-04 9.99976107e-01 9.38345314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802640000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.47, Y:2.64, Z:0.01 [[ 9.90315531e-01 -1.38666762e-01 -6.83208094e-03 2.84682696e+01] [ 1.38662797e-01 9.90339093e-01 -1.05286046e-03 2.63931104e+00] [ 6.91207360e-03 9.53086080e-05 9.99976107e-01 6.54064550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.49, Y:2.65, Z:0.01 [[ 9.89817591e-01 -1.42177566e-01 -6.83199138e-03 2.84948356e+01] [ 1.42173681e-01 9.89841166e-01 -1.05344133e-03 2.64682767e+00] [ 6.91236204e-03 7.13853965e-05 9.99976107e-01 7.76887234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.52, Y:2.65, Z:0.01 [[ 9.89543833e-01 -1.44070570e-01 -6.83185453e-03 2.85225322e+01] [ 1.44066725e-01 9.89567414e-01 -1.05432809e-03 2.65315776e+00] [ 6.91247827e-03 5.90609555e-05 9.99976107e-01 1.09023640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:2.66, Z:0.01 [[ 9.89257693e-01 -1.46022414e-01 -6.83168117e-03 2.85498901e+01] [ 1.46018607e-01 9.89281281e-01 -1.05545017e-03 2.66011104e+00] [ 6.91257368e-03 4.65596356e-05 9.99976107e-01 1.29383963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.58, Y:2.67, Z:0.01 [[ 9.88914434e-01 -1.48329273e-01 -6.83147687e-03 2.85766713e+01] [ 1.48325511e-01 9.88938029e-01 -1.05677087e-03 2.67051111e+00] [ 6.91265733e-03 3.17736628e-05 9.99976107e-01 1.02965341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:2.68, Z:0.01 [[ 9.88800423e-01 -1.49087412e-01 -6.83138095e-03 2.86042175e+01] [ 1.49083665e-01 9.88824020e-01 -1.05739063e-03 2.67684034e+00] [ 6.91267720e-03 2.71009915e-05 9.99976107e-01 1.28971184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:2.68, Z:0.01 [[ 9.88670584e-01 -1.49946030e-01 -6.83117375e-03 2.86316298e+01] [ 1.49942294e-01 9.88694183e-01 -1.05872753e-03 2.68455467e+00] [ 6.91269374e-03 2.24509024e-05 9.99976107e-01 1.07679813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:2.69, Z:0.01 [[ 9.88619178e-01 -1.50284590e-01 -6.83107680e-03 2.86589090e+01] [ 1.50280858e-01 9.88642778e-01 -1.05935270e-03 2.69042544e+00] [ 6.91269912e-03 2.07163159e-05 9.99976107e-01 9.64003107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:2.70, Z:0.01 [[ 9.88584066e-01 -1.50515394e-01 -6.83087568e-03 2.86853429e+01] [ 1.50511659e-01 9.88607665e-01 -1.06064795e-03 2.69649461e+00] [ 6.91269990e-03 2.04132359e-05 9.99976107e-01 8.40470995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:2.70, Z:0.01 [[ 9.88560271e-01 -1.50671599e-01 -6.83073812e-03 2.87122018e+01] [ 1.50667861e-01 9.88583870e-01 -1.06153314e-03 2.70325633e+00] [ 6.91270042e-03 2.02167905e-05 9.99976107e-01 9.65170573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:2.71, Z:0.01 [[ 9.88644681e-01 -1.50116747e-01 -6.83053703e-03 2.87389179e+01] [ 1.50112987e-01 9.88668277e-01 -1.06282546e-03 2.71284544e+00] [ 6.91268318e-03 2.54044201e-05 9.99976107e-01 8.95649517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.77, Y:2.72, Z:0.01 [[ 9.88640032e-01 -1.50147370e-01 -6.83044247e-03 2.87657457e+01] [ 1.50143606e-01 9.88663627e-01 -1.06343280e-03 2.71968073e+00] [ 6.91268167e-03 2.58049690e-05 9.99976107e-01 8.73101480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:2.73, Z:0.01 [[ 9.88711969e-01 -1.49672945e-01 -6.83023149e-03 2.87922631e+01] [ 1.49669161e-01 9.88735560e-01 -1.06478619e-03 2.72512926e+00] [ 6.91266245e-03 3.04918359e-05 9.99976107e-01 8.58931555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:2.73, Z:0.01 [[ 9.88683595e-01 -1.49860262e-01 -6.83013984e-03 2.88192594e+01] [ 1.49856478e-01 9.88707187e-01 -1.06537379e-03 2.73175332e+00] [ 6.91266554e-03 2.97768844e-05 9.99976107e-01 1.16059304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:2.74, Z:0.01 [[ 9.88654591e-01 -1.50051498e-01 -6.82993358e-03 2.88473505e+01] [ 1.50047709e-01 9.88678182e-01 -1.06669440e-03 2.73633102e+00] [ 6.91266541e-03 2.97764308e-05 9.99976107e-01 1.18028144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:2.74, Z:0.01 [[ 9.88519461e-01 -1.50939160e-01 -6.82972700e-03 2.88730097e+01] [ 1.50935384e-01 9.88543054e-01 -1.06801543e-03 2.74358168e+00] [ 6.91268454e-03 2.49065706e-05 9.99976107e-01 1.14208083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:2.75, Z:0.01 [[ 9.88334082e-01 -1.52148284e-01 -6.82956602e-03 2.88998811e+01] [ 1.52144529e-01 9.88357678e-01 -1.06904389e-03 2.74879749e+00] [ 6.91270720e-03 1.74914016e-05 9.99976107e-01 1.04766514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:2.75, Z:0.01 [[ 9.88072305e-01 -1.53839132e-01 -6.82947880e-03 2.89271265e+01] [ 1.53835413e-01 9.88095907e-01 -1.06960077e-03 2.75449756e+00] [ 6.91272651e-03 6.22720837e-06 9.99976107e-01 1.22194392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:2.76, Z:0.01 [[ 9.87585555e-01 -1.56933532e-01 -6.82927702e-03 2.89539416e+01] [ 1.56929879e-01 9.87609167e-01 -1.07088756e-03 2.76220076e+00] [ 6.91271476e-03 -1.41245265e-05 9.99976107e-01 1.12452565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:2.77, Z:0.01 [[ 9.87290807e-01 -1.58777276e-01 -6.82921455e-03 2.89811311e+01] [ 1.58773664e-01 9.87314426e-01 -1.07128578e-03 2.76751893e+00] [ 6.91267789e-03 -2.66288132e-05 9.99976107e-01 1.14372364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:2.77, Z:0.01 [[ 9.86976021e-01 -1.60722428e-01 -6.82901559e-03 2.90086897e+01] [ 1.60718854e-01 9.86999645e-01 -1.07255263e-03 2.77185208e+00] [ 6.91261922e-03 -3.89678313e-05 9.99976107e-01 1.26372826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:2.78, Z:0.01 [[ 9.86550834e-01 -1.63312030e-01 -6.82881109e-03 2.90375868e+01] [ 1.63308509e-01 9.86574466e-01 -1.07385306e-03 2.77610073e+00] [ 6.91250378e-03 -5.57923205e-05 9.99976107e-01 1.39803799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:2.78, Z:0.01 [[ 9.86435838e-01 -1.64005207e-01 -6.82863296e-03 2.90647663e+01] [ 1.64001695e-01 9.86459471e-01 -1.07498462e-03 2.78116176e+00] [ 6.91247273e-03 -5.95040270e-05 9.99976107e-01 1.45883513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:2.79, Z:0.01 [[ 9.86349513e-01 -1.64523583e-01 -6.82856949e-03 2.90919221e+01] [ 1.64520080e-01 9.86373148e-01 -1.07538760e-03 2.78541353e+00] [ 6.91244421e-03 -6.27287642e-05 9.99976107e-01 1.32021430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:2.79, Z:0.01 [[ 9.86265903e-01 -1.65024061e-01 -6.82848202e-03 2.91208723e+01] [ 1.65020567e-01 9.86289539e-01 -1.07594274e-03 2.78755155e+00] [ 6.91241683e-03 -6.56743360e-05 9.99976107e-01 1.44877863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:2.79, Z:0.02 [[ 9.86299230e-01 -1.64824767e-01 -6.82830106e-03 2.91486749e+01] [ 1.64821260e-01 9.86322864e-01 -1.07708997e-03 2.79212746e+00] [ 6.91244056e-03 -6.31161744e-05 9.99976107e-01 1.58399934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:2.80, Z:0.02 [[ 9.86407064e-01 -1.64178201e-01 -6.82809232e-03 2.91748219e+01] [ 1.64174669e-01 9.86430695e-01 -1.07841159e-03 2.79651422e+00] [ 6.91249153e-03 -5.72469859e-05 9.99976107e-01 1.56470989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:2.80, Z:0.02 [[ 9.86670756e-01 -1.62585972e-01 -6.82794834e-03 2.92027792e+01] [ 1.62582395e-01 9.86694380e-01 -1.07932248e-03 2.79975724e+00] [ 6.91258095e-03 -4.51682700e-05 9.99976107e-01 1.66568856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:2.80, Z:0.02 [[ 9.86772037e-01 -1.61970145e-01 -6.82775867e-03 2.92302657e+01] [ 1.61966545e-01 9.86795658e-01 -1.08052099e-03 2.80395970e+00] [ 6.91261475e-03 -3.96405815e-05 9.99976107e-01 1.74165906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:2.81, Z:0.02 [[ 9.86871728e-01 -1.61361637e-01 -6.82755495e-03 2.92579756e+01] [ 1.61358014e-01 9.86895345e-01 -1.08180673e-03 2.80847908e+00] [ 6.91264429e-03 -3.40762315e-05 9.99976107e-01 1.77931806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:2.81, Z:0.02 [[ 9.86883573e-01 -1.61289183e-01 -6.82734864e-03 2.92855666e+01] [ 1.61285550e-01 9.86907188e-01 -1.08310719e-03 2.81113241e+00] [ 6.91265292e-03 -3.22519789e-05 9.99976107e-01 1.64133669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:2.81, Z:0.02 [[ 9.86741496e-01 -1.62156125e-01 -6.82728469e-03 2.93125158e+01] [ 1.62152509e-01 9.86765114e-01 -1.08351010e-03 2.81382759e+00] [ 6.91262416e-03 -3.79169665e-05 9.99976107e-01 1.54529633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:2.82, Z:0.02 [[ 9.86551261e-01 -1.63309525e-01 -6.82708144e-03 2.93402075e+01] [ 1.63305929e-01 9.86574882e-01 -1.08478927e-03 2.81658113e+00] [ 6.91258348e-03 -4.47026557e-05 9.99976107e-01 1.59349659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:2.82, Z:0.02 [[ 9.86130890e-01 -1.65829015e-01 -6.82687574e-03 2.93685932e+01] [ 1.65825470e-01 9.86154518e-01 -1.08608228e-03 2.81683509e+00] [ 6.91245831e-03 -6.10505953e-05 9.99976107e-01 1.68450845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:2.82, Z:0.02 [[ 9.85891272e-01 -1.67247701e-01 -6.82681181e-03 2.93952315e+01] [ 1.67244187e-01 9.85914906e-01 -1.08648393e-03 2.81879339e+00] [ 6.91236747e-03 -7.05895671e-05 9.99976107e-01 1.63988290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:2.82, Z:0.02 [[ 9.85727601e-01 -1.68209670e-01 -6.82667317e-03 2.94234545e+01] [ 1.68206173e-01 9.85751237e-01 -1.08735436e-03 2.82176647e+00] [ 6.91230504e-03 -7.64533649e-05 9.99976107e-01 1.59833089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.45, Y:2.83, Z:0.01 [[ 9.85576119e-01 -1.69094983e-01 -6.82649598e-03 2.94519989e+01] [ 1.69091499e-01 9.85599757e-01 -1.08846563e-03 2.82583304e+00] [ 6.91224686e-03 -8.15367070e-05 9.99976107e-01 1.29963737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:2.83, Z:0.02 [[ 9.85651420e-01 -1.68655509e-01 -6.82631830e-03 2.94798873e+01] [ 1.68652007e-01 9.85675055e-01 -1.08957885e-03 2.82617097e+00] [ 6.91229514e-03 -7.73273389e-05 9.99976107e-01 1.57311781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.51, Y:2.83, Z:0.02 [[ 9.85760883e-01 -1.68014533e-01 -6.82625539e-03 2.95077358e+01] [ 1.68011013e-01 9.85784516e-01 -1.08997282e-03 2.82832173e+00] [ 6.91234814e-03 -7.24335170e-05 9.99976107e-01 1.53086470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:2.83, Z:0.01 [[ 9.86218827e-01 -1.65305267e-01 -6.82605430e-03 2.95366085e+01] [ 1.65301673e-01 9.86242448e-01 -1.09123071e-03 2.83028539e+00] [ 6.91253069e-03 -5.21659311e-05 9.99976107e-01 1.41453795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:2.83, Z:0.01 [[ 9.86472964e-01 -1.63781864e-01 -6.82587805e-03 2.95629247e+01] [ 1.63778227e-01 9.86496578e-01 -1.09233209e-03 2.83382090e+00] [ 6.91260953e-03 -4.03741267e-05 9.99976107e-01 1.38939605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:2.84, Z:0.02 [[ 9.86691383e-01 -1.62460836e-01 -6.82574065e-03 2.95906737e+01] [ 1.62457160e-01 9.86714992e-01 -1.09318997e-03 2.83792293e+00] [ 6.91266119e-03 -3.02493187e-05 9.99976107e-01 1.62149351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:2.84, Z:0.02 [[ 9.87081096e-01 -1.60075985e-01 -6.82553327e-03 2.96182559e+01] [ 1.60072244e-01 9.87104695e-01 -1.09448325e-03 2.84242854e+00] [ 6.91271643e-03 -1.22347014e-05 9.99976107e-01 1.59352775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:2.85, Z:0.02 [[ 9.87132443e-01 -1.59759044e-01 -6.82546884e-03 2.96460237e+01] [ 1.59755292e-01 9.87156040e-01 -1.09488494e-03 2.84632214e+00] [ 6.91272056e-03 -9.60832565e-06 9.99976107e-01 1.66828785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:2.85, Z:0.02 [[ 9.87055866e-01 -1.60231492e-01 -6.82537629e-03 2.96743522e+01] [ 1.60227748e-01 9.87079464e-01 -1.09546159e-03 2.84928702e+00] [ 6.91271621e-03 -1.23328858e-05 9.99976107e-01 1.66098389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:2.85, Z:0.02 [[ 9.86743007e-01 -1.62147015e-01 -6.82517980e-03 2.97024002e+01] [ 1.62143309e-01 9.86766611e-01 -1.09668440e-03 2.84911207e+00] [ 6.91268365e-03 -2.45115715e-05 9.99976107e-01 1.55438298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:2.85, Z:0.02 [[ 9.86548249e-01 -1.63327797e-01 -6.82511854e-03 2.97292195e+01] [ 1.63324116e-01 9.86571857e-01 -1.09706553e-03 2.85241580e+00] [ 6.91265117e-03 -3.23983756e-05 9.99976107e-01 1.51130477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:2.86, Z:0.02 [[ 9.86308388e-01 -1.64770088e-01 -6.82503370e-03 2.97561464e+01] [ 1.64766437e-01 9.86332001e-01 -1.09759309e-03 2.85628397e+00] [ 6.91259966e-03 -4.19712160e-05 9.99976107e-01 1.52954179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:2.86, Z:0.02 [[ 9.86091061e-01 -1.66065769e-01 -6.82494936e-03 2.97837281e+01] [ 1.66062146e-01 9.86114678e-01 -1.09811724e-03 2.85985303e+00] [ 6.91254243e-03 -5.05221424e-05 9.99976107e-01 1.58771768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:2.86, Z:0.02 [[ 9.85725785e-01 -1.68220392e-01 -6.82475689e-03 2.98120537e+01] [ 1.68216813e-01 9.85749408e-01 -1.09931219e-03 2.86083010e+00] [ 6.91242679e-03 -6.44184760e-05 9.99976107e-01 2.04031818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:2.86, Z:0.02 [[ 9.85609990e-01 -1.68897522e-01 -6.82454469e-03 2.98395530e+01] [ 1.68893949e-01 9.85633615e-01 -1.10062790e-03 2.86265078e+00] [ 6.91239398e-03 -6.78344471e-05 9.99976107e-01 1.90209863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:2.86, Z:0.02 [[ 9.85475391e-01 -1.69681114e-01 -6.82447867e-03 2.98679259e+01] [ 1.69677557e-01 9.85499018e-01 -1.10103715e-03 2.86400101e+00] [ 6.91234223e-03 -7.29158589e-05 9.99976107e-01 1.93493650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:2.86, Z:0.02 [[ 9.85174874e-01 -1.71417314e-01 -6.82441694e-03 2.98967226e+01] [ 1.71413797e-01 9.85198506e-01 -1.10141964e-03 2.86237468e+00] [ 6.91220777e-03 -8.47082610e-05 9.99976107e-01 1.86257121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:2.86, Z:0.02 [[ 9.85090463e-01 -1.71901745e-01 -6.82421928e-03 2.99245298e+01] [ 1.71898231e-01 9.85114096e-01 -1.10264295e-03 2.86453560e+00] [ 6.91218085e-03 -8.68681695e-05 9.99976107e-01 1.79842774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:2.87, Z:0.02 [[ 9.85072471e-01 -1.72004823e-01 -6.82402268e-03 2.99527094e+01] [ 1.72001303e-01 9.85096104e-01 -1.10385828e-03 2.86750717e+00] [ 6.91218710e-03 -8.63603938e-05 9.99976107e-01 1.89755744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:2.87, Z:0.02 [[ 9.85185568e-01 -1.71355863e-01 -6.82381832e-03 2.99811505e+01] [ 1.71352319e-01 9.85209197e-01 -1.10512020e-03 2.86811493e+00] [ 6.91225739e-03 -8.05286229e-05 9.99976107e-01 1.87971930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:2.87, Z:0.02 [[ 9.85219207e-01 -1.71162355e-01 -6.82361186e-03 3.00090535e+01] [ 1.71158796e-01 9.85242834e-01 -1.10639353e-03 2.86932540e+00] [ 6.91228761e-03 -7.78810380e-05 9.99976107e-01 1.86175182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:2.87, Z:0.02 [[ 9.85270438e-01 -1.70867216e-01 -6.82340194e-03 3.00363574e+01] [ 1.70863641e-01 9.85294062e-01 -1.10768662e-03 2.87005156e+00] [ 6.91232474e-03 -7.45004233e-05 9.99976107e-01 1.83830041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542640000000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.06, Y:2.87, Z:0.02 [[ 9.85421813e-01 -1.69992039e-01 -6.82331029e-03 3.00643756e+01] [ 1.69988440e-01 9.85445433e-01 -1.10825088e-03 2.86864252e+00] [ 6.91239379e-03 -6.77892770e-05 9.99976107e-01 2.02698435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:2.87, Z:0.02 [[ 9.85471762e-01 -1.69702239e-01 -6.82324622e-03 3.00920727e+01] [ 1.69698631e-01 9.85495381e-01 -1.10864524e-03 2.87078805e+00] [ 6.91241721e-03 -6.53569646e-05 9.99976107e-01 2.20179238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:2.87, Z:0.02 [[ 9.85558882e-01 -1.69195558e-01 -6.82304144e-03 3.01200296e+01] [ 1.69191928e-01 9.85582498e-01 -1.10990409e-03 2.87206909e+00] [ 6.91246106e-03 -6.05277070e-05 9.99976107e-01 2.31210004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:2.87, Z:0.02 [[ 9.85799138e-01 -1.67790072e-01 -6.82282674e-03 3.01482798e+01] [ 1.67786400e-01 9.85822747e-01 -1.11122234e-03 2.87083463e+00] [ 6.91254988e-03 -4.93355122e-05 9.99976107e-01 2.21003277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:2.87, Z:0.02 [[ 9.85948433e-01 -1.66910574e-01 -6.82261205e-03 3.01751224e+01] [ 1.66906871e-01 9.85972037e-01 -1.11253889e-03 2.87329893e+00] [ 6.91259921e-03 -4.18348589e-05 9.99976107e-01 2.11804712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.20, Y:2.88, Z:0.02 [[ 9.86070746e-01 -1.66186455e-01 -6.82251880e-03 3.02028288e+01] [ 1.66182731e-01 9.86094347e-01 -1.11311047e-03 2.87619706e+00] [ 6.91263110e-03 -3.61791412e-05 9.99976107e-01 2.03528900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:2.87, Z:0.02 [[ 9.86373155e-01 -1.64382041e-01 -6.82230454e-03 3.02309992e+01] [ 1.64378264e-01 9.86396748e-01 -1.11442212e-03 2.87361919e+00] [ 6.91268999e-03 -2.22025160e-05 9.99976107e-01 1.98865255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:2.88, Z:0.02 [[ 9.86516732e-01 -1.63518183e-01 -6.82209144e-03 3.02586536e+01] [ 1.63514377e-01 9.86540320e-01 -1.11572514e-03 2.87579150e+00] [ 6.91270962e-03 -1.48285087e-05 9.99976107e-01 2.04275236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:2.88, Z:0.02 [[ 9.86675900e-01 -1.62555009e-01 -6.82187730e-03 3.02868133e+01] [ 1.62551171e-01 9.86699483e-01 -1.11703289e-03 2.87861468e+00] [ 6.91272210e-03 -6.75470920e-06 9.99976107e-01 2.16852836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:2.88, Z:0.02 [[ 9.87096925e-01 -1.59978519e-01 -6.82165843e-03 3.03153652e+01] [ 1.59974610e-01 9.87120496e-01 -1.11836794e-03 2.87863625e+00] [ 6.91271370e-03 1.26454012e-05 9.99976107e-01 1.91201544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:2.88, Z:0.02 [[ 9.87244036e-01 -1.59068159e-01 -6.82159044e-03 3.03432595e+01] [ 1.59064226e-01 9.87267603e-01 -1.11878247e-03 2.88080074e+00] [ 6.91269792e-03 1.94403152e-05 9.99976107e-01 2.21525403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:2.88, Z:0.02 [[ 9.87395962e-01 -1.58122369e-01 -6.82137734e-03 3.03715806e+01] [ 1.58118404e-01 9.87419524e-01 -1.12008030e-03 2.88268388e+00] [ 6.91267091e-03 2.73774692e-05 9.99976107e-01 2.18314896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:2.89, Z:0.02 [[ 9.87467122e-01 -1.57677373e-01 -6.82127714e-03 3.03998673e+01] [ 1.57673393e-01 9.87490681e-01 -1.12069015e-03 2.88520505e+00] [ 6.91265509e-03 3.11107659e-05 9.99976107e-01 2.19729397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:2.89, Z:0.02 [[ 9.87489673e-01 -1.57536088e-01 -6.82106669e-03 3.04277777e+01] [ 1.57532096e-01 9.87513230e-01 -1.12196964e-03 2.88807111e+00] [ 6.91264430e-03 3.33965031e-05 9.99976107e-01 2.31920563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:2.89, Z:0.02 [[ 9.87492827e-01 -1.57516324e-01 -6.82084861e-03 3.04564087e+01] [ 1.57512322e-01 9.87516383e-01 -1.12329384e-03 2.88923081e+00] [ 6.91263686e-03 3.48769061e-05 9.99976107e-01 2.35141322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:2.89, Z:0.02 [[ 9.87454218e-01 -1.57758187e-01 -6.82062896e-03 3.04838327e+01] [ 1.57754183e-01 9.87477773e-01 -1.12462596e-03 2.89088705e+00] [ 6.91263845e-03 3.45339048e-05 9.99976107e-01 2.17276412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:2.89, Z:0.02 [[ 9.87353791e-01 -1.58385513e-01 -6.82053367e-03 3.05119490e+01] [ 1.58381519e-01 9.87377348e-01 -1.12520355e-03 2.89231092e+00] [ 6.91265640e-03 3.07275086e-05 9.99976107e-01 2.20039132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:2.89, Z:0.02 [[ 9.87141433e-01 -1.59703711e-01 -6.82031988e-03 3.05407927e+01] [ 1.59699740e-01 9.87164993e-01 -1.12649797e-03 2.89198826e+00] [ 6.91268693e-03 2.28095123e-05 9.99976107e-01 2.32976630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:2.89, Z:0.02 [[ 9.87055996e-01 -1.60230919e-01 -6.82009891e-03 3.05686974e+01] [ 1.60226951e-01 9.87079557e-01 -1.12783419e-03 2.89487394e+00] [ 6.91269412e-03 2.04718395e-05 9.99976107e-01 2.19027783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:2.90, Z:0.02 [[ 9.87025984e-01 -1.60415692e-01 -6.81999525e-03 3.05967669e+01] [ 1.60411724e-01 9.87049546e-01 -1.12846066e-03 2.89972433e+00] [ 6.91269601e-03 1.98127964e-05 9.99976107e-01 2.20996741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:2.90, Z:0.02 [[ 9.86965587e-01 -1.60786882e-01 -6.81978376e-03 3.06245550e+01] [ 1.60782914e-01 9.86989148e-01 -1.12973732e-03 2.90253814e+00] [ 6.91269951e-03 1.85071460e-05 9.99976107e-01 2.47488224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:2.90, Z:0.03 [[ 9.87054253e-01 -1.60241677e-01 -6.81956216e-03 3.06530239e+01] [ 1.60237687e-01 9.87077811e-01 -1.13107343e-03 2.90417108e+00] [ 6.91268359e-03 2.36799675e-05 9.99976107e-01 2.67325576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:2.91, Z:0.02 [[ 9.87168622e-01 -1.59535598e-01 -6.81936817e-03 3.06800751e+01] [ 1.59531583e-01 9.87192176e-01 -1.13224183e-03 2.90745590e+00] [ 6.91265978e-03 2.98090102e-05 9.99976107e-01 2.37330317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:2.91, Z:0.03 [[ 9.87554391e-01 -1.57129951e-01 -6.81927173e-03 3.07086845e+01] [ 1.57125875e-01 9.87577934e-01 -1.13282233e-03 2.91056256e+00] [ 6.91256261e-03 4.72396288e-05 9.99976107e-01 2.67591979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:2.91, Z:0.03 [[ 9.87831580e-01 -1.55377830e-01 -6.81908485e-03 3.07349482e+01] [ 1.55373704e-01 9.87855114e-01 -1.13394620e-03 2.91426455e+00] [ 6.91245794e-03 6.06413981e-05 9.99976107e-01 2.56254555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:2.92, Z:0.03 [[ 9.88072343e-01 -1.53839353e-01 -6.81893933e-03 3.07635561e+01] [ 1.53835185e-01 9.88095870e-01 -1.13482057e-03 2.91801035e+00] [ 6.91234585e-03 7.22920340e-05 9.99976107e-01 2.64258634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:2.92, Z:0.02 [[ 9.88447344e-01 -1.51411201e-01 -6.81874264e-03 3.07900795e+01] [ 1.51406967e-01 9.88470859e-01 -1.13600120e-03 2.92041830e+00] [ 6.91213170e-03 9.04722289e-05 9.99976107e-01 2.41246892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:2.93, Z:0.02 [[ 9.88538731e-01 -1.50813404e-01 -6.81864482e-03 3.08163511e+01] [ 1.50809151e-01 9.88562243e-01 -1.13658802e-03 2.92536790e+00] [ 6.91206753e-03 9.52472378e-05 9.99976107e-01 2.42874884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:2.93, Z:0.03 [[ 9.88467899e-01 -1.51276966e-01 -6.81855196e-03 3.08440315e+01] [ 1.51272720e-01 9.88491412e-01 -1.13714481e-03 2.93115437e+00] [ 6.91210387e-03 9.25702438e-05 9.99976107e-01 2.60440337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:2.94, Z:0.03 [[ 9.88311572e-01 -1.52294935e-01 -6.81833261e-03 3.08710661e+01] [ 1.52290704e-01 9.88335088e-01 -1.13845856e-03 2.93583968e+00] [ 6.91217883e-03 8.67830952e-05 9.99976107e-01 2.59218683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:2.94, Z:0.03 [[ 9.87661886e-01 -1.56452903e-01 -6.81826438e-03 3.08998335e+01] [ 1.56448769e-01 9.87685418e-01 -1.13886706e-03 2.93947865e+00] [ 6.91247936e-03 5.81065186e-05 9.99976107e-01 3.01290449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:2.94, Z:0.03 [[ 9.87270060e-01 -1.58906710e-01 -6.81807747e-03 3.09281476e+01] [ 1.58902627e-01 9.87293602e-01 -1.13998490e-03 2.94430087e+00] [ 6.91259551e-03 4.20625432e-05 9.99976107e-01 3.26930318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:2.95, Z:0.03 [[ 9.86918456e-01 -1.61075999e-01 -6.81788607e-03 3.09560036e+01] [ 1.61071959e-01 9.86942005e-01 -1.14112846e-03 2.94869418e+00] [ 6.91266656e-03 2.80304744e-05 9.99976107e-01 3.42183097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:2.95, Z:0.03 [[ 9.86433712e-01 -1.64018447e-01 -6.81766088e-03 3.09827483e+01] [ 1.64014469e-01 9.86457272e-01 -1.14247231e-03 2.95104889e+00] [ 6.91271768e-03 8.77817283e-06 9.99976107e-01 3.38353799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:2.95, Z:0.03 [[ 9.86216895e-01 -1.65317143e-01 -6.81756282e-03 3.10094110e+01] [ 1.65313191e-01 9.86240459e-01 -1.14305717e-03 2.95479326e+00] [ 6.91272322e-03 2.69229028e-07 9.99976107e-01 3.27299398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:2.96, Z:0.03 [[ 9.86059631e-01 -1.66252596e-01 -6.81746642e-03 3.10374264e+01] [ 1.66248663e-01 9.86083198e-01 -1.14363181e-03 2.95894972e+00] [ 6.91272085e-03 -5.70551974e-06 9.99976107e-01 3.23172028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:2.96, Z:0.03 [[ 9.85946421e-01 -1.66922679e-01 -6.81724889e-03 3.10652153e+01] [ 1.66918753e-01 9.85969989e-01 -1.14492703e-03 2.96105106e+00] [ 6.91271710e-03 -9.08997488e-06 9.99976107e-01 2.89563791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:2.96, Z:0.03 [[ 9.85943555e-01 -1.66939607e-01 -6.81718133e-03 3.10926259e+01] [ 1.66935678e-01 9.85967123e-01 -1.14532920e-03 2.96407426e+00] [ 6.91271747e-03 -8.80083782e-06 9.99976107e-01 2.94266364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:2.97, Z:0.03 [[ 9.85976243e-01 -1.66746445e-01 -6.81696076e-03 3.11206888e+01] [ 1.66742503e-01 9.85999809e-01 -1.14664049e-03 2.96746780e+00] [ 6.91272023e-03 -6.11681092e-06 9.99976107e-01 2.96804649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:2.97, Z:0.03 [[ 9.86263754e-01 -1.65037390e-01 -6.81673627e-03 3.11489004e+01] [ 1.65033398e-01 9.86287311e-01 -1.14797356e-03 2.96889569e+00] [ 6.91271904e-03 7.21555992e-06 9.99976107e-01 2.64065075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:2.97, Z:0.03 [[ 9.86398372e-01 -1.64230888e-01 -6.81666662e-03 3.11764783e+01] [ 1.64226874e-01 9.86421926e-01 -1.14838699e-03 2.97165770e+00] [ 6.91271003e-03 1.32872140e-05 9.99976107e-01 2.68567227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.20, Y:2.98, Z:0.03 [[ 9.86623596e-01 -1.62872389e-01 -6.81644811e-03 3.12047286e+01] [ 1.62868333e-01 9.86647143e-01 -1.14968250e-03 2.97514315e+00] [ 6.91268059e-03 2.41203410e-05 9.99976107e-01 2.89242375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:2.98, Z:0.03 [[ 9.87406047e-01 -1.58059600e-01 -6.81622008e-03 3.12324104e+01] [ 1.58055420e-01 9.87429572e-01 -1.15103288e-03 2.97882850e+00] [ 6.91246907e-03 5.91962982e-05 9.99976107e-01 2.74266953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:2.98, Z:0.03 [[ 9.87801345e-01 -1.55570055e-01 -6.81614946e-03 3.12605387e+01] [ 1.55565813e-01 9.87824859e-01 -1.15145094e-03 2.98289139e+00] [ 6.91229316e-03 7.70449495e-05 9.99976107e-01 2.83632450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:2.99, Z:0.03 [[ 9.88215446e-01 -1.52917545e-01 -6.81592503e-03 3.12884523e+01] [ 1.52913231e-01 9.88238946e-01 -1.15277787e-03 2.98689271e+00] [ 6.91204253e-03 9.69477806e-05 9.99976107e-01 2.77447535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:2.99, Z:0.03 [[ 9.88967793e-01 -1.47973808e-01 -6.81585539e-03 3.13169017e+01] [ 1.47969373e-01 9.88991271e-01 -1.15318950e-03 2.99171560e+00] [ 6.91146333e-03 1.31929425e-04 9.99976107e-01 2.72611622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:3.00, Z:0.03 [[ 9.89275210e-01 -1.45904442e-01 -6.81566379e-03 3.13454723e+01] [ 1.45899950e-01 9.89298677e-01 -1.15432078e-03 2.99735466e+00] [ 6.91114770e-03 1.47535926e-04 9.99976107e-01 2.78409980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:3.00, Z:0.02 [[ 9.89545529e-01 -1.44059696e-01 -6.81546578e-03 3.13715534e+01] [ 1.44055152e-01 9.89568986e-01 -1.15548870e-03 3.00280120e+00] [ 6.91083291e-03 1.61605713e-04 9.99976107e-01 2.39140418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:3.01, Z:0.03 [[ 9.89728366e-01 -1.42798151e-01 -6.81536724e-03 3.13988483e+01] [ 1.42793574e-01 9.89751817e-01 -1.15606961e-03 3.00865555e+00] [ 6.91060671e-03 1.71004237e-04 9.99976107e-01 2.57045550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:3.02, Z:0.03 [[ 9.89954948e-01 -1.41218821e-01 -6.81515651e-03 3.14269341e+01] [ 1.41214198e-01 9.89978389e-01 -1.15731060e-03 3.01614844e+00] [ 6.91029170e-03 1.83288500e-04 9.99976107e-01 2.85365347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:3.02, Z:0.03 [[ 9.90042494e-01 -1.40603760e-01 -6.81496669e-03 3.14537281e+01] [ 1.40599114e-01 9.90065931e-01 -1.15842727e-03 3.02143725e+00] [ 6.91014557e-03 1.88713943e-04 9.99976107e-01 2.81907292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:3.03, Z:0.03 [[ 9.90064969e-01 -1.40445413e-01 -6.81487252e-03 3.14825235e+01] [ 1.40440760e-01 9.90088405e-01 -1.15898100e-03 3.02703644e+00] [ 6.91009983e-03 1.90380611e-04 9.99976107e-01 2.83640520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:3.03, Z:0.03 [[ 9.89898759e-01 -1.41612170e-01 -6.81476796e-03 3.15104239e+01] [ 1.41607540e-01 9.89922199e-01 -1.15959546e-03 3.03350330e+00] [ 6.91030292e-03 1.82859584e-04 9.99976107e-01 2.99592937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:3.04, Z:0.03 [[ 9.89675967e-01 -1.43160893e-01 -6.81457862e-03 3.15389575e+01] [ 1.43156293e-01 9.89699413e-01 -1.16070710e-03 3.03951910e+00] [ 6.91055233e-03 1.73174107e-04 9.99976107e-01 3.08906812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:3.05, Z:0.03 [[ 9.89420209e-01 -1.44917959e-01 -6.81438916e-03 3.15656724e+01] [ 1.44913392e-01 9.89443661e-01 -1.16181837e-03 3.04521863e+00] [ 6.91082250e-03 1.62030326e-04 9.99976107e-01 3.13559638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:3.05, Z:0.04 [[ 9.88722053e-01 -1.49607049e-01 -6.81424138e-03 3.15936125e+01] [ 1.49602587e-01 9.88745525e-01 -1.16268443e-03 3.05298861e+00] [ 6.91149646e-03 1.30143591e-04 9.99976107e-01 3.50496280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:3.06, Z:0.04 [[ 9.88373525e-01 -1.51892543e-01 -6.81404671e-03 3.16215345e+01] [ 1.51888128e-01 9.88397006e-01 -1.16382421e-03 3.05845002e+00] [ 6.91175959e-03 1.15320243e-04 9.99976107e-01 3.59038641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.65, Y:3.06, Z:0.04 [[ 9.88008447e-01 -1.54249412e-01 -6.81385164e-03 3.16491158e+01] [ 1.54245045e-01 9.88031937e-01 -1.16496518e-03 3.06382652e+00] [ 6.91199823e-03 9.99925876e-05 9.99976107e-01 3.59081908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:3.07, Z:0.04 [[ 9.87359882e-01 -1.58347838e-01 -6.81362304e-03 3.16770397e+01] [ 1.58343559e-01 9.87383389e-01 -1.16630069e-03 3.06758652e+00] [ 6.91233940e-03 7.26651871e-05 9.99976107e-01 3.54335844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:3.07, Z:0.04 [[ 9.87010486e-01 -1.60511299e-01 -6.81355208e-03 3.17040809e+01] [ 1.60507069e-01 9.87034001e-01 -1.16671509e-03 3.07320976e+00] [ 6.91247853e-03 5.79367539e-05 9.99976107e-01 3.65745412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:31.73, Y:3.08, Z:0.03 [[ 9.86701507e-01 -1.62399863e-01 -6.81332616e-03 3.17313948e+01] [ 1.62395669e-01 9.86725029e-01 -1.16803294e-03 3.08008079e+00] [ 6.91256784e-03 4.60452032e-05 9.99976107e-01 3.43365291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.76, Y:3.08, Z:0.03 [[ 9.86328767e-01 -1.64648549e-01 -6.81309950e-03 3.17592379e+01] [ 1.64644399e-01 9.86352297e-01 -1.16935352e-03 3.08471458e+00] [ 6.91264870e-03 3.16283387e-05 9.99976107e-01 3.38685126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:3.09, Z:0.03 [[ 9.86215621e-01 -1.65324928e-01 -6.81302897e-03 3.17860792e+01] [ 1.65320792e-01 9.86239153e-01 -1.16976433e-03 3.08902792e+00] [ 6.91266712e-03 2.73045133e-05 9.99976107e-01 3.38044506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:3.09, Z:0.04 [[ 9.86118342e-01 -1.65904189e-01 -6.81293071e-03 3.18133135e+01] [ 1.65900063e-01 9.86141876e-01 -1.17033632e-03 3.09483834e+00] [ 6.91267997e-03 2.38244735e-05 9.99976107e-01 3.58177656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:3.10, Z:0.04 [[ 9.86107270e-01 -1.65969997e-01 -6.81270441e-03 3.18410713e+01] [ 1.65965863e-01 9.86130802e-01 -1.17165216e-03 3.10113434e+00] [ 6.91267677e-03 2.46983474e-05 9.99976107e-01 3.64840774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:3.11, Z:0.03 [[ 9.86195540e-01 -1.65444693e-01 -6.81249875e-03 3.18686136e+01] [ 1.65440539e-01 9.86219069e-01 -1.17284676e-03 3.10555988e+00] [ 6.91265745e-03 2.95927845e-05 9.99976107e-01 3.37100806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:3.11, Z:0.03 [[ 9.86324671e-01 -1.64673117e-01 -6.81238854e-03 3.18956790e+01] [ 1.64668939e-01 9.86348196e-01 -1.17348654e-03 3.10983846e+00] [ 6.91262883e-03 3.56499262e-05 9.99976107e-01 3.36049145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.92, Y:3.12, Z:0.03 [[ 9.86418693e-01 -1.64108975e-01 -6.81229166e-03 3.19227796e+01] [ 1.64104780e-01 9.86442215e-01 -1.17404868e-03 3.11569114e+00] [ 6.91260400e-03 4.01739378e-05 9.99976107e-01 3.40363203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582640000000005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:31.95, Y:3.12, Z:0.03 [[ 9.86596265e-01 -1.63038050e-01 -6.81206256e-03 3.19499856e+01] [ 1.63033820e-01 9.86619781e-01 -1.17537643e-03 3.12072350e+00] [ 6.91254675e-03 4.90254081e-05 9.99976107e-01 3.45166174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612640000000006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:31.98, Y:3.13, Z:0.04 [[ 9.86615525e-01 -1.62921461e-01 -6.81199138e-03 3.19785961e+01] [ 1.62917226e-01 9.86639040e-01 -1.17578884e-03 3.12523688e+00] [ 6.91253787e-03 5.02607881e-05 9.99976107e-01 3.81472217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:3.13, Z:0.04 [[ 9.86652729e-01 -1.62696011e-01 -6.81178878e-03 3.20066159e+01] [ 1.62691763e-01 9.86676241e-01 -1.17696143e-03 3.12894795e+00] [ 6.91251708e-03 5.30302845e-05 9.99976107e-01 4.00164455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:3.14, Z:0.04 [[ 9.86796880e-01 -1.61819402e-01 -6.81171701e-03 3.20350355e+01] [ 1.61815129e-01 9.86820388e-01 -1.17737664e-03 3.13523308e+00] [ 6.91246360e-03 5.95927256e-05 9.99976107e-01 3.85271778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:3.14, Z:0.04 [[ 9.86949632e-01 -1.60885136e-01 -6.81152539e-03 3.20631468e+01] [ 1.60880834e-01 9.86973135e-01 -1.17848416e-03 3.14150344e+00] [ 6.91239315e-03 6.72606240e-05 9.99976107e-01 3.71749347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:32.09, Y:3.15, Z:0.04 [[ 9.87440788e-01 -1.57842630e-01 -6.81133340e-03 3.20901100e+01] [ 1.57838248e-01 9.87464276e-01 -1.17959280e-03 3.14968097e+00] [ 6.91213843e-03 8.96891161e-05 9.99976107e-01 3.53376497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:3.15, Z:0.04 [[ 9.87724301e-01 -1.56058691e-01 -6.81111198e-03 3.21174625e+01] [ 1.56054257e-01 9.87747779e-01 -1.18086991e-03 3.15431835e+00] [ 6.91194574e-03 1.03470885e-04 9.99976107e-01 3.63570159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792640000000006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:32.14, Y:3.16, Z:0.03 [[ 9.87961846e-01 -1.54547727e-01 -6.81104334e-03 3.21442991e+01] [ 1.54543255e-01 9.87985317e-01 -1.18126565e-03 3.16098536e+00] [ 6.91177274e-03 1.14444589e-04 9.99976107e-01 3.43119388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:3.17, Z:0.04 [[ 9.88131582e-01 -1.53458755e-01 -6.81082498e-03 3.21722665e+01] [ 1.53454249e-01 9.88155046e-01 -1.18252336e-03 3.16567724e+00] [ 6.91161963e-03 1.23338647e-04 9.99976107e-01 3.63493484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:3.17, Z:0.03 [[ 9.88322358e-01 -1.52225265e-01 -6.81062589e-03 3.21989356e+01] [ 1.52220721e-01 9.88345816e-01 -1.18366885e-03 3.17241283e+00] [ 6.91143791e-03 1.33128004e-04 9.99976107e-01 3.48237500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:3.18, Z:0.04 [[ 9.88237854e-01 -1.52772906e-01 -6.81055525e-03 3.22265668e+01] [ 1.52768372e-01 9.88261313e-01 -1.18407516e-03 3.17881362e+00] [ 6.91150288e-03 1.29710456e-04 9.99976107e-01 3.56512079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:3.19, Z:0.04 [[ 9.87650780e-01 -1.56523340e-01 -6.81032911e-03 3.22538944e+01] [ 1.56518887e-01 9.87674255e-01 -1.18537444e-03 3.18542860e+00] [ 6.91192549e-03 1.04790858e-04 9.99976107e-01 3.70511034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:3.19, Z:0.04 [[ 9.87257187e-01 -1.58987009e-01 -6.81013246e-03 3.22816832e+01] [ 1.58982606e-01 9.87280671e-01 -1.18650310e-03 3.18971491e+00] [ 6.91215073e-03 8.86911029e-05 9.99976107e-01 3.58315188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972640000000006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.31, Y:3.19, Z:0.04 [[ 9.86719915e-01 -1.62288118e-01 -6.81006263e-03 3.23096780e+01] [ 1.62283791e-01 9.86743413e-01 -1.18690376e-03 3.19445073e+00] [ 6.91240482e-03 6.59788023e-05 9.99976107e-01 3.71438739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.34, Y:3.20, Z:0.04 [[ 9.86689003e-01 -1.62475960e-01 -6.80985178e-03 3.23377056e+01] [ 1.62471629e-01 9.86712500e-01 -1.18811229e-03 3.19954353e+00] [ 6.91240556e-03 6.58896193e-05 9.99976107e-01 3.73407557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:3.20, Z:0.04 [[ 9.85620357e-01 -1.68837619e-01 -6.80962536e-03 3.23656387e+01] [ 1.68833431e-01 9.85643880e-01 -1.18940864e-03 3.20023032e+00] [ 6.91268248e-03 2.26129561e-05 9.99976107e-01 3.78835601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:32.39, Y:3.20, Z:0.04 [[ 9.85060851e-01 -1.72071932e-01 -6.80955506e-03 3.23946786e+01] [ 1.72067819e-01 9.85084387e-01 -1.18981097e-03 3.20419677e+00] [ 6.91271944e-03 3.30925801e-07 9.99976107e-01 3.85737878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.42, Y:3.21, Z:0.04 [[ 9.84624630e-01 -1.74550771e-01 -6.80935176e-03 3.24229457e+01] [ 1.74546709e-01 9.84648175e-01 -1.19097332e-03 3.20677054e+00] [ 6.91270109e-03 -1.58882772e-05 9.99976107e-01 4.03384725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:3.21, Z:0.04 [[ 9.84125996e-01 -1.77340519e-01 -6.80911666e-03 3.24513240e+01] [ 1.77336514e-01 9.84149551e-01 -1.19231594e-03 3.20534978e+00] [ 6.91263503e-03 -3.41159003e-05 9.99976107e-01 4.31459420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:3.21, Z:0.04 [[ 9.84040539e-01 -1.77814107e-01 -6.80887987e-03 3.24780543e+01] [ 1.77810104e-01 9.84064095e-01 -1.19366662e-03 3.20752749e+00] [ 6.91262497e-03 -3.60712963e-05 9.99976107e-01 4.19064200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:3.21, Z:0.04 [[ 9.84087548e-01 -1.77553760e-01 -6.80877722e-03 3.25054412e+01] [ 1.77549747e-01 9.84111102e-01 -1.19425186e-03 3.21053130e+00] [ 6.91263716e-03 -3.36482825e-05 9.99976107e-01 4.36853779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:3.21, Z:0.04 [[ 9.84473901e-01 -1.75398922e-01 -6.80854206e-03 3.25336454e+01] [ 1.75394848e-01 9.84497444e-01 -1.19559105e-03 3.21243550e+00] [ 6.91269763e-03 -1.71550082e-05 9.99976107e-01 4.40098820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:3.22, Z:0.04 [[ 9.84769693e-01 -1.73730537e-01 -6.80830247e-03 3.25600758e+01] [ 1.73726414e-01 9.84793227e-01 -1.19695381e-03 3.21521309e+00] [ 6.91271759e-03 -4.05813488e-06 9.99976107e-01 4.33144533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.59, Y:3.22, Z:0.04 [[ 9.85076674e-01 -1.71981379e-01 -6.80819811e-03 3.25868241e+01] [ 1.71977210e-01 9.85100201e-01 -1.19754715e-03 3.21877820e+00] [ 6.91271313e-03 8.82084303e-06 9.99976107e-01 3.98803806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:3.22, Z:0.04 [[ 9.85367037e-01 -1.70309871e-01 -6.80809487e-03 3.26146733e+01] [ 1.70305658e-01 9.85390556e-01 -1.19813378e-03 3.22049759e+00] [ 6.91268639e-03 2.11444546e-05 9.99976107e-01 4.29874926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332640000000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:32.64, Y:3.22, Z:0.04 [[ 9.85971810e-01 -1.66773027e-01 -6.80785880e-03 3.26422858e+01] [ 1.66768720e-01 9.85995312e-01 -1.19947363e-03 3.22398782e+00] [ 6.91255671e-03 4.73092858e-05 9.99976107e-01 3.85816818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:3.23, Z:0.04 [[ 9.86236848e-01 -1.65198466e-01 -6.80778561e-03 3.26697670e+01] [ 1.65194119e-01 9.86260343e-01 -1.19988887e-03 3.22703865e+00] [ 6.91246877e-03 5.87684702e-05 9.99976107e-01 3.82935526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:3.23, Z:0.04 [[ 9.86748083e-01 -1.62116857e-01 -6.80771459e-03 3.26981129e+01] [ 1.62112433e-01 9.86771563e-01 -1.20029171e-03 3.23144067e+00] [ 6.91224668e-03 8.07703644e-05 9.99976107e-01 3.80255826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:3.24, Z:0.04 [[ 9.87008888e-01 -1.60521375e-01 -6.80751331e-03 3.27252151e+01] [ 1.60516906e-01 9.87032360e-01 -1.20143214e-03 3.23654597e+00] [ 6.91209147e-03 9.31032226e-05 9.99976107e-01 3.88638500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:3.24, Z:0.04 [[ 9.87247817e-01 -1.59045303e-01 -6.80728292e-03 3.27529948e+01] [ 1.59040790e-01 9.87271280e-01 -1.20273612e-03 3.24171563e+00] [ 6.91192446e-03 1.04762956e-04 9.99976107e-01 3.90040964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.78, Y:3.25, Z:0.04 [[ 9.87711339e-01 -1.56140872e-01 -6.80721158e-03 3.27794076e+01] [ 1.56136287e-01 9.87734788e-01 -1.20313977e-03 3.24776441e+00] [ 6.91157898e-03 1.25502052e-04 9.99976107e-01 3.75985662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:3.25, Z:0.04 [[ 9.87821990e-01 -1.55439311e-01 -6.80711237e-03 3.28066778e+01] [ 1.55434705e-01 9.87845435e-01 -1.20370083e-03 3.25221855e+00] [ 6.91147731e-03 1.30980641e-04 9.99976107e-01 4.12684830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:3.26, Z:0.04 [[ 9.87871403e-01 -1.55124975e-01 -6.80687872e-03 3.28335125e+01] [ 1.55120353e-01 9.87894845e-01 -1.20502064e-03 3.25750756e+00] [ 6.91140919e-03 1.34520006e-04 9.99976107e-01 4.14757979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:3.26, Z:0.04 [[ 9.87826959e-01 -1.55407746e-01 -6.80679163e-03 3.28610122e+01] [ 1.55403127e-01 9.87850401e-01 -1.20551242e-03 3.26242841e+00] [ 6.91143780e-03 1.33040963e-04 9.99976107e-01 4.31198237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:3.27, Z:0.04 [[ 9.87539132e-01 -1.57226374e-01 -6.80656268e-03 3.28881046e+01] [ 1.57221789e-01 9.87562582e-01 -1.20680370e-03 3.26717441e+00] [ 6.91164798e-03 1.21625918e-04 9.99976107e-01 4.21402738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:3.27, Z:0.04 [[ 9.87283548e-01 -1.58823394e-01 -6.80633440e-03 3.29151301e+01] [ 1.58818839e-01 9.87307002e-01 -1.20808985e-03 3.27279702e+00] [ 6.91181454e-03 1.11753112e-04 9.99976107e-01 4.28494045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:3.28, Z:0.04 [[ 9.86745601e-01 -1.62132032e-01 -6.80610033e-03 3.29428507e+01] [ 1.62127547e-01 9.86769069e-01 -1.20940708e-03 3.27727708e+00] [ 6.91213292e-03 8.99207675e-05 9.99976107e-01 4.37981809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:3.28, Z:0.04 [[ 9.86390488e-01 -1.64278677e-01 -6.80602740e-03 3.29714656e+01] [ 1.64274239e-01 9.86413965e-01 -1.20981736e-03 3.28146618e+00] [ 6.91230767e-03 7.52973585e-05 9.99976107e-01 4.45049583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722640000000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.00, Y:3.29, Z:0.04 [[ 9.85998353e-01 -1.66616111e-01 -6.80582674e-03 3.29991699e+01] [ 1.66611721e-01 9.86021839e-01 -1.21094513e-03 3.28701526e+00] [ 6.91245677e-03 6.00593987e-05 9.99976107e-01 4.42671472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:3.29, Z:0.05 [[ 9.85599545e-01 -1.68959229e-01 -6.80559264e-03 3.30265134e+01] [ 1.68954886e-01 9.85623040e-01 -1.21225939e-03 3.29074767e+00] [ 6.91257131e-03 4.49641703e-05 9.99976107e-01 4.57578195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:3.30, Z:0.04 [[ 9.85036554e-01 -1.72211133e-01 -6.80535671e-03 3.30529429e+01] [ 1.72206858e-01 9.85060062e-01 -1.21358236e-03 3.29601700e+00] [ 6.91267750e-03 2.34938827e-05 9.99976107e-01 4.46300660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:3.30, Z:0.04 [[ 9.84818797e-01 -1.73452087e-01 -6.80519591e-03 3.30796471e+01] [ 1.73447836e-01 9.84842309e-01 -1.21448342e-03 3.30059789e+00] [ 6.91269953e-03 1.56995948e-05 9.99976107e-01 4.38852554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:3.31, Z:0.05 [[ 9.84645471e-01 -1.74433333e-01 -6.80509742e-03 3.31072363e+01] [ 1.74429101e-01 9.84668986e-01 -1.21503503e-03 3.30518235e+00] [ 6.91271098e-03 9.37171410e-06 9.99976107e-01 4.65590328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872640000000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.13, Y:3.31, Z:0.04 [[ 9.84490724e-01 -1.75304614e-01 -6.80485945e-03 3.31333442e+01] [ 1.75300394e-01 9.84514242e-01 -1.21636633e-03 3.31173255e+00] [ 6.91271567e-03 4.60682836e-06 9.99976107e-01 4.17885627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:3.32, Z:0.05 [[ 9.84401341e-01 -1.75805848e-01 -6.80475569e-03 3.31621720e+01] [ 1.75801636e-01 9.84424859e-01 -1.21694650e-03 3.31617654e+00] [ 6.91271698e-03 1.67658781e-06 9.99976107e-01 4.57008085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:3.32, Z:0.04 [[ 9.84289144e-01 -1.76432931e-01 -6.80454521e-03 3.31893795e+01] [ 1.76428726e-01 9.84312664e-01 -1.21812226e-03 3.32122575e+00] [ 6.91271691e-03 -1.53272257e-06 9.99976107e-01 4.24056540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:3.33, Z:0.04 [[ 9.84191571e-01 -1.76976412e-01 -6.80447057e-03 3.32166097e+01] [ 1.76972217e-01 9.84215093e-01 -1.21853909e-03 3.32627789e+00] [ 6.91271531e-03 -4.92634197e-06 9.99976107e-01 4.16758907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:3.33, Z:0.04 [[ 9.84060496e-01 -1.77703803e-01 -6.80423831e-03 3.32436645e+01] [ 1.77699617e-01 9.84084020e-01 -1.21983463e-03 3.33081771e+00] [ 6.91271144e-03 -8.71947375e-06 9.99976107e-01 4.18773852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:3.33, Z:0.05 [[ 9.83900220e-01 -1.78589088e-01 -6.80408024e-03 3.32709848e+01] [ 1.78584917e-01 9.83923746e-01 -1.22071565e-03 3.33489681e+00] [ 6.91270261e-03 -1.40437080e-05 9.99976107e-01 4.50812765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:3.34, Z:0.05 [[ 9.83525129e-01 -1.80643376e-01 -6.80383851e-03 3.32984623e+01] [ 1.80639244e-01 9.83548662e-01 -1.22206150e-03 3.33749779e+00] [ 6.91266358e-03 -2.71120546e-05 9.99976107e-01 4.70928736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:3.34, Z:0.05 [[ 9.83225717e-01 -1.82266012e-01 -6.80376360e-03 3.33258738e+01] [ 1.82261916e-01 9.83249256e-01 -1.22247840e-03 3.34126706e+00] [ 6.91261176e-03 -3.80947843e-05 9.99976107e-01 4.94395452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:3.34, Z:0.05 [[ 9.82906203e-01 -1.83981272e-01 -6.80351527e-03 3.33537991e+01] [ 1.83977208e-01 9.82929748e-01 -1.22385892e-03 3.34479524e+00] [ 6.91254467e-03 -4.87532189e-05 9.99976107e-01 4.79232970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.38, Y:3.35, Z:0.04 [[ 9.82207748e-01 -1.87674328e-01 -6.80343845e-03 3.33818027e+01] [ 1.87670350e-01 9.82231307e-01 -1.22428582e-03 3.34687534e+00] [ 6.91231726e-03 -7.43006505e-05 9.99976107e-01 4.49729301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:3.35, Z:0.05 [[ 9.81720088e-01 -1.90208791e-01 -6.80332572e-03 3.34098330e+01] [ 1.90204869e-01 9.81743657e-01 -1.22491191e-03 3.34986591e+00] [ 6.91211088e-03 -9.15050526e-05 9.99976107e-01 4.88215190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:3.35, Z:0.05 [[ 9.81280743e-01 -1.92462517e-01 -6.80308438e-03 3.34363479e+01] [ 1.92458640e-01 9.81304320e-01 -1.22625082e-03 3.35281993e+00] [ 6.91190341e-03 -1.06016053e-04 9.99976107e-01 4.56796344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:3.36, Z:0.05 [[ 9.80792782e-01 -1.94933934e-01 -6.80297943e-03 3.34640300e+01] [ 1.94930112e-01 9.80816367e-01 -1.22683280e-03 3.35548256e+00] [ 6.91162492e-03 -1.22836787e-04 9.99976107e-01 4.84109042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:3.36, Z:0.05 [[ 9.79991393e-01 -1.98923583e-01 -6.80274266e-03 3.34928710e+01] [ 1.98919848e-01 9.80014993e-01 -1.22814430e-03 3.35543285e+00] [ 6.91109666e-03 -1.49629683e-04 9.99976107e-01 5.15227665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.52, Y:3.36, Z:0.05 [[ 9.79735818e-01 -2.00178552e-01 -6.80252880e-03 3.35210051e+01] [ 2.00174839e-01 9.79759421e-01 -1.22932771e-03 3.35805882e+00] [ 6.91092671e-03 -1.57278717e-04 9.99976107e-01 5.04624371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:3.36, Z:0.05 [[ 9.79530200e-01 -2.01182292e-01 -6.80241524e-03 3.35491253e+01] [ 2.01178599e-01 9.79553806e-01 -1.22995575e-03 3.35931852e+00] [ 6.91077705e-03 -1.63721567e-04 9.99976107e-01 5.29375477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:3.36, Z:0.05 [[ 9.79513531e-01 -2.01263436e-01 -6.80234322e-03 3.35783178e+01] [ 2.01259742e-01 9.79537137e-01 -1.23035395e-03 3.35516733e+00] [ 6.91077306e-03 -1.63889494e-04 9.99976107e-01 5.36834654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:3.36, Z:0.05 [[ 9.79668908e-01 -2.00505765e-01 -6.80210985e-03 3.36060858e+01] [ 2.00502044e-01 9.79692510e-01 -1.23164279e-03 3.35539175e+00] [ 6.91092755e-03 -1.57234776e-04 9.99976107e-01 5.27320989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:3.36, Z:0.06 [[ 9.79889209e-01 -1.99426352e-01 -6.80200844e-03 3.36345715e+01] [ 1.99422601e-01 9.79912806e-01 -1.23220258e-03 3.35689308e+00] [ 6.91110885e-03 -1.49052203e-04 9.99976107e-01 5.56850964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:3.36, Z:0.05 [[ 9.80805064e-01 -1.94872171e-01 -6.80176874e-03 3.36629342e+01] [ 1.94868302e-01 9.80828641e-01 -1.23352430e-03 3.35691235e+00] [ 6.91174915e-03 -1.15602242e-04 9.99976107e-01 5.48937006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:3.36, Z:0.05 [[ 9.81296531e-01 -1.92382056e-01 -6.80169415e-03 3.36916590e+01] [ 1.92378124e-01 9.81320098e-01 -1.23393545e-03 3.35906794e+00] [ 6.91202621e-03 -9.76405818e-05 9.99976107e-01 5.28591448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:33.72, Y:3.36, Z:0.05 [[ 9.81873094e-01 -1.89417439e-01 -6.80148511e-03 3.37208162e+01] [ 1.89413427e-01 9.81896648e-01 -1.23508662e-03 3.36101415e+00] [ 6.91230238e-03 -7.55942823e-05 9.99976107e-01 5.07968580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.75, Y:3.36, Z:0.05 [[ 9.82886453e-01 -1.84086838e-01 -6.80127253e-03 3.37495857e+01] [ 1.84082691e-01 9.82909983e-01 -1.23625612e-03 3.35828514e+00] [ 6.91261715e-03 -3.68971533e-05 9.99976107e-01 4.57816129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:3.36, Z:0.05 [[ 9.83335509e-01 -1.81672841e-01 -6.80119717e-03 3.37786093e+01] [ 1.81668633e-01 9.83359028e-01 -1.23667057e-03 3.35946029e+00] [ 6.91268810e-03 -1.95021087e-05 9.99976107e-01 4.64501453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:3.36, Z:0.05 [[ 9.83780525e-01 -1.79247386e-01 -6.80099240e-03 3.38069559e+01] [ 1.79243112e-01 9.83804033e-01 -1.23779568e-03 3.36080746e+00] [ 6.91271539e-03 -1.31176214e-06 9.99976107e-01 4.81522519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:33.83, Y:3.36, Z:0.05 [[ 9.84728984e-01 -1.73961424e-01 -6.80075263e-03 3.38349534e+01] [ 1.73957015e-01 9.84752467e-01 -1.23911165e-03 3.35981403e+00] [ 6.91261556e-03 3.71505272e-05 9.99976107e-01 4.96555642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:3.36, Z:0.05 [[ 9.85093228e-01 -1.71886833e-01 -6.80062210e-03 3.38627601e+01] [ 1.71882370e-01 9.85116701e-01 -1.23982760e-03 3.36200925e+00] [ 6.91251645e-03 5.24387327e-05 9.99976107e-01 4.88694936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:3.36, Z:0.05 [[ 9.85465709e-01 -1.69738295e-01 -6.80054838e-03 3.38907195e+01] [ 1.69733777e-01 9.85489171e-01 -1.24023182e-03 3.36474673e+00] [ 6.91238163e-03 6.79231666e-05 9.99976107e-01 4.91736647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:3.37, Z:0.05 [[ 9.86004044e-01 -1.66582649e-01 -6.80047861e-03 3.39197590e+01] [ 1.66578054e-01 9.86027491e-01 -1.24061429e-03 3.36531180e+00] [ 6.91212368e-03 9.04402079e-05 9.99976107e-01 5.12770259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:3.37, Z:0.05 [[ 9.86229579e-01 -1.65242166e-01 -6.80028041e-03 3.39475559e+01] [ 1.65237532e-01 9.86253018e-01 -1.24169975e-03 3.36822106e+00] [ 6.91197824e-03 1.00939477e-04 9.99976107e-01 5.26149172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:3.37, Z:0.05 [[ 9.86448103e-01 -1.63932608e-01 -6.80004912e-03 3.39754385e+01] [ 1.63927934e-01 9.86471534e-01 -1.24296510e-03 3.37113964e+00] [ 6.91181740e-03 1.11402563e-04 9.99976107e-01 5.32832462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:3.37, Z:0.05 [[ 9.86675566e-01 -1.62557957e-01 -6.79981404e-03 3.40025822e+01] [ 1.62553241e-01 9.86698989e-01 -1.24424981e-03 3.37422644e+00] [ 6.91163235e-03 1.22339072e-04 9.99976107e-01 5.23817141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:3.38, Z:0.06 [[ 9.87111318e-01 -1.59890620e-01 -6.79971205e-03 3.40318631e+01] [ 1.59885837e-01 9.87134727e-01 -1.24480690e-03 3.37634500e+00] [ 6.91126485e-03 1.41585326e-04 9.99976107e-01 5.50650104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:3.38, Z:0.06 [[ 9.87292840e-01 -1.58765915e-01 -6.79950655e-03 3.40591899e+01] [ 1.58761097e-01 9.87316242e-01 -1.24592839e-03 3.38053804e+00] [ 6.91107422e-03 1.50599056e-04 9.99976107e-01 5.61131067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:3.39, Z:0.06 [[ 9.87524887e-01 -1.57316140e-01 -6.79927165e-03 3.40864229e+01] [ 1.57311279e-01 9.87548280e-01 -1.24720901e-03 3.38519893e+00] [ 6.91081513e-03 1.62047815e-04 9.99976107e-01 5.63760445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:3.39, Z:0.06 [[ 9.87965680e-01 -1.54523739e-01 -6.79919874e-03 3.41145575e+01] [ 1.54518810e-01 9.87989059e-01 -1.24760632e-03 3.39058086e+00] [ 6.91031876e-03 1.81988126e-04 9.99976107e-01 5.78532049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:3.40, Z:0.06 [[ 9.87936772e-01 -1.54708460e-01 -6.79899459e-03 3.41425665e+01] [ 1.54703528e-01 9.87960151e-01 -1.24871788e-03 3.39591124e+00] [ 6.91032294e-03 1.81825869e-04 9.99976107e-01 5.80501117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:3.40, Z:0.06 [[ 9.88104534e-01 -1.53633349e-01 -6.79876088e-03 3.41703905e+01] [ 1.53628382e-01 9.88127906e-01 -1.24998905e-03 3.40100808e+00] [ 6.91008535e-03 1.90637217e-04 9.99976107e-01 5.84598979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:3.41, Z:0.06 [[ 9.88219100e-01 -1.52894702e-01 -6.79852457e-03 3.41977349e+01] [ 1.52889709e-01 9.88242466e-01 -1.25127299e-03 3.40648561e+00] [ 6.90990370e-03 1.97107429e-04 9.99976107e-01 5.85388063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:3.41, Z:0.06 [[ 9.88371006e-01 -1.51909634e-01 -6.79828511e-03 3.42250904e+01] [ 1.51904609e-01 9.88394365e-01 -1.25257265e-03 3.41317233e+00] [ 6.90966455e-03 2.05315653e-04 9.99976107e-01 5.86569176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:3.42, Z:0.06 [[ 9.88358662e-01 -1.51989942e-01 -6.79804474e-03 3.42511299e+01] [ 1.51984909e-01 9.88382019e-01 -1.25387584e-03 3.41910563e+00] [ 6.90964170e-03 2.06078829e-04 9.99976107e-01 5.68690893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:3.42, Z:0.06 [[ 9.88268139e-01 -1.52577436e-01 -6.79794050e-03 3.42780631e+01] [ 1.52572414e-01 9.88291498e-01 -1.25444071e-03 3.42498149e+00] [ 6.90974615e-03 2.02545594e-04 9.99976107e-01 5.80791817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:3.43, Z:0.06 [[ 9.88148062e-01 -1.53353184e-01 -6.79770382e-03 3.43053651e+01] [ 1.53348171e-01 9.88171423e-01 -1.25572197e-03 3.43080887e+00] [ 6.90986562e-03 1.98423788e-04 9.99976107e-01 5.95031079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:3.44, Z:0.06 [[ 9.88029889e-01 -1.54112729e-01 -6.79746013e-03 3.43319508e+01] [ 1.54107725e-01 9.88053252e-01 -1.25703974e-03 3.43779146e+00] [ 6.90997841e-03 1.94451720e-04 9.99976107e-01 5.94099632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:3.45, Z:0.06 [[ 9.87737436e-01 -1.55976132e-01 -6.79729357e-03 3.43584069e+01] [ 1.55971166e-01 9.87760808e-01 -1.25793975e-03 3.44702571e+00] [ 6.91030876e-03 1.82332385e-04 9.99976107e-01 6.05830221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:3.45, Z:0.06 [[ 9.87499584e-01 -1.57474988e-01 -6.79705407e-03 3.43854198e+01] [ 1.57470048e-01 9.87522961e-01 -1.25923253e-03 3.45340052e+00] [ 6.91054458e-03 1.73159169e-04 9.99976107e-01 6.13652690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:3.46, Z:0.06 [[ 9.87065216e-01 -1.60175092e-01 -6.79697982e-03 3.44121843e+01] [ 1.60170214e-01 9.87088606e-01 -1.25963315e-03 3.46153925e+00] [ 6.91098319e-03 1.54666355e-04 9.99976107e-01 6.29080228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:3.47, Z:0.06 [[ 9.86828080e-01 -1.61629649e-01 -6.79690593e-03 3.44388360e+01] [ 1.61624802e-01 9.86851476e-01 -1.26003175e-03 3.46906104e+00] [ 6.91119514e-03 1.44886134e-04 9.99976107e-01 6.35406919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.47, Y:3.48, Z:0.06 [[ 9.86642405e-01 -1.62759236e-01 -6.79667161e-03 3.44660384e+01] [ 1.62754408e-01 9.86665806e-01 -1.26129443e-03 3.47650561e+00] [ 6.91133078e-03 1.38258305e-04 9.99976107e-01 6.27261974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:3.48, Z:0.06 [[ 9.86353756e-01 -1.64499473e-01 -6.79643589e-03 3.44930829e+01] [ 1.64494677e-01 9.86377163e-01 -1.26256331e-03 3.48335549e+00] [ 6.91154015e-03 1.27356534e-04 9.99976107e-01 6.42305467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:3.49, Z:0.06 [[ 9.86012619e-01 -1.66532060e-01 -6.79619598e-03 3.45205613e+01] [ 1.66527304e-01 9.86036034e-01 -1.26385337e-03 3.49297225e+00] [ 6.91176624e-03 1.14423174e-04 9.99976107e-01 6.36181275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:3.50, Z:0.06 [[ 9.85903126e-01 -1.67179066e-01 -6.79598142e-03 3.45478083e+01] [ 1.67174317e-01 9.85926543e-01 -1.26500609e-03 3.49993819e+00] [ 6.91182100e-03 1.11059906e-04 9.99976107e-01 6.16892895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:3.51, Z:0.06 [[ 9.85820552e-01 -1.67665309e-01 -6.79590511e-03 3.45741948e+01] [ 1.67660569e-01 9.85843970e-01 -1.26541587e-03 3.50862537e+00] [ 6.91186842e-03 1.08067655e-04 9.99976107e-01 6.20341452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:3.52, Z:0.06 [[ 9.85872328e-01 -1.67360606e-01 -6.79566726e-03 3.46010169e+01] [ 1.67355849e-01 9.85895743e-01 -1.26669195e-03 3.51687500e+00] [ 6.91181375e-03 1.11501873e-04 9.99976107e-01 6.21789805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:3.53, Z:0.06 [[ 9.85974765e-01 -1.66756065e-01 -6.79542959e-03 3.46265438e+01] [ 1.66751285e-01 9.85998175e-01 -1.26796569e-03 3.52511434e+00] [ 6.91172214e-03 1.17035560e-04 9.99976107e-01 6.11261707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:3.54, Z:0.06 [[ 9.86191959e-01 -1.65466742e-01 -6.79532627e-03 3.46534803e+01] [ 1.65461928e-01 9.86215362e-01 -1.26851915e-03 3.53588323e+00] [ 6.91155289e-03 1.26635601e-04 9.99976107e-01 5.86319723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:3.54, Z:0.06 [[ 9.86256605e-01 -1.65080994e-01 -6.79512195e-03 3.46816581e+01] [ 1.65076163e-01 9.86280005e-01 -1.26961269e-03 3.54441394e+00] [ 6.91148184e-03 1.30451236e-04 9.99976107e-01 5.77356248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582640000000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.71, Y:3.55, Z:0.06 [[ 9.86386778e-01 -1.64301411e-01 -6.79490904e-03 3.47081604e+01] [ 1.64296554e-01 9.86410172e-01 -1.27075118e-03 3.55247652e+00] [ 6.91135360e-03 1.37072023e-04 9.99976107e-01 5.61164363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:3.56, Z:0.06 [[ 9.86412436e-01 -1.64147305e-01 -6.79466316e-03 3.47349989e+01] [ 1.64142435e-01 9.86435828e-01 -1.27206453e-03 3.56047822e+00] [ 6.91130514e-03 1.39487717e-04 9.99976107e-01 5.82978526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:3.57, Z:0.06 [[ 9.86524338e-01 -1.63473444e-01 -6.79441226e-03 3.47608190e+01] [ 1.63468549e-01 9.86547724e-01 -1.27340323e-03 3.57116833e+00] [ 6.91117956e-03 1.45570563e-04 9.99976107e-01 5.90544314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:3.58, Z:0.06 [[ 9.86515300e-01 -1.63527981e-01 -6.79427549e-03 3.47877497e+01] [ 1.63523083e-01 9.86538686e-01 -1.27413254e-03 3.57958457e+00] [ 6.91117193e-03 1.45930374e-04 9.99976107e-01 6.02720297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:3.59, Z:0.06 [[ 9.86409029e-01 -1.64167806e-01 -6.79402982e-03 3.48153706e+01] [ 1.64162914e-01 9.86432416e-01 -1.27544116e-03 3.58780570e+00] [ 6.91123763e-03 1.42778947e-04 9.99976107e-01 5.76706637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:3.60, Z:0.06 [[ 9.86230891e-01 -1.65234499e-01 -6.79635980e-03 3.48418542e+01] [ 1.65229717e-01 9.86254301e-01 -1.26303915e-03 3.59726755e+00] [ 6.91163673e-03 1.22687618e-04 9.99976107e-01 6.40049914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:3.60, Z:0.06 [[ 9.86086421e-01 -1.66094600e-01 -6.79367230e-03 3.48685637e+01] [ 1.66089740e-01 9.86109815e-01 -1.27733303e-03 3.60457846e+00] [ 6.91146505e-03 1.31201495e-04 9.99976107e-01 6.44647168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:3.61, Z:0.07 [[ 9.85953047e-01 -1.66884497e-01 -6.79359508e-03 3.48953137e+01] [ 1.66879653e-01 9.85976444e-01 -1.27774358e-03 3.61226938e+00] [ 6.91156032e-03 1.26082386e-04 9.99976107e-01 6.62311157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:3.62, Z:0.07 [[ 9.85809001e-01 -1.67733314e-01 -6.79334739e-03 3.49215268e+01] [ 1.67728482e-01 9.85832400e-01 -1.27905911e-03 3.62165112e+00] [ 6.91164279e-03 1.21470136e-04 9.99976107e-01 6.60930346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:3.63, Z:0.07 [[ 9.85690860e-01 -1.68426187e-01 -6.79327067e-03 3.49486362e+01] [ 1.68421368e-01 9.85714262e-01 -1.27946648e-03 3.62859617e+00] [ 6.91171944e-03 1.17026476e-04 9.99976107e-01 6.79411749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:3.64, Z:0.07 [[ 9.85626200e-01 -1.68804173e-01 -6.79302090e-03 3.49753723e+01] [ 1.68799353e-01 9.85649602e-01 -1.28079119e-03 3.63594751e+00] [ 6.91174124e-03 1.15723818e-04 9.99976107e-01 6.73495893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:3.64, Z:0.07 [[ 9.85513188e-01 -1.69462732e-01 -6.79258633e-03 3.50020947e+01] [ 1.69457912e-01 9.85536590e-01 -1.28309376e-03 3.64437284e+00] [ 6.91177894e-03 1.13448329e-04 9.99976107e-01 6.64116155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:3.66, Z:0.06 [[ 9.85264546e-01 -1.70902412e-01 -6.79269359e-03 3.50294882e+01] [ 1.70897630e-01 9.85287955e-01 -1.28252569e-03 3.65508651e+00] [ 6.91194591e-03 1.02771853e-04 9.99976107e-01 6.41771611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:3.66, Z:0.06 [[ 9.85086912e-01 -1.71923347e-01 -6.79248297e-03 3.50579869e+01] [ 1.71918582e-01 9.85110326e-01 -1.28364017e-03 3.66230598e+00] [ 6.91203283e-03 9.67430888e-05 9.99976107e-01 6.35695882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:3.67, Z:0.06 [[ 9.85036023e-01 -1.72214636e-01 -6.79359765e-03 3.50844176e+01] [ 1.72209919e-01 9.85059446e-01 -1.27774361e-03 3.66865216e+00] [ 6.91214369e-03 8.86985898e-05 9.99976107e-01 6.23587604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:3.68, Z:0.06 [[ 9.84827302e-01 -1.73404297e-01 -6.79223723e-03 3.51105995e+01] [ 1.73399559e-01 9.84850721e-01 -1.28493489e-03 3.67797554e+00] [ 6.91215296e-03 8.76680274e-05 9.99976107e-01 6.17455772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:3.69, Z:0.06 [[ 9.84708300e-01 -1.74078807e-01 -6.79216203e-03 3.51373002e+01] [ 1.74074082e-01 9.84731721e-01 -1.28533225e-03 3.68507322e+00] [ 6.91220651e-03 8.33379685e-05 9.99976107e-01 6.30774414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:3.69, Z:0.07 [[ 9.84585478e-01 -1.74772157e-01 -6.79192126e-03 3.51651752e+01] [ 1.74767439e-01 9.84608900e-01 -1.28660328e-03 3.69282610e+00] [ 6.91224855e-03 7.97642178e-05 9.99976107e-01 6.61975569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:3.70, Z:0.07 [[ 9.84534034e-01 -1.75061726e-01 -6.79170103e-03 3.51914606e+01] [ 1.75057007e-01 9.84557457e-01 -1.28776477e-03 3.69822121e+00] [ 6.91225822e-03 7.89133922e-05 9.99976107e-01 6.54386101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:3.70, Z:0.07 [[ 9.84407130e-01 -1.75773935e-01 -6.79159142e-03 3.52185338e+01] [ 1.75769229e-01 9.84430555e-01 -1.28834258e-03 3.70368610e+00] [ 6.91230716e-03 7.45008330e-05 9.99976107e-01 6.56736347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:3.71, Z:0.07 [[ 9.84285510e-01 -1.76453715e-01 -6.79134210e-03 3.52456672e+01] [ 1.76449016e-01 9.84308936e-01 -1.28965551e-03 3.70931347e+00] [ 6.91234322e-03 7.10636044e-05 9.99976107e-01 6.56260044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:3.72, Z:0.06 [[ 9.84022917e-01 -1.77912281e-01 -6.79108953e-03 3.52725211e+01] [ 1.77907608e-01 9.84046349e-01 -1.29098412e-03 3.71559240e+00] [ 6.91242879e-03 6.21714646e-05 9.99976107e-01 6.27007007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:3.72, Z:0.06 [[ 9.83889885e-01 -1.78646514e-01 -6.79101127e-03 3.53005833e+01] [ 1.78641855e-01 9.83913319e-01 -1.29139565e-03 3.72102008e+00] [ 6.91246977e-03 5.74322613e-05 9.99976107e-01 6.44071611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:3.73, Z:0.06 [[ 9.83739717e-01 -1.79471600e-01 -6.79078461e-03 3.53277571e+01] [ 1.79466953e-01 9.83763153e-01 -1.29258644e-03 3.72566713e+00] [ 6.91250624e-03 5.28471892e-05 9.99976107e-01 6.10786462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.36, Y:3.73, Z:0.06 [[ 9.83537407e-01 -1.80577005e-01 -6.79070402e-03 3.53557509e+01] [ 1.80572381e-01 9.83560849e-01 -1.29300970e-03 3.73009267e+00] [ 6.91255843e-03 4.55098149e-05 9.99976107e-01 6.09157527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:3.74, Z:0.06 [[ 9.83533790e-01 -1.80596708e-01 -6.79062878e-03 3.53828467e+01] [ 1.80592083e-01 9.83557231e-01 -1.29340472e-03 3.73578768e+00] [ 6.91255668e-03 4.57734535e-05 9.99976107e-01 6.32680898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:3.74, Z:0.06 [[ 9.83695890e-01 -1.79711676e-01 -6.79037774e-03 3.54099527e+01] [ 1.79707020e-01 9.83719325e-01 -1.29472134e-03 3.74132552e+00] [ 6.91250235e-03 5.33335117e-05 9.99976107e-01 6.25512705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.44, Y:3.75, Z:0.07 [[ 9.84423266e-01 -1.75683595e-01 -6.79029991e-03 3.54374288e+01] [ 1.75678840e-01 9.84446681e-01 -1.29512939e-03 3.74608608e+00] [ 6.91222120e-03 8.20434945e-05 9.99976107e-01 6.51967640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:35.46, Y:3.75, Z:0.06 [[ 9.84947822e-01 -1.72718510e-01 -6.79004403e-03 3.54637080e+01] [ 1.72713676e-01 9.84971221e-01 -1.29646952e-03 3.75132975e+00] [ 6.91192224e-03 1.04221365e-04 9.99976107e-01 6.47708289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:3.76, Z:0.07 [[ 9.86210433e-01 -1.65356822e-01 -6.78993318e-03 3.54909616e+01] [ 1.65351808e-01 9.86233794e-01 -1.29704984e-03 3.75952798e+00] [ 6.91093760e-03 1.56436355e-04 9.99976107e-01 6.69072666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:3.77, Z:0.07 [[ 9.86870909e-01 -1.61368231e-01 -6.78985478e-03 3.55179350e+01] [ 1.61363120e-01 9.86894250e-01 -1.29746013e-03 3.76737229e+00] [ 6.91023748e-03 1.84793505e-04 9.99976107e-01 6.74907309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:3.78, Z:0.07 [[ 9.87397851e-01 -1.58111928e-01 -6.78977707e-03 3.55449439e+01] [ 1.58106738e-01 9.87421174e-01 -1.29786666e-03 3.77536312e+00] [ 6.90957784e-03 2.08001250e-04 9.99976107e-01 6.76127182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:3.78, Z:0.07 [[ 9.87888287e-01 -1.55018176e-01 -6.78953399e-03 3.55719691e+01] [ 1.55012904e-01 9.87911591e-01 -1.29913703e-03 3.78269363e+00] [ 6.90884918e-03 2.30936872e-04 9.99976107e-01 6.78593375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:3.79, Z:0.07 [[ 9.88467042e-01 -1.51283877e-01 -6.78928852e-03 3.55986234e+01] [ 1.51278509e-01 9.88490325e-01 -1.30041859e-03 3.79216499e+00] [ 6.90787838e-03 2.58347477e-04 9.99976107e-01 6.82161424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:3.80, Z:0.07 [[ 9.88499315e-01 -1.51072874e-01 -6.78904453e-03 3.56260544e+01] [ 1.51067492e-01 9.88522594e-01 -1.30169114e-03 3.79950056e+00] [ 6.90777413e-03 2.61116874e-04 9.99976107e-01 6.96949214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:3.81, Z:0.07 [[ 9.88387450e-01 -1.51803034e-01 -6.78878861e-03 3.56526287e+01] [ 1.51797660e-01 9.88410731e-01 -1.30302451e-03 3.80634027e+00] [ 6.90791458e-03 2.57370848e-04 9.99976107e-01 6.93591726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:3.81, Z:0.07 [[ 9.87805081e-01 -1.55547538e-01 -6.78861406e-03 3.56797627e+01] [ 1.55542246e-01 9.87828381e-01 -1.30393325e-03 3.81481171e+00] [ 6.90880924e-03 2.32115612e-04 9.99976107e-01 6.90084224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692640000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.71, Y:3.82, Z:0.07 [[ 9.87395678e-01 -1.58125556e-01 -6.78849613e-03 3.57062875e+01] [ 1.58120320e-01 9.87418990e-01 -1.30454691e-03 3.82280692e+00] [ 6.90937220e-03 2.14704800e-04 9.99976107e-01 6.92303348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:3.83, Z:0.07 [[ 9.86976532e-01 -1.60721016e-01 -6.78825436e-03 3.57326708e+01] [ 1.60715833e-01 9.86999856e-01 -1.30580377e-03 3.83107204e+00] [ 6.90987618e-03 1.97817725e-04 9.99976107e-01 6.95681234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75264 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:35.76, Y:3.84, Z:0.07 [[ 9.86594921e-01 -1.63047181e-01 -6.78817895e-03 3.57597616e+01] [ 1.63042050e-01 9.86618256e-01 -1.30619565e-03 3.83910262e+00] [ 6.91031280e-03 1.81927376e-04 9.99976107e-01 7.01468091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:3.85, Z:0.07 [[ 9.86053631e-01 -1.66289392e-01 -6.78792753e-03 3.57867768e+01] [ 1.66284329e-01 9.86076981e-01 -1.30750091e-03 3.84665300e+00] [ 6.91084262e-03 1.60540049e-04 9.99976107e-01 7.10636515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:3.85, Z:0.07 [[ 9.85912126e-01 -1.67126319e-01 -6.78767095e-03 3.58125504e+01] [ 1.67121267e-01 9.85935479e-01 -1.30883156e-03 3.85308385e+00] [ 6.91094581e-03 1.56028738e-04 9.99976107e-01 7.01884539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:3.86, Z:0.07 [[ 9.85880177e-01 -1.67314688e-01 -6.78755893e-03 3.58404865e+01] [ 1.67309637e-01 9.85903530e-01 -1.30941222e-03 3.85866336e+00] [ 6.91096221e-03 1.55299536e-04 9.99976107e-01 7.03853613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:3.87, Z:0.07 [[ 9.85780712e-01 -1.67899735e-01 -6.78730850e-03 3.58676016e+01] [ 1.67894689e-01 9.85804066e-01 -1.31070903e-03 3.86653847e+00] [ 6.91102401e-03 1.52518636e-04 9.99976107e-01 7.00883687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:3.87, Z:0.07 [[ 9.85694663e-01 -1.68404178e-01 -6.78705828e-03 3.58938168e+01] [ 1.68399134e-01 9.85718018e-01 -1.31200344e-03 3.87479885e+00] [ 6.91107249e-03 1.50300047e-04 9.99976107e-01 6.94744649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932640000000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.92, Y:3.89, Z:0.07 [[ 9.85642268e-01 -1.68710573e-01 -6.78694921e-03 3.59206922e+01] [ 1.68705533e-01 9.85665623e-01 -1.31256740e-03 3.88664437e+00] [ 6.91110652e-03 1.48726019e-04 9.99976107e-01 6.81520217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:35.95, Y:3.90, Z:0.07 [[ 9.85574807e-01 -1.69104226e-01 -6.78673289e-03 3.59467747e+01] [ 1.69099187e-01 9.85598163e-01 -1.31368493e-03 3.89521428e+00] [ 6.91114115e-03 1.47103762e-04 9.99976107e-01 6.78921434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:3.91, Z:0.07 [[ 9.85361967e-01 -1.70340057e-01 -6.78662528e-03 3.59734762e+01] [ 1.70335044e-01 9.85385328e-01 -1.31424065e-03 3.90585017e+00] [ 6.91130881e-03 1.39002634e-04 9.99976107e-01 6.96247972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.00, Y:3.91, Z:0.07 [[ 9.85141001e-01 -1.71613375e-01 -6.78654885e-03 3.60007270e+01] [ 1.71608389e-01 9.85164368e-01 -1.31463521e-03 3.91400335e+00] [ 6.91147509e-03 1.30472332e-04 9.99976107e-01 7.08403476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:3.92, Z:0.07 [[ 9.84842824e-01 -1.73316355e-01 -6.78629658e-03 3.60272356e+01] [ 1.73311401e-01 9.84866197e-01 -1.31593614e-03 3.92134789e+00] [ 6.91166737e-03 1.19847700e-04 9.99976107e-01 7.12205761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:3.93, Z:0.07 [[ 9.84495154e-01 -1.75280456e-01 -6.78621808e-03 3.60542237e+01] [ 1.75275546e-01 9.84518537e-01 -1.31634087e-03 3.92825696e+00] [ 6.91188632e-03 1.06473126e-04 9.99976107e-01 7.17179287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:3.94, Z:0.07 [[ 9.83659152e-01 -1.79912817e-01 -6.78614202e-03 3.60801908e+01] [ 1.79908014e-01 9.83682557e-01 -1.31673286e-03 3.93633115e+00] [ 6.91230665e-03 7.43349948e-05 9.99976107e-01 7.11147165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:3.94, Z:0.07 [[ 9.83219730e-01 -1.82298969e-01 -6.78589984e-03 3.61077565e+01] [ 1.82294214e-01 9.83243145e-01 -1.31797977e-03 3.94339650e+00] [ 6.91245585e-03 5.88334380e-05 9.99976107e-01 7.19694580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:3.95, Z:0.07 [[ 9.82856071e-01 -1.84249554e-01 -6.78564588e-03 3.61345371e+01] [ 1.84244837e-01 9.82879494e-01 -1.31928602e-03 3.94979840e+00] [ 6.91255004e-03 4.64480525e-05 9.99976107e-01 7.00689381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:3.96, Z:0.07 [[ 9.82147711e-01 -1.87988911e-01 -6.78552664e-03 3.61614527e+01] [ 1.87984278e-01 9.82171151e-01 -1.31989901e-03 3.95601485e+00] [ 6.91267488e-03 2.07634643e-05 9.99976107e-01 7.02743837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:3.96, Z:0.07 [[ 9.81800208e-01 -1.89795446e-01 -6.78527735e-03 3.61886413e+01] [ 1.89790848e-01 9.81823655e-01 -1.32117930e-03 3.96218197e+00] [ 6.91269962e-03 9.35056727e-06 9.99976107e-01 7.20756342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:3.97, Z:0.07 [[ 9.81552171e-01 -1.91074069e-01 -6.78501682e-03 3.62146516e+01] [ 1.91069492e-01 9.81575621e-01 -1.32251591e-03 3.96837734e+00] [ 6.91270560e-03 1.70864536e-06 9.99976107e-01 7.06499203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292640000000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.24, Y:3.98, Z:0.07 [[ 9.81303215e-01 -1.92348550e-01 -6.78490367e-03 3.62421510e+01] [ 1.92343999e-01 9.81326671e-01 -1.32309618e-03 3.97589193e+00] [ 6.91270256e-03 -6.67697474e-06 9.99976107e-01 7.11984492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:3.98, Z:0.07 [[ 9.81302713e-01 -1.92351122e-01 -6.78465250e-03 3.62708169e+01] [ 1.92346562e-01 9.81326167e-01 -1.32438287e-03 3.98152708e+00] [ 6.91270356e-03 -5.38407851e-06 9.99976107e-01 7.25838079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.30, Y:3.99, Z:0.07 [[ 9.81371555e-01 -1.91999592e-01 -6.78442627e-03 3.62974903e+01] [ 1.91995016e-01 9.81395005e-01 -1.32554078e-03 3.98654287e+00] [ 6.91270534e-03 -1.72801279e-06 9.99976107e-01 7.11665033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:3.99, Z:0.07 [[ 9.81701358e-01 -1.90306113e-01 -6.78431327e-03 3.63248011e+01] [ 1.90301493e-01 9.81724800e-01 -1.32611884e-03 3.99301416e+00] [ 6.91269712e-03 1.07877201e-05 9.99976107e-01 7.18315712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:4.00, Z:0.07 [[ 9.81906900e-01 -1.89242742e-01 -6.78406624e-03 3.63516387e+01] [ 1.89238088e-01 9.81930336e-01 -1.32738142e-03 3.99984016e+00] [ 6.91267774e-03 1.95612527e-05 9.99976107e-01 7.30366012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:4.01, Z:0.07 [[ 9.82125403e-01 -1.88105483e-01 -6.78381031e-03 3.63779820e+01] [ 1.88100793e-01 9.82148831e-01 -1.32868807e-03 4.00664764e+00] [ 6.91264488e-03 2.88982074e-05 9.99976107e-01 7.21143505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:4.01, Z:0.07 [[ 9.82513822e-01 -1.86066038e-01 -6.78369892e-03 3.64044073e+01] [ 1.86061295e-01 9.82537240e-01 -1.32925656e-03 4.01492392e+00] [ 6.91256631e-03 4.38291402e-05 9.99976107e-01 7.31628171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:4.02, Z:0.07 [[ 9.82556813e-01 -1.85838894e-01 -6.78344623e-03 3.64320885e+01] [ 1.85834136e-01 9.82580227e-01 -1.33054484e-03 4.02170942e+00] [ 6.91254712e-03 4.67400248e-05 9.99976107e-01 7.41529541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:4.03, Z:0.07 [[ 9.82551704e-01 -1.85865912e-01 -6.78319191e-03 3.64590167e+01] [ 1.85861146e-01 9.82575117e-01 -1.33184011e-03 4.02777376e+00] [ 6.91253926e-03 4.78699511e-05 9.99976107e-01 7.47597053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:4.03, Z:0.08 [[ 9.82258430e-01 -1.87409624e-01 -6.78311308e-03 3.64864090e+01] [ 1.87404892e-01 9.82281849e-01 -1.33224147e-03 4.03351229e+00] [ 6.91260373e-03 3.74168443e-05 9.99976107e-01 7.56760365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:4.04, Z:0.08 [[ 9.81977184e-01 -1.88877739e-01 -6.78303512e-03 3.65133661e+01] [ 1.88873039e-01 9.82000611e-01 -1.33263830e-03 4.03888208e+00] [ 6.91265033e-03 2.74879502e-05 9.99976107e-01 7.74912885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:4.04, Z:0.08 [[ 9.81619648e-01 -1.90727189e-01 -6.78277376e-03 3.65406010e+01] [ 1.90722524e-01 9.81643081e-01 -1.33396720e-03 4.04429201e+00] [ 6.91268675e-03 1.58206827e-05 9.99976107e-01 7.80763196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:4.05, Z:0.08 [[ 9.81217087e-01 -1.92787515e-01 -6.78251051e-03 3.65673187e+01] [ 1.92782891e-01 9.81240528e-01 -1.33530435e-03 4.04971731e+00] [ 6.91270420e-03 2.67146315e-06 9.99976107e-01 7.81589541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:4.05, Z:0.08 [[ 9.80368329e-01 -1.97058213e-01 -6.78239622e-03 3.65949565e+01] [ 1.97053687e-01 9.80391789e-01 -1.33588461e-03 4.05448351e+00] [ 6.91265260e-03 -2.68372202e-05 9.99976107e-01 7.91010779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:4.06, Z:0.08 [[ 9.79937764e-01 -1.99188305e-01 -6.78213714e-03 3.66220072e+01] [ 1.99183821e-01 9.79961233e-01 -1.33719864e-03 4.05877477e+00] [ 6.91258580e-03 -4.05205490e-05 9.99976107e-01 7.94344520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:4.06, Z:0.08 [[ 9.79454858e-01 -2.01549459e-01 -6.78205669e-03 3.66493670e+01] [ 2.01545028e-01 9.79478337e-01 -1.33760657e-03 4.06248583e+00] [ 6.91247148e-03 -5.67645531e-05 9.99976107e-01 7.96725333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:36.68, Y:4.07, Z:0.08 [[ 9.79030566e-01 -2.03600485e-01 -6.78179547e-03 3.66767738e+01] [ 2.03596094e-01 9.79054053e-01 -1.33892965e-03 4.06549188e+00] [ 6.91235106e-03 -6.98940159e-05 9.99976107e-01 7.73921952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.71, Y:4.07, Z:0.08 [[ 9.78369558e-01 -2.06753518e-01 -6.78171461e-03 3.67063451e+01] [ 2.06749200e-01 9.78393057e-01 -1.33933910e-03 4.06652699e+00] [ 6.91209556e-03 -9.17454699e-05 9.99976107e-01 7.68803310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.73, Y:4.07, Z:0.08 [[ 9.78173452e-01 -2.07679341e-01 -6.78148611e-03 3.67334977e+01] [ 2.07675038e-01 9.78196954e-01 -1.34049507e-03 4.06998805e+00] [ 6.91202219e-03 -9.71086930e-05 9.99976107e-01 7.51481759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:4.07, Z:0.07 [[ 9.77969132e-01 -2.08639378e-01 -6.78130864e-03 3.67615944e+01] [ 2.08635091e-01 9.77992638e-01 -1.34139222e-03 4.07368231e+00] [ 6.91193717e-03 -1.02978761e-04 9.99976107e-01 7.13021939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:4.07, Z:0.08 [[ 9.78012539e-01 -2.08435762e-01 -6.78281821e-03 3.67902507e+01] [ 2.08431523e-01 9.78036053e-01 -1.33376536e-03 4.07341462e+00] [ 6.91184515e-03 -1.09313886e-04 9.99976107e-01 7.68938293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.82, Y:4.08, Z:0.08 [[ 9.78086284e-01 -2.08089503e-01 -6.78086926e-03 3.68179228e+01] [ 2.08085188e-01 9.78109784e-01 -1.34360130e-03 4.07591443e+00] [ 6.91202390e-03 -9.68404541e-05 9.99976107e-01 7.77142464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:4.08, Z:0.08 [[ 9.78286000e-01 -2.07148560e-01 -6.78059803e-03 3.68453969e+01] [ 2.07144213e-01 9.78309494e-01 -1.34496873e-03 4.07795314e+00] [ 6.91213176e-03 -8.87975649e-05 9.99976107e-01 7.80680311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:4.08, Z:0.08 [[ 9.78495809e-01 -2.06155225e-01 -6.78051369e-03 3.68731760e+01] [ 2.06150851e-01 9.78519298e-01 -1.34539376e-03 4.08037429e+00] [ 6.91222345e-03 -8.13465142e-05 9.99976107e-01 7.94402523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:4.08, Z:0.08 [[ 9.79380615e-01 -2.01909977e-01 -6.78024905e-03 3.69010779e+01] [ 2.01905492e-01 9.79404083e-01 -1.34672613e-03 4.08013937e+00] [ 6.91252105e-03 -5.00120502e-05 9.99976107e-01 7.88409670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:4.08, Z:0.08 [[ 9.79876086e-01 -1.99491567e-01 -6.78013421e-03 3.69284673e+01] [ 1.99487020e-01 9.79899543e-01 -1.34730404e-03 4.08343619e+00] [ 6.91262621e-03 -3.23577575e-05 9.99976107e-01 7.70129436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:4.09, Z:0.08 [[ 9.80465624e-01 -1.96573628e-01 -6.78002042e-03 3.69562780e+01] [ 1.96569007e-01 9.80489066e-01 -1.34787641e-03 4.08761278e+00] [ 6.91269285e-03 -1.11953982e-05 9.99976107e-01 7.75383039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:4.09, Z:0.08 [[ 9.81118534e-01 -1.93288531e-01 -6.77976899e-03 3.69839142e+01] [ 1.93283823e-01 9.81141959e-01 -1.34913993e-03 4.09214722e+00] [ 6.91268910e-03 1.32465150e-05 9.99976107e-01 7.97896532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:4.10, Z:0.08 [[ 9.82715931e-01 -1.84995776e-01 -6.77950539e-03 3.70112837e+01] [ 1.84990861e-01 9.82739313e-01 -1.35046324e-03 4.09512490e+00] [ 6.91231646e-03 7.29751986e-05 9.99976107e-01 8.06551634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:4.10, Z:0.08 [[ 9.83516265e-01 -1.80692547e-01 -6.77942338e-03 3.70392553e+01] [ 1.80687527e-01 9.83539624e-01 -1.35087482e-03 4.09975755e+00] [ 6.91192453e-03 1.03650114e-04 9.99976107e-01 8.22126374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:4.10, Z:0.08 [[ 9.84342221e-01 -1.76137545e-01 -6.77916321e-03 3.70664921e+01] [ 1.76132408e-01 9.84365555e-01 -1.35217916e-03 4.10468533e+00] [ 6.91134428e-03 1.36976699e-04 9.99976107e-01 8.29683171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:4.11, Z:0.08 [[ 9.85702308e-01 -1.68359750e-01 -6.77904116e-03 3.70936954e+01] [ 1.68354424e-01 9.85725600e-01 -1.35279077e-03 4.11241021e+00] [ 6.91002993e-03 1.92167412e-04 9.99976107e-01 8.44391235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:4.12, Z:0.08 [[ 9.86280439e-01 -1.64939213e-01 -6.77877861e-03 3.71196943e+01] [ 1.64933798e-01 9.86303710e-01 -1.35410514e-03 4.12030954e+00] [ 6.90927953e-03 2.17477706e-04 9.99976107e-01 8.23375135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:4.13, Z:0.08 [[ 9.86705551e-01 -1.62376738e-01 -6.77866459e-03 3.71462560e+01] [ 1.62371259e-01 9.86728807e-01 -1.35467565e-03 4.12891982e+00] [ 6.90867144e-03 2.36005684e-04 9.99976107e-01 8.40802376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31264 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:37.17, Y:4.14, Z:0.08 [[ 9.87039961e-01 -1.60331433e-01 -6.77840962e-03 3.71735394e+01] [ 1.60325897e-01 9.87063204e-01 -1.35595026e-03 4.13691253e+00] [ 6.90812017e-03 2.51622490e-04 9.99976107e-01 8.33495047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:4.15, Z:0.08 [[ 9.87163690e-01 -1.59567865e-01 -6.77833034e-03 3.72010485e+01] [ 1.59562308e-01 9.87186928e-01 -1.35634646e-03 4.14804982e+00] [ 6.90790841e-03 2.57369942e-04 9.99976107e-01 8.35689358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:4.16, Z:0.08 [[ 9.87117068e-01 -1.59856033e-01 -6.77810359e-03 3.72273387e+01] [ 1.59850475e-01 9.87140306e-01 -1.35747869e-03 4.15637090e+00] [ 6.90794040e-03 2.56507301e-04 9.99976107e-01 8.22372371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402640000000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:37.25, Y:4.16, Z:0.08 [[ 9.86998614e-01 -1.60585785e-01 -6.77799074e-03 3.72538369e+01] [ 1.60580241e-01 9.87021855e-01 -1.35804190e-03 4.16453717e+00] [ 6.90810722e-03 2.51974090e-04 9.99976107e-01 8.29790748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:4.18, Z:0.08 [[ 9.86435982e-01 -1.64006453e-01 -6.77773078e-03 3.72790436e+01] [ 1.64000980e-01 9.86459239e-01 -1.35933807e-03 4.17623022e+00] [ 6.90889537e-03 2.29345492e-04 9.99976107e-01 8.26753324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:4.19, Z:0.08 [[ 9.86040014e-01 -1.66370542e-01 -6.77747261e-03 3.73065065e+01] [ 1.66365115e-01 9.86063282e-01 -1.36062404e-03 4.18530832e+00] [ 6.90938465e-03 2.14094737e-04 9.99976107e-01 8.45945958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.33, Y:4.19, Z:0.08 [[ 9.85586155e-01 -1.69038459e-01 -6.77724566e-03 3.73332080e+01] [ 1.69033088e-01 9.85609436e-01 -1.36175355e-03 4.19473506e+00] [ 6.90990600e-03 1.96546684e-04 9.99976107e-01 8.49867805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:4.21, Z:0.08 [[ 9.84700842e-01 -1.74121581e-01 -6.77698543e-03 3.73587947e+01] [ 1.74116322e-01 9.84724148e-01 -1.36304743e-03 4.20654223e+00] [ 6.91079718e-03 1.62210172e-04 9.99976107e-01 8.37966230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:4.22, Z:0.09 [[ 9.84215007e-01 -1.76847093e-01 -6.77687205e-03 3.73854149e+01] [ 1.76841894e-01 9.84238327e-01 -1.36361090e-03 4.21525014e+00] [ 6.91120783e-03 1.43651422e-04 9.99976107e-01 8.53846713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:4.23, Z:0.08 [[ 9.83508340e-01 -1.80735783e-01 -6.77660546e-03 3.74101046e+01] [ 1.80730667e-01 9.83531679e-01 -1.36493443e-03 4.22849968e+00] [ 6.91169864e-03 1.17683968e-04 9.99976107e-01 8.36918043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:4.24, Z:0.09 [[ 9.83178518e-01 -1.82521455e-01 -6.77648936e-03 3.74371203e+01] [ 1.82516378e-01 9.83201865e-01 -1.36551058e-03 4.23831390e+00] [ 6.91189196e-03 1.05720376e-04 9.99976107e-01 8.52984233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:4.25, Z:0.08 [[ 9.82919345e-01 -1.83912053e-01 -6.77625172e-03 3.74629114e+01] [ 1.83907001e-01 9.82942698e-01 -1.36668886e-03 4.24727495e+00] [ 6.91201770e-03 9.71447894e-05 9.99976107e-01 8.35922234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:37.49, Y:4.26, Z:0.08 [[ 9.82705305e-01 -1.85052339e-01 -6.77606566e-03 3.74889533e+01] [ 1.85047307e-01 9.82728662e-01 -1.36761073e-03 4.25597566e+00] [ 6.91211350e-03 9.00656148e-05 9.99976107e-01 8.30083517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:37.52, Y:4.27, Z:0.08 [[ 9.82190002e-01 -1.87768172e-01 -6.77588961e-03 3.75158725e+01] [ 1.87763199e-01 9.82213372e-01 -1.36848240e-03 4.26824226e+00] [ 6.91232682e-03 7.18470180e-05 9.99976107e-01 8.12107916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:4.28, Z:0.08 [[ 9.81816621e-01 -1.89710865e-01 -6.77566527e-03 3.75434432e+01] [ 1.89705931e-01 9.81839999e-01 -1.36959230e-03 4.27679381e+00] [ 6.91244572e-03 5.93045958e-05 9.99976107e-01 8.15177824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:4.28, Z:0.08 [[ 9.81779573e-01 -1.89902508e-01 -6.77543135e-03 3.75713130e+01] [ 1.89897570e-01 9.81802951e-01 -1.37074849e-03 4.28262658e+00] [ 6.91244707e-03 5.91349175e-05 9.99976107e-01 8.17146538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:4.29, Z:0.08 [[ 9.81417391e-01 -1.91765485e-01 -6.77516354e-03 3.75993531e+01] [ 1.91760582e-01 9.81440776e-01 -1.37207095e-03 4.29111790e+00] [ 6.91253761e-03 4.73649910e-05 9.99976107e-01 8.12071595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:4.30, Z:0.08 [[ 9.81076139e-01 -1.93503770e-01 -6.77492740e-03 3.76262913e+01] [ 1.93498901e-01 9.81099531e-01 -1.37323592e-03 4.29937181e+00] [ 6.91260443e-03 3.63079929e-05 9.99976107e-01 8.06177540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:4.31, Z:0.08 [[ 9.80308774e-01 -1.97354532e-01 -6.77465855e-03 3.76526277e+01] [ 1.97349745e-01 9.80332183e-01 -1.37456098e-03 4.31115813e+00] [ 6.91269165e-03 1.05170543e-05 9.99976107e-01 7.85102722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:4.32, Z:0.08 [[ 9.79834693e-01 -1.99694965e-01 -6.77457546e-03 3.76806143e+01] [ 1.99690232e-01 9.79858113e-01 -1.37497038e-03 4.31917459e+00] [ 6.91269739e-03 -5.57286718e-06 9.99976107e-01 8.05746646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:4.33, Z:0.08 [[ 9.79291047e-01 -2.02344144e-01 -6.77434140e-03 3.77076220e+01] [ 2.02339466e-01 9.79314478e-01 -1.37612263e-03 4.32619864e+00] [ 6.91266096e-03 -2.30920499e-05 9.99976107e-01 8.10742863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942640000000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:37.73, Y:4.33, Z:0.08 [[ 9.78404578e-01 -2.06587974e-01 -6.77425824e-03 3.77344000e+01] [ 2.06583394e-01 9.78428028e-01 -1.37653186e-03 4.33177083e+00] [ 6.91249906e-03 -5.26441897e-05 9.99976107e-01 8.20510867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:4.34, Z:0.08 [[ 9.77941061e-01 -2.08771150e-01 -6.77411353e-03 3.77615824e+01] [ 2.08766618e-01 9.77964520e-01 -1.37724363e-03 4.33793809e+00] [ 6.91237142e-03 -6.73456716e-05 9.99976107e-01 8.39338572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.79, Y:4.34, Z:0.09 [[ 9.77700843e-01 -2.09893252e-01 -6.77385201e-03 3.77899830e+01] [ 2.09888738e-01 9.77724305e-01 -1.37852871e-03 4.34435937e+00] [ 6.91230362e-03 -7.39665636e-05 9.99976107e-01 8.53754488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.82, Y:4.35, Z:0.09 [[ 9.77378123e-01 -2.11390926e-01 -6.77361788e-03 3.78166221e+01] [ 2.11386440e-01 9.77401591e-01 -1.37967818e-03 4.35105570e+00] [ 6.91219634e-03 -8.33837056e-05 9.99976107e-01 8.51227887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:4.36, Z:0.09 [[ 9.77316610e-01 -2.11675138e-01 -6.77349303e-03 3.78437635e+01] [ 2.11670654e-01 9.77340078e-01 -1.38029085e-03 4.35705326e+00] [ 6.91217946e-03 -8.47685243e-05 9.99976107e-01 8.54522202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:37.87, Y:4.36, Z:0.09 [[ 9.77404043e-01 -2.11271057e-01 -6.77323655e-03 3.78708053e+01] [ 2.11266555e-01 9.77427508e-01 -1.38154827e-03 4.36314333e+00] [ 6.91222889e-03 -8.06274940e-05 9.99976107e-01 8.76291438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:4.37, Z:0.09 [[ 9.77507835e-01 -2.10790320e-01 -6.77296717e-03 3.78982883e+01] [ 2.10785797e-01 9.77531296e-01 -1.38286761e-03 4.36925665e+00] [ 6.91228249e-03 -7.58813579e-05 9.99976107e-01 8.88088655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:4.37, Z:0.09 [[ 9.77923663e-01 -2.08852673e-01 -6.77269704e-03 3.79251741e+01] [ 2.08848095e-01 9.77947114e-01 -1.38418937e-03 4.37277761e+00] [ 6.91243117e-03 -6.08333373e-05 9.99976107e-01 8.79042130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:4.38, Z:0.09 [[ 9.78150641e-01 -2.07787045e-01 -6.77257977e-03 3.79529183e+01] [ 2.07782437e-01 9.78174085e-01 -1.38476290e-03 4.37764992e+00] [ 6.91249781e-03 -5.27164139e-05 9.99976107e-01 8.61522140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.98, Y:4.38, Z:0.09 [[ 9.78412832e-01 -2.06548940e-01 -6.77245461e-03 3.79804202e+01] [ 2.06544298e-01 9.78436270e-01 -1.38537473e-03 4.38275729e+00] [ 6.91256291e-03 -4.33434668e-05 9.99976107e-01 8.75959392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:4.39, Z:0.09 [[ 9.78538468e-01 -2.05952918e-01 -6.77218545e-03 3.80074648e+01] [ 2.05948253e-01 9.78561901e-01 -1.38668926e-03 4.38810522e+00] [ 6.91259536e-03 -3.77909732e-05 9.99976107e-01 8.81711322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:4.39, Z:0.09 [[ 9.78801359e-01 -2.04699879e-01 -6.77191652e-03 3.80349783e+01] [ 2.04695175e-01 9.78824785e-01 -1.38800131e-03 4.39039815e+00] [ 6.91264343e-03 -2.76010689e-05 9.99976107e-01 8.80404715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:4.39, Z:0.09 [[ 9.78792959e-01 -2.04740043e-01 -6.77179161e-03 3.80627214e+01] [ 2.04735336e-01 9.78816384e-01 -1.38861048e-03 4.39430850e+00] [ 6.91264475e-03 -2.72628715e-05 9.99976107e-01 8.82074636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:4.40, Z:0.09 [[ 9.78883308e-01 -2.04307648e-01 -6.77153081e-03 3.80906909e+01] [ 2.04302921e-01 9.78906729e-01 -1.38988109e-03 4.39657076e+00] [ 6.91266041e-03 -2.29121260e-05 9.99976107e-01 9.01484725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.12, Y:4.40, Z:0.09 [[ 9.79062730e-01 -2.03446115e-01 -6.77125684e-03 3.81184579e+01] [ 2.03441358e-01 9.79086144e-01 -1.39121453e-03 4.40086229e+00] [ 6.91268095e-03 -1.54673903e-05 9.99976107e-01 8.87513349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:4.41, Z:0.09 [[ 9.79221876e-01 -2.02678735e-01 -6.77117189e-03 3.81460554e+01] [ 2.02673957e-01 9.79245286e-01 -1.39162789e-03 4.40515847e+00] [ 6.91269153e-03 -9.62772615e-06 9.99976107e-01 9.16701947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:4.41, Z:0.09 [[ 9.79441590e-01 -2.01614300e-01 -6.77089530e-03 3.81739487e+01] [ 2.01609488e-01 9.79464994e-01 -1.39297231e-03 4.40825896e+00] [ 6.91269806e-03 -7.41721798e-07 9.99976107e-01 9.13416339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:4.41, Z:0.09 [[ 9.80094548e-01 -1.98415810e-01 -6.77080933e-03 3.82016244e+01] [ 1.98410918e-01 9.80117935e-01 -1.39339008e-03 4.41005072e+00] [ 6.91266228e-03 2.22515231e-05 9.99976107e-01 9.24174337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:4.42, Z:0.09 [[ 9.80391009e-01 -1.96945744e-01 -6.77072572e-03 3.82299335e+01] [ 1.96940814e-01 9.80414388e-01 -1.39379624e-03 4.41558623e+00] [ 6.91261915e-03 3.30330678e-05 9.99976107e-01 9.47674894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:4.42, Z:0.09 [[ 9.80720859e-01 -1.95296586e-01 -6.77048637e-03 3.82567948e+01] [ 1.95291610e-01 9.80744228e-01 -1.39495790e-03 4.42071299e+00] [ 6.91254595e-03 4.58451317e-05 9.99976107e-01 9.49528204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:4.43, Z:0.10 [[ 9.81038308e-01 -1.93695637e-01 -6.77040140e-03 3.82843350e+01] [ 1.93690619e-01 9.81061668e-01 -1.39537021e-03 4.42568485e+00] [ 6.91245841e-03 5.75483898e-05 9.99976107e-01 9.52063577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:4.43, Z:0.10 [[ 9.81730110e-01 -1.90158242e-01 -6.77012815e-03 3.83111023e+01] [ 1.90153131e-01 9.81753450e-01 -1.39669471e-03 4.43117870e+00] [ 6.91218968e-03 8.38161905e-05 9.99976107e-01 9.55003555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:4.44, Z:0.10 [[ 9.82000208e-01 -1.88758466e-01 -6.76994201e-03 3.83385241e+01] [ 1.88753316e-01 9.82023540e-01 -1.39759638e-03 4.43786565e+00] [ 6.91205056e-03 9.45909339e-05 9.99976107e-01 9.56637352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.37, Y:4.44, Z:0.09 [[ 9.82549041e-01 -1.85880484e-01 -6.76966814e-03 3.83663193e+01] [ 1.85875256e-01 9.82572355e-01 -1.39892170e-03 4.44395301e+00] [ 6.91172100e-03 1.16195375e-04 9.99976107e-01 9.39741560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:4.45, Z:0.09 [[ 9.82684194e-01 -1.85164657e-01 -6.76939229e-03 3.83929067e+01] [ 1.85159403e-01 9.82707502e-01 -1.40025524e-03 4.45090831e+00] [ 6.91161037e-03 1.22592054e-04 9.99976107e-01 9.26519873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692640000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.42, Y:4.46, Z:0.09 [[ 9.82827606e-01 -1.84401937e-01 -6.76926336e-03 3.84200399e+01] [ 1.84396660e-01 9.82850909e-01 -1.40087824e-03 4.45890295e+00] [ 6.91150131e-03 1.28592252e-04 9.99976107e-01 9.33258336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:4.47, Z:0.09 [[ 9.82861540e-01 -1.84220991e-01 -6.76898864e-03 3.84465751e+01] [ 1.84215701e-01 9.82884840e-01 -1.40220444e-03 4.46744606e+00] [ 6.91145181e-03 1.31218831e-04 9.99976107e-01 9.19995011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:4.48, Z:0.09 [[ 9.82645569e-01 -1.85369546e-01 -6.76890352e-03 3.84730604e+01] [ 1.85364280e-01 9.82668874e-01 -1.40261525e-03 4.47646423e+00] [ 6.91159295e-03 1.23560726e-04 9.99976107e-01 9.21962379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:4.48, Z:0.09 [[ 9.82343853e-01 -1.86961867e-01 -6.76862803e-03 3.85002053e+01] [ 1.86956631e-01 9.82367165e-01 -1.40394341e-03 4.48321216e+00] [ 6.91176181e-03 1.13715284e-04 9.99976107e-01 9.16805318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:4.49, Z:0.09 [[ 9.81855374e-01 -1.89510453e-01 -6.76854240e-03 3.85271805e+01] [ 1.89505274e-01 9.81878699e-01 -1.40435610e-03 4.49037248e+00] [ 6.91202777e-03 9.62001015e-05 9.99976107e-01 9.20512822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:4.50, Z:0.09 [[ 9.80606186e-01 -1.95871635e-01 -6.76827635e-03 3.85541914e+01] [ 1.95866599e-01 9.80629543e-01 -1.40563716e-03 4.49810629e+00] [ 6.91249619e-03 5.26972269e-05 9.99976107e-01 9.42691064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:4.50, Z:0.10 [[ 9.79863153e-01 -1.99555489e-01 -6.76819361e-03 3.85820221e+01] [ 1.99550537e-01 9.79886527e-01 -1.40603548e-03 4.50366610e+00] [ 6.91264382e-03 2.71256828e-05 9.99976107e-01 9.68965939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:4.51, Z:0.10 [[ 9.79072739e-01 -2.03398048e-01 -6.76795235e-03 3.86089982e+01] [ 2.03393180e-01 9.79096131e-01 -1.40719580e-03 4.50884084e+00] [ 6.91269684e-03 1.19169132e-06 9.99976107e-01 9.73742473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:4.51, Z:0.10 [[ 9.77636237e-01 -2.10194160e-01 -6.76786684e-03 3.86368544e+01] [ 2.10189452e-01 9.77659661e-01 -1.40760692e-03 4.51415229e+00] [ 6.91254116e-03 -4.64066891e-05 9.99976107e-01 9.92771119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:4.52, Z:0.10 [[ 9.77001142e-01 -2.13126649e-01 -6.76762972e-03 3.86641296e+01] [ 2.13122004e-01 9.77024578e-01 -1.40874605e-03 4.51889587e+00] [ 6.91238190e-03 -6.59843099e-05 9.99976107e-01 9.97907057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:4.52, Z:0.10 [[ 9.76425275e-01 -2.15749586e-01 -6.76750241e-03 3.86923223e+01] [ 2.15744999e-01 9.76448723e-01 -1.40935737e-03 4.52309011e+00] [ 6.91218736e-03 -8.39226415e-05 9.99976107e-01 1.00638971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:4.53, Z:0.10 [[ 9.75656056e-01 -2.19201883e-01 -6.76722582e-03 3.87193257e+01] [ 2.19197370e-01 9.75679519e-01 -1.41068424e-03 4.52521512e+00] [ 6.91186827e-03 -1.07015480e-04 9.99976107e-01 9.94753135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:4.53, Z:0.10 [[ 9.75432173e-01 -2.20196007e-01 -6.76710565e-03 3.87465093e+01] [ 2.20191514e-01 9.75455640e-01 -1.41126046e-03 4.52982222e+00] [ 6.91176529e-03 -1.13470378e-04 9.99976107e-01 9.90905806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:4.53, Z:0.10 [[ 9.75374213e-01 -2.20452613e-01 -6.76683256e-03 3.87741911e+01] [ 2.20448117e-01 9.75397679e-01 -1.41256866e-03 4.53349826e+00] [ 6.91175723e-03 -1.13952453e-04 9.99976107e-01 9.68225949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:4.54, Z:0.10 [[ 9.75359010e-01 -2.20519869e-01 -6.76670823e-03 3.88023322e+01] [ 2.20515370e-01 9.75382476e-01 -1.41316399e-03 4.53688662e+00] [ 6.91175937e-03 -1.13820940e-04 9.99976107e-01 9.64267440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:4.54, Z:0.09 [[ 9.75616444e-01 -2.19378142e-01 -6.76643723e-03 3.88304925e+01] [ 2.19373607e-01 9.75639903e-01 -1.41446042e-03 4.53759131e+00] [ 6.91190786e-03 -1.04406890e-04 9.99976107e-01 9.32116243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.86, Y:4.54, Z:0.09 [[ 9.75843058e-01 -2.18367905e-01 -6.76635302e-03 3.88584484e+01] [ 2.18363343e-01 9.75866512e-01 -1.41486312e-03 4.54106908e+00] [ 6.91201802e-03 -9.68391162e-05 9.99976107e-01 9.37630444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.89, Y:4.54, Z:0.09 [[ 9.76143364e-01 -2.17021548e-01 -6.76608425e-03 3.88861452e+01] [ 2.17016945e-01 9.76166810e-01 -1.41614724e-03 4.54456075e+00] [ 6.91216135e-03 -8.59921994e-05 9.99976107e-01 9.40039137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.91, Y:4.55, Z:0.09 [[ 9.76548216e-01 -2.15192478e-01 -6.76595768e-03 3.89140289e+01] [ 2.15187827e-01 9.76571652e-01 -1.41675173e-03 4.54785936e+00] [ 6.91231678e-03 -7.24253548e-05 9.99976107e-01 9.49838528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:4.55, Z:0.09 [[ 9.77502513e-01 -2.10815234e-01 -6.76568987e-03 3.89424342e+01] [ 2.10810469e-01 9.77525926e-01 -1.41802947e-03 4.54959894e+00] [ 6.91257947e-03 -4.01508873e-05 9.99976107e-01 9.21845450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.97, Y:4.55, Z:0.09 [[ 9.78012442e-01 -2.08436777e-01 -6.76560672e-03 3.89710731e+01] [ 2.08431952e-01 9.78035843e-01 -1.41842610e-03 4.55410699e+00] [ 6.91265803e-03 -2.29302460e-05 9.99976107e-01 9.34811660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:4.56, Z:0.09 [[ 9.78546290e-01 -2.05915975e-01 -6.76536127e-03 3.89985338e+01] [ 2.05911082e-01 9.78569676e-01 -1.41959582e-03 4.55862957e+00] [ 6.91269485e-03 -3.92263203e-06 9.99976107e-01 9.15104638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:4.56, Z:0.09 [[ 9.79469354e-01 -2.01479567e-01 -6.76527377e-03 3.90275557e+01] [ 2.01474565e-01 9.79492717e-01 -1.42001271e-03 4.56060207e+00] [ 6.91263993e-03 2.78283408e-05 9.99976107e-01 9.36807547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:4.56, Z:0.09 [[ 9.79829028e-01 -1.99723082e-01 -6.76502985e-03 3.90553529e+01] [ 1.99718030e-01 9.79852381e-01 -1.42117380e-03 4.56451838e+00] [ 6.91257182e-03 4.14089088e-05 9.99976107e-01 9.46760222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:4.57, Z:0.10 [[ 9.80228093e-01 -1.97755211e-01 -6.76474813e-03 3.90825655e+01] [ 1.97750103e-01 9.80251434e-01 -1.42251352e-03 4.56899061e+00] [ 6.91246352e-03 5.66580759e-05 9.99976107e-01 9.55184962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:4.57, Z:0.10 [[ 9.80533065e-01 -1.96237479e-01 -6.76466070e-03 3.91103508e+01] [ 1.96232332e-01 9.80556397e-01 -1.42292919e-03 4.57390706e+00] [ 6.91236335e-03 6.77839793e-05 9.99976107e-01 9.56393774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:4.58, Z:0.10 [[ 9.80878149e-01 -1.94505261e-01 -6.76457350e-03 3.91374760e+01] [ 1.94500070e-01 9.80901472e-01 -1.42334358e-03 4.57763899e+00] [ 6.91222792e-03 8.04165928e-05 9.99976107e-01 9.50228665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.17, Y:4.58, Z:0.10 [[ 9.80843676e-01 -1.94679033e-01 -6.76445237e-03 3.91653148e+01] [ 1.94673842e-01 9.80866998e-01 -1.42391904e-03 4.58177067e+00] [ 6.91223527e-03 7.97800535e-05 9.99976107e-01 9.50169708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:4.58, Z:0.09 [[ 9.80722808e-01 -1.95287020e-01 -6.76417495e-03 3.91925323e+01] [ 1.95281835e-01 9.80746131e-01 -1.42523567e-03 4.58363774e+00] [ 6.91226844e-03 7.68406375e-05 9.99976107e-01 9.40354724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.22, Y:4.59, Z:0.10 [[ 9.80560346e-01 -1.96101134e-01 -6.76405465e-03 3.92215044e+01] [ 1.96095964e-01 9.80583673e-01 -1.42580637e-03 4.58802492e+00] [ 6.91232380e-03 7.16853729e-05 9.99976107e-01 9.56507854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:39.25, Y:4.59, Z:0.10 [[ 9.80469675e-01 -1.96553981e-01 -6.76381781e-03 3.92501394e+01] [ 1.96548814e-01 9.80493002e-01 -1.42692905e-03 4.59288527e+00] [ 6.91234461e-03 6.96402888e-05 9.99976107e-01 9.75576295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622640000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:39.28, Y:4.60, Z:0.10 [[ 9.80234655e-01 -1.97722722e-01 -6.76357456e-03 3.92782874e+01] [ 1.97717574e-01 9.80257987e-01 -1.42808107e-03 4.59716326e+00] [ 6.91241206e-03 6.25770031e-05 9.99976107e-01 9.81835639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652640000000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:39.31, Y:4.60, Z:0.10 [[ 9.80195583e-01 -1.97916337e-01 -6.76329254e-03 3.93061163e+01] [ 1.97911185e-01 9.80218914e-01 -1.42941546e-03 4.60323696e+00] [ 6.91241194e-03 6.25754797e-05 9.99976107e-01 9.83804500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:4.61, Z:0.10 [[ 9.80056915e-01 -1.98601875e-01 -6.76300994e-03 3.93331732e+01] [ 1.98596731e-01 9.80080248e-01 -1.43075128e-03 4.60771152e+00] [ 6.91244235e-03 5.91060184e-05 9.99976107e-01 9.61800719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:4.61, Z:0.10 [[ 9.79773119e-01 -1.99997248e-01 -6.76288714e-03 3.93615500e+01] [ 1.99992132e-01 9.79796458e-01 -1.43133149e-03 4.60989037e+00] [ 6.91251523e-03 4.98558977e-05 9.99976107e-01 9.63423247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:4.61, Z:0.09 [[ 9.79700139e-01 -2.00354449e-01 -6.76260460e-03 3.93880672e+01] [ 2.00349333e-01 9.79723477e-01 -1.43266517e-03 4.61392904e+00] [ 6.91252334e-03 4.86989507e-05 9.99976107e-01 9.44199840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:4.62, Z:0.09 [[ 9.79648669e-01 -2.00605968e-01 -6.76248198e-03 3.94157286e+01] [ 2.00600853e-01 9.79672008e-01 -1.43324373e-03 4.61890565e+00] [ 6.91253155e-03 4.75156568e-05 9.99976107e-01 9.46599782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:4.62, Z:0.09 [[ 9.79670993e-01 -2.00496926e-01 -6.76220301e-03 3.94436407e+01] [ 2.00491800e-01 9.79694330e-01 -1.43455876e-03 4.62388213e+00] [ 6.91251657e-03 4.96293536e-05 9.99976107e-01 9.44175956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:4.63, Z:0.09 [[ 9.79766106e-01 -2.00031630e-01 -6.76192347e-03 3.94713364e+01] [ 2.00026484e-01 9.79789439e-01 -1.43587518e-03 4.62897458e+00] [ 6.91248165e-03 5.42580580e-05 9.99976107e-01 9.36206091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:4.63, Z:0.10 [[ 9.80000019e-01 -1.98882480e-01 -6.76183665e-03 3.95003355e+01] [ 1.98877303e-01 9.80023344e-01 -1.43628392e-03 4.63291878e+00] [ 6.91240947e-03 6.27824321e-05 9.99976107e-01 9.71897196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:4.64, Z:0.10 [[ 9.80109549e-01 -1.98342009e-01 -6.76158756e-03 3.95272979e+01] [ 1.98336812e-01 9.80132870e-01 -1.43745557e-03 4.63741445e+00] [ 6.91236205e-03 6.77922136e-05 9.99976107e-01 9.59876812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.56, Y:4.64, Z:0.10 [[ 9.80130263e-01 -1.98239627e-01 -6.76146357e-03 3.95550159e+01] [ 1.98234424e-01 9.80153583e-01 -1.43803857e-03 4.64188151e+00] [ 6.91234897e-03 6.91102833e-05 9.99976107e-01 9.73579143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:4.65, Z:0.10 [[ 9.80111031e-01 -1.98334699e-01 -6.76118135e-03 3.95827430e+01] [ 1.98329488e-01 9.80134349e-01 -1.43936425e-03 4.64573072e+00] [ 6.91234196e-03 6.97951403e-05 9.99976107e-01 9.68501104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:4.65, Z:0.10 [[ 9.80059249e-01 -1.98590427e-01 -6.76089892e-03 3.96106848e+01] [ 1.98585214e-01 9.80082567e-01 -1.44068965e-03 4.65045227e+00] [ 6.91234634e-03 6.93466600e-05 9.99976107e-01 9.72317042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012640000000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.64, Y:4.66, Z:0.10 [[ 9.79914994e-01 -1.99301018e-01 -6.76081042e-03 3.96379411e+01] [ 1.99295818e-01 9.79938314e-01 -1.44110485e-03 4.65542850e+00] [ 6.91239083e-03 6.47590043e-05 9.99976107e-01 9.90507525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:4.66, Z:0.10 [[ 9.79713362e-01 -2.00289849e-01 -6.76051544e-03 3.96652197e+01] [ 2.00284663e-01 9.79736686e-01 -1.44248735e-03 4.65926227e+00] [ 6.91244056e-03 5.91965783e-05 9.99976107e-01 9.85911864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:4.66, Z:0.10 [[ 9.79553042e-01 -2.01072459e-01 -6.76042366e-03 3.96917164e+01] [ 2.01067289e-01 9.79576369e-01 -1.44291733e-03 4.66359452e+00] [ 6.91248220e-03 5.41140049e-05 9.99976107e-01 9.90504729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:39.72, Y:4.67, Z:0.10 [[ 9.79434053e-01 -2.01651269e-01 -6.76022807e-03 3.97194686e+01] [ 2.01646106e-01 9.79457382e-01 -1.44383311e-03 4.66811702e+00] [ 6.91250607e-03 5.09656437e-05 9.99976107e-01 9.87251935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.75, Y:4.67, Z:0.10 [[ 9.79327970e-01 -2.02165843e-01 -6.76013982e-03 3.97470702e+01] [ 2.02160689e-01 9.79351301e-01 -1.44424621e-03 4.67288853e+00] [ 6.91252897e-03 4.77561793e-05 9.99976107e-01 9.91793859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.77, Y:4.68, Z:0.10 [[ 9.79303954e-01 -2.02282156e-01 -6.75986529e-03 3.97742997e+01] [ 2.02276997e-01 9.79327283e-01 -1.44553001e-03 4.67798133e+00] [ 6.91252543e-03 4.82479996e-05 9.99976107e-01 1.00764661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192640000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.80, Y:4.68, Z:0.10 [[ 9.79602426e-01 -2.00831757e-01 -6.75958027e-03 3.98022234e+01] [ 2.00826554e-01 9.79625746e-01 -1.44686161e-03 4.68270405e+00] [ 6.91243462e-03 5.98459297e-05 9.99976107e-01 1.03306935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:4.69, Z:0.10 [[ 9.79778186e-01 -1.99972539e-01 -6.75944738e-03 3.98292056e+01] [ 1.99967311e-01 9.79801500e-01 -1.44748217e-03 4.68836121e+00] [ 6.91237336e-03 6.65429409e-05 9.99976107e-01 1.03249499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:4.69, Z:0.10 [[ 9.80071639e-01 -1.98529334e-01 -6.75916384e-03 3.98565193e+01] [ 1.98524063e-01 9.80094943e-01 -1.44880498e-03 4.69401930e+00] [ 6.91225258e-03 7.80760076e-05 9.99976107e-01 1.01453495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:4.70, Z:0.10 [[ 9.80112760e-01 -1.98326235e-01 -6.75888014e-03 3.98837283e+01] [ 1.98320950e-01 9.80136061e-01 -1.45012729e-03 4.69897969e+00] [ 6.91222044e-03 8.08607251e-05 9.99976107e-01 9.97025931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:4.70, Z:0.10 [[ 9.80058175e-01 -1.98595803e-01 -6.75879240e-03 3.99112086e+01] [ 1.98590521e-01 9.80081477e-01 -1.45053608e-03 4.70381890e+00] [ 6.91223761e-03 7.93776334e-05 9.99976107e-01 9.72050705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:4.71, Z:0.10 [[ 9.79662852e-01 -2.00536820e-01 -6.75870571e-03 3.99383842e+01] [ 2.00531582e-01 9.79686164e-01 -1.45093990e-03 4.71026275e+00] [ 6.91237734e-03 6.60979661e-05 9.99976107e-01 9.81924567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372640000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.97, Y:4.72, Z:0.10 [[ 9.79375849e-01 -2.01933828e-01 -6.75842313e-03 3.99660340e+01] [ 2.01928614e-01 9.79399166e-01 -1.45225496e-03 4.71623825e+00] [ 6.91245338e-03 5.75844215e-05 9.99976107e-01 9.92377682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402640000000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:39.99, Y:4.72, Z:0.10 [[ 9.79130611e-01 -2.03119604e-01 -6.75813940e-03 3.99931461e+01] [ 2.03114409e-01 9.79153933e-01 -1.45357410e-03 4.72113892e+00] [ 6.91250817e-03 5.05634082e-05 9.99976107e-01 1.00505169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432640000000006 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:40.02, Y:4.73, Z:0.10 [[ 9.79015353e-01 -2.03674424e-01 -6.75785600e-03 4.00199039e+01] [ 2.03669233e-01 9.79038675e-01 -1.45489051e-03 4.72526926e+00] [ 6.91252636e-03 4.79927954e-05 9.99976107e-01 9.98208826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:4.73, Z:0.10 [[ 9.78829199e-01 -2.04567266e-01 -6.75520960e-03 4.00483685e+01] [ 2.04562011e-01 9.78852507e-01 -1.46717436e-03 4.73084350e+00] [ 6.91248970e-03 5.42538447e-05 9.99976107e-01 1.01368307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:4.74, Z:0.10 [[ 9.79020505e-01 -2.03649668e-01 -6.75754044e-03 4.00759088e+01] [ 2.03644467e-01 9.79043824e-01 -1.45635919e-03 4.73653281e+00] [ 6.91251530e-03 4.96697856e-05 9.99976107e-01 1.00979465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:4.74, Z:0.10 [[ 9.79306388e-01 -2.02270458e-01 -6.75725453e-03 4.01031529e+01] [ 2.02265215e-01 9.79329698e-01 -1.45768455e-03 4.74275903e+00] [ 6.91242657e-03 6.07622561e-05 9.99976107e-01 1.00065516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:4.75, Z:0.10 [[ 9.79693027e-01 -2.00389406e-01 -6.75716576e-03 4.01294272e+01] [ 2.00384115e-01 9.79716327e-01 -1.45809594e-03 4.74922862e+00] [ 6.91229260e-03 7.44577427e-05 9.99976107e-01 9.86946233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.16, Y:4.76, Z:0.10 [[ 9.80746684e-01 -1.95167321e-01 -6.75704254e-03 4.01562583e+01] [ 1.95161902e-01 9.80769955e-01 -1.45866673e-03 4.75783801e+00] [ 6.91178839e-03 1.11865280e-04 9.99976107e-01 9.91215798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:4.77, Z:0.10 [[ 9.81102700e-01 -1.93369776e-01 -6.75443064e-03 4.01831081e+01] [ 1.93364231e-01 9.81125940e-01 -1.47075681e-03 4.76536468e+00] [ 6.91134703e-03 1.36898190e-04 9.99976107e-01 1.00166681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:4.77, Z:0.10 [[ 9.81461761e-01 -1.91538922e-01 -6.75669009e-03 4.02102144e+01] [ 1.91533405e-01 9.81485009e-01 -1.46030255e-03 4.77266330e+00] [ 6.91129481e-03 1.39099250e-04 9.99976107e-01 1.01948178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:4.78, Z:0.10 [[ 9.81989659e-01 -1.88813824e-01 -6.75640280e-03 4.02366945e+01] [ 1.88808234e-01 9.82012889e-01 -1.46163057e-03 4.78299716e+00] [ 6.91085069e-03 1.59641623e-04 9.99976107e-01 1.00816070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:4.79, Z:0.10 [[ 9.82074040e-01 -1.88374457e-01 -6.75603071e-03 4.02642428e+01] [ 1.88368845e-01 9.82097265e-01 -1.46334913e-03 4.79124181e+00] [ 6.91073688e-03 1.64491489e-04 9.99976107e-01 1.01368862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:4.80, Z:0.10 [[ 9.82154312e-01 -1.87955490e-01 -6.75589733e-03 4.02915208e+01] [ 1.87949864e-01 9.82177533e-01 -1.46396465e-03 4.79867864e+00] [ 6.91065076e-03 1.68069214e-04 9.99976107e-01 1.03422995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:4.81, Z:0.10 [[ 9.81778998e-01 -1.89906251e-01 -6.75381355e-03 4.03183019e+01] [ 1.89900605e-01 9.81802215e-01 -1.47357476e-03 4.80699567e+00] [ 6.91075016e-03 1.64171475e-04 9.99976107e-01 1.03623408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:4.81, Z:0.10 [[ 9.81423313e-01 -1.91735865e-01 -6.75559857e-03 4.03458181e+01] [ 1.91730319e-01 9.81446554e-01 -1.46534536e-03 4.81453487e+00] [ 6.91121820e-03 1.42871027e-04 9.99976107e-01 1.03785185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.37, Y:4.82, Z:0.10 [[ 9.81025905e-01 -1.93758973e-01 -6.75532808e-03 4.03718135e+01] [ 1.93753466e-01 9.81049155e-01 -1.46659131e-03 4.82118528e+00] [ 6.91147412e-03 1.29895841e-04 9.99976107e-01 1.01700766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:4.83, Z:0.10 [[ 9.79971258e-01 -1.99024373e-01 -6.75520209e-03 4.03993473e+01] [ 1.99018987e-01 9.79994536e-01 -1.46717137e-03 4.82812449e+00] [ 6.91206400e-03 9.33722980e-05 9.99976107e-01 1.00526866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:4.83, Z:0.10 [[ 9.79365801e-01 -2.01982668e-01 -6.75492250e-03 4.04267710e+01] [ 2.01977343e-01 9.79389093e-01 -1.46845752e-03 4.83445405e+00] [ 6.91230039e-03 7.38157705e-05 9.99976107e-01 9.99804520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:4.84, Z:0.10 [[ 9.78770087e-01 -2.04849926e-01 -6.75463783e-03 4.04541197e+01] [ 2.04844661e-01 9.78793392e-01 -1.46976577e-03 4.84037869e+00] [ 6.91247628e-03 5.49112729e-05 9.99976107e-01 9.97814623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.48, Y:4.85, Z:0.10 [[ 9.77865747e-01 -2.09124266e-01 -6.75435041e-03 4.04814590e+01] [ 2.09119094e-01 9.77889074e-01 -1.47108540e-03 4.84503244e+00] [ 6.91264513e-03 2.60603850e-05 9.99976107e-01 9.98422451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:4.85, Z:0.10 [[ 9.77551893e-01 -2.10586510e-01 -6.75406289e-03 4.05084429e+01] [ 2.10581363e-01 9.77575225e-01 -1.47240429e-03 4.85097947e+00] [ 6.91267304e-03 1.70718336e-05 9.99976107e-01 9.97218600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:4.86, Z:0.10 [[ 9.77269470e-01 -2.11893291e-01 -6.75397345e-03 4.05346873e+01] [ 2.11888172e-01 9.77292808e-01 -1.47281445e-03 4.85642994e+00] [ 6.91268918e-03 8.24951179e-06 9.99976107e-01 9.98433266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.56, Y:4.86, Z:0.10 [[ 9.77066799e-01 -2.12825884e-01 -6.75378200e-03 4.05625601e+01] [ 2.12820781e-01 9.77090141e-01 -1.47369184e-03 4.86173882e+00] [ 6.91269358e-03 2.55020186e-06 9.99976107e-01 1.00144897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.59, Y:4.87, Z:0.10 [[ 9.77018951e-01 -2.13045441e-01 -6.75350465e-03 4.05897605e+01] [ 2.13040335e-01 9.77042292e-01 -1.47496176e-03 4.86656498e+00] [ 6.91269354e-03 2.29669695e-06 9.99976107e-01 1.01456689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:4.87, Z:0.10 [[ 9.77197908e-01 -2.12223097e-01 -6.75322413e-03 4.06174056e+01] [ 2.12217963e-01 9.77221243e-01 -1.47624504e-03 4.87238060e+00] [ 6.91268737e-03 9.42809279e-06 9.99976107e-01 1.01903843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:4.88, Z:0.10 [[ 9.77381028e-01 -2.11378148e-01 -6.75313738e-03 4.06445304e+01] [ 2.11372991e-01 9.77404358e-01 -1.47664178e-03 4.87757766e+00] [ 6.91267571e-03 1.58108149e-05 9.99976107e-01 1.02881300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:4.88, Z:0.11 [[ 9.78020146e-01 -2.08401037e-01 -6.75285961e-03 4.06732654e+01] [ 2.08395800e-01 9.78043458e-01 -1.47791095e-03 4.88202330e+00] [ 6.91258834e-03 3.81591035e-05 9.99976107e-01 1.05555095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:4.89, Z:0.11 [[ 9.78514211e-01 -2.06068778e-01 -6.75260674e-03 4.06999303e+01] [ 2.06063478e-01 9.78537508e-01 -1.47906541e-03 4.88865976e+00] [ 6.91246818e-03 5.58208871e-05 9.99976107e-01 1.05969292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:4.90, Z:0.11 [[ 9.78991992e-01 -2.03786929e-01 -6.75041401e-03 4.07266351e+01] [ 2.03781505e-01 9.79015261e-01 -1.48906687e-03 4.89525763e+00] [ 6.91221070e-03 8.21750172e-05 9.99976107e-01 1.05776472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:4.90, Z:0.11 [[ 9.79516333e-01 -2.01251484e-01 -6.75223933e-03 4.07536871e+01] [ 2.01246058e-01 9.79539602e-01 -1.48074338e-03 4.90117563e+00] [ 6.91208762e-03 9.15507826e-05 9.99976107e-01 1.06324015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:4.91, Z:0.11 [[ 9.80700408e-01 -1.95399902e-01 -6.75195014e-03 4.07809444e+01] [ 1.95394328e-01 9.80723641e-01 -1.48206086e-03 4.90759017e+00] [ 6.91139167e-03 1.34164933e-04 9.99976107e-01 1.08264105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:4.91, Z:0.11 [[ 9.81246006e-01 -1.92641346e-01 -6.75186031e-03 4.08070907e+01] [ 1.92635703e-01 9.81269223e-01 -1.48246999e-03 4.91454813e+00] [ 6.91097773e-03 1.54018398e-04 9.99976107e-01 1.06437098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:4.92, Z:0.11 [[ 9.81706596e-01 -1.90280253e-01 -6.75166649e-03 4.08348976e+01] [ 1.90274548e-01 9.81729798e-01 -1.48335216e-03 4.92172994e+00] [ 6.91056481e-03 1.71546309e-04 9.99976107e-01 1.05484113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.86, Y:4.93, Z:0.10 [[ 9.82560756e-01 -1.85819211e-01 -6.75142216e-03 4.08621726e+01] [ 1.85813393e-01 9.82583930e-01 -1.48446338e-03 4.92863352e+00] [ 6.90968074e-03 2.04070801e-04 9.99976107e-01 1.03488527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:4.94, Z:0.10 [[ 9.82824966e-01 -1.84416665e-01 -6.75133571e-03 4.08894448e+01] [ 1.84410811e-01 9.82848131e-01 -1.48485649e-03 4.93624003e+00] [ 6.90936996e-03 2.14334734e-04 9.99976107e-01 1.03306259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:4.94, Z:0.10 [[ 9.83039717e-01 -1.83268488e-01 -6.75106161e-03 4.09163632e+01] [ 1.83262599e-01 9.83062873e-01 -1.48610166e-03 4.94429180e+00] [ 6.90907362e-03 2.23679856e-04 9.99976107e-01 1.03504956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:4.95, Z:0.10 [[ 9.83368548e-01 -1.81495801e-01 -6.75078475e-03 4.09424102e+01] [ 1.81489862e-01 9.83391691e-01 -1.48735824e-03 4.95415165e+00] [ 6.90861491e-03 2.37422323e-04 9.99976107e-01 1.04110006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:4.96, Z:0.11 [[ 9.83433956e-01 -1.81141064e-01 -6.75050816e-03 4.09695267e+01] [ 1.81135108e-01 9.83457095e-01 -1.48861255e-03 4.96215291e+00] [ 6.90848400e-03 2.41198108e-04 9.99976107e-01 1.06030014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:4.97, Z:0.11 [[ 9.83485581e-01 -1.80860569e-01 -6.75022292e-03 4.09968194e+01] [ 1.80854598e-01 9.83508716e-01 -1.48990485e-03 4.96971157e+00] [ 6.90836812e-03 2.44491088e-04 9.99976107e-01 1.06546644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:4.98, Z:0.11 [[ 9.83498425e-01 -1.80790733e-01 -6.74972554e-03 4.10231473e+01] [ 1.80784744e-01 9.83521555e-01 -1.49215650e-03 4.97768193e+00] [ 6.90826863e-03 2.47286157e-04 9.99976107e-01 1.08088190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:4.98, Z:0.11 [[ 9.83463871e-01 -1.80978601e-01 -6.74985779e-03 4.10509225e+01] [ 1.80972621e-01 9.83487003e-01 -1.49155802e-03 4.98400395e+00] [ 6.90833749e-03 2.45353966e-04 9.99976107e-01 1.08285114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:5.00, Z:0.11 [[ 9.83383270e-01 -1.81416060e-01 -6.74957261e-03 4.10764317e+01] [ 1.81410082e-01 9.83406403e-01 -1.49284740e-03 4.99677161e+00] [ 6.90839941e-03 2.43600644e-04 9.99976107e-01 1.07923875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.10, Y:5.01, Z:0.11 [[ 9.83275096e-01 -1.82001464e-01 -6.74928520e-03 4.11018789e+01] [ 1.81995490e-01 9.83298230e-01 -1.49414568e-03 5.00517270e+00] [ 6.90849689e-03 2.40816766e-04 9.99976107e-01 1.07585432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:5.01, Z:0.11 [[ 9.83133707e-01 -1.82763682e-01 -6.74915971e-03 4.11274345e+01] [ 1.82757722e-01 9.83156844e-01 -1.49471231e-03 5.01358189e+00] [ 6.90866168e-03 2.36040996e-04 9.99976107e-01 1.06790052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:5.03, Z:0.11 [[ 9.82770924e-01 -1.84704523e-01 -6.74903512e-03 4.11523312e+01] [ 1.84698605e-01 9.82794073e-01 -1.49527465e-03 5.02549761e+00] [ 6.90909570e-03 2.22975073e-04 9.99976107e-01 1.06195964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:5.03, Z:0.11 [[ 9.82531655e-01 -1.85973116e-01 -6.74891358e-03 4.11792635e+01] [ 1.85967224e-01 9.82554810e-01 -1.49582301e-03 5.03475311e+00] [ 6.90936036e-03 2.14616737e-04 9.99976107e-01 1.06696166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:5.04, Z:0.11 [[ 9.82255070e-01 -1.87428478e-01 -6.74862270e-03 4.12053455e+01] [ 1.87422612e-01 9.82278231e-01 -1.49713418e-03 5.04253724e+00] [ 6.90963075e-03 2.05723150e-04 9.99976107e-01 1.05373697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:5.05, Z:0.11 [[ 9.81328237e-01 -1.92222133e-01 -6.74849565e-03 4.12325405e+01] [ 1.92216375e-01 9.81351426e-01 -1.49770669e-03 5.05136065e+00] [ 6.91053820e-03 1.72570495e-04 9.99976107e-01 1.05729234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:41.26, Y:5.06, Z:0.11 [[ 9.80726038e-01 -1.95271352e-01 -6.74820704e-03 4.12591735e+01] [ 1.95265658e-01 9.80749242e-01 -1.49900595e-03 5.05887149e+00] [ 6.91101186e-03 1.52421077e-04 9.99976107e-01 1.05993713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:5.07, Z:0.11 [[ 9.80096925e-01 -1.98404847e-01 -6.74791505e-03 4.12853327e+01] [ 1.98399218e-01 9.80120145e-01 -1.50031920e-03 5.06719353e+00] [ 6.91143808e-03 1.31677161e-04 9.99976107e-01 1.05321471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:5.08, Z:0.11 [[ 9.78797524e-01 -2.04719014e-01 -6.74778800e-03 4.13118595e+01] [ 2.04713531e-01 9.78820779e-01 -1.50089042e-03 5.07597843e+00] [ 6.91213591e-03 8.77043219e-05 9.99976107e-01 1.06208533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902640000000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.34, Y:5.08, Z:0.11 [[ 9.78157597e-01 -2.07755113e-01 -6.74749683e-03 4.13393930e+01] [ 2.07749693e-01 9.78180867e-01 -1.50219828e-03 5.08266065e+00] [ 6.91236167e-03 6.75962694e-05 9.99976107e-01 1.06853533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:5.09, Z:0.11 [[ 9.77658443e-01 -2.10091514e-01 -6.74720494e-03 4.13664269e+01] [ 2.10086141e-01 9.77681724e-01 -1.50350819e-03 5.08887999e+00] [ 6.91249326e-03 5.24232234e-05 9.99976107e-01 1.06243602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.39, Y:5.09, Z:0.11 [[ 9.77175998e-01 -2.12324160e-01 -6.74691190e-03 4.13943896e+01] [ 2.12318831e-01 9.77199289e-01 -1.50482201e-03 5.09413432e+00] [ 6.91258758e-03 3.79795016e-05 9.99976107e-01 1.06322498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:5.10, Z:0.10 [[ 9.77249194e-01 -2.11987017e-01 -6.74661142e-03 4.14217245e+01] [ 2.11981671e-01 9.77272481e-01 -1.50616798e-03 5.10152185e+00] [ 6.91256574e-03 4.17434868e-05 9.99976107e-01 1.03970071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:5.11, Z:0.10 [[ 9.77422911e-01 -2.11184603e-01 -6.74651796e-03 4.14484445e+01] [ 2.11179235e-01 9.77446193e-01 -1.50658650e-03 5.10964885e+00] [ 6.91252617e-03 4.78476641e-05 9.99976107e-01 1.04539734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:5.12, Z:0.10 [[ 9.77794917e-01 -2.09455457e-01 -6.74622985e-03 4.14749772e+01] [ 2.09450038e-01 9.77818187e-01 -1.50787546e-03 5.11769844e+00] [ 6.91241899e-03 6.13948632e-05 9.99976107e-01 1.04446053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:5.13, Z:0.11 [[ 9.78680198e-01 -2.05279226e-01 -6.74614034e-03 4.15020550e+01] [ 2.05273705e-01 9.78703444e-01 -1.50827586e-03 5.12755072e+00] [ 6.91208848e-03 9.13144965e-05 9.99976107e-01 1.07176489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:5.14, Z:0.11 [[ 9.79096603e-01 -2.03283879e-01 -6.74588172e-03 4.15284974e+01] [ 2.03278303e-01 9.79119836e-01 -1.50943168e-03 5.13510537e+00] [ 6.91186972e-03 1.06588042e-04 9.99976107e-01 1.05570290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.55, Y:5.14, Z:0.11 [[ 9.79413679e-01 -2.01750686e-01 -6.74579025e-03 4.15549256e+01] [ 2.01745070e-01 9.79436903e-01 -1.50984032e-03 5.14295329e+00] [ 6.91168723e-03 1.17828331e-04 9.99976107e-01 1.06659715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:5.15, Z:0.10 [[ 9.79892446e-01 -1.99412370e-01 -6.74549373e-03 4.15805131e+01] [ 1.99406690e-01 9.79915654e-01 -1.51116394e-03 5.15252672e+00] [ 6.91135968e-03 1.35681552e-04 9.99976107e-01 1.03869553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:5.16, Z:0.10 [[ 9.79985805e-01 -1.98953068e-01 -6.74529132e-03 4.16075554e+01] [ 1.98947372e-01 9.80009009e-01 -1.51206688e-03 5.16057216e+00] [ 6.91127660e-03 1.39846100e-04 9.99976107e-01 1.04664040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.63, Y:5.17, Z:0.11 [[ 9.80038504e-01 -1.98693320e-01 -6.74500922e-03 4.16343877e+01] [ 1.98687609e-01 9.80061704e-01 -1.51332422e-03 5.16846247e+00] [ 6.91121264e-03 1.42966251e-04 9.99976107e-01 1.05866764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:5.18, Z:0.11 [[ 9.80035716e-01 -1.98707082e-01 -6.74471158e-03 4.16609885e+01] [ 1.98701362e-01 9.80058914e-01 -1.51464961e-03 5.17680126e+00] [ 6.91118631e-03 1.44227338e-04 9.99976107e-01 1.06217532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:5.19, Z:0.11 [[ 9.80099066e-01 -1.98394389e-01 -6.74441153e-03 4.16876236e+01] [ 1.98388652e-01 9.80122260e-01 -1.51598450e-03 5.18673536e+00] [ 6.91111069e-03 1.47800281e-04 9.99976107e-01 1.05516002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:5.19, Z:0.10 [[ 9.80119062e-01 -1.98295583e-01 -6.74431814e-03 4.17133973e+01] [ 1.98289841e-01 9.80142255e-01 -1.51639986e-03 5.19468391e+00] [ 6.91108658e-03 1.48922633e-04 9.99976107e-01 1.04592804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:5.20, Z:0.10 [[ 9.80038215e-01 -1.98694776e-01 -6.74412005e-03 4.17402603e+01] [ 1.98689037e-01 9.80061408e-01 -1.51728032e-03 5.20334212e+00] [ 6.91112747e-03 1.47009973e-04 9.99976107e-01 1.04649940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:5.21, Z:0.11 [[ 9.79856637e-01 -1.99588305e-01 -6.74383874e-03 4.17665777e+01] [ 1.99582579e-01 9.79879834e-01 -1.51852965e-03 5.21198727e+00] [ 6.91123234e-03 1.41988630e-04 9.99976107e-01 1.06801099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:5.22, Z:0.11 [[ 9.79525839e-01 -2.01205507e-01 -6.74353515e-03 4.17932379e+01] [ 2.01199810e-01 9.79549042e-01 -1.51987663e-03 5.22144021e+00] [ 6.91143095e-03 1.31960446e-04 9.99976107e-01 1.05464276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:5.23, Z:0.10 [[ 9.79303607e-01 -2.02284383e-01 -6.74344054e-03 4.18189082e+01] [ 2.02278709e-01 9.79326816e-01 -1.52029628e-03 5.22812277e+00] [ 6.91156435e-03 1.24777184e-04 9.99976107e-01 1.04826995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:5.24, Z:0.11 [[ 9.79078020e-01 -2.03373447e-01 -6.74331336e-03 4.18459247e+01] [ 2.03367794e-01 9.79101234e-01 -1.52086019e-03 5.23521410e+00] [ 6.91168901e-03 1.17668023e-04 9.99976107e-01 1.06406621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:5.24, Z:0.11 [[ 9.78834075e-01 -2.04544334e-01 -6.74301429e-03 4.18715602e+01] [ 2.04538700e-01 9.78857295e-01 -1.52218502e-03 5.24256523e+00] [ 6.91180305e-03 1.10759195e-04 9.99976107e-01 1.05774747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:41.90, Y:5.25, Z:0.11 [[ 9.78405011e-01 -2.06586951e-01 -6.74288418e-03 4.18976836e+01] [ 2.06581361e-01 9.78428241e-01 -1.52276116e-03 5.25236233e+00] [ 6.91201089e-03 9.69229557e-05 9.99976107e-01 1.05725465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:5.26, Z:0.10 [[ 9.78226446e-01 -2.07430849e-01 -6.74258445e-03 4.19245431e+01] [ 2.07425271e-01 9.78249679e-01 -1.52408715e-03 5.26026721e+00] [ 6.91207377e-03 9.23199487e-05 9.99976107e-01 1.04224776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:5.27, Z:0.10 [[ 9.77988706e-01 -2.08548866e-01 -6.74249130e-03 4.19498207e+01] [ 2.08543311e-01 9.78011944e-01 -1.52449914e-03 5.26948119e+00] [ 6.91216959e-03 8.48414811e-05 9.99976107e-01 1.04125497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622640000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.98, Y:5.28, Z:0.11 [[ 9.77825233e-01 -2.09314008e-01 -6.74236575e-03 4.19769996e+01] [ 2.09308468e-01 9.77848475e-01 -1.52505421e-03 5.27701567e+00] [ 6.91222727e-03 8.00022384e-05 9.99976107e-01 1.05440462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:5.28, Z:0.11 [[ 9.77729064e-01 -2.09762775e-01 -6.74206847e-03 4.20035776e+01] [ 2.09757236e-01 9.77752306e-01 -1.52636731e-03 5.28364488e+00] [ 6.91224804e-03 7.81760360e-05 9.99976107e-01 1.05413538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:5.29, Z:0.11 [[ 9.77680034e-01 -2.09991185e-01 -6.74193976e-03 4.20302796e+01] [ 2.09985647e-01 9.77703276e-01 -1.52693562e-03 5.29073904e+00] [ 6.91225961e-03 7.71438806e-05 9.99976107e-01 1.07242000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:5.30, Z:0.11 [[ 9.77982403e-01 -2.08578451e-01 -6.74164444e-03 4.20559398e+01] [ 2.08572871e-01 9.78005635e-01 -1.52823840e-03 5.30134390e+00] [ 6.91212385e-03 8.84661277e-05 9.99976107e-01 1.09960383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:5.31, Z:0.11 [[ 9.78202136e-01 -2.07545497e-01 -6.74155285e-03 4.20830055e+01] [ 2.07539889e-01 9.78225361e-01 -1.52864230e-03 5.30956702e+00] [ 6.91202080e-03 9.61800335e-05 9.99976107e-01 1.10806125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:5.32, Z:0.11 [[ 9.78415866e-01 -2.06535578e-01 -6.74146240e-03 4.21103796e+01] [ 2.06529944e-01 9.78439086e-01 -1.52904109e-03 5.31725278e+00] [ 6.91191169e-03 1.03724207e-04 9.99976107e-01 1.12638310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:5.32, Z:0.11 [[ 9.78603015e-01 -2.05647016e-01 -6.74116172e-03 4.21373015e+01] [ 2.05641352e-01 9.78626227e-01 -1.53036555e-03 5.32474926e+00] [ 6.91179277e-03 1.11358734e-04 9.99976107e-01 1.13350590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:5.33, Z:0.11 [[ 9.78818973e-01 -2.04616663e-01 -6.74085141e-03 4.21640711e+01] [ 2.04610965e-01 9.78842177e-01 -1.53173119e-03 5.33358785e+00] [ 6.91164739e-03 1.20035438e-04 9.99976107e-01 1.10824478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.19, Y:5.34, Z:0.11 [[ 9.78787374e-01 -2.04767766e-01 -6.74075491e-03 4.21910099e+01] [ 2.04762068e-01 9.78810578e-01 -1.53215576e-03 5.34060700e+00] [ 6.91165832e-03 1.19403797e-04 9.99976107e-01 1.10127777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:5.35, Z:0.11 [[ 9.78642323e-01 -2.05459898e-01 -6.74046008e-03 4.22182689e+01] [ 2.05454208e-01 9.78665529e-01 -1.53345168e-03 5.34802479e+00] [ 6.91171876e-03 1.15844828e-04 9.99976107e-01 1.11544751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:42.25, Y:5.36, Z:0.11 [[ 9.78384110e-01 -2.06686001e-01 -6.74015655e-03 4.22451939e+01] [ 2.06680331e-01 9.78407321e-01 -1.53478470e-03 5.35632215e+00] [ 6.91183702e-03 1.08551184e-04 9.99976107e-01 1.09834940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:5.36, Z:0.11 [[ 9.78186981e-01 -2.07616959e-01 -6.74006224e-03 4.22724156e+01] [ 2.07611308e-01 9.78210196e-01 -1.53519875e-03 5.36392780e+00] [ 6.91193090e-03 1.02398291e-04 9.99976107e-01 1.09699714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.30, Y:5.37, Z:0.11 [[ 9.78001018e-01 -2.08491210e-01 -6.73976559e-03 4.22996541e+01] [ 2.08485571e-01 9.78024236e-01 -1.53649997e-03 5.37032207e+00] [ 6.91200083e-03 9.75546568e-05 9.99976107e-01 1.08124538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.33, Y:5.38, Z:0.11 [[ 9.77734862e-01 -2.09735827e-01 -6.73967349e-03 4.23263975e+01] [ 2.09730215e-01 9.77758086e-01 -1.53690387e-03 5.37754536e+00] [ 6.91211405e-03 8.91713247e-05 9.99976107e-01 1.07294971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:5.39, Z:0.11 [[ 9.77272798e-01 -2.11878404e-01 -6.73938268e-03 4.23546536e+01] [ 2.11872834e-01 9.77296033e-01 -1.53817800e-03 5.38503870e+00] [ 6.91227866e-03 7.53274138e-05 9.99976107e-01 1.05800319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:5.39, Z:0.10 [[ 9.77057507e-01 -2.12869004e-01 -6.73911890e-03 4.23813871e+01] [ 2.12863449e-01 9.77080745e-01 -1.53933284e-03 5.39145395e+00] [ 6.91233956e-03 6.95046111e-05 9.99976107e-01 1.04208141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:42.41, Y:5.40, Z:0.11 [[ 9.76883223e-01 -2.13667391e-01 -6.73902542e-03 4.24089742e+01] [ 2.13661853e-01 9.76906465e-01 -1.53974197e-03 5.39846230e+00] [ 6.91239015e-03 6.42754435e-05 9.99976107e-01 1.05534474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:5.40, Z:0.11 [[ 9.76802895e-01 -2.14034330e-01 -6.73874164e-03 4.24359965e+01] [ 2.14028792e-01 9.76826137e-01 -1.54098295e-03 5.40485025e+00] [ 6.91240221e-03 6.29518691e-05 9.99976107e-01 1.05118697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.46, Y:5.41, Z:0.11 [[ 9.76837430e-01 -2.13876663e-01 -6.73859924e-03 4.24635575e+01] [ 2.13871117e-01 9.76860670e-01 -1.54160540e-03 5.41165659e+00] [ 6.91238599e-03 6.47061139e-05 9.99976107e-01 1.07371704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:5.42, Z:0.11 [[ 9.76971489e-01 -2.13263461e-01 -6.73833784e-03 4.24917797e+01] [ 2.13257892e-01 9.76994724e-01 -1.54274712e-03 5.41901573e+00] [ 6.91233211e-03 7.02162237e-05 9.99976107e-01 1.08739652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:5.43, Z:0.11 [[ 9.77148578e-01 -2.12450593e-01 -6.73807701e-03 4.25187481e+01] [ 2.12444997e-01 9.77171807e-01 -1.54388545e-03 5.42670038e+00] [ 6.91225827e-03 7.71347271e-05 9.99976107e-01 1.09833525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:5.43, Z:0.11 [[ 9.77667179e-01 -2.10051160e-01 -6.73777329e-03 4.25449719e+01] [ 2.10045498e-01 9.77690391e-01 -1.54520981e-03 5.43476873e+00] [ 6.91202932e-03 9.54619694e-05 9.99976107e-01 1.09442360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:5.44, Z:0.11 [[ 9.77960429e-01 -2.08681589e-01 -6.73756633e-03 4.25730057e+01] [ 2.08675888e-01 9.77983631e-01 -1.54611172e-03 5.44276269e+00] [ 6.91187463e-03 1.06068446e-04 9.99976107e-01 1.11021055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:5.45, Z:0.11 [[ 9.78258061e-01 -2.07281873e-01 -6.73730967e-03 4.26005132e+01] [ 2.07276131e-01 9.78281254e-01 -1.54722932e-03 5.45118826e+00] [ 6.91169634e-03 1.17106073e-04 9.99976107e-01 1.12541281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:5.46, Z:0.11 [[ 9.78533540e-01 -2.05977484e-01 -6.73705216e-03 4.26270044e+01] [ 2.05971704e-01 9.78556723e-01 -1.54834975e-03 5.45914702e+00] [ 6.91151287e-03 1.27470054e-04 9.99976107e-01 1.13012224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:5.47, Z:0.11 [[ 9.78974571e-01 -2.03871050e-01 -6.73675845e-03 4.26546150e+01] [ 2.03865211e-01 9.78997740e-01 -1.54962664e-03 5.46712206e+00] [ 6.91119530e-03 1.43654389e-04 9.99976107e-01 1.13502316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:5.47, Z:0.11 [[ 9.79088156e-01 -2.03324870e-01 -6.73650171e-03 4.26815757e+01] [ 2.03319011e-01 9.79111319e-01 -1.55074192e-03 5.47422399e+00] [ 6.91108947e-03 1.48654181e-04 9.99976107e-01 1.13872746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.71, Y:5.48, Z:0.11 [[ 9.79148322e-01 -2.03034940e-01 -6.73621992e-03 4.27075620e+01] [ 2.03029065e-01 9.79171481e-01 -1.55196502e-03 5.48187737e+00] [ 6.91101756e-03 1.51955509e-04 9.99976107e-01 1.13183060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.74, Y:5.49, Z:0.11 [[ 9.79109851e-01 -2.03220386e-01 -6.73608853e-03 4.27352543e+01] [ 2.03214512e-01 9.79133010e-01 -1.55253509e-03 5.48846152e+00] [ 6.91103342e-03 1.51231458e-04 9.99976107e-01 1.13379879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:5.50, Z:0.11 [[ 9.79006341e-01 -2.03718466e-01 -6.73579424e-03 4.27615557e+01] [ 2.03712595e-01 9.79029501e-01 -1.55381085e-03 5.49974717e+00] [ 6.91108124e-03 1.49024549e-04 9.99976107e-01 1.13315954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.79, Y:5.51, Z:0.11 [[ 9.78866039e-01 -2.04391561e-01 -6.73549657e-03 4.27888437e+01] [ 2.04385697e-01 9.78889201e-01 -1.55510011e-03 5.50790598e+00] [ 6.91115420e-03 1.45595526e-04 9.99976107e-01 1.11518225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:5.52, Z:0.11 [[ 9.78634980e-01 -2.05495043e-01 -6.73523100e-03 4.28163484e+01] [ 2.05489197e-01 9.78658147e-01 -1.55624945e-03 5.51632310e+00] [ 6.91129024e-03 1.38982938e-04 9.99976107e-01 1.11322993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:5.52, Z:0.11 [[ 9.78415224e-01 -2.06538833e-01 -6.73495946e-03 4.28428746e+01] [ 2.06533004e-01 9.78438395e-01 -1.55742371e-03 5.52388111e+00] [ 6.91141140e-03 1.32815657e-04 9.99976107e-01 1.09829712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:5.53, Z:0.11 [[ 9.77990580e-01 -2.08540326e-01 -6.73486289e-03 4.28695771e+01] [ 2.08534542e-01 9.78013762e-01 -1.55784123e-03 5.53193199e+00] [ 6.91166130e-03 1.19102503e-04 9.99976107e-01 1.08317950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:5.54, Z:0.11 [[ 9.77787102e-01 -2.09492306e-01 -6.73476749e-03 4.28964823e+01] [ 2.09486541e-01 9.77810289e-01 -1.55825352e-03 5.53899880e+00] [ 6.91176707e-03 1.12797049e-04 9.99976107e-01 1.09533863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:5.55, Z:0.11 [[ 9.77621200e-01 -2.10265156e-01 -6.73446113e-03 4.29232330e+01] [ 2.10259400e-01 9.77644390e-01 -1.55957644e-03 5.54620265e+00] [ 6.91183272e-03 1.08691236e-04 9.99976107e-01 1.11110892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:5.55, Z:0.11 [[ 9.77369759e-01 -2.11430852e-01 -6.73415242e-03 4.29501882e+01] [ 2.11425114e-01 9.77392953e-01 -1.56090828e-03 5.55472906e+00] [ 6.91193729e-03 1.01815600e-04 9.99976107e-01 1.11989772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:5.56, Z:0.11 [[ 9.77266622e-01 -2.11907059e-01 -6.73405638e-03 4.29772957e+01] [ 2.11901330e-01 9.77289818e-01 -1.56132249e-03 5.56164431e+00] [ 6.91198000e-03 9.88728519e-05 9.99976107e-01 1.13081723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:5.57, Z:0.11 [[ 9.77151420e-01 -2.12437652e-01 -6.73396356e-03 4.30055670e+01] [ 2.12431932e-01 9.77174619e-01 -1.56172275e-03 5.56881015e+00] [ 6.91202698e-03 9.55307115e-05 9.99976107e-01 1.14971541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792640000000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.03, Y:5.58, Z:0.12 [[ 9.77062164e-01 -2.12847797e-01 -6.73370509e-03 4.30331052e+01] [ 2.12842080e-01 9.77085363e-01 -1.56283639e-03 5.57584484e+00] [ 6.91205097e-03 9.37725113e-05 9.99976107e-01 1.16479067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:5.58, Z:0.12 [[ 9.77120554e-01 -2.12579596e-01 -6.73340394e-03 4.30595932e+01] [ 2.12573864e-01 9.77143749e-01 -1.56413280e-03 5.58466736e+00] [ 6.91200629e-03 9.70006166e-05 9.99976107e-01 1.17187782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:5.59, Z:0.12 [[ 9.77301884e-01 -2.11744407e-01 -6.73310275e-03 4.30861542e+01] [ 2.11738646e-01 9.77325071e-01 -1.56542828e-03 5.59229156e+00] [ 6.91190081e-03 1.04237949e-04 9.99976107e-01 1.18450711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:5.60, Z:0.12 [[ 9.77644781e-01 -2.10155542e-01 -6.73279246e-03 4.31132973e+01] [ 2.10149734e-01 9.77667957e-01 -1.56676167e-03 5.60000975e+00] [ 6.91169910e-03 1.16841824e-04 9.99976107e-01 1.19054384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.14, Y:5.61, Z:0.12 [[ 9.78561777e-01 -2.05843433e-01 -6.73269610e-03 4.31405192e+01] [ 2.05837520e-01 9.78584927e-01 -1.56717565e-03 5.60962572e+00] [ 6.91110773e-03 1.47736720e-04 9.99976107e-01 1.20940407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:5.62, Z:0.12 [[ 9.79047527e-01 -2.03520552e-01 -6.73242143e-03 4.31663352e+01] [ 2.03514576e-01 9.79070660e-01 -1.56835470e-03 5.61709207e+00] [ 6.91070871e-03 1.65347893e-04 9.99976107e-01 1.20674573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:5.62, Z:0.12 [[ 9.79389165e-01 -2.01870107e-01 -6.73228474e-03 4.31928630e+01] [ 2.01864088e-01 9.79412287e-01 -1.56894124e-03 5.62466024e+00] [ 6.91040473e-03 1.77597534e-04 9.99976107e-01 1.20448062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:43.22, Y:5.63, Z:0.12 [[ 9.79652039e-01 -2.00590537e-01 -6.73197108e-03 4.32197896e+01] [ 2.00584479e-01 9.79675151e-01 -1.57028592e-03 5.63204592e+00] [ 6.91012928e-03 1.88004890e-04 9.99976107e-01 1.17905509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:5.64, Z:0.12 [[ 9.79913895e-01 -1.99307403e-01 -6.73187324e-03 4.32458600e+01] [ 1.99301311e-01 9.79936998e-01 -1.57070524e-03 5.64294395e+00] [ 6.90986484e-03 1.97484724e-04 9.99976107e-01 1.15589469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:5.65, Z:0.12 [[ 9.79885853e-01 -1.99445225e-01 -6.73177648e-03 4.32726581e+01] [ 1.99439134e-01 9.79908957e-01 -1.57111982e-03 5.65150915e+00] [ 6.90988042e-03 1.96938418e-04 9.99976107e-01 1.18395990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:5.66, Z:0.12 [[ 9.79765604e-01 -2.00035117e-01 -6.73147389e-03 4.32996127e+01] [ 2.00029031e-01 9.79788709e-01 -1.57241520e-03 5.65934457e+00] [ 6.90996038e-03 1.94108134e-04 9.99976107e-01 1.19224281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.33, Y:5.67, Z:0.12 [[ 9.79581274e-01 -2.00935860e-01 -6.73116289e-03 4.33258992e+01] [ 2.00929786e-01 9.79604382e-01 -1.57374542e-03 5.66716751e+00] [ 6.91009855e-03 1.89120424e-04 9.99976107e-01 1.16978826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:5.68, Z:0.12 [[ 9.78978530e-01 -2.03852227e-01 -6.73102782e-03 4.33523854e+01] [ 2.03846217e-01 9.79001655e-01 -1.57432290e-03 5.67757171e+00] [ 6.91061661e-03 1.69133762e-04 9.99976107e-01 1.17482404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:5.68, Z:0.12 [[ 9.78564998e-01 -2.05828186e-01 -6.73073068e-03 4.33796392e+01] [ 2.05822214e-01 9.78588133e-01 -1.57559227e-03 5.68495474e+00] [ 6.91091446e-03 1.56485552e-04 9.99976107e-01 1.18588102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:5.69, Z:0.12 [[ 9.77730914e-01 -2.09754525e-01 -6.73042441e-03 4.34057278e+01] [ 2.09748638e-01 9.77754070e-01 -1.57689946e-03 5.69106830e+00] [ 6.91146166e-03 1.30085995e-04 9.99976107e-01 1.18832235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:5.70, Z:0.12 [[ 9.77307815e-01 -2.11717119e-01 -6.73029103e-03 4.34324299e+01] [ 2.11711274e-01 9.77330982e-01 -1.57746852e-03 5.69860117e+00] [ 6.91169903e-03 1.16793819e-04 9.99976107e-01 1.18078007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.46, Y:5.71, Z:0.12 [[ 9.76856251e-01 -2.13790946e-01 -6.73019702e-03 4.34589503e+01] [ 2.13785148e-01 9.76879430e-01 -1.57786953e-03 5.70657641e+00] [ 6.91192525e-03 1.02535550e-04 9.99976107e-01 1.19633260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302640000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.49, Y:5.71, Z:0.12 [[ 9.76409470e-01 -2.15822276e-01 -6.72989077e-03 4.34855939e+01] [ 2.15816517e-01 9.76432659e-01 -1.57917464e-03 5.71337320e+00] [ 6.91210620e-03 8.94994884e-05 9.99976107e-01 1.19371564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:5.72, Z:0.12 [[ 9.75618591e-01 -2.19369721e-01 -6.72979576e-03 4.35132204e+01] [ 2.19364044e-01 9.75641800e-01 -1.57957944e-03 5.72007306e+00] [ 6.91238195e-03 6.47918528e-05 9.99976107e-01 1.20954919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:5.73, Z:0.12 [[ 9.75406476e-01 -2.20310962e-01 -6.72948828e-03 4.35391432e+01] [ 2.20305298e-01 9.75429688e-01 -1.58088833e-03 5.72753388e+00] [ 6.91242968e-03 5.94667898e-05 9.99976107e-01 1.20660330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:5.74, Z:0.12 [[ 9.75296056e-01 -2.20799273e-01 -6.72935485e-03 4.35653923e+01] [ 2.20793617e-01 9.75319270e-01 -1.58145606e-03 5.73537703e+00] [ 6.91245381e-03 5.65892559e-05 9.99976107e-01 1.20232472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:5.74, Z:0.12 [[ 9.75219378e-01 -2.21137698e-01 -6.72926032e-03 4.35922381e+01] [ 2.21132047e-01 9.75242593e-01 -1.58185823e-03 5.74258491e+00] [ 6.91246977e-03 5.46036872e-05 9.99976107e-01 1.21208484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:5.75, Z:0.12 [[ 9.75205877e-01 -2.21197240e-01 -6.72895430e-03 4.36201062e+01] [ 2.21191581e-01 9.75229090e-01 -1.58315888e-03 5.75008767e+00] [ 6.91246236e-03 5.55178015e-05 9.99976107e-01 1.23420780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:5.76, Z:0.12 [[ 9.75185605e-01 -2.21286604e-01 -6.72867833e-03 4.36470645e+01] [ 2.21280939e-01 9.75208817e-01 -1.58433093e-03 5.75781014e+00] [ 6.91245765e-03 5.60884542e-05 9.99976107e-01 1.23754229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:5.77, Z:0.12 [[ 9.75094137e-01 -2.21689312e-01 -6.72853071e-03 4.36739111e+01] [ 2.21683652e-01 9.75117350e-01 -1.58495763e-03 5.76585730e+00] [ 6.91247520e-03 5.38776289e-05 9.99976107e-01 1.24871306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:5.77, Z:0.12 [[ 9.74658732e-01 -2.23595813e-01 -6.72822874e-03 4.37010747e+01] [ 2.23590190e-01 9.74681954e-01 -1.58623848e-03 5.77379444e+00] [ 6.91255941e-03 4.16752396e-05 9.99976107e-01 1.24360373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:5.78, Z:0.12 [[ 9.74239338e-01 -2.25416164e-01 -6.72792149e-03 4.37296233e+01] [ 2.25410575e-01 9.74262568e-01 -1.58754057e-03 5.78002559e+00] [ 6.91261938e-03 3.00998239e-05 9.99976107e-01 1.22350655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:5.79, Z:0.12 [[ 9.73715812e-01 -2.27666984e-01 -6.72765478e-03 4.37567875e+01] [ 2.27661441e-01 9.73739053e-01 -1.58867003e-03 5.78549620e+00] [ 6.91266791e-03 1.52855497e-05 9.99976107e-01 1.20315949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.78, Y:5.79, Z:0.12 [[ 9.73087647e-01 -2.30337089e-01 -6.72734858e-03 4.37839394e+01] [ 2.30331602e-01 9.73110901e-01 -1.58996559e-03 5.79117745e+00] [ 6.91268429e-03 -2.34509543e-06 9.99976107e-01 1.17978621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:5.80, Z:0.12 [[ 9.71962218e-01 -2.35040828e-01 -6.72725330e-03 4.38124593e+01] [ 2.35035450e-01 9.71985498e-01 -1.59036864e-03 5.79626438e+00] [ 6.91259421e-03 -3.53647811e-05 9.99976107e-01 1.15800153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:5.80, Z:0.12 [[ 9.71495168e-01 -2.36963893e-01 -6.72698665e-03 4.38394188e+01] [ 2.36958553e-01 9.71518456e-01 -1.59149575e-03 5.80260272e+00] [ 6.91251871e-03 -4.78865920e-05 9.99976107e-01 1.15219410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:5.81, Z:0.11 [[ 9.71134225e-01 -2.38438816e-01 -6.72668265e-03 4.38668336e+01] [ 2.38433503e-01 9.71157520e-01 -1.59277959e-03 5.80865495e+00] [ 6.91244892e-03 -5.70637330e-05 9.99976107e-01 1.14373781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:5.81, Z:0.11 [[ 9.70925815e-01 -2.39286053e-01 -6.72658832e-03 4.38937748e+01] [ 2.39280757e-01 9.70949113e-01 -1.59317785e-03 5.81389943e+00] [ 6.91240021e-03 -6.26856414e-05 9.99976107e-01 1.13625340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.92, Y:5.82, Z:0.11 [[ 9.70945611e-01 -2.39205718e-01 -6.72645837e-03 4.39222618e+01] [ 2.39200417e-01 9.70968908e-01 -1.59372634e-03 5.81782841e+00] [ 6.91241039e-03 -6.15500468e-05 9.99976107e-01 1.13593873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:5.82, Z:0.12 [[ 9.71119943e-01 -2.38496992e-01 -6.72619662e-03 4.39502254e+01] [ 2.38491666e-01 9.71143234e-01 -1.59483027e-03 5.82325282e+00] [ 6.91246256e-03 -5.53703555e-05 9.99976107e-01 1.17128534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:5.83, Z:0.12 [[ 9.71380243e-01 -2.37434593e-01 -6.72592325e-03 4.39776873e+01] [ 2.37429234e-01 9.71403527e-01 -1.59598231e-03 5.82871916e+00] [ 6.91252698e-03 -4.66251202e-05 9.99976107e-01 1.18547481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872640000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.01, Y:5.83, Z:0.12 [[ 9.71874969e-01 -2.35401378e-01 -6.72582579e-03 4.40056607e+01] [ 2.35395967e-01 9.71898241e-01 -1.59639293e-03 5.83353244e+00] [ 6.91261135e-03 -3.17379337e-05 9.99976107e-01 1.22549831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902640000000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.03, Y:5.84, Z:0.12 [[ 9.72212150e-01 -2.34004913e-01 -6.72572894e-03 4.40323799e+01] [ 2.33999466e-01 9.72235414e-01 -1.59680088e-03 5.83904949e+00] [ 6.91265111e-03 -2.13877630e-05 9.99976107e-01 1.21124829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:5.84, Z:0.12 [[ 9.72506108e-01 -2.32780232e-01 -6.72559392e-03 4.40584837e+01] [ 2.32774752e-01 9.72529364e-01 -1.59736934e-03 5.84464744e+00] [ 6.91267359e-03 -1.20970163e-05 9.99976107e-01 1.20371847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:5.85, Z:0.12 [[ 9.73169127e-01 -2.29992649e-01 -6.72546443e-03 4.40868359e+01] [ 2.29987098e-01 9.73192366e-01 -1.59791435e-03 5.84881121e+00] [ 6.91267920e-03 8.27086773e-06 9.99976107e-01 1.20115468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:5.85, Z:0.12 [[ 9.73478952e-01 -2.28677723e-01 -6.72531459e-03 4.41133313e+01] [ 2.28672136e-01 9.73502182e-01 -1.59854478e-03 5.85350808e+00] [ 6.91266001e-03 1.82576443e-05 9.99976107e-01 1.18223963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:5.86, Z:0.12 [[ 9.73828740e-01 -2.27183532e-01 -6.72510102e-03 4.41406426e+01] [ 2.27177904e-01 9.73851961e-01 -1.59944274e-03 5.85902967e+00] [ 6.91261987e-03 2.97889594e-05 9.99976107e-01 1.19400221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:5.87, Z:0.12 [[ 9.74215301e-01 -2.25520118e-01 -6.72478519e-03 4.41679755e+01] [ 2.25514441e-01 9.74238510e-01 -1.60076953e-03 5.86576291e+00] [ 6.91255044e-03 4.29579965e-05 9.99976107e-01 1.16075300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.20, Y:5.87, Z:0.12 [[ 9.74946819e-01 -2.22336409e-01 -6.72468720e-03 4.41954867e+01] [ 2.22330653e-01 9.74970008e-01 -1.60118108e-03 5.87399223e+00] [ 6.91236919e-03 6.59623059e-05 9.99976107e-01 1.17070776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112640000000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:44.22, Y:5.88, Z:0.12 [[ 9.75364323e-01 -2.20497627e-01 -6.72555608e-03 4.42226837e+01] [ 2.20491853e-01 9.75387508e-01 -1.59753406e-03 5.88045899e+00] [ 6.91227585e-03 7.52474111e-05 9.99976107e-01 1.17933695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:5.89, Z:0.12 [[ 9.75796102e-01 -2.18578938e-01 -6.72425980e-03 4.42498066e+01] [ 2.18573081e-01 9.75819266e-01 -1.60297177e-03 5.88710687e+00] [ 6.91203813e-03 9.44314240e-05 9.99976107e-01 1.17256500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:5.90, Z:0.12 [[ 9.76580251e-01 -2.15048363e-01 -6.72416261e-03 4.42767450e+01] [ 2.15042419e-01 9.76603393e-01 -1.60337936e-03 5.89581685e+00] [ 6.91164413e-03 1.19848429e-04 9.99976107e-01 1.17585322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:5.90, Z:0.12 [[ 9.76894924e-01 -2.13614364e-01 -6.72385079e-03 4.43031893e+01] [ 2.13608377e-01 9.76918055e-01 -1.60468594e-03 5.90356309e+00] [ 6.91143520e-03 1.31338698e-04 9.99976107e-01 1.16874586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:5.91, Z:0.11 [[ 9.77177391e-01 -2.12318489e-01 -6.72353848e-03 4.43294154e+01] [ 2.12312463e-01 9.77200511e-01 -1.60599345e-03 5.91070796e+00] [ 6.91122734e-03 1.41849481e-04 9.99976107e-01 1.14629671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:5.92, Z:0.11 [[ 9.77451383e-01 -2.11053523e-01 -6.72340235e-03 4.43560722e+01] [ 2.11047463e-01 9.77474494e-01 -1.60656314e-03 5.92082900e+00] [ 6.91102512e-03 1.51380358e-04 9.99976107e-01 1.14968569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292640000000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.38, Y:5.93, Z:0.11 [[ 9.77398384e-01 -2.11298836e-01 -6.72309848e-03 4.43826002e+01] [ 2.11292773e-01 9.77421495e-01 -1.60783378e-03 5.92973629e+00] [ 6.91103437e-03 1.50952018e-04 9.99976107e-01 1.14233933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.41, Y:5.94, Z:0.11 [[ 9.77184905e-01 -2.12283927e-01 -6.72279610e-03 4.44091942e+01] [ 2.12277878e-01 9.77208019e-01 -1.60909709e-03 5.93801280e+00] [ 6.91115571e-03 1.45284499e-04 9.99976107e-01 1.14534279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:5.95, Z:0.12 [[ 9.76411449e-01 -2.15813556e-01 -6.72248841e-03 4.44368633e+01] [ 2.15807582e-01 9.76434583e-01 -1.61038152e-03 5.94593908e+00] [ 6.91161233e-03 1.21630986e-04 9.99976107e-01 1.17969602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:5.95, Z:0.12 [[ 9.76368424e-01 -2.16008133e-01 -6.72220681e-03 4.44644904e+01] [ 2.16002155e-01 9.76391557e-01 -1.61155616e-03 5.95274736e+00] [ 6.91161521e-03 1.21461388e-04 9.99976107e-01 1.18166463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:5.96, Z:0.12 [[ 9.75824710e-01 -2.18451259e-01 -6.72188540e-03 4.44919878e+01] [ 2.18445330e-01 9.75847855e-01 -1.61289569e-03 5.95945915e+00] [ 6.91187654e-03 1.05538993e-04 9.99976107e-01 1.17258521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.52, Y:5.97, Z:0.12 [[ 9.75182296e-01 -2.21301396e-01 -6.72178563e-03 4.45190401e+01] [ 2.21295532e-01 9.75205458e-01 -1.61331134e-03 5.96716999e+00] [ 6.91215009e-03 8.57715335e-05 9.99976107e-01 1.19145653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:5.98, Z:0.12 [[ 9.74009783e-01 -2.26406194e-01 -6.72146988e-03 4.45459507e+01] [ 2.26400442e-01 9.74032973e-01 -1.61462577e-03 5.97595499e+00] [ 6.91249457e-03 5.09175440e-05 9.99976107e-01 1.18360535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:5.98, Z:0.12 [[ 9.73381039e-01 -2.29094250e-01 -6.72137175e-03 4.45722950e+01] [ 2.29088559e-01 9.73404245e-01 -1.61503419e-03 5.98165388e+00] [ 6.91260683e-03 3.22542882e-05 9.99976107e-01 1.17540401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:5.99, Z:0.12 [[ 9.72747951e-01 -2.31767660e-01 -6.72123997e-03 4.45997279e+01] [ 2.31762030e-01 9.72771171e-01 -1.61558240e-03 5.98755853e+00] [ 6.91266823e-03 1.38262500e-05 9.99976107e-01 1.19472755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:5.99, Z:0.12 [[ 9.72181978e-01 -2.34130373e-01 -6.72092490e-03 4.46271235e+01] [ 2.34124790e-01 9.72205209e-01 -1.61689206e-03 5.99459209e+00] [ 6.91268174e-03 -1.62181303e-06 9.99976107e-01 1.19632594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:44.65, Y:6.00, Z:0.12 [[ 9.71118864e-01 -2.38501534e-01 -6.72082735e-03 4.46538991e+01] [ 2.38496053e-01 9.71142120e-01 -1.61729746e-03 6.00225492e+00] [ 6.91260644e-03 -3.23027246e-05 9.99976107e-01 1.20176340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:6.01, Z:0.12 [[ 9.70630481e-01 -2.40481400e-01 -6.72052319e-03 4.46807323e+01] [ 2.40475958e-01 9.70653746e-01 -1.61856035e-03 6.00795150e+00] [ 6.91253467e-03 -4.51002428e-05 9.99976107e-01 1.19676877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:6.01, Z:0.12 [[ 9.70305416e-01 -2.41789616e-01 -6.72175961e-03 4.47078414e+01] [ 2.41784240e-01 9.70328696e-01 -1.61342885e-03 6.01368749e+00] [ 6.91242658e-03 -5.96967934e-05 9.99976107e-01 1.22053989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:6.02, Z:0.12 [[ 9.69962102e-01 -2.43163237e-01 -6.72017296e-03 4.47339151e+01] [ 2.43157848e-01 9.69985380e-01 -1.62001064e-03 6.02048906e+00] [ 6.91239655e-03 -6.27138739e-05 9.99976107e-01 1.22986562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:6.03, Z:0.12 [[ 9.69894316e-01 -2.43433477e-01 -6.71996239e-03 4.47616213e+01] [ 2.43428089e-01 9.69917594e-01 -1.62088362e-03 6.02648361e+00] [ 6.91238709e-03 -6.37417870e-05 9.99976107e-01 1.23185362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:6.03, Z:0.12 [[ 9.69861310e-01 -2.43564953e-01 -6.71965386e-03 4.47891782e+01] [ 2.43559559e-01 9.69884586e-01 -1.62216168e-03 6.03175646e+00] [ 6.91239043e-03 -6.33640817e-05 9.99976107e-01 1.23101657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.82, Y:6.04, Z:0.12 [[ 9.69912837e-01 -2.43359690e-01 -6.71934742e-03 4.48165257e+01] [ 2.43354282e-01 9.69936110e-01 -1.62343004e-03 6.03726188e+00] [ 6.91241513e-03 -6.05963316e-05 9.99976107e-01 1.24133281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:6.04, Z:0.12 [[ 9.70411490e-01 -2.41363614e-01 -6.71902724e-03 4.48430302e+01] [ 2.41358149e-01 9.70434750e-01 -1.62475411e-03 6.04422008e+00] [ 6.91253404e-03 -4.50119201e-05 9.99976107e-01 1.21404591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:6.05, Z:0.12 [[ 9.70662677e-01 -2.40351459e-01 -6.71887811e-03 4.48698083e+01] [ 2.40345966e-01 9.70685930e-01 -1.62537056e-03 6.05110084e+00] [ 6.91258064e-03 -3.71687088e-05 9.99976107e-01 1.21025997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:6.06, Z:0.12 [[ 9.70922894e-01 -2.39298128e-01 -6.71856845e-03 4.48972448e+01] [ 2.39292601e-01 9.70946139e-01 -1.62664958e-03 6.05735498e+00] [ 6.91262229e-03 -2.83524042e-05 9.99976107e-01 1.21535849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:6.06, Z:0.12 [[ 9.71201414e-01 -2.38165234e-01 -6.71825746e-03 4.49240297e+01] [ 2.38159671e-01 9.71224650e-01 -1.62793298e-03 6.06349572e+00] [ 6.91265429e-03 -1.89671774e-05 9.99976107e-01 1.22172348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:6.07, Z:0.12 [[ 9.72053207e-01 -2.34664504e-01 -6.71811943e-03 4.49514373e+01] [ 2.34658853e-01 9.72076422e-01 -1.62850238e-03 6.07037891e+00] [ 6.91267721e-03 6.52476072e-06 9.99976107e-01 1.20958704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:6.08, Z:0.12 [[ 9.72430669e-01 -2.33095395e-01 -6.71802119e-03 4.49785464e+01] [ 2.33089704e-01 9.72453874e-01 -1.62890758e-03 6.07708458e+00] [ 6.91265658e-03 1.80981220e-05 9.99976107e-01 1.22516933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.01, Y:6.08, Z:0.12 [[ 9.73003138e-01 -2.30694095e-01 -6.71770679e-03 4.50062256e+01] [ 2.30688338e-01 9.73026327e-01 -1.63020313e-03 6.08276790e+00] [ 6.91258380e-03 3.64961500e-05 9.99976107e-01 1.22825060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.03, Y:6.09, Z:0.12 [[ 9.73193352e-01 -2.29890355e-01 -6.71739064e-03 4.50336595e+01] [ 2.29884570e-01 9.73216534e-01 -1.63150484e-03 6.08992638e+00] [ 6.91254286e-03 4.35452030e-05 9.99976107e-01 1.23223172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.06, Y:6.10, Z:0.12 [[ 9.73282477e-01 -2.29512746e-01 -6.71707114e-03 4.50597548e+01] [ 2.29506942e-01 9.73305655e-01 -1.63281918e-03 6.09757956e+00] [ 6.91251614e-03 4.75798408e-05 9.99976107e-01 1.22559398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:6.11, Z:0.12 [[ 9.73167485e-01 -2.29999845e-01 -6.71693282e-03 4.50871938e+01] [ 2.29994049e-01 9.73190664e-01 -1.63338800e-03 6.10549543e+00] [ 6.91253530e-03 4.47055129e-05 9.99976107e-01 1.24780191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:6.11, Z:0.13 [[ 9.73019663e-01 -2.30624416e-01 -6.71666504e-03 4.51138246e+01] [ 2.30618628e-01 9.73042844e-01 -1.63448840e-03 6.11214694e+00] [ 6.91255579e-03 4.14012713e-05 9.99976107e-01 1.25232733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:6.12, Z:0.13 [[ 9.72767977e-01 -2.31683728e-01 -6.71657001e-03 4.51411605e+01] [ 2.31677962e-01 9.72791164e-01 -1.63487878e-03 6.11969582e+00] [ 6.91259477e-03 3.42764771e-05 9.99976107e-01 1.27404049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:6.13, Z:0.12 [[ 9.72282686e-01 -2.33711938e-01 -6.71625004e-03 4.51672925e+01] [ 2.33706212e-01 9.72305883e-01 -1.63619219e-03 6.12634073e+00] [ 6.91264708e-03 2.12119884e-05 9.99976107e-01 1.24368464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:6.13, Z:0.12 [[ 9.72005548e-01 -2.34861896e-01 -6.71603219e-03 4.51952917e+01] [ 2.34856191e-01 9.72028749e-01 -1.63708593e-03 6.13288203e+00] [ 6.91266548e-03 1.39548706e-05 9.99976107e-01 1.23879810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:6.14, Z:0.12 [[ 9.71770549e-01 -2.35832351e-01 -6.71575526e-03 4.52223511e+01] [ 2.35826661e-01 9.71793755e-01 -1.63822120e-03 6.13998369e+00] [ 6.91267457e-03 8.22097054e-06 9.99976107e-01 1.20819642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:6.15, Z:0.12 [[ 9.71453998e-01 -2.37132910e-01 -6.71656522e-03 4.52485111e+01] [ 2.37127274e-01 9.71477217e-01 -1.63490224e-03 6.14943382e+00] [ 6.91267921e-03 -4.44848165e-06 9.99976107e-01 1.23830460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:6.16, Z:0.13 [[ 9.71367741e-01 -2.37486016e-01 -6.71601358e-03 4.52750290e+01] [ 2.37480373e-01 9.71390957e-01 -1.63716078e-03 6.15724382e+00] [ 6.91267765e-03 -4.63623890e-06 9.99976107e-01 1.26179147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:6.16, Z:0.13 [[ 9.71224703e-01 -2.38070334e-01 -6.71502593e-03 4.53008773e+01] [ 2.38064677e-01 9.71247917e-01 -1.64120177e-03 6.16452605e+00] [ 6.91267640e-03 -4.63477397e-06 9.99976107e-01 1.26644913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:6.17, Z:0.13 [[ 9.71069000e-01 -2.38704643e-01 -6.71488868e-03 4.53271355e+01] [ 2.38698998e-01 9.71092217e-01 -1.64176315e-03 6.17133888e+00] [ 6.91267262e-03 -8.57189501e-06 9.99976107e-01 1.26509825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:6.18, Z:0.13 [[ 9.70551738e-01 -2.40799162e-01 -6.71475520e-03 4.53534020e+01] [ 2.40793562e-01 9.70574965e-01 -1.64230889e-03 6.17988295e+00] [ 6.91263990e-03 -2.29240739e-05 9.99976107e-01 1.29122994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:6.19, Z:0.13 [[ 9.70277847e-01 -2.41900425e-01 -6.71443213e-03 4.53794824e+01] [ 2.41894843e-01 9.70301079e-01 -1.64362866e-03 6.18641826e+00] [ 6.91261521e-03 -2.94100233e-05 9.99976107e-01 1.27676438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:6.19, Z:0.13 [[ 9.69928477e-01 -2.43297487e-01 -6.71429204e-03 4.54064248e+01] [ 2.43291934e-01 9.69951716e-01 -1.64420075e-03 6.19238158e+00] [ 6.91256900e-03 -3.87759614e-05 9.99976107e-01 1.28800729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.43, Y:6.20, Z:0.13 [[ 9.69099169e-01 -2.46580056e-01 -6.71397602e-03 4.54349727e+01] [ 2.46574573e-01 9.69122424e-01 -1.64549018e-03 6.19834642e+00] [ 6.91240977e-03 -6.08526010e-05 9.99976107e-01 1.32313317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:6.20, Z:0.13 [[ 9.68675089e-01 -2.48240807e-01 -6.71369109e-03 4.54618408e+01] [ 2.48235356e-01 9.68698352e-01 -1.64665189e-03 6.20492361e+00] [ 6.91230769e-03 -7.15048356e-05 9.99976107e-01 1.33850948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:6.21, Z:0.14 [[ 9.68173121e-01 -2.50191399e-01 -6.71359038e-03 4.54893357e+01] [ 2.50185991e-01 9.68196394e-01 -1.64706238e-03 6.21143277e+00] [ 6.91215484e-03 -8.50047413e-05 9.99976107e-01 1.35510623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:6.21, Z:0.13 [[ 9.67379251e-01 -2.53243593e-01 -6.71327053e-03 4.55176444e+01] [ 2.53238250e-01 9.67402538e-01 -1.64836503e-03 6.21420173e+00] [ 6.91187284e-03 -1.05462756e-04 9.99976107e-01 1.33641799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:6.22, Z:0.13 [[ 9.67090664e-01 -2.54343432e-01 -6.71312283e-03 4.55454186e+01] [ 2.54338112e-01 9.67113957e-01 -1.64896635e-03 6.21856629e+00] [ 6.91175854e-03 -1.12703022e-04 9.99976107e-01 1.32132238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612640000000006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:45.57, Y:6.22, Z:0.13 [[ 9.66771883e-01 -2.55552464e-01 -6.71302485e-03 4.55733693e+01] [ 2.55547170e-01 9.66795182e-01 -1.64936514e-03 6.22367749e+00] [ 6.91161940e-03 -1.20934660e-04 9.99976107e-01 1.32677062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:6.23, Z:0.13 [[ 9.66698904e-01 -2.55828397e-01 -6.71270952e-03 4.56009247e+01] [ 2.55823101e-01 9.66722202e-01 -1.65064749e-03 6.22857927e+00] [ 6.91160783e-03 -1.21587047e-04 9.99976107e-01 1.32676507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:6.23, Z:0.13 [[ 9.66749306e-01 -2.55637876e-01 -6.71239321e-03 4.56302504e+01] [ 2.55632567e-01 9.66772601e-01 -1.65193276e-03 6.23132551e+00] [ 6.91165443e-03 -1.18901455e-04 9.99976107e-01 1.32278963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:6.24, Z:0.13 [[ 9.66684413e-01 -2.55883170e-01 -6.71186692e-03 4.56574969e+01] [ 2.55877852e-01 9.66707706e-01 -1.65406990e-03 6.23653106e+00] [ 6.91166212e-03 -1.18454501e-04 9.99976107e-01 1.33718816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:6.24, Z:0.13 [[ 9.66721356e-01 -2.55743558e-01 -6.71202262e-03 4.56849716e+01] [ 2.55738241e-01 9.66744650e-01 -1.65343786e-03 6.24085653e+00] [ 6.91166804e-03 -1.18107162e-04 9.99976107e-01 1.33371616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:6.24, Z:0.13 [[ 9.66899497e-01 -2.55069238e-01 -6.71171167e-03 4.57130899e+01] [ 2.55063895e-01 9.66922785e-01 -1.65469910e-03 6.24249492e+00] [ 6.91176978e-03 -1.11987599e-04 9.99976107e-01 1.31114240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.74, Y:6.25, Z:0.13 [[ 9.66990592e-01 -2.54723674e-01 -6.71156821e-03 4.57407489e+01] [ 2.54718319e-01 9.67013877e-01 -1.65528078e-03 6.24632703e+00] [ 6.91181880e-03 -1.08918435e-04 9.99976107e-01 1.32838918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:6.25, Z:0.13 [[ 9.67514702e-01 -2.52725663e-01 -6.71124198e-03 4.57685709e+01] [ 2.52720251e-01 9.67537974e-01 -1.65660240e-03 6.24795347e+00] [ 6.91204741e-03 -9.32795794e-05 9.99976107e-01 1.31241346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:45.80, Y:6.25, Z:0.13 [[ 9.67767127e-01 -2.51757319e-01 -6.71114048e-03 4.57957603e+01] [ 2.51751881e-01 9.67790393e-01 -1.65701351e-03 6.25197594e+00] [ 6.91214256e-03 -8.59390280e-05 9.99976107e-01 1.30024353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:45.82, Y:6.26, Z:0.13 [[ 9.68115190e-01 -2.50415537e-01 -6.71099981e-03 4.58232639e+01] [ 2.50410063e-01 9.68138447e-01 -1.65758304e-03 6.25595147e+00] [ 6.91226148e-03 -7.57705614e-05 9.99976107e-01 1.30037107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:6.26, Z:0.13 [[ 9.68558900e-01 -2.48693837e-01 -6.71068872e-03 4.58518775e+01] [ 2.48688312e-01 9.68582145e-01 -1.65884152e-03 6.26027864e+00] [ 6.91239694e-03 -6.21841263e-05 9.99976107e-01 1.29588960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:6.26, Z:0.13 [[ 9.69466842e-01 -2.45130603e-01 -6.71041282e-03 4.58803489e+01] [ 2.45124985e-01 9.69490065e-01 -1.65995685e-03 6.26329128e+00] [ 6.91258478e-03 -3.56167152e-05 9.99976107e-01 1.30072874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:6.27, Z:0.13 [[ 9.69959036e-01 -2.43175745e-01 -6.71009308e-03 4.59082753e+01] [ 2.43170072e-01 9.69982245e-01 -1.66124834e-03 6.26824968e+00] [ 6.91264645e-03 -2.03509806e-05 9.99976107e-01 1.28271346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:6.27, Z:0.13 [[ 9.70972751e-01 -2.39095997e-01 -6.70983408e-03 4.59370423e+01] [ 2.39090219e-01 9.70995934e-01 -1.66229380e-03 6.27142157e+00] [ 6.91266940e-03 9.78628493e-06 9.99976107e-01 1.26585619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:6.28, Z:0.13 [[ 9.71535984e-01 -2.36796988e-01 -6.70955723e-03 4.59641330e+01] [ 2.36791147e-01 9.71559152e-01 -1.66341050e-03 6.27713224e+00] [ 6.91262233e-03 2.72994106e-05 9.99976107e-01 1.27814176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:6.28, Z:0.13 [[ 9.72093511e-01 -2.34497746e-01 -6.70923510e-03 4.59909830e+01] [ 2.34491841e-01 9.72116662e-01 -1.66470876e-03 6.28360419e+00] [ 6.91252968e-03 4.49916958e-05 9.99976107e-01 1.27710200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:6.29, Z:0.13 [[ 9.73020040e-01 -2.30623044e-01 -6.70913497e-03 4.60184505e+01] [ 2.30617045e-01 9.73043168e-01 -1.66511220e-03 6.28986070e+00] [ 6.91229119e-03 7.29466574e-05 9.99976107e-01 1.30970225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:6.30, Z:0.13 [[ 9.73373156e-01 -2.29128109e-01 -6.70880742e-03 4.60451449e+01] [ 2.29122065e-01 9.73396272e-01 -1.66643086e-03 6.29571059e+00] [ 6.91215429e-03 8.49232576e-05 9.99976107e-01 1.30069201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:6.30, Z:0.13 [[ 9.73658338e-01 -2.27913217e-01 -6.70868511e-03 4.60730425e+01] [ 2.27907141e-01 9.73681445e-01 -1.66692311e-03 6.30241487e+00] [ 6.91203603e-03 9.40563438e-05 9.99976107e-01 1.29906328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:6.31, Z:0.13 [[ 9.73860087e-01 -2.27049615e-01 -6.70840593e-03 4.61012105e+01] [ 2.27043510e-01 9.73883187e-01 -1.66804591e-03 6.30930906e+00] [ 6.91193293e-03 1.01343308e-04 9.99976107e-01 1.28834534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.13, Y:6.32, Z:0.13 [[ 9.74129343e-01 -2.25891586e-01 -6.70928357e-03 4.61281464e+01] [ 2.25885478e-01 9.74152442e-01 -1.66451805e-03 6.31643543e+00] [ 6.91186560e-03 1.05926149e-04 9.99976107e-01 1.33741539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:6.32, Z:0.13 [[ 9.74099820e-01 -2.26018903e-01 -6.70797648e-03 4.61550926e+01] [ 2.26012762e-01 9.74122910e-01 -1.66976903e-03 6.32391608e+00] [ 6.91179294e-03 1.10433424e-04 9.99976107e-01 1.33173655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:6.33, Z:0.13 [[ 9.74056861e-01 -2.26203969e-01 -6.70787430e-03 4.61826638e+01] [ 2.26197829e-01 9.74079952e-01 -1.67017944e-03 6.33098603e+00] [ 6.91180709e-03 1.09543140e-04 9.99976107e-01 1.33370450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:6.34, Z:0.13 [[ 9.73953028e-01 -2.26650628e-01 -6.70755673e-03 4.62102015e+01] [ 2.26644490e-01 9.73976119e-01 -1.67145383e-03 6.33833624e+00] [ 6.91183614e-03 1.07686738e-04 9.99976107e-01 1.33311505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:6.35, Z:0.13 [[ 9.73652899e-01 -2.27936494e-01 -6.70727447e-03 4.62365235e+01] [ 2.27930379e-01 9.73675996e-01 -1.67258574e-03 6.34691291e+00] [ 6.91195548e-03 9.97263429e-05 9.99976107e-01 1.34421476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:6.35, Z:0.13 [[ 9.73410171e-01 -2.28970862e-01 -6.70694304e-03 4.62640687e+01] [ 2.28964763e-01 9.73433272e-01 -1.67391368e-03 6.35499221e+00] [ 6.91203897e-03 9.37509806e-05 9.99976107e-01 1.33172549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:6.36, Z:0.13 [[ 9.73157448e-01 -2.30042593e-01 -6.70717222e-03 4.62907765e+01] [ 2.30036525e-01 9.73180558e-01 -1.67299566e-03 6.36218148e+00] [ 6.91214986e-03 8.51935946e-05 9.99976107e-01 1.32449368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:6.37, Z:0.13 [[ 9.72333657e-01 -2.33500061e-01 -6.70677745e-03 4.63191774e+01] [ 2.33494064e-01 9.72356785e-01 -1.67457670e-03 6.36931339e+00] [ 6.91239433e-03 6.22545623e-05 9.99976107e-01 1.32917879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:6.38, Z:0.13 [[ 9.71802973e-01 -2.35698968e-01 -6.70651072e-03 4.63456340e+01] [ 2.35693016e-01 9.71826113e-01 -1.67564428e-03 6.37691502e+00] [ 6.91250987e-03 4.77183550e-05 9.99976107e-01 1.32628647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:6.39, Z:0.14 [[ 9.71184136e-01 -2.38236015e-01 -6.70640840e-03 4.63726352e+01] [ 2.38230121e-01 9.71207290e-01 -1.67605369e-03 6.38504012e+00] [ 6.91260908e-03 3.00882683e-05 9.99976107e-01 1.35137542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:6.39, Z:0.14 [[ 9.69791079e-01 -2.43844810e-01 -6.70608347e-03 4.63994519e+01] [ 2.43839041e-01 9.69814265e-01 -1.67735276e-03 6.39277739e+00] [ 6.91266918e-03 -8.52322448e-06 9.99976107e-01 1.35657335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:6.40, Z:0.14 [[ 9.69006489e-01 -2.46944232e-01 -6.70598252e-03 4.64269406e+01] [ 2.46938535e-01 9.69029693e-01 -1.67775626e-03 6.39947821e+00] [ 6.91260841e-03 -3.02087963e-05 9.99976107e-01 1.36509863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:6.41, Z:0.14 [[ 9.68244499e-01 -2.49915234e-01 -6.70566409e-03 4.64545016e+01] [ 2.49909599e-01 9.68267718e-01 -1.67902798e-03 6.40562111e+00] [ 6.91249274e-03 -5.01002198e-05 9.99976107e-01 1.37181549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:46.48, Y:6.41, Z:0.14 [[ 9.66873217e-01 -2.55169004e-01 -6.70534050e-03 4.64823962e+01] [ 2.55163486e-01 9.66896464e-01 -1.68031930e-03 6.40860420e+00] [ 6.91213542e-03 -8.63023342e-05 9.99976107e-01 1.37151087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:6.41, Z:0.14 [[ 9.66455423e-01 -2.56746874e-01 -6.70501336e-03 4.65095344e+01] [ 2.56741385e-01 9.66478677e-01 -1.68162366e-03 6.41369921e+00] [ 6.91200406e-03 -9.62401095e-05 9.99976107e-01 1.36584575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.54, Y:6.42, Z:0.14 [[ 9.66168949e-01 -2.57822821e-01 -6.70491210e-03 4.65368179e+01] [ 2.57817355e-01 9.66192208e-01 -1.68202733e-03 6.41906717e+00] [ 6.91189885e-03 -1.03520129e-04 9.99976107e-01 1.38272757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:6.42, Z:0.14 [[ 9.66092198e-01 -2.58110272e-01 -6.70458727e-03 4.65652321e+01] [ 2.58104804e-01 9.66115457e-01 -1.68332110e-03 6.42457593e+00] [ 6.91188786e-03 -1.04242801e-04 9.99976107e-01 1.36851304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722640000000006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:46.59, Y:6.43, Z:0.14 [[ 9.66232297e-01 -2.57585317e-01 -6.70473363e-03 4.65934832e+01] [ 2.57579840e-01 9.66255553e-01 -1.68273831e-03 6.42927060e+00] [ 6.91193478e-03 -1.01088114e-04 9.99976107e-01 1.39412656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:6.43, Z:0.14 [[ 9.66595588e-01 -2.56218699e-01 -6.70420672e-03 4.66212703e+01] [ 2.56213175e-01 9.66618834e-01 -1.68483498e-03 6.43477169e+00] [ 6.91209871e-03 -8.91520339e-05 9.99976107e-01 1.39658770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:6.44, Z:0.14 [[ 9.66995894e-01 -2.54703741e-01 -6.70410345e-03 4.66484261e+01] [ 2.54698177e-01 9.67019130e-01 -1.68524578e-03 6.44064293e+00] [ 6.91223469e-03 -7.78971850e-05 9.99976107e-01 1.41012189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:6.45, Z:0.14 [[ 9.68184776e-01 -2.50146555e-01 -6.70377431e-03 4.66754327e+01] [ 2.50140873e-01 9.68207983e-01 -1.68655408e-03 6.44586036e+00] [ 6.91253349e-03 -4.39919770e-05 9.99976107e-01 1.39716466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:6.45, Z:0.14 [[ 9.68897130e-01 -2.47373026e-01 -6.70348729e-03 4.67034964e+01] [ 2.47367270e-01 9.68920319e-01 -1.68769410e-03 6.45131598e+00] [ 6.91263504e-03 -2.30213768e-05 9.99976107e-01 1.40622427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:6.46, Z:0.14 [[ 9.70474794e-01 -2.41109396e-01 -6.70320870e-03 4.67308496e+01] [ 2.41103483e-01 9.70497944e-01 -1.68879988e-03 6.45664020e+00] [ 6.91263578e-03 2.27707493e-05 9.99976107e-01 1.42475983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:6.46, Z:0.14 [[ 9.71394491e-01 -2.37376947e-01 -6.70287998e-03 4.67566548e+01] [ 2.37370936e-01 9.71417615e-01 -1.69010359e-03 6.46421975e+00] [ 6.91248731e-03 5.06884264e-05 9.99976107e-01 1.39704267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:6.47, Z:0.14 [[ 9.72240252e-01 -2.33888791e-01 -6.70273707e-03 4.67832332e+01] [ 2.33882693e-01 9.72263353e-01 -1.69067016e-03 6.47179770e+00] [ 6.91225441e-03 7.60833866e-05 9.99976107e-01 1.41751387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:6.48, Z:0.14 [[ 9.73012595e-01 -2.30654649e-01 -6.70240706e-03 4.68102144e+01] [ 2.30648465e-01 9.73035674e-01 -1.69197742e-03 6.47880506e+00] [ 6.91194363e-03 1.00415445e-04 9.99976107e-01 1.39216254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:6.49, Z:0.14 [[ 9.74266893e-01 -2.25297803e-01 -6.70230435e-03 4.68367853e+01] [ 2.25291489e-01 9.74289937e-01 -1.69238418e-03 6.48605041e+00] [ 6.91127812e-03 1.38861755e-04 9.99976107e-01 1.39615839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:6.49, Z:0.14 [[ 9.74702342e-01 -2.23406417e-01 -6.70197313e-03 4.68638402e+01] [ 2.23400050e-01 9.74725371e-01 -1.69369480e-03 6.49405761e+00] [ 6.91096554e-03 1.53627159e-04 9.99976107e-01 1.38206462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:6.50, Z:0.14 [[ 9.74992696e-01 -2.22135833e-01 -6.70187000e-03 4.68903533e+01] [ 2.22129433e-01 9.75015715e-01 -1.69410279e-03 6.50163525e+00] [ 6.91074951e-03 1.63055261e-04 9.99976107e-01 1.38459347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:6.51, Z:0.14 [[ 9.75109415e-01 -2.21622917e-01 -6.70153932e-03 4.69165025e+01] [ 2.21616495e-01 9.75132429e-01 -1.69540989e-03 6.51012814e+00] [ 6.91063000e-03 1.68038485e-04 9.99976107e-01 1.35837582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:6.52, Z:0.14 [[ 9.74940107e-01 -2.22366540e-01 -6.70143653e-03 4.69435791e+01] [ 2.22360134e-01 9.74963125e-01 -1.69581610e-03 6.51807033e+00] [ 6.91074626e-03 1.63186810e-04 9.99976107e-01 1.38102726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:6.53, Z:0.14 [[ 9.74476907e-01 -2.24387727e-01 -6.70111310e-03 4.69689156e+01] [ 2.24381360e-01 9.74499936e-01 -1.69709316e-03 6.52625504e+00] [ 6.91104117e-03 1.50173228e-04 9.99976107e-01 1.36978159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:6.53, Z:0.14 [[ 9.74167178e-01 -2.25728611e-01 -6.70097246e-03 4.69946955e+01] [ 2.25722271e-01 9.74190215e-01 -1.69764831e-03 6.53280473e+00] [ 6.91122960e-03 1.41234544e-04 9.99976107e-01 1.36016921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:6.54, Z:0.14 [[ 9.73827966e-01 -2.27187569e-01 -6.70083274e-03 4.70220899e+01] [ 2.27181260e-01 9.73851011e-01 -1.69819962e-03 6.53985155e+00] [ 6.91142258e-03 1.31450653e-04 9.99976107e-01 1.35102265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:47.05, Y:6.55, Z:0.14 [[ 9.73480458e-01 -2.28672037e-01 -6.70051362e-03 4.70498392e+01] [ 2.28665755e-01 9.73503510e-01 -1.69945783e-03 6.54782648e+00] [ 6.91159202e-03 1.22210980e-04 9.99976107e-01 1.36126231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:6.56, Z:0.14 [[ 9.73225678e-01 -2.29753971e-01 -6.70023326e-03 4.70759711e+01] [ 2.29747707e-01 9.73248735e-01 -1.70056244e-03 6.55725554e+00] [ 6.91170452e-03 1.15667809e-04 9.99976107e-01 1.36316198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:6.56, Z:0.14 [[ 9.73126374e-01 -2.30174212e-01 -6.70013378e-03 4.71026817e+01] [ 2.30167954e-01 9.73149433e-01 -1.70095431e-03 6.56484865e+00] [ 6.91174721e-03 1.13087417e-04 9.99976107e-01 1.35475081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:6.57, Z:0.14 [[ 9.73024717e-01 -2.30603578e-01 -6.70003495e-03 4.71296327e+01] [ 2.30597329e-01 9.73047778e-01 -1.70134350e-03 6.57235137e+00] [ 6.91179002e-03 1.10439115e-04 9.99976107e-01 1.37132383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:6.58, Z:0.14 [[ 9.72855136e-01 -2.31317960e-01 -6.69970999e-03 4.71569850e+01] [ 2.31311719e-01 9.72878199e-01 -1.70262220e-03 6.58210262e+00] [ 6.91184889e-03 1.06683315e-04 9.99976107e-01 1.38689094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:6.59, Z:0.14 [[ 9.72731846e-01 -2.31835876e-01 -6.69942313e-03 4.71833440e+01] [ 2.31829639e-01 9.72754910e-01 -1.70375019e-03 6.59057070e+00] [ 6.91188717e-03 1.04167220e-04 9.99976107e-01 1.39105832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:6.60, Z:0.14 [[ 9.72512725e-01 -2.32753341e-01 -6.69932159e-03 4.72104022e+01] [ 2.32747123e-01 9.72535795e-01 -1.70414936e-03 6.59918688e+00] [ 6.91197651e-03 9.80591160e-05 9.99976107e-01 1.42164101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:6.61, Z:0.14 [[ 9.72139766e-01 -2.34306206e-01 -6.69904249e-03 4.72360509e+01] [ 2.34300017e-01 9.72162843e-01 -1.70524582e-03 6.60687887e+00] [ 6.91210987e-03 8.81515026e-05 9.99976107e-01 1.39207854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.26, Y:6.61, Z:0.14 [[ 9.71800300e-01 -2.35710207e-01 -6.69889221e-03 4.72629955e+01] [ 2.35704048e-01 9.71823385e-01 -1.70583598e-03 6.61469524e+00] [ 6.91222305e-03 7.87759065e-05 9.99976107e-01 1.44192024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:6.62, Z:0.14 [[ 9.71154685e-01 -2.38356263e-01 -6.69855437e-03 4.72893265e+01] [ 2.38350157e-01 9.71177784e-01 -1.70716156e-03 6.62245314e+00] [ 6.91239984e-03 6.13164635e-05 9.99976107e-01 1.40739713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:6.63, Z:0.14 [[ 9.70647219e-01 -2.40414450e-01 -6.69844967e-03 4.73166399e+01] [ 2.40408390e-01 9.70670330e-01 -1.70757228e-03 6.62956455e+00] [ 6.91251141e-03 4.70867845e-05 9.99976107e-01 1.39865048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:6.64, Z:0.14 [[ 9.70135238e-01 -2.42472172e-01 -6.69813023e-03 4.73438750e+01] [ 2.42466153e-01 9.70158361e-01 -1.70882443e-03 6.63634919e+00] [ 6.91258941e-03 3.37209253e-05 9.99976107e-01 1.41425783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:6.64, Z:0.14 [[ 9.69438392e-01 -2.45243436e-01 -6.69779828e-03 4.73708068e+01] [ 2.45237473e-01 9.69461529e-01 -1.71012452e-03 6.64247413e+00] [ 6.91265458e-03 1.53092370e-05 9.99976107e-01 1.42402187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:6.65, Z:0.14 [[ 9.69272761e-01 -2.45897254e-01 -6.69746515e-03 4.73975396e+01] [ 2.45891298e-01 9.69295899e-01 -1.71142817e-03 6.64921045e+00] [ 6.91266099e-03 1.19923070e-05 9.99976107e-01 1.42891470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:6.66, Z:0.14 [[ 9.69253049e-01 -2.45974951e-01 -6.69713053e-03 4.74235320e+01] [ 2.45968988e-01 9.69276185e-01 -1.71273662e-03 6.65602204e+00] [ 6.91265943e-03 1.27887726e-05 9.99976107e-01 1.42720703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:6.66, Z:0.14 [[ 9.69313638e-01 -2.45736081e-01 -6.69698530e-03 4.74510157e+01] [ 2.45730108e-01 9.69336772e-01 -1.71330427e-03 6.66301919e+00] [ 6.91265480e-03 1.50782724e-05 9.99976107e-01 1.43688796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:6.67, Z:0.14 [[ 9.69574009e-01 -2.44706755e-01 -6.69664805e-03 4.74773060e+01] [ 2.44700749e-01 9.69597135e-01 -1.71462145e-03 6.66950300e+00] [ 6.91263021e-03 2.37776010e-05 9.99976107e-01 1.40667638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:6.68, Z:0.14 [[ 9.69764058e-01 -2.43952515e-01 -6.69650222e-03 4.75044083e+01] [ 2.43946487e-01 9.69787178e-01 -1.71519081e-03 6.67709942e+00] [ 6.91260710e-03 2.97422066e-05 9.99976107e-01 1.40615170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:6.68, Z:0.14 [[ 9.70075156e-01 -2.42712490e-01 -6.69619027e-03 4.75336152e+01] [ 2.42706424e-01 9.70098266e-01 -1.71640783e-03 6.68431100e+00] [ 6.91255618e-03 3.98361995e-05 9.99976107e-01 1.44189189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802640000000004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:47.56, Y:6.69, Z:0.14 [[ 9.70443336e-01 -2.41236092e-01 -6.69925572e-03 4.75598365e+01] [ 2.41230073e-01 9.70466458e-01 -1.70445092e-03 6.68978263e+00] [ 6.91257805e-03 3.80110898e-05 9.99976107e-01 1.43209119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:6.70, Z:0.15 [[ 9.70574806e-01 -2.40706695e-01 -6.69578602e-03 4.75870488e+01] [ 2.40700570e-01 9.70597900e-01 -1.71797405e-03 6.69561566e+00] [ 6.91244370e-03 5.57428170e-05 9.99976107e-01 1.45737337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:6.70, Z:0.15 [[ 9.70944559e-01 -2.39210857e-01 -6.69545316e-03 4.76131894e+01] [ 2.39204688e-01 9.70967642e-01 -1.71927030e-03 6.70230631e+00] [ 6.91233649e-03 6.77323629e-05 9.99976107e-01 1.45016471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:6.71, Z:0.15 [[ 9.71107117e-01 -2.38550079e-01 -6.69522597e-03 4.76396252e+01] [ 2.38543889e-01 9.71130194e-01 -1.72015458e-03 6.71014909e+00] [ 6.91227911e-03 7.33491188e-05 9.99976107e-01 1.46405932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:6.72, Z:0.14 [[ 9.71298529e-01 -2.37769523e-01 -6.69488856e-03 4.76664197e+01] [ 2.37763305e-01 9.71321598e-01 -1.72146682e-03 6.71785863e+00] [ 6.91220220e-03 8.02593591e-05 9.99976107e-01 1.43595451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:6.73, Z:0.14 [[ 9.71672206e-01 -2.36237813e-01 -6.69478383e-03 4.76933103e+01] [ 2.36231556e-01 9.71695265e-01 -1.72187399e-03 6.72567164e+00] [ 6.91206149e-03 9.15779001e-05 9.99976107e-01 1.39594047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:6.73, Z:0.14 [[ 9.71755592e-01 -2.35894576e-01 -6.69468400e-03 4.77203725e+01] [ 2.35888307e-01 9.71778648e-01 -1.72226205e-03 6.73317547e+00] [ 6.91202324e-03 9.44201006e-05 9.99976107e-01 1.44545996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:6.74, Z:0.14 [[ 9.71766459e-01 -2.35849815e-01 -6.69434769e-03 4.77467650e+01] [ 2.35843537e-01 9.71789512e-01 -1.72356829e-03 6.74052052e+00] [ 6.91200013e-03 9.60872207e-05 9.99976107e-01 1.39043669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:6.75, Z:0.14 [[ 9.71689045e-01 -2.36168559e-01 -6.69420177e-03 4.77737603e+01] [ 2.36162284e-01 9.71712099e-01 -1.72413482e-03 6.74729123e+00] [ 6.91202329e-03 9.44049334e-05 9.99976107e-01 1.38393321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:6.75, Z:0.14 [[ 9.71182196e-01 -2.38244268e-01 -6.69410835e-03 4.78012019e+01] [ 2.38238040e-01 9.71205263e-01 -1.72449747e-03 6.75416419e+00] [ 6.91220490e-03 8.00099858e-05 9.99976107e-01 1.41437383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.83, Y:6.76, Z:0.14 [[ 9.70844400e-01 -2.39617078e-01 -6.69378516e-03 4.78286552e+01] [ 2.39610874e-01 9.70867473e-01 -1.72575104e-03 6.76080144e+00] [ 6.91229771e-03 7.15320217e-05 9.99976107e-01 1.43190460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.86, Y:6.77, Z:0.14 [[ 9.70251344e-01 -2.42007287e-01 -6.69345847e-03 4.78567983e+01] [ 2.42001131e-01 9.70274430e-01 -1.72701722e-03 6.76722680e+00] [ 6.91244235e-03 5.58162553e-05 9.99976107e-01 1.44670573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:6.77, Z:0.14 [[ 9.69988225e-01 -2.43059755e-01 -6.69316830e-03 4.78839090e+01] [ 2.43053617e-01 9.70011316e-01 -1.72814106e-03 6.77419210e+00] [ 6.91249053e-03 4.94777138e-05 9.99976107e-01 1.44117733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:6.78, Z:0.14 [[ 9.69941826e-01 -2.43244849e-01 -6.69306499e-03 4.79114179e+01] [ 2.43238712e-01 9.69964918e-01 -1.72854109e-03 6.78149580e+00] [ 6.91249694e-03 4.85718014e-05 9.99976107e-01 1.44314520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:6.79, Z:0.14 [[ 9.69719372e-01 -2.44130183e-01 -6.69273489e-03 4.79381251e+01] [ 2.44124058e-01 9.69742467e-01 -1.72981824e-03 6.78793967e+00] [ 6.91253009e-03 4.35806588e-05 9.99976107e-01 1.44707887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:6.79, Z:0.15 [[ 9.69446389e-01 -2.45211968e-01 -6.69258018e-03 4.79659824e+01] [ 2.45205865e-01 9.69469489e-01 -1.73041660e-03 6.79318900e+00] [ 6.91257115e-03 3.64862147e-05 9.99976107e-01 1.47244601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:6.80, Z:0.15 [[ 9.69383267e-01 -2.45461388e-01 -6.69247702e-03 4.79923176e+01] [ 2.45455288e-01 9.69406368e-01 -1.73081548e-03 6.79982908e+00] [ 6.91257821e-03 3.51196947e-05 9.99976107e-01 1.47141356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:6.81, Z:0.15 [[ 9.69465437e-01 -2.45136654e-01 -6.69225187e-03 4.80193315e+01] [ 2.45130541e-01 9.69488535e-01 -1.73168559e-03 6.80751123e+00] [ 6.91256108e-03 3.83340034e-05 9.99976107e-01 1.47657350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.05, Y:6.82, Z:0.15 [[ 9.69624415e-01 -2.44507079e-01 -6.69192710e-03 4.80457545e+01] [ 2.44500942e-01 9.69647506e-01 -1.73293973e-03 6.81503580e+00] [ 6.91252646e-03 4.41181890e-05 9.99976107e-01 1.49977149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372640000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:48.07, Y:6.82, Z:0.15 [[ 9.70340064e-01 -2.41651367e-01 -6.69158954e-03 4.80723925e+01] [ 2.41645153e-01 9.70363134e-01 -1.73424223e-03 6.82161310e+00] [ 6.91235380e-03 6.58145416e-05 9.99976107e-01 1.52206821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.10, Y:6.83, Z:0.15 [[ 9.70797035e-01 -2.39809059e-01 -6.68824820e-03 4.81008567e+01] [ 2.39802712e-01 9.70820069e-01 -1.74712573e-03 6.82868060e+00] [ 6.91206215e-03 9.22444199e-05 9.99976107e-01 1.49817496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:6.84, Z:0.15 [[ 9.71265383e-01 -2.37904989e-01 -6.69118029e-03 4.81280292e+01] [ 2.37898675e-01 9.71288427e-01 -1.73582323e-03 6.83654899e+00] [ 6.91202698e-03 9.41220905e-05 9.99976107e-01 1.49823422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:6.85, Z:0.15 [[ 9.72151050e-01 -2.34259611e-01 -6.69107973e-03 4.81542421e+01] [ 2.34253207e-01 9.72174069e-01 -1.73621076e-03 6.84614522e+00] [ 6.91161826e-03 1.20452225e-04 9.99976107e-01 1.52226894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:6.85, Z:0.15 [[ 9.72542987e-01 -2.32627110e-01 -6.69074568e-03 4.81805643e+01] [ 2.32620660e-01 9.72565992e-01 -1.73749712e-03 6.85465212e+00] [ 6.91138065e-03 1.33384965e-04 9.99976107e-01 1.52408148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:6.87, Z:0.15 [[ 9.73296756e-01 -2.29452967e-01 -6.69041280e-03 4.82064761e+01] [ 2.29446433e-01 9.73319737e-01 -1.73877797e-03 6.86545157e+00] [ 6.91087859e-03 1.57255608e-04 9.99976107e-01 1.50748550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:6.87, Z:0.15 [[ 9.73449351e-01 -2.28804764e-01 -6.68884311e-03 4.82334934e+01] [ 2.28798173e-01 9.73472317e-01 -1.74481419e-03 6.87474466e+00] [ 6.91062540e-03 1.68093154e-04 9.99976107e-01 1.50740374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:6.88, Z:0.15 [[ 9.73528842e-01 -2.28466276e-01 -6.68996175e-03 4.82602814e+01] [ 2.28459706e-01 9.73551813e-01 -1.74051450e-03 6.88355928e+00] [ 6.91067326e-03 1.66054371e-04 9.99976107e-01 1.48843953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:6.89, Z:0.15 [[ 9.73299298e-01 -2.29442199e-01 -6.68985914e-03 4.82875854e+01] [ 2.29435650e-01 9.73322275e-01 -1.74090881e-03 6.89396022e+00] [ 6.91082687e-03 1.59533142e-04 9.99976107e-01 1.46885023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:6.90, Z:0.15 [[ 9.73096217e-01 -2.30301980e-01 -6.68957182e-03 4.83140362e+01] [ 2.30295443e-01 9.73119198e-01 -1.74201217e-03 6.90250868e+00] [ 6.91093962e-03 1.54567542e-04 9.99976107e-01 1.45356935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:6.91, Z:0.15 [[ 9.72607955e-01 -2.32355472e-01 -6.68583187e-03 4.83418567e+01] [ 2.32348885e-01 9.72630922e-01 -1.75636429e-03 6.91173225e+00] [ 6.91094767e-03 1.54808303e-04 9.99976107e-01 1.46424325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:6.92, Z:0.15 [[ 9.71906604e-01 -2.35271772e-01 -6.68923646e-03 4.83666508e+01] [ 2.35265344e-01 9.71929616e-01 -1.74330050e-03 6.92165637e+00] [ 6.91161643e-03 1.20579748e-04 9.99976107e-01 1.47675366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:6.93, Z:0.15 [[ 9.71471993e-01 -2.37060058e-01 -6.68547849e-03 4.83942881e+01] [ 2.37053573e-01 9.71494989e-01 -1.75771066e-03 6.93036835e+00] [ 6.91159184e-03 1.22750111e-04 9.99976107e-01 1.46025925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762640000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.42, Y:6.94, Z:0.14 [[ 9.71004730e-01 -2.38966679e-01 -6.68879650e-03 4.84221115e+01] [ 2.38960328e-01 9.71027763e-01 -1.74499226e-03 6.93908907e+00] [ 6.91200211e-03 9.60387375e-05 9.99976107e-01 1.44971439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792640000000006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:48.45, Y:6.95, Z:0.15 [[ 9.70360769e-01 -2.41568251e-01 -6.69013503e-03 4.84478236e+01] [ 2.41561996e-01 9.70383829e-01 -1.73986456e-03 6.94944438e+00] [ 6.91229488e-03 7.22139392e-05 9.99976107e-01 1.45527719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:6.96, Z:0.15 [[ 9.69945617e-01 -2.43229862e-01 -6.68835258e-03 4.84754790e+01] [ 2.43223600e-01 9.69968675e-01 -1.74668984e-03 6.95868838e+00] [ 6.91233962e-03 6.74289643e-05 9.99976107e-01 1.45278346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:6.97, Z:0.14 [[ 9.69250625e-01 -2.45984746e-01 -6.68805685e-03 4.85025180e+01] [ 2.45978541e-01 9.69273698e-01 -1.74782147e-03 6.96698359e+00] [ 6.91249501e-03 4.89585849e-05 9.99976107e-01 1.44302418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:48.53, Y:6.97, Z:0.15 [[ 9.68915959e-01 -2.47299690e-01 -6.68789928e-03 4.85295986e+01] [ 2.47293512e-01 9.68939039e-01 -1.74842419e-03 6.97491508e+00] [ 6.91255146e-03 4.02020006e-05 9.99976107e-01 1.45059038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:6.98, Z:0.15 [[ 9.68664429e-01 -2.48283100e-01 -6.68774733e-03 4.85559329e+01] [ 2.48276942e-01 9.68687515e-01 -1.74900521e-03 6.98289019e+00] [ 6.91258577e-03 3.37856788e-05 9.99976107e-01 1.46720556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:6.99, Z:0.15 [[ 9.67782380e-01 -2.51699392e-01 -6.68440929e-03 4.85837112e+01] [ 2.51693227e-01 9.67805464e-01 -1.76176163e-03 6.99149644e+00] [ 6.91264216e-03 2.25813176e-05 9.99976107e-01 1.48358126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:7.00, Z:0.15 [[ 9.67511100e-01 -2.52740086e-01 -6.68736926e-03 4.86111012e+01] [ 2.52734025e-01 9.67534211e-01 -1.75045346e-03 6.99921367e+00] [ 6.91266830e-03 3.45740320e-06 9.99976107e-01 1.49736716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.64, Y:7.01, Z:0.15 [[ 9.67383682e-01 -2.53227354e-01 -6.68720743e-03 4.86377016e+01] [ 2.53221300e-01 9.67406795e-01 -1.75107146e-03 7.00694776e+00] [ 6.91266910e-03 6.14605041e-07 9.99976107e-01 1.51404003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:7.02, Z:0.15 [[ 9.67413338e-01 -2.53114045e-01 -6.68687354e-03 4.86647301e+01] [ 2.53107980e-01 9.67436448e-01 -1.75234560e-03 7.01587046e+00] [ 6.91266846e-03 2.74145522e-06 9.99976107e-01 1.52920551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:7.02, Z:0.15 [[ 9.67589971e-01 -2.52437986e-01 -6.68657839e-03 4.86921432e+01] [ 2.52431896e-01 9.67613075e-01 -1.75347109e-03 7.02334386e+00] [ 6.91266339e-03 8.73537696e-06 9.99976107e-01 1.53839786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:7.03, Z:0.15 [[ 9.67974676e-01 -2.50958802e-01 -6.68623503e-03 4.87191502e+01] [ 2.50952668e-01 9.67997768e-01 -1.75477940e-03 7.03215821e+00] [ 6.91263792e-03 2.06535046e-05 9.99976107e-01 1.54829931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:7.04, Z:0.15 [[ 9.68160273e-01 -2.50241851e-01 -6.68588340e-03 4.87455136e+01] [ 2.50235690e-01 9.68183358e-01 -1.75611812e-03 7.03904583e+00] [ 6.91261529e-03 2.71571544e-05 9.99976107e-01 1.53536821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:7.05, Z:0.15 [[ 9.68280165e-01 -2.49777548e-01 -6.68573010e-03 4.87727606e+01] [ 2.49771372e-01 9.68303246e-01 -1.75670155e-03 7.04544532e+00] [ 6.91259876e-03 3.10752863e-05 9.99976107e-01 1.53531803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:7.05, Z:0.15 [[ 9.68313827e-01 -2.49647022e-01 -6.68557008e-03 4.87999866e+01] [ 2.49640839e-01 9.68336906e-01 -1.75731033e-03 7.05233044e+00] [ 6.91259154e-03 3.26365694e-05 9.99976107e-01 1.54477470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.83, Y:7.06, Z:0.16 [[ 9.68253419e-01 -2.49881219e-01 -6.68523371e-03 4.88277021e+01] [ 2.49875032e-01 9.68276497e-01 -1.75858902e-03 7.05972855e+00] [ 6.91259305e-03 3.22868453e-05 9.99976107e-01 1.57790385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:7.07, Z:0.16 [[ 9.68213359e-01 -2.50036404e-01 -6.68492993e-03 4.88547337e+01] [ 2.50030213e-01 9.68236436e-01 -1.75974303e-03 7.06719664e+00] [ 6.91259255e-03 3.23722515e-05 9.99976107e-01 1.58445207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:7.07, Z:0.16 [[ 9.68152889e-01 -2.50270448e-01 -6.68482241e-03 4.88825889e+01] [ 2.50264261e-01 9.68175966e-01 -1.76015138e-03 7.07445247e+00] [ 6.91259827e-03 3.11235037e-05 9.99976107e-01 1.60538198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:7.08, Z:0.16 [[ 9.68423608e-01 -2.49220850e-01 -6.68452325e-03 4.89096594e+01] [ 2.49214629e-01 9.68446677e-01 -1.76128678e-03 7.08039768e+00] [ 6.91255372e-03 3.97907121e-05 9.99976107e-01 1.62278636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:7.09, Z:0.16 [[ 9.68729654e-01 -2.48028580e-01 -6.68436398e-03 4.89356684e+01] [ 2.48022326e-01 9.68752714e-01 -1.76189103e-03 7.08713612e+00] [ 6.91249508e-03 4.89245878e-05 9.99976107e-01 1.61371012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:7.09, Z:0.16 [[ 9.69104097e-01 -2.46561493e-01 -6.68421979e-03 4.89627525e+01] [ 2.46555201e-01 9.69127147e-01 -1.76243787e-03 7.09418225e+00] [ 6.91240817e-03 5.99566115e-05 9.99976107e-01 1.61570690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:7.10, Z:0.16 [[ 9.70248542e-01 -2.42018785e-01 -6.68387856e-03 4.89898858e+01] [ 2.42012377e-01 9.70271559e-01 -1.76373101e-03 7.10155865e+00] [ 6.91203331e-03 9.36761016e-05 9.99976107e-01 1.57873448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:7.11, Z:0.16 [[ 9.70831554e-01 -2.39669402e-01 -6.68371995e-03 4.90171297e+01] [ 2.39662934e-01 9.70854554e-01 -1.76433188e-03 7.10936701e+00] [ 6.91177632e-03 1.11029129e-04 9.99976107e-01 1.57993602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:7.12, Z:0.16 [[ 9.72131280e-01 -2.34341857e-01 -6.68338080e-03 4.90452011e+01] [ 2.34335254e-01 9.72154243e-01 -1.76561565e-03 7.11954968e+00] [ 6.91103465e-03 1.50258463e-04 9.99976107e-01 1.56586144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:7.13, Z:0.16 [[ 9.72599670e-01 -2.32390120e-01 -6.68682166e-03 4.90718895e+01] [ 2.32383560e-01 9.72622645e-01 -1.75259521e-03 7.12881935e+00] [ 6.91103998e-03 1.50666097e-04 9.99976107e-01 1.56517678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:7.14, Z:0.15 [[ 9.73029846e-01 -2.30582429e-01 -6.68298952e-03 4.90982493e+01] [ 2.30575727e-01 9.73052779e-01 -1.76708808e-03 7.13798947e+00] [ 6.91036099e-03 1.78494282e-04 9.99976107e-01 1.52683721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:7.15, Z:0.15 [[ 9.72987161e-01 -2.30762481e-01 -6.68288101e-03 4.91257066e+01] [ 2.30755780e-01 9.73010095e-01 -1.76749835e-03 7.14546605e+00] [ 6.91038300e-03 1.77639778e-04 9.99976107e-01 1.52880489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:7.16, Z:0.16 [[ 9.72786139e-01 -2.31608442e-01 -6.68255371e-03 4.91518927e+01] [ 2.31601753e-01 9.72809077e-01 -1.76873495e-03 7.15635920e+00] [ 6.91050285e-03 1.72909690e-04 9.99976107e-01 1.55323152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:7.17, Z:0.16 [[ 9.72409806e-01 -2.33183473e-01 -6.68106519e-03 4.91789968e+01] [ 2.33176782e-01 9.72432743e-01 -1.77435662e-03 7.16512050e+00] [ 6.91063719e-03 1.67532489e-04 9.99976107e-01 1.55329933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:7.17, Z:0.15 [[ 9.71654674e-01 -2.36310269e-01 -6.68218023e-03 4.92053895e+01] [ 2.36303681e-01 9.71677640e-01 -1.77014743e-03 7.17335825e+00] [ 6.91122913e-03 1.40948239e-04 9.99976107e-01 1.52559973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:7.18, Z:0.15 [[ 9.71331694e-01 -2.37634365e-01 -6.68202055e-03 4.92317892e+01] [ 2.37627804e-01 9.71354668e-01 -1.77074997e-03 7.18127792e+00] [ 6.91140290e-03 1.32151700e-04 9.99976107e-01 1.53837824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:7.19, Z:0.16 [[ 9.70860612e-01 -2.39551726e-01 -6.68147861e-03 4.92586793e+01] [ 2.39545196e-01 9.70883596e-01 -1.77279385e-03 7.19034454e+00] [ 6.91161380e-03 1.20619614e-04 9.99976107e-01 1.55512791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:7.20, Z:0.15 [[ 9.70598016e-01 -2.40613482e-01 -6.68162949e-03 4.92842991e+01] [ 2.40606982e-01 9.70621007e-01 -1.77222499e-03 7.19845604e+00] [ 6.91175117e-03 1.12471353e-04 9.99976107e-01 1.54962554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:7.21, Z:0.16 [[ 9.70407611e-01 -2.41380254e-01 -6.68139877e-03 4.93100194e+01] [ 2.41373765e-01 9.70430606e-01 -1.77309439e-03 7.20674268e+00] [ 6.91182383e-03 1.07909917e-04 9.99976107e-01 1.55039368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:7.22, Z:0.16 [[ 9.70144070e-01 -2.42437301e-01 -6.68125320e-03 4.93362616e+01] [ 2.42430834e-01 9.70167071e-01 -1.77364276e-03 7.21546199e+00] [ 6.91192901e-03 1.00947221e-04 9.99976107e-01 1.55744479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:7.22, Z:0.16 [[ 9.69468756e-01 -2.45123839e-01 -6.68091294e-03 4.93628537e+01] [ 2.45117427e-01 9.69491772e-01 -1.77492349e-03 7.22447899e+00] [ 6.91216619e-03 8.31246807e-05 9.99976107e-01 1.55611962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:7.23, Z:0.16 [[ 9.69181162e-01 -2.46258492e-01 -6.68056390e-03 4.93892624e+01] [ 2.46252098e-01 9.69204184e-01 -1.77623628e-03 7.23152158e+00] [ 6.91224375e-03 7.63918664e-05 9.99976107e-01 1.55545046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:7.24, Z:0.16 [[ 9.68885430e-01 -2.47419473e-01 -6.68043333e-03 4.94165823e+01] [ 2.47413103e-01 9.68908458e-01 -1.77672723e-03 7.23884965e+00] [ 6.91232527e-03 6.86183816e-05 9.99976107e-01 1.56836941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:7.25, Z:0.16 [[ 9.68484673e-01 -2.48983563e-01 -6.68009086e-03 4.94431963e+01] [ 2.48977222e-01 9.68507709e-01 -1.77801390e-03 7.24801760e+00] [ 6.91241573e-03 5.87887494e-05 9.99976107e-01 1.56930131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:7.26, Z:0.16 [[ 9.68296579e-01 -2.49714063e-01 -6.67993115e-03 4.94704254e+01] [ 2.49707735e-01 9.68319618e-01 -1.77861370e-03 7.25609151e+00] [ 6.91245324e-03 5.41950859e-05 9.99976107e-01 1.58741173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:7.26, Z:0.16 [[ 9.67989863e-01 -2.50900397e-01 -6.67958642e-03 4.94964813e+01] [ 2.50894088e-01 9.68012907e-01 -1.77990742e-03 7.26308255e+00] [ 6.91250534e-03 4.70635981e-05 9.99976107e-01 1.58622941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.52, Y:7.27, Z:0.16 [[ 9.67805696e-01 -2.51609861e-01 -6.67924353e-03 4.95240046e+01] [ 2.51603560e-01 9.67828743e-01 -1.78119318e-03 7.27095974e+00] [ 6.91252964e-03 4.33274624e-05 9.99976107e-01 1.58111757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:7.28, Z:0.16 [[ 9.67738162e-01 -2.51869440e-01 -6.68091688e-03 4.95493814e+01] [ 2.51863189e-01 9.67761223e-01 -1.77492166e-03 7.27924026e+00] [ 6.91258081e-03 3.49823917e-05 9.99976107e-01 1.60556030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:7.29, Z:0.16 [[ 9.67593450e-01 -2.52424858e-01 -6.67881411e-03 4.95767352e+01] [ 2.52418565e-01 9.67616499e-01 -1.78279915e-03 7.28775977e+00] [ 6.91255355e-03 3.91681112e-05 9.99976107e-01 1.59484348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:7.29, Z:0.16 [[ 9.67572069e-01 -2.52506790e-01 -6.67917097e-03 4.96032471e+01] [ 2.52500509e-01 9.67595122e-01 -1.78146268e-03 7.29498728e+00] [ 6.91256467e-03 3.71994638e-05 9.99976107e-01 1.59674097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:7.30, Z:0.16 [[ 9.67297173e-01 -2.53557824e-01 -6.67900476e-03 4.96313312e+01] [ 2.53551564e-01 9.67320231e-01 -1.78208492e-03 7.30182287e+00] [ 6.91259800e-03 3.03336025e-05 9.99976107e-01 1.60244018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:7.31, Z:0.16 [[ 9.67181651e-01 -2.53998140e-01 -6.67827071e-03 4.96587341e+01] [ 2.53991871e-01 9.67204706e-01 -1.78483153e-03 7.30926951e+00] [ 6.91259875e-03 3.00298353e-05 9.99976107e-01 1.59890148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:7.32, Z:0.16 [[ 9.67112387e-01 -2.54261749e-01 -6.67793339e-03 4.96855411e+01] [ 2.54255477e-01 9.67135442e-01 -1.78609270e-03 7.31721225e+00] [ 6.91260111e-03 2.94512301e-05 9.99976107e-01 1.60304786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:7.33, Z:0.16 [[ 9.67217962e-01 -2.53859852e-01 -6.67758989e-03 4.97126880e+01] [ 2.53853562e-01 9.67241012e-01 -1.78737600e-03 7.32587738e+00] [ 6.91258181e-03 3.36521931e-05 9.99976107e-01 1.59381683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:7.33, Z:0.16 [[ 9.67290500e-01 -2.53583324e-01 -6.67728322e-03 4.97387377e+01] [ 2.53577020e-01 9.67313546e-01 -1.78852095e-03 7.33351941e+00] [ 6.91256559e-03 3.68137515e-05 9.99976107e-01 1.58065880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.77, Y:7.34, Z:0.16 [[ 9.67498047e-01 -2.52790320e-01 -6.67713086e-03 4.97657169e+01] [ 2.52783992e-01 9.67521086e-01 -1.78908955e-03 7.34262719e+00] [ 6.91252943e-03 4.30688495e-05 9.99976107e-01 1.58750298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:7.35, Z:0.16 [[ 9.67582603e-01 -2.52466485e-01 -6.67679152e-03 4.97925192e+01] [ 2.52460141e-01 9.67605639e-01 -1.79035507e-03 7.35043499e+00] [ 6.91250577e-03 4.66926901e-05 9.99976107e-01 1.59367082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:7.36, Z:0.16 [[ 9.67676430e-01 -2.52106621e-01 -6.67663151e-03 4.98192220e+01] [ 2.52100265e-01 9.67699462e-01 -1.79095157e-03 7.35774223e+00] [ 6.91248347e-03 4.98810543e-05 9.99976107e-01 1.59199165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:7.37, Z:0.16 [[ 9.67911416e-01 -2.51202938e-01 -6.67647337e-03 4.98458042e+01] [ 2.51196556e-01 9.67934440e-01 -1.79154093e-03 7.36615069e+00] [ 6.91242886e-03 5.69458068e-05 9.99976107e-01 1.61095821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.87, Y:7.37, Z:0.16 [[ 9.68117112e-01 -2.50409038e-01 -6.67613798e-03 4.98728503e+01] [ 2.50402629e-01 9.68140129e-01 -1.79278988e-03 7.37464813e+00] [ 6.91236787e-03 6.39080590e-05 9.99976107e-01 1.60538789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:7.38, Z:0.16 [[ 9.68238298e-01 -2.49940049e-01 -6.67603270e-03 4.98993293e+01] [ 2.49933625e-01 9.68261312e-01 -1.79318185e-03 7.38445472e+00] [ 6.91233213e-03 6.76622875e-05 9.99976107e-01 1.60659120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:7.39, Z:0.16 [[ 9.69227381e-01 -2.46076735e-01 -6.67274368e-03 4.99270436e+01] [ 2.46070135e-01 9.69250344e-01 -1.80541848e-03 7.39398334e+00] [ 6.91183059e-03 1.07898085e-04 9.99976107e-01 1.61179895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:7.40, Z:0.16 [[ 9.69850922e-01 -2.43607522e-01 -6.67562237e-03 4.99545398e+01] [ 2.43600938e-01 9.69873890e-01 -1.79471091e-03 7.40373487e+00] [ 6.91171691e-03 1.14414162e-04 9.99976107e-01 1.62467051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:7.42, Z:0.16 [[ 9.71287793e-01 -2.37813926e-01 -6.67532253e-03 4.99794077e+01] [ 2.37807197e-01 9.71310719e-01 -1.79582546e-03 7.41691960e+00] [ 6.91088462e-03 1.56823603e-04 9.99976107e-01 1.62060981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:50.01, Y:7.43, Z:0.16 [[ 9.71965861e-01 -2.35027244e-01 -6.67521572e-03 5.00051988e+01] [ 2.35020447e-01 9.71988767e-01 -1.79622236e-03 7.42706678e+00] [ 6.91039589e-03 1.77054633e-04 9.99976107e-01 1.61866782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:7.44, Z:0.16 [[ 9.72436050e-01 -2.33074185e-01 -6.67487404e-03 5.00321392e+01] [ 2.33067333e-01 9.72458939e-01 -1.79749117e-03 7.43895408e+00] [ 6.90998972e-03 1.92250124e-04 9.99976107e-01 1.62017059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:7.45, Z:0.16 [[ 9.72807024e-01 -2.31520936e-01 -6.67457093e-03 5.00580292e+01] [ 2.31514040e-01 9.72829900e-01 -1.79861601e-03 7.45028814e+00] [ 6.90963943e-03 2.04449411e-04 9.99976107e-01 1.60521960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:7.47, Z:0.16 [[ 9.73014548e-01 -2.30647227e-01 -6.67422387e-03 5.00829454e+01] [ 2.30640301e-01 9.73037415e-01 -1.79990294e-03 7.46530593e+00] [ 6.90941217e-03 2.11986739e-04 9.99976107e-01 1.58180288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:7.48, Z:0.16 [[ 9.72778365e-01 -2.31641336e-01 -6.67411574e-03 5.01078982e+01] [ 2.31634431e-01 9.72801238e-01 -1.80030379e-03 7.47557272e+00] [ 6.90961283e-03 2.05341573e-04 9.99976107e-01 1.56547162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:7.49, Z:0.16 [[ 9.71562038e-01 -2.36691074e-01 -6.67396575e-03 5.01332241e+01] [ 2.36684284e-01 9.71584946e-01 -1.80085968e-03 7.48754424e+00] [ 6.91057206e-03 1.70024094e-04 9.99976107e-01 1.59133941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:7.50, Z:0.16 [[ 9.70604964e-01 -2.40585674e-01 -6.67360714e-03 5.01594245e+01] [ 2.40578967e-01 9.70627896e-01 -1.80218763e-03 7.49709480e+00] [ 6.91116978e-03 1.43682742e-04 9.99976107e-01 1.56626698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:7.51, Z:0.16 [[ 9.69488187e-01 -2.45047177e-01 -6.67349581e-03 5.01860009e+01] [ 2.45040573e-01 9.69511149e-01 -1.80259978e-03 7.50635637e+00] [ 6.91175058e-03 1.12321958e-04 9.99976107e-01 1.60228531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:7.52, Z:0.16 [[ 9.66844720e-01 -2.55277812e-01 -6.67280788e-03 5.02106383e+01] [ 2.55271433e-01 9.66867745e-01 -1.80514554e-03 7.51681056e+00] [ 6.91253631e-03 4.19181976e-05 9.99976107e-01 1.61601181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:7.53, Z:0.16 [[ 9.65307241e-01 -2.61031466e-01 -6.67114974e-03 5.02377842e+01] [ 2.61025182e-01 9.65330292e-01 -1.81127901e-03 7.52591328e+00] [ 6.91266374e-03 7.10267008e-06 9.99976107e-01 1.63543519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:7.53, Z:0.16 [[ 9.63878538e-01 -2.66258591e-01 -6.67284905e-03 5.02643885e+01] [ 2.66252475e-01 9.63901635e-01 -1.80499685e-03 7.53387711e+00] [ 6.91256603e-03 -3.68648497e-05 9.99976107e-01 1.64403403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862640000000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.29, Y:7.54, Z:0.16 [[ 9.61342840e-01 -2.75273355e-01 -6.67268676e-03 5.02923387e+01] [ 2.75267452e-01 9.61365992e-01 -1.80559660e-03 7.54050683e+00] [ 6.91192676e-03 -1.00976118e-04 9.99976107e-01 1.64532813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:7.55, Z:0.16 [[ 9.60318447e-01 -2.78826037e-01 -6.67238561e-03 5.03187736e+01] [ 2.78820212e-01 9.60341619e-01 -1.80670880e-03 7.54746516e+00] [ 6.91152705e-03 -1.25380175e-04 9.99976107e-01 1.64811233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:7.55, Z:0.16 [[ 9.59468783e-01 -2.81735931e-01 -6.67227897e-03 5.03463319e+01] [ 2.81730173e-01 9.59491972e-01 -1.80710254e-03 7.55445509e+00] [ 6.91112382e-03 -1.45923841e-04 9.99976107e-01 1.64682492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.37, Y:7.56, Z:0.16 [[ 9.58372629e-01 -2.85442445e-01 -6.67193714e-03 5.03749074e+01] [ 2.85436768e-01 9.58395838e-01 -1.80836371e-03 7.56024984e+00] [ 6.91054054e-03 -1.71329892e-04 9.99976107e-01 1.63612913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:7.57, Z:0.16 [[ 9.58049486e-01 -2.86525169e-01 -6.67162589e-03 5.04012214e+01] [ 2.86519510e-01 9.58072699e-01 -1.80951127e-03 7.56602107e+00] [ 6.91037315e-03 -1.77949641e-04 9.99976107e-01 1.61382698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:7.57, Z:0.16 [[ 9.57664404e-01 -2.87809652e-01 -6.67031693e-03 5.04296137e+01] [ 2.87803991e-01 9.57687617e-01 -1.81433419e-03 7.57189067e+00] [ 6.91026282e-03 -1.82220558e-04 9.99976107e-01 1.63243478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:7.57, Z:0.16 [[ 9.57191480e-01 -2.89378585e-01 -6.67114817e-03 5.04576641e+01] [ 2.89372983e-01 9.57214707e-01 -1.81127263e-03 7.57425090e+00] [ 6.90986465e-03 -1.96715323e-04 9.99976107e-01 1.64416925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.49, Y:7.58, Z:0.17 [[ 9.57130768e-01 -2.89579333e-01 -6.67104117e-03 5.04857497e+01] [ 2.89573734e-01 9.57153995e-01 -1.81166664e-03 7.57838676e+00] [ 6.90983493e-03 -1.97756416e-04 9.99976107e-01 1.65376889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:7.58, Z:0.16 [[ 9.57714779e-01 -2.87641972e-01 -6.67069616e-03 5.05138427e+01] [ 2.87636317e-01 9.57737993e-01 -1.81293612e-03 7.57963547e+00] [ 6.91025567e-03 -1.82458764e-04 9.99976107e-01 1.64842596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.54, Y:7.59, Z:0.16 [[ 9.58190086e-01 -2.86054649e-01 -6.67054691e-03 5.05417544e+01] [ 2.86048952e-01 9.58213290e-01 -1.81348508e-03 7.58531474e+00] [ 6.91056254e-03 -1.70439527e-04 9.99976107e-01 1.64764551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:7.59, Z:0.16 [[ 9.58936478e-01 -2.83542484e-01 -6.67020419e-03 5.05688257e+01] [ 2.83536717e-01 9.58959664e-01 -1.81474479e-03 7.59038859e+00] [ 6.91101401e-03 -1.51022819e-04 9.99976107e-01 1.64127790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:7.59, Z:0.16 [[ 9.59702064e-01 -2.80940311e-01 -6.67009765e-03 5.05963230e+01] [ 2.80934478e-01 9.59725234e-01 -1.81513627e-03 7.59429031e+00] [ 6.91140598e-03 -1.31870376e-04 9.99976107e-01 1.63431851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:7.60, Z:0.16 [[ 9.61290932e-01 -2.75454641e-01 -6.66975810e-03 5.06253125e+01] [ 2.75448667e-01 9.61314065e-01 -1.81638312e-03 7.59567983e+00] [ 6.91206343e-03 -9.11033584e-05 9.99976107e-01 1.64073615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:7.60, Z:0.16 [[ 9.62101956e-01 -2.72608411e-01 -6.66941049e-03 5.06524456e+01] [ 2.72602360e-01 9.62125070e-01 -1.81765857e-03 7.60112209e+00] [ 6.91231605e-03 -6.93241761e-05 9.99976107e-01 1.61288814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:7.61, Z:0.16 [[ 9.62782615e-01 -2.70194673e-01 -6.66890537e-03 5.06812881e+01] [ 2.70188551e-01 9.62805711e-01 -1.81951081e-03 7.60647649e+00] [ 6.91248230e-03 -5.00685016e-05 9.99976107e-01 1.62890930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:7.61, Z:0.16 [[ 9.63734813e-01 -2.66778438e-01 -6.66901631e-03 5.07096155e+01] [ 2.66772237e-01 9.63757887e-01 -1.81910408e-03 7.60705217e+00] [ 6.91261481e-03 -2.59744662e-05 9.99976107e-01 1.61821449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:7.61, Z:0.17 [[ 9.63997528e-01 -2.65827561e-01 -6.66890871e-03 5.07372697e+01] [ 2.65821334e-01 9.64020595e-01 -1.81949847e-03 7.61179021e+00] [ 6.91263818e-03 -1.87461876e-05 9.99976107e-01 1.65734857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:7.61, Z:0.16 [[ 9.64361862e-01 -2.64502798e-01 -6.66854683e-03 5.07641403e+01] [ 2.64496531e-01 9.64384918e-01 -1.82082381e-03 7.61403685e+00] [ 6.91265898e-03 -7.87446239e-06 9.99976107e-01 1.64416059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:7.62, Z:0.17 [[ 9.64552815e-01 -2.63805608e-01 -6.66838904e-03 5.07921877e+01] [ 2.63799320e-01 9.64575866e-01 -1.82140150e-03 7.61797309e+00] [ 6.91266306e-03 -2.27855399e-06 9.99976107e-01 1.65184666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:7.62, Z:0.17 [[ 9.64747698e-01 -2.63092024e-01 -6.66828325e-03 5.08213064e+01] [ 2.63085716e-01 9.64770743e-01 -1.82178871e-03 7.62239721e+00] [ 6.91266267e-03 3.23639074e-06 9.99976107e-01 1.67567633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:50.85, Y:7.62, Z:0.16 [[ 9.65320059e-01 -2.60984140e-01 -6.66798141e-03 5.08498896e+01] [ 2.60977774e-01 9.65343088e-01 -1.82289281e-03 7.62497304e+00] [ 6.91263589e-03 1.94800506e-05 9.99976107e-01 1.62945739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.88, Y:7.63, Z:0.16 [[ 9.65697140e-01 -2.59585386e-01 -6.66787395e-03 5.08782329e+01] [ 2.59578984e-01 9.65720160e-01 -1.82328582e-03 7.63039556e+00] [ 6.91259865e-03 2.99019574e-05 9.99976107e-01 1.64646895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:7.64, Z:0.17 [[ 9.66216103e-01 -2.57647016e-01 -6.66757889e-03 5.09055694e+01] [ 2.57640561e-01 9.66239108e-01 -1.82436420e-03 7.63529090e+00] [ 6.91251747e-03 4.48913027e-05 9.99976107e-01 1.66043019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:7.64, Z:0.17 [[ 9.67133587e-01 -2.54181372e-01 -6.66747413e-03 5.09348081e+01] [ 2.54174832e-01 9.67156567e-01 -1.82474698e-03 7.63890632e+00] [ 6.91230808e-03 7.00699741e-05 9.99976107e-01 1.67988963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:7.65, Z:0.17 [[ 9.67602060e-01 -2.52392168e-01 -6.66682825e-03 5.09624453e+01] [ 2.52385569e-01 9.67625024e-01 -1.82710553e-03 7.64520934e+00] [ 6.91213697e-03 8.52998383e-05 9.99976107e-01 1.69338123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:7.65, Z:0.17 [[ 9.67996103e-01 -2.50876653e-01 -6.66705250e-03 5.09890898e+01] [ 2.50870024e-01 9.68019058e-01 -1.82628688e-03 7.65203944e+00] [ 6.91200662e-03 9.52749617e-05 9.99976107e-01 1.71389561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:7.66, Z:0.17 [[ 9.68756018e-01 -2.47926064e-01 -6.66668550e-03 5.10160298e+01] [ 2.47919356e-01 9.68778949e-01 -1.82762560e-03 7.65823980e+00] [ 6.91166060e-03 1.17722924e-04 9.99976107e-01 1.67635978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:7.67, Z:0.17 [[ 9.68979693e-01 -2.47050444e-01 -6.66577967e-03 5.10437569e+01] [ 2.47043693e-01 9.69002612e-01 -1.83092787e-03 7.66521639e+00] [ 6.91148945e-03 1.27393100e-04 9.99976107e-01 1.67856551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:7.67, Z:0.17 [[ 9.69034457e-01 -2.46835537e-01 -6.66626392e-03 5.10707578e+01] [ 2.46828792e-01 9.69057378e-01 -1.82916302e-03 7.67196019e+00] [ 6.91149467e-03 1.27096122e-04 9.99976107e-01 1.65347199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:7.68, Z:0.17 [[ 9.68851462e-01 -2.47552858e-01 -6.66537515e-03 5.10977936e+01] [ 2.47546108e-01 9.68874381e-01 -1.83240024e-03 7.67858510e+00] [ 6.91152714e-03 1.25335969e-04 9.99976107e-01 1.66458899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:7.68, Z:0.17 [[ 9.68617146e-01 -2.48468089e-01 -6.66587417e-03 5.11254654e+01] [ 2.48461373e-01 9.68640075e-01 -1.83058312e-03 7.68496516e+00] [ 6.91167435e-03 1.16921945e-04 9.99976107e-01 1.68189205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:7.69, Z:0.17 [[ 9.68329699e-01 -2.49585987e-01 -6.66551799e-03 5.11520152e+01] [ 2.49579288e-01 9.68352634e-01 -1.83187912e-03 7.69148755e+00] [ 6.91178326e-03 1.10287724e-04 9.99976107e-01 1.66735130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:51.18, Y:7.70, Z:0.17 [[ 9.67562466e-01 -2.52543942e-01 -6.66568201e-03 5.11802285e+01] [ 2.52537318e-01 9.67585422e-01 -1.83128251e-03 7.69899551e+00] [ 6.91209604e-03 8.85467675e-05 9.99976107e-01 1.67666118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:7.71, Z:0.17 [[ 9.67305378e-01 -2.53526885e-01 -6.66509490e-03 5.12069200e+01] [ 2.53520269e-01 9.67328337e-01 -1.83341683e-03 7.70583037e+00] [ 6.91215563e-03 8.37373067e-05 9.99976107e-01 1.70973866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:7.71, Z:0.17 [[ 9.67013464e-01 -2.54638060e-01 -6.66473772e-03 5.12350598e+01] [ 2.54631462e-01 9.67036428e-01 -1.83471433e-03 7.71254030e+00] [ 6.91223225e-03 7.71415556e-05 9.99976107e-01 1.72686316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:7.72, Z:0.17 [[ 9.66668259e-01 -2.55945429e-01 -6.66442531e-03 5.12617753e+01] [ 2.55938854e-01 9.66691229e-01 -1.83584842e-03 7.71864990e+00] [ 6.91231851e-03 6.89710172e-05 9.99976107e-01 1.71019936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:7.73, Z:0.17 [[ 9.66568354e-01 -2.56322479e-01 -6.66361566e-03 5.12886960e+01] [ 2.56315893e-01 9.66591321e-01 -1.83878585e-03 7.72603276e+00] [ 6.91231521e-03 6.93216120e-05 9.99976107e-01 1.73044869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:7.73, Z:0.17 [[ 9.66487793e-01 -2.56626064e-01 -6.66399054e-03 5.13158146e+01] [ 2.56619494e-01 9.66510765e-01 -1.83742621e-03 7.73287031e+00] [ 6.91235005e-03 6.57401198e-05 9.99976107e-01 1.73522227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:7.74, Z:0.17 [[ 9.66438931e-01 -2.56810022e-01 -6.66364013e-03 5.13431967e+01] [ 2.56803449e-01 9.66461902e-01 -1.83869613e-03 7.74062340e+00] [ 6.91234991e-03 6.57417551e-05 9.99976107e-01 1.73719104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:7.75, Z:0.17 [[ 9.66601426e-01 -2.56197742e-01 -6.66328992e-03 5.13709014e+01] [ 2.56191145e-01 9.66624390e-01 -1.83996440e-03 7.74600993e+00] [ 6.91229328e-03 7.14363441e-05 9.99976107e-01 1.70298206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:7.75, Z:0.17 [[ 9.66801917e-01 -2.55440120e-01 -6.66318121e-03 5.13983452e+01] [ 2.55433502e-01 9.66824875e-01 -1.84035798e-03 7.75398716e+00] [ 6.91223061e-03 7.72619108e-05 9.99976107e-01 1.71422847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:7.76, Z:0.17 [[ 9.67501324e-01 -2.52778152e-01 -6.66287006e-03 5.14248384e+01] [ 2.52771463e-01 9.67524261e-01 -1.84148378e-03 7.76206445e+00] [ 6.91197531e-03 9.74545831e-05 9.99976107e-01 1.68379008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:7.77, Z:0.17 [[ 9.67901936e-01 -2.51239824e-01 -6.66275938e-03 5.14529814e+01] [ 2.51233096e-01 9.67924862e-01 -1.84188418e-03 7.77016365e+00] [ 6.91180511e-03 1.08857598e-04 9.99976107e-01 1.66028420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:7.78, Z:0.17 [[ 9.68490291e-01 -2.48962143e-01 -6.66394176e-03 5.14800187e+01] [ 2.48955390e-01 9.68513210e-01 -1.83760866e-03 7.77820234e+00] [ 6.91161061e-03 1.20681929e-04 9.99976107e-01 1.69384326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:7.79, Z:0.17 [[ 9.68995253e-01 -2.46989500e-01 -6.66238867e-03 5.15072163e+01] [ 2.46982662e-01 9.69018146e-01 -1.84322236e-03 7.78709619e+00] [ 6.91123208e-03 1.40579224e-04 9.99976107e-01 1.71226359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:7.80, Z:0.18 [[ 9.69983379e-01 -2.43079948e-01 -6.66208245e-03 5.15368698e+01] [ 2.43073011e-01 9.70006242e-01 -1.84432848e-03 7.79690808e+00] [ 6.91058083e-03 1.69595533e-04 9.99976107e-01 1.78265726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.56, Y:7.81, Z:0.17 [[ 9.70122324e-01 -2.42524607e-01 -6.67022453e-03 5.15597206e+01] [ 2.42517859e-01 9.70145244e-01 -1.81490866e-03 7.80614111e+00] [ 6.91124662e-03 1.43034836e-04 9.99976107e-01 1.73598363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:7.82, Z:0.17 [[ 9.70621226e-01 -2.40520389e-01 -6.66172806e-03 5.15857314e+01] [ 2.40513382e-01 9.70644068e-01 -1.84557723e-03 7.81722487e+00] [ 6.91006578e-03 1.89121684e-04 9.99976107e-01 1.74239455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:7.83, Z:0.17 [[ 9.70726473e-01 -2.40095269e-01 -6.66161242e-03 5.16121909e+01] [ 2.40088249e-01 9.70749311e-01 -1.84599456e-03 7.82692217e+00] [ 6.90997022e-03 1.92580923e-04 9.99976107e-01 1.74601730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:51.64, Y:7.84, Z:0.17 [[ 9.70684108e-01 -2.40266491e-01 -6.66150355e-03 5.16388825e+01] [ 2.40259473e-01 9.70706947e-01 -1.84638733e-03 7.83641965e+00] [ 6.90999278e-03 1.91769502e-04 9.99976107e-01 1.72619740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:7.85, Z:0.18 [[ 9.70534772e-01 -2.40869020e-01 -6.66115059e-03 5.16661084e+01] [ 2.40862008e-01 9.70557613e-01 -1.84765982e-03 7.84800230e+00] [ 6.91007442e-03 1.88800001e-04 9.99976107e-01 1.75899081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:7.86, Z:0.17 [[ 9.70350060e-01 -2.41612010e-01 -6.66314046e-03 5.16909152e+01] [ 2.41605064e-01 9.70372921e-01 -1.84049068e-03 7.85768368e+00] [ 6.91041572e-03 1.76071762e-04 9.99976107e-01 1.72537869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:7.87, Z:0.17 [[ 9.70175418e-01 -2.42312388e-01 -6.66064274e-03 5.17180611e+01] [ 2.42305397e-01 9.70198265e-01 -1.84948584e-03 7.86745556e+00] [ 6.91029736e-03 1.80416009e-04 9.99976107e-01 1.73195559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:7.88, Z:0.17 [[ 9.70058788e-01 -2.42778885e-01 -6.66033115e-03 5.17437209e+01] [ 2.42771897e-01 9.70081636e-01 -1.85060725e-03 7.87664560e+00] [ 6.91035331e-03 1.78256596e-04 9.99976107e-01 1.68553597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:51.77, Y:7.89, Z:0.17 [[ 9.69763622e-01 -2.43955274e-01 -6.65896363e-03 5.17704101e+01] [ 2.43948280e-01 9.69786468e-01 -1.85552660e-03 7.88998468e+00] [ 6.91043832e-03 1.74979473e-04 9.99976107e-01 1.71857653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:7.90, Z:0.17 [[ 9.69670218e-01 -2.44326246e-01 -6.65991493e-03 5.17965205e+01] [ 2.44319284e-01 9.69693074e-01 -1.85210589e-03 7.90095683e+00] [ 6.91059145e-03 1.68786270e-04 9.99976107e-01 1.72661261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:7.91, Z:0.17 [[ 9.69342362e-01 -2.45623765e-01 -6.65974785e-03 5.18225185e+01] [ 2.45616829e-01 9.69365226e-01 -1.85270644e-03 7.91115881e+00] [ 6.91079671e-03 1.60160689e-04 9.99976107e-01 1.72471600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57264000000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:51.85, Y:7.92, Z:0.17 [[ 9.68447163e-01 -2.49129976e-01 -6.65940326e-03 5.18492902e+01] [ 2.49123115e-01 9.68470049e-01 -1.85394423e-03 7.92312325e+00] [ 6.91130569e-03 1.36435742e-04 9.99976107e-01 1.73736499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:7.93, Z:0.18 [[ 9.67902777e-01 -2.51236684e-01 -6.65909320e-03 5.18756452e+01] [ 2.51229865e-01 9.67925676e-01 -1.85505725e-03 7.93424103e+00] [ 6.91156572e-03 1.22551974e-04 9.99976107e-01 1.78584951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:7.95, Z:0.18 [[ 9.67218226e-01 -2.53859337e-01 -6.65878343e-03 5.19021012e+01] [ 2.53852573e-01 9.67241142e-01 -1.85616853e-03 7.94501804e+00] [ 6.91185500e-03 1.04970729e-04 9.99976107e-01 1.78336841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:7.96, Z:0.18 [[ 9.65621997e-01 -2.59865013e-01 -6.65843091e-03 5.19279016e+01] [ 2.59858383e-01 9.65644951e-01 -1.85743222e-03 7.95562116e+00] [ 6.91236184e-03 6.33283253e-05 9.99976107e-01 1.79133672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:7.97, Z:0.18 [[ 9.64811073e-01 -2.62859779e-01 -6.65807057e-03 5.19555677e+01] [ 2.62853211e-01 9.64834045e-01 -1.85872297e-03 7.96582703e+00] [ 6.91251667e-03 4.32212744e-05 9.99976107e-01 1.79870416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:7.98, Z:0.18 [[ 9.64121619e-01 -2.65377342e-01 -6.66111787e-03 5.19825091e+01] [ 2.65370909e-01 9.64144629e-01 -1.84781339e-03 7.97642702e+00] [ 6.91264882e-03 1.38499347e-05 9.99976107e-01 1.82669366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.01, Y:7.99, Z:0.18 [[ 9.63083287e-01 -2.69121176e-01 -6.66144924e-03 5.20084790e+01] [ 2.69114841e-01 9.63106324e-01 -1.84662745e-03 7.98601383e+00] [ 6.91265045e-03 -1.42388168e-05 9.99976107e-01 1.79360550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:52.03, Y:7.99, Z:0.18 [[ 9.62723545e-01 -2.70405241e-01 -6.66197508e-03 5.20325971e+01] [ 2.70398949e-01 9.62746594e-01 -1.84474487e-03 7.99366810e+00] [ 6.91262250e-03 -2.54117393e-05 9.99976107e-01 1.75250044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:8.01, Z:0.18 [[ 9.61869988e-01 -2.73426081e-01 -6.65610588e-03 5.20599315e+01] [ 2.73419717e-01 9.61893018e-01 -1.86574310e-03 8.00541173e+00] [ 6.91260460e-03 -2.53082966e-05 9.99976107e-01 1.78345621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:8.01, Z:0.18 [[ 9.61331619e-01 -2.75312910e-01 -6.65731537e-03 5.20866763e+01] [ 2.75306620e-01 9.61354669e-01 -1.86141739e-03 8.01404579e+00] [ 6.91251345e-03 -4.33635986e-05 9.99976107e-01 1.79020864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.11, Y:8.02, Z:0.18 [[ 9.60831481e-01 -2.77053334e-01 -6.65695647e-03 5.21129751e+01] [ 2.77047077e-01 9.60854540e-01 -1.86270004e-03 8.02181924e+00] [ 6.91243410e-03 -5.45494890e-05 9.99976107e-01 1.78544362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:8.03, Z:0.18 [[ 9.60326991e-01 -2.78796983e-01 -6.65684515e-03 5.21387512e+01] [ 2.78790765e-01 9.60350060e-01 -1.86309778e-03 8.02928021e+00] [ 6.91232768e-03 -6.66838719e-05 9.99976107e-01 1.78239976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932640000000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.17, Y:8.04, Z:0.18 [[ 9.59460417e-01 -2.81764788e-01 -6.65669178e-03 5.21664392e+01] [ 2.81758638e-01 9.59483505e-01 -1.86364560e-03 8.03827764e+00] [ 6.91209567e-03 -8.74862243e-05 9.99976107e-01 1.76505035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:8.05, Z:0.18 [[ 9.59175661e-01 -2.82732635e-01 -6.65637723e-03 5.21922690e+01] [ 2.82726501e-01 9.59198753e-01 -1.86476841e-03 8.04592561e+00] [ 6.91201962e-03 -9.32937701e-05 9.99976107e-01 1.76855010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:8.05, Z:0.17 [[ 9.58886593e-01 -2.83711468e-01 -6.65622072e-03 5.22192061e+01] [ 2.83705354e-01 9.58909690e-01 -1.86532688e-03 8.05145171e+00] [ 6.91192917e-03 -9.97685130e-05 9.99976107e-01 1.74592026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:8.06, Z:0.17 [[ 9.58870817e-01 -2.83764785e-01 -6.65610996e-03 5.22453628e+01] [ 2.83758669e-01 9.58893913e-01 -1.86572205e-03 8.05844992e+00] [ 6.91192954e-03 -9.97424751e-05 9.99976107e-01 1.74762812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052640000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.27, Y:8.07, Z:0.18 [[ 9.59478852e-01 -2.81702025e-01 -6.65595618e-03 5.22717893e+01] [ 2.81695856e-01 9.59501934e-01 -1.86627049e-03 8.06732845e+00] [ 6.91213500e-03 -8.43082034e-05 9.99976107e-01 1.76976585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:8.08, Z:0.18 [[ 9.59914722e-01 -2.80213180e-01 -6.65584755e-03 5.23014835e+01] [ 2.80206973e-01 9.59937794e-01 -1.86665780e-03 8.07618759e+00] [ 6.91226174e-03 -7.31825876e-05 9.99976107e-01 1.82135150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:8.08, Z:0.18 [[ 9.60546038e-01 -2.78041252e-01 -6.66116978e-03 5.23257909e+01] [ 2.78035123e-01 9.60569131e-01 -1.84768173e-03 8.08366585e+00] [ 6.91224581e-03 -7.72558010e-05 9.99976107e-01 1.80968254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.35, Y:8.09, Z:0.18 [[ 9.61142635e-01 -2.75971995e-01 -6.65539428e-03 5.23535671e+01] [ 2.75965674e-01 9.61165676e-01 -1.86825614e-03 8.09199502e+00] [ 6.91252291e-03 -4.09997382e-05 9.99976107e-01 1.82093101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:8.10, Z:0.18 [[ 9.62345152e-01 -2.71748997e-01 -6.65508646e-03 5.23793176e+01] [ 2.71742568e-01 9.62368164e-01 -1.86935200e-03 8.10140987e+00] [ 6.91263787e-03 -9.50844679e-06 9.99976107e-01 1.81515735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.41, Y:8.11, Z:0.18 [[ 9.62745381e-01 -2.70327659e-01 -6.65493336e-03 5.24060486e+01] [ 2.70321192e-01 9.62768382e-01 -1.86989690e-03 8.10991399e+00] [ 6.91264427e-03 1.26508120e-06 9.99976107e-01 1.82241548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.43, Y:8.12, Z:0.18 [[ 9.63201783e-01 -2.68696935e-01 -6.65456075e-03 5.24315960e+01] [ 2.68690419e-01 9.63224770e-01 -1.87122198e-03 8.11735075e+00] [ 6.91262936e-03 1.43476273e-05 9.99976107e-01 1.81713093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:8.13, Z:0.18 [[ 9.63682262e-01 -2.66968568e-01 -6.65439849e-03 5.24576186e+01] [ 2.66962008e-01 9.63705236e-01 -1.87179883e-03 8.12702906e+00] [ 6.91259013e-03 2.73477462e-05 9.99976107e-01 1.82633093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:8.14, Z:0.18 [[ 9.63757758e-01 -2.66695909e-01 -6.65403632e-03 5.24835144e+01] [ 2.66689333e-01 9.63780728e-01 -1.87308543e-03 8.13611091e+00] [ 6.91257619e-03 3.06401128e-05 9.99976107e-01 1.82281300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.51, Y:8.15, Z:0.18 [[ 9.63675756e-01 -2.66992066e-01 -6.65387882e-03 5.25101170e+01] [ 2.66985494e-01 9.63698727e-01 -1.87364474e-03 8.14658779e+00] [ 6.91258283e-03 2.90968852e-05 9.99976107e-01 1.79842069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:8.16, Z:0.18 [[ 9.63546540e-01 -2.67458024e-01 -6.65356751e-03 5.25373790e+01] [ 2.67451454e-01 9.63569512e-01 -1.87474961e-03 8.15558308e+00] [ 6.91259162e-03 2.69021965e-05 9.99976107e-01 1.82035204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:8.16, Z:0.18 [[ 9.63512922e-01 -2.67579049e-01 -6.65595539e-03 5.25625404e+01] [ 2.67572541e-01 9.63535911e-01 -1.86627638e-03 8.16436240e+00] [ 6.91262850e-03 1.72305114e-05 9.99976107e-01 1.80355461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:8.17, Z:0.18 [[ 9.63154946e-01 -2.68864809e-01 -6.65319512e-03 5.25889098e+01] [ 2.68858264e-01 9.63177925e-01 -1.87606529e-03 8.17465887e+00] [ 6.91261860e-03 1.81750726e-05 9.99976107e-01 1.81808100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442640000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:52.62, Y:8.18, Z:0.18 [[ 9.62799427e-01 -2.70135157e-01 -6.65282777e-03 5.26158655e+01] [ 2.70128634e-01 9.62822412e-01 -1.87736707e-03 8.18369449e+00] [ 6.91263452e-03 1.04086579e-05 9.99976107e-01 1.80306342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:8.19, Z:0.18 [[ 9.62559790e-01 -2.70987816e-01 -6.65245545e-03 5.26418574e+01] [ 2.70981303e-01 9.62582778e-01 -1.87868546e-03 8.19207453e+00] [ 6.91263991e-03 5.65603482e-06 9.99976107e-01 1.83289985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:8.20, Z:0.18 [[ 9.62138892e-01 -2.72478437e-01 -6.65231705e-03 5.26678777e+01] [ 2.72471957e-01 9.62161889e-01 -1.87917540e-03 8.20037986e+00] [ 6.91264071e-03 -4.54210080e-06 9.99976107e-01 1.82992730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:8.21, Z:0.18 [[ 9.61241274e-01 -2.75628303e-01 -6.65215786e-03 5.26934089e+01] [ 2.75621895e-01 9.61264291e-01 -1.87973873e-03 8.20960757e+00] [ 6.91259101e-03 -2.65978992e-05 9.99976107e-01 1.83677176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:8.22, Z:0.18 [[ 9.60752186e-01 -2.77328303e-01 -6.65200195e-03 5.27205891e+01] [ 2.77321931e-01 9.60775214e-01 -1.88029033e-03 8.21778908e+00] [ 6.91253631e-03 -3.82529834e-05 9.99976107e-01 1.84119921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:8.23, Z:0.19 [[ 9.59814770e-01 -2.80555455e-01 -6.65164570e-03 5.27470067e+01] [ 2.80549152e-01 9.59837816e-01 -1.88154973e-03 8.22561213e+00] [ 6.91238012e-03 -6.01743426e-05 9.99976107e-01 1.85213177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:8.23, Z:0.18 [[ 9.59345372e-01 -2.82156372e-01 -6.65128682e-03 5.27737108e+01] [ 2.82150099e-01 9.59368426e-01 -1.88281750e-03 8.23443373e+00] [ 6.91228353e-03 -7.03889769e-05 9.99976107e-01 1.83284216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:8.24, Z:0.19 [[ 9.58981138e-01 -2.83391959e-01 -6.64641762e-03 5.28027101e+01] [ 2.83385596e-01 9.59004168e-01 -1.90000858e-03 8.24256992e+00] [ 6.91238935e-03 -6.14266326e-05 9.99976107e-01 1.87976711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:8.25, Z:0.19 [[ 9.58323898e-01 -2.85606496e-01 -6.65105349e-03 5.28289013e+01] [ 2.85600300e-01 9.58346973e-01 -1.88363950e-03 8.25088886e+00] [ 6.91199666e-03 -9.44061297e-05 9.99976107e-01 1.86314830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:8.26, Z:0.19 [[ 9.58085265e-01 -2.86405988e-01 -6.65093968e-03 5.28563800e+01] [ 2.86399809e-01 9.58108345e-01 -1.88404128e-03 8.25818447e+00] [ 6.91192151e-03 -9.97556656e-05 9.99976107e-01 1.86265304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:8.27, Z:0.19 [[ 9.57928472e-01 -2.86929978e-01 -6.65057958e-03 5.28826248e+01] [ 2.86923802e-01 9.57951553e-01 -1.88531154e-03 8.26576207e+00] [ 6.91188544e-03 -1.02215975e-04 9.99976107e-01 1.85073921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:8.27, Z:0.18 [[ 9.57871508e-01 -2.87120090e-01 -6.65042302e-03 5.29092169e+01] [ 2.87113915e-01 9.57894589e-01 -1.88586366e-03 8.27454283e+00] [ 6.91187357e-03 -1.03013926e-04 9.99976107e-01 1.84640926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:8.28, Z:0.18 [[ 9.57875651e-01 -2.87106271e-01 -6.65031432e-03 5.29357529e+01] [ 2.87100093e-01 9.57898731e-01 -1.88624690e-03 8.28268313e+00] [ 6.91188096e-03 -1.02515889e-04 9.99976107e-01 1.84703948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832640000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.96, Y:8.29, Z:0.19 [[ 9.57901278e-01 -2.87020767e-01 -6.64996173e-03 5.29623762e+01] [ 2.87014578e-01 9.57924355e-01 -1.88748913e-03 8.29136604e+00] [ 6.91190888e-03 -1.00607709e-04 9.99976107e-01 1.85648177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:8.30, Z:0.18 [[ 9.58031201e-01 -2.86586872e-01 -6.64698268e-03 5.29904292e+01] [ 2.86580600e-01 9.58054256e-01 -1.89797686e-03 8.29921557e+00] [ 6.91210530e-03 -8.65752429e-05 9.99976107e-01 1.84188170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:8.31, Z:0.18 [[ 9.57978274e-01 -2.86763685e-01 -6.64952385e-03 5.30177412e+01] [ 2.86757480e-01 9.58001346e-01 -1.88903178e-03 8.30715574e+00] [ 6.91195851e-03 -9.71492999e-05 9.99976107e-01 1.84382916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:8.32, Z:0.18 [[ 9.57775002e-01 -2.87441880e-01 -6.64917485e-03 5.30454775e+01] [ 2.87435683e-01 9.57798076e-01 -1.89025943e-03 8.31525601e+00] [ 6.91190660e-03 -1.00766881e-04 9.99976107e-01 1.81485059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.07, Y:8.32, Z:0.19 [[ 9.57439840e-01 -2.88556280e-01 -6.65026568e-03 5.30718506e+01] [ 2.88550135e-01 9.57462929e-01 -1.88642476e-03 8.32239112e+00] [ 6.91172257e-03 -1.12796839e-04 9.99976107e-01 1.85399180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:8.33, Z:0.19 [[ 9.56583624e-01 -2.91382262e-01 -6.64438661e-03 5.31008832e+01] [ 2.91376043e-01 9.56606693e-01 -1.90707962e-03 8.32779210e+00] [ 6.91175387e-03 -1.11733945e-04 9.99976107e-01 1.85682704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:8.34, Z:0.18 [[ 9.55972577e-01 -2.93380686e-01 -6.64865396e-03 5.31267621e+01] [ 2.93374618e-01 9.55995687e-01 -1.89208442e-03 8.33503601e+00] [ 6.91118554e-03 -1.41765499e-04 9.99976107e-01 1.84812885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.15, Y:8.34, Z:0.19 [[ 9.55419788e-01 -2.95175925e-01 -6.64840269e-03 5.31535010e+01] [ 2.95169896e-01 9.55442907e-01 -1.89296693e-03 8.34187400e+00] [ 6.91092746e-03 -1.53830261e-04 9.99976107e-01 1.86065005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:8.35, Z:0.19 [[ 9.54666772e-01 -2.97602348e-01 -6.64804598e-03 5.31810358e+01] [ 2.97596368e-01 9.54689904e-01 -1.89421886e-03 8.34649634e+00] [ 6.91054636e-03 -1.70086529e-04 9.99976107e-01 1.87855212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:8.35, Z:0.19 [[ 9.54517702e-01 -2.98080126e-01 -6.64793566e-03 5.32080037e+01] [ 2.98074155e-01 9.54540837e-01 -1.89460595e-03 8.35286689e+00] [ 6.91047045e-03 -1.73142886e-04 9.99976107e-01 1.90997076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:8.36, Z:0.19 [[ 9.54591901e-01 -2.97842428e-01 -6.64756725e-03 5.32346205e+01] [ 2.97836442e-01 9.54615032e-01 -1.89589771e-03 8.35956727e+00] [ 6.91054640e-03 -1.70079182e-04 9.99976107e-01 1.91710969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:8.36, Z:0.19 [[ 9.55276993e-01 -2.95637749e-01 -6.64740749e-03 5.32608264e+01] [ 2.95631706e-01 9.55300109e-01 -1.89645769e-03 8.36474437e+00] [ 6.91093358e-03 -1.53542017e-04 9.99976107e-01 1.91186140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192640000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:53.29, Y:8.37, Z:0.19 [[ 9.55800598e-01 -2.93940524e-01 -6.64725077e-03 5.32888155e+01] [ 2.93934436e-01 9.55823702e-01 -1.89700686e-03 8.37101699e+00] [ 6.91120703e-03 -1.40695613e-04 9.99976107e-01 1.91675675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:8.38, Z:0.19 [[ 9.56192599e-01 -2.92662831e-01 -6.64693186e-03 5.33154181e+01] [ 2.92656704e-01 9.56215692e-01 -1.89812362e-03 8.37864498e+00] [ 6.91141079e-03 -1.30297411e-04 9.99976107e-01 1.93211757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:8.39, Z:0.19 [[ 9.56640423e-01 -2.91195681e-01 -6.64656026e-03 5.33427624e+01] [ 2.91189510e-01 9.56663505e-01 -1.89942395e-03 8.38608093e+00] [ 6.91162568e-03 -1.18342895e-04 9.99976107e-01 1.93545635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:8.39, Z:0.19 [[ 9.57292171e-01 -2.89045893e-01 -6.64618862e-03 5.33702973e+01] [ 2.89039661e-01 9.57315236e-01 -1.90072344e-03 8.39099655e+00] [ 6.91189394e-03 -1.01464442e-04 9.99976107e-01 1.93120587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:8.40, Z:0.19 [[ 9.57329577e-01 -2.88921980e-01 -6.64601622e-03 5.33987402e+01] [ 2.88915742e-01 9.57352641e-01 -1.90132608e-03 8.39724904e+00] [ 6.91191607e-03 -9.99430128e-05 9.99976107e-01 1.92700979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.43, Y:8.40, Z:0.19 [[ 9.57169980e-01 -2.89450279e-01 -6.64569368e-03 5.34252521e+01] [ 2.89444045e-01 9.57193045e-01 -1.90245279e-03 8.40126017e+00] [ 6.91187726e-03 -1.02585758e-04 9.99976107e-01 1.92849970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:8.41, Z:0.19 [[ 9.56981535e-01 -2.90072716e-01 -6.64544124e-03 5.34527361e+01] [ 2.90066490e-01 9.57004602e-01 -1.90333417e-03 8.40834016e+00] [ 6.91182316e-03 -1.06164160e-04 9.99976107e-01 1.94622084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:8.41, Z:0.19 [[ 9.57058541e-01 -2.89818551e-01 -6.64506918e-03 5.34791962e+01] [ 2.89812311e-01 9.57081604e-01 -1.90463223e-03 8.41455212e+00] [ 6.91187123e-03 -1.02978315e-04 9.99976107e-01 1.91339195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:8.42, Z:0.19 [[ 9.57005270e-01 -2.89994485e-01 -6.64161030e-03 5.35079638e+01] [ 2.89988166e-01 9.57028312e-01 -1.91669197e-03 8.42106977e+00] [ 6.91203920e-03 -9.17040686e-05 9.99976107e-01 1.94546391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:8.42, Z:0.20 [[ 9.57539667e-01 -2.88224966e-01 -6.64488781e-03 5.35372715e+01] [ 2.88218683e-01 9.57562719e-01 -1.90526119e-03 8.42454446e+00] [ 6.91204068e-03 -9.08176484e-05 9.99976107e-01 1.96593845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:8.43, Z:0.20 [[ 9.57869394e-01 -2.87127279e-01 -6.64456917e-03 5.35635182e+01] [ 2.87120962e-01 9.57892436e-01 -1.90637178e-03 8.43058067e+00] [ 6.91215389e-03 -8.17399124e-05 9.99976107e-01 1.95998626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.59, Y:8.44, Z:0.19 [[ 9.58908344e-01 -2.83638221e-01 -6.64432059e-03 5.35913786e+01] [ 2.83631814e-01 9.58931362e-01 -1.90723778e-03 8.43689917e+00] [ 6.91241292e-03 -5.56744767e-05 9.99976107e-01 1.93565892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:8.44, Z:0.19 [[ 9.59477235e-01 -2.81707814e-01 -6.64400887e-03 5.36182567e+01] [ 2.81701354e-01 9.59500237e-01 -1.90832304e-03 8.44473905e+00] [ 6.91251760e-03 -4.06337752e-05 9.99976107e-01 1.94871443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:8.45, Z:0.20 [[ 9.59848035e-01 -2.80441877e-01 -6.64108064e-03 5.36471234e+01] [ 2.80435316e-01 9.59871009e-01 -1.91851086e-03 8.45271332e+00] [ 6.91261156e-03 -2.09146652e-05 9.99976107e-01 1.96063108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.67, Y:8.46, Z:0.19 [[ 9.60370086e-01 -2.78648811e-01 -6.64365349e-03 5.36742674e+01] [ 2.78642268e-01 9.60393065e-01 -1.90955949e-03 8.45954548e+00] [ 6.91261522e-03 -1.73188637e-05 9.99976107e-01 1.94822419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:8.47, Z:0.20 [[ 9.60850391e-01 -2.76988151e-01 -6.64008526e-03 5.37026110e+01] [ 2.76981483e-01 9.60873334e-01 -1.92197026e-03 8.46622150e+00] [ 6.91264385e-03 7.54520694e-06 9.99976107e-01 1.96545397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:8.47, Z:0.20 [[ 9.61045641e-01 -2.76309951e-01 -6.63971979e-03 5.37298399e+01] [ 2.76303258e-01 9.61068577e-01 -1.92324059e-03 8.47308495e+00] [ 6.91263656e-03 1.37457753e-05 9.99976107e-01 1.95938497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:8.48, Z:0.20 [[ 9.61391676e-01 -2.75103523e-01 -6.64055875e-03 5.37569608e+01] [ 2.75096821e-01 9.61414610e-01 -1.92032433e-03 8.47815696e+00] [ 6.91261818e-03 1.93872234e-05 9.99976107e-01 2.00379532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:53.78, Y:8.49, Z:0.20 [[ 9.61598622e-01 -2.74379311e-01 -6.63958824e-03 5.37833109e+01] [ 2.74372568e-01 9.61621544e-01 -1.92369568e-03 8.48566944e+00] [ 6.91259339e-03 2.81022359e-05 9.99976107e-01 1.98030358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:8.49, Z:0.20 [[ 9.62447773e-01 -2.71385689e-01 -6.64011759e-03 5.38102797e+01] [ 2.71378888e-01 9.62470678e-01 -1.92185795e-03 8.49374457e+00] [ 6.91248322e-03 4.77001774e-05 9.99976107e-01 1.98879208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:8.50, Z:0.20 [[ 9.62960411e-01 -2.69561057e-01 -6.63952342e-03 5.38385449e+01] [ 2.69554199e-01 9.62983298e-01 -1.92391922e-03 8.50137317e+00] [ 6.91236386e-03 6.29466293e-05 9.99976107e-01 2.00534443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:8.51, Z:0.20 [[ 9.63396025e-01 -2.68000014e-01 -6.64015421e-03 5.38649514e+01] [ 2.67993133e-01 9.63418905e-01 -1.92173145e-03 8.50853704e+00] [ 6.91227415e-03 7.18727058e-05 9.99976107e-01 1.98345431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:8.52, Z:0.20 [[ 9.63592663e-01 -2.67292149e-01 -6.63984611e-03 5.38932053e+01] [ 2.67285244e-01 9.63615536e-01 -1.92279960e-03 8.51713380e+00] [ 6.91220810e-03 7.80627004e-05 9.99976107e-01 2.03843132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:8.53, Z:0.20 [[ 9.64112658e-01 -2.65410381e-01 -6.64165427e-03 5.39208345e+01] [ 2.65403475e-01 9.64135531e-01 -1.91653351e-03 8.52532651e+00] [ 6.91212275e-03 8.50360893e-05 9.99976107e-01 2.02482848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:8.53, Z:0.20 [[ 9.64032628e-01 -2.65700965e-01 -6.64001435e-03 5.39465967e+01] [ 2.65694027e-01 9.64055491e-01 -1.92221398e-03 8.53364763e+00] [ 6.91207640e-03 8.88648457e-05 9.99976107e-01 1.97855524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:8.54, Z:0.20 [[ 9.64051064e-01 -2.65634114e-01 -6.63805600e-03 5.39742676e+01] [ 2.65627128e-01 9.64073912e-01 -1.92899363e-03 8.54093636e+00] [ 6.91198313e-03 9.64006077e-05 9.99976107e-01 2.00231399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:8.55, Z:0.20 [[ 9.63466814e-01 -2.67745440e-01 -6.63910256e-03 5.40021061e+01] [ 2.67738528e-01 9.63489685e-01 -1.92537144e-03 8.54879800e+00] [ 6.91221626e-03 7.74879366e-05 9.99976107e-01 1.99226949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:8.56, Z:0.20 [[ 9.63060331e-01 -2.69203821e-01 -6.64096413e-03 5.40303979e+01] [ 2.69196989e-01 9.63083225e-01 -1.91892896e-03 8.55622612e+00] [ 6.91238417e-03 6.03168170e-05 9.99976107e-01 1.98572806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:8.56, Z:0.20 [[ 9.62348884e-01 -2.71736135e-01 -6.64066471e-03 5.40586137e+01] [ 2.71729356e-01 9.62371795e-01 -1.91996460e-03 8.56329012e+00] [ 6.91251217e-03 4.32122458e-05 9.99976107e-01 1.97686639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:8.57, Z:0.19 [[ 9.62170666e-01 -2.72366511e-01 -6.64033845e-03 5.40854219e+01] [ 2.72359739e-01 9.62193578e-01 -1.92109232e-03 8.57042648e+00] [ 6.91253223e-03 3.98578292e-05 9.99976107e-01 1.94540926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:8.58, Z:0.19 [[ 9.61915102e-01 -2.73267775e-01 -6.63775844e-03 5.41129297e+01] [ 2.73260963e-01 9.61938003e-01 -1.93000332e-03 8.57831273e+00] [ 6.91251982e-03 4.26590805e-05 9.99976107e-01 1.91889929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:8.59, Z:0.20 [[ 9.61781791e-01 -2.73736547e-01 -6.63991426e-03 5.41406369e+01] [ 2.73729797e-01 9.61804711e-01 -1.92255780e-03 8.58504748e+00] [ 6.91257515e-03 3.15386948e-05 9.99976107e-01 1.96657086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:8.59, Z:0.20 [[ 9.61636638e-01 -2.74246078e-01 -6.63811602e-03 5.41688025e+01] [ 2.74239298e-01 9.61659549e-01 -1.92876596e-03 8.59319669e+00] [ 6.91256416e-03 3.43397339e-05 9.99976107e-01 1.98313184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:8.60, Z:0.20 [[ 9.61573417e-01 -2.74467625e-01 -6.63975109e-03 5.41959623e+01] [ 2.74460888e-01 9.61596341e-01 -1.92312073e-03 8.60126376e+00] [ 6.91259473e-03 2.68697939e-05 9.99976107e-01 1.98039566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:8.61, Z:0.20 [[ 9.61525878e-01 -2.74634126e-01 -6.63943343e-03 5.42236126e+01] [ 2.74627386e-01 9.61548801e-01 -1.92421681e-03 8.60837979e+00] [ 6.91259485e-03 2.68140072e-05 9.99976107e-01 1.97580846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:8.62, Z:0.20 [[ 9.61483547e-01 -2.74782297e-01 -6.63914684e-03 5.42509213e+01] [ 2.74775554e-01 9.61506468e-01 -1.92520508e-03 8.61556317e+00] [ 6.91259490e-03 2.67777545e-05 9.99976107e-01 2.00026668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:8.62, Z:0.20 [[ 9.61441457e-01 -2.74929535e-01 -6.63900755e-03 5.42781677e+01] [ 2.74922792e-01 9.61464378e-01 -1.92568527e-03 8.62319550e+00] [ 6.91259702e-03 2.62191610e-05 9.99976107e-01 1.97953474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:8.63, Z:0.20 [[ 9.61294295e-01 -2.75443674e-01 -6.63778043e-03 5.43065214e+01] [ 2.75436915e-01 9.61317212e-01 -1.92991432e-03 8.63179371e+00] [ 6.91259527e-03 2.69258655e-05 9.99976107e-01 2.03802191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:8.64, Z:0.20 [[ 9.61342417e-01 -2.75275653e-01 -6.63868317e-03 5.43334722e+01] [ 2.75268911e-01 9.61365339e-01 -1.92680400e-03 8.63960874e+00] [ 6.91260212e-03 2.48953289e-05 9.99976107e-01 2.03533927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:8.65, Z:0.21 [[ 9.61409376e-01 -2.75041729e-01 -6.63775564e-03 5.43615094e+01] [ 2.75034959e-01 9.61432289e-01 -1.92999794e-03 8.64709013e+00] [ 6.91258257e-03 2.99032631e-05 9.99976107e-01 2.06779932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:8.65, Z:0.21 [[ 9.61572879e-01 -2.74469547e-01 -6.63827095e-03 5.43886425e+01] [ 2.74462776e-01 9.61595792e-01 -1.92822387e-03 8.65448938e+00] [ 6.91257215e-03 3.21695035e-05 9.99976107e-01 2.06829258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:8.66, Z:0.21 [[ 9.61943585e-01 -2.73167484e-01 -6.63815765e-03 5.44158339e+01] [ 2.73160679e-01 9.61966488e-01 -1.92861386e-03 8.66246226e+00] [ 6.91251980e-03 4.19340785e-05 9.99976107e-01 2.08334106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:8.67, Z:0.21 [[ 9.62324513e-01 -2.71822487e-01 -6.63837240e-03 5.44411061e+01] [ 2.71815655e-01 9.62347408e-01 -1.92787489e-03 8.67178499e+00] [ 6.91246022e-03 5.08277232e-05 9.99976107e-01 2.05172377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:8.68, Z:0.20 [[ 9.63086691e-01 -2.69109650e-01 -6.63495962e-03 5.44683944e+01] [ 2.69102673e-01 9.63109542e-01 -1.93960566e-03 8.68378049e+00] [ 6.91215952e-03 8.25230257e-05 9.99976107e-01 2.04439460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:8.69, Z:0.21 [[ 9.63521000e-01 -2.67550419e-01 -6.63743212e-03 5.44957470e+01] [ 2.67543464e-01 9.63543858e-01 -1.93110743e-03 8.69369572e+00] [ 6.91212555e-03 8.48609836e-05 9.99976107e-01 2.07774637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:8.71, Z:0.21 [[ 9.63986680e-01 -2.65867663e-01 -6.63824324e-03 5.45215027e+01] [ 2.65860687e-01 9.64009532e-01 -1.92832055e-03 8.70606837e+00] [ 6.91200783e-03 9.40274207e-05 9.99976107e-01 2.06545869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:8.72, Z:0.21 [[ 9.64020792e-01 -2.65743979e-01 -6.63709214e-03 5.45498838e+01] [ 2.65736972e-01 9.64043634e-01 -1.93227439e-03 8.71613534e+00] [ 6.91193671e-03 9.90319182e-05 9.99976107e-01 2.08577839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:54.57, Y:8.73, Z:0.21 [[ 9.64033693e-01 -2.65697091e-01 -6.64042861e-03 5.45747704e+01] [ 2.65690162e-01 9.64056559e-01 -1.92081595e-03 8.72534825e+00] [ 6.91210396e-03 8.74347370e-05 9.99976107e-01 2.06088662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:8.74, Z:0.21 [[ 9.63697454e-01 -2.66914167e-01 -6.63665043e-03 5.45999283e+01] [ 2.66907178e-01 9.63720301e-01 -1.93378248e-03 8.73819348e+00] [ 6.91202869e-03 9.22116165e-05 9.99976107e-01 2.07337207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:8.75, Z:0.20 [[ 9.63587183e-01 -2.67311990e-01 -6.63628417e-03 5.46274042e+01] [ 2.67305002e-01 9.63610031e-01 -1.93503856e-03 8.74871534e+00] [ 6.91204901e-03 9.06664009e-05 9.99976107e-01 2.04758350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:8.76, Z:0.21 [[ 9.63357867e-01 -2.68137239e-01 -6.63631544e-03 5.46542838e+01] [ 2.68130271e-01 9.63380721e-01 -1.93493135e-03 8.75961473e+00] [ 6.91212550e-03 8.46342771e-05 9.99976107e-01 2.09959469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:8.77, Z:0.21 [[ 9.62953739e-01 -2.69584979e-01 -6.63593107e-03 5.46789204e+01] [ 2.69578036e-01 9.62976601e-01 -1.93624866e-03 8.77374257e+00] [ 6.91222990e-03 7.56166265e-05 9.99976107e-01 2.09697508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:8.78, Z:0.21 [[ 9.62764902e-01 -2.70258602e-01 -6.63556082e-03 5.47061120e+01] [ 2.70251667e-01 9.62787766e-01 -1.93751669e-03 8.78475636e+00] [ 6.91226733e-03 7.21017029e-05 9.99976107e-01 2.07163648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:8.80, Z:0.21 [[ 9.62462654e-01 -2.71333022e-01 -6.63561349e-03 5.47325580e+01] [ 2.71326113e-01 9.62485526e-01 -1.93733635e-03 8.79558060e+00] [ 6.91234526e-03 6.41986686e-05 9.99976107e-01 2.11224975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:8.80, Z:0.21 [[ 9.62409585e-01 -2.71521207e-01 -6.63514322e-03 5.47598056e+01] [ 2.71514292e-01 9.62432455e-01 -1.93894563e-03 8.80373154e+00] [ 6.91234203e-03 6.45236450e-05 9.99976107e-01 2.11421892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:8.82, Z:0.21 [[ 9.61801442e-01 -2.73667620e-01 -6.63476385e-03 5.47848597e+01] [ 2.73660746e-01 9.61824325e-01 -1.94024288e-03 8.81821447e+00] [ 6.91245891e-03 5.04539723e-05 9.99976107e-01 2.11022352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:8.83, Z:0.21 [[ 9.61326928e-01 -2.75329836e-01 -6.63464611e-03 5.48110950e+01] [ 2.75323000e-01 9.61349822e-01 -1.94064542e-03 8.83000287e+00] [ 6.91253344e-03 3.89240340e-05 9.99976107e-01 2.11396129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:8.84, Z:0.21 [[ 9.60076930e-01 -2.79657422e-01 -6.63432671e-03 5.48367865e+01] [ 2.79650681e-01 9.60099852e-01 -1.94173672e-03 8.84244214e+00] [ 6.91263718e-03 8.92264935e-06 9.99976107e-01 2.07532386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:8.85, Z:0.22 [[ 9.59312805e-01 -2.82267478e-01 -6.63421332e-03 5.48649899e+01] [ 2.82260796e-01 9.59335745e-01 -1.94212404e-03 8.85205098e+00] [ 6.91263643e-03 -9.47387137e-06 9.99976107e-01 2.15179451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:8.86, Z:0.21 [[ 9.58495617e-01 -2.85029986e-01 -6.63776548e-03 5.48894648e+01] [ 2.85023455e-01 9.58518599e-01 -1.92999222e-03 8.86266696e+00] [ 6.91252733e-03 -4.20297674e-05 9.99976107e-01 2.12116052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:8.87, Z:0.21 [[ 9.57708974e-01 -2.87662155e-01 -6.63375982e-03 5.49148302e+01] [ 2.87655592e-01 9.57731947e-01 -1.94366363e-03 8.87307375e+00] [ 6.91248217e-03 -4.67740045e-05 9.99976107e-01 2.09077296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:8.88, Z:0.21 [[ 9.56220243e-01 -2.92572804e-01 -6.63332481e-03 5.49432646e+01] [ 2.92566349e-01 9.56243247e-01 -1.94514769e-03 8.88399636e+00] [ 6.91216937e-03 -8.06980188e-05 9.99976107e-01 2.10684037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:8.89, Z:0.21 [[ 9.55551394e-01 -2.94749946e-01 -6.63347812e-03 5.49695378e+01] [ 2.94743547e-01 9.55574414e-01 -1.94462470e-03 8.89151579e+00] [ 6.91195999e-03 -9.69860308e-05 9.99976107e-01 2.08605600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:55.00, Y:8.90, Z:0.21 [[ 9.54280475e-01 -2.98839047e-01 -6.63323244e-03 5.49959607e+01] [ 2.98832741e-01 9.54303520e-01 -1.94546237e-03 8.90045240e+00] [ 6.91149719e-03 -1.25710283e-04 9.99976107e-01 2.09911962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:8.91, Z:0.21 [[ 9.53741942e-01 -3.00553343e-01 -6.63287698e-03 5.50228865e+01] [ 3.00547070e-01 9.53764997e-01 -1.94667352e-03 8.90865194e+00] [ 6.91128513e-03 -1.36867555e-04 9.99976107e-01 2.12940400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:8.92, Z:0.21 [[ 9.53167415e-01 -3.02370450e-01 -6.63250582e-03 5.50499463e+01] [ 3.02364212e-01 9.53190479e-01 -1.94793730e-03 8.91645519e+00] [ 6.91104007e-03 -1.48722037e-04 9.99976107e-01 2.14596563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:8.92, Z:0.22 [[ 9.52254100e-01 -3.05234573e-01 -6.63212653e-03 5.50773442e+01] [ 3.05228395e-01 9.52277180e-01 -1.94922779e-03 8.92367868e+00] [ 6.91059446e-03 -1.68153181e-04 9.99976107e-01 2.16003476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.10, Y:8.93, Z:0.21 [[ 9.51964613e-01 -3.06136232e-01 -6.63200806e-03 5.51049562e+01] [ 3.06130073e-01 9.51987698e-01 -1.94963080e-03 8.92976668e+00] [ 6.91044271e-03 -1.74277580e-04 9.99976107e-01 2.13833936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:8.94, Z:0.22 [[ 9.51676169e-01 -3.07031737e-01 -6.63189065e-03 5.51325554e+01] [ 3.07025597e-01 9.51699259e-01 -1.95003010e-03 8.93643762e+00] [ 6.91028655e-03 -1.80363012e-04 9.99976107e-01 2.15330102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:55.16, Y:8.94, Z:0.22 [[ 9.51621124e-01 -3.07202308e-01 -6.63155954e-03 5.51606389e+01] [ 3.07196165e-01 9.51644214e-01 -1.95115546e-03 8.93854705e+00] [ 6.91028473e-03 -1.80428908e-04 9.99976107e-01 2.15451887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:55.19, Y:8.94, Z:0.22 [[ 9.51724426e-01 -3.06882130e-01 -6.63144176e-03 5.51875363e+01] [ 3.06875976e-01 9.51747512e-01 -1.95155569e-03 8.94490940e+00] [ 6.91035576e-03 -1.77686943e-04 9.99976107e-01 2.15615432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.21, Y:8.95, Z:0.21 [[ 9.52136216e-01 -3.05602113e-01 -6.63132478e-03 5.52149392e+01] [ 3.05595925e-01 9.52159294e-01 -1.95195310e-03 8.94896548e+00] [ 6.91059851e-03 -1.67980592e-04 9.99976107e-01 2.11212522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:8.96, Z:0.22 [[ 9.52299356e-01 -3.05093371e-01 -6.63106963e-03 5.52433237e+01] [ 3.05087165e-01 9.52322429e-01 -1.95281951e-03 8.95505729e+00] [ 6.91070862e-03 -1.63385468e-04 9.99976107e-01 2.15953155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:8.96, Z:0.22 [[ 9.52502408e-01 -3.04458856e-01 -6.63074870e-03 5.52716429e+01] [ 3.04452627e-01 9.52525475e-01 -1.95390859e-03 8.95941942e+00] [ 6.91084183e-03 -1.57646224e-04 9.99976107e-01 2.15939470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.30, Y:8.96, Z:0.21 [[ 9.52670607e-01 -3.03932150e-01 -6.63037858e-03 5.52995628e+01] [ 3.03925899e-01 9.52693668e-01 -1.95516376e-03 8.96293263e+00] [ 6.91095681e-03 -1.52516726e-04 9.99976107e-01 2.14113623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:55.33, Y:8.96, Z:0.21 [[ 9.53292475e-01 -3.01975987e-01 -6.63026338e-03 5.53286342e+01] [ 3.01969686e-01 9.53315522e-01 -1.95555434e-03 8.96318976e+00] [ 6.91126345e-03 -1.37923322e-04 9.99976107e-01 2.11467216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.36, Y:8.97, Z:0.21 [[ 9.53690559e-01 -3.00716408e-01 -6.63014953e-03 5.53564820e+01] [ 3.00710074e-01 9.53713597e-01 -1.95594026e-03 8.96859387e+00] [ 6.91144709e-03 -1.28391003e-04 9.99976107e-01 2.11534627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.38, Y:8.97, Z:0.22 [[ 9.55386158e-01 -2.95285176e-01 -6.62978360e-03 5.53847227e+01] [ 2.95278702e-01 9.55409157e-01 -1.95717983e-03 8.97290210e+00] [ 6.91208215e-03 -8.77713803e-05 9.99976107e-01 2.15135268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:8.98, Z:0.22 [[ 9.56371468e-01 -2.92078181e-01 -6.62966527e-03 5.54116391e+01] [ 2.92071628e-01 9.56394444e-01 -1.95758058e-03 8.97997401e+00] [ 6.91234160e-03 -6.41629111e-05 9.99976107e-01 2.15757265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.44, Y:8.98, Z:0.22 [[ 9.58583473e-01 -2.84734569e-01 -6.62954694e-03 5.54410969e+01] [ 2.84727837e-01 9.58606397e-01 -1.95798121e-03 8.98277950e+00] [ 6.91263105e-03 -1.07281353e-05 9.99976107e-01 2.15908513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:8.99, Z:0.22 [[ 9.59712486e-01 -2.80905674e-01 -6.62921648e-03 5.54682306e+01] [ 2.80898843e-01 9.59735381e-01 -1.95909944e-03 8.98947102e+00] [ 6.91261575e-03 1.80329528e-05 9.99976107e-01 2.16426350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:9.00, Z:0.22 [[ 9.60693116e-01 -2.77533407e-01 -6.62903879e-03 5.54954660e+01] [ 2.77526491e-01 9.60715986e-01 -1.95970049e-03 8.99715018e+00] [ 6.91250590e-03 4.29368924e-05 9.99976107e-01 2.18323045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:9.00, Z:0.22 [[ 9.62472079e-01 -2.71299751e-01 -6.62892217e-03 5.55235604e+01] [ 2.71292685e-01 9.62494902e-01 -1.96009489e-03 9.00380966e+00] [ 6.91207706e-03 8.81585109e-05 9.99976107e-01 2.19596958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:9.01, Z:0.22 [[ 9.62949093e-01 -2.69601687e-01 -6.63135839e-03 5.55488235e+01] [ 2.69594637e-01 9.62971922e-01 -1.95185656e-03 9.01150818e+00] [ 6.91203575e-03 9.17598475e-05 9.99976107e-01 2.20563955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:9.02, Z:0.22 [[ 9.63621790e-01 -2.67187401e-01 -6.62865933e-03 5.55750381e+01] [ 2.67180231e-01 9.63644581e-01 -1.96098011e-03 9.02017981e+00] [ 6.91162083e-03 1.18596432e-04 9.99976107e-01 2.20092186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:9.03, Z:0.22 [[ 9.63641205e-01 -2.67117370e-01 -6.62854200e-03 5.56014535e+01] [ 2.67110196e-01 9.63663995e-01 -1.96137665e-03 9.02847618e+00] [ 6.91160504e-03 1.19512211e-04 9.99976107e-01 2.19787461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.63, Y:9.04, Z:0.22 [[ 9.63467738e-01 -2.67742386e-01 -6.62817379e-03 5.56282017e+01] [ 2.67735218e-01 9.63490530e-01 -1.96262016e-03 9.03574587e+00] [ 6.91165928e-03 1.16325658e-04 9.99976107e-01 2.18642773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.66, Y:9.04, Z:0.22 [[ 9.63189880e-01 -2.68740259e-01 -6.62780284e-03 5.56555804e+01] [ 2.68733106e-01 9.63212677e-01 -1.96387207e-03 9.04272020e+00] [ 6.91175521e-03 1.10471659e-04 9.99976107e-01 2.18969169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.68, Y:9.05, Z:0.22 [[ 9.62647791e-01 -2.70675649e-01 -6.62742033e-03 5.56819202e+01] [ 2.70668533e-01 9.62670600e-01 -1.96516209e-03 9.05009704e+00] [ 6.91194422e-03 9.79248090e-05 9.99976107e-01 2.17927200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.71, Y:9.06, Z:0.22 [[ 9.62337566e-01 -2.71776540e-01 -6.62725423e-03 5.57095065e+01] [ 2.71769446e-01 9.62360382e-01 -1.96572208e-03 9.05942156e+00] [ 6.91204405e-03 9.06029862e-05 9.99976107e-01 2.18521155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:9.07, Z:0.22 [[ 9.61523209e-01 -2.74643772e-01 -6.62692538e-03 5.57379579e+01] [ 2.74636739e-01 9.61546043e-01 -1.96683006e-03 9.06873178e+00] [ 6.91227151e-03 7.11555756e-05 9.99976107e-01 2.19363553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:9.08, Z:0.22 [[ 9.61247577e-01 -2.75606851e-01 -6.63017223e-03 5.57638478e+01] [ 2.75599916e-01 9.61270441e-01 -1.95589196e-03 9.07618921e+00] [ 6.91244581e-03 5.28215011e-05 9.99976107e-01 2.19811898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:9.08, Z:0.22 [[ 9.60913178e-01 -2.76770579e-01 -6.62650063e-03 5.57908010e+01] [ 2.76763586e-01 9.60936025e-01 -1.96825310e-03 9.08381630e+00] [ 6.91239772e-03 5.73462675e-05 9.99976107e-01 2.20180683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:9.09, Z:0.22 [[ 9.60414052e-01 -2.78497646e-01 -6.62638456e-03 5.58172534e+01] [ 2.78490692e-01 9.60436911e-01 -1.96864380e-03 9.09161103e+00] [ 6.91248698e-03 4.53267531e-05 9.99976107e-01 2.21364035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:9.10, Z:0.22 [[ 9.60224515e-01 -2.79150455e-01 -6.62601426e-03 5.58443676e+01] [ 2.79143507e-01 9.60247375e-01 -1.96988934e-03 9.10034584e+00] [ 6.91250831e-03 4.19271789e-05 9.99976107e-01 2.22694517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:9.11, Z:0.23 [[ 9.60103911e-01 -2.79564985e-01 -6.62569092e-03 5.58716471e+01] [ 2.79558040e-01 9.60126772e-01 -1.97097629e-03 9.11021383e+00] [ 6.91251919e-03 4.00768821e-05 9.99976107e-01 2.27129584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:9.12, Z:0.23 [[ 9.60066898e-01 -2.79692072e-01 -6.62536085e-03 5.58976842e+01] [ 2.79685122e-01 9.60089758e-01 -1.97208520e-03 9.11767644e+00] [ 6.91251769e-03 4.03188586e-05 9.99976107e-01 2.25794677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:9.12, Z:0.23 [[ 9.59842398e-01 -2.80461544e-01 -6.62519669e-03 5.59248794e+01] [ 2.80454609e-01 9.59865262e-01 -1.97263652e-03 9.12404951e+00] [ 6.91254484e-03 3.53532248e-05 9.99976107e-01 2.25481921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.95, Y:9.13, Z:0.23 [[ 9.59536777e-01 -2.81505390e-01 -6.62482194e-03 5.59523796e+01] [ 2.81498471e-01 9.59559646e-01 -1.97389426e-03 9.13197388e+00] [ 6.91257367e-03 2.91468900e-05 9.99976107e-01 2.26481144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:9.14, Z:0.23 [[ 9.59569664e-01 -2.81393276e-01 -6.62451068e-03 5.59782524e+01] [ 2.81386347e-01 9.59592530e-01 -1.97493834e-03 9.14074791e+00] [ 6.91256533e-03 3.10440640e-05 9.99976107e-01 2.28774743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:9.15, Z:0.23 [[ 9.59037962e-01 -2.83200116e-01 -6.62434308e-03 5.60038708e+01] [ 2.83193226e-01 9.59060840e-01 -1.97550032e-03 9.14870608e+00] [ 6.91260996e-03 1.86107107e-05 9.99976107e-01 2.28176218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:56.03, Y:9.16, Z:0.23 [[ 9.58394204e-01 -2.85371109e-01 -6.62417914e-03 5.60327071e+01] [ 2.85364267e-01 9.58417096e-01 -1.97604991e-03 9.15636207e+00] [ 6.91263409e-03 3.53075780e-06 9.99976107e-01 2.27867713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:9.16, Z:0.23 [[ 9.58055937e-01 -2.86504582e-01 -6.62923723e-03 5.60578162e+01] [ 2.86497884e-01 9.58078872e-01 -1.95909424e-03 9.16318966e+00] [ 6.91262160e-03 -2.23405750e-05 9.99976107e-01 2.29344937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:9.17, Z:0.23 [[ 9.56946147e-01 -2.90189934e-01 -6.62371603e-03 5.60860848e+01] [ 2.90183197e-01 9.56969070e-01 -1.97758691e-03 9.16783805e+00] [ 6.91256718e-03 -2.96469135e-05 9.99976107e-01 2.30677228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:9.17, Z:0.23 [[ 9.56299454e-01 -2.92314018e-01 -6.62333925e-03 5.61131877e+01] [ 2.92307323e-01 9.56322390e-01 -1.97884801e-03 9.17361374e+00] [ 6.91249263e-03 -4.36792999e-05 9.99976107e-01 2.30013498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:9.18, Z:0.23 [[ 9.55327721e-01 -2.95474333e-01 -6.62296086e-03 5.61400157e+01] [ 2.95467705e-01 9.55350676e-01 -1.98011363e-03 9.17681938e+00] [ 6.91232289e-03 -6.52136059e-05 9.99976107e-01 2.28400663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.17, Y:9.18, Z:0.23 [[ 9.54863717e-01 -2.96970403e-01 -6.62279632e-03 5.61677190e+01] [ 2.96963807e-01 9.54886681e-01 -1.98066379e-03 9.18306842e+00] [ 6.91221853e-03 -7.54668168e-05 9.99976107e-01 2.27916585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.20, Y:9.19, Z:0.23 [[ 9.54567086e-01 -2.97922511e-01 -6.62241930e-03 5.61959802e+01] [ 2.97915930e-01 9.54590054e-01 -1.98192357e-03 9.19000267e+00] [ 6.91215525e-03 -8.10452025e-05 9.99976107e-01 2.28504019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:9.20, Z:0.23 [[ 9.54306544e-01 -2.98756033e-01 -6.62208577e-03 5.62226167e+01] [ 2.98749464e-01 9.54329516e-01 -1.98303734e-03 9.19706062e+00] [ 6.91209628e-03 -8.59190598e-05 9.99976107e-01 2.30891024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:9.20, Z:0.23 [[ 9.53972198e-01 -2.99821943e-01 -6.62170322e-03 5.62506001e+01] [ 2.99815391e-01 9.53995175e-01 -1.98431395e-03 9.20030709e+00] [ 6.91201378e-03 -9.23082019e-05 9.99976107e-01 2.30117451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:9.21, Z:0.23 [[ 9.53805936e-01 -3.00350448e-01 -6.62158448e-03 5.62777574e+01] [ 3.00343906e-01 9.53828915e-01 -1.98471007e-03 9.20558601e+00] [ 6.91196730e-03 -9.57243017e-05 9.99976107e-01 2.30352796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:9.21, Z:0.23 [[ 9.53704126e-01 -3.00673577e-01 -6.62119726e-03 5.63062859e+01] [ 3.00667034e-01 9.53727105e-01 -1.98600106e-03 9.20878199e+00] [ 6.91195334e-03 -9.67183393e-05 9.99976107e-01 2.28530820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:9.21, Z:0.23 [[ 9.53632120e-01 -3.00901881e-01 -6.62107767e-03 5.63330440e+01] [ 3.00895340e-01 9.53655099e-01 -1.98639968e-03 9.21450564e+00] [ 6.91193588e-03 -9.79568843e-05 9.99976107e-01 2.27796394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:9.22, Z:0.23 [[ 9.53632295e-01 -3.00901330e-01 -6.62091120e-03 5.63604107e+01] [ 3.00894785e-01 9.53655273e-01 -1.98695437e-03 9.22052641e+00] [ 6.91194410e-03 -9.73738016e-05 9.99976107e-01 2.28986829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:56.39, Y:9.22, Z:0.23 [[ 9.53828718e-01 -3.00278114e-01 -6.62052971e-03 5.63888833e+01] [ 3.00271546e-01 9.53851690e-01 -1.98822468e-03 9.22407253e+00] [ 6.91202381e-03 -9.15308918e-05 9.99976107e-01 2.28104756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:9.23, Z:0.23 [[ 9.54229908e-01 -2.99000763e-01 -6.62015154e-03 5.64155405e+01] [ 2.98994155e-01 9.54252869e-01 -1.98948309e-03 9.22923395e+00] [ 6.91215556e-03 -8.09623492e-05 9.99976107e-01 2.28275859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:9.24, Z:0.23 [[ 9.54175760e-01 -2.99173520e-01 -6.61998688e-03 5.64427402e+01] [ 2.99166913e-01 9.54198720e-01 -1.99003085e-03 9.23761205e+00] [ 6.91214754e-03 -8.16418427e-05 9.99976107e-01 2.28472665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:9.24, Z:0.23 [[ 9.55037092e-01 -2.96412437e-01 -6.61962637e-03 5.64715117e+01] [ 2.96405755e-01 9.55060031e-01 -1.99122932e-03 9.23967331e+00] [ 6.91236570e-03 -6.03974869e-05 9.99976107e-01 2.31074294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:9.25, Z:0.23 [[ 9.55625045e-01 -2.94511391e-01 -6.61922646e-03 5.64976895e+01] [ 2.94504654e-01 9.55647968e-01 -1.99255781e-03 9.24526151e+00] [ 6.91248129e-03 -4.52548457e-05 9.99976107e-01 2.30737446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:9.25, Z:0.23 [[ 9.56229443e-01 -2.92543058e-01 -6.61905253e-03 5.65249315e+01] [ 2.92536269e-01 9.56252351e-01 -1.99313542e-03 9.25163075e+00] [ 6.91256247e-03 -3.04181582e-05 9.99976107e-01 2.30365323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:9.26, Z:0.23 [[ 9.57235038e-01 -2.89235674e-01 -6.61866895e-03 5.65526159e+01] [ 2.89228798e-01 9.57257920e-01 -1.99440836e-03 9.25571312e+00] [ 6.91262732e-03 -5.19210657e-06 9.99976107e-01 2.30624319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:9.26, Z:0.23 [[ 9.57740690e-01 -2.87556897e-01 -6.61828549e-03 5.65785882e+01] [ 2.87549972e-01 9.57763557e-01 -1.99568005e-03 9.26208413e+00] [ 6.91262421e-03 8.25617970e-06 9.99976107e-01 2.30613750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:9.27, Z:0.23 [[ 9.58203888e-01 -2.86009633e-01 -6.61802419e-03 5.66051077e+01] [ 2.86002665e-01 9.58226742e-01 -1.99654618e-03 9.26928338e+00] [ 6.91259920e-03 2.03257587e-05 9.99976107e-01 2.32010727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:9.28, Z:0.23 [[ 9.59100026e-01 -2.82990011e-01 -6.61764374e-03 5.66323524e+01] [ 2.82982963e-01 9.59122855e-01 -1.99780640e-03 9.27500055e+00] [ 6.91249262e-03 4.34157407e-05 9.99976107e-01 2.32190845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:9.28, Z:0.23 [[ 9.59407896e-01 -2.81944494e-01 -6.61752550e-03 5.66587381e+01] [ 2.81937417e-01 9.59430717e-01 -1.99819799e-03 9.28210625e+00] [ 6.91243815e-03 5.13588806e-05 9.99976107e-01 2.32129620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:9.29, Z:0.23 [[ 9.59644244e-01 -2.81138998e-01 -6.61736140e-03 5.66858709e+01] [ 2.81131899e-01 9.59667057e-01 -1.99874126e-03 9.28786911e+00] [ 6.91238786e-03 5.77291709e-05 9.99976107e-01 2.32431693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.71, Y:9.30, Z:0.23 [[ 9.59551836e-01 -2.81454243e-01 -6.61697223e-03 5.67130908e+01] [ 2.81447142e-01 9.59574649e-01 -2.00002881e-03 9.29507601e+00] [ 6.91239540e-03 5.68033899e-05 9.99976107e-01 2.32256616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:9.30, Z:0.23 [[ 9.59530538e-01 -2.81526851e-01 -6.61658370e-03 5.67391140e+01] [ 2.81519743e-01 9.59553349e-01 -2.00131335e-03 9.30197560e+00] [ 6.91238849e-03 5.76223348e-05 9.99976107e-01 2.32987943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.77, Y:9.31, Z:0.23 [[ 9.59134050e-01 -2.82874732e-01 -6.61512174e-03 5.67667921e+01] [ 2.82867623e-01 9.59156861e-01 -2.00614424e-03 9.30921206e+00] [ 6.91242691e-03 5.29574855e-05 9.99976107e-01 2.33337655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.79, Y:9.32, Z:0.23 [[ 9.58825671e-01 -2.83918227e-01 -6.61609194e-03 5.67939375e+01] [ 2.83911165e-01 9.58848496e-01 -2.00293947e-03 9.31682933e+00] [ 6.91250083e-03 4.20874080e-05 9.99976107e-01 2.34736060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:9.32, Z:0.23 [[ 9.58139516e-01 -2.86225260e-01 -6.61570080e-03 5.68203557e+01] [ 2.86218244e-01 9.58162356e-01 -2.00423058e-03 9.32177930e+00] [ 6.91257688e-03 2.67982551e-05 9.99976107e-01 2.34016888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.85, Y:9.33, Z:0.23 [[ 9.57558367e-01 -2.88163562e-01 -6.61330545e-03 5.68470029e+01] [ 2.88156538e-01 9.57581203e-01 -2.01213055e-03 9.32864392e+00] [ 6.91259969e-03 2.10652424e-05 9.99976107e-01 2.32431047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:56.87, Y:9.34, Z:0.23 [[ 9.56940913e-01 -2.90207390e-01 -6.61517280e-03 5.68739854e+01] [ 2.90200457e-01 9.56963777e-01 -2.00597252e-03 9.33536927e+00] [ 6.91262879e-03 -1.28996624e-07 9.99976107e-01 2.31415188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:9.34, Z:0.23 [[ 9.55832772e-01 -2.93836615e-01 -6.61478106e-03 5.69008895e+01] [ 2.93829760e-01 9.55855660e-01 -2.00726345e-03 9.34017858e+00] [ 6.91258342e-03 -2.50113409e-05 9.99976107e-01 2.31895557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.93, Y:9.35, Z:0.23 [[ 9.55371931e-01 -2.95331547e-01 -6.61451315e-03 5.69271766e+01] [ 2.95324721e-01 9.55394827e-01 -2.00814591e-03 9.34542607e+00] [ 6.91254049e-03 -3.49030221e-05 9.99976107e-01 2.29973029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:9.35, Z:0.23 [[ 9.55059263e-01 -2.96341110e-01 -6.61434568e-03 5.69555831e+01] [ 2.96334305e-01 9.55082166e-01 -2.00869737e-03 9.35260641e+00] [ 6.91250321e-03 -4.16325022e-05 9.99976107e-01 2.32272227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:9.36, Z:0.23 [[ 9.54827919e-01 -2.97085676e-01 -6.61401651e-03 5.69835268e+01] [ 2.97078882e-01 9.54850825e-01 -2.00978063e-03 9.35702120e+00] [ 6.91247616e-03 -4.58899757e-05 9.99976107e-01 2.31446381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:9.36, Z:0.23 [[ 9.54898067e-01 -2.96860137e-01 -6.61363971e-03 5.70107674e+01] [ 2.96853329e-01 9.54920969e-01 -2.01101980e-03 9.36321383e+00] [ 6.91249486e-03 -4.29620444e-05 9.99976107e-01 2.31729447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:9.37, Z:0.23 [[ 9.55522283e-01 -2.94844757e-01 -6.61326015e-03 5.70382549e+01] [ 2.94837892e-01 9.55545168e-01 -2.01226722e-03 9.36789236e+00] [ 6.91257522e-03 -2.70735160e-05 9.99976107e-01 2.32007589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:9.37, Z:0.23 [[ 9.56014074e-01 -2.93246238e-01 -6.61314233e-03 5.70650313e+01] [ 2.93239331e-01 9.56036947e-01 -2.01265434e-03 9.37473917e+00] [ 6.91261172e-03 -1.51075552e-05 9.99976107e-01 2.30936162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:9.38, Z:0.23 [[ 9.56456698e-01 -2.91799336e-01 -6.61302512e-03 5.70919515e+01] [ 2.91792393e-01 9.56479559e-01 -2.01303940e-03 9.38244799e+00] [ 6.91262691e-03 -4.24540728e-06 9.99976108e-01 2.29976257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:9.39, Z:0.23 [[ 9.57506073e-01 -2.88337290e-01 -6.61265085e-03 5.71200978e+01] [ 2.88330255e-01 9.57528907e-01 -2.01426809e-03 9.38975769e+00] [ 6.91259294e-03 2.20466243e-05 9.99976108e-01 2.27667059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:9.40, Z:0.23 [[ 9.57930920e-01 -2.86922689e-01 -6.61232510e-03 5.71470500e+01] [ 2.86915613e-01 9.57953741e-01 -2.01533690e-03 9.39716046e+00] [ 6.91254744e-03 3.33742245e-05 9.99976108e-01 2.29111925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:9.40, Z:0.23 [[ 9.58461220e-01 -2.85146231e-01 -6.61191549e-03 5.71728255e+01] [ 2.85139103e-01 9.58484024e-01 -2.01667984e-03 9.40394059e+00] [ 6.91246402e-03 4.75937640e-05 9.99976108e-01 2.26574891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:9.41, Z:0.23 [[ 9.59337624e-01 -2.82183641e-01 -6.61173742e-03 5.72000469e+01] [ 2.82176439e-01 9.59360406e-01 -2.01726348e-03 9.41041604e+00] [ 6.91227785e-03 6.95602310e-05 9.99976108e-01 2.26801751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:9.42, Z:0.23 [[ 9.59591732e-01 -2.81318321e-01 -6.61134904e-03 5.72267425e+01] [ 2.81311090e-01 9.59614504e-01 -2.01853553e-03 9.41776669e+00] [ 6.91219746e-03 7.71241992e-05 9.99976108e-01 2.27738806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:9.42, Z:0.23 [[ 9.59993428e-01 -2.79944483e-01 -6.61095159e-03 5.72544169e+01] [ 2.79937211e-01 9.60016187e-01 -2.01983641e-03 9.42295857e+00] [ 6.91206259e-03 8.83783273e-05 9.99976108e-01 2.26557193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.28, Y:9.43, Z:0.23 [[ 9.59913870e-01 -2.80217164e-01 -6.61082803e-03 5.72818946e+01] [ 2.80209895e-01 9.59936630e-01 -2.02024073e-03 9.42876123e+00] [ 6.91208211e-03 8.68376714e-05 9.99976108e-01 2.25648782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:9.44, Z:0.23 [[ 9.59725030e-01 -2.80863250e-01 -6.61070911e-03 5.73088149e+01] [ 2.80855994e-01 9.59747794e-01 -2.02062978e-03 9.43542830e+00] [ 6.91213413e-03 8.25916975e-05 9.99976108e-01 2.27867843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:9.44, Z:0.23 [[ 9.59581210e-01 -2.81354235e-01 -6.61031050e-03 5.73360242e+01] [ 2.81346981e-01 9.59603975e-01 -2.02193298e-03 9.44230801e+00] [ 6.91215963e-03 8.04179903e-05 9.99976108e-01 2.27870948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:9.45, Z:0.23 [[ 9.59370976e-01 -2.82070269e-01 -6.61012284e-03 5.73634708e+01] [ 2.82063027e-01 9.59393745e-01 -2.02254627e-03 9.44858898e+00] [ 6.91221068e-03 7.59009236e-05 9.99976108e-01 2.29622336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:9.46, Z:0.23 [[ 9.59376119e-01 -2.82052784e-01 -6.60972504e-03 5.73892774e+01] [ 2.82045534e-01 9.59398885e-01 -2.02384546e-03 9.45525205e+00] [ 6.91219408e-03 7.73855701e-05 9.99976108e-01 2.29094248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:9.46, Z:0.23 [[ 9.59580381e-01 -2.81357080e-01 -6.60955136e-03 5.74179505e+01] [ 2.81349810e-01 9.59603140e-01 -2.02441252e-03 9.46051424e+00] [ 6.91212903e-03 8.29905155e-05 9.99976108e-01 2.32028177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:9.47, Z:0.23 [[ 9.59840967e-01 -2.80466818e-01 -6.60920153e-03 5.74455555e+01] [ 2.80459518e-01 9.59863717e-01 -2.02555399e-03 9.46677094e+00] [ 6.91203343e-03 9.05962218e-05 9.99976108e-01 2.32490207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81264 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:57.47, Y:9.47, Z:0.23 [[ 9.60727309e-01 -2.77415502e-01 -6.60880276e-03 5.74743570e+01] [ 2.77408121e-01 9.60750033e-01 -2.02685422e-03 9.47256603e+00] [ 6.91168825e-03 1.13918644e-04 9.99976108e-01 2.31477936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:9.48, Z:0.23 [[ 9.61426768e-01 -2.74981632e-01 -6.60845562e-03 5.75013649e+01] [ 2.74974186e-01 9.61449470e-01 -2.02798543e-03 9.48225876e+00] [ 6.91135490e-03 1.32604770e-04 9.99976108e-01 2.33462511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:9.49, Z:0.23 [[ 9.62133921e-01 -2.72497067e-01 -6.60810833e-03 5.75274668e+01] [ 2.72489554e-01 9.62156601e-01 -2.02911640e-03 9.49165473e+00] [ 6.91096332e-03 1.51641227e-04 9.99976108e-01 2.33993224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:9.50, Z:0.23 [[ 9.62929312e-01 -2.69672911e-01 -6.60771083e-03 5.75525719e+01] [ 2.69665323e-01 9.62951967e-01 -2.03041002e-03 9.50019746e+00] [ 6.91045473e-03 1.73270843e-04 9.99976108e-01 2.33118911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:57.58, Y:9.51, Z:0.23 [[ 9.64241736e-01 -2.64941907e-01 -6.60753816e-03 5.75793153e+01] [ 2.64934204e-01 9.64264353e-01 -2.03097181e-03 9.50944875e+00] [ 6.90950305e-03 2.07784921e-04 9.99976108e-01 2.31180502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:9.52, Z:0.23 [[ 9.65138877e-01 -2.61654906e-01 -6.60742050e-03 5.76060119e+01] [ 2.61647123e-01 9.65161467e-01 -2.03135449e-03 9.52109541e+00] [ 6.90874153e-03 2.31726628e-04 9.99976108e-01 2.33621845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:9.53, Z:0.23 [[ 9.65352815e-01 -2.60864505e-01 -6.60708457e-03 5.76313520e+01] [ 2.60856696e-01 9.65375395e-01 -2.03244654e-03 9.53024134e+00] [ 6.90851004e-03 2.38525734e-04 9.99976108e-01 2.33033723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:9.54, Z:0.23 [[ 9.65462173e-01 -2.60459480e-01 -6.60691752e-03 5.76573288e+01] [ 2.60451658e-01 9.65484749e-01 -2.03298944e-03 9.53961376e+00] [ 6.90838948e-03 2.41991783e-04 9.99976108e-01 2.33434447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.68, Y:9.55, Z:0.23 [[ 9.65321728e-01 -2.60979528e-01 -6.60654188e-03 5.76840965e+01] [ 2.60971710e-01 9.65344306e-01 -2.03420942e-03 9.54881611e+00] [ 6.90847460e-03 2.39546023e-04 9.99976108e-01 2.32265011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:9.56, Z:0.23 [[ 9.64936013e-01 -2.62402071e-01 -6.60636655e-03 5.77090014e+01] [ 2.62394282e-01 9.64958600e-01 -2.03477867e-03 9.56131748e+00] [ 6.90880035e-03 2.29958410e-04 9.99976108e-01 2.33657062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:9.57, Z:0.24 [[ 9.64284044e-01 -2.64787921e-01 -6.60598348e-03 5.77362365e+01] [ 2.64780180e-01 9.64306648e-01 -2.03602156e-03 9.57172137e+00] [ 6.90930770e-03 2.14169611e-04 9.99976108e-01 2.35129144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:9.58, Z:0.24 [[ 9.63891276e-01 -2.66214148e-01 -6.60564849e-03 5.77626366e+01] [ 2.66206433e-01 9.63913889e-01 -2.03710781e-03 9.58087700e+00] [ 6.90958325e-03 2.05084332e-04 9.99976108e-01 2.36801326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:9.59, Z:0.24 [[ 9.63489986e-01 -2.67662881e-01 -6.60525075e-03 5.77876578e+01] [ 2.67655191e-01 9.63512607e-01 -2.03839667e-03 9.59099263e+00] [ 6.90984549e-03 1.96045132e-04 9.99976108e-01 2.35851688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:9.61, Z:0.23 [[ 9.62562308e-01 -2.70980031e-01 -6.60507745e-03 5.78125503e+01] [ 2.70972415e-01 9.62584954e-01 -2.03895805e-03 9.60500319e+00] [ 6.91046509e-03 1.72830381e-04 9.99976108e-01 2.34748528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:9.62, Z:0.23 [[ 9.62112313e-01 -2.72573431e-01 -6.60469509e-03 5.78378102e+01] [ 2.72565844e-01 9.62134969e-01 -2.04019584e-03 9.61534301e+00] [ 6.91071129e-03 1.62683251e-04 9.99976108e-01 2.34106961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:9.63, Z:0.23 [[ 9.61552093e-01 -2.74543170e-01 -6.60452844e-03 5.78635781e+01] [ 2.74535626e-01 9.61574763e-01 -2.04073520e-03 9.62505020e+00] [ 6.91101778e-03 1.49094855e-04 9.99976108e-01 2.33721112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:9.63, Z:0.23 [[ 9.61104695e-01 -2.76105325e-01 -6.60414603e-03 5.78897891e+01] [ 2.76097809e-01 9.61127375e-01 -2.04197199e-03 9.63435612e+00] [ 6.91122487e-03 1.39158611e-04 9.99976108e-01 2.34312392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:9.65, Z:0.23 [[ 9.60403420e-01 -2.78534846e-01 -6.60374690e-03 5.79149022e+01] [ 2.78527379e-01 9.60426116e-01 -2.04326197e-03 9.64708090e+00] [ 6.91153064e-03 1.23031473e-04 9.99976108e-01 2.32196004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:9.66, Z:0.23 [[ 9.59711881e-01 -2.80908344e-01 -6.60362321e-03 5.79410489e+01] [ 2.80900930e-01 9.59734594e-01 -2.04366163e-03 9.66054760e+00] [ 6.91180725e-03 1.06362444e-04 9.99976108e-01 2.31645567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:9.67, Z:0.23 [[ 9.59372514e-01 -2.82065200e-01 -6.60327946e-03 5.79663770e+01] [ 2.82057806e-01 9.59395233e-01 -2.04477174e-03 9.67076457e+00] [ 6.91191378e-03 9.91912897e-05 9.99976108e-01 2.30157449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:9.68, Z:0.23 [[ 9.58949408e-01 -2.83500320e-01 -6.60310894e-03 5.79919200e+01] [ 2.83492956e-01 9.58972138e-01 -2.04532223e-03 9.68090352e+00] [ 6.91204700e-03 8.94256708e-05 9.99976108e-01 2.29696937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:9.69, Z:0.23 [[ 9.58439424e-01 -2.85219690e-01 -6.60294212e-03 5.80176635e+01] [ 2.85212363e-01 9.58462165e-01 -2.04586064e-03 9.69064750e+00] [ 6.91218994e-03 7.75927756e-05 9.99976108e-01 2.31009410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:9.70, Z:0.23 [[ 9.57312129e-01 -2.88980785e-01 -6.60255459e-03 5.80436145e+01] [ 2.88973539e-01 9.57334896e-01 -2.04711054e-03 9.70187089e+00] [ 6.91243152e-03 5.17601895e-05 9.99976108e-01 2.33228777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:9.71, Z:0.24 [[ 9.56652879e-01 -2.91155762e-01 -6.60243409e-03 5.80694707e+01] [ 2.91148565e-01 9.56675661e-01 -2.04749910e-03 9.71208119e+00] [ 6.91252916e-03 3.64567029e-05 9.99976108e-01 2.35500363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:9.72, Z:0.24 [[ 9.55130822e-01 -2.96110661e-01 -6.60225510e-03 5.80953879e+01] [ 2.96103578e-01 9.55153640e-01 -2.04807610e-03 9.72244362e+00] [ 6.91262516e-03 1.22925518e-06 9.99976108e-01 2.37220578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:9.73, Z:0.24 [[ 9.54513841e-01 -2.98093576e-01 -6.59904582e-03 5.81229407e+01] [ 2.98086469e-01 9.54536652e-01 -2.05841395e-03 9.73007669e+00] [ 6.91263108e-03 -2.30165814e-06 9.99976107e-01 2.36814950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:9.74, Z:0.24 [[ 9.54458885e-01 -2.98269430e-01 -6.60178441e-03 5.81500695e+01] [ 2.98262388e-01 9.54481716e-01 -2.04959289e-03 9.73869935e+00] [ 6.91261342e-03 -1.28118371e-05 9.99976108e-01 2.37010915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.18, Y:9.75, Z:0.24 [[ 9.53663632e-01 -3.00802425e-01 -6.60140643e-03 5.81777745e+01] [ 3.00795436e-01 9.53686479e-01 -2.05080958e-03 9.74706423e+00] [ 6.91256055e-03 -2.98904091e-05 9.99976108e-01 2.36886849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.20, Y:9.76, Z:0.23 [[ 9.52875493e-01 -3.03289829e-01 -6.60106226e-03 5.82038097e+01] [ 3.03282891e-01 9.52898356e-01 -2.05191678e-03 9.75575614e+00] [ 6.91246687e-03 -4.67680412e-05 9.99976108e-01 2.34119916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:9.76, Z:0.24 [[ 9.52704714e-01 -3.03825863e-01 -6.60094042e-03 5.82305494e+01] [ 3.03818935e-01 9.52727581e-01 -2.05230866e-03 9.76467960e+00] [ 6.91244245e-03 -5.02465515e-05 9.99976108e-01 2.35824251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:9.77, Z:0.23 [[ 9.52605987e-01 -3.04135276e-01 -6.60053957e-03 5.82562382e+01] [ 3.04128347e-01 9.52628853e-01 -2.05359704e-03 9.77273092e+00] [ 6.91243575e-03 -5.11423527e-05 9.99976108e-01 2.33995517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:9.78, Z:0.23 [[ 9.52689554e-01 -3.03873408e-01 -6.60036584e-03 5.82819267e+01] [ 3.03866469e-01 9.52712417e-01 -2.05415527e-03 9.78156707e+00] [ 6.91245366e-03 -4.86575944e-05 9.99976108e-01 2.32630290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.31, Y:9.79, Z:0.23 [[ 9.52622008e-01 -3.04085100e-01 -6.60010818e-03 5.83093275e+01] [ 3.04078160e-01 9.52644871e-01 -2.05498282e-03 9.79066411e+00] [ 6.91244886e-03 -4.93268909e-05 9.99976108e-01 2.33894998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.34, Y:9.80, Z:0.23 [[ 9.52715942e-01 -3.03790679e-01 -6.59976936e-03 5.83354856e+01] [ 3.03783725e-01 9.52738800e-01 -2.05607039e-03 9.79705738e+00] [ 6.91247136e-03 -4.60514803e-05 9.99976108e-01 2.32143537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:9.80, Z:0.23 [[ 9.52803496e-01 -3.03515969e-01 -6.59960087e-03 5.83623355e+01] [ 3.03509004e-01 9.52826351e-01 -2.05661109e-03 9.80417083e+00] [ 6.91248792e-03 -4.34920510e-05 9.99976108e-01 2.30350306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:9.81, Z:0.23 [[ 9.52548821e-01 -3.04314295e-01 -6.59948114e-03 5.83887902e+01] [ 3.04307347e-01 9.52571681e-01 -2.05699522e-03 9.81159946e+00] [ 6.91245189e-03 -4.88822201e-05 9.99976108e-01 2.32234971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:58.42, Y:9.82, Z:0.23 [[ 9.52000761e-01 -3.06024515e-01 -6.59909643e-03 5.84161795e+01] [ 3.06017600e-01 9.52023630e-01 -2.05822866e-03 9.81790575e+00] [ 6.91236417e-03 -6.00044044e-05 9.99976108e-01 2.33673071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:58.44, Y:9.83, Z:0.23 [[ 9.51800166e-01 -3.06647844e-01 -6.59869901e-03 5.84431203e+01] [ 3.06640935e-01 9.51823038e-01 -2.05950200e-03 9.82557816e+00] [ 6.91233559e-03 -6.31968902e-05 9.99976108e-01 2.34130198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:9.83, Z:0.24 [[ 9.51838358e-01 -3.06529287e-01 -6.59829547e-03 5.84707814e+01] [ 3.06522365e-01 9.51861226e-01 -2.06079409e-03 9.83178291e+00] [ 6.91235535e-03 -6.09822721e-05 9.99976108e-01 2.35995485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.50, Y:9.84, Z:0.24 [[ 9.51730358e-01 -3.06864448e-01 -6.59817014e-03 5.84979813e+01] [ 3.06857532e-01 9.51753228e-01 -2.06119527e-03 9.83804227e+00] [ 6.91233728e-03 -6.29960862e-05 9.99976108e-01 2.36328108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:58.52, Y:9.84, Z:0.23 [[ 9.51803949e-01 -3.06636125e-01 -6.59776919e-03 5.85243861e+01] [ 3.06629194e-01 9.51826814e-01 -2.06247789e-03 9.84342138e+00] [ 6.91236385e-03 -5.99940506e-05 9.99976108e-01 2.34279116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:9.85, Z:0.24 [[ 9.52190807e-01 -3.05432706e-01 -6.59759476e-03 5.85520882e+01] [ 3.05425743e-01 9.52213663e-01 -2.06303573e-03 9.84699261e+00] [ 6.91243845e-03 -5.06716257e-05 9.99976108e-01 2.35230717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:58.58, Y:9.85, Z:0.24 [[ 9.52313003e-01 -3.05051505e-01 -6.59722168e-03 5.85792981e+01] [ 3.05044524e-01 9.52335853e-01 -2.06422807e-03 9.85384171e+00] [ 6.91246662e-03 -4.66551125e-05 9.99976108e-01 2.35166773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:9.86, Z:0.24 [[ 9.52626308e-01 -3.04071695e-01 -6.59709745e-03 5.86058263e+01] [ 3.04064688e-01 9.52649150e-01 -2.06462502e-03 9.86158764e+00] [ 6.91251331e-03 -3.91282671e-05 9.99976108e-01 2.35789169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:58.63, Y:9.87, Z:0.24 [[ 9.53186875e-01 -3.02309883e-01 -6.59671235e-03 5.86331326e+01] [ 3.02302825e-01 9.53209701e-01 -2.06585472e-03 9.86784855e+00] [ 6.91257851e-03 -2.50591790e-05 9.99976108e-01 2.36601514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:9.87, Z:0.24 [[ 9.53652463e-01 -3.00837943e-01 -6.59631252e-03 5.86597543e+01] [ 3.00830842e-01 9.53675276e-01 -2.06713060e-03 9.87401286e+00] [ 6.91261148e-03 -1.30500645e-05 9.99976108e-01 2.35532616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.69, Y:9.88, Z:0.23 [[ 9.54171448e-01 -2.99187799e-01 -6.59613829e-03 5.86878341e+01] [ 2.99180654e-01 9.54194247e-01 -2.06768642e-03 9.87915572e+00] [ 6.91262376e-03 -5.09625441e-07 9.99976108e-01 2.32186869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:9.89, Z:0.23 [[ 9.54474607e-01 -2.98219250e-01 -6.59579697e-03 5.87150377e+01] [ 2.98212074e-01 9.54497396e-01 -2.06877463e-03 9.88736010e+00] [ 6.91261945e-03 7.64656079e-06 9.99976108e-01 2.32042964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:9.90, Z:0.23 [[ 9.54894707e-01 -2.96871351e-01 -6.59539678e-03 5.87413993e+01] [ 2.96864134e-01 9.54917484e-01 -2.07004969e-03 9.89526570e+00] [ 6.91259814e-03 1.87427350e-05 9.99976108e-01 2.32026324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:58.77, Y:9.90, Z:0.23 [[ 9.55233661e-01 -2.95778895e-01 -6.59527262e-03 5.87681117e+01] [ 2.95771650e-01 9.55256429e-01 -2.07044518e-03 9.90336953e+00] [ 6.91257056e-03 2.70642686e-05 9.99976108e-01 2.32301323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:9.91, Z:0.23 [[ 9.56289037e-01 -2.92348738e-01 -6.59487738e-03 5.87953121e+01] [ 2.92341402e-01 9.56311776e-01 -2.07170336e-03 9.91120437e+00] [ 6.91241876e-03 5.31915076e-05 9.99976108e-01 2.31342473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:9.92, Z:0.23 [[ 9.56736445e-01 -2.90881220e-01 -6.59475466e-03 5.88231868e+01] [ 2.90873847e-01 9.56759171e-01 -2.07209392e-03 9.91910773e+00] [ 6.91232522e-03 6.42061122e-05 9.99976108e-01 2.31772734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:9.93, Z:0.23 [[ 9.57578608e-01 -2.88096726e-01 -6.59441257e-03 5.88497123e+01] [ 2.88089279e-01 9.57601310e-01 -2.07318207e-03 9.92709483e+00] [ 6.91209508e-03 8.54552387e-05 9.99976108e-01 2.33456453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:9.94, Z:0.23 [[ 9.57949100e-01 -2.86862401e-01 -6.59429101e-03 5.88758062e+01] [ 2.86854922e-01 9.57971792e-01 -2.07356866e-03 9.93559569e+00] [ 6.91197365e-03 9.47683930e-05 9.99976108e-01 2.34407146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:9.95, Z:0.23 [[ 9.58228695e-01 -2.85927064e-01 -6.59410758e-03 5.89029875e+01] [ 2.85919559e-01 9.58251378e-01 -2.07415180e-03 9.94625305e+00] [ 6.91186881e-03 1.02127444e-04 9.99976108e-01 2.34938577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:9.96, Z:0.23 [[ 9.58176569e-01 -2.86101703e-01 -6.59375976e-03 5.89279508e+01] [ 2.86094194e-01 9.58199251e-01 -2.07525693e-03 9.95522449e+00] [ 6.91187021e-03 1.02026177e-04 9.99976108e-01 2.34602558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.96, Y:9.96, Z:0.24 [[ 9.57882034e-01 -2.87086283e-01 -6.59358670e-03 5.89554175e+01] [ 2.87078794e-01 9.57904722e-01 -2.07580666e-03 9.96439905e+00] [ 6.91196345e-03 9.54989899e-05 9.99976108e-01 2.36275625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.98, Y:9.97, Z:0.24 [[ 9.57117532e-01 -2.89624860e-01 -6.59323897e-03 5.89822485e+01] [ 2.89617424e-01 9.57140237e-01 -2.07691052e-03 9.97313827e+00] [ 6.91217924e-03 7.83305824e-05 9.99976108e-01 2.36735216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:9.98, Z:0.24 [[ 9.56580982e-01 -2.91392102e-01 -6.59305468e-03 5.90088570e+01] [ 2.91384704e-01 9.56603700e-01 -2.07749539e-03 9.98150099e+00] [ 6.91230625e-03 6.61772976e-05 9.99976108e-01 2.37199039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:9.99, Z:0.24 [[ 9.55454303e-01 -2.95065435e-01 -6.59267550e-03 5.90366410e+01] [ 2.95058116e-01 9.55477047e-01 -2.07869797e-03 9.98792320e+00] [ 6.91250204e-03 4.08785046e-05 9.99976108e-01 2.37273050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:59.06, Y:10.00, Z:0.24 [[ 9.54838172e-01 -2.97053205e-01 -6.59229478e-03 5.90633880e+01] [ 2.97045925e-01 9.54860928e-01 -2.07990468e-03 9.99515918e+00] [ 6.91256706e-03 2.77580796e-05 9.99976108e-01 2.39458021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:10.00, Z:0.24 [[ 9.54500919e-01 -2.98135109e-01 -6.59188733e-03 5.90897505e+01] [ 2.98127846e-01 9.54523680e-01 -2.08119519e-03 1.00024831e+01] [ 6.91258991e-03 2.12775529e-05 9.99976108e-01 2.38874065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:10.01, Z:0.24 [[ 9.53812042e-01 -3.00331713e-01 -6.59170979e-03 5.91169113e+01] [ 3.00324498e-01 9.53834819e-01 -2.08175736e-03 1.00083530e+01] [ 6.91262007e-03 5.95330313e-06 9.99976108e-01 2.39523568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:10.02, Z:0.24 [[ 9.53592463e-01 -3.01028188e-01 -6.59131064e-03 5.91440810e+01] [ 3.01020981e-01 9.53615242e-01 -2.08302039e-03 1.00157325e+01] [ 6.91262215e-03 2.22975036e-06 9.99976108e-01 2.38880832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:10.02, Z:0.24 [[ 9.53343703e-01 -3.01815075e-01 -6.59118695e-03 5.91709688e+01] [ 3.01807884e-01 9.53366488e-01 -2.08341170e-03 1.00237429e+01] [ 6.91262182e-03 -3.06475797e-06 9.99976108e-01 2.41005363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:10.03, Z:0.24 [[ 9.53398898e-01 -3.01640686e-01 -6.59077743e-03 5.91966057e+01] [ 3.01633482e-01 9.53421678e-01 -2.08470640e-03 1.00308076e+01] [ 6.91262235e-03 -4.42362847e-07 9.99976108e-01 2.39667518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:59.22, Y:10.04, Z:0.24 [[ 9.53419383e-01 -3.01575935e-01 -6.59060003e-03 5.92237461e+01] [ 3.01568726e-01 9.53442161e-01 -2.08526711e-03 1.00379826e+01] [ 6.91262231e-03 6.15224961e-07 9.99976108e-01 2.40818341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:10.04, Z:0.24 [[ 9.54463273e-01 -2.98255647e-01 -6.59019181e-03 5.92507932e+01] [ 2.98248349e-01 9.54486023e-01 -2.08655641e-03 1.00447549e+01] [ 6.91257321e-03 2.60276305e-05 9.99976108e-01 2.39159162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:10.05, Z:0.24 [[ 9.55144532e-01 -2.96066704e-01 -6.59006535e-03 5.92778463e+01] [ 2.96059352e-01 9.55167265e-01 -2.08695573e-03 1.00533077e+01] [ 6.91249281e-03 4.22938811e-05 9.99976108e-01 2.38968598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.30, Y:10.06, Z:0.24 [[ 9.56826426e-01 -2.90585214e-01 -6.58965947e-03 5.93036814e+01] [ 2.90577722e-01 9.56849114e-01 -2.08823655e-03 1.00639772e+01] [ 6.91212049e-03 8.32716792e-05 9.99976108e-01 2.40310535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:10.07, Z:0.24 [[ 9.57899191e-01 -2.87029129e-01 -6.58930768e-03 5.93293806e+01] [ 2.87021546e-01 9.57921848e-01 -2.08934600e-03 1.00748216e+01] [ 6.91174495e-03 1.10109570e-04 9.99976108e-01 2.40823913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:59.35, Y:10.09, Z:0.24 [[ 9.59764101e-01 -2.80730220e-01 -6.58890817e-03 5.93545480e+01] [ 2.80722480e-01 9.59786705e-01 -2.09060512e-03 1.00862494e+01] [ 6.91084250e-03 1.56833103e-04 9.99976108e-01 2.40191887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:10.10, Z:0.24 [[ 9.60568464e-01 -2.77965490e-01 -6.58878399e-03 5.93811903e+01] [ 2.77957682e-01 9.60591045e-01 -2.09099642e-03 1.00957258e+01] [ 6.91035174e-03 1.77142096e-04 9.99976108e-01 2.40852008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:10.11, Z:0.24 [[ 9.61482043e-01 -2.74788779e-01 -6.58838562e-03 5.94075157e+01] [ 2.74780888e-01 9.61504595e-01 -2.09225086e-03 1.01077141e+01] [ 6.90969011e-03 2.01299180e-04 9.99976108e-01 2.41683439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:10.12, Z:0.24 [[ 9.61661217e-01 -2.74161085e-01 -6.58803488e-03 5.94327355e+01] [ 2.74153171e-01 9.61683761e-01 -2.09335469e-03 1.01177932e+01] [ 6.90952256e-03 2.06967362e-04 9.99976108e-01 2.41657336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:10.13, Z:0.24 [[ 9.61591216e-01 -2.74406511e-01 -6.58786057e-03 5.94590687e+01] [ 2.74398599e-01 9.61613761e-01 -2.09390310e-03 1.01282197e+01] [ 6.90955802e-03 2.05779119e-04 9.99976108e-01 2.42525449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:10.14, Z:0.24 [[ 9.61329324e-01 -2.75322597e-01 -6.58773895e-03 5.94850109e+01] [ 2.75314704e-01 9.61351875e-01 -2.09428566e-03 1.01381332e+01] [ 6.90973936e-03 1.99596816e-04 9.99976108e-01 2.43498596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:10.15, Z:0.24 [[ 9.60339136e-01 -2.78756794e-01 -6.58734482e-03 5.95098517e+01] [ 2.78748973e-01 9.60361712e-01 -2.09552464e-03 1.01485222e+01] [ 6.91037548e-03 1.76198714e-04 9.99976108e-01 2.42522740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:10.16, Z:0.24 [[ 9.59697685e-01 -2.80957224e-01 -6.58717319e-03 5.95362937e+01] [ 2.80949451e-01 9.59720278e-01 -2.09606402e-03 1.01583901e+01] [ 6.91074801e-03 1.60925097e-04 9.99976108e-01 2.43773241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:10.17, Z:0.24 [[ 9.58362087e-01 -2.85479813e-01 -6.58677638e-03 5.95621977e+01] [ 2.85472139e-01 9.58384714e-01 -2.09731022e-03 1.01705837e+01] [ 6.91140552e-03 1.29641459e-04 9.99976108e-01 2.44631138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:10.18, Z:0.24 [[ 9.57832940e-01 -2.87250203e-01 -6.58636978e-03 5.95887635e+01] [ 2.87242561e-01 9.57855577e-01 -2.09858631e-03 1.01801228e+01] [ 6.91161038e-03 1.18209374e-04 9.99976108e-01 2.43941028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.61, Y:10.19, Z:0.24 [[ 9.57274186e-01 -2.89106820e-01 -6.58624314e-03 5.96142642e+01] [ 2.89099220e-01 9.57296838e-01 -2.09898371e-03 1.01890131e+01] [ 6.91182023e-03 1.05225169e-04 9.99976108e-01 2.42191793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.64, Y:10.20, Z:0.24 [[ 9.56470349e-01 -2.91755198e-01 -6.58606724e-03 5.96397020e+01] [ 2.91747656e-01 9.56493020e-01 -2.09953548e-03 1.01989588e+01] [ 6.91207773e-03 8.66737504e-05 9.99976108e-01 2.41800375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:10.21, Z:0.24 [[ 9.56228099e-01 -2.92548199e-01 -6.58590264e-03 5.96662048e+01] [ 2.92540673e-01 9.56250775e-01 -2.10005169e-03 1.02083299e+01] [ 6.91214084e-03 8.14840457e-05 9.99976108e-01 2.44054067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:10.22, Z:0.24 [[ 9.56088157e-01 -2.93005235e-01 -6.58549715e-03 5.96922312e+01] [ 2.92997710e-01 9.56110834e-01 -2.10132248e-03 1.02184448e+01] [ 6.91216366e-03 7.95139546e-05 9.99976108e-01 2.43280901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:10.23, Z:0.24 [[ 9.56067172e-01 -2.93073704e-01 -6.58537119e-03 5.97174917e+01] [ 2.93066178e-01 9.56089848e-01 -2.10171714e-03 1.02275739e+01] [ 6.91216457e-03 7.94331914e-05 9.99976108e-01 2.40549608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:59.74, Y:10.24, Z:0.24 [[ 9.55678553e-01 -2.94338475e-01 -6.58519839e-03 5.97439303e+01] [ 2.94330976e-01 9.55701238e-01 -2.10225844e-03 1.02375964e+01] [ 6.91225780e-03 7.08554386e-05 9.99976108e-01 2.42510260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:10.25, Z:0.24 [[ 9.55637015e-01 -2.94473319e-01 -6.58479745e-03 5.97712278e+01] [ 2.94465815e-01 9.55659698e-01 -2.10351355e-03 1.02467423e+01] [ 6.91225416e-03 7.11976628e-05 9.99976108e-01 2.42346653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:10.26, Z:0.24 [[ 9.55720830e-01 -2.94201154e-01 -6.58600573e-03 5.97974022e+01] [ 2.94193669e-01 9.55743520e-01 -2.09973300e-03 1.02553429e+01] [ 6.91227617e-03 6.91973805e-05 9.99976108e-01 2.43615855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:59.82, Y:10.26, Z:0.24 [[ 9.55593556e-01 -2.94614329e-01 -6.58422106e-03 5.98233280e+01] [ 2.94606816e-01 9.55616237e-01 -2.10531441e-03 1.02643564e+01] [ 6.91224435e-03 7.20684815e-05 9.99976108e-01 2.41589377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:59.85, Y:10.27, Z:0.24 [[ 9.55537951e-01 -2.94794631e-01 -6.58404158e-03 5.98503807e+01] [ 2.94787117e-01 9.55560632e-01 -2.10587556e-03 1.02732171e+01] [ 6.91225174e-03 7.13533819e-05 9.99976108e-01 2.41786202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:10.28, Z:0.24 [[ 9.55567095e-01 -2.94700157e-01 -6.58364400e-03 5.98765235e+01] [ 2.94692633e-01 9.55589772e-01 -2.10711780e-03 1.02822312e+01] [ 6.91223081e-03 7.33410506e-05 9.99976108e-01 2.42373798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:10.29, Z:0.24 [[ 9.55538238e-01 -2.94793719e-01 -6.58324322e-03 5.99026272e+01] [ 2.94786188e-01 9.55560913e-01 -2.10836919e-03 1.02913710e+01] [ 6.91222390e-03 7.39782074e-05 9.99976108e-01 2.43227900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:10.30, Z:0.24 [[ 9.55528709e-01 -2.94824614e-01 -6.58284132e-03 5.99286376e+01] [ 2.94817076e-01 9.55551381e-01 -2.10962330e-03 1.03007032e+01] [ 6.91221198e-03 7.50715971e-05 9.99976108e-01 2.44144829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:10.31, Z:0.24 [[ 9.55456525e-01 -2.95058468e-01 -6.58243830e-03 5.99548972e+01] [ 2.95050927e-01 9.55479197e-01 -2.11088003e-03 1.03088026e+01] [ 6.91221589e-03 7.46995789e-05 9.99976108e-01 2.43823242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264000000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:59.98, Y:10.32, Z:0.24 [[ 9.55192763e-01 -2.95911241e-01 -6.58203572e-03 5.99818509e+01] [ 2.95903712e-01 9.55215438e-01 -2.11213461e-03 1.03169008e+01] [ 6.91226650e-03 6.98468920e-05 9.99976108e-01 2.43487332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:10.32, Z:0.24 [[ 9.54807315e-01 -2.97152610e-01 -6.58163186e-03 6.00094196e+01] [ 2.97145101e-01 9.54829997e-01 -2.11339233e-03 1.03243983e+01] [ 6.91233957e-03 6.21827982e-05 9.99976108e-01 2.43141555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.04, Y:10.33, Z:0.24 [[ 9.54364576e-01 -2.98571503e-01 -6.58127057e-03 6.00355602e+01] [ 2.98564020e-01 9.54387267e-01 -2.11451679e-03 1.03330561e+01] [ 6.91241529e-03 5.30893192e-05 9.99976108e-01 2.42420321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:10.34, Z:0.24 [[ 9.53756239e-01 -3.00509110e-01 -6.58114265e-03 6.00630602e+01] [ 3.00501671e-01 9.53778944e-01 -2.11491486e-03 1.03397063e+01] [ 6.91250647e-03 3.94688842e-05 9.99976108e-01 2.44105017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:10.35, Z:0.24 [[ 9.53551849e-01 -3.01157045e-01 -6.58072412e-03 6.00886815e+01] [ 3.01149612e-01 9.53574555e-01 -2.11621635e-03 1.03470727e+01] [ 6.91252454e-03 3.61395014e-05 9.99976108e-01 2.44013324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:10.36, Z:0.25 [[ 9.53397373e-01 -3.01645730e-01 -6.58054280e-03 6.01157191e+01] [ 3.01638304e-01 9.53420082e-01 -2.11678003e-03 1.03551586e+01] [ 6.91253931e-03 3.31887493e-05 9.99976108e-01 2.45143527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:10.36, Z:0.25 [[ 9.53360166e-01 -3.01763312e-01 -6.58012944e-03 6.01427632e+01] [ 3.01755881e-01 9.53382873e-01 -2.11806421e-03 1.03613532e+01] [ 6.91253678e-03 3.36852874e-05 9.99976108e-01 2.45699481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:10.37, Z:0.25 [[ 9.53310624e-01 -3.01919787e-01 -6.58000123e-03 6.01701679e+01] [ 3.01912357e-01 9.53333332e-01 -2.11846244e-03 1.03690208e+01] [ 6.91254022e-03 3.29690700e-05 9.99976108e-01 2.46944644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.20, Y:10.38, Z:0.25 [[ 9.53375622e-01 -3.01714488e-01 -6.57958960e-03 6.01965089e+01] [ 3.01707044e-01 9.53398325e-01 -2.11974011e-03 1.03751582e+01] [ 6.91252601e-03 3.58000201e-05 9.99976108e-01 2.45121803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.22, Y:10.38, Z:0.25 [[ 9.53527069e-01 -3.01235523e-01 -6.57941065e-03 6.02232711e+01] [ 3.01228063e-01 9.53549767e-01 -2.12029539e-03 1.03827427e+01] [ 6.91250379e-03 3.98559185e-05 9.99976108e-01 2.46337940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:10.39, Z:0.25 [[ 9.53905634e-01 -3.00034595e-01 -6.57899707e-03 6.02492720e+01] [ 3.00027098e-01 9.53928320e-01 -2.12157793e-03 1.03896565e+01] [ 6.91243839e-03 4.99077428e-05 9.99976108e-01 2.45887204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:10.40, Z:0.25 [[ 9.54058565e-01 -2.99547948e-01 -6.57881808e-03 6.02757562e+01] [ 2.99540436e-01 9.54081246e-01 -2.12213280e-03 1.03978855e+01] [ 6.91240748e-03 5.40169407e-05 9.99976108e-01 2.45791606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:10.41, Z:0.25 [[ 9.54234975e-01 -2.98985512e-01 -6.57842023e-03 6.03021930e+01] [ 2.98977978e-01 9.54257649e-01 -2.12336537e-03 1.04062999e+01] [ 6.91236331e-03 5.93867238e-05 9.99976108e-01 2.46067041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:10.41, Z:0.24 [[ 9.54582041e-01 -2.97875573e-01 -6.57802242e-03 6.03292736e+01] [ 2.97868004e-01 9.54604703e-01 -2.12459707e-03 1.04131836e+01] [ 6.91227670e-03 6.87197980e-05 9.99976108e-01 2.44873395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:10.42, Z:0.24 [[ 9.54599280e-01 -2.97820332e-01 -6.57762196e-03 6.03571305e+01] [ 2.97812753e-01 9.54621938e-01 -2.12583614e-03 1.04208281e+01] [ 6.91225945e-03 7.04219482e-05 9.99976108e-01 2.44022907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:10.43, Z:0.25 [[ 9.54612852e-01 -2.97776832e-01 -6.57726999e-03 6.03843289e+01] [ 2.97769244e-01 9.54635508e-01 -2.12692457e-03 1.04276324e+01] [ 6.91224433e-03 7.18808116e-05 9.99976108e-01 2.46238272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:10.44, Z:0.25 [[ 9.54466449e-01 -2.98245776e-01 -6.57684628e-03 6.04113216e+01] [ 2.98238191e-01 9.54489105e-01 -2.12823395e-03 1.04359805e+01] [ 6.91226490e-03 6.98611622e-05 9.99976108e-01 2.46067181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:10.44, Z:0.25 [[ 9.54147064e-01 -2.99265980e-01 -6.57671469e-03 6.04393060e+01] [ 2.99258416e-01 9.54169728e-01 -2.12864051e-03 1.04430174e+01] [ 6.91233175e-03 6.28988700e-05 9.99976108e-01 2.48801391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:10.45, Z:0.25 [[ 9.53984935e-01 -2.99782412e-01 -6.57634616e-03 6.04663424e+01] [ 2.99774853e-01 9.54007600e-01 -2.12977845e-03 1.04508630e+01] [ 6.91235434e-03 6.03533561e-05 9.99976108e-01 2.49093092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:10.46, Z:0.25 [[ 9.53906719e-01 -3.00031206e-01 -6.57621534e-03 6.04942892e+01] [ 3.00023649e-01 9.53929385e-01 -2.13018231e-03 1.04590587e+01] [ 6.91236623e-03 5.89750960e-05 9.99976108e-01 2.50874412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:10.47, Z:0.25 [[ 9.54033832e-01 -2.99626777e-01 -6.57585238e-03 6.05214131e+01] [ 2.99619204e-01 9.54056492e-01 -2.13130219e-03 1.04671180e+01] [ 6.91232986e-03 6.30827447e-05 9.99976108e-01 2.52033698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:10.48, Z:0.25 [[ 9.54240486e-01 -2.98967988e-01 -6.57543972e-03 6.05476145e+01] [ 2.98960390e-01 9.54263138e-01 -2.13257456e-03 1.04756651e+01] [ 6.91227127e-03 6.91929658e-05 9.99976108e-01 2.50143864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:10.49, Z:0.25 [[ 9.54500451e-01 -2.98136973e-01 -6.57531169e-03 6.05735624e+01] [ 2.98129352e-01 9.54523096e-01 -2.13296922e-03 1.04850003e+01] [ 6.91220386e-03 7.56266731e-05 9.99976108e-01 2.50155598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:10.49, Z:0.25 [[ 9.55163395e-01 -2.96006182e-01 -6.57490863e-03 6.05995437e+01] [ 2.95998503e-01 9.55186019e-01 -2.13421094e-03 1.04947412e+01] [ 6.91200044e-03 9.23570529e-05 9.99976108e-01 2.47428789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:10.50, Z:0.25 [[ 9.55612383e-01 -2.94553470e-01 -6.57472106e-03 6.06266155e+01] [ 2.94545752e-01 9.55634994e-01 -2.13478861e-03 1.05046956e+01] [ 6.91184292e-03 1.03474271e-04 9.99976108e-01 2.47460734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.65, Y:10.51, Z:0.25 [[ 9.55701932e-01 -2.94262800e-01 -6.57436341e-03 6.06532342e+01] [ 2.94255068e-01 9.55724538e-01 -2.13588948e-03 1.05138821e+01] [ 6.91179326e-03 1.06733947e-04 9.99976108e-01 2.47669115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:10.52, Z:0.25 [[ 9.55642038e-01 -2.94457260e-01 -6.57394304e-03 6.06801902e+01] [ 2.94449523e-01 9.55664644e-01 -2.13718253e-03 1.05236901e+01] [ 6.91179385e-03 1.06687071e-04 9.99976108e-01 2.46939774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:10.53, Z:0.25 [[ 9.55412637e-01 -2.95200747e-01 -6.57357713e-03 6.07058386e+01] [ 2.95193020e-01 9.55435245e-01 -2.13830742e-03 1.05348789e+01] [ 6.91185723e-03 1.02491841e-04 9.99976108e-01 2.45259426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:10.54, Z:0.25 [[ 9.55096022e-01 -2.96223527e-01 -6.57344757e-03 6.07325150e+01] [ 2.96215822e-01 9.55118638e-01 -2.13870562e-03 1.05444128e+01] [ 6.91195722e-03 9.55100581e-05 9.99976108e-01 2.48181365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:10.55, Z:0.25 [[ 9.54315482e-01 -2.98728566e-01 -6.57304217e-03 6.07592149e+01] [ 2.98720911e-01 9.54338115e-01 -2.13995085e-03 1.05539410e+01] [ 6.91216912e-03 7.86830844e-05 9.99976108e-01 2.49895051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:10.56, Z:0.25 [[ 9.53856916e-01 -3.00189581e-01 -6.57268173e-03 6.07856993e+01] [ 3.00181953e-01 9.53879558e-01 -2.14105734e-03 1.05636072e+01] [ 6.91226985e-03 6.92619062e-05 9.99976108e-01 2.50893080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.81, Y:10.57, Z:0.25 [[ 9.53457451e-01 -3.01455958e-01 -6.57226246e-03 6.08125205e+01] [ 3.01448352e-01 9.53480100e-01 -2.14234357e-03 1.05722746e+01] [ 6.91234370e-03 6.14357511e-05 9.99976108e-01 2.49892443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.84, Y:10.58, Z:0.25 [[ 9.53025706e-01 -3.02818116e-01 -6.57213230e-03 6.08386583e+01] [ 3.02810539e-01 9.53048365e-01 -2.14274280e-03 1.05809569e+01] [ 6.91242128e-03 5.19780450e-05 9.99976108e-01 2.50759935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:10.59, Z:0.25 [[ 9.52097470e-01 -3.05724091e-01 -6.57171166e-03 6.08656826e+01] [ 3.05716574e-01 9.52120150e-01 -2.14403210e-03 1.05890606e+01] [ 6.91254135e-03 3.22463618e-05 9.99976108e-01 2.52647459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:10.60, Z:0.25 [[ 9.51103006e-01 -3.08803962e-01 -6.57151574e-03 6.08924993e+01] [ 3.08796515e-01 9.51125708e-01 -2.14463242e-03 1.05975157e+01] [ 6.91260856e-03 1.05051850e-05 9.99976108e-01 2.53412417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:10.61, Z:0.25 [[ 9.50596139e-01 -3.10360759e-01 -6.57109506e-03 6.09186926e+01] [ 3.10353340e-01 9.50618851e-01 -2.14592061e-03 1.06056027e+01] [ 6.91261638e-03 5.42547462e-07 9.99976108e-01 2.53019182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.95, Y:10.61, Z:0.25 [[ 9.50137409e-01 -3.11762296e-01 -6.57080817e-03 6.09457407e+01] [ 3.11754905e-01 9.50160129e-01 -2.14679871e-03 1.06139947e+01] [ 6.91261083e-03 -8.72790931e-06 9.99976108e-01 2.52637023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:10.62, Z:0.25 [[ 9.49490442e-01 -3.13727159e-01 -6.57039296e-03 6.09728150e+01] [ 3.13719806e-01 9.49513175e-01 -2.14806872e-03 1.06207360e+01] [ 6.91258218e-03 -2.16916917e-05 9.99976108e-01 2.50850169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:10.63, Z:0.25 [[ 9.49177748e-01 -3.14671948e-01 -6.57026401e-03 6.10001259e+01] [ 3.14664614e-01 9.49200487e-01 -2.14846308e-03 1.06273162e+01] [ 6.91255886e-03 -2.81562462e-05 9.99976108e-01 2.51114581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:10.63, Z:0.25 [[ 9.48906273e-01 -3.15489656e-01 -6.56985328e-03 6.10274035e+01] [ 3.15482333e-01 9.48929015e-01 -2.14971834e-03 1.06319202e+01] [ 6.91253830e-03 -3.27914228e-05 9.99976108e-01 2.51724584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:10.64, Z:0.25 [[ 9.48946607e-01 -3.15368319e-01 -6.56972604e-03 6.10541107e+01] [ 3.15360991e-01 9.48969348e-01 -2.15010710e-03 1.06406071e+01] [ 6.91254430e-03 -3.14984780e-05 9.99976108e-01 2.53307743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:61.08, Y:10.65, Z:0.25 [[ 9.49201414e-01 -3.14600573e-01 -6.56931266e-03 6.10816783e+01] [ 3.14593218e-01 9.49224146e-01 -2.15136938e-03 1.06492957e+01] [ 6.91257224e-03 -2.45783533e-05 9.99976108e-01 2.54593300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:61.11, Y:10.66, Z:0.25 [[ 9.49497990e-01 -3.13704344e-01 -6.56894609e-03 6.11073689e+01] [ 3.13696960e-01 9.49520713e-01 -2.15248809e-03 1.06564433e+01] [ 6.91259524e-03 -1.68753089e-05 9.99976108e-01 2.53883802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:61.13, Y:10.66, Z:0.25 [[ 9.49795221e-01 -3.12803276e-01 -6.56876344e-03 6.11349242e+01] [ 3.12795866e-01 9.49817935e-01 -2.15304535e-03 1.06633088e+01] [ 6.91260896e-03 -9.72987075e-06 9.99976108e-01 2.54983534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:10.67, Z:0.26 [[ 9.50414301e-01 -3.10917213e-01 -6.56834189e-03 6.11621030e+01] [ 3.10909750e-01 9.50436998e-01 -2.15433059e-03 1.06687266e+01] [ 6.91261361e-03 5.34506980e-06 9.99976108e-01 2.56010180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:10.67, Z:0.26 [[ 9.50983451e-01 -3.09172016e-01 -6.56814479e-03 6.11912322e+01] [ 3.09164507e-01 9.51006133e-01 -2.15493135e-03 1.06728852e+01] [ 6.91259045e-03 1.86668085e-05 9.99976108e-01 2.59124006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:10.68, Z:0.26 [[ 9.51174585e-01 -3.08583496e-01 -6.56777277e-03 6.12187197e+01] [ 3.08575964e-01 9.51197259e-01 -2.15606460e-03 1.06793066e+01] [ 6.91257341e-03 2.41370350e-05 9.99976108e-01 2.59626542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:10.69, Z:0.26 [[ 9.51423216e-01 -3.07816070e-01 -6.56734470e-03 6.12461160e+01] [ 3.07808512e-01 9.51445882e-01 -2.15736769e-03 1.06866766e+01] [ 6.91254552e-03 3.10851061e-05 9.99976108e-01 2.60030436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.27, Y:10.69, Z:0.26 [[ 9.51950369e-01 -3.06181925e-01 -6.56691737e-03 6.12734099e+01] [ 3.06174319e-01 9.51973018e-01 -2.15866768e-03 1.06934216e+01] [ 6.91247318e-03 4.43230392e-05 9.99976108e-01 2.56364157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:10.70, Z:0.26 [[ 9.52182520e-01 -3.05459206e-01 -6.56678458e-03 6.13007504e+01] [ 3.05451579e-01 9.52205162e-01 -2.15907157e-03 1.07003509e+01] [ 6.91243446e-03 4.99954915e-05 9.99976108e-01 2.57720278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:10.71, Z:0.26 [[ 9.52522053e-01 -3.04398787e-01 -6.56634992e-03 6.13274982e+01] [ 3.04391127e-01 9.52544684e-01 -2.16039268e-03 1.07068575e+01] [ 6.91236262e-03 5.90830176e-05 9.99976108e-01 2.55968646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:10.71, Z:0.26 [[ 9.53594740e-01 -3.01021522e-01 -6.56621525e-03 6.13549310e+01] [ 3.01013778e-01 9.53617343e-01 -2.16080192e-03 1.07130041e+01] [ 6.91210462e-03 8.40080856e-05 9.99976108e-01 2.56596594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:10.72, Z:0.26 [[ 9.54180218e-01 -2.99160490e-01 -6.56602282e-03 6.13817091e+01] [ 2.99152698e-01 9.54202804e-01 -2.16138650e-03 1.07211734e+01] [ 6.91191883e-03 9.81088062e-05 9.99976108e-01 2.58186608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:10.73, Z:0.26 [[ 9.55421950e-01 -2.95170783e-01 -6.56559718e-03 6.14091081e+01] [ 2.95162888e-01 9.55444500e-01 -2.16267868e-03 1.07284460e+01] [ 6.91142327e-03 1.28350053e-04 9.99976108e-01 2.58192610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:10.74, Z:0.26 [[ 9.55927956e-01 -2.93527924e-01 -6.56516968e-03 6.14343383e+01] [ 2.93519982e-01 9.55950489e-01 -2.16397564e-03 1.07367606e+01] [ 6.91116445e-03 1.41596328e-04 9.99976108e-01 2.57509724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:10.75, Z:0.26 [[ 9.56369987e-01 -2.92084490e-01 -6.56498417e-03 6.14609663e+01] [ 2.92076510e-01 9.56392507e-01 -2.16453831e-03 1.07458564e+01] [ 6.91092973e-03 1.52621818e-04 9.99976108e-01 2.56594818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:10.75, Z:0.25 [[ 9.56820284e-01 -2.90606000e-01 -6.56485587e-03 6.14872908e+01] [ 2.90597981e-01 9.56842791e-01 -2.16492735e-03 1.07544555e+01] [ 6.91067589e-03 1.63712540e-04 9.99976108e-01 2.54105218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:10.76, Z:0.26 [[ 9.56808976e-01 -2.90643233e-01 -6.56472867e-03 6.15134641e+01] [ 2.90635213e-01 9.56831482e-01 -2.16531300e-03 1.07628383e+01] [ 6.91067263e-03 1.63849601e-04 9.99976108e-01 2.55118440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:10.77, Z:0.26 [[ 9.56439836e-01 -2.91855700e-01 -6.56430677e-03 6.15400048e+01] [ 2.91847700e-01 9.56462349e-01 -2.16659127e-03 1.07715031e+01] [ 6.91084428e-03 1.56436363e-04 9.99976108e-01 2.55546189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:10.78, Z:0.26 [[ 9.56382808e-01 -2.92042531e-01 -6.56388440e-03 6.15669860e+01] [ 2.92034527e-01 9.56405320e-01 -2.16787010e-03 1.07806122e+01] [ 6.91084423e-03 1.56432823e-04 9.99976108e-01 2.55743066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:61.59, Y:10.79, Z:0.26 [[ 9.56156234e-01 -2.92783499e-01 -6.56346068e-03 6.15937442e+01] [ 2.92775503e-01 9.56178749e-01 -2.16915222e-03 1.07894370e+01] [ 6.91093359e-03 1.52427913e-04 9.99976108e-01 2.57433550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:10.80, Z:0.26 [[ 9.55840256e-01 -2.93813431e-01 -6.56303197e-03 6.16193244e+01] [ 2.93805450e-01 9.55862776e-01 -2.17044854e-03 1.07982251e+01] [ 6.91106489e-03 1.46347520e-04 9.99976108e-01 2.56963982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:10.81, Z:0.26 [[ 9.55280165e-01 -2.95629387e-01 -6.56284578e-03 6.16451955e+01] [ 2.95621446e-01 9.55302699e-01 -2.17101139e-03 1.08070627e+01] [ 6.91131906e-03 1.33806159e-04 9.99976108e-01 2.55738416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.67, Y:10.82, Z:0.26 [[ 9.54946373e-01 -2.96705841e-01 -6.56268748e-03 6.16710510e+01] [ 2.96697922e-01 9.54968915e-01 -2.17148979e-03 1.08166651e+01] [ 6.91145625e-03 1.26520563e-04 9.99976108e-01 2.56825314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.70, Y:10.83, Z:0.26 [[ 9.54318438e-01 -2.98719360e-01 -6.56227372e-03 6.16972459e+01] [ 2.98711480e-01 9.54340993e-01 -2.17273947e-03 1.08272750e+01] [ 6.91168617e-03 1.13258839e-04 9.99976108e-01 2.57105521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:10.84, Z:0.26 [[ 9.53990881e-01 -2.99763809e-01 -6.56185537e-03 6.17239046e+01] [ 2.99755945e-01 9.54013442e-01 -2.17400221e-03 1.08360104e+01] [ 6.91178541e-03 1.07023125e-04 9.99976108e-01 2.57047045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:10.84, Z:0.26 [[ 9.53559042e-01 -3.01134683e-01 -6.56172525e-03 6.17500392e+01] [ 3.01126848e-01 9.53581613e-01 -2.17439486e-03 1.08445534e+01] [ 6.91192626e-03 9.75022388e-05 9.99976108e-01 2.59518424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:10.85, Z:0.26 [[ 9.52452316e-01 -3.04617031e-01 -6.56130262e-03 6.17770817e+01] [ 3.04609270e-01 9.52474913e-01 -2.17566942e-03 1.08526985e+01] [ 6.91222210e-03 7.35877823e-05 9.99976108e-01 2.59803991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:10.86, Z:0.26 [[ 9.51715014e-01 -3.06912827e-01 -6.56117180e-03 6.18039003e+01] [ 3.06905118e-01 9.51737628e-01 -2.17606385e-03 1.08615019e+01] [ 6.91237600e-03 5.73354334e-05 9.99976108e-01 2.60614963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:10.87, Z:0.26 [[ 9.50922480e-01 -3.09359650e-01 -6.56074320e-03 6.18307733e+01] [ 3.09351991e-01 9.50945111e-01 -2.17735529e-03 1.08695617e+01] [ 6.91249255e-03 4.09171236e-05 9.99976108e-01 2.60685177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.86, Y:10.88, Z:0.26 [[ 9.49495029e-01 -3.13713486e-01 -6.56031347e-03 6.18570908e+01] [ 3.13705921e-01 9.49517692e-01 -2.17864930e-03 1.08762643e+01] [ 6.91260537e-03 1.06075033e-05 9.99976108e-01 2.59342340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:10.88, Z:0.26 [[ 9.48855597e-01 -3.15642239e-01 -6.56002146e-03 6.18836768e+01] [ 3.15634714e-01 9.48878273e-01 -2.17952819e-03 1.08845172e+01] [ 6.91261299e-03 -2.51298154e-06 9.99976108e-01 2.60544718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:10.89, Z:0.26 [[ 9.47874552e-01 -3.18576215e-01 -6.55959401e-03 6.19111929e+01] [ 3.18568752e-01 9.47897249e-01 -2.18081390e-03 1.08908733e+01] [ 6.91257656e-03 -2.25436731e-05 9.99976108e-01 2.57235534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:10.90, Z:0.26 [[ 9.47367910e-01 -3.20079703e-01 -6.55946135e-03 6.19380712e+01] [ 3.20072273e-01 9.47390618e-01 -2.18121285e-03 1.08975146e+01] [ 6.91253410e-03 -3.30906452e-05 9.99976108e-01 2.58690410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:10.90, Z:0.26 [[ 9.46937256e-01 -3.21351540e-01 -6.55903437e-03 6.19646225e+01] [ 3.21344131e-01 9.46959971e-01 -2.18249605e-03 1.09040175e+01] [ 6.91249146e-03 -4.10203730e-05 9.99976108e-01 2.56811048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:10.91, Z:0.26 [[ 9.46553282e-01 -3.22480802e-01 -6.55874234e-03 6.19934711e+01] [ 3.22473414e-01 9.46576003e-01 -2.18337328e-03 1.09087701e+01] [ 6.91244408e-03 -4.83408893e-05 9.99976108e-01 2.57320960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.02, Y:10.92, Z:0.26 [[ 9.46493664e-01 -3.22655747e-01 -6.55836911e-03 6.20206200e+01] [ 3.22648356e-01 9.46516385e-01 -2.18449383e-03 1.09155731e+01] [ 6.91244331e-03 -4.84374420e-05 9.99976108e-01 2.58560190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:10.92, Z:0.26 [[ 9.46714812e-01 -3.22006300e-01 -6.55792574e-03 6.20491521e+01] [ 3.21998884e-01 9.46737525e-01 -2.18582403e-03 1.09189552e+01] [ 6.91248349e-03 -4.22927783e-05 9.99976108e-01 2.58068935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:10.92, Z:0.26 [[ 9.46872920e-01 -3.21541084e-01 -6.55778749e-03 6.20754098e+01] [ 3.21533653e-01 9.46895628e-01 -2.18623871e-03 1.09243989e+01] [ 6.91250587e-03 -3.84591410e-05 9.99976108e-01 2.59057326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:10.93, Z:0.26 [[ 9.47153685e-01 -3.20713103e-01 -6.55760742e-03 6.21052351e+01] [ 3.20705650e-01 9.47176385e-01 -2.18677871e-03 1.09273176e+01] [ 6.91253947e-03 -3.18462296e-05 9.99976108e-01 2.63653400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:10.93, Z:0.26 [[ 9.47384254e-01 -3.20031371e-01 -6.55721715e-03 6.21332611e+01] [ 3.20023893e-01 9.47406946e-01 -2.18794831e-03 1.09326064e+01] [ 6.91256518e-03 -2.56383814e-05 9.99976108e-01 2.63772716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:10.94, Z:0.26 [[ 9.47655294e-01 -3.19227897e-01 -6.55700990e-03 6.21597089e+01] [ 3.19220395e-01 9.47677978e-01 -2.18856927e-03 1.09375004e+01] [ 6.91258624e-03 -1.91220394e-05 9.99976108e-01 2.62570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:10.94, Z:0.26 [[ 9.48507295e-01 -3.16687415e-01 -6.55682209e-03 6.21884565e+01] [ 3.16679849e-01 9.48529958e-01 -2.18913176e-03 1.09401919e+01] [ 6.91261267e-03 -5.98049394e-09 9.99976108e-01 2.64721154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.22, Y:10.95, Z:0.26 [[ 9.49099709e-01 -3.14907535e-01 -6.55639011e-03 6.22152792e+01] [ 3.14899917e-01 9.49122355e-01 -2.19042478e-03 1.09462720e+01] [ 6.91259769e-03 1.43248165e-05 9.99976108e-01 2.64512856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:10.95, Z:0.26 [[ 9.50623469e-01 -3.10277355e-01 -6.55609603e-03 6.22442828e+01] [ 3.10269621e-01 9.50646075e-01 -2.19130462e-03 1.09509716e+01] [ 6.91243917e-03 4.89481747e-05 9.99976108e-01 2.62677845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.27, Y:10.96, Z:0.26 [[ 9.51479072e-01 -3.07643622e-01 -6.55572156e-03 6.22719293e+01] [ 3.07635818e-01 9.51501654e-01 -2.19242437e-03 1.09575127e+01] [ 6.91226528e-03 6.92711452e-05 9.99976108e-01 2.63147591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:10.96, Z:0.26 [[ 9.52270352e-01 -3.05185526e-01 -6.55529231e-03 6.22992687e+01] [ 3.05177654e-01 9.52292910e-01 -2.19370706e-03 1.09645170e+01] [ 6.91204603e-03 8.84734673e-05 9.99976108e-01 2.63877375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:10.97, Z:0.26 [[ 9.53799657e-01 -3.00371851e-01 -6.55486419e-03 6.23258053e+01] [ 3.00363856e-01 9.53822172e-01 -2.19498555e-03 1.09705398e+01] [ 6.91148667e-03 1.24732180e-04 9.99976108e-01 2.64970844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:10.98, Z:0.26 [[ 9.54370548e-01 -2.98553001e-01 -6.55467884e-03 6.23514729e+01] [ 2.98544960e-01 9.54393046e-01 -2.19553890e-03 1.09777993e+01] [ 6.91122463e-03 1.38491328e-04 9.99976108e-01 2.64140214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:10.98, Z:0.26 [[ 9.55230808e-01 -2.95789017e-01 -6.55439043e-03 6.23784641e+01] [ 2.95780906e-01 9.55253281e-01 -2.19639955e-03 1.09849420e+01] [ 6.91077383e-03 1.59404984e-04 9.99976108e-01 2.64854716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.40, Y:10.99, Z:0.26 [[ 9.55425370e-01 -2.95159968e-01 -6.55397621e-03 6.24045364e+01] [ 2.95151833e-01 9.55447835e-01 -2.19763488e-03 1.09939486e+01] [ 6.91063622e-03 1.65258026e-04 9.99976108e-01 2.64977043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:11.00, Z:0.26 [[ 9.55502342e-01 -2.94910708e-01 -6.55355654e-03 6.24302404e+01] [ 2.94902558e-01 9.55524801e-01 -2.19888568e-03 1.10031938e+01] [ 6.91056074e-03 1.68379829e-04 9.99976108e-01 2.64531824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.46, Y:11.01, Z:0.27 [[ 9.55428956e-01 -2.95148374e-01 -6.55337400e-03 6.24563807e+01] [ 2.95140226e-01 9.55451417e-01 -2.19942955e-03 1.10120161e+01] [ 6.91058853e-03 1.67234391e-04 9.99976108e-01 2.65269754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:11.02, Z:0.26 [[ 9.54769909e-01 -2.97273409e-01 -6.55294265e-03 6.24840090e+01] [ 2.97265303e-01 9.54792384e-01 -2.20071396e-03 1.10212202e+01] [ 6.91091348e-03 1.53212986e-04 9.99976108e-01 2.64201283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:11.03, Z:0.26 [[ 9.54285994e-01 -2.98823201e-01 -6.55255875e-03 6.25107050e+01] [ 2.98815123e-01 9.54308479e-01 -2.20185642e-03 1.10293243e+01] [ 6.91112816e-03 1.43197089e-04 9.99976108e-01 2.63151434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:11.04, Z:0.26 [[ 9.52916215e-01 -3.03162916e-01 -6.55242226e-03 6.25365809e+01] [ 3.03154937e-01 9.52938736e-01 -2.20226251e-03 1.10357462e+01] [ 6.91170131e-03 1.12172494e-04 9.99976108e-01 2.60739990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:11.04, Z:0.26 [[ 9.52031155e-01 -3.05930952e-01 -6.55223380e-03 6.25636439e+01] [ 3.05923036e-01 9.52053698e-01 -2.20282308e-03 1.10445046e+01] [ 6.91199019e-03 9.26769437e-05 9.99976108e-01 2.63137397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:11.05, Z:0.26 [[ 9.50414591e-01 -3.10916675e-01 -6.55180413e-03 6.25911371e+01] [ 3.10908868e-01 9.50437172e-01 -2.20410031e-03 1.10519933e+01] [ 6.91236973e-03 5.77950943e-05 9.99976108e-01 2.64311289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:11.06, Z:0.26 [[ 9.49665047e-01 -3.13198624e-01 -6.55142776e-03 6.26177149e+01] [ 3.13190863e-01 9.49687644e-01 -2.20521846e-03 1.10595645e+01] [ 6.91248138e-03 4.23715761e-05 9.99976108e-01 2.62049529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:11.07, Z:0.27 [[ 9.48926014e-01 -3.15430657e-01 -6.55129382e-03 6.26448758e+01] [ 3.15422947e-01 9.48948629e-01 -2.20561631e-03 1.10675525e+01] [ 6.91256028e-03 2.65382907e-05 9.99976108e-01 2.66251450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.67, Y:11.07, Z:0.27 [[ 9.47745657e-01 -3.18959645e-01 -6.55085940e-03 6.26725405e+01] [ 3.18952010e-01 9.47768297e-01 -2.20690581e-03 1.10741469e+01] [ 6.91261075e-03 2.17562196e-06 9.99976108e-01 2.67395981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:11.08, Z:0.27 [[ 9.47228407e-01 -3.20492485e-01 -6.55072388e-03 6.26984215e+01] [ 3.20484884e-01 9.47251058e-01 -2.20730799e-03 1.10816345e+01] [ 6.91260575e-03 -8.58315609e-06 9.99976108e-01 2.65955489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:11.09, Z:0.27 [[ 9.46764424e-01 -3.21860555e-01 -6.55053511e-03 6.27264372e+01] [ 3.21852983e-01 9.46787084e-01 -2.20786805e-03 1.10897511e+01] [ 6.91258767e-03 -1.79783459e-05 9.99976108e-01 2.66436550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.75, Y:11.10, Z:0.27 [[ 9.46255176e-01 -3.23354663e-01 -6.55015669e-03 6.27545714e+01] [ 3.23347118e-01 9.46277846e-01 -2.20899015e-03 1.10969651e+01] [ 6.91255543e-03 -2.77059249e-05 9.99976108e-01 2.66861775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:11.11, Z:0.27 [[ 9.46055142e-01 -3.23939452e-01 -6.54977766e-03 6.27818194e+01] [ 3.23931914e-01 9.46077814e-01 -2.21011342e-03 1.11052216e+01] [ 6.91254227e-03 -3.07928507e-05 9.99976108e-01 2.67853631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:11.11, Z:0.27 [[ 9.46365257e-01 -3.23032360e-01 -6.54933290e-03 6.28082800e+01] [ 3.23024791e-01 9.46387919e-01 -2.21143064e-03 1.11100879e+01] [ 6.91257319e-03 -2.27757687e-05 9.99976108e-01 2.66517034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:11.12, Z:0.27 [[ 9.46769913e-01 -3.21844436e-01 -6.54913951e-03 6.28352305e+01] [ 3.21836835e-01 9.46792564e-01 -2.21200320e-03 1.11186093e+01] [ 6.91259751e-03 -1.34962572e-05 9.99976108e-01 2.66665421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:11.13, Z:0.27 [[ 9.47388465e-01 -3.20019080e-01 -6.54870603e-03 6.28618499e+01] [ 3.20011427e-01 9.47411098e-01 -2.21328580e-03 1.11269367e+01] [ 6.91261045e-03 1.18067511e-06 9.99976108e-01 2.66596119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:11.13, Z:0.27 [[ 9.48049544e-01 -3.18055306e-01 -6.54857138e-03 6.28871972e+01] [ 3.18047602e-01 9.48072161e-01 -2.21368411e-03 1.11349847e+01] [ 6.91259220e-03 1.59247847e-05 9.99976108e-01 2.66675344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.91, Y:11.14, Z:0.27 [[ 9.49278912e-01 -3.14367090e-01 -6.54828203e-03 6.29149980e+01] [ 3.14359293e-01 9.49301496e-01 -2.21453971e-03 1.11413172e+01] [ 6.91247233e-03 4.37025323e-05 9.99976108e-01 2.66074959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:11.15, Z:0.26 [[ 9.49704837e-01 -3.13078021e-01 -6.54785828e-03 6.29410534e+01] [ 3.13070185e-01 9.49727408e-01 -2.21579191e-03 1.11497692e+01] [ 6.91239622e-03 5.44090912e-05 9.99976108e-01 2.64231030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:11.16, Z:0.26 [[ 9.50074450e-01 -3.11954592e-01 -6.54772711e-03 6.29687989e+01] [ 3.11946726e-01 9.50097010e-01 -2.21617947e-03 1.11587505e+01] [ 6.91232331e-03 6.29934595e-05 9.99976108e-01 2.63979453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:11.17, Z:0.27 [[ 9.50508534e-01 -3.10629456e-01 -6.54736298e-03 6.29968279e+01] [ 3.10621551e-01 9.50531081e-01 -2.21725470e-03 1.11671968e+01] [ 6.91221663e-03 7.37674673e-05 9.99976108e-01 2.65718360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:11.17, Z:0.27 [[ 9.50454176e-01 -3.10795748e-01 -6.54699005e-03 6.30246687e+01] [ 3.10787840e-01 9.50476721e-01 -2.21835534e-03 1.11748909e+01] [ 6.91221704e-03 7.37202065e-05 9.99976108e-01 2.66811406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264000000001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:63.05, Y:11.18, Z:0.27 [[ 9.50225712e-01 -3.11493559e-01 -6.54661755e-03 6.30522336e+01] [ 3.11485660e-01 9.50248261e-01 -2.21945408e-03 1.11820832e+01] [ 6.91225759e-03 6.98048454e-05 9.99976108e-01 2.69197679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:11.19, Z:0.27 [[ 9.49599055e-01 -3.13398759e-01 -6.54623149e-03 6.30799034e+01] [ 3.13390897e-01 9.49621616e-01 -2.22059218e-03 1.11882956e+01] [ 6.91237376e-03 5.71428759e-05 9.99976108e-01 2.69229548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:11.20, Z:0.27 [[ 9.49235896e-01 -3.14496998e-01 -6.54609449e-03 6.31069939e+01] [ 3.14489159e-01 9.49258466e-01 -2.22099597e-03 1.11962772e+01] [ 6.91243218e-03 4.95733521e-05 9.99976108e-01 2.69116979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.13, Y:11.20, Z:0.27 [[ 9.48956069e-01 -3.15340339e-01 -6.54595942e-03 6.31344756e+01] [ 3.15332518e-01 9.48978645e-01 -2.22139398e-03 1.12042093e+01] [ 6.91247083e-03 4.38514340e-05 9.99976108e-01 2.71630675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:11.21, Z:0.27 [[ 9.48762374e-01 -3.15922638e-01 -6.54557998e-03 6.31614956e+01] [ 3.15914823e-01 9.48784952e-01 -2.22251147e-03 1.12107681e+01] [ 6.91248948e-03 4.07895198e-05 9.99976108e-01 2.72731961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:11.22, Z:0.27 [[ 9.48720696e-01 -3.16047780e-01 -6.54544499e-03 6.31879208e+01] [ 3.16039965e-01 9.48743274e-01 -2.22290897e-03 1.12187583e+01] [ 6.91249235e-03 4.02975410e-05 9.99976108e-01 2.73452927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:11.23, Z:0.27 [[ 9.48922741e-01 -3.15440634e-01 -6.54501612e-03 6.32150425e+01] [ 3.15432796e-01 9.48945311e-01 -2.22417100e-03 1.12254757e+01] [ 6.91245627e-03 4.60537073e-05 9.99976108e-01 2.74401049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:63.24, Y:11.23, Z:0.27 [[ 9.49039407e-01 -3.15089468e-01 -6.54458253e-03 6.32418356e+01] [ 3.15081612e-01 9.49061971e-01 -2.22544608e-03 1.12332578e+01] [ 6.91242902e-03 4.99584098e-05 9.99976108e-01 2.73467397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:63.27, Y:11.24, Z:0.27 [[ 9.48978002e-01 -3.15274367e-01 -6.54415039e-03 6.32687547e+01] [ 3.15266507e-01 9.49000564e-01 -2.22671613e-03 1.12426168e+01] [ 6.91242893e-03 4.99531879e-05 9.99976108e-01 2.73664277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:11.25, Z:0.27 [[ 9.49189804e-01 -3.14636132e-01 -6.54371631e-03 6.32950774e+01] [ 3.14628249e-01 9.49212358e-01 -2.22799104e-03 1.12506200e+01] [ 6.91238287e-03 5.59483749e-05 9.99976108e-01 2.73197845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:63.32, Y:11.26, Z:0.27 [[ 9.49807030e-01 -3.12767945e-01 -6.54358157e-03 6.33218483e+01] [ 3.12760014e-01 9.49829568e-01 -2.22838670e-03 1.12587404e+01] [ 6.91225518e-03 6.99666864e-05 9.99976108e-01 2.72902432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:11.27, Z:0.27 [[ 9.50281727e-01 -3.11322706e-01 -6.54313892e-03 6.33473576e+01] [ 3.11314732e-01 9.50304249e-01 -2.22968566e-03 1.12678572e+01] [ 6.91212450e-03 8.18540030e-05 9.99976108e-01 2.70709777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:11.28, Z:0.27 [[ 9.51117633e-01 -3.08759516e-01 -6.54294644e-03 6.33737033e+01] [ 3.08751477e-01 9.51140132e-01 -2.23025034e-03 1.12765942e+01] [ 6.91186996e-03 1.01086046e-04 9.99976108e-01 2.74218105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:11.29, Z:0.27 [[ 9.51562061e-01 -3.07387116e-01 -6.54251135e-03 6.34002412e+01] [ 3.07379037e-01 9.51584546e-01 -2.23152599e-03 1.12851036e+01] [ 6.91169503e-03 1.12404633e-04 9.99976108e-01 2.74251133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:11.29, Z:0.27 [[ 9.51840652e-01 -3.06523361e-01 -6.54237622e-03 6.34269532e+01] [ 3.06515258e-01 9.51863128e-01 -2.23192208e-03 1.12946972e+01] [ 6.91158295e-03 1.19096032e-04 9.99976108e-01 2.74924065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.45, Y:11.30, Z:0.27 [[ 9.52167184e-01 -3.05507540e-01 -6.54194626e-03 6.34534401e+01] [ 3.05499404e-01 9.52189649e-01 -2.23318163e-03 1.13045909e+01] [ 6.91142733e-03 1.27801576e-04 9.99976108e-01 2.74314858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:11.32, Z:0.27 [[ 9.52608315e-01 -3.04129255e-01 -6.54181265e-03 6.34787343e+01] [ 3.04121084e-01 9.52630766e-01 -2.23357295e-03 1.13165112e+01] [ 6.91122687e-03 1.38217012e-04 9.99976108e-01 2.74853323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:63.51, Y:11.33, Z:0.27 [[ 9.52647292e-01 -3.04007150e-01 -6.54139028e-03 6.35055911e+01] [ 3.03998968e-01 9.52669740e-01 -2.23480925e-03 1.13267188e+01] [ 6.91118256e-03 1.40409082e-04 9.99976108e-01 2.74969872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:11.34, Z:0.28 [[ 9.52683468e-01 -3.03893774e-01 -6.54102166e-03 6.35308018e+01] [ 3.03885582e-01 9.52705912e-01 -2.23588761e-03 1.13364086e+01] [ 6.91114233e-03 1.42370994e-04 9.99976108e-01 2.75523111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:11.35, Z:0.28 [[ 9.52497852e-01 -3.04475054e-01 -6.54083799e-03 6.35562012e+01] [ 3.04466872e-01 9.52520300e-01 -2.23642479e-03 1.13476092e+01] [ 6.91121653e-03 1.38721325e-04 9.99976108e-01 2.76172541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:11.36, Z:0.28 [[ 9.52302817e-01 -3.05084525e-01 -6.54042050e-03 6.35820115e+01] [ 3.05076349e-01 9.52325267e-01 -2.23764508e-03 1.13585555e+01] [ 6.91127859e-03 1.35588106e-04 9.99976108e-01 2.77497399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:11.37, Z:0.28 [[ 9.51789985e-01 -3.06680701e-01 -6.53998274e-03 6.36058809e+01] [ 3.06672554e-01 9.51812446e-01 -2.23892380e-03 1.13715932e+01] [ 6.91147169e-03 1.25352042e-04 9.99976108e-01 2.75971989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:11.38, Z:0.27 [[ 9.51347796e-01 -3.08049677e-01 -6.53968342e-03 6.36315452e+01] [ 3.08041556e-01 9.51370266e-01 -2.23979774e-03 1.13823216e+01] [ 6.91162933e-03 1.16332384e-04 9.99976108e-01 2.74864198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:11.39, Z:0.27 [[ 9.50801096e-01 -3.09732965e-01 -6.53954822e-03 6.36579614e+01] [ 3.09724881e-01 9.50823580e-01 -2.24019243e-03 1.13923662e+01] [ 6.91181809e-03 1.04516621e-04 9.99976108e-01 2.74710647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:11.40, Z:0.27 [[ 9.49392754e-01 -3.14023308e-01 -6.53911062e-03 6.36854189e+01] [ 3.14015317e-01 9.49415271e-01 -2.24146903e-03 1.14022936e+01] [ 6.91220500e-03 7.46535606e-05 9.99976108e-01 2.74512057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.71, Y:11.41, Z:0.27 [[ 9.48647877e-01 -3.16266423e-01 -6.53872470e-03 6.37114089e+01] [ 3.16258477e-01 9.48670410e-01 -2.24259427e-03 1.14114184e+01] [ 6.91235191e-03 5.95051715e-05 9.99976108e-01 2.73307006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:11.42, Z:0.27 [[ 9.47057758e-01 -3.20996651e-01 -6.53858739e-03 6.37385527e+01] [ 3.20988815e-01 9.47080329e-01 -2.24299455e-03 1.14222484e+01] [ 6.91256123e-03 2.54319684e-05 9.99976108e-01 2.72924950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:11.43, Z:0.27 [[ 9.46317315e-01 -3.23173004e-01 -6.53820580e-03 6.37650073e+01] [ 3.23165213e-01 9.46339901e-01 -2.24410629e-03 1.14326035e+01] [ 6.91259961e-03 1.07159688e-05 9.99976108e-01 2.72253168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:11.44, Z:0.27 [[ 9.45403441e-01 -3.25836755e-01 -6.53776506e-03 6.37911329e+01] [ 3.25829018e-01 9.45426046e-01 -2.24538959e-03 1.14430420e+01] [ 6.91260383e-03 -7.39452294e-06 9.99976108e-01 2.72472147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:63.82, Y:11.45, Z:0.27 [[ 9.45262368e-01 -3.26245789e-01 -6.53762800e-03 6.38172350e+01] [ 3.26238059e-01 9.45284976e-01 -2.24578858e-03 1.14512333e+01] [ 6.91260059e-03 -9.96363764e-06 9.99976108e-01 2.72422422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:11.46, Z:0.27 [[ 9.45272152e-01 -3.26217443e-01 -6.53746973e-03 6.38434635e+01] [ 3.26209709e-01 9.45294758e-01 -2.24624919e-03 1.14601795e+01] [ 6.91260154e-03 -9.26928926e-06 9.99976108e-01 2.74557692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:63.87, Y:11.47, Z:0.27 [[ 9.45505815e-01 -3.25539585e-01 -6.53702724e-03 6.38691846e+01] [ 3.25531827e-01 9.45528412e-01 -2.24753619e-03 1.14687477e+01] [ 6.91260699e-03 -2.95188327e-06 9.99976108e-01 2.74848882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:11.48, Z:0.27 [[ 9.46224185e-01 -3.23445609e-01 -6.53683492e-03 6.38936111e+01] [ 3.23437797e-01 9.46246764e-01 -2.24809540e-03 1.14793824e+01] [ 6.91259548e-03 1.29427523e-05 9.99976108e-01 2.74278501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:11.49, Z:0.28 [[ 9.46581458e-01 -3.22398539e-01 -6.53653564e-03 6.39200274e+01] [ 3.22390696e-01 9.46604026e-01 -2.24896525e-03 1.14894002e+01] [ 6.91257406e-03 2.15105315e-05 9.99976108e-01 2.76102369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:11.50, Z:0.28 [[ 9.47381829e-01 -3.20038983e-01 -6.53608616e-03 6.39465453e+01] [ 3.20031074e-01 9.47404374e-01 -2.25027080e-03 1.14990491e+01] [ 6.91249100e-03 4.01149856e-05 9.99976108e-01 2.75900809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:11.51, Z:0.27 [[ 9.47650228e-01 -3.19243365e-01 -6.53594677e-03 6.39722185e+01] [ 3.19235434e-01 9.47672766e-01 -2.25067560e-03 1.15081007e+01] [ 6.91245200e-03 4.63474463e-05 9.99976108e-01 2.74674509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:64.00, Y:11.52, Z:0.28 [[ 9.47866441e-01 -3.18600839e-01 -6.53575601e-03 6.39989761e+01] [ 3.18592889e-01 9.47888972e-01 -2.25122939e-03 1.15177358e+01] [ 6.91241462e-03 5.16194001e-05 9.99976108e-01 2.75746506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:11.53, Z:0.28 [[ 9.48199357e-01 -3.17608672e-01 -6.53532785e-03 6.40260993e+01] [ 3.17600690e-01 9.48221877e-01 -2.25247168e-03 1.15285001e+01] [ 6.91234538e-03 6.01675580e-05 9.99976108e-01 2.77084535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:11.54, Z:0.28 [[ 9.48346283e-01 -3.17169707e-01 -6.53493991e-03 6.40532771e+01] [ 3.17161707e-01 9.48368796e-01 -2.25359661e-03 1.15380304e+01] [ 6.91230567e-03 6.45572673e-05 9.99976108e-01 2.78486269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:11.55, Z:0.28 [[ 9.48861146e-01 -3.15626086e-01 -6.53455080e-03 6.40788226e+01] [ 3.15618041e-01 9.48883643e-01 -2.25472430e-03 1.15481435e+01] [ 6.91217818e-03 7.69981572e-05 9.99976108e-01 2.77840042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:11.56, Z:0.28 [[ 9.49072381e-01 -3.14990344e-01 -6.53441313e-03 6.41046011e+01] [ 3.14982282e-01 9.49094872e-01 -2.25512323e-03 1.15580165e+01] [ 6.91212003e-03 8.20508202e-05 9.99976108e-01 2.79491290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:11.57, Z:0.28 [[ 9.49235832e-01 -3.14497444e-01 -6.53397764e-03 6.41308951e+01] [ 3.14489361e-01 9.49258316e-01 -2.25638430e-03 1.15678544e+01] [ 6.91205971e-03 8.69743702e-05 9.99976108e-01 2.79729954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:11.58, Z:0.28 [[ 9.49523398e-01 -3.13628172e-01 -6.53353399e-03 6.41569659e+01] [ 3.13620060e-01 9.49545871e-01 -2.25766819e-03 1.15775068e+01] [ 6.91195857e-03 9.46614491e-05 9.99976108e-01 2.77493629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:11.59, Z:0.28 [[ 9.49526806e-01 -3.13617854e-01 -6.53339626e-03 6.41829056e+01] [ 3.13609739e-01 9.49549279e-01 -2.25806669e-03 1.15878021e+01] [ 6.91195174e-03 9.51581546e-05 9.99976108e-01 2.78682529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:11.60, Z:0.28 [[ 9.49548721e-01 -3.13551507e-01 -6.53295893e-03 6.42086350e+01] [ 3.13543382e-01 9.49571189e-01 -2.25933127e-03 1.15989936e+01] [ 6.91192630e-03 9.69790773e-05 9.99976108e-01 2.76508739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:11.61, Z:0.28 [[ 9.49394698e-01 -3.14017563e-01 -6.53282325e-03 6.42350001e+01] [ 3.14009446e-01 9.49417169e-01 -2.25972352e-03 1.16083665e+01] [ 6.91196743e-03 9.40013196e-05 9.99976108e-01 2.77534735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:11.62, Z:0.28 [[ 9.49291638e-01 -3.14328989e-01 -6.53238511e-03 6.42604499e+01] [ 3.14320871e-01 9.49314109e-01 -2.26098937e-03 1.16169577e+01] [ 6.91197985e-03 9.30733273e-05 9.99976108e-01 2.76739872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.29, Y:11.63, Z:0.28 [[ 9.49238427e-01 -3.14489654e-01 -6.53194930e-03 6.42870027e+01] [ 3.14481531e-01 9.49260896e-01 -2.26224772e-03 1.16257989e+01] [ 6.91197755e-03 9.32350574e-05 9.99976108e-01 2.78153768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264000000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:64.31, Y:11.64, Z:0.28 [[ 9.49225205e-01 -3.14529568e-01 -6.53152010e-03 6.43126304e+01] [ 3.14521437e-01 9.49247672e-01 -2.26348621e-03 1.16358621e+01] [ 6.91196359e-03 9.42550736e-05 9.99976108e-01 2.80119748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:11.65, Z:0.28 [[ 9.49238342e-01 -3.14489929e-01 -6.53107253e-03 6.43383765e+01] [ 3.14481789e-01 9.49260805e-01 -2.26477689e-03 1.16491808e+01] [ 6.91194069e-03 9.59096809e-05 9.99976108e-01 2.79073136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:11.66, Z:0.28 [[ 9.49369823e-01 -3.14092804e-01 -6.53067834e-03 6.43640471e+01] [ 3.14084647e-01 9.49392280e-01 -2.26591300e-03 1.16594880e+01] [ 6.91188257e-03 1.00003626e-04 9.99976108e-01 2.78600892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:11.67, Z:0.28 [[ 9.49388089e-01 -3.14037591e-01 -6.53053767e-03 6.43911450e+01] [ 3.14029429e-01 9.49410544e-01 -2.26631836e-03 1.16698187e+01] [ 6.91187048e-03 1.00834640e-04 9.99976108e-01 2.80759371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:11.68, Z:0.28 [[ 9.49593183e-01 -3.13416885e-01 -6.53014183e-03 6.44167046e+01] [ 3.13408701e-01 9.49615630e-01 -2.26745835e-03 1.16802219e+01] [ 6.91178448e-03 1.06559724e-04 9.99976108e-01 2.81178574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:11.69, Z:0.28 [[ 9.49691172e-01 -3.13119844e-01 -6.53000168e-03 6.44424690e+01] [ 3.13111650e-01 9.49713615e-01 -2.26786188e-03 1.16903438e+01] [ 6.91174407e-03 1.09148804e-04 9.99976108e-01 2.81533158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:11.70, Z:0.28 [[ 9.49855428e-01 -3.12621227e-01 -6.52955726e-03 6.44679307e+01] [ 3.12613012e-01 9.49877864e-01 -2.26914073e-03 1.17003790e+01] [ 6.91166346e-03 1.14131079e-04 9.99976108e-01 2.80270699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:11.71, Z:0.28 [[ 9.50003622e-01 -3.12170605e-01 -6.52925467e-03 6.44940706e+01] [ 3.12162374e-01 9.50026052e-01 -2.27001108e-03 1.17108178e+01] [ 6.91159277e-03 1.18331103e-04 9.99976108e-01 2.80728758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:64.52, Y:11.72, Z:0.28 [[ 9.50278524e-01 -3.11332782e-01 -6.52881920e-03 6.45197539e+01] [ 3.11324522e-01 9.50300943e-01 -2.27126286e-03 1.17230073e+01] [ 6.91146163e-03 1.25750799e-04 9.99976108e-01 2.83776668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.55, Y:11.73, Z:0.28 [[ 9.50351092e-01 -3.11111205e-01 -6.52837964e-03 6.45451758e+01] [ 3.11102932e-01 9.50373506e-01 -2.27252560e-03 1.17348709e+01] [ 6.91140722e-03 1.28699139e-04 9.99976108e-01 2.83155377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:11.75, Z:0.28 [[ 9.50437913e-01 -3.10845870e-01 -6.52824305e-03 6.45702785e+01] [ 3.10837588e-01 9.50460324e-01 -2.27291790e-03 1.17473972e+01] [ 6.91136315e-03 1.31044029e-04 9.99976108e-01 2.82723223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:11.76, Z:0.28 [[ 9.50436342e-01 -3.10850685e-01 -6.52778879e-03 6.45955719e+01] [ 3.10842394e-01 9.50458749e-01 -2.27422179e-03 1.17586297e+01] [ 6.91133737e-03 1.32389545e-04 9.99976108e-01 2.80673265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:11.77, Z:0.28 [[ 9.50319829e-01 -3.11206704e-01 -6.52764804e-03 6.46204770e+01] [ 3.11198419e-01 9.50342238e-01 -2.27462570e-03 1.17695788e+01] [ 6.91137842e-03 1.30228162e-04 9.99976108e-01 2.79993199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:11.78, Z:0.28 [[ 9.50120963e-01 -3.11813322e-01 -6.52745424e-03 6.46460473e+01] [ 3.11805047e-01 9.50143377e-01 -2.27518172e-03 1.17809291e+01] [ 6.91144938e-03 1.26404667e-04 9.99976108e-01 2.80125198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:11.79, Z:0.28 [[ 9.49678736e-01 -3.13157623e-01 -6.52701121e-03 6.46715159e+01] [ 3.13149371e-01 9.49701158e-01 -2.27645197e-03 1.17937971e+01] [ 6.91159839e-03 1.17968578e-04 9.99976108e-01 2.78224117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:11.80, Z:0.28 [[ 9.49299369e-01 -3.14305756e-01 -6.52687310e-03 6.46974179e+01] [ 3.14297529e-01 9.49321800e-01 -2.27684786e-03 1.18044396e+01] [ 6.91172931e-03 1.10030150e-04 9.99976108e-01 2.78484285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:11.82, Z:0.28 [[ 9.48720957e-01 -3.16047388e-01 -6.52642574e-03 6.47224641e+01] [ 3.16039193e-01 9.48743400e-01 -2.27812947e-03 1.18165396e+01] [ 6.91190022e-03 9.87028523e-05 9.99976108e-01 2.79801871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:11.83, Z:0.28 [[ 9.48400412e-01 -3.17007993e-01 -6.52621796e-03 6.47477224e+01] [ 3.16999816e-01 9.48422861e-01 -2.27872455e-03 1.18272647e+01] [ 6.91198821e-03 9.23334067e-05 9.99976108e-01 2.80049792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:11.84, Z:0.28 [[ 9.48049247e-01 -3.18056653e-01 -6.52608407e-03 6.47741159e+01] [ 3.18048499e-01 9.48071705e-01 -2.27910795e-03 1.18379563e+01] [ 6.91208110e-03 8.50953396e-05 9.99976108e-01 2.80992154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:11.85, Z:0.28 [[ 9.47757718e-01 -3.18924322e-01 -6.52565224e-03 6.48001357e+01] [ 3.18916180e-01 9.47780180e-01 -2.28034370e-03 1.18484337e+01] [ 6.91214093e-03 8.00772643e-05 9.99976108e-01 2.82194936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:11.86, Z:0.28 [[ 9.47447463e-01 -3.19844847e-01 -6.52520985e-03 6.48237568e+01] [ 3.19836718e-01 9.47469930e-01 -2.28160891e-03 1.18613005e+01] [ 6.91220097e-03 7.47028679e-05 9.99976108e-01 2.81097604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:11.87, Z:0.28 [[ 9.47362275e-01 -3.20097086e-01 -6.52501713e-03 6.48495319e+01] [ 3.20088959e-01 9.47384742e-01 -2.28215991e-03 1.18729798e+01] [ 6.91221441e-03 7.34462592e-05 9.99976108e-01 2.80609893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:11.89, Z:0.28 [[ 9.47262385e-01 -3.20392578e-01 -6.52459073e-03 6.48746918e+01] [ 3.20384450e-01 9.47284852e-01 -2.28337832e-03 1.18867745e+01] [ 6.91222343e-03 7.25809866e-05 9.99976108e-01 2.81928138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.90, Y:11.90, Z:0.28 [[ 9.47158303e-01 -3.20700149e-01 -6.52414809e-03 6.49004945e+01] [ 3.20692019e-01 9.47180769e-01 -2.28464236e-03 1.18984345e+01] [ 6.91223275e-03 7.16757646e-05 9.99976108e-01 2.82352664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:11.91, Z:0.28 [[ 9.47096057e-01 -3.20883934e-01 -6.52370609e-03 6.49273131e+01] [ 3.20875800e-01 9.47118522e-01 -2.28590377e-03 1.19080363e+01] [ 6.91223267e-03 7.16710373e-05 9.99976108e-01 2.82549552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:11.92, Z:0.28 [[ 9.47123595e-01 -3.20802654e-01 -6.52326228e-03 6.49529497e+01] [ 3.20794510e-01 9.47146056e-01 -2.28716955e-03 1.19200821e+01] [ 6.91221221e-03 7.36055233e-05 9.99976108e-01 2.82741812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.98, Y:11.93, Z:0.28 [[ 9.47284641e-01 -3.20326797e-01 -6.52312455e-03 6.49777301e+01] [ 3.20318638e-01 9.47307097e-01 -2.28756230e-03 1.19335017e+01] [ 6.91216969e-03 7.74942591e-05 9.99976108e-01 2.83811399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:11.94, Z:0.28 [[ 9.47271799e-01 -3.20364780e-01 -6.52269198e-03 6.50040144e+01] [ 3.20356614e-01 9.47294253e-01 -2.28879506e-03 1.19444984e+01] [ 6.91215795e-03 7.85234963e-05 9.99976108e-01 2.84940303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:11.96, Z:0.29 [[ 9.47374862e-01 -3.20059885e-01 -6.52225429e-03 6.50286771e+01] [ 3.20051703e-01 9.47397310e-01 -2.29004165e-03 1.19583759e+01] [ 6.91211664e-03 8.20692961e-05 9.99976108e-01 2.85953780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:11.97, Z:0.29 [[ 9.47355492e-01 -3.20117224e-01 -6.52181810e-03 6.50534190e+01] [ 3.20109034e-01 9.47377937e-01 -2.29128320e-03 1.19708690e+01] [ 6.91210580e-03 8.29668299e-05 9.99976108e-01 2.85435480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:11.98, Z:0.29 [[ 9.47134635e-01 -3.20770095e-01 -6.52138468e-03 6.50789283e+01] [ 3.20761913e-01 9.47157083e-01 -2.29251612e-03 1.19834894e+01] [ 6.91214631e-03 7.95095961e-05 9.99976108e-01 2.85379689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:12.00, Z:0.29 [[ 9.46825706e-01 -3.21680834e-01 -6.52092911e-03 6.51031750e+01] [ 3.21672664e-01 9.46848159e-01 -2.29381123e-03 1.19973157e+01] [ 6.91220483e-03 7.42347918e-05 9.99976108e-01 2.85135332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:12.01, Z:0.28 [[ 9.46507921e-01 -3.22614685e-01 -6.52078751e-03 6.51272449e+01] [ 3.22606535e-01 9.46530380e-01 -2.29421369e-03 1.20094584e+01] [ 6.91227051e-03 6.78427648e-05 9.99976108e-01 2.84922357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:12.02, Z:0.29 [[ 9.45822019e-01 -3.24620069e-01 -6.52059752e-03 6.51525051e+01] [ 3.24611963e-01 9.45844495e-01 -2.29475356e-03 1.20232057e+01] [ 6.91239433e-03 5.37644855e-05 9.99976108e-01 2.85306904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:12.03, Z:0.28 [[ 9.45449759e-01 -3.25702688e-01 -6.52014479e-03 6.51798155e+01] [ 3.25694599e-01 9.45472240e-01 -2.29603920e-03 1.20340301e+01] [ 6.91244204e-03 4.72137720e-05 9.99976108e-01 2.83569773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:65.20, Y:12.05, Z:0.29 [[ 9.44742173e-01 -3.27749380e-01 -6.52459117e-03 6.52034318e+01] [ 3.27741427e-01 9.44764703e-01 -2.28341530e-03 1.20485286e+01] [ 6.91259138e-03 1.88599101e-05 9.99976108e-01 2.86536605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:12.06, Z:0.29 [[ 9.44433008e-01 -3.28639297e-01 -6.51962392e-03 6.52284876e+01] [ 3.28631267e-01 9.44455511e-01 -2.29751081e-03 1.20614626e+01] [ 6.91254708e-03 2.72927743e-05 9.99976108e-01 2.86097380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:12.07, Z:0.29 [[ 9.44214378e-01 -3.29266926e-01 -6.51917876e-03 6.52525464e+01] [ 3.29258902e-01 9.44236883e-01 -2.29877324e-03 1.20728925e+01] [ 6.91255903e-03 2.40371034e-05 9.99976108e-01 2.85944058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:65.28, Y:12.09, Z:0.29 [[ 9.43760344e-01 -3.30566054e-01 -6.51895725e-03 6.52775007e+01] [ 3.30558057e-01 9.43782859e-01 -2.29940124e-03 1.20856620e+01] [ 6.91258410e-03 1.51898610e-05 9.99976108e-01 2.86615379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:12.10, Z:0.29 [[ 9.43542512e-01 -3.31187315e-01 -6.51851378e-03 6.53033728e+01] [ 3.31179324e-01 9.43565028e-01 -2.30065773e-03 1.20978909e+01] [ 6.91259030e-03 1.19713851e-05 9.99976108e-01 2.85240006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:12.11, Z:0.28 [[ 9.43066269e-01 -3.32541014e-01 -6.51807317e-03 6.53279545e+01] [ 3.32533047e-01 9.43088794e-01 -2.30190538e-03 1.21116277e+01] [ 6.91259971e-03 3.37458635e-06 9.99976108e-01 2.84210377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:12.12, Z:0.28 [[ 9.42747460e-01 -3.33443770e-01 -6.51762501e-03 6.53522726e+01] [ 3.33435815e-01 9.42769989e-01 -2.30317359e-03 1.21226169e+01] [ 6.91260015e-03 -1.89855542e-06 9.99976108e-01 2.83360294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:12.13, Z:0.28 [[ 9.42440311e-01 -3.34310908e-01 -6.51743010e-03 6.53776547e+01] [ 3.34302970e-01 9.42462846e-01 -2.30372500e-03 1.21334149e+01] [ 6.91259612e-03 -7.67293286e-06 9.99976108e-01 2.82740420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:12.14, Z:0.28 [[ 9.41748740e-01 -3.36254191e-01 -6.51378849e-03 6.54023162e+01] [ 3.36246229e-01 9.41771267e-01 -2.31402126e-03 1.21446424e+01] [ 6.91259818e-03 -1.10102079e-05 9.99976108e-01 2.84392453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:12.16, Z:0.29 [[ 9.41227328e-01 -3.37711008e-01 -6.51090234e-03 6.54291772e+01] [ 3.37703024e-01 9.41249847e-01 -2.32217887e-03 1.21555779e+01] [ 6.91261121e-03 -1.30531934e-05 9.99976108e-01 2.85749477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:12.17, Z:0.28 [[ 9.40615057e-01 -3.39412502e-01 -6.51671685e-03 6.54548606e+01] [ 3.39404673e-01 9.40637630e-01 -2.30574536e-03 1.21656293e+01] [ 6.91246790e-03 -4.29853443e-05 9.99976108e-01 2.84927125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:12.18, Z:0.28 [[ 9.40357319e-01 -3.40125935e-01 -6.51627991e-03 6.54815856e+01] [ 3.40118114e-01 9.40379895e-01 -2.30697955e-03 1.21760445e+01] [ 6.91244219e-03 -4.69197346e-05 9.99976108e-01 2.84681991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.51, Y:12.19, Z:0.29 [[ 9.40171962e-01 -3.40637921e-01 -6.51828638e-03 6.55070757e+01] [ 3.40630151e-01 9.40194556e-01 -2.30131441e-03 1.21860790e+01] [ 6.91237233e-03 -5.66935887e-05 9.99976108e-01 2.87132575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:12.20, Z:0.29 [[ 9.39986106e-01 -3.41150504e-01 -6.51570843e-03 6.55322886e+01] [ 3.41142697e-01 9.40008686e-01 -2.30859037e-03 1.21964703e+01] [ 6.91239929e-03 -5.27434727e-05 9.99976108e-01 2.86039070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:12.21, Z:0.29 [[ 9.39871759e-01 -3.41465453e-01 -6.51312463e-03 6.55593849e+01] [ 3.41457603e-01 9.39894325e-01 -2.31588011e-03 1.22068160e+01] [ 6.91244193e-03 -4.73256190e-05 9.99976108e-01 2.86974790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:12.22, Z:0.28 [[ 9.40068367e-01 -3.40923771e-01 -6.51512464e-03 6.55860436e+01] [ 3.40915947e-01 9.40090942e-01 -2.31023988e-03 1.22172498e+01] [ 6.91242535e-03 -4.93264550e-05 9.99976108e-01 2.84629808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:12.23, Z:0.28 [[ 9.40227363e-01 -3.40485042e-01 -6.51474433e-03 6.56124860e+01] [ 3.40477200e-01 9.40249932e-01 -2.31131183e-03 1.22261987e+01] [ 6.91245502e-03 -4.49632783e-05 9.99976108e-01 2.82928405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:12.23, Z:0.28 [[ 9.40440186e-01 -3.39896773e-01 -6.51460945e-03 6.56398659e+01] [ 3.39888915e-01 9.40462749e-01 -2.31169193e-03 1.22348811e+01] [ 6.91248414e-03 -4.02355434e-05 9.99976108e-01 2.79979601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:12.24, Z:0.28 [[ 9.40668304e-01 -3.39264974e-01 -6.51304814e-03 6.56674780e+01] [ 3.39257070e-01 9.40690851e-01 -2.31609055e-03 1.22447589e+01] [ 6.91253319e-03 -3.09246588e-05 9.99976108e-01 2.84165682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.69, Y:12.25, Z:0.29 [[ 9.40748222e-01 -3.39043280e-01 -6.51433012e-03 6.56941280e+01] [ 3.39035395e-01 9.40770776e-01 -2.31247915e-03 1.22542856e+01] [ 6.91252192e-03 -3.31278350e-05 9.99976108e-01 2.86575495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:12.26, Z:0.29 [[ 9.41011174e-01 -3.38312777e-01 -6.51418997e-03 6.57206380e+01] [ 3.38304872e-01 9.41033721e-01 -2.31287388e-03 1.22638001e+01] [ 6.91254721e-03 -2.73420404e-05 9.99976108e-01 2.87761734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.75, Y:12.27, Z:0.29 [[ 9.41002315e-01 -3.38337422e-01 -6.51405070e-03 6.57470496e+01] [ 3.38329515e-01 9.41024860e-01 -2.31326608e-03 1.22721784e+01] [ 6.91254813e-03 -2.71068786e-05 9.99976108e-01 2.88911184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:12.28, Z:0.29 [[ 9.41018573e-01 -3.38292208e-01 -6.51361430e-03 6.57730963e+01] [ 3.38284292e-01 9.41041116e-01 -2.31449420e-03 1.22785995e+01] [ 6.91255423e-03 -2.54713693e-05 9.99976108e-01 2.87810930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:12.29, Z:0.29 [[ 9.40874953e-01 -3.38691449e-01 -6.51342457e-03 6.58002057e+01] [ 3.38683538e-01 9.40897498e-01 -2.31502802e-03 1.22865155e+01] [ 6.91254508e-03 -2.78377945e-05 9.99976108e-01 2.86360766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:12.29, Z:0.28 [[ 9.40722107e-01 -3.39115761e-01 -6.51299126e-03 6.58285711e+01] [ 3.39107852e-01 9.40744652e-01 -2.31624645e-03 1.22942327e+01] [ 6.91253737e-03 -2.96622341e-05 9.99976108e-01 2.84240602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:12.30, Z:0.28 [[ 9.40657001e-01 -3.39296316e-01 -6.51277829e-03 6.58553357e+01] [ 3.39288407e-01 9.40679546e-01 -2.31684511e-03 1.23039507e+01] [ 6.91253434e-03 -3.03536031e-05 9.99976108e-01 2.84437461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:12.31, Z:0.29 [[ 9.41090789e-01 -3.38091283e-01 -6.51233336e-03 6.58818504e+01] [ 3.38083337e-01 9.41113321e-01 -2.31809508e-03 1.23110262e+01] [ 6.91257142e-03 -2.01734604e-05 9.99976108e-01 2.85072264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:12.32, Z:0.29 [[ 9.41411151e-01 -3.37198214e-01 -6.51219525e-03 6.59085047e+01] [ 3.37190243e-01 9.41433675e-01 -2.31848300e-03 1.23185551e+01] [ 6.91258823e-03 -1.32029482e-05 9.99976108e-01 2.85554112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:65.94, Y:12.32, Z:0.29 [[ 9.42227277e-01 -3.34910966e-01 -6.51176192e-03 6.59359830e+01] [ 3.34902933e-01 9.42249778e-01 -2.31969942e-03 1.23240725e+01] [ 6.91259900e-03 4.87590434e-06 9.99976108e-01 2.87960096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:12.33, Z:0.29 [[ 9.42766604e-01 -3.33389762e-01 -6.51131424e-03 6.59627248e+01] [ 3.33381683e-01 9.42789089e-01 -2.32095538e-03 1.23330005e+01] [ 6.91257878e-03 1.73663232e-05 9.99976108e-01 2.88235407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.99, Y:12.34, Z:0.29 [[ 9.43445553e-01 -3.31463563e-01 -6.51117494e-03 6.59899114e+01] [ 3.31455436e-01 9.43468020e-01 -2.32134608e-03 1.23394046e+01] [ 6.91252698e-03 3.18993077e-05 9.99976108e-01 2.90640721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:12.35, Z:0.29 [[ 9.43728127e-01 -3.30658180e-01 -6.51071970e-03 6.60158822e+01] [ 3.30650025e-01 9.43750585e-01 -2.32262222e-03 1.23463818e+01] [ 6.91248956e-03 3.91542876e-05 9.99976108e-01 2.88178862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:12.35, Z:0.29 [[ 9.44061273e-01 -3.29705820e-01 -6.51040867e-03 6.60432033e+01] [ 3.29697636e-01 9.44083720e-01 -2.32349372e-03 1.23531894e+01] [ 6.91244023e-03 4.70540877e-05 9.99976108e-01 2.87276452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:12.36, Z:0.29 [[ 9.44254871e-01 -3.29150966e-01 -6.50996033e-03 6.60686768e+01] [ 3.29142761e-01 9.44277310e-01 -2.32474920e-03 1.23614157e+01] [ 6.91240127e-03 5.24494451e-05 9.99976108e-01 2.87022709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:12.37, Z:0.29 [[ 9.44772366e-01 -3.27662630e-01 -6.50976610e-03 6.60962621e+01] [ 3.27654385e-01 9.44794791e-01 -2.32529294e-03 1.23674565e+01] [ 6.91230470e-03 6.39190991e-05 9.99976108e-01 2.85897484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:12.38, Z:0.29 [[ 9.45000018e-01 -3.27005497e-01 -6.50931576e-03 6.61226414e+01] [ 3.26997228e-01 9.45022434e-01 -2.32655294e-03 1.23755580e+01] [ 6.91224502e-03 7.00643595e-05 9.99976108e-01 2.85905039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:12.38, Z:0.29 [[ 9.45398253e-01 -3.25852388e-01 -6.50886119e-03 6.61495532e+01] [ 3.25844082e-01 9.45420655e-01 -2.32782395e-03 1.23845973e+01] [ 6.91213880e-03 7.98467939e-05 9.99976108e-01 2.85483800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:12.39, Z:0.29 [[ 9.45872133e-01 -3.24474265e-01 -6.50840630e-03 6.61758755e+01] [ 3.24465919e-01 9.45894520e-01 -2.32909509e-03 1.23943959e+01] [ 6.91199727e-03 9.12701135e-05 9.99976108e-01 2.85197552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:12.40, Z:0.29 [[ 9.46818621e-01 -3.21701945e-01 -6.50826523e-03 6.62020497e+01] [ 3.21693531e-01 9.46840982e-01 -2.32948924e-03 1.24046738e+01] [ 6.91169346e-03 1.11936966e-04 9.99976108e-01 2.86277611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:12.41, Z:0.29 [[ 9.47168625e-01 -3.20669985e-01 -6.50812876e-03 6.62280651e+01] [ 3.20661543e-01 9.47190977e-01 -2.32987043e-03 1.24138331e+01] [ 6.91156035e-03 1.19873558e-04 9.99976108e-01 2.86974115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:12.42, Z:0.29 [[ 9.47749220e-01 -3.18949942e-01 -6.50768845e-03 6.62540838e+01] [ 3.18941452e-01 9.47771553e-01 -2.33109965e-03 1.24230342e+01] [ 6.91130608e-03 1.33726272e-04 9.99976108e-01 2.85377060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:66.28, Y:12.43, Z:0.28 [[ 9.47840770e-01 -3.18677784e-01 -6.50723954e-03 6.62799934e+01] [ 3.18669278e-01 9.47863097e-01 -2.33235209e-03 1.24329843e+01] [ 6.91124102e-03 1.37041073e-04 9.99976108e-01 2.83193007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:12.44, Z:0.28 [[ 9.48172094e-01 -3.17690636e-01 -6.50688455e-03 6.63071100e+01] [ 3.17682100e-01 9.48194410e-01 -2.33334198e-03 1.24442933e+01] [ 6.91107245e-03 1.45289003e-04 9.99976108e-01 2.84480004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:12.46, Z:0.29 [[ 9.48109650e-01 -3.17876949e-01 -6.50663661e-03 6.63339254e+01] [ 3.17868413e-01 9.48131966e-01 -2.33403316e-03 1.24552101e+01] [ 6.91108550e-03 1.44665110e-04 9.99976108e-01 2.87632157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:12.47, Z:0.29 [[ 9.48109764e-01 -3.17876618e-01 -6.50624809e-03 6.63594704e+01] [ 3.17868074e-01 9.48132077e-01 -2.33511570e-03 1.24659095e+01] [ 6.91106119e-03 1.45817442e-04 9.99976108e-01 2.89967884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:12.48, Z:0.29 [[ 9.48034337e-01 -3.18101503e-01 -6.50611026e-03 6.63847791e+01] [ 3.18092962e-01 9.48056651e-01 -2.33549965e-03 1.24770205e+01] [ 6.91108705e-03 1.44585978e-04 9.99976108e-01 2.90439466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:12.49, Z:0.29 [[ 9.47784329e-01 -3.18845639e-01 -6.50565499e-03 6.64098997e+01] [ 3.18837107e-01 9.47806646e-01 -2.33676714e-03 1.24886243e+01] [ 6.91117105e-03 1.40507067e-04 9.99976108e-01 2.87096228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:12.50, Z:0.29 [[ 9.47665855e-01 -3.19197609e-01 -6.50486342e-03 6.64362149e+01] [ 3.19189070e-01 9.47688170e-01 -2.33896964e-03 1.24991336e+01] [ 6.91117562e-03 1.40280361e-04 9.99976108e-01 2.86254442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.46, Y:12.51, Z:0.29 [[ 9.47375740e-01 -3.20057637e-01 -6.50504014e-03 6.64613831e+01] [ 3.20049121e-01 9.47398064e-01 -2.33847804e-03 1.25104129e+01] [ 6.91131019e-03 1.33484980e-04 9.99976108e-01 2.86912713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:12.52, Z:0.29 [[ 9.47133603e-01 -3.20773483e-01 -6.50458111e-03 6.64860007e+01] [ 3.20764976e-01 9.47155930e-01 -2.33975417e-03 1.25237689e+01] [ 6.91138366e-03 1.29617990e-04 9.99976108e-01 2.85250456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.51, Y:12.54, Z:0.29 [[ 9.46224294e-01 -3.23445950e-01 -6.50412096e-03 6.65113518e+01] [ 3.23437497e-01 9.46246641e-01 -2.34103260e-03 1.25359713e+01] [ 6.91170012e-03 1.11465309e-04 9.99976108e-01 2.86643799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:12.55, Z:0.29 [[ 9.45464452e-01 -3.25660365e-01 -6.50365894e-03 6.65385068e+01] [ 3.25651956e-01 9.45486815e-01 -2.34231544e-03 1.25470277e+01] [ 6.91192308e-03 9.66467250e-05 9.99976108e-01 2.85901948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:12.56, Z:0.29 [[ 9.45425778e-01 -3.25772447e-01 -6.51233109e-03 6.65643034e+01] [ 3.25764206e-01 9.45448205e-01 -2.31822488e-03 1.25565242e+01] [ 6.91228553e-03 7.02251972e-05 9.99976107e-01 2.86091017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:12.57, Z:0.29 [[ 9.44817784e-01 -3.27531623e-01 -6.51078210e-03 6.65894321e+01] [ 3.27523394e-01 9.44840215e-01 -2.32252250e-03 1.25659991e+01] [ 6.91234833e-03 6.19271128e-05 9.99976108e-01 2.86440695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:12.58, Z:0.29 [[ 9.43999092e-01 -3.29883970e-01 -6.50233890e-03 6.66149196e+01] [ 3.29875636e-01 9.44021483e-01 -2.34592504e-03 1.25754758e+01] [ 6.91223068e-03 6.95879265e-05 9.99976108e-01 2.85900074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.64, Y:12.59, Z:0.29 [[ 9.42032470e-01 -3.35458712e-01 -6.50213652e-03 6.66412662e+01] [ 3.35450506e-01 9.42054909e-01 -2.34648583e-03 1.25851592e+01] [ 6.91251874e-03 2.93208607e-05 9.99976108e-01 2.85964359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:12.59, Z:0.28 [[ 9.40461955e-01 -3.39836784e-01 -6.50167079e-03 6.66669521e+01] [ 3.39828674e-01 9.40484428e-01 -2.34777557e-03 1.25943567e+01] [ 6.91258064e-03 -1.46056642e-06 9.99976108e-01 2.83168456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.69, Y:12.60, Z:0.28 [[ 9.39619352e-01 -3.42159619e-01 -6.50146875e-03 6.66936910e+01] [ 3.42151560e-01 9.39641844e-01 -2.34833493e-03 1.26039015e+01] [ 6.91255747e-03 -1.79467369e-05 9.99976108e-01 2.84072194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:12.61, Z:0.28 [[ 9.39250705e-01 -3.43170303e-01 -6.50050530e-03 6.67198216e+01] [ 3.43162250e-01 9.39273199e-01 -2.35100094e-03 1.26122560e+01] [ 6.91254411e-03 -2.25487327e-05 9.99976108e-01 2.81774403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:66.75, Y:12.62, Z:0.28 [[ 9.38826092e-01 -3.44330230e-01 -6.50089340e-03 6.67461414e+01] [ 3.44322213e-01 9.38848599e-01 -2.34992729e-03 1.26216181e+01] [ 6.91250566e-03 -3.22289459e-05 9.99976108e-01 2.82110715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:12.63, Z:0.28 [[ 9.39133078e-01 -3.43492074e-01 -6.50044871e-03 6.67727499e+01] [ 3.43484029e-01 9.39155575e-01 -2.35115675e-03 1.26295706e+01] [ 6.91253636e-03 -2.47512379e-05 9.99976108e-01 2.78594993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.80, Y:12.64, Z:0.28 [[ 9.39654635e-01 -3.42062731e-01 -6.50031106e-03 6.67988897e+01] [ 3.42054648e-01 9.39677119e-01 -2.35153727e-03 1.26381435e+01] [ 6.91256683e-03 -1.38287170e-05 9.99976108e-01 2.79429330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.82, Y:12.65, Z:0.28 [[ 9.40086279e-01 -3.40874670e-01 -6.49984609e-03 6.68239338e+01] [ 3.40866550e-01 9.40108749e-01 -2.35282178e-03 1.26472921e+01] [ 6.91257952e-03 -3.72464446e-06 9.99976108e-01 2.80571183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:12.66, Z:0.28 [[ 9.40620801e-01 -3.39396913e-01 -6.49952914e-03 6.68507004e+01] [ 3.39388751e-01 9.40643256e-01 -2.35369699e-03 1.26565452e+01] [ 6.91257575e-03 8.06927119e-06 9.99976108e-01 2.80795109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:12.67, Z:0.28 [[ 9.41100299e-01 -3.38065067e-01 -6.49906531e-03 6.68763094e+01] [ 3.38056865e-01 9.41122739e-01 -2.35497706e-03 1.26653903e+01] [ 6.91255362e-03 1.92159655e-05 9.99976108e-01 2.81089637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:12.67, Z:0.28 [[ 9.41961907e-01 -3.35656863e-01 -6.49886340e-03 6.69037013e+01] [ 3.35648600e-01 9.41984325e-01 -2.35553410e-03 1.26738204e+01] [ 6.91247864e-03 3.74889875e-05 9.99976108e-01 2.78618911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:12.68, Z:0.28 [[ 9.42575785e-01 -3.33929124e-01 -6.49846032e-03 6.69297122e+01] [ 3.33920812e-01 9.42598185e-01 -2.35664561e-03 1.26830335e+01] [ 6.91238950e-03 5.13459436e-05 9.99976108e-01 2.77486220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:12.69, Z:0.28 [[ 9.42767834e-01 -3.33386621e-01 -6.49405022e-03 6.69575997e+01] [ 3.33378213e-01 9.42790197e-01 -2.36879930e-03 1.26918257e+01] [ 6.91225288e-03 6.82529339e-05 9.99976108e-01 2.76936907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:12.70, Z:0.28 [[ 9.42873380e-01 -3.33087927e-01 -6.49787689e-03 6.69841358e+01] [ 3.33079584e-01 9.42895768e-01 -2.35825539e-03 1.26997457e+01] [ 6.91232702e-03 5.92261004e-05 9.99976108e-01 2.76886604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:67.01, Y:12.71, Z:0.28 [[ 9.43070465e-01 -3.32529521e-01 -6.49741897e-03 6.70107054e+01] [ 3.32521156e-01 9.43092845e-01 -2.35951637e-03 1.27075598e+01] [ 6.91227819e-03 6.46609374e-05 9.99976108e-01 2.80305384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:12.72, Z:0.28 [[ 9.43463061e-01 -3.31413996e-01 -6.49727667e-03 6.70385825e+01] [ 3.31405602e-01 9.43485431e-01 -2.35990815e-03 1.27159632e+01] [ 6.91219247e-03 7.32522798e-05 9.99976108e-01 2.82021628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:12.72, Z:0.28 [[ 9.43577370e-01 -3.31088413e-01 -6.49687056e-03 6.70655893e+01] [ 3.31080003e-01 9.43599733e-01 -2.36102565e-03 1.27247496e+01] [ 6.91215356e-03 7.68264516e-05 9.99976108e-01 2.82295942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:12.73, Z:0.28 [[ 9.43878321e-01 -3.30229484e-01 -6.49640642e-03 6.70928130e+01] [ 3.30221045e-01 9.43900673e-01 -2.36230203e-03 1.27301014e+01] [ 6.91206418e-03 8.44755531e-05 9.99976108e-01 2.80403199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:12.74, Z:0.28 [[ 9.44031120e-01 -3.29792425e-01 -6.49626246e-03 6.71202309e+01] [ 3.29783973e-01 9.44053467e-01 -2.36269787e-03 1.27378172e+01] [ 6.91201896e-03 8.80970695e-05 9.99976108e-01 2.81076578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:12.74, Z:0.28 [[ 9.44529245e-01 -3.28363076e-01 -6.49579704e-03 6.71469552e+01] [ 3.28354582e-01 9.44551576e-01 -2.36397675e-03 1.27419173e+01] [ 6.91185801e-03 9.99204482e-05 9.99976108e-01 2.79633213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:12.75, Z:0.28 [[ 9.44597248e-01 -3.28167407e-01 -6.49559526e-03 6.71742413e+01] [ 3.28158904e-01 9.44619576e-01 -2.36453108e-03 1.27491406e+01] [ 6.91182847e-03 1.01942123e-04 9.99976108e-01 2.79813235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:12.75, Z:0.28 [[ 9.44607564e-01 -3.28137720e-01 -6.49513639e-03 6.72009214e+01] [ 3.28129208e-01 9.44629888e-01 -2.36579087e-03 1.27541848e+01] [ 6.91180518e-03 1.03499995e-04 9.99976108e-01 2.78881327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:12.76, Z:0.28 [[ 9.44336579e-01 -3.28916768e-01 -6.49493699e-03 6.72292495e+01] [ 3.28908271e-01 9.44358909e-01 -2.36633817e-03 1.27622405e+01] [ 6.91187991e-03 9.83811969e-05 9.99976108e-01 2.75921781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:12.77, Z:0.28 [[ 9.44165601e-01 -3.29407187e-01 -6.49794558e-03 6.72551277e+01] [ 3.29398758e-01 9.44187957e-01 -2.35808116e-03 1.27686054e+01] [ 6.91205085e-03 8.60039130e-05 9.99976108e-01 2.76822748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:12.77, Z:0.28 [[ 9.43852788e-01 -3.30302493e-01 -6.49436070e-03 6.72828491e+01] [ 3.30294018e-01 9.43875127e-01 -2.36791325e-03 1.27742323e+01] [ 6.91199318e-03 8.99130405e-05 9.99976108e-01 2.75901053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:12.78, Z:0.27 [[ 9.43774571e-01 -3.30525927e-01 -6.49389747e-03 6.73097250e+01] [ 3.30517448e-01 9.43796908e-01 -2.36918296e-03 1.27814607e+01] [ 6.91199675e-03 8.96282171e-05 9.99976108e-01 2.73421107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:12.78, Z:0.27 [[ 9.43582934e-01 -3.31072663e-01 -6.49143228e-03 6.73398985e+01] [ 3.31064151e-01 9.43605258e-01 -2.37593807e-03 1.27847265e+01] [ 6.91195778e-03 9.28140987e-05 9.99976108e-01 2.73982456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:12.79, Z:0.27 [[ 9.43619776e-01 -3.30967602e-01 -6.49339399e-03 6.73667571e+01] [ 3.30959124e-01 9.43642114e-01 -2.37056461e-03 1.27914225e+01] [ 6.91202012e-03 8.78636620e-05 9.99976108e-01 2.71010286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:12.80, Z:0.27 [[ 9.43666191e-01 -3.30835316e-01 -6.48950234e-03 6.73951775e+01] [ 3.30826761e-01 9.43688499e-01 -2.38121777e-03 1.27988093e+01] [ 6.91185966e-03 1.00173663e-04 9.99976108e-01 2.70330824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:12.80, Z:0.27 [[ 9.44204174e-01 -3.29296707e-01 -6.49282868e-03 6.74224927e+01] [ 3.29288179e-01 9.44226492e-01 -2.37211308e-03 1.28032846e+01] [ 6.91182988e-03 1.01747340e-04 9.99976108e-01 2.68025622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:12.81, Z:0.27 [[ 9.44588304e-01 -3.28193208e-01 -6.49262702e-03 6.74494132e+01] [ 3.28184649e-01 9.44610611e-01 -2.37266490e-03 1.28105724e+01] [ 6.91169688e-03 1.10410995e-04 9.99976108e-01 2.66926919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:12.82, Z:0.27 [[ 9.45592315e-01 -3.25289141e-01 -6.49218024e-03 6.74772403e+01] [ 3.25280506e-01 9.45614592e-01 -2.37388679e-03 1.28152616e+01] [ 6.91129996e-03 1.32949430e-04 9.99976108e-01 2.68006653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:12.82, Z:0.27 [[ 9.46129490e-01 -3.23723409e-01 -6.49171548e-03 6.75045833e+01] [ 3.23714729e-01 9.46151749e-01 -2.37515704e-03 1.28227578e+01] [ 6.91104190e-03 1.45742200e-04 9.99976108e-01 2.69698480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:12.83, Z:0.27 [[ 9.47312479e-01 -3.20245111e-01 -6.49125210e-03 6.75321418e+01] [ 3.20236340e-01 9.47334703e-01 -2.37642279e-03 1.28279376e+01] [ 6.91042616e-03 1.72480146e-04 9.99976108e-01 2.70412970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:12.84, Z:0.27 [[ 9.47772094e-01 -3.18882304e-01 -6.49103563e-03 6.75592795e+01] [ 3.18873497e-01 9.47794304e-01 -2.37701392e-03 1.28351342e+01] [ 6.91015427e-03 1.83048229e-04 9.99976108e-01 2.70113825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:12.84, Z:0.27 [[ 9.48345047e-01 -3.17174312e-01 -6.49057865e-03 6.75872794e+01] [ 3.17165457e-01 9.48367237e-01 -2.37826107e-03 1.28420977e+01] [ 6.90977546e-03 1.96824763e-04 9.99976108e-01 2.67378843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:12.85, Z:0.27 [[ 9.48879188e-01 -3.15572707e-01 -6.49258842e-03 6.76144745e+01] [ 3.15563851e-01 9.48901378e-01 -2.37277830e-03 1.28503437e+01] [ 6.90961017e-03 2.02653737e-04 9.99976108e-01 2.68234286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:12.86, Z:0.27 [[ 9.48986792e-01 -3.15249025e-01 -6.49005493e-03 6.76405880e+01] [ 3.15240115e-01 9.49008960e-01 -2.37968782e-03 1.28588368e+01] [ 6.90931455e-03 2.12366643e-04 9.99976108e-01 2.67233088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:12.86, Z:0.27 [[ 9.48702983e-01 -3.16102090e-01 -6.48985650e-03 6.76682529e+01] [ 3.16093196e-01 9.48725158e-01 -2.38022887e-03 1.28637331e+01] [ 6.90948545e-03 2.06730746e-04 9.99976108e-01 2.67216586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:12.87, Z:0.27 [[ 9.48324210e-01 -3.17236631e-01 -6.48940486e-03 6.76945347e+01] [ 3.17227755e-01 9.48346392e-01 -2.38145957e-03 1.28699537e+01] [ 6.90968990e-03 1.99776429e-04 9.99976108e-01 2.66878774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:12.88, Z:0.27 [[ 9.47754200e-01 -3.18935522e-01 -6.48920906e-03 6.77220350e+01] [ 3.18926682e-01 9.47776396e-01 -2.38199298e-03 1.28772850e+01] [ 6.91002135e-03 1.87961938e-04 9.99976108e-01 2.67590086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:12.88, Z:0.26 [[ 9.47021638e-01 -3.21104208e-01 -6.48875945e-03 6.77490298e+01] [ 3.21095411e-01 9.47043852e-01 -2.38321712e-03 1.28836918e+01] [ 6.91040079e-03 1.73447300e-04 9.99976108e-01 2.64652844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:12.89, Z:0.26 [[ 9.46798761e-01 -3.21760788e-01 -6.48862005e-03 6.77763503e+01] [ 3.21752003e-01 9.46820979e-01 -2.38359659e-03 1.28918170e+01] [ 6.91050951e-03 1.69059800e-04 9.99976108e-01 2.64315294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:12.90, Z:0.27 [[ 9.46396727e-01 -3.22941386e-01 -6.48817561e-03 6.78045335e+01] [ 3.22932621e-01 9.46418953e-01 -2.38480577e-03 1.28973078e+01] [ 6.91068485e-03 1.61728819e-04 9.99976108e-01 2.66142777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:12.90, Z:0.27 [[ 9.46285188e-01 -3.23268083e-01 -6.48771038e-03 6.78301692e+01] [ 3.23259317e-01 9.46307414e-01 -2.38607073e-03 1.29047046e+01] [ 6.91070893e-03 1.60690563e-04 9.99976108e-01 2.65123240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:12.91, Z:0.26 [[ 9.46279323e-01 -3.23285254e-01 -6.48750809e-03 6.78560239e+01] [ 3.23276485e-01 9.46301547e-01 -2.38662058e-03 1.29115891e+01] [ 6.91069819e-03 1.61150898e-04 9.99976108e-01 2.63958543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:12.92, Z:0.26 [[ 9.45796711e-01 -3.24694592e-01 -6.48094523e-03 6.78845292e+01] [ 3.24685734e-01 9.45818901e-01 -2.40444710e-03 1.29177775e+01] [ 6.91051146e-03 1.69847709e-04 9.99976108e-01 2.61264024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:12.93, Z:0.26 [[ 9.45587120e-01 -3.25304349e-01 -6.48690670e-03 6.79107358e+01] [ 3.25295615e-01 9.45609358e-01 -2.38825472e-03 1.29263167e+01] [ 6.91098933e-03 1.48140594e-04 9.99976108e-01 2.61884124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:12.93, Z:0.26 [[ 9.45232594e-01 -3.26333064e-01 -6.48644183e-03 6.79381651e+01] [ 3.26324346e-01 9.45254839e-01 -2.38951665e-03 1.29330074e+01] [ 6.91111882e-03 1.41965136e-04 9.99976108e-01 2.60640882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:12.94, Z:0.26 [[ 9.44874441e-01 -3.27368628e-01 -6.48629741e-03 6.79651529e+01] [ 3.27359932e-01 9.44896695e-01 -2.38990860e-03 1.29405786e+01] [ 6.91126208e-03 1.34809671e-04 9.99976108e-01 2.61105342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:12.95, Z:0.26 [[ 9.44468515e-01 -3.28537909e-01 -6.48583769e-03 6.79925110e+01] [ 3.28529232e-01 9.44490776e-01 -2.39115556e-03 1.29484725e+01] [ 6.91139912e-03 1.27583869e-04 9.99976108e-01 2.61073444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:12.95, Z:0.26 [[ 9.43666475e-01 -3.30834587e-01 -6.48537849e-03 6.80202161e+01] [ 3.30825956e-01 9.43688753e-01 -2.39240037e-03 1.29549716e+01] [ 6.91166753e-03 1.12096480e-04 9.99976108e-01 2.59794676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:12.96, Z:0.26 [[ 9.43105745e-01 -3.32429684e-01 -6.48523561e-03 6.80469374e+01] [ 3.32421088e-01 9.43128037e-01 -2.39278763e-03 1.29630652e+01] [ 6.91184117e-03 1.00822682e-04 9.99976108e-01 2.60258492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:12.97, Z:0.26 [[ 9.42056549e-01 -3.35391422e-01 -6.48476751e-03 6.80729867e+01] [ 3.35382887e-01 9.42078865e-01 -2.39405555e-03 1.29666291e+01] [ 6.91210811e-03 8.04556647e-05 9.99976108e-01 2.57765971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:12.97, Z:0.26 [[ 9.41320501e-01 -3.37451844e-01 -6.47819710e-03 6.81026918e+01] [ 3.37443236e-01 9.41342789e-01 -2.41184271e-03 1.29738641e+01] [ 6.91208490e-03 8.42932013e-05 9.99976108e-01 2.60804898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.13, Y:12.98, Z:0.26 [[ 9.40803539e-01 -3.38890328e-01 -6.48432511e-03 6.81291437e+01] [ 3.38881868e-01 9.40825883e-01 -2.39525326e-03 1.29812530e+01] [ 6.91234906e-03 5.60425405e-05 9.99976108e-01 2.59307219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:12.99, Z:0.26 [[ 9.40239488e-01 -3.40452140e-01 -6.48417816e-03 6.81567287e+01] [ 3.40443715e-01 9.40261845e-01 -2.39565098e-03 1.29868710e+01] [ 6.91242983e-03 4.49879515e-05 9.99976108e-01 2.61010400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:12.99, Z:0.26 [[ 9.40134517e-01 -3.40741914e-01 -6.48371291e-03 6.81834643e+01] [ 3.40733486e-01 9.40156873e-01 -2.39690951e-03 1.29941460e+01] [ 6.91243479e-03 4.41992641e-05 9.99976108e-01 2.60615035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.21, Y:13.00, Z:0.26 [[ 9.40456660e-01 -3.39851788e-01 -6.48324799e-03 6.82116678e+01] [ 3.39843331e-01 9.40479005e-01 -2.39816637e-03 1.29987859e+01] [ 6.91237975e-03 5.20829402e-05 9.99976108e-01 2.57343225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:13.01, Z:0.26 [[ 9.40561078e-01 -3.39562701e-01 -6.48310380e-03 6.82387781e+01] [ 3.39554234e-01 9.40583420e-01 -2.39855610e-03 1.30062898e+01] [ 6.91236013e-03 5.46231664e-05 9.99976108e-01 2.56619227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:13.01, Z:0.26 [[ 9.40884712e-01 -3.38664923e-01 -6.48288982e-03 6.82662316e+01] [ 3.38656431e-01 9.40907044e-01 -2.39913433e-03 1.30121350e+01] [ 6.91229934e-03 6.18364870e-05 9.99976108e-01 2.56054791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:13.02, Z:0.26 [[ 9.40822696e-01 -3.38837171e-01 -6.48274792e-03 6.82928947e+01] [ 3.38828680e-01 9.40845029e-01 -2.39951770e-03 1.30222126e+01] [ 6.91230694e-03 6.09797937e-05 9.99976108e-01 2.56251775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:13.03, Z:0.25 [[ 9.41084901e-01 -3.38108249e-01 -6.48230840e-03 6.83198168e+01] [ 3.38099733e-01 9.41107224e-01 -2.40070447e-03 1.30301836e+01] [ 6.91224525e-03 6.75999887e-05 9.99976108e-01 2.54777233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:13.04, Z:0.26 [[ 9.41237615e-01 -3.37682890e-01 -6.48217192e-03 6.83478582e+01] [ 3.37674361e-01 9.41259933e-01 -2.40107293e-03 1.30389087e+01] [ 6.91220995e-03 7.11168972e-05 9.99976108e-01 2.55995222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:13.04, Z:0.25 [[ 9.41875580e-01 -3.35899357e-01 -6.48179379e-03 6.83758424e+01] [ 3.35890778e-01 9.41897879e-01 -2.40209328e-03 1.30442267e+01] [ 6.91204941e-03 8.52982452e-05 9.99976108e-01 2.51287748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:13.05, Z:0.25 [[ 9.42116686e-01 -3.35222521e-01 -6.48157871e-03 6.84039546e+01] [ 3.35213923e-01 9.42138977e-01 -2.40267347e-03 1.30525302e+01] [ 6.91197820e-03 9.08833396e-05 9.99976108e-01 2.51141776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:13.06, Z:0.25 [[ 9.42942683e-01 -3.32892011e-01 -6.48117516e-03 6.84317279e+01] [ 3.32883350e-01 9.42964950e-01 -2.40376155e-03 1.30611799e+01] [ 6.91171403e-03 1.09134068e-04 9.99976108e-01 2.48609240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:13.07, Z:0.25 [[ 9.43505702e-01 -3.31292906e-01 -6.48076637e-03 6.84578685e+01] [ 3.31284200e-01 9.43527952e-01 -2.40486319e-03 1.30694777e+01] [ 6.91149833e-03 1.22026632e-04 9.99976108e-01 2.47450839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:13.08, Z:0.24 [[ 9.44497020e-01 -3.28456056e-01 -6.48062138e-03 6.84852691e+01] [ 3.28447280e-01 9.44519242e-01 -2.40525385e-03 1.30763759e+01] [ 6.91109179e-03 1.43212629e-04 9.99976108e-01 2.43578660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:13.09, Z:0.25 [[ 9.44825704e-01 -3.27509377e-01 -6.48048156e-03 6.85121514e+01] [ 3.27500577e-01 9.44847916e-01 -2.40563052e-03 1.30857266e+01] [ 6.91093605e-03 1.50540101e-04 9.99976108e-01 2.46218198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:13.09, Z:0.24 [[ 9.45017302e-01 -3.26956126e-01 -6.48007194e-03 6.85373859e+01] [ 3.26947305e-01 9.45039506e-01 -2.40673340e-03 1.30944556e+01] [ 6.91082021e-03 1.55762646e-04 9.99976108e-01 2.41075480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:13.10, Z:0.25 [[ 9.44909101e-01 -3.27268701e-01 -6.47986846e-03 6.85647822e+01] [ 3.27259884e-01 9.44931306e-01 -2.40728113e-03 1.31038222e+01] [ 6.91085833e-03 1.54060848e-04 9.99976108e-01 2.46263062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:13.11, Z:0.25 [[ 9.44241528e-01 -3.29189843e-01 -6.47945856e-03 6.85908805e+01] [ 3.29181064e-01 9.44263749e-01 -2.40838391e-03 1.31122992e+01] [ 6.91113335e-03 1.41181042e-04 9.99976108e-01 2.47919389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:13.12, Z:0.25 [[ 9.43412043e-01 -3.31559550e-01 -6.47931331e-03 6.86175077e+01] [ 3.31550823e-01 9.43434285e-01 -2.40877460e-03 1.31204360e+01] [ 6.91145854e-03 1.24245302e-04 9.99976108e-01 2.47953886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:13.13, Z:0.25 [[ 9.42842946e-01 -3.33174429e-01 -6.47916875e-03 6.86443422e+01] [ 3.33165738e-01 9.42865201e-01 -2.40916338e-03 1.31286880e+01] [ 6.91165438e-03 1.12825662e-04 9.99976108e-01 2.51024907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:13.14, Z:0.25 [[ 9.42344560e-01 -3.34581464e-01 -6.47870354e-03 6.86711109e+01] [ 3.34572798e-01 9.42366825e-01 -2.41041378e-03 1.31369582e+01] [ 6.91179506e-03 1.03842343e-04 9.99976108e-01 2.51530315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:13.15, Z:0.25 [[ 9.41627511e-01 -3.36594204e-01 -6.47855937e-03 6.86977944e+01] [ 3.36585583e-01 9.41649794e-01 -2.41080121e-03 1.31456932e+01] [ 6.91199581e-03 8.94870660e-05 9.99976108e-01 2.54291421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:13.15, Z:0.25 [[ 9.41340835e-01 -3.37395113e-01 -6.47841703e-03 6.87243062e+01] [ 3.37386507e-01 9.41363124e-01 -2.41118364e-03 1.31549848e+01] [ 6.91206447e-03 8.40151237e-05 9.99976108e-01 2.54592699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:68.75, Y:13.16, Z:0.25 [[ 9.41008454e-01 -3.38321040e-01 -6.47795979e-03 6.87517002e+01] [ 3.38312448e-01 9.41030747e-01 -2.41241147e-03 1.31618656e+01] [ 6.91212890e-03 7.85251495e-05 9.99976108e-01 2.52492652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:13.17, Z:0.25 [[ 9.40560545e-01 -3.39564277e-01 -6.47781770e-03 6.87787389e+01] [ 3.39555712e-01 9.40582849e-01 -2.41279293e-03 1.31722341e+01] [ 6.91222252e-03 6.97978310e-05 9.99976108e-01 2.54418501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:13.18, Z:0.25 [[ 9.40396894e-01 -3.40017242e-01 -6.47741740e-03 6.88044845e+01] [ 3.40008680e-01 9.40419200e-01 -2.41386710e-03 1.31817835e+01] [ 6.91224412e-03 6.76149808e-05 9.99976108e-01 2.54073191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:13.19, Z:0.25 [[ 9.39800866e-01 -3.41661203e-01 -6.47727519e-03 6.88321058e+01] [ 3.41652678e-01 9.39823185e-01 -2.41424866e-03 1.31892228e+01] [ 6.91234850e-03 5.59345702e-05 9.99976108e-01 2.52982628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:13.20, Z:0.25 [[ 9.39564646e-01 -3.42310277e-01 -6.47686757e-03 6.88600369e+01] [ 3.42301759e-01 9.39586969e-01 -2.41534170e-03 1.31983678e+01] [ 6.91237665e-03 5.23265010e-05 9.99976108e-01 2.51314743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:13.21, Z:0.25 [[ 9.39173165e-01 -3.43382907e-01 -6.47648603e-03 6.88861624e+01] [ 3.43374408e-01 9.39195495e-01 -2.41636435e-03 1.32081193e+01] [ 6.91242471e-03 4.55249964e-05 9.99976108e-01 2.45414953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:13.22, Z:0.25 [[ 9.39020669e-01 -3.43799711e-01 -6.47627091e-03 6.89133694e+01] [ 3.43791218e-01 9.39043001e-01 -2.41694075e-03 1.32179094e+01] [ 6.91244040e-03 4.30722507e-05 9.99976108e-01 2.49751300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:13.23, Z:0.25 [[ 9.39064116e-01 -3.43681029e-01 -6.47584342e-03 6.89393182e+01] [ 3.43672525e-01 9.39086443e-01 -2.41808562e-03 1.32271458e+01] [ 6.91242692e-03 4.51679726e-05 9.99976108e-01 2.49679015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:13.24, Z:0.25 [[ 9.39347833e-01 -3.42904818e-01 -6.47569172e-03 6.89641539e+01] [ 3.42896293e-01 9.39370152e-01 -2.41849181e-03 1.32369903e+01] [ 6.91238401e-03 5.13143547e-05 9.99976108e-01 2.50232687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.99, Y:13.25, Z:0.25 [[ 9.39633464e-01 -3.42121354e-01 -6.47548302e-03 6.89906857e+01] [ 3.42112806e-01 9.39655775e-01 -2.41905047e-03 1.32473974e+01] [ 6.91233384e-03 5.76751055e-05 9.99976108e-01 2.49692517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.02, Y:13.26, Z:0.25 [[ 9.39607286e-01 -3.42193253e-01 -6.47499409e-03 6.90162998e+01] [ 3.42184698e-01 9.39629594e-01 -2.42035845e-03 1.32581861e+01] [ 6.91232640e-03 5.85425369e-05 9.99976108e-01 2.46960302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:13.27, Z:0.25 [[ 9.39388211e-01 -3.42794203e-01 -6.47476716e-03 6.90437810e+01] [ 3.42785659e-01 9.39410523e-01 -2.42096537e-03 1.32671795e+01] [ 6.91235730e-03 5.47690010e-05 9.99976108e-01 2.48291713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:13.28, Z:0.25 [[ 9.39227789e-01 -3.43233510e-01 -6.47434766e-03 6.90705282e+01] [ 3.43224968e-01 9.39250102e-01 -2.42208672e-03 1.32761763e+01] [ 6.91237303e-03 5.27333885e-05 9.99976108e-01 2.46789257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:13.29, Z:0.25 [[ 9.39015251e-01 -3.43814548e-01 -6.47419828e-03 6.90977254e+01] [ 3.43806017e-01 9.39037568e-01 -2.42248593e-03 1.32865742e+01] [ 6.91240132e-03 4.88829087e-05 9.99976108e-01 2.46726531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.12, Y:13.30, Z:0.24 [[ 9.39047724e-01 -3.43725854e-01 -6.47377732e-03 6.91231595e+01] [ 3.43717313e-01 9.39070037e-01 -2.42361037e-03 1.32975010e+01] [ 6.91238785e-03 5.07364585e-05 9.99976108e-01 2.42559352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:13.31, Z:0.24 [[ 9.38566176e-01 -3.45038587e-01 -6.47355435e-03 6.91488136e+01] [ 3.45030074e-01 9.38588500e-01 -2.42420580e-03 1.33078182e+01] [ 6.91244821e-03 4.17066364e-05 9.99976108e-01 2.41755298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:13.32, Z:0.24 [[ 9.38305189e-01 -3.45747694e-01 -6.47340765e-03 6.91765646e+01] [ 3.45739195e-01 9.38327518e-01 -2.42459747e-03 1.33168074e+01] [ 6.91247551e-03 3.69016375e-05 9.99976108e-01 2.43329588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:13.33, Z:0.25 [[ 9.37478700e-01 -3.47982452e-01 -6.47300172e-03 6.92037580e+01] [ 3.47973999e-01 9.37501047e-01 -2.42568071e-03 1.33251915e+01] [ 6.91254021e-03 2.15877056e-05 9.99976108e-01 2.46904070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.23, Y:13.33, Z:0.24 [[ 9.37227100e-01 -3.48659532e-01 -6.47258324e-03 6.92299173e+01] [ 3.48651087e-01 9.37249449e-01 -2.42679683e-03 1.33335852e+01] [ 6.91255093e-03 1.77865706e-05 9.99976108e-01 2.42842169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:13.34, Z:0.25 [[ 9.36073694e-01 -3.51744433e-01 -6.47243456e-03 6.92568105e+01] [ 3.51736059e-01 9.36096071e-01 -2.42719332e-03 1.33414002e+01] [ 6.91257230e-03 -4.55680835e-06 9.99976108e-01 2.48744175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:13.35, Z:0.25 [[ 9.35739519e-01 -3.52632481e-01 -6.47195070e-03 6.92833114e+01] [ 3.52624119e-01 9.35761900e-01 -2.42848281e-03 1.33496071e+01] [ 6.91256680e-03 -9.73857258e-06 9.99976108e-01 2.46135436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.31, Y:13.36, Z:0.25 [[ 9.35459265e-01 -3.53375267e-01 -6.47180046e-03 6.93106721e+01] [ 3.53366920e-01 9.35481652e-01 -2.42888312e-03 1.33577994e+01] [ 6.91255781e-03 -1.47989713e-05 9.99976108e-01 2.46554675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:13.36, Z:0.24 [[ 9.35570470e-01 -3.53080751e-01 -6.47138052e-03 6.93382577e+01] [ 3.53072389e-01 9.35592851e-01 -2.43000149e-03 1.33646831e+01] [ 6.91256410e-03 -1.14281419e-05 9.99976108e-01 2.42334234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:13.37, Z:0.25 [[ 9.35913185e-01 -3.52171312e-01 -6.47123135e-03 6.93645341e+01] [ 3.52162926e-01 9.35935557e-01 -2.43039865e-03 1.33739520e+01] [ 6.91257220e-03 -4.28562818e-06 9.99976108e-01 2.46309671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:13.38, Z:0.25 [[ 9.36933223e-01 -3.49448515e-01 -6.47075752e-03 6.93920788e+01] [ 3.49440054e-01 9.36955567e-01 -2.43165956e-03 1.33827652e+01] [ 6.91255210e-03 1.71607696e-05 9.99976108e-01 2.49568869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:13.39, Z:0.24 [[ 9.37492930e-01 -3.47944162e-01 -6.47032941e-03 6.94186125e+01] [ 3.47935659e-01 9.37515258e-01 -2.43279815e-03 1.33912601e+01] [ 6.91251046e-03 2.94727369e-05 9.99976108e-01 2.44600475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:13.40, Z:0.25 [[ 9.38365177e-01 -3.45584913e-01 -6.47017795e-03 6.94464561e+01] [ 3.45576350e-01 9.38387482e-01 -2.43320090e-03 1.33998316e+01] [ 6.91241152e-03 4.72905147e-05 9.99976108e-01 2.46833996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.47, Y:13.41, Z:0.25 [[ 9.38691583e-01 -3.44697337e-01 -6.46976746e-03 6.94735854e+01] [ 3.44688746e-01 9.38713877e-01 -2.43429190e-03 1.34094729e+01] [ 6.91235443e-03 5.49932865e-05 9.99976108e-01 2.47802284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:13.42, Z:0.25 [[ 9.38660608e-01 -3.44781686e-01 -6.46934162e-03 6.94986916e+01] [ 3.44773089e-01 9.38682900e-01 -2.43542308e-03 1.34194663e+01] [ 6.91234962e-03 5.55808116e-05 9.99976108e-01 2.46203708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:13.43, Z:0.25 [[ 9.38447813e-01 -3.45360467e-01 -6.46912952e-03 6.95266894e+01] [ 3.45351880e-01 9.38470109e-01 -2.43598633e-03 1.34283604e+01] [ 6.91237806e-03 5.19199993e-05 9.99976108e-01 2.49450701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.55, Y:13.44, Z:0.25 [[ 9.38239276e-01 -3.45926604e-01 -6.46873569e-03 6.95519622e+01] [ 3.45918023e-01 9.38261574e-01 -2.43703170e-03 1.34369550e+01] [ 6.91240023e-03 4.88665987e-05 9.99976108e-01 2.46847591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:13.45, Z:0.25 [[ 9.37712655e-01 -3.47351601e-01 -6.46852498e-03 6.95796231e+01] [ 3.47343050e-01 9.37734965e-01 -2.43759085e-03 1.34460581e+01] [ 6.91246313e-03 3.89625981e-05 9.99976108e-01 2.48504534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:13.45, Z:0.25 [[ 9.37374032e-01 -3.48264394e-01 -6.46811756e-03 6.96067964e+01] [ 3.48255857e-01 9.37396347e-01 -2.43867146e-03 1.34545006e+01] [ 6.91249221e-03 3.33874764e-05 9.99976108e-01 2.50770295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.63, Y:13.46, Z:0.25 [[ 9.37146608e-01 -3.48875916e-01 -6.46763735e-03 6.96334215e+01] [ 3.48867385e-01 9.37168925e-01 -2.43994436e-03 1.34622350e+01] [ 6.91250657e-03 3.02378474e-05 9.99976108e-01 2.47533720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:13.47, Z:0.25 [[ 9.36473261e-01 -3.50679347e-01 -6.46741552e-03 6.96605822e+01] [ 3.50670855e-01 9.36495593e-01 -2.44053222e-03 1.34719671e+01] [ 6.91255037e-03 1.75590412e-05 9.99976108e-01 2.48495328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:13.48, Z:0.24 [[ 9.36310363e-01 -3.51114053e-01 -6.46729431e-03 6.96870598e+01] [ 3.51105569e-01 9.36332698e-01 -2.44085337e-03 1.34813124e+01] [ 6.91255705e-03 1.46932603e-05 9.99976108e-01 2.41120214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:13.49, Z:0.25 [[ 9.35890957e-01 -3.52230454e-01 -6.46714292e-03 6.97158106e+01] [ 3.52221994e-01 9.35913301e-01 -2.44125442e-03 1.34882326e+01] [ 6.91256923e-03 6.87795900e-06 9.99976108e-01 2.46346453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.74, Y:13.50, Z:0.25 [[ 9.35829035e-01 -3.52394947e-01 -6.46674774e-03 6.97427396e+01] [ 3.52386484e-01 9.35851378e-01 -2.44230078e-03 1.34970439e+01] [ 6.91256924e-03 6.78148087e-06 9.99976108e-01 2.45553427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:13.51, Z:0.24 [[ 9.35685547e-01 -3.52775772e-01 -6.46625854e-03 6.97685118e+01] [ 3.52767309e-01 9.35707890e-01 -2.44359530e-03 1.35063627e+01] [ 6.91257035e-03 5.35217508e-06 9.99976108e-01 2.40965688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:13.51, Z:0.25 [[ 9.35537054e-01 -3.53169381e-01 -6.46599197e-03 6.97959605e+01] [ 3.53160922e-01 9.35559399e-01 -2.44430048e-03 1.35143121e+01] [ 6.91257164e-03 3.19798272e-06 9.99976108e-01 2.51448403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:13.52, Z:0.25 [[ 9.35513698e-01 -3.53231251e-01 -6.46556708e-03 6.98225504e+01] [ 3.53222786e-01 9.35536041e-01 -2.44542385e-03 1.35239958e+01] [ 6.91257116e-03 3.94188824e-06 9.99976108e-01 2.49396407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:13.53, Z:0.25 [[ 9.35647587e-01 -3.52876454e-01 -6.46541599e-03 6.98490675e+01] [ 3.52867978e-01 9.35669925e-01 -2.44582327e-03 1.35330687e+01] [ 6.91256873e-03 6.99037197e-06 9.99976108e-01 2.46765650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:13.54, Z:0.25 [[ 9.35771562e-01 -3.52547564e-01 -6.46519799e-03 6.98763966e+01] [ 3.52539076e-01 9.35793896e-01 -2.44639937e-03 1.35430821e+01] [ 6.91256495e-03 1.00360320e-05 9.99976108e-01 2.50425070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.90, Y:13.55, Z:0.25 [[ 9.35979497e-01 -3.51995154e-01 -6.46477221e-03 6.99020242e+01] [ 3.51986646e-01 9.36001822e-01 -2.44752402e-03 1.35533045e+01] [ 6.91255516e-03 1.53188130e-05 9.99976108e-01 2.47319592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.93, Y:13.56, Z:0.25 [[ 9.36010554e-01 -3.51912563e-01 -6.46462074e-03 6.99286553e+01] [ 3.51904050e-01 9.36032877e-01 -2.44792403e-03 1.35635818e+01] [ 6.91255277e-03 1.63565068e-05 9.99976108e-01 2.51512125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:13.57, Z:0.25 [[ 9.35882234e-01 -3.52253686e-01 -6.46420399e-03 6.99555472e+01] [ 3.52245172e-01 9.35904558e-01 -2.44902404e-03 1.35737028e+01] [ 6.91255572e-03 1.50134420e-05 9.99976108e-01 2.54443483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:13.58, Z:0.25 [[ 9.35813032e-01 -3.52437496e-01 -6.46378543e-03 6.99821412e+01] [ 3.52428979e-01 9.35835355e-01 -2.45012825e-03 1.35839808e+01] [ 6.91255600e-03 1.48366504e-05 9.99976108e-01 2.54640329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:13.59, Z:0.26 [[ 9.35672904e-01 -3.52809358e-01 -6.46330396e-03 7.00077256e+01] [ 3.52800842e-01 9.35695226e-01 -2.45139769e-03 1.35941893e+01] [ 6.91255871e-03 1.34473177e-05 9.99976108e-01 2.55785792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:13.61, Z:0.25 [[ 9.35304409e-01 -3.53785095e-01 -6.46282063e-03 7.00345576e+01] [ 3.53776594e-01 9.35326738e-01 -2.45267127e-03 1.36050496e+01] [ 6.91256747e-03 7.59959063e-06 9.99976108e-01 2.54457510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:13.61, Z:0.25 [[ 9.35219921e-01 -3.54008384e-01 -6.46239226e-03 7.00613613e+01] [ 3.53999880e-01 9.35242249e-01 -2.45379944e-03 1.36142022e+01] [ 6.91256784e-03 7.15603608e-06 9.99976108e-01 2.50317883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.09, Y:13.62, Z:0.25 [[ 9.35268078e-01 -3.53881140e-01 -6.46223973e-03 7.00893836e+01] [ 3.53872630e-01 9.35290403e-01 -2.45420106e-03 1.36230610e+01] [ 6.91256628e-03 8.52613446e-06 9.99976108e-01 2.49437490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09264 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.12, Y:13.63, Z:0.25 [[ 9.35343999e-01 -3.53680432e-01 -6.46184963e-03 7.01151944e+01] [ 3.53671910e-01 9.35366320e-01 -2.45522777e-03 1.36342975e+01] [ 6.91256252e-03 1.11078618e-05 9.99976108e-01 2.49738315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:13.65, Z:0.25 [[ 9.35403560e-01 -3.53522881e-01 -6.46162708e-03 7.01417529e+01] [ 3.53514352e-01 9.35425877e-01 -2.45581333e-03 1.36466314e+01] [ 6.91255938e-03 1.28986242e-05 9.99976108e-01 2.51718786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.17, Y:13.66, Z:0.25 [[ 9.35805252e-01 -3.52458202e-01 -6.46121073e-03 7.01664575e+01] [ 3.52449639e-01 9.35827557e-01 -2.45690826e-03 1.36586994e+01] [ 6.91253651e-03 2.19362593e-05 9.99976108e-01 2.50701537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:13.67, Z:0.25 [[ 9.35938907e-01 -3.52103134e-01 -6.46106238e-03 7.01928120e+01] [ 3.52094561e-01 9.35961208e-01 -2.45729832e-03 1.36680043e+01] [ 6.91252618e-03 2.49761827e-05 9.99976108e-01 2.46861233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.22, Y:13.68, Z:0.25 [[ 9.36438396e-01 -3.50772559e-01 -6.46091730e-03 7.02199933e+01] [ 3.50763950e-01 9.36460683e-01 -2.45767971e-03 1.36782667e+01] [ 6.91248163e-03 3.52087697e-05 9.99976108e-01 2.53969960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264000000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:70.25, Y:13.69, Z:0.25 [[ 9.36641400e-01 -3.50230139e-01 -6.46049144e-03 7.02453186e+01] [ 3.50221510e-01 9.36663679e-01 -2.45879866e-03 1.36902282e+01] [ 6.91245308e-03 4.04095561e-05 9.99976108e-01 2.53121288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:13.70, Z:0.25 [[ 9.36914731e-01 -3.49498291e-01 -6.45999911e-03 7.02708918e+01] [ 3.49489636e-01 9.36937000e-01 -2.46009148e-03 1.37008857e+01] [ 6.91240995e-03 4.71932080e-05 9.99976108e-01 2.52044181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:13.71, Z:0.25 [[ 9.37022730e-01 -3.49208641e-01 -6.45984662e-03 7.02969281e+01] [ 3.49199976e-01 9.37044995e-01 -2.46049183e-03 1.37110935e+01] [ 6.91239195e-03 4.97584899e-05 9.99976108e-01 2.51468479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.32, Y:13.72, Z:0.25 [[ 9.37228684e-01 -3.48655512e-01 -6.45969913e-03 7.03244051e+01] [ 3.48646831e-01 9.37250943e-01 -2.46087898e-03 1.37215144e+01] [ 6.91235812e-03 5.42527360e-05 9.99976108e-01 2.49875796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:13.73, Z:0.25 [[ 9.37030561e-01 -3.49187667e-01 -6.45754902e-03 7.03500801e+01] [ 3.49178961e-01 9.37052811e-01 -2.46652173e-03 1.37349153e+01] [ 6.91234343e-03 5.63659881e-05 9.99976108e-01 2.52078524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:13.75, Z:0.26 [[ 9.36945688e-01 -3.49415302e-01 -6.45946527e-03 7.03760297e+01] [ 3.49406635e-01 9.36967953e-01 -2.46149310e-03 1.37451197e+01] [ 6.91239530e-03 4.93053190e-05 9.99976108e-01 2.55949655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:13.75, Z:0.26 [[ 9.36950972e-01 -3.49401143e-01 -6.45898312e-03 7.04031155e+01] [ 3.49392467e-01 9.36973233e-01 -2.46275759e-03 1.37545914e+01] [ 6.91238462e-03 5.07630738e-05 9.99976108e-01 2.57172410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:13.76, Z:0.26 [[ 9.37185855e-01 -3.48770640e-01 -6.45856300e-03 7.04289717e+01] [ 3.48761942e-01 9.37208108e-01 -2.46385886e-03 1.37641568e+01] [ 6.91233924e-03 5.65927014e-05 9.99976108e-01 2.57777301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.45, Y:13.78, Z:0.26 [[ 9.37617625e-01 -3.47608228e-01 -6.45833857e-03 7.04546259e+01] [ 3.47599498e-01 9.37639865e-01 -2.46444702e-03 1.37765179e+01] [ 6.91225776e-03 6.57937197e-05 9.99976108e-01 2.58605868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.48, Y:13.79, Z:0.26 [[ 9.38327253e-01 -3.45688094e-01 -6.45819080e-03 7.04798827e+01] [ 3.45679316e-01 9.38349474e-01 -2.46483419e-03 1.37887173e+01] [ 6.91210377e-03 8.03581143e-05 9.99976108e-01 2.62706354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:13.80, Z:0.26 [[ 9.38809568e-01 -3.44376094e-01 -6.45769842e-03 7.05064370e+01] [ 3.44367276e-01 9.38831773e-01 -2.46612352e-03 1.37991811e+01] [ 6.91196644e-03 9.14003488e-05 9.99976108e-01 2.64331248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.53, Y:13.81, Z:0.26 [[ 9.39223053e-01 -3.43246792e-01 -6.45726640e-03 7.05321637e+01] [ 3.43237939e-01 9.39245245e-01 -2.46725420e-03 1.38108347e+01] [ 6.91183385e-03 1.00923217e-04 9.99976108e-01 2.61076132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.56, Y:13.83, Z:0.27 [[ 9.39714607e-01 -3.41898762e-01 -6.45711288e-03 7.05570366e+01] [ 3.41889875e-01 9.39736784e-01 -2.46765591e-03 1.38259526e+01] [ 6.91167500e-03 1.11270791e-04 9.99976108e-01 2.65217151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:13.84, Z:0.26 [[ 9.39833852e-01 -3.41570845e-01 -6.45668346e-03 7.05824056e+01] [ 3.41561942e-01 9.39856023e-01 -2.46877898e-03 1.38364969e+01] [ 6.91161577e-03 1.14884714e-04 9.99976108e-01 2.62659775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:13.85, Z:0.26 [[ 9.39708599e-01 -3.41915285e-01 -6.45653197e-03 7.06086636e+01] [ 3.41906388e-01 9.39730773e-01 -2.46917512e-03 1.38473167e+01] [ 6.91165049e-03 1.12775569e-04 9.99976108e-01 2.63812168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:70.63, Y:13.86, Z:0.27 [[ 9.39242104e-01 -3.43194681e-01 -6.45606269e-03 7.06336330e+01] [ 3.43185806e-01 9.39264286e-01 -2.47040152e-03 1.38608460e+01] [ 6.91177778e-03 1.04676044e-04 9.99976108e-01 2.66933466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:13.87, Z:0.27 [[ 9.38862834e-01 -3.44230888e-01 -6.45558130e-03 7.06592824e+01] [ 3.44222028e-01 9.38885023e-01 -2.47165883e-03 1.38724777e+01] [ 6.91186991e-03 9.83953222e-05 9.99976108e-01 2.70784139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:13.88, Z:0.27 [[ 9.38377679e-01 -3.45551246e-01 -6.45508528e-03 7.06848950e+01] [ 3.45542409e-01 9.38399876e-01 -2.47295359e-03 1.38840642e+01] [ 6.91198342e-03 9.00587274e-05 9.99976108e-01 2.67653523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:13.90, Z:0.27 [[ 9.37872043e-01 -3.46921266e-01 -6.45493131e-03 7.07113590e+01] [ 3.46912458e-01 9.37894253e-01 -2.47335539e-03 1.38966736e+01] [ 6.91210256e-03 8.03947881e-05 9.99976108e-01 2.69231077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.74, Y:13.91, Z:0.27 [[ 9.36942210e-01 -3.49424719e-01 -6.45451760e-03 7.07366359e+01] [ 3.49415963e-01 9.36964440e-01 -2.47443455e-03 1.39127374e+01] [ 6.91228207e-03 6.30906928e-05 9.99976108e-01 2.70584604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.76, Y:13.92, Z:0.26 [[ 9.36547237e-01 -3.50481977e-01 -6.45412507e-03 7.07622786e+01] [ 3.50473240e-01 9.36569474e-01 -2.47545798e-03 1.39249902e+01] [ 6.91233993e-03 5.63852096e-05 9.99976108e-01 2.62942127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:13.94, Z:0.27 [[ 9.35883006e-01 -3.52251822e-01 -6.45389958e-03 7.07872993e+01] [ 3.52243122e-01 9.35905258e-01 -2.47604573e-03 1.39390483e+01] [ 6.91243017e-03 4.39473845e-05 9.99976108e-01 2.68670944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:13.95, Z:0.27 [[ 9.35653187e-01 -3.52861824e-01 -6.45349309e-03 7.08133009e+01] [ 3.52853131e-01 9.35675441e-01 -2.47710475e-03 1.39518581e+01] [ 6.91245069e-03 4.05757099e-05 9.99976108e-01 2.72751904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:13.96, Z:0.27 [[ 9.35589044e-01 -3.53031867e-01 -6.45305990e-03 7.08381603e+01] [ 3.53023171e-01 9.35611297e-01 -2.47823272e-03 1.39648686e+01] [ 6.91245087e-03 4.05277091e-05 9.99976108e-01 2.71550458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:13.98, Z:0.27 [[ 9.35698125e-01 -3.52742655e-01 -6.45283313e-03 7.08612367e+01] [ 3.52733947e-01 9.35720374e-01 -2.47882306e-03 1.39827768e+01] [ 6.91243405e-03 4.32967872e-05 9.99976108e-01 2.70894306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.89, Y:14.00, Z:0.27 [[ 9.35724942e-01 -3.52671512e-01 -6.45267962e-03 7.08862976e+01] [ 3.52662800e-01 9.35747189e-01 -2.47922259e-03 1.39974297e+01] [ 6.91242800e-03 4.42503532e-05 9.99976108e-01 2.71228474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.91, Y:14.01, Z:0.27 [[ 9.35310083e-01 -3.53770288e-01 -6.45226277e-03 7.09120750e+01] [ 3.53761595e-01 9.35332338e-01 -2.48030698e-03 1.40116179e+01] [ 6.91246893e-03 3.72933556e-05 9.99976108e-01 2.70989912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:14.02, Z:0.27 [[ 9.35098231e-01 -3.54329893e-01 -6.45183880e-03 7.09370699e+01] [ 3.54321206e-01 9.35120487e-01 -2.48140932e-03 1.40238363e+01] [ 6.91248415e-03 3.43381605e-05 9.99976108e-01 2.69609986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:70.96, Y:14.04, Z:0.27 [[ 9.33836455e-01 -3.57642070e-01 -6.45168790e-03 7.09611329e+01] [ 3.57633459e-01 9.33858742e-01 -2.48180160e-03 1.40404758e+01] [ 6.91256181e-03 1.02573481e-05 9.99976108e-01 2.70683908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:14.05, Z:0.28 [[ 9.33333748e-01 -3.58951942e-01 -6.45126460e-03 7.09869545e+01] [ 3.58943355e-01 9.33356043e-01 -2.48290145e-03 1.40541594e+01] [ 6.91256910e-03 1.73716018e-06 9.99976108e-01 2.75774322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:14.07, Z:0.28 [[ 9.32713583e-01 -3.60560340e-01 -6.45082417e-03 7.10119310e+01] [ 3.60551783e-01 9.32735890e-01 -2.48404521e-03 1.40678511e+01] [ 6.91256341e-03 -8.95344758e-06 9.99976108e-01 2.75388926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.04, Y:14.08, Z:0.28 [[ 9.31124847e-01 -3.64643537e-01 -6.45066793e-03 7.10366971e+01] [ 3.64635075e-01 9.31147190e-01 -2.48445088e-03 1.40843588e+01] [ 6.91246027e-03 -3.88058387e-05 9.99976108e-01 2.75266203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.06, Y:14.10, Z:0.27 [[ 9.30561230e-01 -3.66079488e-01 -6.45023449e-03 7.10616117e+01] [ 3.66071052e-01 9.30583584e-01 -2.48557568e-03 1.40967433e+01] [ 6.91240060e-03 -4.82637708e-05 9.99976108e-01 2.73920672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:71.09, Y:14.11, Z:0.27 [[ 9.29733018e-01 -3.68177828e-01 -6.45000336e-03 7.10860268e+01] [ 3.68169440e-01 9.29755389e-01 -2.48617531e-03 1.41108323e+01] [ 6.91228001e-03 -6.32148487e-05 9.99976108e-01 2.70728772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:14.12, Z:0.28 [[ 9.29268956e-01 -3.69347544e-01 -6.44977980e-03 7.11117175e+01] [ 3.69339179e-01 9.29291336e-01 -2.48675516e-03 1.41242025e+01] [ 6.91220139e-03 -7.12920045e-05 9.99976108e-01 2.76241250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:14.14, Z:0.28 [[ 9.28189873e-01 -3.72051025e-01 -6.44935133e-03 7.11351747e+01] [ 3.72042718e-01 9.28212275e-01 -2.48786588e-03 1.41400082e+01] [ 6.91198012e-03 -9.02222791e-05 9.99976108e-01 2.79115613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:14.15, Z:0.28 [[ 9.27785494e-01 -3.73058293e-01 -6.44884705e-03 7.11601517e+01] [ 3.73050001e-01 9.27807901e-01 -2.48917236e-03 1.41528183e+01] [ 6.91189763e-03 -9.63243859e-05 9.99976108e-01 2.78006382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:14.17, Z:0.28 [[ 9.26780439e-01 -3.75548177e-01 -6.44861655e-03 7.11834618e+01] [ 3.75539941e-01 9.26802867e-01 -2.48976936e-03 1.41666113e+01] [ 6.91162465e-03 -1.14243541e-04 9.99976108e-01 2.76596259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.21, Y:14.18, Z:0.28 [[ 9.26341147e-01 -3.76630453e-01 -6.44840006e-03 7.12094148e+01] [ 3.76622239e-01 9.26363583e-01 -2.49032994e-03 1.41787753e+01] [ 6.91149707e-03 -1.21715776e-04 9.99976108e-01 2.78030660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:71.24, Y:14.19, Z:0.28 [[ 9.25883349e-01 -3.77754482e-01 -6.44797171e-03 7.12352294e+01] [ 3.77746288e-01 9.25905792e-01 -2.49143851e-03 1.41915051e+01] [ 6.91136642e-03 -1.28915943e-04 9.99976108e-01 2.78183031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:14.20, Z:0.28 [[ 9.25689732e-01 -3.78228700e-01 -6.44754485e-03 7.12605563e+01] [ 3.78220509e-01 9.25712176e-01 -2.49254270e-03 1.42047230e+01] [ 6.91132196e-03 -1.31272513e-04 9.99976108e-01 2.79561398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:14.22, Z:0.28 [[ 9.25669820e-01 -3.78277437e-01 -6.44705816e-03 7.12859077e+01] [ 3.78269239e-01 9.25692262e-01 -2.49380090e-03 1.42166384e+01] [ 6.91134047e-03 -1.30287548e-04 9.99976108e-01 2.79024878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:14.23, Z:0.28 [[ 9.25835606e-01 -3.77871496e-01 -6.44690659e-03 7.13124933e+01] [ 3.77863286e-01 9.25858043e-01 -2.49419267e-03 1.42289966e+01] [ 6.91140464e-03 -1.26836930e-04 9.99976108e-01 2.82774042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:14.24, Z:0.28 [[ 9.26922147e-01 -3.75198316e-01 -6.44647393e-03 7.13374518e+01] [ 3.75190033e-01 9.26944558e-01 -2.49531042e-03 1.42422451e+01] [ 6.91176019e-03 -1.05694270e-04 9.99976108e-01 2.80952218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:71.36, Y:14.26, Z:0.28 [[ 9.27479499e-01 -3.73818437e-01 -6.44632057e-03 7.13633529e+01] [ 3.73810118e-01 9.27501896e-01 -2.49570656e-03 1.42557474e+01] [ 6.91191567e-03 -9.49831793e-05 9.99976108e-01 2.83547472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59264 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:71.39, Y:14.27, Z:0.28 [[ 9.28318299e-01 -3.71730528e-01 -6.44588750e-03 7.13890729e+01] [ 3.71722151e-01 9.28340675e-01 -2.49682457e-03 1.42689082e+01] [ 6.91212547e-03 -7.82312310e-05 9.99976108e-01 2.84111737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:14.28, Z:0.28 [[ 9.29545479e-01 -3.68651133e-01 -6.44545622e-03 7.14146214e+01] [ 3.68642674e-01 9.29567824e-01 -2.49793741e-03 1.42810270e+01] [ 6.91235617e-03 -5.41237943e-05 9.99976108e-01 2.84281172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:14.30, Z:0.29 [[ 9.31582588e-01 -3.63472615e-01 -6.44522569e-03 7.14398770e+01] [ 3.63464027e-01 9.31604883e-01 -2.49853209e-03 1.42967901e+01] [ 6.91255172e-03 -1.50186933e-05 9.99976108e-01 2.87135016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:14.31, Z:0.28 [[ 9.32487674e-01 -3.61144295e-01 -6.44478890e-03 7.14652174e+01] [ 3.61135644e-01 9.32509945e-01 -2.49965826e-03 1.43083523e+01] [ 6.91256706e-03 3.45752610e-06 9.99976108e-01 2.84372027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:14.32, Z:0.29 [[ 9.33624418e-01 -3.58195356e-01 -6.44463327e-03 7.14912616e+01] [ 3.58186632e-01 9.33646660e-01 -2.50005943e-03 1.43212320e+01] [ 6.91252001e-03 2.57350404e-05 9.99976108e-01 2.87141925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:71.52, Y:14.33, Z:0.28 [[ 9.33914442e-01 -3.57438509e-01 -6.44419044e-03 7.15164008e+01] [ 3.57429759e-01 9.33936674e-01 -2.50120036e-03 1.43337019e+01] [ 6.91249111e-03 3.25616994e-05 9.99976108e-01 2.84586864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:14.35, Z:0.29 [[ 9.34248247e-01 -3.56565124e-01 -6.44403342e-03 7.15427918e+01] [ 3.56556351e-01 9.34270470e-01 -2.50160483e-03 1.43460477e+01] [ 6.91245517e-03 3.94588879e-05 9.99976108e-01 2.87705414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:14.36, Z:0.28 [[ 9.34233113e-01 -3.56604783e-01 -6.44360294e-03 7.15668654e+01] [ 3.56596003e-01 9.34255333e-01 -2.50271317e-03 1.43607808e+01] [ 6.91244990e-03 4.03544641e-05 9.99976108e-01 2.84462178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:71.59, Y:14.37, Z:0.29 [[ 9.33923245e-01 -3.57415522e-01 -6.44345028e-03 7.15927234e+01] [ 3.57406758e-01 9.33945472e-01 -2.50310616e-03 1.43729982e+01] [ 6.91248020e-03 3.47763518e-05 9.99976108e-01 2.85940044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:71.62, Y:14.38, Z:0.29 [[ 9.33853553e-01 -3.57597581e-01 -6.44302414e-03 7.16192000e+01] [ 3.57588814e-01 9.33875778e-01 -2.50420257e-03 1.43834980e+01] [ 6.91248096e-03 3.46051036e-05 9.99976108e-01 2.86136871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:14.39, Z:0.29 [[ 9.33582777e-01 -3.58303910e-01 -6.44253571e-03 7.16456088e+01] [ 3.58295151e-01 9.33605006e-01 -2.50545850e-03 1.43940280e+01] [ 6.91249917e-03 3.07235996e-05 9.99976108e-01 2.86569434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:14.41, Z:0.29 [[ 9.33265533e-01 -3.59129426e-01 -6.44210584e-03 7.16707584e+01] [ 3.59120679e-01 9.33287766e-01 -2.50656330e-03 1.44073046e+01] [ 6.91251921e-03 2.57957107e-05 9.99976108e-01 2.87499026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:14.42, Z:0.29 [[ 9.33207390e-01 -3.59280494e-01 -6.44160539e-03 7.16964400e+01] [ 3.59271742e-01 9.33229621e-01 -2.50784875e-03 1.44197023e+01] [ 6.91251810e-03 2.60561972e-05 9.99976108e-01 2.87683562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:14.43, Z:0.28 [[ 9.33249585e-01 -3.59170884e-01 -6.44110753e-03 7.17216534e+01] [ 3.59162121e-01 9.33271812e-01 -2.50912679e-03 1.44315505e+01] [ 6.91250939e-03 2.82396958e-05 9.99976108e-01 2.81666559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:14.44, Z:0.29 [[ 9.33086500e-01 -3.59594405e-01 -6.43794743e-03 7.17490393e+01] [ 3.59585596e-01 9.33108709e-01 -2.51723603e-03 1.44439291e+01] [ 6.91248881e-03 3.38057916e-05 9.99976108e-01 2.92237189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:14.46, Z:0.29 [[ 9.32925126e-01 -3.60012812e-01 -6.44081301e-03 7.17737971e+01] [ 3.60004063e-01 9.32947359e-01 -2.50988244e-03 1.44560185e+01] [ 6.91252932e-03 2.28135405e-05 9.99976108e-01 2.91975330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:14.47, Z:0.29 [[ 9.32888749e-01 -3.60107067e-01 -6.44062064e-03 7.17993509e+01] [ 3.60098318e-01 9.32910982e-01 -2.51037598e-03 1.44676471e+01] [ 6.91252985e-03 2.26448488e-05 9.99976108e-01 2.88933767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:14.48, Z:0.29 [[ 9.32758841e-01 -3.60443429e-01 -6.44046877e-03 7.18253894e+01] [ 3.60434685e-01 9.32781075e-01 -2.51076554e-03 1.44796392e+01] [ 6.91253633e-03 2.05704263e-05 9.99976108e-01 2.93760304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:14.49, Z:0.29 [[ 9.32661774e-01 -3.60694525e-01 -6.44002949e-03 7.18513277e+01] [ 3.60685779e-01 9.32684008e-01 -2.51189177e-03 1.44909216e+01] [ 6.91253813e-03 1.99183800e-05 9.99976108e-01 2.90909514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:14.50, Z:0.29 [[ 9.32506798e-01 -3.61095002e-01 -6.43987335e-03 7.18758064e+01] [ 3.61086263e-01 9.32529034e-01 -2.51229203e-03 1.45017218e+01] [ 6.91254497e-03 1.73795929e-05 9.99976108e-01 2.89528793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:14.51, Z:0.29 [[ 9.32005584e-01 -3.62386857e-01 -6.43100052e-03 7.19045504e+01] [ 3.62377991e-01 9.32027771e-01 -2.53502937e-03 1.45129978e+01] [ 6.91253241e-03 3.22084795e-05 9.99976108e-01 2.93399993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:14.52, Z:0.29 [[ 9.31623143e-01 -3.63368750e-01 -6.43979539e-03 7.19307450e+01] [ 3.63360064e-01 9.31645400e-01 -2.51248711e-03 1.45232782e+01] [ 6.91256505e-03 7.26674494e-07 9.99976108e-01 2.89375079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:71.96, Y:14.53, Z:0.29 [[ 9.31416320e-01 -3.63898571e-01 -6.43964155e-03 7.19571147e+01] [ 3.63889895e-01 9.31438581e-01 -2.51288136e-03 1.45349780e+01] [ 6.91256452e-03 -2.78177460e-06 9.99976108e-01 2.92289853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.98, Y:14.55, Z:0.29 [[ 9.31458665e-01 -3.63790175e-01 -6.43920544e-03 7.19837434e+01] [ 3.63781488e-01 9.31480922e-01 -2.51399838e-03 1.45454847e+01] [ 6.91256493e-03 -7.78160666e-07 9.99976108e-01 2.93522014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:14.56, Z:0.30 [[ 9.32118182e-01 -3.62097000e-01 -6.43877003e-03 7.20106391e+01] [ 3.62088266e-01 9.32140420e-01 -2.51511304e-03 1.45554764e+01] [ 6.91255269e-03 1.29795225e-05 9.99976108e-01 2.96180479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:14.57, Z:0.30 [[ 9.32590933e-01 -3.60877679e-01 -6.43833083e-03 7.20362615e+01] [ 3.60868907e-01 9.32613157e-01 -2.51623683e-03 1.45662322e+01] [ 6.91252575e-03 2.32262413e-05 9.99976108e-01 2.95340897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:14.58, Z:0.30 [[ 9.33371052e-01 -3.58855166e-01 -6.43809803e-03 7.20609422e+01] [ 3.58846342e-01 9.33393255e-01 -2.51683235e-03 1.45774893e+01] [ 6.91245556e-03 3.88505287e-05 9.99976108e-01 3.02403350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:72.09, Y:14.59, Z:0.30 [[ 9.34832918e-01 -3.55029691e-01 -6.42909833e-03 7.20871558e+01] [ 3.55020618e-01 9.34855021e-01 -2.53984146e-03 1.45934162e+01] [ 6.91199398e-03 9.18649444e-05 9.99976108e-01 2.97908756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:14.61, Z:0.30 [[ 9.35687577e-01 -3.52770907e-01 -6.43785756e-03 7.21127719e+01] [ 3.52761934e-01 9.35709720e-01 -2.51744147e-03 1.46053679e+01] [ 6.91204600e-03 8.45076208e-05 9.99976108e-01 2.98959111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:14.62, Z:0.30 [[ 9.36547908e-01 -3.50480494e-01 -6.43737852e-03 7.21377186e+01] [ 3.50471459e-01 9.36570026e-01 -2.51866583e-03 1.46179824e+01] [ 6.91179901e-03 1.02733779e-04 9.99976108e-01 2.97319516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:14.63, Z:0.30 [[ 9.37996821e-01 -3.46584082e-01 -6.43722973e-03 7.21618845e+01] [ 3.46574952e-01 9.38018900e-01 -2.51904604e-03 1.46343368e+01] [ 6.91130441e-03 1.31874590e-04 9.99976108e-01 2.98508997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:14.65, Z:0.30 [[ 9.38483920e-01 -3.45262944e-01 -6.43675486e-03 7.21862080e+01] [ 3.45253775e-01 9.38505982e-01 -2.52025887e-03 1.46481477e+01] [ 6.91108494e-03 1.42908507e-04 9.99976108e-01 2.98873179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:14.66, Z:0.30 [[ 9.38817013e-01 -3.44356198e-01 -6.43628265e-03 7.22104588e+01] [ 3.44347000e-01 9.38839063e-01 -2.52146422e-03 1.46615248e+01] [ 6.91091541e-03 1.50878884e-04 9.99976108e-01 2.98892338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:14.67, Z:0.30 [[ 9.38944315e-01 -3.44008938e-01 -6.43613568e-03 7.22363159e+01] [ 3.43999729e-01 9.38966361e-01 -2.52183931e-03 1.46749218e+01] [ 6.91085016e-03 1.53837753e-04 9.99976108e-01 2.99713597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:14.69, Z:0.30 [[ 9.38649380e-01 -3.44812880e-01 -6.43573263e-03 7.22612080e+01] [ 3.44803683e-01 9.38671431e-01 -2.52286748e-03 1.46902161e+01] [ 6.91095556e-03 1.49023686e-04 9.99976108e-01 3.03364029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:14.70, Z:0.30 [[ 9.38327546e-01 -3.45687725e-01 -6.43531256e-03 7.22854499e+01] [ 3.45678541e-01 9.38349602e-01 -2.52393854e-03 1.47026179e+01] [ 6.91106755e-03 1.43731606e-04 9.99976108e-01 3.04583869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.31, Y:14.72, Z:0.30 [[ 9.37535260e-01 -3.47830860e-01 -6.42881308e-03 7.23106126e+01] [ 3.47821613e-01 9.37557290e-01 -2.54049800e-03 1.47170648e+01] [ 6.91104418e-03 1.45726315e-04 9.99976108e-01 3.03208331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:14.73, Z:0.30 [[ 9.36374873e-01 -3.50942576e-01 -6.43468045e-03 7.23361140e+01] [ 3.50933504e-01 9.36396976e-01 -2.52554893e-03 1.47320957e+01] [ 6.91173796e-03 1.06715605e-04 9.99976108e-01 3.04681160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:14.74, Z:0.31 [[ 9.35666371e-01 -3.52827213e-01 -6.43426497e-03 7.23613947e+01] [ 3.52818179e-01 9.35688489e-01 -2.52660700e-03 1.47439689e+01] [ 6.91192337e-03 9.39355572e-05 9.99976108e-01 3.05163851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:14.76, Z:0.31 [[ 9.34984316e-01 -3.54630703e-01 -6.43378358e-03 7.23879055e+01] [ 3.54621703e-01 9.35006448e-01 -2.52783221e-03 1.47564080e+01] [ 6.91207605e-03 8.19241785e-05 9.99976108e-01 3.07461102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:14.77, Z:0.31 [[ 9.33846719e-01 -3.57615600e-01 -6.43334927e-03 7.24125061e+01] [ 3.57606663e-01 9.33868877e-01 -2.52893706e-03 1.47705420e+01] [ 6.91229200e-03 6.10310136e-05 9.99976108e-01 3.07947721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:14.78, Z:0.31 [[ 9.33310779e-01 -3.59011990e-01 -6.43284618e-03 7.24370068e+01] [ 3.59003077e-01 9.33332946e-01 -2.53021611e-03 1.47822411e+01] [ 6.91236520e-03 5.20663933e-05 9.99976108e-01 3.05943220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:14.79, Z:0.31 [[ 9.32735179e-01 -3.60504796e-01 -6.43262723e-03 7.24627221e+01] [ 3.60495915e-01 9.32757359e-01 -2.53077264e-03 1.47944023e+01] [ 6.91243606e-03 4.16048326e-05 9.99976108e-01 3.08858683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:14.81, Z:0.31 [[ 9.32431575e-01 -3.61289338e-01 -6.43219275e-03 7.24880419e+01] [ 3.61280468e-01 9.32453759e-01 -2.53187643e-03 1.48064616e+01] [ 6.91246227e-03 3.69759243e-05 9.99976108e-01 3.09253302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:14.82, Z:0.31 [[ 9.31989289e-01 -3.62428745e-01 -6.43196054e-03 7.25139449e+01] [ 3.62419898e-01 9.32011483e-01 -2.53246620e-03 1.48201574e+01] [ 6.91249962e-03 2.91608879e-05 9.99976108e-01 3.07583353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:14.83, Z:0.31 [[ 9.31926183e-01 -3.62591047e-01 -6.42824426e-03 7.25399149e+01] [ 3.62582139e-01 9.31948352e-01 -2.54190289e-03 1.48317876e+01] [ 6.91246288e-03 3.80993042e-05 9.99976108e-01 3.07372032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:14.84, Z:0.31 [[ 9.31841908e-01 -3.62807563e-01 -6.42889975e-03 7.25666368e+01] [ 3.62798672e-01 9.31864084e-01 -2.54023878e-03 1.48437096e+01] [ 6.91247862e-03 3.47046610e-05 9.99976108e-01 3.10131803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:14.86, Z:0.31 [[ 9.31738964e-01 -3.63071807e-01 -6.43160540e-03 7.25915287e+01] [ 3.63062969e-01 9.31761162e-01 -2.53336980e-03 1.48550487e+01] [ 6.91251527e-03 2.53615947e-05 9.99976108e-01 3.09647301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:14.87, Z:0.31 [[ 9.31580725e-01 -3.63477634e-01 -6.43138809e-03 7.26169811e+01] [ 3.63468803e-01 9.31602924e-01 -2.53392137e-03 1.48664183e+01] [ 6.91252370e-03 2.29433819e-05 9.99976108e-01 3.09256803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:14.88, Z:0.31 [[ 9.30922993e-01 -3.65158904e-01 -6.43089341e-03 7.26423507e+01] [ 3.65150103e-01 9.30945205e-01 -2.53517621e-03 1.48803502e+01] [ 6.91255155e-03 1.18124287e-05 9.99976108e-01 3.07152163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:14.89, Z:0.31 [[ 9.30340249e-01 -3.66641096e-01 -6.42861767e-03 7.26685092e+01] [ 3.66632292e-01 9.30362460e-01 -2.54094737e-03 1.48922100e+01] [ 6.91256028e-03 7.00678417e-06 9.99976108e-01 3.10079715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:14.90, Z:0.31 [[ 9.29515513e-01 -3.68726941e-01 -6.43068209e-03 7.26943202e+01] [ 3.68718222e-01 9.29537758e-01 -2.53571191e-03 1.49028759e+01] [ 6.91254711e-03 -1.41261085e-05 9.99976108e-01 3.10843710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:14.91, Z:0.31 [[ 9.28722816e-01 -3.70719010e-01 -6.43018990e-03 7.27213379e+01] [ 3.70710330e-01 9.28745075e-01 -2.53695942e-03 1.49128739e+01] [ 6.91250629e-03 -2.76057248e-05 9.99976108e-01 3.06639759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:14.92, Z:0.31 [[ 9.27810149e-01 -3.72997335e-01 -6.42773278e-03 7.27487943e+01] [ 3.72988667e-01 9.27832413e-01 -2.54318566e-03 1.49227718e+01] [ 6.91246029e-03 -3.78780163e-05 9.99976108e-01 3.09855715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:14.93, Z:0.31 [[ 9.26207451e-01 -3.76959436e-01 -6.42969971e-03 7.27752983e+01] [ 3.76950898e-01 9.26229765e-01 -2.53820309e-03 1.49318079e+01] [ 6.91217886e-03 -7.27784641e-05 9.99976108e-01 3.10957111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:14.94, Z:0.31 [[ 9.25379133e-01 -3.78988292e-01 -6.42920988e-03 7.28019213e+01] [ 3.78979794e-01 9.25401462e-01 -2.53944321e-03 1.49414540e+01] [ 6.91201947e-03 -8.65928840e-05 9.99976108e-01 3.11836008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:14.95, Z:0.31 [[ 9.24805292e-01 -3.80386440e-01 -6.42871936e-03 7.28282169e+01] [ 3.80377968e-01 9.24827631e-01 -2.54068438e-03 1.49502212e+01] [ 6.91189918e-03 -9.57048462e-05 9.99976108e-01 3.11985078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.85, Y:14.96, Z:0.31 [[ 9.24403891e-01 -3.81360883e-01 -6.42822712e-03 7.28544819e+01] [ 3.81352425e-01 9.24426236e-01 -2.54192920e-03 1.49572318e+01] [ 6.91181416e-03 -1.01650757e-04 9.99976108e-01 3.11446783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:14.97, Z:0.31 [[ 9.24357878e-01 -3.81472403e-01 -6.42801228e-03 7.28823039e+01] [ 3.81463944e-01 9.24380222e-01 -2.54247235e-03 1.49655597e+01] [ 6.91181046e-03 -1.01900570e-04 9.99976108e-01 3.12800004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.91, Y:14.97, Z:0.31 [[ 9.24728535e-01 -3.80573020e-01 -6.42758330e-03 7.29094806e+01] [ 3.80564531e-01 9.24750868e-01 -2.54355640e-03 1.49749158e+01] [ 6.91192217e-03 -9.40110410e-05 9.99976108e-01 3.12259168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:14.98, Z:0.31 [[ 9.25441790e-01 -3.78835302e-01 -6.42714866e-03 7.29358676e+01] [ 3.78826764e-01 9.25464104e-01 -2.54465419e-03 1.49841529e+01] [ 6.91210021e-03 -7.98466008e-05 9.99976108e-01 3.13082281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.96, Y:14.99, Z:0.32 [[ 9.25998449e-01 -3.77472609e-01 -6.42671268e-03 7.29622945e+01] [ 3.77464031e-01 9.26020747e-01 -2.54575481e-03 1.49940755e+01] [ 6.91222199e-03 -6.84878710e-05 9.99976108e-01 3.15053803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:15.00, Z:0.32 [[ 9.27856701e-01 -3.72881545e-01 -6.42621451e-03 7.29901647e+01] [ 3.72872848e-01 9.27878953e-01 -2.54701171e-03 1.49998602e+01] [ 6.91248286e-03 -3.28990203e-05 9.99976108e-01 3.16652392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:15.01, Z:0.32 [[ 9.28719706e-01 -3.70726873e-01 -6.42598590e-03 7.30168603e+01] [ 3.70718120e-01 9.28741937e-01 -2.54758836e-03 1.50094788e+01] [ 6.91254205e-03 -1.62338926e-05 9.99976108e-01 3.18857917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:73.04, Y:15.02, Z:0.32 [[ 9.30513612e-01 -3.66200943e-01 -6.42548575e-03 7.30441241e+01] [ 3.66192073e-01 9.30535797e-01 -2.54884919e-03 1.50172198e+01] [ 6.91253548e-03 1.87769193e-05 9.99976108e-01 3.15550806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:15.02, Z:0.32 [[ 9.31222593e-01 -3.64394289e-01 -6.42533055e-03 7.30700362e+01] [ 3.64385374e-01 9.31244759e-01 -2.54924037e-03 1.50232749e+01] [ 6.91248403e-03 3.26137518e-05 9.99976108e-01 3.15685936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:15.03, Z:0.32 [[ 9.31597793e-01 -3.63434091e-01 -6.41978596e-03 7.30979933e+01] [ 3.63425056e-01 9.31619911e-01 -2.56320795e-03 1.50318008e+01] [ 6.91235757e-03 5.47677957e-05 9.99976108e-01 3.16122952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:15.04, Z:0.32 [[ 9.31951493e-01 -3.62526048e-01 -6.42491559e-03 7.31248797e+01] [ 3.62517081e-01 9.31973638e-01 -2.55028490e-03 1.50418811e+01] [ 6.91239666e-03 4.76001706e-05 9.99976108e-01 3.15073618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:15.05, Z:0.31 [[ 9.32732920e-01 -3.60510784e-01 -6.42450143e-03 7.31507259e+01] [ 3.60501762e-01 9.32755043e-01 -2.55132780e-03 1.50499576e+01] [ 6.91226729e-03 6.36633381e-05 9.99976108e-01 3.14496179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:15.06, Z:0.32 [[ 9.32927578e-01 -3.60006754e-01 -6.42429513e-03 7.31779252e+01] [ 3.59997716e-01 9.32949695e-01 -2.55184717e-03 1.50578423e+01] [ 6.91222639e-03 6.79570231e-05 9.99976108e-01 3.17280285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:15.07, Z:0.32 [[ 9.33099486e-01 -3.59560960e-01 -6.42379342e-03 7.32041499e+01] [ 3.59551903e-01 9.33121595e-01 -2.55310949e-03 1.50661253e+01] [ 6.91217886e-03 7.26180046e-05 9.99976108e-01 3.15238754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:15.08, Z:0.31 [[ 9.33282843e-01 -3.59084772e-01 -6.42357630e-03 7.32319693e+01] [ 3.59075700e-01 9.33304945e-01 -2.55365564e-03 1.50758685e+01] [ 6.91213438e-03 7.67328398e-05 9.99976108e-01 3.13528227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:15.09, Z:0.31 [[ 9.33259720e-01 -3.59144861e-01 -6.42373999e-03 7.32582535e+01] [ 3.59135793e-01 9.33281824e-01 -2.55324394e-03 1.50864243e+01] [ 6.91214421e-03 7.58447676e-05 9.99976108e-01 3.13724028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:15.09, Z:0.31 [[ 9.33268105e-01 -3.59123075e-01 -6.42357841e-03 7.32854200e+01] [ 3.59114003e-01 9.33290208e-01 -2.55365028e-03 1.50946664e+01] [ 6.91213756e-03 7.64434002e-05 9.99976108e-01 3.14579896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.31, Y:15.10, Z:0.31 [[ 9.33051697e-01 -3.59684964e-01 -6.42323159e-03 7.33110886e+01] [ 3.59675900e-01 9.33073803e-01 -2.55452234e-03 1.51028929e+01] [ 6.91217240e-03 7.32198075e-05 9.99976108e-01 3.13784767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:15.11, Z:0.32 [[ 9.32703364e-01 -3.60587271e-01 -6.42302061e-03 7.33385921e+01] [ 3.60578225e-01 9.32725477e-01 -2.55505270e-03 1.51105490e+01] [ 6.91223444e-03 6.71048695e-05 9.99976108e-01 3.18672627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:15.12, Z:0.32 [[ 9.31964938e-01 -3.62491523e-01 -6.42258381e-03 7.33659927e+01] [ 3.62482514e-01 9.31987067e-01 -2.55615021e-03 1.51181373e+01] [ 6.91234783e-03 5.41680465e-05 9.99976108e-01 3.19165800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:15.13, Z:0.32 [[ 9.31603188e-01 -3.63420247e-01 -6.42062000e-03 7.33912165e+01] [ 3.63411227e-01 9.31625311e-01 -2.56108275e-03 1.51273371e+01] [ 6.91236143e-03 5.25874617e-05 9.99976108e-01 3.18693394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.42, Y:15.14, Z:0.32 [[ 9.31316373e-01 -3.64154658e-01 -6.41860040e-03 7.34185267e+01] [ 3.64145620e-01 9.31338489e-01 -2.56615286e-03 1.51365794e+01] [ 6.91236612e-03 5.25949540e-05 9.99976108e-01 3.15808207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:15.14, Z:0.32 [[ 9.30450638e-01 -3.66361026e-01 -6.41938023e-03 7.34472079e+01] [ 3.66352054e-01 9.30472782e-01 -2.56419556e-03 1.51425015e+01] [ 6.91247990e-03 3.41042588e-05 9.99976108e-01 3.19749798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:15.15, Z:0.32 [[ 9.30140568e-01 -3.67147505e-01 -6.42136743e-03 7.34745717e+01] [ 3.67138586e-01 9.30162732e-01 -2.55920943e-03 1.51512044e+01] [ 6.91252403e-03 2.28927479e-05 9.99976108e-01 3.18448001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:15.16, Z:0.32 [[ 9.29869458e-01 -3.67833638e-01 -6.41909363e-03 7.35027317e+01] [ 3.67824696e-01 9.29891614e-01 -2.56491289e-03 1.51599233e+01] [ 6.91252258e-03 2.39329909e-05 9.99976108e-01 3.19385657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.53, Y:15.17, Z:0.32 [[ 9.29578430e-01 -3.68568468e-01 -6.42083578e-03 7.35295458e+01] [ 3.68559573e-01 9.29600605e-01 -2.56054428e-03 1.51694164e+01] [ 6.91254870e-03 1.37662398e-05 9.99976108e-01 3.19909498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:15.18, Z:0.32 [[ 9.29285287e-01 -3.69306964e-01 -6.42033831e-03 7.35578191e+01] [ 3.69298079e-01 9.29307466e-01 -2.56179103e-03 1.51766485e+01] [ 6.91255559e-03 9.61611633e-06 9.99976108e-01 3.22162689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.58, Y:15.19, Z:0.32 [[ 9.29207701e-01 -3.69502191e-01 -6.41709800e-03 7.35836913e+01] [ 3.69493254e-01 9.29229859e-01 -2.56990997e-03 1.51858406e+01] [ 6.91254643e-03 1.69057142e-05 9.99976108e-01 3.22671871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:15.20, Z:0.33 [[ 9.28986747e-01 -3.70057415e-01 -6.41357103e-03 7.36125531e+01] [ 3.70048431e-01 9.29008885e-01 -2.57874088e-03 1.51950401e+01] [ 6.91254666e-03 2.22842017e-05 9.99976108e-01 3.25773966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.64, Y:15.20, Z:0.32 [[ 9.28983119e-01 -3.70066417e-01 -6.41963607e-03 7.36402306e+01] [ 3.70057538e-01 9.29005300e-01 -2.56355284e-03 1.52039997e+01] [ 6.91256075e-03 5.86259538e-06 9.99976108e-01 3.23695627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:15.21, Z:0.32 [[ 9.29481042e-01 -3.68814027e-01 -6.41919244e-03 7.36675128e+01] [ 3.68805110e-01 9.29503208e-01 -2.56466324e-03 1.52101968e+01] [ 6.91254374e-03 1.63748847e-05 9.99976108e-01 3.21460430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:15.22, Z:0.32 [[ 9.30002382e-01 -3.67497514e-01 -6.41462882e-03 7.36939083e+01] [ 3.67488487e-01 9.30024503e-01 -2.57607987e-03 1.52186422e+01] [ 6.91246492e-03 3.84581744e-05 9.99976108e-01 3.21086023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:15.23, Z:0.32 [[ 9.30270054e-01 -3.66819413e-01 -6.41441493e-03 7.37211335e+01] [ 3.66810366e-01 9.30292167e-01 -2.57661491e-03 1.52281772e+01] [ 6.91243234e-03 4.40737998e-05 9.99976108e-01 3.21245893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:15.24, Z:0.32 [[ 9.30620096e-01 -3.65930424e-01 -6.41576113e-03 7.37472116e+01] [ 3.65921380e-01 9.30642210e-01 -2.57324754e-03 1.52370567e+01] [ 6.91240767e-03 4.70517069e-05 9.99976108e-01 3.23472449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:15.25, Z:0.33 [[ 9.31380888e-01 -3.63989736e-01 -6.41199931e-03 7.37760486e+01] [ 3.63980581e-01 9.31402956e-01 -2.58265109e-03 1.52458325e+01] [ 6.91221360e-03 7.15886304e-05 9.99976108e-01 3.25536746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:15.26, Z:0.32 [[ 9.31788074e-01 -3.62945990e-01 -6.41815311e-03 7.38020224e+01] [ 3.62936916e-01 9.31810176e-01 -2.56726663e-03 1.52552452e+01] [ 6.91227951e-03 6.27637340e-05 9.99976108e-01 3.23834344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:15.27, Z:0.32 [[ 9.32184687e-01 -3.61926123e-01 -6.41799503e-03 7.38280642e+01] [ 3.61917022e-01 9.32206778e-01 -2.56766175e-03 1.52650245e+01] [ 6.91220233e-03 7.07533140e-05 9.99976108e-01 3.24226225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:15.27, Z:0.32 [[ 9.33503264e-01 -3.58511466e-01 -6.41748601e-03 7.38533747e+01] [ 3.58502275e-01 9.33525318e-01 -2.56893335e-03 1.52734287e+01] [ 6.91187773e-03 9.74243385e-05 9.99976108e-01 3.21506023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:15.28, Z:0.32 [[ 9.34387566e-01 -3.56200357e-01 -6.41726556e-03 7.38796484e+01] [ 3.56191108e-01 9.34409596e-01 -2.56948392e-03 1.52832395e+01] [ 6.91160561e-03 1.15120894e-04 9.99976108e-01 3.21120428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:15.29, Z:0.32 [[ 9.35219044e-01 -3.54011629e-01 -6.41134575e-03 7.39071884e+01] [ 3.54002227e-01 9.35241009e-01 -2.58426289e-03 1.52946159e+01] [ 6.91101259e-03 1.47221190e-04 9.99976108e-01 3.21022295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:15.31, Z:0.32 [[ 9.36233468e-01 -3.51319962e-01 -6.41706350e-03 7.39324384e+01] [ 3.51310594e-01 9.36255447e-01 -2.56998609e-03 1.53062277e+01] [ 6.91089807e-03 1.51724598e-04 9.99976108e-01 3.20511285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:15.32, Z:0.32 [[ 9.37276104e-01 -3.48528813e-01 -6.41658018e-03 7.39569430e+01] [ 3.48519371e-01 9.37298051e-01 -2.57119226e-03 1.53179957e+01] [ 6.91038268e-03 1.73614576e-04 9.99976108e-01 3.19463547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:15.33, Z:0.32 [[ 9.38980359e-01 -3.43911077e-01 -6.40758408e-03 7.39821263e+01] [ 3.43901375e-01 9.39002192e-01 -2.59363278e-03 1.53299994e+01] [ 6.90871454e-03 2.31793254e-04 9.99976108e-01 3.22127502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:15.34, Z:0.33 [[ 9.39402768e-01 -3.42755571e-01 -6.40760737e-03 7.40092324e+01] [ 3.42745842e-01 9.39424590e-01 -2.59357469e-03 1.53427289e+01] [ 6.90842610e-03 2.40230461e-04 9.99976108e-01 3.25794161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:15.36, Z:0.33 [[ 9.39727163e-01 -3.41865017e-01 -6.41633782e-03 7.40345054e+01] [ 3.41855416e-01 9.39749041e-01 -2.57179319e-03 1.53552339e+01] [ 6.90895344e-03 2.23324088e-04 9.99976108e-01 3.25424676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:15.37, Z:0.33 [[ 9.39703463e-01 -3.41930159e-01 -6.41618343e-03 7.40591296e+01] [ 3.41920557e-01 9.39725341e-01 -2.57217831e-03 1.53677302e+01] [ 6.90895550e-03 2.23259846e-04 9.99976108e-01 3.27539471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.08, Y:15.38, Z:0.33 [[ 9.38967829e-01 -3.43945133e-01 -6.41568647e-03 7.40831222e+01] [ 3.43935570e-01 9.38989724e-01 -2.57341726e-03 1.53822102e+01] [ 6.90937801e-03 2.09773241e-04 9.99976108e-01 3.26288906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:15.39, Z:0.33 [[ 9.38310559e-01 -3.45734204e-01 -6.41519238e-03 7.41075503e+01] [ 3.45724674e-01 9.38332468e-01 -2.57464839e-03 1.53938578e+01] [ 6.90972731e-03 1.97929476e-04 9.99976108e-01 3.26129266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:15.41, Z:0.33 [[ 9.37446965e-01 -3.48069013e-01 -6.41485503e-03 7.41335242e+01] [ 3.48059532e-01 9.37468895e-01 -2.57548863e-03 1.54058430e+01] [ 6.91017484e-03 1.81632562e-04 9.99976108e-01 3.25753551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.16, Y:15.42, Z:0.32 [[ 9.35558524e-01 -3.53113441e-01 -6.41445267e-03 7.41588196e+01] [ 3.53104071e-01 9.35580502e-01 -2.57649033e-03 1.54183502e+01] [ 6.91103022e-03 1.45488140e-04 9.99976108e-01 3.22084278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:15.43, Z:0.32 [[ 9.34453344e-01 -3.56027814e-01 -6.41429796e-03 7.41846372e+01] [ 3.56018510e-01 9.34475350e-01 -2.57687544e-03 1.54298967e+01] [ 6.91144266e-03 1.24361070e-04 9.99976108e-01 3.24228800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:15.44, Z:0.33 [[ 9.33411152e-01 -3.58751278e-01 -6.41414705e-03 7.42103885e+01] [ 3.58742036e-01 9.33433184e-01 -2.57725102e-03 1.54418937e+01] [ 6.91176980e-03 1.04610676e-04 9.99976108e-01 3.25722551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:15.45, Z:0.33 [[ 9.32441786e-01 -3.61263312e-01 -6.41365989e-03 7.42357409e+01] [ 3.61254121e-01 9.32463839e-01 -2.57846277e-03 1.54532624e+01] [ 6.91200993e-03 8.73053670e-05 9.99976108e-01 3.26210736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:15.46, Z:0.33 [[ 9.31599199e-01 -3.63430604e-01 -6.41323609e-03 7.42613583e+01] [ 3.63421456e-01 9.31621270e-01 -2.57951644e-03 1.54640391e+01] [ 6.91218237e-03 7.23678455e-05 9.99976108e-01 3.26847064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.29, Y:15.48, Z:0.33 [[ 9.30335014e-01 -3.66654657e-01 -6.41275054e-03 7.42864679e+01] [ 3.66645578e-01 9.30357114e-01 -2.58072297e-03 1.54768890e+01] [ 6.91238218e-03 4.97303177e-05 9.99976108e-01 3.30091498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:15.49, Z:0.33 [[ 9.29861640e-01 -3.67853521e-01 -6.41223502e-03 7.43114502e+01] [ 3.67844462e-01 9.29883748e-01 -2.58200323e-03 1.54882219e+01] [ 6.91243211e-03 4.22006188e-05 9.99976108e-01 3.30072204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.34, Y:15.50, Z:0.33 [[ 9.29335086e-01 -3.69181776e-01 -6.41207512e-03 7.43373520e+01] [ 3.69172745e-01 9.29357205e-01 -2.58240025e-03 1.54997563e+01] [ 6.91248333e-03 3.27517836e-05 9.99976108e-01 3.26990243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:15.51, Z:0.33 [[ 9.28632027e-01 -3.70946692e-01 -6.41164696e-03 7.43629906e+01] [ 3.70937696e-01 9.28654161e-01 -2.58346287e-03 1.55103767e+01] [ 6.91252963e-03 2.07648083e-05 9.99976108e-01 3.30547593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:74.39, Y:15.52, Z:0.33 [[ 9.28305523e-01 -3.71763033e-01 -6.41113098e-03 7.43889356e+01] [ 3.71754048e-01 9.28327661e-01 -2.58474268e-03 1.55219156e+01] [ 6.91254201e-03 1.60670131e-05 9.99976108e-01 3.26843934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:15.53, Z:0.33 [[ 9.27953390e-01 -3.72641126e-01 -6.41068220e-03 7.44150448e+01] [ 3.72632154e-01 9.27975534e-01 -2.58585528e-03 1.55332602e+01] [ 6.91255226e-03 1.07268644e-05 9.99976108e-01 3.29796399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:15.55, Z:0.33 [[ 9.27447919e-01 -3.73897401e-01 -6.41023540e-03 7.44405426e+01] [ 3.73888452e-01 9.27470071e-01 -2.58696239e-03 1.55454086e+01] [ 6.91256000e-03 2.55989696e-06 9.99976108e-01 3.30750826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:15.56, Z:0.33 [[ 9.27238597e-01 -3.74416205e-01 -6.41007700e-03 7.44671366e+01] [ 3.74407265e-01 9.27260754e-01 -2.58735483e-03 1.55563057e+01] [ 6.91256041e-03 -8.84131138e-07 9.99976108e-01 3.32258088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:15.57, Z:0.33 [[ 9.27228843e-01 -3.74440368e-01 -6.40963114e-03 7.44924039e+01] [ 3.74431421e-01 9.27250996e-01 -2.58845889e-03 1.55660899e+01] [ 6.91256036e-03 1.26442196e-07 9.99976108e-01 3.31405492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.52, Y:15.58, Z:0.33 [[ 9.27132180e-01 -3.74679650e-01 -6.40940999e-03 7.45192934e+01] [ 3.74670705e-01 9.27154334e-01 -2.58900637e-03 1.55771389e+01] [ 6.91256025e-03 -1.06703702e-06 9.99976108e-01 3.30097477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:15.59, Z:0.33 [[ 9.27416597e-01 -3.73975108e-01 -6.40896642e-03 7.45448737e+01] [ 3.73966139e-01 9.27438741e-01 -2.59010395e-03 1.55882798e+01] [ 6.91255815e-03 5.36896869e-06 9.99976108e-01 3.31345590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:74.57, Y:15.60, Z:0.33 [[ 9.27647888e-01 -3.73401024e-01 -6.40873107e-03 7.45711693e+01] [ 3.73392037e-01 9.27670025e-01 -2.59068615e-03 1.55999036e+01] [ 6.91255257e-03 1.02753857e-05 9.99976108e-01 3.29268544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.60, Y:15.61, Z:0.33 [[ 9.27932241e-01 -3.72693828e-01 -6.40828961e-03 7.45968142e+01] [ 3.72684816e-01 9.27954369e-01 -2.59177766e-03 1.56109971e+01] [ 6.91253988e-03 1.67218153e-05 9.99976108e-01 3.29649272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.62, Y:15.62, Z:0.33 [[ 9.28951229e-01 -3.70146667e-01 -6.40778041e-03 7.46234843e+01] [ 3.70137586e-01 9.28973328e-01 -2.59303598e-03 1.56232086e+01] [ 6.91246072e-03 3.70435829e-05 9.99976108e-01 3.30474473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:15.63, Z:0.33 [[ 9.29449228e-01 -3.68894399e-01 -6.40735792e-03 7.46485385e+01] [ 3.68885282e-01 9.29471312e-01 -2.59407952e-03 1.56342116e+01] [ 6.91239678e-03 4.74851717e-05 9.99976108e-01 3.29753801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:15.65, Z:0.33 [[ 9.29975717e-01 -3.67565115e-01 -6.40716374e-03 7.46743742e+01] [ 3.67555962e-01 9.29997786e-01 -2.59455905e-03 1.56458464e+01] [ 6.91231749e-03 5.78856756e-05 9.99976108e-01 3.30855465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:15.66, Z:0.33 [[ 9.30397092e-01 -3.66497208e-01 -6.40693546e-03 7.46993156e+01] [ 3.66488026e-01 9.30419149e-01 -2.59512263e-03 1.56576555e+01] [ 6.91224064e-03 6.64294166e-05 9.99976108e-01 3.29720692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:15.67, Z:0.33 [[ 9.30950471e-01 -3.65089269e-01 -6.40669822e-03 7.47247275e+01] [ 3.65080049e-01 9.30972513e-01 -2.59570819e-03 1.56722015e+01] [ 6.91212515e-03 7.75180596e-05 9.99976108e-01 3.31748082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:15.68, Z:0.33 [[ 9.31039932e-01 -3.64861076e-01 -6.40624675e-03 7.47497228e+01] [ 3.64851844e-01 9.31061968e-01 -2.59682196e-03 1.56841069e+01] [ 6.91209196e-03 8.04139994e-05 9.99976108e-01 3.30750685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:15.70, Z:0.33 [[ 9.31017469e-01 -3.64918395e-01 -6.40608604e-03 7.47754670e+01] [ 3.64909162e-01 9.31039504e-01 -2.59721835e-03 1.56959275e+01] [ 6.91209192e-03 8.04161641e-05 9.99976108e-01 3.28699800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:15.71, Z:0.33 [[ 9.30938037e-01 -3.65120986e-01 -6.40592686e-03 7.48017740e+01] [ 3.65111755e-01 9.30960074e-01 -2.59761090e-03 1.57082131e+01] [ 6.91210439e-03 7.93355978e-05 9.99976108e-01 3.31282772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:15.72, Z:0.33 [[ 9.29950872e-01 -3.67628081e-01 -6.40076445e-03 7.48287884e+01] [ 3.67618821e-01 9.29972897e-01 -2.61033810e-03 1.57215476e+01] [ 6.91217104e-03 7.44447081e-05 9.99976108e-01 3.29652463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:15.73, Z:0.33 [[ 9.28910596e-01 -3.70248661e-01 -6.40572795e-03 7.48549777e+01] [ 3.70239548e-01 9.28932682e-01 -2.59810037e-03 1.57321191e+01] [ 6.91243323e-03 4.17491421e-05 9.99976108e-01 3.32547229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.88, Y:15.74, Z:0.33 [[ 9.26946959e-01 -3.75137719e-01 -6.40520874e-03 7.48814170e+01] [ 3.75128714e-01 9.26969089e-01 -2.59937977e-03 1.57424479e+01] [ 6.91255591e-03 6.70945859e-06 9.99976108e-01 3.33314055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.91, Y:15.75, Z:0.33 [[ 9.26927341e-01 -3.75186243e-01 -6.40210611e-03 7.49076309e+01] [ 3.75177185e-01 9.26949450e-01 -2.60702326e-03 1.57531743e+01] [ 6.91254800e-03 1.45969875e-05 9.99976108e-01 3.33509776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:15.76, Z:0.34 [[ 9.25720066e-01 -3.78155227e-01 -6.40193028e-03 7.49342398e+01] [ 3.78146237e-01 9.25742202e-01 -2.60745635e-03 1.57648365e+01] [ 6.91256029e-03 -7.09118315e-06 9.99976108e-01 3.35126865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:15.78, Z:0.34 [[ 9.24547270e-01 -3.81013547e-01 -6.40486024e-03 7.49598709e+01] [ 3.81004676e-01 9.24569454e-01 -2.60023935e-03 1.57757378e+01] [ 6.91246455e-03 -3.62375060e-05 9.99976108e-01 3.36915857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:15.79, Z:0.34 [[ 9.22341861e-01 -3.86321725e-01 -6.40435309e-03 7.49855467e+01] [ 3.86312973e-01 9.22364093e-01 -2.60148784e-03 1.57851332e+01] [ 6.91215660e-03 -7.46235387e-05 9.99976108e-01 3.36708609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.01, Y:15.79, Z:0.34 [[ 9.21372848e-01 -3.88627150e-01 -6.40416389e-03 7.50120846e+01] [ 3.88618451e-01 9.21395100e-01 -2.60195353e-03 1.57944808e+01] [ 6.91195501e-03 -9.14069130e-05 9.99976108e-01 3.38147378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.04, Y:15.80, Z:0.34 [[ 9.20496783e-01 -3.90697666e-01 -6.40364123e-03 7.50382789e+01] [ 3.90689007e-01 9.20519051e-01 -2.60323920e-03 1.58028258e+01] [ 6.91175323e-03 -1.05558924e-04 9.99976108e-01 3.37155907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:75.07, Y:15.81, Z:0.34 [[ 9.19496015e-01 -3.93047165e-01 -6.40341509e-03 7.50663904e+01] [ 3.93038560e-01 9.19518304e-01 -2.60379535e-03 1.58086413e+01] [ 6.91147176e-03 -1.22609598e-04 9.99976108e-01 3.37503480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:15.82, Z:0.34 [[ 9.19192097e-01 -3.93757402e-01 -6.40290383e-03 7.50933672e+01] [ 3.93748805e-01 9.19214389e-01 -2.60505196e-03 1.58187940e+01] [ 6.91139982e-03 -1.26592555e-04 9.99976108e-01 3.40300385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:15.83, Z:0.34 [[ 9.19426533e-01 -3.93209688e-01 -6.40245322e-03 7.51190474e+01] [ 3.93201070e-01 9.19448817e-01 -2.60615894e-03 1.58286815e+01] [ 6.91149498e-03 -1.21279778e-04 9.99976108e-01 3.37949360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.15, Y:15.84, Z:0.34 [[ 9.19785463e-01 -3.92369357e-01 -6.40229320e-03 7.51458714e+01] [ 3.92360716e-01 9.19807738e-01 -2.60655201e-03 1.58382403e+01] [ 6.91160996e-03 -1.14539699e-04 9.99976108e-01 3.38414027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.17, Y:15.85, Z:0.34 [[ 9.20057663e-01 -3.91730663e-01 -6.40184564e-03 7.51723716e+01] [ 3.91721999e-01 9.20079929e-01 -2.60765076e-03 1.58469447e+01] [ 6.91170645e-03 -1.08554705e-04 9.99976108e-01 3.38142444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:15.85, Z:0.34 [[ 9.20806582e-01 -3.89967001e-01 -6.40133602e-03 7.52005723e+01] [ 3.89958285e-01 9.20828827e-01 -2.60890120e-03 1.58548630e+01] [ 6.91192012e-03 -9.39606144e-05 9.99976108e-01 3.40114978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:15.86, Z:0.34 [[ 9.21181900e-01 -3.89079600e-01 -6.40088588e-03 7.52280539e+01] [ 3.89070856e-01 9.21204134e-01 -2.61000514e-03 1.58640241e+01] [ 6.91202229e-03 -8.61086570e-05 9.99976108e-01 3.41894432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:15.87, Z:0.34 [[ 9.21492758e-01 -3.88342802e-01 -6.40042838e-03 7.52547982e+01] [ 3.88334031e-01 9.21514982e-01 -2.61112658e-03 1.58717469e+01] [ 6.91210285e-03 -7.93699207e-05 9.99976108e-01 3.41323948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:15.88, Z:0.34 [[ 9.21635953e-01 -3.88002844e-01 -6.40026591e-03 7.52822457e+01] [ 3.87994062e-01 9.21658173e-01 -2.61152475e-03 1.58771200e+01] [ 6.91213641e-03 -7.63900661e-05 9.99976108e-01 3.39230818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.31, Y:15.89, Z:0.34 [[ 9.21607223e-01 -3.88071086e-01 -6.39991532e-03 7.53097513e+01] [ 3.88062300e-01 9.21629441e-01 -2.61238364e-03 1.58862325e+01] [ 6.91214093e-03 -7.59742325e-05 9.99976108e-01 3.39640604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:75.34, Y:15.89, Z:0.34 [[ 9.21629275e-01 -3.88018718e-01 -6.39946352e-03 7.53370109e+01] [ 3.88009924e-01 9.21651490e-01 -2.61348993e-03 1.58948773e+01] [ 6.91215810e-03 -7.43865241e-05 9.99976108e-01 3.40004516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:75.37, Y:15.90, Z:0.34 [[ 9.21911983e-01 -3.87346549e-01 -6.39901217e-03 7.53664656e+01] [ 3.87337730e-01 9.21934188e-01 -2.61459457e-03 1.58993561e+01] [ 6.91222227e-03 -6.81527812e-05 9.99976108e-01 3.41750650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:15.91, Z:0.34 [[ 9.21990191e-01 -3.87160362e-01 -6.39856041e-03 7.53938772e+01] [ 3.87151531e-01 9.22012391e-01 -2.61569967e-03 1.59065335e+01] [ 6.91224722e-03 -6.55630251e-05 9.99976108e-01 3.42554590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.42, Y:15.91, Z:0.34 [[ 9.22473141e-01 -3.86008245e-01 -6.39839951e-03 7.54206451e+01] [ 3.85999384e-01 9.22495329e-01 -2.61609321e-03 1.59146681e+01] [ 6.91232720e-03 -5.65025495e-05 9.99976108e-01 3.39542362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:15.92, Z:0.34 [[ 9.23837319e-01 -3.82731851e-01 -6.39823948e-03 7.54500016e+01] [ 3.82722909e-01 9.23859475e-01 -2.61648453e-03 1.59216571e+01] [ 6.91248613e-03 -3.15467716e-05 9.99976108e-01 3.42210169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:15.93, Z:0.34 [[ 9.24756127e-01 -3.80506426e-01 -6.40043906e-03 7.54761330e+01] [ 3.80497468e-01 9.24778276e-01 -2.61110622e-03 1.59305832e+01] [ 6.91252969e-03 -2.07143828e-05 9.99976108e-01 3.40541954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:15.94, Z:0.34 [[ 9.25682869e-01 -3.78246309e-01 -6.39966595e-03 7.55021969e+01] [ 3.78237283e-01 9.25704991e-01 -2.61299615e-03 1.59401770e+01] [ 6.91255885e-03 -1.78648410e-06 9.99976108e-01 3.39571784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:15.95, Z:0.34 [[ 9.26602826e-01 -3.75987065e-01 -6.39761518e-03 7.55290146e+01] [ 3.75977951e-01 9.26624911e-01 -2.61800760e-03 1.59498797e+01] [ 6.91252659e-03 2.04909942e-05 9.99976108e-01 3.39258974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.56, Y:15.96, Z:0.34 [[ 9.28131215e-01 -3.72198233e-01 -6.39713148e-03 7.55562315e+01] [ 3.72189020e-01 9.28153259e-01 -2.61918899e-03 1.59580406e+01] [ 6.91237595e-03 5.00089578e-05 9.99976108e-01 3.38778258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:15.97, Z:0.34 [[ 9.28512273e-01 -3.71246607e-01 -6.39661390e-03 7.55824936e+01] [ 3.71237363e-01 9.28534304e-01 -2.62045244e-03 1.59672288e+01] [ 6.91230951e-03 5.84601729e-05 9.99976108e-01 3.40845768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:15.98, Z:0.34 [[ 9.28905313e-01 -3.70262076e-01 -6.39637326e-03 7.56102866e+01] [ 3.70252805e-01 9.28927333e-01 -2.62103967e-03 1.59766720e+01] [ 6.91223755e-03 6.64225329e-05 9.99976108e-01 3.42532262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:75.64, Y:15.99, Z:0.34 [[ 9.29471375e-01 -3.68838723e-01 -6.39999207e-03 7.56358115e+01] [ 3.68829479e-01 9.29493406e-01 -2.61220855e-03 1.59861052e+01] [ 6.91223409e-03 6.74673356e-05 9.99976108e-01 3.42607861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:16.00, Z:0.34 [[ 9.29621457e-01 -3.68460364e-01 -6.39575917e-03 7.56617758e+01] [ 3.68451040e-01 9.29643455e-01 -2.62253163e-03 1.59956846e+01] [ 6.91207461e-03 8.14375592e-05 9.99976108e-01 3.43884685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:16.01, Z:0.34 [[ 9.29691449e-01 -3.68283737e-01 -6.39524664e-03 7.56889921e+01] [ 3.68274400e-01 9.29713441e-01 -2.62378089e-03 1.60059411e+01] [ 6.91204259e-03 8.41010382e-05 9.99976108e-01 3.42781670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.72, Y:16.02, Z:0.34 [[ 9.29488089e-01 -3.68796691e-01 -6.39479577e-03 7.57153585e+01] [ 3.68787359e-01 9.29510083e-01 -2.62487929e-03 1.60163483e+01] [ 6.91207395e-03 8.14741905e-05 9.99976108e-01 3.41458224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:16.03, Z:0.34 [[ 9.29332523e-01 -3.69188536e-01 -6.39427980e-03 7.57424826e+01] [ 3.69179204e-01 9.29354517e-01 -2.62613560e-03 1.60275558e+01] [ 6.91209198e-03 7.99180950e-05 9.99976108e-01 3.42887637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.77, Y:16.04, Z:0.34 [[ 9.29254540e-01 -3.69384684e-01 -6.39964853e-03 7.57673497e+01] [ 3.69375447e-01 9.29276574e-01 -2.61306352e-03 1.60382008e+01] [ 6.91226911e-03 6.43281007e-05 9.99976108e-01 3.43508462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.79, Y:16.05, Z:0.34 [[ 9.29060086e-01 -3.69873593e-01 -6.39387263e-03 7.57939207e+01] [ 3.69864271e-01 9.29082084e-01 -2.62712089e-03 1.60484853e+01] [ 6.91213515e-03 7.58881250e-05 9.99976108e-01 3.43306376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:16.06, Z:0.34 [[ 9.28348705e-01 -3.71655496e-01 -6.39336072e-03 7.58199497e+01] [ 3.71646207e-01 9.28370717e-01 -2.62836608e-03 1.60568061e+01] [ 6.91225557e-03 6.39719874e-05 9.99976108e-01 3.43191086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:16.07, Z:0.34 [[ 9.27950036e-01 -3.72649782e-01 -6.39301230e-03 7.58448600e+01] [ 3.72640511e-01 9.27972056e-01 -2.62921327e-03 1.60669783e+01] [ 6.91231252e-03 5.74831855e-05 9.99976108e-01 3.43021577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:16.08, Z:0.34 [[ 9.27623656e-01 -3.73461492e-01 -6.39279326e-03 7.58707555e+01] [ 3.73452237e-01 9.27645682e-01 -2.62974575e-03 1.60782105e+01] [ 6.91235583e-03 5.20114209e-05 9.99976108e-01 3.43312593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:16.09, Z:0.34 [[ 9.27286982e-01 -3.74296663e-01 -6.39229574e-03 7.58956398e+01] [ 3.74287419e-01 9.27309013e-01 -2.63095455e-03 1.60895260e+01] [ 6.91239096e-03 4.70940291e-05 9.99976108e-01 3.42627013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:16.10, Z:0.34 [[ 9.27301236e-01 -3.74261351e-01 -6.39207891e-03 7.59210984e+01] [ 3.74252102e-01 9.27323266e-01 -2.63148125e-03 1.61005153e+01] [ 6.91238521e-03 4.79268476e-05 9.99976108e-01 3.43226646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:16.11, Z:0.34 [[ 9.27773959e-01 -3.73087964e-01 -6.39158036e-03 7.59460712e+01] [ 3.73078680e-01 9.27795973e-01 -2.63269161e-03 1.61114799e+01] [ 6.91230807e-03 5.79803577e-05 9.99976108e-01 3.43066981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:16.12, Z:0.34 [[ 9.28010244e-01 -3.72499851e-01 -6.39124019e-03 7.59740271e+01] [ 3.72490547e-01 9.28032250e-01 -2.63351716e-03 1.61233707e+01] [ 6.91226176e-03 6.32543444e-05 9.99976108e-01 3.43813577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:16.13, Z:0.34 [[ 9.28612640e-01 -3.70995411e-01 -6.40080947e-03 7.59973101e+01] [ 3.70986231e-01 9.28634698e-01 -2.61028872e-03 1.61343004e+01] [ 6.91241891e-03 4.93349182e-05 9.99976108e-01 3.44640662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:76.02, Y:16.15, Z:0.34 [[ 9.29701224e-01 -3.68259138e-01 -6.39067116e-03 7.60211191e+01] [ 3.68249724e-01 9.29723184e-01 -2.63487833e-03 1.61490384e+01] [ 6.91187316e-03 9.62867180e-05 9.99976108e-01 3.41899509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:76.05, Y:16.16, Z:0.34 [[ 9.30052803e-01 -3.67370364e-01 -6.38739091e-03 7.60471721e+01] [ 3.67360875e-01 9.30074730e-01 -2.64283076e-03 1.61618060e+01] [ 6.91164858e-03 1.11494645e-04 9.99976108e-01 3.42013351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:16.17, Z:0.34 [[ 9.30325302e-01 -3.66679693e-01 -6.39017487e-03 7.60724481e+01] [ 3.66670234e-01 9.30347242e-01 -2.63608212e-03 1.61737923e+01] [ 6.91167935e-03 1.09326982e-04 9.99976108e-01 3.43034371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:16.19, Z:0.35 [[ 9.30328172e-01 -3.66672415e-01 -6.39001802e-03 7.60983318e+01] [ 3.66662953e-01 9.30350111e-01 -2.63646228e-03 1.61853380e+01] [ 6.91167196e-03 1.09792260e-04 9.99976108e-01 3.45549298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:16.20, Z:0.34 [[ 9.29637661e-01 -3.68419582e-01 -6.38985624e-03 7.61228626e+01] [ 3.68410159e-01 9.29659616e-01 -2.63685433e-03 1.61959540e+01] [ 6.91186007e-03 9.72311442e-05 9.99976108e-01 3.43803525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05264000000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:76.15, Y:16.21, Z:0.34 [[ 9.28953764e-01 -3.70140621e-01 -6.38950404e-03 7.61494497e+01] [ 3.70131232e-01 9.28975733e-01 -2.63770748e-03 1.62071962e+01] [ 6.91201689e-03 8.53532901e-05 9.99976108e-01 3.42700833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:16.22, Z:0.34 [[ 9.28316916e-01 -3.71734963e-01 -6.38905562e-03 7.61754992e+01] [ 3.71725604e-01 9.28338899e-01 -2.63879319e-03 1.62176527e+01] [ 6.91214055e-03 7.46607989e-05 9.99976108e-01 3.41058928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:16.23, Z:0.34 [[ 9.26948135e-01 -3.75135111e-01 -6.38778737e-03 7.62038042e+01] [ 3.75125812e-01 9.26970143e-01 -2.64186265e-03 1.62305662e+01] [ 6.91234361e-03 5.26457335e-05 9.99976108e-01 3.43065283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:16.24, Z:0.35 [[ 9.26597557e-01 -3.76000032e-01 -6.39862526e-03 7.62279250e+01] [ 3.75990935e-01 9.26619650e-01 -2.61563165e-03 1.62413849e+01] [ 6.91256948e-03 1.78128004e-05 9.99976108e-01 3.45988433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:16.25, Z:0.34 [[ 9.26160045e-01 -3.77076599e-01 -6.38816694e-03 7.62526230e+01] [ 3.77067353e-01 9.26182076e-01 -2.64092939e-03 1.62515189e+01] [ 6.91243839e-03 3.71540922e-05 9.99976108e-01 3.44831574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:76.28, Y:16.26, Z:0.35 [[ 9.25546206e-01 -3.78580791e-01 -6.38794509e-03 7.62797642e+01] [ 3.78571577e-01 9.25568249e-01 -2.64146589e-03 1.62616613e+01] [ 6.91248740e-03 2.65042834e-05 9.99976108e-01 3.46167167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:16.27, Z:0.35 [[ 9.25501952e-01 -3.78688970e-01 -6.38750043e-03 7.63065734e+01] [ 3.78679751e-01 9.25523994e-01 -2.64254070e-03 1.62721377e+01] [ 6.91248593e-03 2.68595077e-05 9.99976108e-01 3.49709590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.33, Y:16.28, Z:0.35 [[ 9.25545307e-01 -3.78583002e-01 -6.38705189e-03 7.63316415e+01] [ 3.78573773e-01 9.25567345e-01 -2.64362440e-03 1.62832222e+01] [ 6.91247792e-03 2.88238296e-05 9.99976108e-01 3.47935447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:16.29, Z:0.35 [[ 9.25652414e-01 -3.78321048e-01 -6.38689226e-03 7.63570647e+01] [ 3.78311810e-01 9.25674448e-01 -2.64400999e-03 1.62938969e+01] [ 6.91246760e-03 3.11974553e-05 9.99976108e-01 3.49338972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:76.38, Y:16.31, Z:0.35 [[ 9.26172373e-01 -3.77046348e-01 -6.38638576e-03 7.63830754e+01] [ 3.77037072e-01 9.26194391e-01 -2.64523284e-03 1.63054638e+01] [ 6.91241005e-03 4.20373899e-05 9.99976108e-01 3.47387843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:76.41, Y:16.32, Z:0.35 [[ 9.26550912e-01 -3.76115179e-01 -6.38592553e-03 7.64075275e+01] [ 3.76105873e-01 9.26572916e-01 -2.64634342e-03 1.63159755e+01] [ 6.91235558e-03 5.01878141e-05 9.99976108e-01 3.45545346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264000000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:76.43, Y:16.33, Z:0.35 [[ 9.26923058e-01 -3.75197106e-01 -6.38569703e-03 7.64332095e+01] [ 3.75187773e-01 9.26945052e-01 -2.64689469e-03 1.63280316e+01] [ 6.91229749e-03 5.76322711e-05 9.99976108e-01 3.46907379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:16.34, Z:0.35 [[ 9.27603045e-01 -3.73512811e-01 -6.38517370e-03 7.64585573e+01] [ 3.73503430e-01 9.27625018e-01 -2.64815654e-03 1.63406991e+01] [ 6.91216726e-03 7.15537867e-05 9.99976108e-01 3.47446043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.49, Y:16.35, Z:0.35 [[ 9.27600840e-01 -3.73518291e-01 -6.38501170e-03 7.64870098e+01] [ 3.73508907e-01 9.27622812e-01 -2.64854708e-03 1.63534297e+01] [ 6.91216328e-03 7.19357487e-05 9.99976108e-01 3.47400257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:16.36, Z:0.35 [[ 9.27943564e-01 -3.72665799e-01 -6.39874368e-03 7.65101901e+01] [ 3.72656623e-01 9.27965625e-01 -2.61543664e-03 1.63632268e+01] [ 6.91249796e-03 4.24433912e-05 9.99976107e-01 3.45022895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:16.38, Z:0.35 [[ 9.28522185e-01 -3.71222026e-01 -6.38437664e-03 7.65351071e+01] [ 3.71212578e-01 9.28544129e-01 -2.65004907e-03 1.63765312e+01] [ 6.91193203e-03 9.06684421e-05 9.99976108e-01 3.46377209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:16.39, Z:0.35 [[ 9.28449220e-01 -3.71404485e-01 -6.38385697e-03 7.65613464e+01] [ 3.71395033e-01 9.28471163e-01 -2.65130034e-03 1.63876312e+01] [ 6.91193194e-03 9.06649651e-05 9.99976108e-01 3.46574072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:16.40, Z:0.35 [[ 9.28794081e-01 -3.70541238e-01 -6.38333572e-03 7.65867883e+01] [ 3.70531756e-01 9.28816011e-01 -2.65255472e-03 1.63999724e+01] [ 6.91182533e-03 9.84485234e-05 9.99976108e-01 3.46825624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:16.41, Z:0.34 [[ 9.29213598e-01 -3.69487956e-01 -6.38281715e-03 7.66112715e+01] [ 3.69478441e-01 9.29235513e-01 -2.65380197e-03 1.64117212e+01] [ 6.91168823e-03 1.07635548e-04 9.99976108e-01 3.44250198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:16.43, Z:0.35 [[ 9.30334585e-01 -3.66656272e-01 -6.38259224e-03 7.66367051e+01] [ 3.66646687e-01 9.30356470e-01 -2.65434278e-03 1.64250114e+01] [ 6.91131741e-03 1.29270595e-04 9.99976108e-01 3.48930413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:16.44, Z:0.35 [[ 9.30745238e-01 -3.65612596e-01 -6.38214363e-03 7.66607955e+01] [ 3.65602979e-01 9.30767109e-01 -2.65542099e-03 1.64366877e+01] [ 6.91114473e-03 1.38189718e-04 9.99976108e-01 3.48275090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:16.45, Z:0.35 [[ 9.30819866e-01 -3.65422560e-01 -6.38192126e-03 7.66857664e+01] [ 3.65412935e-01 9.30841734e-01 -2.65595532e-03 1.64489279e+01] [ 6.91110464e-03 1.40179398e-04 9.99976108e-01 3.48801885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.71, Y:16.46, Z:0.35 [[ 9.30712125e-01 -3.65696892e-01 -6.38141293e-03 7.67110394e+01] [ 3.65687265e-01 9.30733992e-01 -2.65717610e-03 1.64616246e+01] [ 6.91111897e-03 1.39464574e-04 9.99976108e-01 3.46338738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:16.48, Z:0.35 [[ 9.30029786e-01 -3.67428736e-01 -6.38125563e-03 7.67383371e+01] [ 3.67419147e-01 9.30051670e-01 -2.65755381e-03 1.64764510e+01] [ 6.91135909e-03 1.27008706e-04 9.99976108e-01 3.48886545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.76, Y:16.49, Z:0.35 [[ 9.29626936e-01 -3.68446624e-01 -6.39106171e-03 7.67620990e+01] [ 3.68437220e-01 9.29648900e-01 -2.63400235e-03 1.64872121e+01] [ 6.91193276e-03 9.39345168e-05 9.99976108e-01 3.48092477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.79, Y:16.50, Z:0.35 [[ 9.28722842e-01 -3.70719795e-01 -6.38098409e-03 7.67874328e+01] [ 3.70710279e-01 9.28744757e-01 -2.65819365e-03 1.64978884e+01] [ 6.91175052e-03 1.03228769e-04 9.99976108e-01 3.49674255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:16.51, Z:0.35 [[ 9.26701176e-01 -3.75744880e-01 -6.38082828e-03 7.68133150e+01] [ 3.75735481e-01 9.26723141e-01 -2.65856762e-03 1.65092809e+01] [ 6.91220440e-03 6.61941595e-05 9.99976108e-01 3.50096387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:16.52, Z:0.35 [[ 9.25848146e-01 -3.77841829e-01 -6.38462346e-03 7.68389064e+01] [ 3.77832542e-01 9.25870159e-01 -2.64946115e-03 1.65201066e+01] [ 6.91240958e-03 4.06801808e-05 9.99976108e-01 3.54392009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:16.53, Z:0.35 [[ 9.24827437e-01 -3.80333414e-01 -6.38010005e-03 7.68649393e+01] [ 3.80324111e-01 9.24849444e-01 -2.66030945e-03 1.65311160e+01] [ 6.91243655e-03 3.38212940e-05 9.99976108e-01 3.50628813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:76.89, Y:16.54, Z:0.35 [[ 9.22727345e-01 -3.85400497e-01 -6.37993911e-03 7.68916698e+01] [ 3.85391313e-01 9.22749401e-01 -2.66069535e-03 1.65429543e+01] [ 6.91251830e-03 -3.67674779e-06 9.99976108e-01 3.49454637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:16.55, Z:0.35 [[ 9.22053362e-01 -3.87010205e-01 -6.37949744e-03 7.69176430e+01] [ 3.87001052e-01 9.22075431e-01 -2.66175392e-03 1.65528050e+01] [ 6.91250378e-03 -1.45930707e-05 9.99976108e-01 3.50356055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:16.56, Z:0.35 [[ 9.21471175e-01 -3.88394359e-01 -6.37934029e-03 7.69438083e+01] [ 3.88385237e-01 9.21493256e-01 -2.66213049e-03 1.65631739e+01] [ 6.91247553e-03 -2.45650760e-05 9.99976108e-01 3.51024710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:16.57, Z:0.35 [[ 9.21245745e-01 -3.88928769e-01 -6.37883310e-03 7.69703213e+01] [ 3.88919650e-01 9.21267829e-01 -2.66334524e-03 1.65742144e+01] [ 6.91246531e-03 -2.72580733e-05 9.99976108e-01 3.51039177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.00, Y:16.59, Z:0.35 [[ 9.21588211e-01 -3.88116589e-01 -6.37837991e-03 7.69968932e+01] [ 3.88107443e-01 9.21610283e-01 -2.66443014e-03 1.65860660e+01] [ 6.91249005e-03 -1.99893165e-05 9.99976108e-01 3.50361610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:16.60, Z:0.35 [[ 9.22239961e-01 -3.86565360e-01 -6.37792113e-03 7.70228766e+01] [ 3.86556170e-01 9.22262014e-01 -2.66552787e-03 1.65971342e+01] [ 6.91251513e-03 -7.16844675e-06 9.99976108e-01 3.48200733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.05, Y:16.61, Z:0.35 [[ 9.23948704e-01 -3.82463222e-01 -6.37775803e-03 7.70487609e+01] [ 3.82453931e-01 9.23970716e-01 -2.66591808e-03 1.66097217e+01] [ 6.91247726e-03 2.39729282e-05 9.99976108e-01 3.51549905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:16.62, Z:0.35 [[ 9.24834877e-01 -3.80315369e-01 -6.37733800e-03 7.70740267e+01] [ 3.80306020e-01 9.24856864e-01 -2.66692248e-03 1.66218187e+01] [ 6.91239643e-03 4.11228848e-05 9.99976108e-01 3.51683872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:16.63, Z:0.35 [[ 9.25640058e-01 -3.78351449e-01 -6.37685868e-03 7.71003302e+01] [ 3.78342046e-01 9.25662021e-01 -2.66806809e-03 1.66336711e+01] [ 6.91228332e-03 5.70369436e-05 9.99976108e-01 3.53714651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:16.65, Z:0.35 [[ 9.26868714e-01 -3.75331492e-01 -6.37641350e-03 7.71255708e+01] [ 3.75322010e-01 9.26890643e-01 -2.66913160e-03 1.66452575e+01] [ 6.91204715e-03 8.07262394e-05 9.99976108e-01 3.50757616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:16.66, Z:0.35 [[ 9.27157229e-01 -3.74618229e-01 -6.37617667e-03 7.71505485e+01] [ 3.74608726e-01 9.27179149e-01 -2.66969722e-03 1.66572561e+01] [ 6.91197531e-03 8.66576625e-05 9.99976108e-01 3.53781798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.18, Y:16.67, Z:0.35 [[ 9.27188706e-01 -3.74540324e-01 -6.37567105e-03 7.71763198e+01] [ 3.74530811e-01 9.27210622e-01 -2.67090417e-03 1.66693918e+01] [ 6.91195124e-03 8.85469367e-05 9.99976108e-01 3.51825236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:16.68, Z:0.35 [[ 9.26981714e-01 -3.75052338e-01 -6.37542735e-03 7.72023039e+01] [ 3.75042833e-01 9.27003633e-01 -2.67148576e-03 1.66809701e+01] [ 6.91199130e-03 8.53601063e-05 9.99976108e-01 3.53523008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:16.69, Z:0.35 [[ 9.26501877e-01 -3.76236138e-01 -6.37489926e-03 7.72277804e+01] [ 3.76226653e-01 9.26523806e-01 -2.67274535e-03 1.66929463e+01] [ 6.91207931e-03 7.78965772e-05 9.99976108e-01 3.53359443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:16.70, Z:0.35 [[ 9.26093915e-01 -3.77239212e-01 -6.37473637e-03 7.72530145e+01] [ 3.77229747e-01 9.26115852e-01 -2.67313378e-03 1.67044794e+01] [ 6.91215529e-03 7.08327402e-05 9.99976108e-01 3.53880453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:16.72, Z:0.35 [[ 9.25698396e-01 -3.78208737e-01 -6.37423065e-03 7.72783972e+01] [ 3.78199288e-01 9.25720339e-01 -2.67433917e-03 1.67153061e+01] [ 6.91221340e-03 6.49019908e-05 9.99976108e-01 3.53539229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:16.73, Z:0.36 [[ 9.24936272e-01 -3.80068762e-01 -6.37407352e-03 7.73051755e+01] [ 3.80059353e-01 9.24958234e-01 -2.67471362e-03 1.67270345e+01] [ 6.91232688e-03 5.14133840e-05 9.99976108e-01 3.56870522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:16.74, Z:0.36 [[ 9.24526433e-01 -3.81064630e-01 -6.37362750e-03 7.73315596e+01] [ 3.81055238e-01 9.24548401e-01 -2.67577602e-03 1.67391819e+01] [ 6.91237071e-03 4.51215144e-05 9.99976108e-01 3.58217606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:16.75, Z:0.36 [[ 9.24102795e-01 -3.82090835e-01 -6.37318036e-03 7.73575426e+01] [ 3.82081460e-01 9.24124771e-01 -2.67684061e-03 1.67516317e+01] [ 6.91241010e-03 3.86018306e-05 9.99976108e-01 3.56002933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:16.76, Z:0.36 [[ 9.23172096e-01 -3.84334064e-01 -6.37252296e-03 7.73832265e+01] [ 3.84324732e-01 9.23194089e-01 -2.67840512e-03 1.67640598e+01] [ 6.91247786e-03 2.35106877e-05 9.99976108e-01 3.57557615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:16.78, Z:0.36 [[ 9.22510501e-01 -3.85919375e-01 -6.37263726e-03 7.74100674e+01] [ 3.85910083e-01 9.22532512e-01 -2.67813315e-03 1.67754034e+01] [ 6.91250853e-03 1.13409818e-05 9.99976108e-01 3.58286772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.44, Y:16.79, Z:0.35 [[ 9.21728611e-01 -3.87783139e-01 -6.37217182e-03 7.74359693e+01] [ 3.87773883e-01 9.21750637e-01 -2.67924012e-03 1.67856756e+01] [ 6.91251758e-03 -1.42954288e-06 9.99976108e-01 3.53755077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:16.80, Z:0.36 [[ 9.21023666e-01 -3.89454496e-01 -6.37200731e-03 7.74629486e+01] [ 3.89445277e-01 9.21045708e-01 -2.67963132e-03 1.67956013e+01] [ 6.91250445e-03 -1.35442876e-05 9.99976108e-01 3.56599438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:16.81, Z:0.36 [[ 9.19591857e-01 -3.92823394e-01 -6.37154512e-03 7.74884762e+01] [ 3.92814249e-01 9.19613930e-01 -2.68072985e-03 1.68057964e+01] [ 6.91241504e-03 -3.76563691e-05 9.99976108e-01 3.57802462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:16.82, Z:0.36 [[ 9.18938395e-01 -3.94349634e-01 -6.37129895e-03 7.75148798e+01] [ 3.94340521e-01 9.18960480e-01 -2.68131478e-03 1.68163276e+01] [ 6.91234745e-03 -4.84982455e-05 9.99976108e-01 3.59480151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:16.83, Z:0.36 [[ 9.18148406e-01 -3.96185459e-01 -6.37078493e-03 7.75413487e+01] [ 3.96176382e-01 9.18170506e-01 -2.68253556e-03 1.68253264e+01] [ 6.91224840e-03 -6.09887712e-05 9.99976108e-01 3.58750981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:16.84, Z:0.36 [[ 9.18097215e-01 -3.96304074e-01 -6.37062540e-03 7.75670044e+01] [ 3.96294997e-01 9.18119315e-01 -2.68291435e-03 1.68356919e+01] [ 6.91224412e-03 -6.14707779e-05 9.99976108e-01 3.58288963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:16.85, Z:0.36 [[ 9.18004902e-01 -3.96517865e-01 -6.37046771e-03 7.75927737e+01] [ 3.96508791e-01 9.18027003e-01 -2.68328872e-03 1.68464751e+01] [ 6.91223330e-03 -6.26742536e-05 9.99976108e-01 3.59659652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:16.86, Z:0.36 [[ 9.18211253e-01 -3.96039795e-01 -6.36994557e-03 7.76192127e+01] [ 3.96030700e-01 9.18233346e-01 -2.68452768e-03 1.68565709e+01] [ 6.91227623e-03 -5.77304831e-05 9.99976108e-01 3.58011747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:16.87, Z:0.36 [[ 9.18999322e-01 -3.94207650e-01 -6.36978393e-03 7.76450487e+01] [ 3.94198509e-01 9.19021396e-01 -2.68491117e-03 1.68663686e+01] [ 6.91238024e-03 -4.35277808e-05 9.99976108e-01 3.58406558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:16.88, Z:0.36 [[ 9.19597196e-01 -3.92810928e-01 -6.36962388e-03 7.76713842e+01] [ 3.92801750e-01 9.19619255e-01 -2.68529081e-03 1.68777260e+01] [ 6.91244034e-03 -3.26135118e-05 9.99976108e-01 3.59289696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:16.89, Z:0.36 [[ 9.20208169e-01 -3.91377514e-01 -6.36917867e-03 7.76972390e+01] [ 3.91368295e-01 9.20230211e-01 -2.68634639e-03 1.68888963e+01] [ 6.91248620e-03 -2.06967069e-05 9.99976108e-01 3.60827493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:16.90, Z:0.36 [[ 9.21785997e-01 -3.87646767e-01 -6.36865725e-03 7.77222294e+01] [ 3.87637450e-01 9.21807998e-01 -2.68758196e-03 1.68997642e+01] [ 6.91251165e-03 8.64535818e-06 9.99976108e-01 3.60290528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:16.91, Z:0.36 [[ 9.22585285e-01 -3.85740633e-01 -6.36830069e-03 7.77479812e+01] [ 3.85731265e-01 9.22607264e-01 -2.68842658e-03 1.69115091e+01] [ 6.91247585e-03 2.38501210e-05 9.99976108e-01 3.60361661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:16.92, Z:0.36 [[ 9.23569936e-01 -3.83377132e-01 -6.36777684e-03 7.77724126e+01] [ 3.83367699e-01 9.23591887e-01 -2.68966679e-03 1.69233278e+01] [ 6.91238377e-03 4.28954260e-05 9.99976108e-01 3.60315179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:16.94, Z:0.36 [[ 9.24300083e-01 -3.81613620e-01 -6.35627694e-03 7.77994921e+01] [ 3.81603958e-01 9.24321934e-01 -2.71687318e-03 1.69359941e+01] [ 6.91204200e-03 8.56256659e-05 9.99976108e-01 3.59144964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:16.95, Z:0.36 [[ 9.25541266e-01 -3.78593218e-01 -6.36715835e-03 7.78228869e+01] [ 3.78583662e-01 9.25563163e-01 -2.69112797e-03 1.69488533e+01] [ 6.91205002e-03 8.02478665e-05 9.99976108e-01 3.59094776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:16.96, Z:0.36 [[ 9.25789040e-01 -3.77986926e-01 -6.36693250e-03 7.78476616e+01] [ 3.77977351e-01 9.25810929e-01 -2.69166221e-03 1.69607589e+01] [ 6.91198882e-03 8.53550896e-05 9.99976108e-01 3.57297862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:16.97, Z:0.36 [[ 9.25753583e-01 -3.78073764e-01 -6.36658185e-03 7.78731264e+01] [ 3.78064186e-01 9.25775471e-01 -2.69249133e-03 1.69731224e+01] [ 6.91198564e-03 8.56069112e-05 9.99976108e-01 3.58683001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:16.98, Z:0.36 [[ 9.25448848e-01 -3.78819089e-01 -6.36605584e-03 7.78972009e+01] [ 3.78809521e-01 9.25470740e-01 -2.69373446e-03 1.69843453e+01] [ 6.91203644e-03 8.13908931e-05 9.99976108e-01 3.56779802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:77.92, Y:17.00, Z:0.35 [[ 9.24187620e-01 -3.81885740e-01 -6.36582706e-03 7.79225487e+01] [ 3.81876241e-01 9.24209542e-01 -2.69427500e-03 1.69966777e+01] [ 6.91226331e-03 5.90574991e-05 9.99976108e-01 3.52880152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:17.01, Z:0.36 [[ 9.23369879e-01 -3.83858757e-01 -6.36567016e-03 7.79485681e+01] [ 3.83849302e-01 9.23391820e-01 -2.69464565e-03 1.70080382e+01] [ 6.91237108e-03 4.46965877e-05 9.99976108e-01 3.57170175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:17.02, Z:0.36 [[ 9.22455599e-01 -3.86050712e-01 -6.36523094e-03 7.79751772e+01] [ 3.86041302e-01 9.22477559e-01 -2.69568276e-03 1.70199374e+01] [ 6.91245295e-03 2.94056139e-05 9.99976108e-01 3.59609015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:17.03, Z:0.36 [[ 9.21549345e-01 -3.88209087e-01 -6.36477910e-03 7.80011451e+01] [ 3.88199720e-01 9.21571324e-01 -2.69674918e-03 1.70311771e+01] [ 6.91250044e-03 1.43819750e-05 9.99976108e-01 3.60429523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.03, Y:17.04, Z:0.36 [[ 9.19682972e-01 -3.92610146e-01 -6.36426417e-03 7.80253375e+01] [ 3.92600876e-01 9.19704993e-01 -2.69796385e-03 1.70428236e+01] [ 6.91249351e-03 -1.73442717e-05 9.99976108e-01 3.59593149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:17.05, Z:0.36 [[ 9.18705007e-01 -3.94893321e-01 -6.35407110e-03 7.80532885e+01] [ 3.94883940e-01 9.18726981e-01 -2.72198727e-03 1.70546663e+01] [ 6.91255115e-03 -8.41729356e-06 9.99976108e-01 3.59974511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:17.07, Z:0.36 [[ 9.17950388e-01 -3.96644161e-01 -6.36361428e-03 7.80789198e+01] [ 3.96634977e-01 9.17972444e-01 -2.69949077e-03 1.70654383e+01] [ 6.91235980e-03 -4.60334034e-05 9.99976108e-01 3.58685170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:17.08, Z:0.36 [[ 9.16788796e-01 -3.99321741e-01 -6.36009347e-03 7.81051135e+01] [ 3.99312564e-01 9.16810855e-01 -2.70778563e-03 1.70766482e+01] [ 6.91228040e-03 -5.71976996e-05 9.99976108e-01 3.56956740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:17.09, Z:0.36 [[ 9.16416610e-01 -4.00175097e-01 -6.36301727e-03 7.81305065e+01] [ 4.00165988e-01 9.16438698e-01 -2.70089749e-03 1.70874906e+01] [ 6.91214717e-03 -7.11157743e-05 9.99976108e-01 3.60093531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:17.10, Z:0.36 [[ 9.16346233e-01 -4.00336234e-01 -6.36250658e-03 7.81548814e+01] [ 4.00327121e-01 9.16368318e-01 -2.70209997e-03 1.70979615e+01] [ 6.91214798e-03 -7.10248154e-05 9.99976108e-01 3.63191293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:17.11, Z:0.36 [[ 9.16233529e-01 -4.00594277e-01 -6.35186900e-03 7.81824554e+01] [ 4.00584997e-01 9.16255545e-01 -2.72712742e-03 1.71095015e+01] [ 6.91240683e-03 -4.57778479e-05 9.99976108e-01 3.63357839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:17.12, Z:0.36 [[ 9.16155494e-01 -4.00772551e-01 -6.36185420e-03 7.82086024e+01] [ 4.00763438e-01 9.16177579e-01 -2.70363148e-03 1.71208046e+01] [ 6.91212947e-03 -7.26517290e-05 9.99976108e-01 3.63555508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.24, Y:17.13, Z:0.36 [[ 9.16391508e-01 -4.00232603e-01 -6.36132739e-03 7.82357912e+01] [ 4.00223469e-01 9.16413585e-01 -2.70487043e-03 1.71315724e+01] [ 6.91218417e-03 -6.72322176e-05 9.99976108e-01 3.61994426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.26, Y:17.14, Z:0.36 [[ 9.16550773e-01 -3.99867754e-01 -6.36086592e-03 7.82604263e+01] [ 3.99858603e-01 9.16572842e-01 -2.70595521e-03 1.71414725e+01] [ 6.91222119e-03 -6.33016237e-05 9.99976108e-01 3.60695880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:17.15, Z:0.36 [[ 9.16834185e-01 -3.99217509e-01 -6.36063695e-03 7.82869326e+01] [ 3.99208339e-01 9.16856247e-01 -2.70649332e-03 1.71519053e+01] [ 6.91226924e-03 -5.78137142e-05 9.99976108e-01 3.63334787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:17.16, Z:0.36 [[ 9.17234425e-01 -3.98297072e-01 -6.36018646e-03 7.83129740e+01] [ 3.98287872e-01 9.17256475e-01 -2.70755155e-03 1.71618697e+01] [ 6.91233206e-03 -4.97256371e-05 9.99976108e-01 3.62843899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.34, Y:17.17, Z:0.36 [[ 9.18162797e-01 -3.96152279e-01 -6.36002652e-03 7.83392567e+01] [ 3.96143025e-01 9.18184824e-01 -2.70792720e-03 1.71713170e+01] [ 6.91243136e-03 -3.31621319e-05 9.99976108e-01 3.64274150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:78.37, Y:17.18, Z:0.37 [[ 9.18634580e-01 -3.95057069e-01 -6.35773382e-03 7.83658922e+01] [ 3.95047752e-01 9.18656580e-01 -2.71331000e-03 1.71832551e+01] [ 6.91248630e-03 -1.90680610e-05 9.99976108e-01 3.66477265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:17.19, Z:0.36 [[ 9.19507785e-01 -3.93020346e-01 -6.35936014e-03 7.83912537e+01] [ 3.93011007e-01 9.19529775e-01 -2.70949292e-03 1.71949410e+01] [ 6.91250684e-03 -7.89869928e-06 9.99976108e-01 3.61647296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.42, Y:17.21, Z:0.36 [[ 9.21271674e-01 -3.88867704e-01 -6.35702681e-03 7.84183916e+01] [ 3.88858227e-01 9.21293606e-01 -2.71496688e-03 1.72058915e+01] [ 6.91245108e-03 2.92399088e-05 9.99976108e-01 3.62050751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:78.45, Y:17.22, Z:0.36 [[ 9.22106638e-01 -3.86883594e-01 -6.35868859e-03 7.84454805e+01] [ 3.86874097e-01 9.22128561e-01 -2.71106924e-03 1.72167732e+01] [ 6.91239657e-03 3.98830439e-05 9.99976108e-01 3.61960476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:17.23, Z:0.37 [[ 9.22829086e-01 -3.85157177e-01 -6.35824220e-03 7.84708699e+01] [ 3.85147631e-01 9.22850988e-01 -2.71211575e-03 1.72276447e+01] [ 6.91230094e-03 5.39573790e-05 9.99976108e-01 3.65175087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:17.24, Z:0.36 [[ 9.24148094e-01 -3.81981518e-01 -6.35770937e-03 7.84968767e+01] [ 3.81971889e-01 9.24169959e-01 -2.71336424e-03 1.72387816e+01] [ 6.91205900e-03 7.90841277e-05 9.99976108e-01 3.63518178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:78.52, Y:17.25, Z:0.36 [[ 9.24626784e-01 -3.80821338e-01 -6.35754446e-03 7.85233706e+01] [ 3.80811679e-01 9.24648636e-01 -2.71375057e-03 1.72509397e+01] [ 6.91194894e-03 8.81792830e-05 9.99976108e-01 3.62836177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:17.26, Z:0.36 [[ 9.25358959e-01 -3.79038765e-01 -6.35707909e-03 7.85488270e+01] [ 3.79029056e-01 9.25380789e-01 -2.71484028e-03 1.72629050e+01] [ 6.91174857e-03 1.02684087e-04 9.99976108e-01 3.62525457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.57, Y:17.28, Z:0.36 [[ 9.25947447e-01 -3.77598957e-01 -6.35247148e-03 7.85739336e+01] [ 3.77589140e-01 9.25969229e-01 -2.72562443e-03 1.72789876e+01] [ 6.91138606e-03 1.25160734e-04 9.99976108e-01 3.60556488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.60, Y:17.29, Z:0.36 [[ 9.26182012e-01 -3.77023175e-01 -6.35649993e-03 7.86002190e+01] [ 3.77013410e-01 9.26203817e-01 -2.71619697e-03 1.72911315e+01] [ 6.91148371e-03 1.19207065e-04 9.99976108e-01 3.62712976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.63, Y:17.30, Z:0.36 [[ 9.26203456e-01 -3.76970501e-01 -6.35604548e-03 7.86264715e+01] [ 3.76960727e-01 9.26225257e-01 -2.71725999e-03 1.73025399e+01] [ 6.91145672e-03 1.20756069e-04 9.99976108e-01 3.64668069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:17.32, Z:0.37 [[ 9.26073855e-01 -3.77288776e-01 -6.35558197e-03 7.86515271e+01] [ 3.77279002e-01 9.26095656e-01 -2.71834370e-03 1.73153410e+01] [ 6.91147742e-03 1.19559403e-04 9.99976108e-01 3.66876763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.68, Y:17.33, Z:0.37 [[ 9.25912518e-01 -3.77684555e-01 -6.35504923e-03 7.86766512e+01] [ 3.77674782e-01 9.25934319e-01 -2.71958858e-03 1.73281224e+01] [ 6.91150479e-03 1.17959281e-04 9.99976108e-01 3.65404399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:17.34, Z:0.37 [[ 9.25898627e-01 -3.77718616e-01 -6.35451913e-03 7.87018855e+01] [ 3.77708835e-01 9.25920425e-01 -2.72082663e-03 1.73405621e+01] [ 6.91148593e-03 1.19051623e-04 9.99976108e-01 3.66707114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:17.35, Z:0.37 [[ 9.25829632e-01 -3.77887702e-01 -6.35435434e-03 7.87274188e+01] [ 3.77877923e-01 9.25851430e-01 -2.72121145e-03 1.73529541e+01] [ 6.91150039e-03 1.18207979e-04 9.99976108e-01 3.68850979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:17.37, Z:0.37 [[ 9.25768414e-01 -3.78037659e-01 -6.35388914e-03 7.87520115e+01] [ 3.78027876e-01 9.25790211e-01 -2.72229723e-03 1.73672151e+01] [ 6.91149924e-03 1.18269574e-04 9.99976108e-01 3.69339302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.78, Y:17.38, Z:0.37 [[ 9.25579528e-01 -3.78499955e-01 -6.34992628e-03 7.87776778e+01] [ 3.78490119e-01 9.25601301e-01 -2.73154103e-03 1.73803323e+01] [ 6.91138818e-03 1.24874103e-04 9.99976108e-01 3.66255079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:17.39, Z:0.37 [[ 9.25393372e-01 -3.78954803e-01 -6.35324857e-03 7.88035283e+01] [ 3.78945031e-01 9.25415174e-01 -2.72379179e-03 1.73924970e+01] [ 6.91158661e-03 1.13046901e-04 9.99976108e-01 3.68474881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:17.41, Z:0.36 [[ 9.24294979e-01 -3.81626080e-01 -6.35035675e-03 7.88289360e+01] [ 3.81616324e-01 9.24316788e-01 -2.73053490e-03 1.74061747e+01] [ 6.91178469e-03 1.00419901e-04 9.99976108e-01 3.64884327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:17.42, Z:0.37 [[ 9.23786750e-01 -3.82854600e-01 -6.35576954e-03 7.88536346e+01] [ 3.82844960e-01 9.23808611e-01 -2.71791573e-03 1.74192596e+01] [ 6.91208117e-03 7.75002000e-05 9.99976108e-01 3.67879757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:17.43, Z:0.37 [[ 9.23233813e-01 -3.84186115e-01 -6.35256094e-03 7.88788656e+01] [ 3.84176456e-01 9.23255665e-01 -2.72539458e-03 1.74322613e+01] [ 6.91209663e-03 7.56720879e-05 9.99976108e-01 3.68768939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:17.44, Z:0.37 [[ 9.22668807e-01 -3.85541074e-01 -6.35239296e-03 7.89044853e+01] [ 3.85531444e-01 9.22690672e-01 -2.72578606e-03 1.74447115e+01] [ 6.91219621e-03 6.59505432e-05 9.99976108e-01 3.68655390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:17.46, Z:0.37 [[ 9.21512367e-01 -3.88297065e-01 -6.35192244e-03 7.89301828e+01] [ 3.88287492e-01 9.21534257e-01 -2.72688206e-03 1.74566386e+01] [ 6.91235443e-03 4.64835062e-05 9.99976108e-01 3.67911704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:17.47, Z:0.37 [[ 9.20940157e-01 -3.89652260e-01 -6.35158678e-03 7.89545537e+01] [ 3.89642715e-01 9.20962059e-01 -2.72766369e-03 1.74675886e+01] [ 6.91241076e-03 3.71655148e-05 9.99976108e-01 3.67113136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:17.48, Z:0.37 [[ 9.20504681e-01 -3.90679913e-01 -6.35121810e-03 7.89794498e+01] [ 3.90670386e-01 9.20526591e-01 -2.72852186e-03 1.74799486e+01] [ 6.91244383e-03 3.03843175e-05 9.99976108e-01 3.67976259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:17.49, Z:0.37 [[ 9.20279934e-01 -3.91209039e-01 -6.35069010e-03 7.90044047e+01] [ 3.91199516e-01 9.20301846e-01 -2.72975023e-03 1.74931425e+01] [ 6.91245479e-03 2.77474637e-05 9.99976108e-01 3.66538807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:17.51, Z:0.37 [[ 9.20220724e-01 -3.91348298e-01 -6.35052634e-03 7.90288278e+01] [ 3.91338776e-01 9.20242636e-01 -2.73013116e-03 1.75092555e+01] [ 6.91245728e-03 2.71160666e-05 9.99976108e-01 3.66013490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:17.52, Z:0.37 [[ 9.20137678e-01 -3.91543522e-01 -6.35006358e-03 7.90548637e+01] [ 3.91533997e-01 9.20159589e-01 -2.73120708e-03 1.75222447e+01] [ 6.91245833e-03 2.68207693e-05 9.99976108e-01 3.66638765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:17.53, Z:0.37 [[ 9.20026328e-01 -3.91805102e-01 -6.34958870e-03 7.90796721e+01] [ 3.91795575e-01 9.20048239e-01 -2.73231065e-03 1.75339827e+01] [ 6.91246115e-03 2.60569749e-05 9.99976108e-01 3.66173602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:17.55, Z:0.37 [[ 9.19669179e-01 -3.92642697e-01 -6.34921908e-03 7.91050110e+01] [ 3.92633185e-01 9.19691096e-01 -2.73316928e-03 1.75463533e+01] [ 6.91247921e-03 2.06974359e-05 9.99976108e-01 3.65592310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:17.56, Z:0.37 [[ 9.19352508e-01 -3.93383588e-01 -6.34972428e-03 7.91300735e+01] [ 3.93374102e-01 9.19374435e-01 -2.73199595e-03 1.75592641e+01] [ 6.91249654e-03 1.38502434e-05 9.99976108e-01 3.68145406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.16, Y:17.57, Z:0.37 [[ 9.18979139e-01 -3.94255038e-01 -6.34874494e-03 7.91553762e+01] [ 3.94245556e-01 9.19001069e-01 -2.73426989e-03 1.75721976e+01] [ 6.91250307e-03 9.77251064e-06 9.99976108e-01 3.67550715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.18, Y:17.58, Z:0.37 [[ 9.18402792e-01 -3.95595766e-01 -6.34827605e-03 7.91809307e+01] [ 3.95586309e-01 9.18424733e-01 -2.73535809e-03 1.75846504e+01] [ 6.91250982e-03 8.69416842e-07 9.99976108e-01 3.66805937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:17.60, Z:0.37 [[ 9.17435510e-01 -3.97833874e-01 -6.34780500e-03 7.92055629e+01] [ 3.97824463e-01 9.17457470e-01 -2.73645081e-03 1.75975802e+01] [ 6.91249394e-03 -1.47949670e-05 9.99976108e-01 3.66469678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:17.61, Z:0.37 [[ 9.17051581e-01 -3.98718077e-01 -6.34763755e-03 7.92319012e+01] [ 3.98708684e-01 9.17073549e-01 -2.73683918e-03 1.76101759e+01] [ 6.91247775e-03 -2.10355206e-05 9.99976108e-01 3.67997911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:17.62, Z:0.37 [[ 9.16636118e-01 -3.99672290e-01 -6.34718242e-03 7.92592914e+01] [ 3.99662913e-01 9.16658093e-01 -2.73789429e-03 1.76220230e+01] [ 6.91245662e-03 -2.70806231e-05 9.99976108e-01 3.67516653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:79.29, Y:17.63, Z:0.37 [[ 9.16480278e-01 -4.00029446e-01 -6.35147815e-03 7.92851656e+01] [ 4.00020147e-01 9.16502286e-01 -2.72793852e-03 1.76329539e+01] [ 6.91239998e-03 -4.06173702e-05 9.99976108e-01 3.69668356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.31, Y:17.64, Z:0.37 [[ 9.15972367e-01 -4.01191159e-01 -6.34645306e-03 7.93101634e+01] [ 4.01181806e-01 9.15994352e-01 -2.73957954e-03 1.76426870e+01] [ 6.91241025e-03 -3.67023514e-05 9.99976108e-01 3.70684324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.34, Y:17.65, Z:0.37 [[ 9.15645814e-01 -4.01935903e-01 -6.34608930e-03 7.93357306e+01] [ 4.01926562e-01 9.15667805e-01 -2.74042192e-03 1.76534589e+01] [ 6.91238362e-03 -4.14059964e-05 9.99976108e-01 3.69711984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.36, Y:17.66, Z:0.37 [[ 9.15316399e-01 -4.02685510e-01 -6.34584260e-03 7.93612971e+01] [ 4.02676184e-01 9.15338395e-01 -2.74099307e-03 1.76644831e+01] [ 6.91235157e-03 -4.64437707e-05 9.99976108e-01 3.70100358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:17.68, Z:0.37 [[ 9.14835008e-01 -4.03777965e-01 -6.34532302e-03 7.93868962e+01] [ 4.03768657e-01 9.14857012e-01 -2.74219537e-03 1.76766245e+01] [ 6.91230132e-03 -5.33862337e-05 9.99976108e-01 3.72624672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:17.69, Z:0.37 [[ 9.14165033e-01 -4.05292531e-01 -6.34478820e-03 7.94123257e+01] [ 4.05283251e-01 9.14187049e-01 -2.74343225e-03 1.76871046e+01] [ 6.91221580e-03 -6.34865561e-05 9.99976108e-01 3.72623491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.44, Y:17.70, Z:0.37 [[ 9.13675604e-01 -4.06394680e-01 -6.34462234e-03 7.94398386e+01] [ 4.06385424e-01 9.13697630e-01 -2.74381577e-03 1.76972704e+01] [ 6.91213853e-03 -7.14045115e-05 9.99976108e-01 3.70256617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:79.47, Y:17.71, Z:0.37 [[ 9.13335420e-01 -4.07158628e-01 -6.34528486e-03 7.94663825e+01] [ 4.07149400e-01 9.13357458e-01 -2.74228398e-03 1.77064620e+01] [ 6.91205784e-03 -7.88538319e-05 9.99976108e-01 3.72437655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.49, Y:17.72, Z:0.37 [[ 9.12422946e-01 -4.09199364e-01 -6.34409323e-03 7.94943298e+01] [ 4.09190167e-01 9.12444997e-01 -2.74503799e-03 1.77164689e+01] [ 6.91190393e-03 -9.13049208e-05 9.99976108e-01 3.68343874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.52, Y:17.72, Z:0.37 [[ 9.12225369e-01 -4.09639608e-01 -6.34572878e-03 7.95210424e+01] [ 4.09630448e-01 9.12247435e-01 -2.74125831e-03 1.77249713e+01] [ 6.91180278e-03 -9.87583433e-05 9.99976108e-01 3.73455590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:17.73, Z:0.37 [[ 9.11958309e-01 -4.10233833e-01 -6.34386756e-03 7.95494886e+01] [ 4.10224657e-01 9.11980368e-01 -2.74555883e-03 1.77346048e+01] [ 6.91180380e-03 -9.85757031e-05 9.99976108e-01 3.73726576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.58, Y:17.74, Z:0.37 [[ 9.12198274e-01 -4.09699967e-01 -6.34399365e-03 7.95774176e+01] [ 4.09690780e-01 9.12220329e-01 -2.74526749e-03 1.77423694e+01] [ 6.91185598e-03 -9.48474477e-05 9.99976108e-01 3.73224749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.61, Y:17.75, Z:0.37 [[ 9.12298013e-01 -4.09477829e-01 -6.34371353e-03 7.96050422e+01] [ 4.09468632e-01 9.12320064e-01 -2.74591465e-03 1.77533918e+01] [ 6.91188830e-03 -9.24592259e-05 9.99976108e-01 3.71625475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.63, Y:17.76, Z:0.37 [[ 9.12801508e-01 -4.08354193e-01 -6.34511370e-03 7.96317245e+01] [ 4.08344992e-01 9.12823556e-01 -2.74268018e-03 1.77625250e+01] [ 6.91195421e-03 -8.74728010e-05 9.99976108e-01 3.72227230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:17.77, Z:0.37 [[ 9.13884703e-01 -4.05924268e-01 -6.34344731e-03 7.96601537e+01] [ 4.05914981e-01 9.13906716e-01 -2.74652892e-03 1.77694862e+01] [ 6.91220183e-03 -6.48895283e-05 9.99976108e-01 3.73503263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:17.78, Z:0.37 [[ 9.14598699e-01 -4.04312980e-01 -6.34298047e-03 7.96882090e+01] [ 4.04303647e-01 9.14620693e-01 -2.74760663e-03 1.77799592e+01] [ 6.91231422e-03 -5.15326826e-05 9.99976108e-01 3.72385452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:17.79, Z:0.38 [[ 9.15538339e-01 -4.02180695e-01 -6.34341645e-03 7.97155473e+01] [ 4.02171318e-01 9.15560313e-01 -2.74660026e-03 1.77907997e+01] [ 6.91240996e-03 -3.65223101e-05 9.99976108e-01 3.75227894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:17.80, Z:0.37 [[ 9.16575727e-01 -3.99810842e-01 -6.34246652e-03 7.97418309e+01] [ 3.99801393e-01 9.16597671e-01 -2.74879211e-03 1.78010271e+01] [ 6.91248692e-03 -1.62508204e-05 9.99976108e-01 3.72570268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:17.81, Z:0.37 [[ 9.18628467e-01 -3.95071532e-01 -6.34229704e-03 7.97695955e+01] [ 3.95061967e-01 9.18650360e-01 -2.74918308e-03 1.78104856e+01] [ 6.91247743e-03 1.98774868e-05 9.99976108e-01 3.73645324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.80, Y:17.82, Z:0.37 [[ 9.19640384e-01 -3.92710255e-01 -6.34182983e-03 7.97952988e+01] [ 3.92700627e-01 9.19662250e-01 -2.75026043e-03 1.78209005e+01] [ 6.91239696e-03 3.88100114e-05 9.99976108e-01 3.72122156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.82, Y:17.83, Z:0.37 [[ 9.20444801e-01 -3.90821125e-01 -6.34166376e-03 7.98220243e+01] [ 3.90811449e-01 9.20466645e-01 -2.75064331e-03 1.78324264e+01] [ 6.91229948e-03 5.34205291e-05 9.99976108e-01 3.73425299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.85, Y:17.84, Z:0.37 [[ 9.20370126e-01 -3.90996956e-01 -6.34120467e-03 7.98480711e+01] [ 3.90987277e-01 9.20391969e-01 -2.75170127e-03 1.78439488e+01] [ 6.91230067e-03 5.32532985e-05 9.99976108e-01 3.73622154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:17.85, Z:0.38 [[ 9.21555186e-01 -3.88195615e-01 -6.34067877e-03 7.98748040e+01] [ 3.88185861e-01 9.21576995e-01 -2.75291254e-03 1.78539138e+01] [ 6.91209227e-03 7.55989769e-05 9.99976108e-01 3.78416806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:17.86, Z:0.38 [[ 9.21916069e-01 -3.87337790e-01 -6.34019967e-03 7.99006824e+01] [ 3.87328008e-01 9.21937866e-01 -2.75401552e-03 1.78642400e+01] [ 6.91200444e-03 8.32342547e-05 9.99976108e-01 3.77637514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.93, Y:17.88, Z:0.38 [[ 9.21934409e-01 -3.87294139e-01 -6.34003041e-03 7.99279138e+01] [ 3.87284353e-01 9.21956205e-01 -2.75440510e-03 1.78761500e+01] [ 6.91199533e-03 8.39862632e-05 9.99976108e-01 3.78522753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:17.89, Z:0.38 [[ 9.22003761e-01 -3.87128978e-01 -6.34179971e-03 7.99535503e+01] [ 3.87119217e-01 9.22025568e-01 -2.75033366e-03 1.78872060e+01] [ 6.91203534e-03 8.07854447e-05 9.99976108e-01 3.79886290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:17.90, Z:0.38 [[ 9.21773877e-01 -3.87676065e-01 -6.33945744e-03 7.99801250e+01] [ 3.87666280e-01 9.21795672e-01 -2.75572198e-03 1.78979768e+01] [ 6.91201189e-03 8.25586512e-05 9.99976108e-01 3.79581998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:17.91, Z:0.38 [[ 9.21558982e-01 -3.88186629e-01 -6.33899751e-03 8.00055650e+01] [ 3.88176848e-01 9.21580780e-01 -2.75677957e-03 1.79084165e+01] [ 6.91204324e-03 7.98829030e-05 9.99976108e-01 3.79567892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.03, Y:17.92, Z:0.38 [[ 9.21174166e-01 -3.89098932e-01 -6.33847247e-03 8.00316684e+01] [ 3.89089164e-01 9.21195970e-01 -2.75798622e-03 1.79190290e+01] [ 6.91210479e-03 7.43547036e-05 9.99976108e-01 3.79605020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:17.93, Z:0.38 [[ 9.20522049e-01 -3.90639204e-01 -6.33794941e-03 8.00581974e+01] [ 3.90629465e-01 9.20543865e-01 -2.75918772e-03 1.79302955e+01] [ 6.91220734e-03 6.41033453e-05 9.99976108e-01 3.79417259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:17.94, Z:0.38 [[ 9.20051084e-01 -3.91747162e-01 -6.33748565e-03 8.00834276e+01] [ 3.91737442e-01 9.20072909e-01 -2.76025249e-03 1.79418137e+01] [ 6.91226994e-03 5.69428730e-05 9.99976108e-01 3.78782282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:17.95, Z:0.38 [[ 9.19628442e-01 -3.92738300e-01 -6.33695747e-03 8.01082361e+01] [ 3.92728595e-01 9.19650273e-01 -2.76146456e-03 1.79527390e+01] [ 6.91231756e-03 5.08169505e-05 9.99976108e-01 3.75321471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:17.96, Z:0.38 [[ 9.19193658e-01 -3.93754829e-01 -6.33672796e-03 8.01350078e+01] [ 3.93745145e-01 9.19215498e-01 -2.76199111e-03 1.79637713e+01] [ 6.91236589e-03 4.37488436e-05 9.99976108e-01 3.78881693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.16, Y:17.97, Z:0.38 [[ 9.18469904e-01 -3.95440119e-01 -6.33627045e-03 8.01611968e+01] [ 3.95430467e-01 9.18491759e-01 -2.76304029e-03 1.79738824e+01] [ 6.91242917e-03 3.22149652e-05 9.99976108e-01 3.80932400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.19, Y:17.98, Z:0.38 [[ 9.18309652e-01 -3.95812128e-01 -6.33573266e-03 8.01882481e+01] [ 3.95802476e-01 9.18331508e-01 -2.76427290e-03 1.79847163e+01] [ 6.91243567e-03 3.07598043e-05 9.99976108e-01 3.81259927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:18.00, Z:0.38 [[ 9.18326646e-01 -3.95772707e-01 -6.33525893e-03 8.02129479e+01] [ 3.95763047e-01 9.18348498e-01 -2.76535819e-03 1.79951029e+01] [ 6.91242882e-03 3.22407344e-05 9.99976108e-01 3.79569077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.24, Y:18.01, Z:0.38 [[ 9.18505231e-01 -3.95358077e-01 -6.33502319e-03 8.02380160e+01] [ 3.95348403e-01 9.18527076e-01 -2.76589812e-03 1.80080460e+01] [ 6.91241049e-03 3.59505858e-05 9.99976108e-01 3.79855494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:18.02, Z:0.38 [[ 9.18650700e-01 -3.95019955e-01 -6.33449768e-03 8.02633096e+01] [ 3.95010265e-01 9.18672539e-01 -2.76710114e-03 1.80201099e+01] [ 6.91238923e-03 3.98077873e-05 9.99976108e-01 3.82131664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.29, Y:18.03, Z:0.38 [[ 9.18782377e-01 -3.94713597e-01 -6.33395539e-03 8.02891888e+01] [ 3.94703892e-01 9.18804209e-01 -2.76834189e-03 1.80314387e+01] [ 6.91236706e-03 4.34669010e-05 9.99976108e-01 3.81985851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:18.04, Z:0.38 [[ 9.18932088e-01 -3.94364936e-01 -6.33370307e-03 8.03159619e+01] [ 3.94355218e-01 9.18953914e-01 -2.76891905e-03 1.80428082e+01] [ 6.91234581e-03 4.67197136e-05 9.99976108e-01 3.84646595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:18.05, Z:0.39 [[ 9.19124989e-01 -3.93915149e-01 -6.33323024e-03 8.03415273e+01] [ 3.93905413e-01 9.19146807e-01 -2.77000012e-03 1.80546607e+01] [ 6.91231336e-03 5.12826606e-05 9.99976108e-01 3.85791021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:80.37, Y:18.07, Z:0.38 [[ 9.19084327e-01 -3.94010021e-01 -6.33268319e-03 8.03666312e+01] [ 3.94000279e-01 9.19106142e-01 -2.77125020e-03 1.80655966e+01] [ 6.91230837e-03 5.19336795e-05 9.99976108e-01 3.82903898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:18.08, Z:0.39 [[ 9.18830882e-01 -3.94600697e-01 -6.33251341e-03 8.03930146e+01] [ 3.94590966e-01 9.18852702e-01 -2.77163811e-03 1.80781457e+01] [ 6.91233738e-03 4.79141080e-05 9.99976108e-01 3.85446025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.42, Y:18.09, Z:0.39 [[ 9.18592991e-01 -3.95154176e-01 -6.33204025e-03 8.04188710e+01] [ 3.95144451e-01 9.18614813e-01 -2.77271865e-03 1.80898537e+01] [ 6.91235733e-03 4.49293452e-05 9.99976108e-01 3.85319180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:18.10, Z:0.38 [[ 9.17890266e-01 -3.96783782e-01 -6.33156426e-03 8.04436851e+01] [ 3.96774088e-01 9.17912103e-01 -2.77380517e-03 1.81013030e+01] [ 6.91242037e-03 3.38481312e-05 9.99976108e-01 3.83025154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:18.11, Z:0.38 [[ 9.17455279e-01 -3.97788547e-01 -6.33119221e-03 8.04692450e+01] [ 3.97778871e-01 9.17477123e-01 -2.77465411e-03 1.81115523e+01] [ 6.91244964e-03 2.72065781e-05 9.99976108e-01 3.82292108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:18.12, Z:0.39 [[ 9.16723573e-01 -3.99471913e-01 -6.33094422e-03 8.04955190e+01] [ 3.99462273e-01 9.16745434e-01 -2.77521982e-03 1.81204297e+01] [ 6.91248658e-03 1.51360624e-05 9.99976108e-01 3.85779539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:18.13, Z:0.38 [[ 9.16404602e-01 -4.00203114e-01 -6.33039303e-03 8.05211324e+01] [ 4.00193483e-01 9.16426466e-01 -2.77647655e-03 1.81318683e+01] [ 6.91249427e-03 1.09938581e-05 9.99976108e-01 3.79486406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:18.14, Z:0.39 [[ 9.16268449e-01 -4.00514723e-01 -6.33133539e-03 8.05459407e+01] [ 4.00505114e-01 9.16290323e-01 -2.77432857e-03 1.81425591e+01] [ 6.91250079e-03 6.29754036e-06 9.99976108e-01 3.86836738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:18.15, Z:0.39 [[ 9.16014880e-01 -4.01094451e-01 -6.32307027e-03 8.05732705e+01] [ 4.01084726e-01 9.16036703e-01 -2.79315816e-03 1.81533864e+01] [ 6.91248469e-03 2.24875300e-05 9.99976108e-01 3.85621876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:18.16, Z:0.39 [[ 9.15769473e-01 -4.01654339e-01 -6.32961125e-03 8.05996285e+01] [ 4.01644730e-01 9.15791347e-01 -2.77825606e-03 1.81632431e+01] [ 6.91250182e-03 1.98708553e-06 9.99976108e-01 3.87818722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:18.17, Z:0.39 [[ 9.15781114e-01 -4.01627806e-01 -6.32906102e-03 8.06254772e+01] [ 4.01618188e-01 9.15802984e-01 -2.77950896e-03 1.81722555e+01] [ 6.91250106e-03 3.55579707e-06 9.99976108e-01 3.86273054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.65, Y:18.18, Z:0.39 [[ 9.15901114e-01 -4.01354162e-01 -6.32353288e-03 8.06525054e+01] [ 4.01344450e-01 9.15922942e-01 -2.79209143e-03 1.81835042e+01] [ 6.91248636e-03 1.93648244e-05 9.99976108e-01 3.85896187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:80.68, Y:18.19, Z:0.39 [[ 9.16257074e-01 -4.00540791e-01 -6.32845381e-03 8.06786803e+01] [ 4.00531137e-01 9.16278929e-01 -2.78089291e-03 1.81948933e+01] [ 6.91248992e-03 1.32699969e-05 9.99976108e-01 3.86968539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:18.21, Z:0.39 [[ 9.17484526e-01 -3.97721135e-01 -6.32796784e-03 8.07051144e+01] [ 3.97711406e-01 9.17506347e-01 -2.78199831e-03 1.82051067e+01] [ 6.91241019e-03 3.57354114e-05 9.99976108e-01 3.87264946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:18.22, Z:0.39 [[ 9.17991800e-01 -3.96548945e-01 -6.32367406e-03 8.07318106e+01] [ 3.96539121e-01 9.18013579e-01 -2.79176010e-03 1.82162928e+01] [ 6.91228818e-03 5.52287277e-05 9.99976108e-01 3.86595250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.76, Y:18.23, Z:0.39 [[ 9.18438004e-01 -3.95514344e-01 -6.32740092e-03 8.07574988e+01] [ 3.95504554e-01 9.18459798e-01 -2.78328764e-03 1.82280026e+01] [ 6.91229356e-03 5.37612619e-05 9.99976108e-01 3.88798642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.78, Y:18.24, Z:0.39 [[ 9.18983021e-01 -3.94246343e-01 -6.32683600e-03 8.07826603e+01] [ 3.94236515e-01 9.19004797e-01 -2.78457120e-03 1.82395583e+01] [ 6.91219964e-03 6.47038780e-05 9.99976108e-01 3.88584429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.81, Y:18.25, Z:0.39 [[ 9.19794105e-01 -3.92350444e-01 -6.31923363e-03 8.08095460e+01] [ 3.92340452e-01 9.19815807e-01 -2.80183295e-03 1.82518241e+01] [ 6.91183138e-03 9.78184521e-05 9.99976108e-01 3.89241570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.84, Y:18.26, Z:0.39 [[ 9.19963115e-01 -3.91953881e-01 -6.32629474e-03 8.08355037e+01] [ 3.91943990e-01 9.19984863e-01 -2.78579782e-03 1.82640172e+01] [ 6.91199966e-03 8.32780357e-05 9.99976108e-01 3.90149864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:18.27, Z:0.39 [[ 9.20147808e-01 -3.91520109e-01 -6.32581515e-03 8.08614273e+01] [ 3.91510200e-01 9.20169548e-01 -2.78688641e-03 1.82748605e+01] [ 6.91194453e-03 8.77262697e-05 9.99976108e-01 3.86549027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.89, Y:18.29, Z:0.39 [[ 9.20219861e-01 -3.91350730e-01 -6.32564440e-03 8.08880896e+01] [ 3.91340815e-01 9.20241598e-01 -2.78727391e-03 1.82856514e+01] [ 6.91192279e-03 8.94219714e-05 9.99976108e-01 3.85237097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.91, Y:18.30, Z:0.39 [[ 9.20241011e-01 -3.91301001e-01 -6.32517013e-03 8.09133528e+01] [ 3.91291077e-01 9.20262744e-01 -2.78834976e-03 1.82978898e+01] [ 6.91190248e-03 9.09711719e-05 9.99976108e-01 3.86539122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.94, Y:18.31, Z:0.39 [[ 9.20221585e-01 -3.91346687e-01 -6.32500176e-03 8.09386038e+01] [ 3.91336761e-01 9.20243317e-01 -2.78873163e-03 1.83103628e+01] [ 6.91190149e-03 9.10453370e-05 9.99976108e-01 3.87491173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:80.96, Y:18.32, Z:0.39 [[ 9.20022718e-01 -3.91813980e-01 -6.32475146e-03 8.09644596e+01] [ 3.91804062e-01 9.20044454e-01 -2.78929920e-03 1.83226362e+01] [ 6.91193892e-03 8.81553203e-05 9.99976108e-01 3.89334914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:18.33, Z:0.39 [[ 9.20114156e-01 -3.91599213e-01 -6.32426839e-03 8.09901303e+01] [ 3.91589282e-01 9.20135886e-01 -2.79039404e-03 1.83334243e+01] [ 6.91190241e-03 9.09653344e-05 9.99976108e-01 3.89858965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:18.35, Z:0.39 [[ 9.20050350e-01 -3.91749103e-01 -6.32401232e-03 8.10158551e+01] [ 3.91739171e-01 9.20072080e-01 -2.79097426e-03 1.83451209e+01] [ 6.91190883e-03 9.04735052e-05 9.99976108e-01 3.89600515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:81.04, Y:18.36, Z:0.39 [[ 9.19867966e-01 -3.92177177e-01 -6.32346698e-03 8.10415553e+01] [ 3.92167247e-01 9.19889697e-01 -2.79220929e-03 1.83575511e+01] [ 6.91193288e-03 8.86072418e-05 9.99976108e-01 3.88548679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:81.07, Y:18.37, Z:0.39 [[ 9.19749496e-01 -3.92454947e-01 -6.32299363e-03 8.10668340e+01] [ 3.92445016e-01 9.19771225e-01 -2.79328079e-03 1.83696037e+01] [ 6.91194446e-03 8.76912642e-05 9.99976108e-01 3.87647922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:18.38, Z:0.39 [[ 9.19829569e-01 -3.92267243e-01 -6.32245320e-03 8.10916402e+01] [ 3.92257300e-01 9.19851293e-01 -2.79450349e-03 1.83817482e+01] [ 6.91190893e-03 9.04385251e-05 9.99976108e-01 3.89397354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:18.39, Z:0.39 [[ 9.19641190e-01 -3.92708683e-01 -6.32228509e-03 8.11168031e+01] [ 3.92698748e-01 9.19662918e-01 -2.79488377e-03 1.83932406e+01] [ 6.91194628e-03 8.75368028e-05 9.99976108e-01 3.89362155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:81.14, Y:18.40, Z:0.39 [[ 9.19336258e-01 -3.93422012e-01 -6.32174603e-03 8.11421102e+01] [ 3.93412085e-01 9.19357990e-01 -2.79610255e-03 1.84048600e+01] [ 6.91199601e-03 8.35071715e-05 9.99976108e-01 3.87900005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:18.42, Z:0.39 [[ 9.19052377e-01 -3.94084719e-01 -6.32157858e-03 8.11690727e+01] [ 3.94074804e-01 9.19074115e-01 -2.79648107e-03 1.84156909e+01] [ 6.91204969e-03 7.89377346e-05 9.99976108e-01 3.88036399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.20, Y:18.43, Z:0.39 [[ 9.18691163e-01 -3.94926058e-01 -6.32111318e-03 8.11954354e+01] [ 3.94916156e-01 9.18712906e-01 -2.79753265e-03 1.84281327e+01] [ 6.91210680e-03 7.37587962e-05 9.99976108e-01 3.88402243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:18.44, Z:0.39 [[ 9.18356375e-01 -3.95703953e-01 -6.32063650e-03 8.12201885e+01] [ 3.95694062e-01 9.18378123e-01 -2.79860923e-03 1.84403078e+01] [ 6.91215502e-03 6.90822926e-05 9.99976108e-01 3.88572845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.24, Y:18.45, Z:0.39 [[ 9.18300165e-01 -3.95834389e-01 -6.32007980e-03 8.12448157e+01] [ 3.95824493e-01 9.18321911e-01 -2.79986586e-03 1.84531498e+01] [ 6.91215095e-03 6.94748965e-05 9.99976108e-01 3.86552106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:81.27, Y:18.47, Z:0.39 [[ 9.18269953e-01 -3.95904473e-01 -6.31990674e-03 8.12700312e+01] [ 3.95894576e-01 9.18291698e-01 -2.80025643e-03 1.84655910e+01] [ 6.91215194e-03 6.93745386e-05 9.99976108e-01 3.88847524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:18.48, Z:0.39 [[ 9.18543335e-01 -3.95269790e-01 -6.31936355e-03 8.12957927e+01] [ 3.95259870e-01 9.18565070e-01 -2.80148172e-03 1.84772117e+01] [ 6.91208771e-03 7.54915464e-05 9.99976108e-01 3.88255368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.32, Y:18.49, Z:0.39 [[ 9.18641915e-01 -3.95040631e-01 -6.31919460e-03 8.13218118e+01] [ 3.95030702e-01 9.18663646e-01 -2.80186276e-03 1.84886867e+01] [ 6.91206398e-03 7.76326832e-05 9.99976108e-01 3.91485621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:18.50, Z:0.39 [[ 9.18765591e-01 -3.94752915e-01 -6.31864094e-03 8.13471056e+01] [ 3.94742971e-01 9.18787315e-01 -2.80311080e-03 1.84983690e+01] [ 6.91202330e-03 8.11626554e-05 9.99976108e-01 3.89279857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.37, Y:18.51, Z:0.39 [[ 9.18469917e-01 -3.95440377e-01 -6.31826496e-03 8.13719482e+01] [ 3.95430443e-01 9.18491645e-01 -2.80395801e-03 1.85104130e+01] [ 6.91207179e-03 7.69167706e-05 9.99976108e-01 3.90578357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:18.52, Z:0.39 [[ 9.18315716e-01 -3.95798349e-01 -6.31771503e-03 8.13981359e+01] [ 3.95788415e-01 9.18337444e-01 -2.80519653e-03 1.85231149e+01] [ 6.91208643e-03 7.55776416e-05 9.99976108e-01 3.90434296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.42, Y:18.54, Z:0.39 [[ 9.17593836e-01 -3.97469089e-01 -6.31465976e-03 8.14236244e+01] [ 3.97459148e-01 9.17615561e-01 -2.81207490e-03 1.85360954e+01] [ 6.91214291e-03 7.05233129e-05 9.99976108e-01 3.91316112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:81.45, Y:18.55, Z:0.39 [[ 9.17211693e-01 -3.98350102e-01 -6.31718998e-03 8.14494327e+01] [ 3.98340221e-01 9.17233445e-01 -2.80637935e-03 1.85474189e+01] [ 6.91225943e-03 5.76531064e-05 9.99976108e-01 3.88636354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.48, Y:18.56, Z:0.39 [[ 9.16742795e-01 -3.99428020e-01 -6.31702279e-03 8.14755039e+01] [ 3.99418162e-01 9.16764558e-01 -2.80675565e-03 1.85578976e+01] [ 6.91231945e-03 4.99393860e-05 9.99976108e-01 3.93528972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.50, Y:18.57, Z:0.39 [[ 9.16478662e-01 -4.00033705e-01 -6.31647254e-03 8.15017933e+01] [ 4.00023852e-01 9.16500427e-01 -2.80799340e-03 1.85680585e+01] [ 6.91234179e-03 4.67263523e-05 9.99976108e-01 3.94105601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.53, Y:18.58, Z:0.39 [[ 9.16400210e-01 -4.00213398e-01 -6.31592321e-03 8.15277413e+01] [ 4.00203541e-01 9.16421974e-01 -2.80922846e-03 1.85798117e+01] [ 6.91234168e-03 4.67227211e-05 9.99976108e-01 3.94302465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.55, Y:18.59, Z:0.39 [[ 9.16547276e-01 -3.99876490e-01 -6.31537215e-03 8.15538586e+01] [ 3.99866616e-01 9.16569032e-01 -2.81046674e-03 1.85901229e+01] [ 6.91231411e-03 5.06191392e-05 9.99976108e-01 3.93073676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:18.60, Z:0.39 [[ 9.17055051e-01 -3.98710610e-01 -6.31520113e-03 8.15793377e+01] [ 3.98700707e-01 9.17076794e-01 -2.81085096e-03 1.86026010e+01] [ 6.91224051e-03 5.98299209e-05 9.99976108e-01 3.93538111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:18.62, Z:0.39 [[ 9.17396147e-01 -3.97925162e-01 -6.31465931e-03 8.16045349e+01] [ 3.97915231e-01 9.17417877e-01 -2.81206766e-03 1.86160085e+01] [ 6.91217382e-03 6.70809235e-05 9.99976108e-01 3.93715320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.63, Y:18.63, Z:0.39 [[ 9.18089638e-01 -3.96322531e-01 -6.31411666e-03 8.16292244e+01] [ 3.96312554e-01 9.18111347e-01 -2.81328558e-03 1.86286725e+01] [ 6.91203061e-03 8.04846470e-05 9.99976108e-01 3.92721359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:18.64, Z:0.39 [[ 9.18094522e-01 -3.96311226e-01 -6.31357653e-03 8.16547408e+01] [ 3.96301240e-01 9.18116227e-01 -2.81449721e-03 1.86398733e+01] [ 6.91201390e-03 8.18962558e-05 9.99976108e-01 3.92013578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:81.68, Y:18.65, Z:0.39 [[ 9.17871933e-01 -3.96826486e-01 -6.31303717e-03 8.16809592e+01] [ 3.96816504e-01 9.17893640e-01 -2.81570651e-03 1.86512686e+01] [ 6.91204358e-03 7.93406378e-05 9.99976108e-01 3.92784097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:18.66, Z:0.39 [[ 9.17836686e-01 -3.96908011e-01 -6.31254838e-03 8.17067357e+01] [ 3.96898024e-01 9.17858390e-01 -2.81680191e-03 1.86615039e+01] [ 6.91203673e-03 7.99261535e-05 9.99976108e-01 3.93555818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.73, Y:18.67, Z:0.39 [[ 9.17564493e-01 -3.97536861e-01 -6.31237493e-03 8.17329325e+01] [ 3.97526886e-01 9.17586202e-01 -2.81719055e-03 1.86729234e+01] [ 6.91208522e-03 7.56152713e-05 9.99976108e-01 3.92094534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:81.76, Y:18.68, Z:0.39 [[ 9.17518473e-01 -3.97643072e-01 -6.31189085e-03 8.17571414e+01] [ 3.97633092e-01 9.17540180e-01 -2.81827471e-03 1.86826511e+01] [ 6.91208087e-03 7.60024352e-05 9.99976108e-01 3.89569987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:81.78, Y:18.70, Z:0.39 [[ 9.16990247e-01 -3.98859824e-01 -6.30292013e-03 8.17846567e+01] [ 3.98849735e-01 9.17011904e-01 -2.83835610e-03 1.86959990e+01] [ 6.91195901e-03 8.88268379e-05 9.99976108e-01 3.92828167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.81, Y:18.71, Z:0.39 [[ 9.17367140e-01 -3.97992081e-01 -6.31132925e-03 8.18094557e+01] [ 3.97982101e-01 9.17388848e-01 -2.81953288e-03 1.87065538e+01] [ 6.91209482e-03 7.47507395e-05 9.99976108e-01 3.92987481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:18.72, Z:0.39 [[ 9.17236455e-01 -3.98293273e-01 -6.30505540e-03 8.18359037e+01] [ 3.98283203e-01 9.17258121e-01 -2.83357015e-03 1.87186279e+01] [ 6.91195521e-03 8.78561810e-05 9.99976108e-01 3.94078247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:81.86, Y:18.73, Z:0.39 [[ 9.17272481e-01 -3.98210207e-01 -6.31091887e-03 8.18622758e+01] [ 3.98200225e-01 9.17294187e-01 -2.82045032e-03 1.87301598e+01] [ 6.91210130e-03 7.41121509e-05 9.99976108e-01 3.94809293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.89, Y:18.74, Z:0.40 [[ 9.17462872e-01 -3.97771362e-01 -6.31045118e-03 8.18881595e+01] [ 3.97761363e-01 9.17484571e-01 -2.82149633e-03 1.87414085e+01] [ 6.91205203e-03 7.85644592e-05 9.99976108e-01 3.95130577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.91, Y:18.75, Z:0.40 [[ 9.17484462e-01 -3.97721564e-01 -6.31028496e-03 8.19142195e+01] [ 3.97711561e-01 9.17506159e-01 -2.82186803e-03 1.87527257e+01] [ 6.91204308e-03 7.93467869e-05 9.99976108e-01 3.96569828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:18.76, Z:0.40 [[ 9.17639850e-01 -3.97362922e-01 -6.30980525e-03 8.19402963e+01] [ 3.97352903e-01 9.17661540e-01 -2.82294027e-03 1.87639201e+01] [ 6.91199740e-03 8.32230521e-05 9.99976108e-01 3.96615165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.97, Y:18.77, Z:0.39 [[ 9.18368210e-01 -3.95676667e-01 -6.30925581e-03 8.19652982e+01] [ 3.95666600e-01 9.18389877e-01 -2.82416773e-03 1.87749632e+01] [ 6.91181394e-03 9.72640654e-05 9.99976108e-01 3.94871884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:18.79, Z:0.40 [[ 9.18423671e-01 -3.95548030e-01 -6.30212143e-03 8.19926642e+01] [ 3.95537850e-01 9.18445286e-01 -2.84009665e-03 1.87885366e+01] [ 6.91154835e-03 1.15684431e-04 9.99976108e-01 3.96296743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:18.80, Z:0.39 [[ 9.18703197e-01 -3.94898259e-01 -6.30875664e-03 8.20173993e+01] [ 3.94888166e-01 9.18724852e-01 -2.82528044e-03 1.88008646e+01] [ 6.91170984e-03 1.04340834e-04 9.99976108e-01 3.94836147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.04, Y:18.81, Z:0.39 [[ 9.18748602e-01 -3.94792613e-01 -6.30858621e-03 8.20433189e+01] [ 3.94782515e-01 9.18770255e-01 -2.82566095e-03 1.88130461e+01] [ 6.91169143e-03 1.05552516e-04 9.99976108e-01 3.94311513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:18.82, Z:0.39 [[ 9.18873193e-01 -3.94502551e-01 -6.30810301e-03 8.20689995e+01] [ 3.94492438e-01 9.18894839e-01 -2.82673924e-03 1.88244154e+01] [ 6.91163914e-03 1.08915969e-04 9.99976108e-01 3.93887767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:18.84, Z:0.40 [[ 9.18939908e-01 -3.94347126e-01 -6.30793175e-03 8.20946733e+01] [ 3.94337007e-01 9.18961551e-01 -2.82712135e-03 1.88365811e+01] [ 6.91161393e-03 1.10503709e-04 9.99976108e-01 3.96550118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.12, Y:18.85, Z:0.39 [[ 9.19142396e-01 -3.93874945e-01 -6.30744551e-03 8.21198646e+01] [ 3.93864808e-01 9.19164030e-01 -2.82820577e-03 1.88492678e+01] [ 6.91153643e-03 1.15243010e-04 9.99976108e-01 3.92653548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:18.86, Z:0.40 [[ 9.19195966e-01 -3.93749907e-01 -6.30768602e-03 8.21448576e+01] [ 3.93739771e-01 9.19217600e-01 -2.82766944e-03 1.88623177e+01] [ 6.91153059e-03 1.15595494e-04 9.99976108e-01 3.97045363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:18.88, Z:0.40 [[ 9.19197309e-01 -3.93746781e-01 -6.30714487e-03 8.21701216e+01] [ 3.93736636e-01 9.19218940e-01 -2.82887597e-03 1.88757339e+01] [ 6.91150783e-03 1.16941172e-04 9.99976108e-01 3.96616814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:18.89, Z:0.40 [[ 9.19163313e-01 -3.93826143e-01 -6.30667530e-03 8.21956503e+01] [ 3.93815993e-01 9.19184941e-01 -2.82992245e-03 1.88888028e+01] [ 6.91149840e-03 1.17491299e-04 9.99976108e-01 3.95083415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.22, Y:18.90, Z:0.40 [[ 9.19133873e-01 -3.93894852e-01 -6.30620823e-03 8.22201316e+01] [ 3.93884697e-01 9.19155499e-01 -2.83096289e-03 1.89030778e+01] [ 6.91148768e-03 1.18114966e-04 9.99976108e-01 3.96759948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:18.92, Z:0.40 [[ 9.19060352e-01 -3.94066376e-01 -6.30565517e-03 8.22447590e+01] [ 3.94056216e-01 9.19081975e-01 -2.83219422e-03 1.89162664e+01] [ 6.91148652e-03 1.18174798e-04 9.99976108e-01 3.98487203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.27, Y:18.93, Z:0.40 [[ 9.19030324e-01 -3.94136410e-01 -6.30509762e-03 8.22688841e+01] [ 3.94126243e-01 9.19051944e-01 -2.83343491e-03 1.89294683e+01] [ 6.91147209e-03 1.19008165e-04 9.99976108e-01 3.95896839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:18.94, Z:0.40 [[ 9.18793654e-01 -3.94687816e-01 -6.30471757e-03 8.22940977e+01] [ 3.94677656e-01 9.18815278e-01 -2.83428030e-03 1.89427568e+01] [ 6.91152673e-03 1.15787600e-04 9.99976108e-01 3.98230192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:18.96, Z:0.40 [[ 9.18115540e-01 -3.96262682e-01 -6.30416788e-03 8.23177293e+01] [ 3.96252551e-01 9.18137177e-01 -2.83550244e-03 1.89575321e+01] [ 6.91169470e-03 1.05276250e-04 9.99976108e-01 3.98715957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:18.97, Z:0.40 [[ 9.17513520e-01 -3.97654624e-01 -6.30399688e-03 8.23429112e+01] [ 3.97644523e-01 9.17535172e-01 -2.83588256e-03 1.89710052e+01] [ 6.91184067e-03 9.52107594e-05 9.99976108e-01 3.98663202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:18.98, Z:0.40 [[ 9.16476355e-01 -4.00039261e-01 -6.29927311e-03 8.23685797e+01] [ 4.00029145e-01 9.16497999e-01 -2.84637885e-03 1.89843785e+01] [ 6.91193449e-03 8.87460746e-05 9.99976108e-01 3.98167831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:19.00, Z:0.40 [[ 9.13906837e-01 -4.05875055e-01 -6.30345113e-03 8.23925323e+01] [ 4.05865140e-01 9.13928574e-01 -2.83709613e-03 1.89981503e+01] [ 6.91241065e-03 3.44904742e-05 9.99976108e-01 3.99000181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:82.42, Y:19.01, Z:0.40 [[ 9.12310478e-01 -4.09450688e-01 -6.30290924e-03 8.24177785e+01] [ 4.09440850e-01 9.12332250e-01 -2.83829950e-03 1.90107182e+01] [ 6.91249105e-03 8.74185165e-06 9.99976108e-01 3.99379342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:19.02, Z:0.40 [[ 9.10970786e-01 -4.12422730e-01 -6.30234731e-03 8.24434485e+01] [ 4.12412955e-01 9.10992586e-01 -2.83954668e-03 1.90218369e+01] [ 6.91248527e-03 -1.24256077e-05 9.99976108e-01 3.97797403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:19.03, Z:0.40 [[ 9.09767710e-01 -4.15069902e-01 -6.30005470e-03 8.24690217e+01] [ 4.15060155e-01 9.09789523e-01 -2.84463341e-03 1.90324530e+01] [ 6.91244547e-03 -2.69460627e-05 9.99976108e-01 3.99594986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.50, Y:19.04, Z:0.40 [[ 9.07452192e-01 -4.20108190e-01 -6.29507560e-03 8.24964254e+01] [ 4.20098487e-01 9.07474025e-01 -2.85567966e-03 1.90441875e+01] [ 6.91231201e-03 -5.31589703e-05 9.99976108e-01 4.03025931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:19.06, Z:0.40 [[ 9.06704028e-01 -4.21720395e-01 -6.30191843e-03 8.25220303e+01] [ 4.21710837e-01 9.06725924e-01 -2.84049818e-03 1.90553563e+01] [ 6.91200883e-03 -8.20961580e-05 9.99976108e-01 4.04216364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:19.07, Z:0.40 [[ 9.06105596e-01 -4.23004660e-01 -6.30136134e-03 8.25472575e+01] [ 4.22995124e-01 9.06127502e-01 -2.84173349e-03 1.90655041e+01] [ 6.91190332e-03 -9.05345081e-05 9.99976108e-01 4.02525910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:19.08, Z:0.40 [[ 9.05672046e-01 -4.23932119e-01 -6.30111924e-03 8.25733440e+01] [ 4.23922602e-01 9.05693960e-01 -2.84227022e-03 1.90757223e+01] [ 6.91181527e-03 -9.70221717e-05 9.99976108e-01 4.02297379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:19.09, Z:0.40 [[ 9.05094847e-01 -4.25163051e-01 -6.30058695e-03 8.25996388e+01] [ 4.25153556e-01 9.05116771e-01 -2.84344969e-03 1.90857162e+01] [ 6.91169666e-03 -1.05125284e-04 9.99976108e-01 4.04461767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:19.10, Z:0.41 [[ 9.04904787e-01 -4.25567429e-01 -6.30003529e-03 8.26264045e+01] [ 4.25557935e-01 9.04926711e-01 -2.84467144e-03 1.90965526e+01] [ 6.91166972e-03 -1.06873207e-04 9.99976108e-01 4.06092080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:19.10, Z:0.40 [[ 9.04957936e-01 -4.25454403e-01 -6.29954131e-03 8.26534875e+01] [ 4.25444899e-01 9.04979856e-01 -2.84576492e-03 1.91037381e+01] [ 6.91170121e-03 -1.04810166e-04 9.99976108e-01 4.04494140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:19.11, Z:0.40 [[ 9.05069065e-01 -4.25217953e-01 -6.29927703e-03 8.26805152e+01] [ 4.25208438e-01 9.05090980e-01 -2.84634980e-03 1.91139007e+01] [ 6.91173786e-03 -1.02362597e-04 9.99976108e-01 4.02915522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:19.12, Z:0.40 [[ 9.05367860e-01 -4.24581399e-01 -6.29879361e-03 8.27061663e+01] [ 4.24571861e-01 9.05389765e-01 -2.84741918e-03 1.91236824e+01] [ 6.91182449e-03 -9.63287186e-05 9.99976108e-01 4.00513380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.73, Y:19.13, Z:0.40 [[ 9.05754478e-01 -4.23756006e-01 -6.29862210e-03 8.27318538e+01] [ 4.23746446e-01 9.05776374e-01 -2.84779852e-03 1.91335675e+01] [ 6.91191481e-03 -8.96124679e-05 9.99976108e-01 4.03032327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:82.76, Y:19.14, Z:0.40 [[ 9.06292498e-01 -4.22604120e-01 -6.29806158e-03 8.27581250e+01] [ 4.22594524e-01 9.06314378e-01 -2.84903761e-03 1.91429449e+01] [ 6.91203879e-03 -7.94649171e-05 9.99976108e-01 4.01687967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:19.15, Z:0.40 [[ 9.07797170e-01 -4.19362177e-01 -6.29788768e-03 8.27852515e+01] [ 4.19352500e-01 9.07819014e-01 -2.84942197e-03 1.91503637e+01] [ 6.91228198e-03 -5.43377400e-05 9.99976108e-01 4.03394509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:19.16, Z:0.40 [[ 9.08646693e-01 -4.17518300e-01 -6.29732789e-03 8.28121521e+01] [ 4.17508570e-01 9.08668514e-01 -2.85065860e-03 1.91604784e+01] [ 6.91238570e-03 -3.89468530e-05 9.99976108e-01 4.03619736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:19.17, Z:0.40 [[ 9.09441512e-01 -4.15784182e-01 -6.29684065e-03 8.28376785e+01] [ 4.15774403e-01 9.09463311e-01 -2.85173446e-03 1.91697866e+01] [ 6.91245162e-03 -2.45794605e-05 9.99976108e-01 4.01940202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:19.18, Z:0.41 [[ 9.11359311e-01 -4.11563555e-01 -6.29646008e-03 8.28657292e+01] [ 4.11553670e-01 9.11381062e-01 -2.85257448e-03 1.91781994e+01] [ 6.91249017e-03 8.38905944e-06 9.99976108e-01 4.05853491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:82.89, Y:19.19, Z:0.40 [[ 9.12336375e-01 -4.09393086e-01 -6.29600950e-03 8.28915175e+01] [ 4.09383141e-01 9.12358099e-01 -2.85356863e-03 1.91887807e+01] [ 6.91244652e-03 2.59343166e-05 9.99976108e-01 4.04452415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.92, Y:19.20, Z:0.41 [[ 9.13187251e-01 -4.07491604e-01 -6.29583624e-03 8.29177330e+01] [ 4.07481612e-01 9.13208952e-01 -2.85395083e-03 1.91997859e+01] [ 6.91237502e-03 4.07540148e-05 9.99976108e-01 4.06935946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:19.21, Z:0.41 [[ 9.14661010e-01 -4.04172741e-01 -6.29534392e-03 8.29441834e+01] [ 4.04162663e-01 9.14682672e-01 -2.85503639e-03 1.92091509e+01] [ 6.91216989e-03 6.70475084e-05 9.99976108e-01 4.05956453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:82.97, Y:19.22, Z:0.40 [[ 9.15070797e-01 -4.03244103e-01 -6.29516889e-03 8.29703715e+01] [ 4.03234000e-01 9.15092448e-01 -2.85542227e-03 1.92201787e+01] [ 6.91209370e-03 7.44873990e-05 9.99976108e-01 4.04970560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:19.23, Z:0.41 [[ 9.15443539e-01 -4.02397199e-01 -6.29461990e-03 8.29970745e+01] [ 4.02387067e-01 9.15465176e-01 -2.85663197e-03 1.92320617e+01] [ 6.91200602e-03 8.22116384e-05 9.99976108e-01 4.08618071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:19.24, Z:0.41 [[ 9.15762539e-01 -4.01670707e-01 -6.29413164e-03 8.30230375e+01] [ 4.01660551e-01 9.15784164e-01 -2.85770737e-03 1.92432425e+01] [ 6.91192343e-03 8.88769726e-05 9.99976108e-01 4.09192737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:19.25, Z:0.41 [[ 9.16419937e-01 -4.00168577e-01 -6.29357506e-03 8.30485110e+01] [ 4.00158377e-01 9.16441542e-01 -2.85893261e-03 1.92545996e+01] [ 6.91174863e-03 1.01556065e-04 9.99976108e-01 4.09823505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:19.27, Z:0.41 [[ 9.16894388e-01 -3.99080292e-01 -6.29301843e-03 8.30735423e+01] [ 3.99070058e-01 9.16915977e-01 -2.86015733e-03 1.92662092e+01] [ 6.91160156e-03 1.11106974e-04 9.99976108e-01 4.09643985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:19.28, Z:0.41 [[ 9.17260675e-01 -3.98237685e-01 -6.29284579e-03 8.30985859e+01] [ 3.98227429e-01 9.17282253e-01 -2.86053713e-03 1.92785051e+01] [ 6.91148945e-03 1.17874421e-04 9.99976108e-01 4.11303274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:83.12, Y:19.29, Z:0.41 [[ 9.17842837e-01 -3.96894109e-01 -6.29229933e-03 8.31235759e+01] [ 3.96883813e-01 9.17864396e-01 -2.86173867e-03 1.92916441e+01] [ 6.91128474e-03 1.29314590e-04 9.99976108e-01 4.08091425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:83.15, Y:19.30, Z:0.41 [[ 9.17767824e-01 -3.97067539e-01 -6.29212987e-03 8.31494276e+01] [ 3.97057245e-01 9.17789384e-01 -2.86211121e-03 1.93036127e+01] [ 6.91130145e-03 1.28417826e-04 9.99976108e-01 4.08288329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:19.32, Z:0.41 [[ 9.17810489e-01 -3.96968918e-01 -6.29158881e-03 8.31738006e+01] [ 3.96958613e-01 9.17832044e-01 -2.86330009e-03 1.93169474e+01] [ 6.91126296e-03 1.30466490e-04 9.99976108e-01 4.08300283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.20, Y:19.33, Z:0.41 [[ 9.17684540e-01 -3.97260001e-01 -6.29104783e-03 8.31995296e+01] [ 3.97249695e-01 9.17706094e-01 -2.86448819e-03 1.93306736e+01] [ 6.91127952e-03 1.29579697e-04 9.99976108e-01 4.06910640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:19.34, Z:0.41 [[ 9.17412346e-01 -3.97888195e-01 -6.29057449e-03 8.32246263e+01] [ 3.97877897e-01 9.17433904e-01 -2.86552730e-03 1.93439400e+01] [ 6.91134580e-03 1.25989573e-04 9.99976108e-01 4.07383064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:19.36, Z:0.41 [[ 9.16225054e-01 -4.00614631e-01 -6.29032282e-03 8.32497991e+01] [ 4.00604393e-01 9.16246640e-01 -2.86607966e-03 1.93584760e+01] [ 6.91168059e-03 1.06043034e-04 9.99976108e-01 4.10226635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:19.37, Z:0.41 [[ 9.15258687e-01 -4.02817544e-01 -6.28983065e-03 8.32748701e+01] [ 4.02807350e-01 9.15280295e-01 -2.86715935e-03 1.93721684e+01] [ 6.91190014e-03 9.06024896e-05 9.99976108e-01 4.10071575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:19.39, Z:0.41 [[ 9.12991588e-01 -4.07929901e-01 -6.28930293e-03 8.32973247e+01] [ 4.07919820e-01 9.13013249e-01 -2.86831647e-03 1.93872401e+01] [ 6.91228896e-03 5.32174915e-05 9.99976108e-01 4.09061979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:19.40, Z:0.41 [[ 9.11551312e-01 -4.11138241e-01 -6.28905803e-03 8.33226580e+01] [ 4.11128233e-01 9.11573006e-01 -2.86885333e-03 1.94004679e+01] [ 6.91243085e-03 2.94977031e-05 9.99976108e-01 4.07490422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.35, Y:19.41, Z:0.41 [[ 9.10042254e-01 -4.14467792e-01 -6.28857079e-03 8.33476641e+01] [ 4.14457856e-01 9.10063981e-01 -2.86992097e-03 1.94123495e+01] [ 6.91249158e-03 5.40178460e-06 9.99976108e-01 4.06224039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:19.42, Z:0.40 [[ 9.08890550e-01 -4.16987325e-01 -6.28800951e-03 8.33747251e+01] [ 4.16977440e-01 9.08912301e-01 -2.87115022e-03 1.94236067e+01] [ 6.91248244e-03 -1.23968071e-05 9.99976108e-01 4.04822246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:83.40, Y:19.44, Z:0.41 [[ 9.06170226e-01 -4.22866347e-01 -6.29084814e-03 8.33995324e+01] [ 4.22856647e-01 9.06192059e-01 -2.86493561e-03 1.94377647e+01] [ 6.91220148e-03 -6.40075973e-05 9.99976108e-01 4.07925133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:19.45, Z:0.41 [[ 9.05244303e-01 -4.24844941e-01 -6.28704113e-03 8.34253065e+01] [ 4.24835231e-01 9.05266133e-01 -2.87326579e-03 1.94514875e+01] [ 6.91213784e-03 -6.99490773e-05 9.99976108e-01 4.10823201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.45, Y:19.46, Z:0.41 [[ 9.04422728e-01 -4.26591149e-01 -6.28654540e-03 8.34497917e+01] [ 4.26581473e-01 9.04444572e-01 -2.87435000e-03 1.94637170e+01] [ 6.91200414e-03 -8.20963281e-05 9.99976108e-01 4.09419512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:19.48, Z:0.41 [[ 9.03096020e-01 -4.29392664e-01 -6.28633460e-03 8.34758725e+01] [ 4.29383053e-01 9.03117893e-01 -2.87481096e-03 1.94758059e+01] [ 6.91172400e-03 -1.03015201e-04 9.99976108e-01 4.13700780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.50, Y:19.49, Z:0.41 [[ 9.02410413e-01 -4.30831678e-01 -6.28583626e-03 8.35006836e+01] [ 4.30822094e-01 9.02432298e-01 -2.87590018e-03 1.94878334e+01] [ 6.91157056e-03 -1.12834874e-04 9.99976108e-01 4.09739926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.53, Y:19.50, Z:0.41 [[ 9.02010316e-01 -4.31668718e-01 -6.28557284e-03 8.35283866e+01] [ 4.31659150e-01 9.02032208e-01 -2.87647580e-03 1.95002460e+01] [ 6.91147376e-03 -1.18614184e-04 9.99976108e-01 4.10586494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:19.51, Z:0.41 [[ 9.01198876e-01 -4.33360107e-01 -6.29314335e-03 8.35528720e+01] [ 4.33350696e-01 9.01220836e-01 -2.85993456e-03 1.95113073e+01] [ 6.91089346e-03 -1.49768238e-04 9.99976108e-01 4.10875641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:19.52, Z:0.41 [[ 9.01068329e-01 -4.33631604e-01 -6.28473341e-03 8.35783861e+01] [ 4.33622071e-01 9.01090237e-01 -2.87829760e-03 1.95222239e+01] [ 6.91123272e-03 -1.31656302e-04 9.99976108e-01 4.11102959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:19.53, Z:0.41 [[ 9.01100125e-01 -4.33565532e-01 -6.28447058e-03 8.36044672e+01] [ 4.33555994e-01 9.01122030e-01 -2.87887135e-03 1.95339593e+01] [ 6.91125427e-03 -1.30518558e-04 9.99976108e-01 4.12334893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.63, Y:19.54, Z:0.41 [[ 9.01374859e-01 -4.32994082e-01 -6.28398216e-03 8.36316092e+01] [ 4.32984523e-01 9.01396755e-01 -2.87993706e-03 1.95448214e+01] [ 6.91135683e-03 -1.24964154e-04 9.99976108e-01 4.12827287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:83.66, Y:19.56, Z:0.41 [[ 9.01919884e-01 -4.31857662e-01 -6.28349053e-03 8.36606348e+01] [ 4.31848067e-01 9.01941765e-01 -2.88100931e-03 1.95554905e+01] [ 6.91152848e-03 -1.15073658e-04 9.99976108e-01 4.10733577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81264 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:83.69, Y:19.57, Z:0.41 [[ 9.02133439e-01 -4.31411254e-01 -6.29184357e-03 8.36850986e+01] [ 4.31401775e-01 9.02155371e-01 -2.86279040e-03 1.95665076e+01] [ 6.91126046e-03 -1.31693538e-04 9.99976108e-01 4.09263737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:19.58, Z:0.41 [[ 9.02611834e-01 -4.30409492e-01 -6.28858044e-03 8.37094292e+01] [ 4.30399940e-01 9.02633733e-01 -2.86990519e-03 1.95773140e+01] [ 6.91151928e-03 -1.16194254e-04 9.99976108e-01 4.09948576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:19.59, Z:0.41 [[ 9.03340407e-01 -4.28878348e-01 -6.28264137e-03 8.37385515e+01] [ 4.28868669e-01 9.03362250e-01 -2.88284832e-03 1.95887251e+01] [ 6.91189227e-03 -9.02346672e-05 9.99976109e-01 4.07073719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.76, Y:19.60, Z:0.41 [[ 9.03630216e-01 -4.28267262e-01 -6.29162686e-03 8.37637936e+01] [ 4.28257703e-01 9.03652113e-01 -2.86326569e-03 1.95989487e+01] [ 6.91168486e-03 -1.07104276e-04 9.99976108e-01 4.05770210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93264 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:83.79, Y:19.61, Z:0.41 [[ 9.03891483e-01 -4.27715608e-01 -6.28855252e-03 8.37899969e+01] [ 4.27705990e-01 9.03913353e-01 -2.86996391e-03 1.96102432e+01] [ 6.91183495e-03 -9.55156459e-05 9.99976108e-01 4.07932665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.81, Y:19.62, Z:0.41 [[ 9.03980332e-01 -4.27527782e-01 -6.28923458e-03 8.38144449e+01] [ 4.27518170e-01 9.04002205e-01 -2.86847828e-03 1.96216512e+01] [ 6.91183609e-03 -9.57141061e-05 9.99976108e-01 4.12309492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:19.63, Z:0.41 [[ 9.04242342e-01 -4.26973455e-01 -6.28135830e-03 8.38433634e+01] [ 4.26963710e-01 9.04264156e-01 -2.88562319e-03 1.96320104e+01] [ 6.91209167e-03 -7.26093710e-05 9.99976109e-01 4.10622211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:83.87, Y:19.64, Z:0.41 [[ 9.04288215e-01 -4.26876181e-01 -6.28890251e-03 8.38699408e+01] [ 4.26866548e-01 9.04310078e-01 -2.86920019e-03 1.96412762e+01] [ 6.91191114e-03 -8.99381857e-05 9.99976108e-01 4.07913121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.90, Y:19.65, Z:0.41 [[ 9.04181793e-01 -4.27101575e-01 -6.28721810e-03 8.38953543e+01] [ 4.27091922e-01 9.04203648e-01 -2.87286586e-03 1.96504620e+01] [ 6.91193107e-03 -8.76270577e-05 9.99976108e-01 4.08054261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264000000001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:83.92, Y:19.66, Z:0.41 [[ 9.03817539e-01 -4.27871954e-01 -6.28067976e-03 8.39232549e+01] [ 4.27862221e-01 9.03839358e-01 -2.88708959e-03 1.96576913e+01] [ 6.91203023e-03 -7.78633867e-05 9.99976109e-01 4.06902491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:19.67, Z:0.41 [[ 9.03526940e-01 -4.28485272e-01 -6.28020326e-03 8.39515891e+01] [ 4.28475546e-01 9.03548762e-01 -2.88812574e-03 1.96678877e+01] [ 6.91198922e-03 -8.14141175e-05 9.99976109e-01 4.09774872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:19.68, Z:0.41 [[ 9.03221636e-01 -4.29128344e-01 -6.28810821e-03 8.39769861e+01] [ 4.29118754e-01 9.03243518e-01 -2.87093665e-03 1.96766442e+01] [ 6.91169327e-03 -1.05253057e-04 9.99976108e-01 4.08616915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17264 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:84.00, Y:19.68, Z:0.41 [[ 9.03206078e-01 -4.29161100e-01 -6.28731144e-03 8.40040858e+01] [ 4.29151498e-01 9.03227956e-01 -2.87266896e-03 1.96846774e+01] [ 6.91171323e-03 -1.03597056e-04 9.99976108e-01 4.10998041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.03, Y:19.69, Z:0.41 [[ 9.03311157e-01 -4.28940000e-01 -6.27941270e-03 8.40314111e+01] [ 4.28930273e-01 9.03332978e-01 -2.88983240e-03 1.96949332e+01] [ 6.91196528e-03 -8.30123553e-05 9.99976109e-01 4.07666460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:19.70, Z:0.41 [[ 9.03878410e-01 -4.27743304e-01 -6.28372599e-03 8.40574332e+01] [ 4.27733614e-01 9.03900248e-01 -2.88046022e-03 1.97044027e+01] [ 6.91195905e-03 -8.41750186e-05 9.99976109e-01 4.11039162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:19.71, Z:0.41 [[ 9.05462185e-01 -4.24380496e-01 -6.27907759e-03 8.40863908e+01] [ 4.24370654e-01 9.05483955e-01 -2.89055780e-03 1.97129803e+01] [ 6.91230036e-03 -4.73654807e-05 9.99976109e-01 4.11703589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:19.72, Z:0.41 [[ 9.06708668e-01 -4.21710660e-01 -6.28579501e-03 8.41130250e+01] [ 4.21700855e-01 9.06730455e-01 -2.87596508e-03 1.97243200e+01] [ 6.91234690e-03 -4.30626623e-05 9.99976109e-01 4.13637437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:19.74, Z:0.41 [[ 9.08045060e-01 -4.18825341e-01 -6.28504374e-03 8.41381886e+01] [ 4.18815456e-01 9.08066811e-01 -2.87759637e-03 1.97355512e+01] [ 6.91244991e-03 -1.92862895e-05 9.99976109e-01 4.13212819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.16, Y:19.75, Z:0.41 [[ 9.10724807e-01 -4.12965909e-01 -6.28370469e-03 8.41638162e+01] [ 4.12955864e-01 9.10746484e-01 -2.88050180e-03 1.97462551e+01] [ 6.91241099e-03 2.84517466e-05 9.99976109e-01 4.11092591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:19.76, Z:0.42 [[ 9.12017709e-01 -4.10102714e-01 -6.28187669e-03 8.41890335e+01] [ 4.10092573e-01 9.12039342e-01 -2.88446659e-03 1.97580905e+01] [ 6.91224626e-03 5.45336380e-05 9.99976109e-01 4.15148758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.21, Y:19.77, Z:0.41 [[ 9.13048790e-01 -4.07802045e-01 -6.27687558e-03 8.42139070e+01] [ 4.07791775e-01 9.13070361e-01 -2.89530874e-03 1.97698932e+01] [ 6.91194188e-03 8.38998991e-05 9.99976109e-01 4.13110394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:19.78, Z:0.41 [[ 9.14328210e-01 -4.04925336e-01 -6.27670017e-03 8.42414484e+01] [ 4.04914996e-01 9.14349747e-01 -2.89568896e-03 1.97831426e+01] [ 6.91163704e-03 1.06080078e-04 9.99976109e-01 4.10979566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.27, Y:19.80, Z:0.41 [[ 9.14844066e-01 -4.03758386e-01 -6.28496313e-03 8.42662147e+01] [ 4.03748141e-01 9.14865650e-01 -2.87777738e-03 1.97951532e+01] [ 6.91182363e-03 9.51753764e-05 9.99976109e-01 4.05279320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:19.81, Z:0.41 [[ 9.15259769e-01 -4.02815186e-01 -6.28332059e-03 8.42910689e+01] [ 4.02804895e-01 9.15281331e-01 -2.88133828e-03 1.98082898e+01] [ 6.91165284e-03 1.06220724e-04 9.99976109e-01 4.10111853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:19.82, Z:0.41 [[ 9.14971335e-01 -4.03470029e-01 -6.27623133e-03 8.43171683e+01] [ 4.03459648e-01 9.14992853e-01 -2.89669846e-03 1.98217725e+01] [ 6.91143783e-03 1.18189972e-04 9.99976109e-01 4.13274578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:19.83, Z:0.41 [[ 9.14692389e-01 -4.04101892e-01 -6.28449116e-03 8.43415292e+01] [ 4.04091649e-01 9.14713973e-01 -2.87880188e-03 1.98332301e+01] [ 6.91184117e-03 9.37077754e-05 9.99976109e-01 4.12648072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:19.85, Z:0.41 [[ 9.14131993e-01 -4.05368125e-01 -6.27552730e-03 8.43680220e+01] [ 4.05357778e-01 9.14153528e-01 -2.89821143e-03 1.98459654e+01] [ 6.91163795e-03 1.05513986e-04 9.99976109e-01 4.14917354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.39, Y:19.86, Z:0.41 [[ 9.13583253e-01 -4.06603220e-01 -6.28179645e-03 8.43919140e+01] [ 4.06592995e-01 9.13604846e-01 -2.88463980e-03 1.98585426e+01] [ 6.91198351e-03 8.12241847e-05 9.99976109e-01 4.14787324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:19.87, Z:0.41 [[ 9.11860595e-01 -4.10452046e-01 -6.27486003e-03 8.44156976e+01] [ 4.10441809e-01 9.11882182e-01 -2.89965025e-03 1.98726167e+01] [ 6.91210043e-03 6.86118958e-05 9.99976109e-01 4.13647856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:19.89, Z:0.42 [[ 9.10760682e-01 -4.12886919e-01 -6.27467865e-03 8.44430181e+01] [ 4.12876737e-01 9.10782295e-01 -2.90004270e-03 1.98859043e+01] [ 6.91225592e-03 5.05760220e-05 9.99976109e-01 4.16642600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:84.47, Y:19.90, Z:0.41 [[ 9.09827475e-01 -4.14939131e-01 -6.28354847e-03 8.44674332e+01] [ 4.14929130e-01 9.09849173e-01 -2.88085090e-03 1.98968923e+01] [ 6.91245914e-03 1.38500029e-05 9.99976109e-01 4.13467227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:19.91, Z:0.42 [[ 9.08913117e-01 -4.16938343e-01 -6.27405092e-03 8.44940386e+01] [ 4.16928248e-01 9.08934771e-01 -2.90138869e-03 1.99090961e+01] [ 6.91240323e-03 2.12811764e-05 9.99976109e-01 4.17462812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.52, Y:19.92, Z:0.41 [[ 9.07230117e-01 -4.20587871e-01 -6.27355175e-03 8.45194603e+01] [ 4.20577856e-01 9.07251808e-01 -2.90246761e-03 1.99208403e+01] [ 6.91243384e-03 -5.31091747e-06 9.99976109e-01 4.12908915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:19.93, Z:0.42 [[ 9.06420553e-01 -4.22329760e-01 -6.27337504e-03 8.45477052e+01] [ 4.22319784e-01 9.06442262e-01 -2.90284951e-03 1.99342791e+01] [ 6.91241200e-03 -1.81679273e-05 9.99976109e-01 4.15896389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:19.95, Z:0.42 [[ 9.05969476e-01 -4.23296390e-01 -6.28288524e-03 8.45712644e+01] [ 4.23286579e-01 9.05991260e-01 -2.88229430e-03 1.99465954e+01] [ 6.91230389e-03 -4.81903477e-05 9.99976109e-01 4.16268067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264000000001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:84.60, Y:19.96, Z:0.42 [[ 9.05775518e-01 -4.23711411e-01 -6.27301373e-03 8.45968318e+01] [ 4.23701463e-01 9.05797240e-01 -2.90362084e-03 1.99589192e+01] [ 6.91237580e-03 -2.78564275e-05 9.99976109e-01 4.15812628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:84.62, Y:19.97, Z:0.42 [[ 9.05790576e-01 -4.23679228e-01 -6.27251628e-03 8.46213967e+01] [ 4.23669271e-01 9.05812294e-01 -2.90469505e-03 1.99715783e+01] [ 6.91238131e-03 -2.64270035e-05 9.99976109e-01 4.15952916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:19.99, Z:0.42 [[ 9.06326854e-01 -4.22530822e-01 -6.27194959e-03 8.46464809e+01] [ 4.22520830e-01 9.06348556e-01 -2.90591814e-03 1.99855884e+01] [ 6.91241244e-03 -1.63176945e-05 9.99976109e-01 4.17095501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.67, Y:20.00, Z:0.41 [[ 9.06575377e-01 -4.21997340e-01 -6.27144395e-03 8.46714796e+01] [ 4.21987327e-01 9.06597069e-01 -2.90700899e-03 1.99978657e+01] [ 6.91242277e-03 -1.10470992e-05 9.99976109e-01 4.14647230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.70, Y:20.01, Z:0.41 [[ 9.06986512e-01 -4.21112975e-01 -6.27126468e-03 8.46964146e+01] [ 4.21102939e-01 9.07008193e-01 -2.90739569e-03 2.00105151e+01] [ 6.91243049e-03 -3.87931148e-06 9.99976109e-01 4.14958814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.72, Y:20.03, Z:0.41 [[ 9.07841870e-01 -4.19265807e-01 -6.27069287e-03 8.47202244e+01] [ 4.19255718e-01 9.07863527e-01 -2.90862845e-03 2.00261286e+01] [ 6.91242179e-03 1.15508533e-05 9.99976109e-01 4.12598592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:84.75, Y:20.04, Z:0.41 [[ 9.08019058e-01 -4.18881929e-01 -6.27051500e-03 8.47471257e+01] [ 4.18871828e-01 9.08040709e-01 -2.90901185e-03 2.00399030e+01] [ 6.91241538e-03 1.48961184e-05 9.99976109e-01 4.14140601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:20.05, Z:0.42 [[ 9.08174665e-01 -4.18544322e-01 -6.27912584e-03 8.47707359e+01] [ 4.18534342e-01 9.08196372e-01 -2.89044825e-03 2.00519132e+01] [ 6.91246001e-03 -2.99792652e-06 9.99976109e-01 4.17089189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:20.06, Z:0.42 [[ 9.08093918e-01 -4.18719619e-01 -6.27023572e-03 8.47964923e+01] [ 4.18709510e-01 9.08115565e-01 -2.90960657e-03 2.00640926e+01] [ 6.91240801e-03 1.67887016e-05 9.99976109e-01 4.17285046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:20.08, Z:0.42 [[ 9.07600160e-01 -4.19788804e-01 -6.26967426e-03 8.48245463e+01] [ 4.19778713e-01 9.07621815e-01 -2.91081592e-03 2.00771487e+01] [ 6.91242106e-03 9.98120540e-06 9.99976109e-01 4.16324712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:84.85, Y:20.09, Z:0.42 [[ 9.06712824e-01 -4.21701804e-01 -6.28047186e-03 8.48476161e+01] [ 4.21691919e-01 9.06734574e-01 -2.88755479e-03 2.00888431e+01] [ 6.91240804e-03 -3.02412689e-05 9.99976109e-01 4.16159349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.87, Y:20.10, Z:0.42 [[ 9.06038447e-01 -4.23148948e-01 -6.26901661e-03 8.48723082e+01] [ 4.23138927e-01 9.06060135e-01 -2.91221409e-03 2.01010312e+01] [ 6.91240637e-03 -1.40870295e-05 9.99976109e-01 4.17687772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:20.11, Z:0.42 [[ 9.05389401e-01 -4.24535904e-01 -6.26883758e-03 8.48974881e+01] [ 4.24525914e-01 9.05411103e-01 -2.91259944e-03 2.01129285e+01] [ 6.91237818e-03 -2.42473367e-05 9.99976109e-01 4.20969048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.92, Y:20.12, Z:0.42 [[ 9.03965691e-01 -4.27559047e-01 -6.26826484e-03 8.49228761e+01] [ 4.27549120e-01 9.03987422e-01 -2.91383151e-03 2.01246849e+01] [ 6.91226760e-03 -4.59874017e-05 9.99976109e-01 4.19382276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:20.14, Z:0.42 [[ 9.03472491e-01 -4.28600250e-01 -6.26768713e-03 8.49478565e+01] [ 4.28590340e-01 9.03494230e-01 -2.91507366e-03 2.01361923e+01] [ 6.91222045e-03 -5.25812976e-05 9.99976109e-01 4.20358320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:20.15, Z:0.42 [[ 9.03057495e-01 -4.29473956e-01 -6.26750825e-03 8.49733380e+01] [ 4.29464064e-01 9.03079242e-01 -2.91545820e-03 2.01475967e+01] [ 6.91216996e-03 -5.88431879e-05 9.99976109e-01 4.19067274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:85.00, Y:20.16, Z:0.42 [[ 9.02743828e-01 -4.30132889e-01 -6.26733328e-03 8.49994573e+01] [ 4.30123011e-01 9.02765581e-01 -2.91583427e-03 2.01588466e+01] [ 6.91212899e-03 -6.34728716e-05 9.99976109e-01 4.18582976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.02, Y:20.17, Z:0.42 [[ 9.02908108e-01 -4.29787942e-01 -6.26684723e-03 8.50242191e+01] [ 4.29778048e-01 9.02929854e-01 -2.91687855e-03 2.01699459e+01] [ 6.91216268e-03 -5.96800729e-05 9.99976109e-01 4.19215548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.05, Y:20.18, Z:0.42 [[ 9.03471946e-01 -4.28601414e-01 -6.26660509e-03 8.50492387e+01] [ 4.28591488e-01 9.03493678e-01 -2.91739866e-03 2.01817011e+01] [ 6.91223927e-03 -5.00257555e-05 9.99976109e-01 4.22131666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:20.19, Z:0.42 [[ 9.03999696e-01 -4.27487178e-01 -6.26602979e-03 8.50742549e+01] [ 4.27477216e-01 9.04021411e-01 -2.91863377e-03 2.01918360e+01] [ 6.91230361e-03 -4.01409301e-05 9.99976109e-01 4.23831449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.10, Y:20.20, Z:0.42 [[ 9.04260808e-01 -4.26934576e-01 -6.26563599e-03 8.50988667e+01] [ 4.26924596e-01 9.04282515e-01 -2.91947893e-03 2.02027445e+01] [ 6.91233157e-03 -3.49837308e-05 9.99976109e-01 4.19906210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.12, Y:20.21, Z:0.42 [[ 9.05224350e-01 -4.24887776e-01 -6.26525847e-03 8.51249474e+01] [ 4.24877741e-01 9.05246031e-01 -2.92028886e-03 2.02141464e+01] [ 6.91239541e-03 -1.84522756e-05 9.99976109e-01 4.20856585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:85.15, Y:20.23, Z:0.42 [[ 9.05694328e-01 -4.23885052e-01 -6.26468043e-03 8.51492384e+01] [ 4.23874984e-01 9.05715994e-01 -2.92152838e-03 2.02254485e+01] [ 6.91241347e-03 -9.42963670e-06 9.99976109e-01 4.19925111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:20.24, Z:0.42 [[ 9.06435123e-01 -4.22298626e-01 -6.26410450e-03 8.51752207e+01] [ 4.22288511e-01 9.06456767e-01 -2.92276271e-03 2.02355563e+01] [ 6.91241859e-03 4.03541303e-06 9.99976109e-01 4.23866977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.20, Y:20.25, Z:0.42 [[ 9.06673266e-01 -4.21787099e-01 -6.26353502e-03 8.52011855e+01] [ 4.21776964e-01 9.06694901e-01 -2.92398262e-03 2.02468451e+01] [ 6.91241341e-03 9.28208897e-06 9.99976109e-01 4.20939418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:20.26, Z:0.42 [[ 9.07968922e-01 -4.18990700e-01 -6.26335896e-03 8.52281095e+01] [ 4.18980495e-01 9.07990524e-01 -2.92435970e-03 2.02571988e+01] [ 6.91235010e-03 3.10024865e-05 9.99976109e-01 4.24956320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:20.27, Z:0.42 [[ 9.08592744e-01 -4.17636208e-01 -6.26285011e-03 8.52522181e+01] [ 4.17625964e-01 9.08614327e-01 -2.92544905e-03 2.02684002e+01] [ 6.91228879e-03 4.25129682e-05 9.99976109e-01 4.23254966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:20.28, Z:0.42 [[ 9.09286195e-01 -4.16124255e-01 -6.26259837e-03 8.52779276e+01] [ 4.16113971e-01 9.09307760e-01 -2.92598786e-03 2.02800875e+01] [ 6.91220381e-03 5.46056887e-05 9.99976109e-01 4.24710658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:20.29, Z:0.42 [[ 9.10816115e-01 -4.12764813e-01 -6.26202623e-03 8.53017813e+01] [ 4.12754441e-01 9.10837638e-01 -2.92721181e-03 2.02917893e+01] [ 6.91193921e-03 8.14725552e-05 9.99976109e-01 4.22059924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:20.30, Z:0.42 [[ 9.11570091e-01 -4.11097020e-01 -6.26177714e-03 8.53273766e+01] [ 4.11086605e-01 9.11591593e-01 -2.92774455e-03 2.03047108e+01] [ 6.91177045e-03 9.47116556e-05 9.99976109e-01 4.22664911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:20.32, Z:0.42 [[ 9.12748706e-01 -4.08473495e-01 -6.26129444e-03 8.53526435e+01] [ 4.08463011e-01 9.12770174e-01 -2.92877649e-03 2.03175347e+01] [ 6.91145039e-03 1.15729770e-04 9.99976109e-01 4.23755946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.38, Y:20.33, Z:0.42 [[ 9.12873466e-01 -4.08194603e-01 -6.26112075e-03 8.53782627e+01] [ 4.08184110e-01 9.12894930e-01 -2.92914776e-03 2.03303512e+01] [ 6.91140769e-03 1.18251271e-04 9.99976109e-01 4.22028680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:20.34, Z:0.42 [[ 9.13310180e-01 -4.07216551e-01 -6.26062972e-03 8.54036921e+01] [ 4.07206028e-01 9.13331629e-01 -2.93019690e-03 2.03426437e+01] [ 6.91125581e-03 1.26812492e-04 9.99976109e-01 4.24179493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:20.36, Z:0.42 [[ 9.13494301e-01 -4.06803356e-01 -6.26036705e-03 8.54286488e+01] [ 4.06792820e-01 9.13515743e-01 -2.93075797e-03 2.03560215e+01] [ 6.91118604e-03 1.30558337e-04 9.99976109e-01 4.24823774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:20.37, Z:0.42 [[ 9.13555023e-01 -4.06666982e-01 -6.25980858e-03 8.54531165e+01] [ 4.06656434e-01 9.13576460e-01 -2.93195033e-03 2.03700095e+01] [ 6.91114115e-03 1.32906522e-04 9.99976109e-01 4.24847775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.48, Y:20.38, Z:0.42 [[ 9.13345215e-01 -4.07137987e-01 -6.25923985e-03 8.54768779e+01] [ 4.07127442e-01 9.13366653e-01 -2.93316396e-03 2.03823218e+01] [ 6.91118343e-03 1.30682960e-04 9.99976109e-01 4.22357477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:85.50, Y:20.40, Z:0.42 [[ 9.13009652e-01 -4.07889939e-01 -6.25885072e-03 8.55012762e+01] [ 4.07879407e-01 9.13031096e-01 -2.93399407e-03 2.03956727e+01] [ 6.91127199e-03 1.25908589e-04 9.99976109e-01 4.20593981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.53, Y:20.41, Z:0.42 [[ 9.12588511e-01 -4.08831315e-01 -6.25829112e-03 8.55257405e+01] [ 4.08820796e-01 9.12609961e-01 -2.93518723e-03 2.04105832e+01] [ 6.91137527e-03 1.20098590e-04 9.99976109e-01 4.19861820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:20.42, Z:0.42 [[ 9.12302026e-01 -4.09470211e-01 -6.25772732e-03 8.55516842e+01] [ 4.09459699e-01 9.12323480e-01 -2.93638874e-03 2.04243588e+01] [ 6.91143528e-03 1.16586253e-04 9.99976109e-01 4.20902482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:20.44, Z:0.42 [[ 9.12080745e-01 -4.09962800e-01 -6.26243231e-03 8.55758357e+01] [ 4.09952368e-01 9.12102238e-01 -2.92636287e-03 2.04368682e+01] [ 6.91167844e-03 1.01780276e-04 9.99976109e-01 4.21978998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:20.45, Z:0.43 [[ 9.11561885e-01 -4.11115287e-01 -6.25706012e-03 8.56000526e+01] [ 4.11104803e-01 9.11583353e-01 -2.93780479e-03 2.04532957e+01] [ 6.91160830e-03 1.05683405e-04 9.99976109e-01 4.26071871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:85.62, Y:20.47, Z:0.42 [[ 9.11127805e-01 -4.12076422e-01 -6.25656178e-03 8.56246757e+01] [ 4.12065954e-01 9.11149281e-01 -2.93886569e-03 2.04678723e+01] [ 6.91169903e-03 9.95661489e-05 9.99976109e-01 4.22974850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:20.48, Z:0.42 [[ 9.10997228e-01 -4.12365024e-01 -6.25598979e-03 8.56494698e+01] [ 4.12354554e-01 9.11018703e-01 -2.94008279e-03 2.04814899e+01] [ 6.91171102e-03 9.87213892e-05 9.99976109e-01 4.20666865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.67, Y:20.50, Z:0.42 [[ 9.10428074e-01 -4.13620172e-01 -6.25100942e-03 8.56745363e+01] [ 4.13609659e-01 9.10449528e-01 -2.95067561e-03 2.04962322e+01] [ 6.91168753e-03 1.00900041e-04 9.99976109e-01 4.20047783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:20.51, Z:0.42 [[ 9.10287158e-01 -4.13930139e-01 -6.25540516e-03 8.56987015e+01] [ 4.13919698e-01 9.10308647e-01 -2.94132706e-03 2.05101198e+01] [ 6.91185332e-03 8.82168378e-05 9.99976109e-01 4.23112491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:20.53, Z:0.42 [[ 9.09042530e-01 -4.16656458e-01 -6.25097961e-03 8.57232069e+01] [ 4.16646017e-01 9.09064019e-01 -2.95073393e-03 2.05261892e+01] [ 6.91198299e-03 7.78968847e-05 9.99976109e-01 4.22959032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.75, Y:20.54, Z:0.42 [[ 9.07945364e-01 -4.19041877e-01 -6.25472801e-03 8.57476425e+01] [ 4.19031547e-01 9.07966906e-01 -2.94276688e-03 2.05392021e+01] [ 6.91222859e-03 5.09431896e-05 9.99976109e-01 4.20770195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.77, Y:20.55, Z:0.42 [[ 9.07016434e-01 -4.21048778e-01 -6.25417343e-03 8.57734084e+01] [ 4.21038487e-01 9.07037996e-01 -2.94394502e-03 2.05513392e+01] [ 6.91231739e-03 3.69587960e-05 9.99976109e-01 4.23312333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.80, Y:20.56, Z:0.42 [[ 9.05728769e-01 -4.23811617e-01 -6.25382545e-03 8.57982480e+01] [ 4.23801388e-01 9.05750359e-01 -2.94468405e-03 2.05635450e+01] [ 6.91239596e-03 1.67051545e-05 9.99976109e-01 4.23174161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:20.57, Z:0.42 [[ 9.03355766e-01 -4.28846426e-01 -6.25325804e-03 8.58238521e+01] [ 4.28836308e-01 9.03377409e-01 -2.94588851e-03 2.05736228e+01] [ 6.91238580e-03 -2.04387170e-05 9.99976109e-01 4.23650167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:20.58, Z:0.43 [[ 9.02165884e-01 -4.31343966e-01 -6.25301119e-03 8.58500743e+01] [ 4.31333904e-01 9.02187553e-01 -2.94641238e-03 2.05847732e+01] [ 6.91230607e-03 -3.89829995e-05 9.99976109e-01 4.25189909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:20.60, Z:0.42 [[ 9.01008368e-01 -4.33756646e-01 -6.25250396e-03 8.58761987e+01] [ 4.33746635e-01 9.01030060e-01 -2.94748836e-03 2.05965775e+01] [ 6.91218669e-03 -5.62908803e-05 9.99976109e-01 4.23331915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:85.90, Y:20.61, Z:0.42 [[ 8.99963042e-01 -4.35921384e-01 -6.25062754e-03 8.59020864e+01] [ 4.35911397e-01 8.99984746e-01 -2.95146743e-03 2.06083289e+01] [ 6.91207720e-03 -6.85081811e-05 9.99976109e-01 4.24581378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:20.62, Z:0.43 [[ 8.98856398e-01 -4.38198689e-01 -6.25186266e-03 8.59290544e+01] [ 4.38188775e-01 8.98878135e-01 -2.94884885e-03 2.06173856e+01] [ 6.91184434e-03 -8.89043848e-05 9.99976109e-01 4.27768190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.96, Y:20.63, Z:0.43 [[ 8.98305445e-01 -4.39327035e-01 -6.25168525e-03 8.59564860e+01] [ 4.39317147e-01 8.98327194e-01 -2.94922491e-03 2.06276010e+01] [ 6.91173310e-03 -9.71677273e-05 9.99976109e-01 4.27655908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:20.64, Z:0.43 [[ 8.98011051e-01 -4.39928488e-01 -6.25118140e-03 8.59835337e+01] [ 4.39918606e-01 8.98032803e-01 -2.95029248e-03 2.06366767e+01] [ 6.91168367e-03 -1.00615763e-04 9.99976109e-01 4.31869771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.01, Y:20.64, Z:0.42 [[ 8.98335796e-01 -4.39264987e-01 -6.25058711e-03 8.60113572e+01] [ 4.39255081e-01 8.98357536e-01 -2.95155104e-03 2.06434973e+01] [ 6.91177506e-03 -9.41181927e-05 9.99976109e-01 4.21772214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.04, Y:20.65, Z:0.42 [[ 8.98732819e-01 -4.38452110e-01 -6.25042935e-03 8.60374620e+01] [ 4.38442182e-01 8.98754549e-01 -2.95188509e-03 2.06530677e+01] [ 6.91186205e-03 -8.74958749e-05 9.99976109e-01 4.17207520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:20.66, Z:0.42 [[ 9.00852711e-01 -4.34079862e-01 -6.25024792e-03 8.60633494e+01] [ 4.34069826e-01 9.00874392e-01 -2.95226918e-03 2.06610415e+01] [ 6.91220890e-03 -5.34843314e-05 9.99976109e-01 4.18483894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.09, Y:20.67, Z:0.42 [[ 9.01939787e-01 -4.31816583e-01 -6.24968113e-03 8.60889715e+01] [ 4.31806484e-01 9.01961439e-01 -2.95346854e-03 2.06722854e+01] [ 6.91232808e-03 -3.48020473e-05 9.99976109e-01 4.19667072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:20.68, Z:0.42 [[ 9.03430673e-01 -4.28688661e-01 -6.24909862e-03 8.61149137e+01] [ 4.28678478e-01 9.03452285e-01 -2.95470053e-03 2.06822127e+01] [ 6.91240904e-03 -9.48699962e-06 9.99976109e-01 4.21132027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69264000000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:86.15, Y:20.69, Z:0.42 [[ 9.06288736e-01 -4.22613056e-01 -6.23962952e-03 8.61450680e+01] [ 4.22602590e-01 9.06310213e-01 -2.97471772e-03 2.06894377e+01] [ 6.91219450e-03 5.90695608e-05 9.99976109e-01 4.22787097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:20.70, Z:0.43 [[ 9.07912854e-01 -4.19112402e-01 -6.24851696e-03 8.61714721e+01] [ 4.19101983e-01 9.07934354e-01 -2.95593063e-03 2.07003788e+01] [ 6.91211040e-03 6.49615615e-05 9.99976109e-01 4.30289773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:20.71, Z:0.43 [[ 9.09692107e-01 -4.15236357e-01 -6.24800754e-03 8.61969036e+01] [ 4.15225839e-01 9.09713559e-01 -2.95700701e-03 2.07125261e+01] [ 6.91175399e-03 9.56317654e-05 9.99976109e-01 4.29003863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:20.72, Z:0.43 [[ 9.11314323e-01 -4.11663902e-01 -6.24782744e-03 8.62225181e+01] [ 4.11653298e-01 9.11335732e-01 -2.95738749e-03 2.07249850e+01] [ 6.91131807e-03 1.23170811e-04 9.99976109e-01 4.33022279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.25, Y:20.74, Z:0.43 [[ 9.13752859e-01 -4.06222456e-01 -6.24733461e-03 8.62489104e+01] [ 4.06211717e-01 9.13774200e-01 -2.95842821e-03 2.07358506e+01] [ 6.91043316e-03 1.65531719e-04 9.99976109e-01 4.33465847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:20.75, Z:0.43 [[ 9.15383155e-01 -4.02535286e-01 -6.24683185e-03 8.62735985e+01] [ 4.02524454e-01 9.15404449e-01 -2.95948943e-03 2.07472491e+01] [ 6.90967659e-03 1.94564192e-04 9.99976109e-01 4.32643183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:20.76, Z:0.43 [[ 9.15611386e-01 -4.02016034e-01 -6.23677742e-03 8.62987696e+01] [ 4.02005045e-01 9.15632600e-01 -2.98070250e-03 2.07592033e+01] [ 6.90888692e-03 2.21949164e-04 9.99976109e-01 4.31730549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:20.77, Z:0.44 [[ 9.15361223e-01 -4.02585302e-01 -6.23745236e-03 8.63258683e+01] [ 4.02574336e-01 9.15382449e-01 -2.97927923e-03 2.07718605e+01] [ 6.90906844e-03 2.16078436e-04 9.99976109e-01 4.36333367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.35, Y:20.78, Z:0.43 [[ 9.14597019e-01 -4.04318294e-01 -6.24589897e-03 8.63507182e+01] [ 4.04307489e-01 9.14618327e-01 -2.96146486e-03 2.07828533e+01] [ 6.90998808e-03 1.83283200e-04 9.99976109e-01 4.34020661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:20.80, Z:0.43 [[ 9.13162617e-01 -4.07547575e-01 -6.24564999e-03 8.63758977e+01] [ 4.07536842e-01 9.13183962e-01 -2.96198984e-03 2.07958817e+01] [ 6.91057918e-03 1.59445923e-04 9.99976109e-01 4.33805351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:20.81, Z:0.43 [[ 9.13086540e-01 -4.07718001e-01 -6.24516055e-03 8.64015545e+01] [ 4.07707265e-01 9.13107883e-01 -2.96302145e-03 2.08082719e+01] [ 6.91058251e-03 1.59297672e-04 9.99976109e-01 4.34002221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:20.82, Z:0.43 [[ 9.10657819e-01 -4.13114199e-01 -6.24460732e-03 8.64280481e+01] [ 4.13103582e-01 9.10679221e-01 -2.96418692e-03 2.08191895e+01] [ 6.91138184e-03 1.19690348e-04 9.99976109e-01 4.33117172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:20.83, Z:0.43 [[ 9.08310155e-01 -4.18250732e-01 -6.24409390e-03 8.64544949e+01] [ 4.18240228e-01 9.08331613e-01 -2.96526805e-03 2.08282758e+01] [ 6.91193341e-03 8.18518250e-05 9.99976109e-01 4.31944381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:20.84, Z:0.43 [[ 9.06614517e-01 -4.21913654e-01 -6.24391172e-03 8.64805817e+01] [ 4.21903234e-01 9.06636016e-01 -2.96565162e-03 2.08385444e+01] [ 6.91220415e-03 5.43762586e-05 9.99976109e-01 4.32822195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:86.51, Y:20.85, Z:0.43 [[ 9.06071313e-01 -4.23078949e-01 -6.24333019e-03 8.65058942e+01] [ 4.23068549e-01 9.06092821e-01 -2.96687534e-03 2.08505696e+01] [ 6.91225917e-03 4.68439884e-05 9.99976109e-01 4.31101784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:86.53, Y:20.86, Z:0.43 [[ 9.05988371e-01 -4.23256540e-01 -6.24275094e-03 8.65315442e+01] [ 4.23246136e-01 9.06009878e-01 -2.96809367e-03 2.08629756e+01] [ 6.91225908e-03 4.68381383e-05 9.99976109e-01 4.31298636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:86.56, Y:20.88, Z:0.43 [[ 9.05905395e-01 -4.23434115e-01 -6.24216894e-03 8.65571918e+01] [ 4.23423707e-01 9.05926900e-01 -2.96931717e-03 2.08753867e+01] [ 6.91225895e-03 4.68381374e-05 9.99976109e-01 4.31495486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:20.89, Z:0.43 [[ 9.05913079e-01 -4.23417684e-01 -6.24158670e-03 8.65833235e+01] [ 4.23407267e-01 9.05934579e-01 -2.97054056e-03 2.08873880e+01] [ 6.91224863e-03 4.83183786e-05 9.99976109e-01 4.33380165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:20.90, Z:0.43 [[ 9.06202482e-01 -4.22797954e-01 -6.24107299e-03 8.66075146e+01] [ 4.22787514e-01 9.06223972e-01 -2.97161947e-03 2.08985456e+01] [ 6.91220458e-03 5.42412030e-05 9.99976109e-01 4.31891064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:20.91, Z:0.43 [[ 9.07230622e-01 -4.20587269e-01 -6.24081880e-03 8.66326093e+01] [ 4.20576773e-01 9.07252084e-01 -2.97215320e-03 2.09106240e+01] [ 6.91204566e-03 7.16849631e-05 9.99976109e-01 4.31270329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:20.92, Z:0.43 [[ 9.07891081e-01 -4.19159683e-01 -6.24064162e-03 8.66583195e+01] [ 4.19149151e-01 9.07912525e-01 -2.97252518e-03 2.09231627e+01] [ 6.91191940e-03 8.29694571e-05 9.99976109e-01 4.33227449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:20.94, Z:0.43 [[ 9.08764168e-01 -4.17263404e-01 -6.24013030e-03 8.66837915e+01] [ 4.17252820e-01 9.08785586e-01 -2.97359819e-03 2.09353674e+01] [ 6.91171418e-03 9.85875131e-05 9.99976109e-01 4.32460116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.71, Y:20.95, Z:0.43 [[ 9.09614123e-01 -4.15407281e-01 -6.23994880e-03 8.67096599e+01] [ 4.15396651e-01 9.09635519e-01 -2.97397901e-03 2.09480835e+01] [ 6.91149160e-03 1.13119472e-04 9.99976109e-01 4.32621728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:20.96, Z:0.44 [[ 9.11972281e-01 -4.10204373e-01 -6.23945604e-03 8.67343813e+01] [ 4.10193614e-01 9.11993612e-01 -2.97501246e-03 2.09636644e+01] [ 6.91070718e-03 1.53743877e-04 9.99976109e-01 4.37014206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:20.98, Z:0.44 [[ 9.13125887e-01 -4.07629966e-01 -6.23895419e-03 8.67588671e+01] [ 4.07619140e-01 9.13147184e-01 -2.97606454e-03 2.09782568e+01] [ 6.91021654e-03 1.74404431e-04 9.99976109e-01 4.38011782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:20.99, Z:0.44 [[ 9.15212654e-01 -4.02922921e-01 -6.23837063e-03 8.67832196e+01] [ 4.02911977e-01 9.15233891e-01 -2.97728729e-03 2.09923231e+01] [ 6.90918551e-03 2.11336762e-04 9.99976109e-01 4.36864884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:21.00, Z:0.44 [[ 9.15820186e-01 -4.01540125e-01 -6.23818991e-03 8.68077965e+01] [ 4.01529146e-01 9.15841405e-01 -2.97766589e-03 2.10045697e+01] [ 6.90884494e-03 2.22191457e-04 9.99976109e-01 4.36278742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.83, Y:21.02, Z:0.43 [[ 9.16071981e-01 -4.00965353e-01 -6.23793926e-03 8.68324195e+01] [ 4.00954357e-01 9.16093191e-01 -2.97819089e-03 2.10179025e+01] [ 6.90868504e-03 2.27108304e-04 9.99976109e-01 4.33448734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:21.03, Z:0.44 [[ 9.16086292e-01 -4.00932657e-01 -6.23776189e-03 8.68569113e+01] [ 4.00921657e-01 9.16107501e-01 -2.97856233e-03 2.10322969e+01] [ 6.90866337e-03 2.27766289e-04 9.99976109e-01 4.38491365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:21.05, Z:0.44 [[ 9.15778272e-01 -4.01635717e-01 -6.23758337e-03 8.68813877e+01] [ 4.01624732e-01 9.15799487e-01 -2.97893614e-03 2.10451278e+01] [ 6.90882281e-03 2.22877248e-04 9.99976109e-01 4.36756026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:21.06, Z:0.44 [[ 9.15200400e-01 -4.02950770e-01 -6.23740541e-03 8.69065210e+01] [ 4.02939812e-01 9.15221630e-01 -2.97930871e-03 2.10581226e+01] [ 6.90912308e-03 2.13365557e-04 9.99976109e-01 4.40210185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:21.07, Z:0.44 [[ 9.14854041e-01 -4.03736531e-01 -6.23681314e-03 8.69308702e+01] [ 4.03725583e-01 9.14875276e-01 -2.98054804e-03 2.10707011e+01] [ 6.90926227e-03 2.08805395e-04 9.99976109e-01 4.39494963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:21.09, Z:0.44 [[ 9.14327582e-01 -4.04927372e-01 -6.23662962e-03 8.69549582e+01] [ 4.04916449e-01 9.14348830e-01 -2.98093199e-03 2.10860614e+01] [ 6.90951596e-03 2.00234416e-04 9.99976109e-01 4.40863420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:21.10, Z:0.44 [[ 9.14391076e-01 -4.04783980e-01 -6.23611734e-03 8.69790636e+01] [ 4.04773046e-01 9.14412319e-01 -2.98200330e-03 2.10996224e+01] [ 6.90944968e-03 2.02504997e-04 9.99976109e-01 4.39076893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:21.11, Z:0.44 [[ 9.14859393e-01 -4.03724417e-01 -6.23593526e-03 8.70028474e+01] [ 4.03713456e-01 9.14880621e-01 -2.98238401e-03 2.11147051e+01] [ 6.90919757e-03 2.10931050e-04 9.99976109e-01 4.37191282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:21.13, Z:0.44 [[ 9.15187789e-01 -4.02979436e-01 -6.23575458e-03 8.70273652e+01] [ 4.02968455e-01 9.15209007e-01 -2.98276176e-03 2.11283028e+01] [ 6.90901041e-03 2.16974749e-04 9.99976109e-01 4.36734635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:21.14, Z:0.44 [[ 9.15565765e-01 -4.02119943e-01 -6.23548848e-03 8.70521707e+01] [ 4.02108939e-01 9.15586971e-01 -2.98331792e-03 2.11423289e+01] [ 6.90878365e-03 2.24078098e-04 9.99976109e-01 4.38832388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:21.16, Z:0.44 [[ 9.16435072e-01 -4.00134832e-01 -6.23499522e-03 8.70747237e+01] [ 4.00123775e-01 9.16456250e-01 -2.98434847e-03 2.11586560e+01] [ 6.90824211e-03 2.40191779e-04 9.99976109e-01 4.39667029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.10, Y:21.18, Z:0.44 [[ 9.16619967e-01 -3.99711101e-01 -6.23482040e-03 8.70993423e+01] [ 3.99700031e-01 9.16641138e-01 -2.98471365e-03 2.11751319e+01] [ 6.90811605e-03 2.43790219e-04 9.99976109e-01 4.40325962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:21.19, Z:0.44 [[ 9.16677359e-01 -3.99579467e-01 -6.23453896e-03 8.71227986e+01] [ 3.99568390e-01 9.16698527e-01 -2.98530142e-03 2.11900544e+01] [ 6.90805783e-03 2.45433522e-04 9.99976109e-01 4.40541404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.15, Y:21.21, Z:0.43 [[ 9.16216044e-01 -4.00636116e-01 -6.23395685e-03 8.71463310e+01] [ 4.00625056e-01 9.16237221e-01 -2.98651648e-03 2.12059104e+01] [ 6.90828967e-03 2.38815006e-04 9.99976109e-01 4.33857046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:87.17, Y:21.22, Z:0.43 [[ 9.15679027e-01 -4.01861990e-01 -6.23377591e-03 8.71713060e+01] [ 4.01850955e-01 9.15700218e-01 -2.98689411e-03 2.12190569e+01] [ 6.90858917e-03 2.29987489e-04 9.99976109e-01 4.34298233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:21.23, Z:0.44 [[ 9.14933309e-01 -4.03556918e-01 -6.23320585e-03 8.71957732e+01] [ 4.03545915e-01 9.14954516e-01 -2.98808328e-03 2.12321783e+01] [ 6.90896152e-03 2.18512167e-04 9.99976109e-01 4.36545656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:21.25, Z:0.44 [[ 9.14008219e-01 -4.05647785e-01 -6.23302869e-03 8.72207928e+01] [ 4.05636828e-01 9.14029449e-01 -2.98845278e-03 2.12457326e+01] [ 6.90943103e-03 2.03124423e-04 9.99976109e-01 4.38387198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:21.26, Z:0.44 [[ 9.12009603e-01 -4.10121494e-01 -6.23252503e-03 8.72452858e+01] [ 4.10110633e-01 9.12030883e-01 -2.98950281e-03 2.12617114e+01] [ 6.91031466e-03 1.70430481e-04 9.99976109e-01 4.39847080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:21.28, Z:0.44 [[ 9.11138630e-01 -4.12052856e-01 -6.23223841e-03 8.72701760e+01] [ 4.12042037e-01 9.11159931e-01 -2.99010020e-03 2.12767554e+01] [ 6.91064525e-03 1.56451592e-04 9.99976109e-01 4.41516511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:21.29, Z:0.44 [[ 9.10059413e-01 -4.14430971e-01 -6.23173020e-03 8.72943791e+01] [ 4.14420200e-01 9.10080739e-01 -2.99115902e-03 2.12926575e+01] [ 6.91100655e-03 1.39577547e-04 9.99976109e-01 4.42409344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:21.31, Z:0.44 [[ 9.09692229e-01 -4.15236343e-01 -6.23121935e-03 8.73193470e+01] [ 4.15225584e-01 9.09713560e-01 -2.99222284e-03 2.13058521e+01] [ 6.91110441e-03 1.34640168e-04 9.99976109e-01 4.43390966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.34, Y:21.32, Z:0.44 [[ 9.09353271e-01 -4.15978133e-01 -6.23063021e-03 8.73434413e+01] [ 4.15967382e-01 9.09374607e-01 -2.99344909e-03 2.13194040e+01] [ 6.91118626e-03 1.30363780e-04 9.99976109e-01 4.42880647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:21.33, Z:0.44 [[ 9.08765153e-01 -4.17261403e-01 -6.23044658e-03 8.73664002e+01] [ 4.17250680e-01 9.08786503e-01 -2.99383124e-03 2.13328466e+01] [ 6.91135598e-03 1.21031439e-04 9.99976109e-01 4.42232139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:21.35, Z:0.44 [[ 9.08226762e-01 -4.18431995e-01 -6.23004945e-03 8.73916188e+01] [ 4.18421294e-01 9.08248123e-01 -2.99465742e-03 2.13455667e+01] [ 6.91149120e-03 1.13042660e-04 9.99976109e-01 4.42050483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:21.36, Z:0.44 [[ 9.07006596e-01 -4.21070336e-01 -6.22947662e-03 8.74153222e+01] [ 4.21059689e-01 9.07027984e-01 -2.99584854e-03 2.13606705e+01] [ 6.91177257e-03 9.42728933e-05 9.99976109e-01 4.42805789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:87.44, Y:21.38, Z:0.44 [[ 9.06230936e-01 -4.22737137e-01 -6.22929869e-03 8.74391898e+01] [ 4.22726527e-01 9.06252341e-01 -2.99621846e-03 2.13758463e+01] [ 6.91192934e-03 8.19760628e-05 9.99976109e-01 4.42502625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:21.39, Z:0.44 [[ 9.05463869e-01 -4.24377645e-01 -6.22870967e-03 8.74627490e+01] [ 4.24367065e-01 9.05485289e-01 -2.99744246e-03 2.13892778e+01] [ 6.91205255e-03 7.08166015e-05 9.99976109e-01 4.42882892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:87.49, Y:21.40, Z:0.44 [[ 9.04476022e-01 -4.26478995e-01 -6.22845287e-03 8.74874288e+01] [ 4.26468461e-01 9.04497465e-01 -2.99797598e-03 2.14015320e+01] [ 6.91219361e-03 5.53586745e-05 9.99976109e-01 4.40976412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:21.41, Z:0.44 [[ 9.02601406e-01 -4.30432244e-01 -6.22786083e-03 8.75134356e+01] [ 4.30421795e-01 9.02622891e-01 -2.99920536e-03 2.14101974e+01] [ 6.91236443e-03 2.64799359e-05 9.99976109e-01 4.40941212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:21.42, Z:0.44 [[ 9.01672650e-01 -4.32374431e-01 -6.22760397e-03 8.75386715e+01] [ 4.32364026e-01 9.01694156e-01 -2.99973861e-03 2.14216578e+01] [ 6.91240438e-03 1.21903449e-05 9.99976109e-01 4.41321855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:21.43, Z:0.44 [[ 9.00637953e-01 -4.34525605e-01 -6.22701279e-03 8.75625570e+01] [ 4.34515242e-01 9.00659480e-01 -3.00096530e-03 2.14340963e+01] [ 6.91241436e-03 -2.94872312e-06 9.99976109e-01 4.39995573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.59, Y:21.45, Z:0.44 [[ 9.00500202e-01 -4.34811009e-01 -6.22675554e-03 8.75879737e+01] [ 4.34800650e-01 9.00521730e-01 -3.00149899e-03 2.14465967e+01] [ 6.91241347e-03 -4.54691105e-06 9.99976109e-01 4.40172690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.61, Y:21.46, Z:0.44 [[ 9.00555675e-01 -4.34696107e-01 -6.22657307e-03 8.76143554e+01] [ 4.34685742e-01 9.00577201e-01 -3.00187747e-03 2.14593264e+01] [ 6.91241419e-03 -3.24474447e-06 9.99976109e-01 4.40827749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:21.47, Z:0.44 [[ 9.00845043e-01 -4.34096123e-01 -6.22608414e-03 8.76400000e+01] [ 4.34085737e-01 9.00866558e-01 -3.00289119e-03 2.14713397e+01] [ 6.91241442e-03 2.48531802e-06 9.99976109e-01 4.40686603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:87.67, Y:21.48, Z:0.44 [[ 9.01771644e-01 -4.32167959e-01 -6.22556056e-03 8.76671895e+01] [ 4.32157519e-01 9.01793133e-01 -3.00397628e-03 2.14844058e+01] [ 6.91239006e-03 1.84778211e-05 9.99976109e-01 4.36768860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:21.50, Z:0.44 [[ 9.02361495e-01 -4.30934926e-01 -6.23068434e-03 8.76912255e+01] [ 4.30924530e-01 9.02383006e-01 -2.99335852e-03 2.14970990e+01] [ 6.91240640e-03 1.61367539e-05 9.99976109e-01 4.41162738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:21.51, Z:0.44 [[ 9.02826843e-01 -4.29959232e-01 -6.22495890e-03 8.77164054e+01] [ 4.29948730e-01 9.02848303e-01 -3.00521811e-03 2.15103166e+01] [ 6.91231485e-03 3.67784082e-05 9.99976109e-01 4.41111201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.74, Y:21.53, Z:0.44 [[ 9.03644042e-01 -4.28239072e-01 -6.22436122e-03 8.77406243e+01] [ 4.28228522e-01 9.03665477e-01 -3.00645549e-03 2.15251243e+01] [ 6.91222207e-03 5.13165858e-05 9.99976109e-01 4.40215775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.77, Y:21.54, Z:0.44 [[ 9.04096856e-01 -4.27282266e-01 -6.22417529e-03 8.77655856e+01] [ 4.27271690e-01 9.04118279e-01 -3.00684038e-03 2.15388807e+01] [ 6.91216022e-03 5.90610333e-05 9.99976109e-01 4.42422783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:21.55, Z:0.44 [[ 9.04406120e-01 -4.26627280e-01 -6.22364496e-03 8.77904311e+01] [ 4.26616681e-01 9.04427531e-01 -3.00793766e-03 2.15523073e+01] [ 6.91210411e-03 6.52864705e-05 9.99976109e-01 4.41961066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:21.57, Z:0.44 [[ 9.04839676e-01 -4.25706978e-01 -6.22336296e-03 8.78158922e+01] [ 4.25696353e-01 9.04861074e-01 -3.00852101e-03 2.15656945e+01] [ 6.91202728e-03 7.29662636e-05 9.99976109e-01 4.44117869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:21.58, Z:0.44 [[ 9.04691389e-01 -4.26022026e-01 -6.22287027e-03 8.78412721e+01] [ 4.26011402e-01 9.04712788e-01 -3.00953975e-03 2.15780710e+01] [ 6.91204053e-03 7.16910090e-05 9.99976109e-01 4.44958936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.87, Y:21.59, Z:0.44 [[ 9.03685896e-01 -4.28150774e-01 -6.22228758e-03 8.78655451e+01] [ 4.28140192e-01 9.03707315e-01 -3.01074399e-03 2.15911073e+01] [ 6.91217917e-03 5.67554787e-05 9.99976109e-01 4.42923084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:21.60, Z:0.44 [[ 9.02706209e-01 -4.30212496e-01 -6.22169626e-03 8.78892824e+01] [ 4.30201954e-01 9.02727648e-01 -3.01196546e-03 2.16043061e+01] [ 6.91228241e-03 4.23340310e-05 9.99976109e-01 4.40742575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:21.62, Z:0.44 [[ 9.01423558e-01 -4.32893593e-01 -6.22143918e-03 8.79148237e+01] [ 4.32883111e-01 9.01445027e-01 -3.01249639e-03 2.16172894e+01] [ 6.91237579e-03 2.23792666e-05 9.99976109e-01 4.44998826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:21.63, Z:0.44 [[ 8.99838963e-01 -4.36177877e-01 -6.22090811e-03 8.79407122e+01] [ 4.36167466e-01 8.99860467e-01 -3.01359267e-03 2.16291318e+01] [ 6.91241173e-03 -1.60962447e-06 9.99976109e-01 4.43310878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.97, Y:21.64, Z:0.44 [[ 8.96712559e-01 -4.42569661e-01 -6.21947316e-03 8.79663626e+01] [ 4.42559383e-01 8.96734126e-01 -3.01655371e-03 2.16381950e+01] [ 6.91224898e-03 -4.75046127e-05 9.99976109e-01 4.41828374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.99, Y:21.65, Z:0.44 [[ 8.96688374e-01 -4.42618688e-01 -6.21746775e-03 8.79918137e+01] [ 4.42608383e-01 8.96709928e-01 -3.02068999e-03 2.16506263e+01] [ 6.91227889e-03 -4.32857547e-05 9.99976109e-01 4.42024145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.02, Y:21.66, Z:0.44 [[ 8.94447023e-01 -4.47130706e-01 -6.21727124e-03 8.80186067e+01] [ 4.47120506e-01 8.94468628e-01 -3.02109523e-03 2.16611495e+01] [ 6.91197852e-03 -7.76598257e-05 9.99976109e-01 4.40125515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:21.67, Z:0.44 [[ 8.93743704e-01 -4.48534849e-01 -6.21942422e-03 8.80447480e+01] [ 4.48524715e-01 8.93765338e-01 -3.01665644e-03 2.16716289e+01] [ 6.91178134e-03 -9.34477756e-05 9.99976109e-01 4.39895586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.07, Y:21.68, Z:0.44 [[ 8.93125641e-01 -4.49764284e-01 -6.21915264e-03 8.80710361e+01] [ 4.49754176e-01 8.93147288e-01 -3.01721624e-03 2.16810568e+01] [ 6.91165541e-03 -1.02336683e-04 9.99976109e-01 4.40348826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:21.69, Z:0.44 [[ 8.93336093e-01 -4.49346141e-01 -6.21856201e-03 8.80975654e+01] [ 4.49336014e-01 8.93357731e-01 -3.01843304e-03 2.16926218e+01] [ 6.91172169e-03 -9.77486886e-05 9.99976109e-01 4.41572271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:88.13, Y:21.70, Z:0.44 [[ 8.94397607e-01 -4.47229579e-01 -6.21488334e-03 8.81254409e+01] [ 4.47219348e-01 8.94419196e-01 -3.02600909e-03 2.17021162e+01] [ 6.91203173e-03 -7.29607863e-05 9.99976109e-01 4.41070854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:21.71, Z:0.44 [[ 8.95364802e-01 -4.45290026e-01 -6.21805740e-03 8.81505817e+01] [ 4.45279793e-01 8.95386391e-01 -3.01947269e-03 2.17134685e+01] [ 6.91210505e-03 -6.52457512e-05 9.99976109e-01 4.44136768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:21.73, Z:0.44 [[ 8.95278925e-01 -4.45462669e-01 -6.21747645e-03 8.81761174e+01] [ 4.45452432e-01 8.95300512e-01 -3.02066846e-03 2.17260896e+01] [ 6.91210488e-03 -6.52491972e-05 9.99976109e-01 4.44333639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:21.74, Z:0.44 [[ 8.97641796e-01 -4.40681922e-01 -6.21689377e-03 8.82014827e+01] [ 4.40671561e-01 8.97663324e-01 -3.02186722e-03 2.17379241e+01] [ 6.91235978e-03 -2.70539629e-05 9.99976109e-01 4.44827620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:88.23, Y:21.75, Z:0.44 [[ 8.98900115e-01 -4.38109509e-01 -6.21629619e-03 8.82270682e+01] [ 4.38099078e-01 8.98921609e-01 -3.02309600e-03 2.17489964e+01] [ 6.91241007e-03 -5.89229164e-06 9.99976109e-01 4.42107188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:21.76, Z:0.45 [[ 9.00178105e-01 -4.35477598e-01 -6.21611005e-03 8.82529658e+01] [ 4.35467102e-01 9.00199567e-01 -3.02347869e-03 2.17596553e+01] [ 6.91239682e-03 1.47578827e-05 9.99976109e-01 4.45572815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:21.77, Z:0.45 [[ 9.02369504e-01 -4.30918441e-01 -6.21085036e-03 8.82784216e+01] [ 4.30907763e-01 9.02390876e-01 -3.03428684e-03 2.17725108e+01] [ 6.91214485e-03 6.17442755e-05 9.99976109e-01 4.45391586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:21.78, Z:0.44 [[ 9.03149585e-01 -4.29281022e-01 -6.21535215e-03 8.83032189e+01] [ 4.29270368e-01 9.03170969e-01 -3.02503729e-03 2.17846270e+01] [ 6.91211673e-03 6.39946634e-05 9.99976109e-01 4.42847574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:21.80, Z:0.44 [[ 9.03709439e-01 -4.28101181e-01 -6.21517182e-03 8.83284490e+01] [ 4.28090497e-01 9.03730808e-01 -3.02540774e-03 2.17960823e+01] [ 6.91202288e-03 7.34335435e-05 9.99976109e-01 4.44113315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:21.81, Z:0.45 [[ 9.04173359e-01 -4.27120494e-01 -6.21458225e-03 8.83544669e+01] [ 4.27109778e-01 9.04194712e-01 -3.02661832e-03 2.18085041e+01] [ 6.91192312e-03 8.22788088e-05 9.99976109e-01 4.45092184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:21.82, Z:0.45 [[ 9.04975690e-01 -4.25417895e-01 -6.21406615e-03 8.83785329e+01] [ 4.25407132e-01 9.04997019e-01 -3.02767757e-03 2.18227848e+01] [ 6.91173956e-03 9.64665429e-05 9.99976109e-01 4.45334073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:88.40, Y:21.84, Z:0.44 [[ 9.04926447e-01 -4.25522635e-01 -6.21388249e-03 8.84039123e+01] [ 4.25511872e-01 9.04947776e-01 -3.02805445e-03 2.18357008e+01] [ 6.91174485e-03 9.60857820e-05 9.99976109e-01 4.44291663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:21.85, Z:0.44 [[ 9.04652777e-01 -4.26104152e-01 -6.21328930e-03 8.84298095e+01] [ 4.26093394e-01 9.04674109e-01 -3.02927115e-03 2.18457026e+01] [ 6.91178697e-03 9.29970363e-05 9.99976109e-01 4.42768660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:21.86, Z:0.44 [[ 9.04253097e-01 -4.26951677e-01 -6.21310485e-03 8.84541641e+01] [ 4.26940937e-01 9.04274437e-01 -3.02964941e-03 2.18583712e+01] [ 6.91186579e-03 8.69410562e-05 9.99976109e-01 4.41110321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:21.87, Z:0.44 [[ 9.03784511e-01 -4.27942704e-01 -6.21285864e-03 8.84797951e+01] [ 4.27931984e-01 9.03805862e-01 -3.03015422e-03 2.18718586e+01] [ 6.91195045e-03 7.99255265e-05 9.99976109e-01 4.43717605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:88.50, Y:21.89, Z:0.44 [[ 9.02181864e-01 -4.31311130e-01 -6.21233806e-03 8.85039907e+01] [ 4.31300482e-01 9.02203251e-01 -3.03122112e-03 2.18852174e+01] [ 6.91219100e-03 5.53283172e-05 9.99976109e-01 4.37758009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:21.90, Z:0.44 [[ 9.01379294e-01 -4.32985888e-01 -6.21206076e-03 8.85291679e+01] [ 4.32975276e-01 9.01400698e-01 -3.03178930e-03 2.18958015e+01] [ 6.91227789e-03 4.31233835e-05 9.99976109e-01 4.39384918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:21.91, Z:0.44 [[ 9.00136033e-01 -4.35564690e-01 -6.20674927e-03 8.85550196e+01] [ 4.35554064e-01 9.00157430e-01 -3.04266753e-03 2.19072595e+01] [ 6.91233001e-03 3.54398106e-05 9.99976109e-01 4.38703986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:21.92, Z:0.44 [[ 8.97542966e-01 -4.40883361e-01 -6.20376906e-03 8.85823446e+01] [ 4.40872820e-01 8.97564405e-01 -3.04877014e-03 2.19186152e+01] [ 6.91243431e-03 1.32904073e-06 9.99976109e-01 4.44323050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:21.93, Z:0.44 [[ 8.96591246e-01 -4.42815489e-01 -6.21137279e-03 8.86073161e+01] [ 4.42805101e-01 8.96612760e-01 -3.03319925e-03 2.19307634e+01] [ 6.91234371e-03 -3.08876611e-05 9.99976109e-01 4.43113168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.63, Y:21.94, Z:0.44 [[ 8.95465199e-01 -4.45088279e-01 -6.20493960e-03 8.86334629e+01] [ 4.45077854e-01 8.95486696e-01 -3.04636789e-03 2.19430367e+01] [ 6.91234350e-03 -3.37647745e-05 9.99976109e-01 4.41033084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69264000000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:88.66, Y:21.95, Z:0.44 [[ 8.93862327e-01 -4.48298523e-01 -6.21085117e-03 8.86602466e+01] [ 4.48288260e-01 8.93883901e-01 -3.03426748e-03 2.19531122e+01] [ 6.91203751e-03 -7.20342724e-05 9.99976109e-01 4.41371773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:88.68, Y:21.96, Z:0.44 [[ 8.93309097e-01 -4.49399922e-01 -6.21034113e-03 8.86849317e+01] [ 4.49389678e-01 8.93330680e-01 -3.03531105e-03 2.19635260e+01] [ 6.91195681e-03 -7.93922267e-05 9.99976109e-01 4.41321712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.71, Y:21.97, Z:0.44 [[ 8.93030960e-01 -4.49952374e-01 -6.21008779e-03 8.87109876e+01] [ 4.49942140e-01 8.93052548e-01 -3.03582928e-03 2.19740631e+01] [ 6.91191332e-03 -8.30906522e-05 9.99976109e-01 4.40885622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:21.98, Z:0.45 [[ 8.93121469e-01 -4.49772697e-01 -6.20990957e-03 8.87378337e+01] [ 4.49762457e-01 8.93143054e-01 -3.03619378e-03 2.19824403e+01] [ 6.91193466e-03 -8.12943339e-05 9.99976109e-01 4.45823629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:21.99, Z:0.45 [[ 8.93412021e-01 -4.49195286e-01 -6.20930973e-03 8.87615072e+01] [ 4.49185023e-01 8.93433595e-01 -3.03742002e-03 2.19945687e+01] [ 6.91200067e-03 -7.54613729e-05 9.99976109e-01 4.45499207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:22.01, Z:0.44 [[ 8.94009066e-01 -4.48005848e-01 -6.20890164e-03 8.87858690e+01] [ 4.47995551e-01 8.94030623e-01 -3.03825398e-03 2.20063282e+01] [ 6.91210376e-03 -6.53337083e-05 9.99976109e-01 4.40446304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:22.02, Z:0.45 [[ 8.95200950e-01 -4.45619530e-01 -6.20429888e-03 8.88144379e+01] [ 4.45609110e-01 8.95222449e-01 -3.04765656e-03 2.20157309e+01] [ 6.91232292e-03 -3.64270522e-05 9.99976109e-01 4.46280519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:22.03, Z:0.44 [[ 8.96100572e-01 -4.43807638e-01 -6.20839530e-03 8.88397222e+01] [ 4.43797233e-01 8.96122078e-01 -3.03928874e-03 2.20256246e+01] [ 6.91233966e-03 -3.17602675e-05 9.99976109e-01 4.42267666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.87, Y:22.04, Z:0.44 [[ 8.97343163e-01 -4.41289916e-01 -6.20153568e-03 8.88675312e+01] [ 4.41279353e-01 8.97364592e-01 -3.05329219e-03 2.20377621e+01] [ 6.91242558e-03 3.24121951e-06 9.99976109e-01 4.40811828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:22.05, Z:0.44 [[ 8.98372847e-01 -4.39189819e-01 -6.20738554e-03 8.88934887e+01] [ 4.39179288e-01 8.98394292e-01 -3.04135266e-03 2.20486214e+01] [ 6.91241086e-03 6.11349022e-06 9.99976109e-01 4.42869657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99264000000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:88.92, Y:22.06, Z:0.44 [[ 8.99086668e-01 -4.37726672e-01 -6.20680412e-03 8.89189614e+01] [ 4.37716098e-01 8.99108091e-01 -3.04253876e-03 2.20612443e+01] [ 6.91238817e-03 1.86879540e-05 9.99976109e-01 4.43698239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.94, Y:22.07, Z:0.44 [[ 9.00103386e-01 -4.35632157e-01 -6.20627244e-03 8.89443556e+01] [ 4.35621526e-01 9.00124782e-01 -3.04362290e-03 2.20731524e+01] [ 6.91231964e-03 3.59894137e-05 9.99976109e-01 4.43905818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:22.08, Z:0.45 [[ 9.01866260e-01 -4.31970755e-01 -6.20608326e-03 8.89700259e+01] [ 4.31960035e-01 9.01887611e-01 -3.04400860e-03 2.20849897e+01] [ 6.91211230e-03 6.45087133e-05 9.99976109e-01 4.49300602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.00, Y:22.10, Z:0.45 [[ 9.02279682e-01 -4.31106558e-01 -6.20581121e-03 8.89950320e+01] [ 4.31095813e-01 9.02301020e-01 -3.04456313e-03 2.20979324e+01] [ 6.91204092e-03 7.17482220e-05 9.99976109e-01 4.48829238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:22.11, Z:0.45 [[ 9.03430294e-01 -4.28690097e-01 -6.20521991e-03 8.90206410e+01] [ 4.28679286e-01 9.03451600e-01 -3.04576781e-03 2.21082645e+01] [ 6.91180635e-03 9.15896687e-05 9.99976109e-01 4.53103431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:22.12, Z:0.45 [[ 9.03758946e-01 -4.27996805e-01 -6.20494553e-03 8.90458428e+01] [ 4.27985975e-01 9.03780242e-01 -3.04632667e-03 2.21210795e+01] [ 6.91172526e-03 9.75153164e-05 9.99976109e-01 4.53587039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:22.13, Z:0.45 [[ 9.03989947e-01 -4.27508686e-01 -6.20476338e-03 8.90708387e+01] [ 4.27497842e-01 9.04011235e-01 -3.04669763e-03 2.21345911e+01] [ 6.91166551e-03 1.01661067e-04 9.99976109e-01 4.53413401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:22.15, Z:0.45 [[ 9.04264355e-01 -4.26927961e-01 -6.20417558e-03 8.90949999e+01] [ 4.26917095e-01 9.04285632e-01 -3.04789414e-03 2.21489283e+01] [ 6.91157807e-03 1.07433410e-04 9.99976109e-01 4.47814548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:22.16, Z:0.45 [[ 9.04177114e-01 -4.27112699e-01 -6.20399284e-03 8.91201897e+01] [ 4.27101835e-01 9.04198391e-01 -3.04826607e-03 2.21618655e+01] [ 6.91159349e-03 1.06435690e-04 9.99976109e-01 4.51059626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:22.17, Z:0.45 [[ 9.04120590e-01 -4.27232345e-01 -6.20340057e-03 8.91441214e+01] [ 4.27221475e-01 9.04141865e-01 -3.04947090e-03 2.21746852e+01] [ 6.91158676e-03 1.06863488e-04 9.99976109e-01 4.49688088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.17, Y:22.19, Z:0.45 [[ 9.03850166e-01 -4.27804159e-01 -6.20314363e-03 8.91677919e+01] [ 4.27793299e-01 9.03871446e-01 -3.04999345e-03 2.21892395e+01] [ 6.91164429e-03 1.03073812e-04 9.99976109e-01 4.47267089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:22.20, Z:0.45 [[ 9.03666914e-01 -4.28191121e-01 -6.20256688e-03 8.91917573e+01] [ 4.28180262e-01 9.03688195e-01 -3.05116590e-03 2.22049559e+01] [ 6.91166862e-03 1.01420962e-04 9.99976109e-01 4.47474469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:22.22, Z:0.45 [[ 9.03405547e-01 -4.28742291e-01 -6.20206180e-03 8.92157345e+01] [ 4.28731438e-01 9.03426831e-01 -3.05219224e-03 2.22186002e+01] [ 6.91171292e-03 9.83485271e-05 9.99976109e-01 4.46034380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:89.24, Y:22.23, Z:0.44 [[ 9.02897528e-01 -4.29811116e-01 -6.20148783e-03 8.92403122e+01] [ 4.29800281e-01 9.02918820e-01 -3.05335798e-03 2.22349936e+01] [ 6.91180728e-03 9.14681581e-05 9.99976109e-01 4.43202905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:22.25, Z:0.45 [[ 9.02765436e-01 -4.30088497e-01 -6.20100798e-03 8.92647815e+01] [ 4.30077661e-01 9.02786728e-01 -3.05433219e-03 2.22481253e+01] [ 6.91182085e-03 9.04305226e-05 9.99976109e-01 4.46071943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:22.26, Z:0.45 [[ 9.02611268e-01 -4.30411958e-01 -6.20040044e-03 8.92888581e+01] [ 4.30401121e-01 9.02632560e-01 -3.05556502e-03 2.22623319e+01] [ 6.91183505e-03 8.93281154e-05 9.99976109e-01 4.46144269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.31, Y:22.28, Z:0.45 [[ 9.01844193e-01 -4.32016908e-01 -6.20021224e-03 8.93112247e+01] [ 4.32006106e-01 9.01865503e-01 -3.05594687e-03 2.22798203e+01] [ 6.91197824e-03 7.74583876e-05 9.99976109e-01 4.45416608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:89.34, Y:22.29, Z:0.45 [[ 9.01201114e-01 -4.33356794e-01 -6.20002766e-03 8.93361788e+01] [ 4.33346022e-01 9.01222439e-01 -3.05632130e-03 2.22938026e+01] [ 6.91208165e-03 6.76028402e-05 9.99976109e-01 4.48565433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:22.31, Z:0.45 [[ 9.00449060e-01 -4.34917299e-01 -6.19950520e-03 8.93611728e+01] [ 4.34906556e-01 9.00470399e-01 -3.05738069e-03 2.23069220e+01] [ 6.91217868e-03 5.68101120e-05 9.99976109e-01 4.50136807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:22.32, Z:0.45 [[ 8.99492583e-01 -4.36892048e-01 -6.19931906e-03 8.93866192e+01] [ 4.36881349e-01 8.99513945e-01 -3.05775809e-03 2.23207481e+01] [ 6.91228413e-03 4.20638488e-05 9.99976109e-01 4.53461456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:22.33, Z:0.45 [[ 8.97500991e-01 -4.40968873e-01 -6.19879440e-03 8.94109855e+01] [ 4.40958264e-01 8.97522397e-01 -3.05882133e-03 2.23349021e+01] [ 6.91240180e-03 1.18855540e-05 9.99976109e-01 4.54190174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:22.35, Z:0.45 [[ 8.96345428e-01 -4.43313040e-01 -6.19851144e-03 8.94361040e+01] [ 4.43302483e-01 8.96366860e-01 -3.05939462e-03 2.23482429e+01] [ 6.91240977e-03 -5.54112865e-06 9.99976109e-01 4.54012757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:22.36, Z:0.45 [[ 8.95215382e-01 -4.45590626e-01 -6.19791670e-03 8.94597719e+01] [ 4.45580115e-01 8.95236837e-01 -3.06059900e-03 2.23605939e+01] [ 6.91237756e-03 -2.17731325e-05 9.99976109e-01 4.53370960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:22.37, Z:0.45 [[ 8.93465663e-01 -4.49088741e-01 -6.19765804e-03 8.94839298e+01] [ 4.49078311e-01 8.93487157e-01 -3.06112269e-03 2.23712762e+01] [ 6.91224360e-03 -4.82257862e-05 9.99976109e-01 4.50997917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:22.38, Z:0.45 [[ 8.92266922e-01 -4.51465856e-01 -6.19040147e-03 8.95113268e+01] [ 4.51455381e-01 8.92288394e-01 -3.07580503e-03 2.23843287e+01] [ 6.91224434e-03 -5.02509640e-05 9.99976109e-01 4.51874684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:89.54, Y:22.40, Z:0.45 [[ 8.91000564e-01 -4.53959907e-01 -6.19662023e-03 8.95367758e+01] [ 4.53949579e-01 8.91022108e-01 -3.06322505e-03 2.23966192e+01] [ 6.91190698e-03 -8.36179006e-05 9.99976109e-01 4.51471462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77264000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.56, Y:22.41, Z:0.45 [[ 8.90432017e-01 -4.55074089e-01 -6.19643927e-03 8.95617739e+01] [ 4.55063786e-01 8.90453573e-01 -3.06359106e-03 2.24088948e+01] [ 6.91180240e-03 -9.18555502e-05 9.99976109e-01 4.51840522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.59, Y:22.42, Z:0.45 [[ 8.90347022e-01 -4.55240367e-01 -6.19586839e-03 8.95872180e+01] [ 4.55230060e-01 8.90368575e-01 -3.06474519e-03 2.24217023e+01] [ 6.91180224e-03 -9.18587819e-05 9.99976109e-01 4.52037396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:22.43, Z:0.45 [[ 8.89496052e-01 -4.56900855e-01 -6.19529586e-03 8.96149662e+01] [ 4.56890580e-01 8.89517621e-01 -3.06590212e-03 2.24317259e+01] [ 6.91163813e-03 -1.03464488e-04 9.99976109e-01 4.52519196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.64, Y:22.44, Z:0.45 [[ 8.89354257e-01 -4.57176804e-01 -6.19483078e-03 8.96405738e+01] [ 4.57166529e-01 8.89375826e-01 -3.06684153e-03 2.24435563e+01] [ 6.91162155e-03 -1.04560717e-04 9.99976109e-01 4.50667071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:22.45, Z:0.45 [[ 8.89152978e-01 -4.57568147e-01 -6.19465403e-03 8.96661840e+01] [ 4.57557879e-01 8.89174550e-01 -3.06719851e-03 2.24549734e+01] [ 6.91158105e-03 -1.07204068e-04 9.99976109e-01 4.52531444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:22.47, Z:0.45 [[ 8.89141488e-01 -4.57590480e-01 -6.19408633e-03 8.96906725e+01] [ 4.57580204e-01 8.89163057e-01 -3.06834453e-03 2.24663823e+01] [ 6.91159798e-03 -1.06098862e-04 9.99976109e-01 4.52467025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:22.48, Z:0.45 [[ 8.89538025e-01 -4.56819152e-01 -6.19383945e-03 8.97170808e+01] [ 4.56808855e-01 8.89559583e-01 -3.06884280e-03 2.24758509e+01] [ 6.91169541e-03 -9.95483432e-05 9.99976109e-01 4.54957026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.74, Y:22.49, Z:0.45 [[ 8.89984674e-01 -4.55948379e-01 -6.19323446e-03 8.97423885e+01] [ 4.55938052e-01 8.90006218e-01 -3.07006326e-03 2.24862097e+01] [ 6.91180754e-03 -9.14220062e-05 9.99976109e-01 4.51407408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.77, Y:22.50, Z:0.45 [[ 8.90406003e-01 -4.55125034e-01 -6.19297185e-03 8.97685493e+01] [ 4.55114683e-01 8.90427536e-01 -3.07059290e-03 2.24974401e+01] [ 6.91189636e-03 -8.44380667e-05 9.99976109e-01 4.52628619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.79, Y:22.51, Z:0.45 [[ 8.90968366e-01 -4.54023154e-01 -6.19243553e-03 8.97931435e+01] [ 4.54012769e-01 8.90989882e-01 -3.07167411e-03 2.25086901e+01] [ 6.91200857e-03 -7.46803404e-05 9.99976109e-01 4.50903152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:89.82, Y:22.52, Z:0.45 [[ 8.92264397e-01 -4.51470822e-01 -6.19216923e-03 8.98183456e+01] [ 4.51460372e-01 8.92285881e-01 -3.07221085e-03 2.25182707e+01] [ 6.91219874e-03 -5.42946602e-05 9.99976109e-01 4.50034467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:22.53, Z:0.46 [[ 8.92557815e-01 -4.50890462e-01 -6.19176132e-03 8.98448153e+01] [ 4.50879993e-01 8.92579290e-01 -3.07303275e-03 2.25289310e+01] [ 6.91223907e-03 -4.88818996e-05 9.99976109e-01 4.55020622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:22.54, Z:0.46 [[ 8.92786806e-01 -4.50436886e-01 -6.19124142e-03 8.98716295e+01] [ 4.50426398e-01 8.92808272e-01 -3.07407983e-03 2.25400054e+01] [ 6.91227050e-03 -4.42006582e-05 9.99976109e-01 4.56507080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264000000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.90, Y:22.55, Z:0.45 [[ 8.93255026e-01 -4.49507657e-01 -6.19071206e-03 8.98976830e+01] [ 4.49497139e-01 8.93276478e-01 -3.07514551e-03 2.25501526e+01] [ 6.91231891e-03 -3.58181794e-05 9.99976109e-01 4.51001241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.92, Y:22.56, Z:0.45 [[ 8.93145022e-01 -4.49726191e-01 -6.19052384e-03 8.99238976e+01] [ 4.49715676e-01 8.93166475e-01 -3.07552437e-03 2.25612229e+01] [ 6.91231221e-03 -3.70863298e-05 9.99976109e-01 4.54633235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.95, Y:22.57, Z:0.46 [[ 8.93152547e-01 -4.49711254e-01 -6.18992374e-03 8.99509906e+01] [ 4.49700730e-01 8.93173996e-01 -3.07673168e-03 2.25724251e+01] [ 6.91231978e-03 -3.56224892e-05 9.99976109e-01 4.55373770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:22.58, Z:0.46 [[ 8.92988757e-01 -4.50036410e-01 -6.18939409e-03 8.99771958e+01] [ 4.50025887e-01 8.93010206e-01 -3.07779680e-03 2.25832099e+01] [ 6.91231271e-03 -3.69496281e-05 9.99976109e-01 4.57227279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:22.60, Z:0.46 [[ 8.92869065e-01 -4.50273835e-01 -6.18911217e-03 9.00028608e+01] [ 4.50263314e-01 8.92890515e-01 -3.07836359e-03 2.25950668e+01] [ 6.91230614e-03 -3.81545347e-05 9.99976109e-01 4.58987915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.03, Y:22.61, Z:0.46 [[ 8.93738669e-01 -4.48545310e-01 -6.18850743e-03 9.00287397e+01] [ 4.48534738e-01 8.93760093e-01 -3.07957885e-03 2.26050824e+01] [ 6.91237162e-03 -2.34218611e-05 9.99976109e-01 4.56382481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:22.62, Z:0.46 [[ 8.94360303e-01 -4.47304548e-01 -6.18790270e-03 9.00535637e+01] [ 4.47293938e-01 8.94381709e-01 -3.08079347e-03 2.26150599e+01] [ 6.91239992e-03 -1.24719846e-05 9.99976109e-01 4.57008661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.08, Y:22.63, Z:0.45 [[ 8.95321391e-01 -4.45377727e-01 -6.18763868e-03 9.00793189e+01] [ 4.45367068e-01 8.95342772e-01 -3.08132365e-03 2.26263902e+01] [ 6.91241049e-03 3.00447767e-06 9.99976109e-01 4.54119286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:22.64, Z:0.45 [[ 8.97204367e-01 -4.41572242e-01 -6.18706438e-03 9.01051779e+01] [ 4.41561484e-01 8.97225698e-01 -3.08247636e-03 2.26393668e+01] [ 6.91232916e-03 3.36419133e-05 9.99976109e-01 4.54733227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:22.65, Z:0.46 [[ 8.98184384e-01 -4.39575408e-01 -6.18655853e-03 9.01299734e+01] [ 4.39564596e-01 8.98205688e-01 -3.08349127e-03 2.26526917e+01] [ 6.91222900e-03 5.01515995e-05 9.99976109e-01 4.55906281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:22.67, Z:0.46 [[ 8.99168509e-01 -4.37558826e-01 -6.18597536e-03 9.01546250e+01] [ 4.37547958e-01 8.99189785e-01 -3.08466077e-03 2.26660533e+01] [ 6.91208640e-03 6.69689444e-05 9.99976109e-01 4.56431771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:22.68, Z:0.46 [[ 8.99875712e-01 -4.36102556e-01 -6.18570119e-03 9.01787799e+01] [ 4.36091650e-01 8.99896969e-01 -3.08521047e-03 2.26796063e+01] [ 6.91196192e-03 7.87733303e-05 9.99976109e-01 4.56783028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:22.69, Z:0.46 [[ 9.00612194e-01 -4.34579591e-01 -6.18512413e-03 9.02041917e+01] [ 4.34568641e-01 9.00633427e-01 -3.08636690e-03 2.26934616e+01] [ 6.91180161e-03 9.17586816e-05 9.99976109e-01 4.58296641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:22.71, Z:0.46 [[ 9.00647218e-01 -4.34507007e-01 -6.18459307e-03 9.02290726e+01] [ 4.34496048e-01 9.00668447e-01 -3.08743069e-03 2.27057804e+01] [ 6.91177811e-03 9.35046152e-05 9.99976109e-01 4.57448528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:22.72, Z:0.46 [[ 9.00586805e-01 -4.34632211e-01 -6.18440433e-03 9.02536216e+01] [ 4.34621253e-01 9.00608035e-01 -3.08780872e-03 2.27188036e+01] [ 6.91178536e-03 9.29662366e-05 9.99976109e-01 4.57437465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.28, Y:22.73, Z:0.46 [[ 9.00286588e-01 -4.35253735e-01 -6.18422010e-03 9.02771890e+01] [ 4.35242789e-01 9.00307824e-01 -3.08817764e-03 2.27339154e+01] [ 6.91184259e-03 8.86077140e-05 9.99976109e-01 4.56357934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:22.75, Z:0.46 [[ 8.99678408e-01 -4.36509472e-01 -6.18404037e-03 9.03009912e+01] [ 4.36498553e-01 8.99699658e-01 -3.08853750e-03 2.27477993e+01] [ 6.91195488e-03 7.93658259e-05 9.99976109e-01 4.58778891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:22.76, Z:0.46 [[ 8.99192704e-01 -4.37509139e-01 -6.18345422e-03 9.03264675e+01] [ 4.37498235e-01 8.99213961e-01 -3.08971057e-03 2.27620647e+01] [ 6.91202497e-03 7.29948960e-05 9.99976109e-01 4.59050567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:22.78, Z:0.45 [[ 8.98311362e-01 -4.39315910e-01 -6.18292737e-03 9.03502643e+01] [ 4.39305042e-01 8.98332637e-01 -3.09076451e-03 2.27763112e+01] [ 6.91214747e-03 6.02777121e-05 9.99976109e-01 4.54938844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:22.79, Z:0.45 [[ 8.97564002e-01 -4.40840829e-01 -6.18274011e-03 9.03751877e+01] [ 4.40829995e-01 8.97585294e-01 -3.09113905e-03 2.27898555e+01] [ 6.91223691e-03 4.89578426e-05 9.99976109e-01 4.54993101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:22.80, Z:0.46 [[ 8.96754114e-01 -4.42485976e-01 -6.18215716e-03 9.03996685e+01] [ 4.42475173e-01 8.96775423e-01 -3.09230448e-03 2.28029951e+01] [ 6.91230798e-03 3.75857111e-05 9.99976109e-01 4.55696891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.42, Y:22.82, Z:0.46 [[ 8.95310961e-01 -4.45398779e-01 -6.18157452e-03 9.04248676e+01] [ 4.45388036e-01 8.95332300e-01 -3.09346876e-03 2.28178375e+01] [ 6.91239054e-03 1.64171522e-05 9.99976109e-01 4.57026364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:22.83, Z:0.46 [[ 8.94380659e-01 -4.47263940e-01 -6.18106481e-03 9.04496553e+01] [ 4.47253235e-01 8.94402017e-01 -3.09448687e-03 2.28311340e+01] [ 6.91240923e-03 3.14797352e-06 9.99976109e-01 4.58158512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:22.84, Z:0.46 [[ 8.93539188e-01 -4.48942670e-01 -6.18048271e-03 9.04744088e+01] [ 4.48931997e-01 8.93560562e-01 -3.09564905e-03 2.28449499e+01] [ 6.91240456e-03 -8.53271480e-06 9.99976109e-01 4.58839345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:22.86, Z:0.46 [[ 8.92721766e-01 -4.50565931e-01 -6.17987699e-03 9.04987323e+01] [ 4.50555289e-01 8.92743155e-01 -3.09685777e-03 2.28584197e+01] [ 6.91238149e-03 -1.97439266e-05 9.99976109e-01 4.58756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:22.87, Z:0.46 [[ 8.91196684e-01 -4.53575007e-01 -6.17927294e-03 9.05230727e+01] [ 4.53564428e-01 8.91218106e-01 -3.09806259e-03 2.28722113e+01] [ 6.91228369e-03 -4.17152886e-05 9.99976109e-01 4.58446205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:22.88, Z:0.46 [[ 8.90465140e-01 -4.55009515e-01 -6.17866391e-03 9.05478225e+01] [ 4.54998963e-01 8.90486574e-01 -3.09927675e-03 2.28844722e+01] [ 6.91221767e-03 -5.14877674e-05 9.99976109e-01 4.58601816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:22.90, Z:0.46 [[ 8.89880503e-01 -4.56151862e-01 -6.17805521e-03 9.05727490e+01] [ 4.56141329e-01 8.89901947e-01 -3.10048965e-03 2.28974810e+01] [ 6.91215749e-03 -5.90010208e-05 9.99976109e-01 4.56801790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.60, Y:22.91, Z:0.46 [[ 8.89594318e-01 -4.56709737e-01 -6.17786619e-03 9.05970033e+01] [ 4.56699214e-01 8.89615767e-01 -3.10086622e-03 2.29108854e+01] [ 6.91212297e-03 -6.29136658e-05 9.99976109e-01 4.59082844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:22.92, Z:0.46 [[ 8.88700812e-01 -4.58445971e-01 -6.17725853e-03 9.06209772e+01] [ 4.58435482e-01 8.88722277e-01 -3.10207628e-03 2.29243696e+01] [ 6.91200164e-03 -7.50567821e-05 9.99976109e-01 4.57955994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:22.94, Z:0.46 [[ 8.88503790e-01 -4.58827701e-01 -6.17707019e-03 9.06464810e+01] [ 4.58817219e-01 8.88525258e-01 -3.10245127e-03 2.29368621e+01] [ 6.91197347e-03 -7.76064517e-05 9.99976109e-01 4.58052946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:22.95, Z:0.46 [[ 8.88458339e-01 -4.58915712e-01 -6.17649412e-03 9.06725475e+01] [ 4.58905223e-01 8.88479805e-01 -3.10359772e-03 2.29499094e+01] [ 6.91198004e-03 -7.70081370e-05 9.99976109e-01 4.60436412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:22.96, Z:0.46 [[ 8.88729249e-01 -4.58390858e-01 -6.17597927e-03 9.06971898e+01] [ 4.58380350e-01 8.88750705e-01 -3.10462190e-03 2.29626727e+01] [ 6.91203623e-03 -7.17792527e-05 9.99976109e-01 4.60681041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:22.97, Z:0.46 [[ 8.88590533e-01 -4.58659710e-01 -6.17539007e-03 9.07223736e+01] [ 4.58649200e-01 8.88611988e-01 -3.10579344e-03 2.29744090e+01] [ 6.91202796e-03 -7.25590648e-05 9.99976109e-01 4.62550257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:22.99, Z:0.46 [[ 8.88361222e-01 -4.59103704e-01 -6.17477532e-03 9.07481913e+01] [ 4.59093196e-01 8.88382678e-01 -3.10701516e-03 2.29860152e+01] [ 6.91200561e-03 -7.46455502e-05 9.99976109e-01 4.64023813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:23.00, Z:0.46 [[ 8.87751660e-01 -4.60281289e-01 -6.17458491e-03 9.07730193e+01] [ 4.60270808e-01 8.87773129e-01 -3.10739352e-03 2.29980009e+01] [ 6.91190566e-03 -8.33874336e-05 9.99976109e-01 4.64153734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:23.01, Z:0.46 [[ 8.87258612e-01 -4.61230997e-01 -6.17439974e-03 9.07986229e+01] [ 4.61220536e-01 8.87280090e-01 -3.10776142e-03 2.30105556e+01] [ 6.91181786e-03 -9.03718785e-05 9.99976109e-01 4.64289029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:23.02, Z:0.46 [[ 8.86787503e-01 -4.62136136e-01 -6.17387022e-03 9.08241325e+01] [ 4.62125690e-01 8.86808989e-01 -3.10881300e-03 2.30213295e+01] [ 6.91173843e-03 -9.62475166e-05 9.99976109e-01 4.62631463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:23.03, Z:0.46 [[ 8.86229606e-01 -4.63205108e-01 -6.17368162e-03 9.08505726e+01] [ 4.63194684e-01 8.86251103e-01 -3.10918749e-03 2.30319259e+01] [ 6.91162367e-03 -1.04162504e-04 9.99976109e-01 4.63605399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33264000000001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:90.88, Y:23.04, Z:0.46 [[ 8.85817158e-01 -4.63993378e-01 -6.17307807e-03 9.08771810e+01] [ 4.63982966e-01 8.85838661e-01 -3.11038532e-03 2.30422215e+01] [ 6.91154941e-03 -1.08970386e-04 9.99976109e-01 4.61455698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:23.05, Z:0.46 [[ 8.84659992e-01 -4.66195880e-01 -6.17247511e-03 9.09040562e+01] [ 4.66185512e-01 8.84681517e-01 -3.11158143e-03 2.30510724e+01] [ 6.91128109e-03 -1.24826867e-04 9.99976109e-01 4.64956390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.93, Y:23.06, Z:0.46 [[ 8.84558498e-01 -4.66388434e-01 -6.17186269e-03 9.09291596e+01] [ 4.66378062e-01 8.84580021e-01 -3.11279570e-03 2.30604812e+01] [ 6.91127834e-03 -1.24971478e-04 9.99976109e-01 4.62551569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:23.07, Z:0.46 [[ 8.84145915e-01 -4.67170110e-01 -6.17159685e-03 9.09570946e+01] [ 4.67159754e-01 8.84167445e-01 -3.11332268e-03 2.30688919e+01] [ 6.91117632e-03 -1.30490139e-04 9.99976109e-01 4.64382469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.98, Y:23.08, Z:0.46 [[ 8.84413317e-01 -4.66663693e-01 -6.17104942e-03 9.09818174e+01] [ 4.66653317e-01 8.84434838e-01 -3.11440739e-03 2.30791406e+01] [ 6.91127194e-03 -1.25317312e-04 9.99976109e-01 4.62148113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:23.09, Z:0.46 [[ 8.84488749e-01 -4.66520711e-01 -6.17077726e-03 9.10063518e+01] [ 4.66510328e-01 8.84510266e-01 -3.11494655e-03 2.30898950e+01] [ 6.91130291e-03 -1.23596145e-04 9.99976109e-01 4.62804426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:23.10, Z:0.46 [[ 8.84710072e-01 -4.66100862e-01 -6.17052279e-03 9.10318930e+01] [ 4.66090465e-01 8.84731582e-01 -3.11545056e-03 2.31009855e+01] [ 6.91137058e-03 -1.19751348e-04 9.99976109e-01 4.62803264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:91.06, Y:23.11, Z:0.46 [[ 8.85237676e-01 -4.65098042e-01 -6.16993089e-03 9.10579060e+01] [ 4.65087613e-01 8.85259171e-01 -3.11662232e-03 2.31112127e+01] [ 6.91152284e-03 -1.10606929e-04 9.99976109e-01 4.62156006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.09, Y:23.12, Z:0.46 [[ 8.86492950e-01 -4.62700971e-01 -6.16932004e-03 9.10851073e+01] [ 4.62690475e-01 8.86514412e-01 -3.11783103e-03 2.31189422e+01] [ 6.91181457e-03 -9.05503909e-05 9.99976109e-01 4.63156234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264000000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:91.11, Y:23.13, Z:0.46 [[ 8.87480873e-01 -4.60803263e-01 -6.16869740e-03 9.11096710e+01] [ 4.60792712e-01 8.87502309e-01 -3.11906245e-03 2.31293614e+01] [ 6.91200734e-03 -7.43825400e-05 9.99976109e-01 4.62226682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:23.14, Z:0.46 [[ 8.88538159e-01 -4.58761257e-01 -6.16842570e-03 9.11344871e+01] [ 4.58750654e-01 8.88559568e-01 -3.11959968e-03 2.31401594e+01] [ 6.91216515e-03 -5.78859742e-05 9.99976109e-01 4.63623264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264000000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:91.16, Y:23.15, Z:0.46 [[ 8.91367977e-01 -4.53238441e-01 -6.16800183e-03 9.11613368e+01] [ 4.53227700e-01 8.91389317e-01 -3.12043752e-03 2.31500914e+01] [ 6.91239318e-03 -1.40512014e-05 9.99976109e-01 4.60103784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:23.16, Z:0.46 [[ 8.92699544e-01 -4.50610127e-01 -6.16746809e-03 9.11867757e+01] [ 4.50599315e-01 8.92720849e-01 -3.12149210e-03 2.31615727e+01] [ 6.91240329e-03 7.49767477e-06 9.99976109e-01 4.61375987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:23.17, Z:0.46 [[ 8.92615998e-01 -4.50775603e-01 -6.16727809e-03 9.12121084e+01] [ 4.50764793e-01 8.92637304e-01 -3.12186743e-03 2.31746221e+01] [ 6.91240416e-03 6.63698275e-06 9.99976109e-01 4.61572928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:23.19, Z:0.46 [[ 8.93921086e-01 -4.48181954e-01 -6.16669916e-03 9.12383450e+01] [ 4.48171074e-01 8.93942356e-01 -3.12301059e-03 2.31872352e+01] [ 6.91235056e-03 2.79888344e-05 9.99976109e-01 4.64513113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:23.20, Z:0.46 [[ 8.96315018e-01 -4.43374974e-01 -6.16616812e-03 9.12634380e+01] [ 4.43363972e-01 8.96336225e-01 -3.12405875e-03 2.31992445e+01] [ 6.91208932e-03 6.62839849e-05 9.99976109e-01 4.64871351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:23.21, Z:0.47 [[ 8.97199952e-01 -4.41581507e-01 -6.16598017e-03 9.12881548e+01] [ 4.41570460e-01 8.97221136e-01 -3.12442966e-03 2.32120495e+01] [ 6.91193809e-03 8.05234357e-05 9.99976109e-01 4.65781557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:23.22, Z:0.46 [[ 8.98088546e-01 -4.39771476e-01 -6.16537748e-03 9.13132707e+01] [ 4.39760379e-01 8.98109703e-01 -3.12561849e-03 2.32243824e+01] [ 6.91174320e-03 9.57934238e-05 9.99976109e-01 4.64597581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:23.24, Z:0.46 [[ 8.99399285e-01 -4.37084564e-01 -6.16519064e-03 9.13391017e+01] [ 4.37073401e-01 8.99420408e-01 -3.12598697e-03 2.32370268e+01] [ 6.91141894e-03 1.16869602e-04 9.99976109e-01 4.63754362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:23.25, Z:0.46 [[ 8.99845336e-01 -4.36165528e-01 -6.16467527e-03 9.13629446e+01] [ 4.36154337e-01 8.99866444e-01 -3.12700299e-03 2.32496595e+01] [ 6.91127532e-03 1.25069202e-04 9.99976109e-01 4.63134792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:23.26, Z:0.46 [[ 9.00053921e-01 -4.35734941e-01 -6.16441881e-03 9.13881520e+01] [ 4.35723736e-01 9.00075022e-01 -3.12750849e-03 2.32630340e+01] [ 6.91120412e-03 1.28942687e-04 9.99976109e-01 4.64402188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:23.28, Z:0.46 [[ 9.00336214e-01 -4.35151362e-01 -6.16388725e-03 9.14118915e+01] [ 4.35140136e-01 9.00357304e-01 -3.12855577e-03 2.32776256e+01] [ 6.91109621e-03 1.34597326e-04 9.99976109e-01 4.64297187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:23.29, Z:0.47 [[ 9.00321316e-01 -4.35182187e-01 -6.16369858e-03 9.14368902e+01] [ 4.35170960e-01 9.00342405e-01 -3.12892743e-03 2.32923464e+01] [ 6.91109268e-03 1.34777441e-04 9.99976109e-01 4.66167134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:91.46, Y:23.31, Z:0.47 [[ 9.00378735e-01 -4.35063384e-01 -6.16318997e-03 9.14612953e+01] [ 4.35052147e-01 9.00399818e-01 -3.12992895e-03 2.33070475e+01] [ 6.91105261e-03 1.36812441e-04 9.99976109e-01 4.66764903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:23.32, Z:0.47 [[ 9.00082567e-01 -4.35675792e-01 -6.16258489e-03 9.14857847e+01] [ 4.35664561e-01 9.00103653e-01 -3.13111983e-03 2.33215854e+01] [ 6.91111829e-03 1.33446533e-04 9.99976109e-01 4.69737559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:23.34, Z:0.47 [[ 8.99813411e-01 -4.36231423e-01 -6.16204949e-03 9.15107695e+01] [ 4.36220197e-01 8.99834501e-01 -3.13217316e-03 2.33370069e+01] [ 6.91117708e-03 1.30360968e-04 9.99976109e-01 4.69859054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.53, Y:23.35, Z:0.47 [[ 8.99865820e-01 -4.36123311e-01 -6.16151390e-03 9.15344252e+01] [ 4.36112076e-01 8.99886904e-01 -3.13322639e-03 2.33510966e+01] [ 6.91113874e-03 1.32372715e-04 9.99976109e-01 4.68064686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:23.37, Z:0.47 [[ 8.99521335e-01 -4.36833384e-01 -6.16132314e-03 9.15566338e+01] [ 4.36822163e-01 8.99542427e-01 -3.13360147e-03 2.33688410e+01] [ 6.91123331e-03 1.27338875e-04 9.99976109e-01 4.70621758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:23.38, Z:0.47 [[ 8.99286242e-01 -4.37317162e-01 -6.16071182e-03 9.15805189e+01] [ 4.37305944e-01 8.99307336e-01 -3.13480288e-03 2.33842518e+01] [ 6.91127643e-03 1.24969201e-04 9.99976109e-01 4.70014793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.60, Y:23.40, Z:0.47 [[ 8.98835559e-01 -4.38242726e-01 -6.16052213e-03 9.16043979e+01] [ 4.38231527e-01 8.98856662e-01 -3.13517561e-03 2.34000833e+01] [ 6.91139427e-03 1.18272304e-04 9.99976109e-01 4.68928950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:91.63, Y:23.42, Z:0.47 [[ 8.98502982e-01 -4.38924192e-01 -6.15998444e-03 9.16269334e+01] [ 4.38913002e-01 8.98524090e-01 -3.13623170e-03 2.34153671e+01] [ 6.91146238e-03 1.14216273e-04 9.99976109e-01 4.65917028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:23.43, Z:0.47 [[ 8.97421102e-01 -4.41131979e-01 -6.15971735e-03 9.16485298e+01] [ 4.41120838e-01 8.97442236e-01 -3.13675620e-03 2.34330510e+01] [ 6.91171398e-03 9.78115340e-05 9.99976109e-01 4.67481377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:23.45, Z:0.47 [[ 8.96589805e-01 -4.42819132e-01 -6.15946069e-03 9.16719002e+01] [ 4.42808026e-01 8.96610958e-01 -3.13726011e-03 2.34480259e+01] [ 6.91187874e-03 8.53768023e-05 9.99976109e-01 4.69386058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.70, Y:23.46, Z:0.47 [[ 8.95681635e-01 -4.44653210e-01 -6.15884626e-03 9.16959273e+01] [ 4.44642140e-01 8.95702806e-01 -3.13846585e-03 2.34637969e+01] [ 6.91202479e-03 7.25836448e-05 9.99976109e-01 4.67453979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.72, Y:23.48, Z:0.47 [[ 8.93926685e-01 -4.48170903e-01 -6.15830792e-03 9.17179052e+01] [ 4.48159908e-01 8.93947896e-01 -3.13952182e-03 2.34821237e+01] [ 6.91224873e-03 4.65956157e-05 9.99976109e-01 4.66266659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:23.50, Z:0.47 [[ 8.92790683e-01 -4.50429655e-01 -6.15802231e-03 9.17425273e+01] [ 4.50418711e-01 8.92811920e-01 -3.14008193e-03 2.34975342e+01] [ 6.91234175e-03 2.97474181e-05 9.99976109e-01 4.68480658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:23.51, Z:0.47 [[ 8.91572000e-01 -4.52837118e-01 -6.15748269e-03 9.17658492e+01] [ 4.52826223e-01 8.91593262e-01 -3.14113973e-03 2.35119039e+01] [ 6.91239474e-03 1.22825998e-05 9.99976109e-01 4.69070967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:23.53, Z:0.47 [[ 8.89130169e-01 -4.57612971e-01 -6.15725282e-03 9.17893680e+01] [ 4.57602187e-01 8.89151488e-01 -3.14159026e-03 2.35269549e+01] [ 6.91236296e-03 -2.42896855e-05 9.99976109e-01 4.69540302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:23.54, Z:0.47 [[ 8.87782017e-01 -4.60222970e-01 -6.15706520e-03 9.18142095e+01] [ 4.60212246e-01 8.87803366e-01 -3.14195792e-03 2.35407796e+01] [ 6.91226441e-03 -4.41830707e-05 9.99976109e-01 4.71128628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:23.55, Z:0.47 [[ 8.86505674e-01 -4.62676763e-01 -6.15644776e-03 9.18395687e+01] [ 4.62666091e-01 8.86527049e-01 -3.14316730e-03 2.35549237e+01] [ 6.91212793e-03 -6.19439751e-05 9.99976109e-01 4.71787035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:23.57, Z:0.47 [[ 8.85341755e-01 -4.64900077e-01 -6.15590862e-03 9.18635794e+01] [ 4.64889450e-01 8.85363153e-01 -3.14422285e-03 2.35682123e+01] [ 6.91196411e-03 -7.81051958e-05 9.99976109e-01 4.69731795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.89, Y:23.58, Z:0.47 [[ 8.83064267e-01 -4.69211688e-01 -6.15564134e-03 9.18881629e+01] [ 4.69201163e-01 8.83085715e-01 -3.14474603e-03 2.35817412e+01] [ 6.91151052e-03 -1.11221224e-04 9.99976109e-01 4.71368640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:23.59, Z:0.47 [[ 8.82031991e-01 -4.71149320e-01 -6.15501878e-03 9.19143183e+01] [ 4.71138834e-01 8.82053458e-01 -3.14596406e-03 2.35947825e+01] [ 6.91127442e-03 -1.25027425e-04 9.99976109e-01 4.73876094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:91.94, Y:23.61, Z:0.47 [[ 8.81305841e-01 -4.72506229e-01 -6.15447721e-03 9.19381855e+01] [ 4.72495768e-01 8.81327320e-01 -3.14702317e-03 2.36065023e+01] [ 6.91109696e-03 -1.34474539e-04 9.99976109e-01 4.71429628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:23.62, Z:0.48 [[ 8.80537191e-01 -4.73937106e-01 -6.15420953e-03 9.19641776e+01] [ 4.73926676e-01 8.80558686e-01 -3.14754656e-03 2.36193995e+01] [ 6.91088176e-03 -1.45112252e-04 9.99976109e-01 4.76194753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:23.63, Z:0.47 [[ 8.79956020e-01 -4.75015299e-01 -6.15365705e-03 9.19898992e+01] [ 4.75004888e-01 8.79977524e-01 -3.14862632e-03 2.36300857e+01] [ 6.91072557e-03 -1.52364499e-04 9.99976109e-01 4.74178753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:23.64, Z:0.47 [[ 8.80012098e-01 -4.74911409e-01 -6.15310937e-03 9.20169206e+01] [ 4.74900988e-01 8.80033597e-01 -3.14969624e-03 2.36416332e+01] [ 6.91076965e-03 -1.50346918e-04 9.99976109e-01 4.73256536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264000000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:92.04, Y:23.65, Z:0.47 [[ 8.80391510e-01 -4.74207692e-01 -6.15260412e-03 9.20430007e+01] [ 4.74197247e-01 8.80412997e-01 -3.15068289e-03 2.36525695e+01] [ 6.91091069e-03 -1.43713465e-04 9.99976109e-01 4.68597767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.07, Y:23.66, Z:0.47 [[ 8.80911909e-01 -4.73240273e-01 -6.15241169e-03 9.20689200e+01] [ 4.73229802e-01 8.80933383e-01 -3.15105861e-03 2.36637707e+01] [ 6.91107268e-03 -1.35699508e-04 9.99976109e-01 4.70520131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.09, Y:23.68, Z:0.47 [[ 8.83015954e-01 -4.69302653e-01 -6.15179383e-03 9.20944583e+01] [ 4.69292077e-01 8.83037377e-01 -3.15226440e-03 2.36751551e+01] [ 6.91162993e-03 -1.03488350e-04 9.99976109e-01 4.71439301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.12, Y:23.69, Z:0.47 [[ 8.84289776e-01 -4.66898009e-01 -6.15150509e-03 9.21202278e+01] [ 4.66887371e-01 8.84311168e-01 -3.15282775e-03 2.36875734e+01] [ 6.91189365e-03 -8.40466992e-05 9.99976109e-01 4.72542000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:23.70, Z:0.47 [[ 8.85811503e-01 -4.64004469e-01 -6.15096989e-03 9.21459965e+01] [ 4.63993754e-01 8.85832856e-01 -3.15387155e-03 2.36998997e+01] [ 6.91214172e-03 -6.02759141e-05 9.99976109e-01 4.73552065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:23.71, Z:0.47 [[ 8.89061077e-01 -4.57747282e-01 -6.15043352e-03 9.21711751e+01] [ 4.57736409e-01 8.89082351e-01 -3.15491720e-03 2.37111908e+01] [ 6.91239666e-03 -1.03632733e-05 9.99976109e-01 4.74148348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:23.72, Z:0.47 [[ 8.90618156e-01 -4.54710326e-01 -6.14980921e-03 9.21954354e+01] [ 4.54699373e-01 8.90639388e-01 -3.15613367e-03 2.37233266e+01] [ 6.91238888e-03 1.45955636e-05 9.99976109e-01 4.71954480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:23.74, Z:0.47 [[ 8.92005827e-01 -4.51982065e-01 -6.14953687e-03 9.22210747e+01] [ 4.51971044e-01 8.92027024e-01 -3.15666421e-03 2.37363162e+01] [ 6.91230869e-03 3.63502728e-05 9.99976109e-01 4.74934388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:23.75, Z:0.48 [[ 8.94362254e-01 -4.47301183e-01 -6.14899355e-03 9.22459880e+01] [ 4.47290043e-01 8.94383389e-01 -3.15772221e-03 2.37491147e+01] [ 6.91201057e-03 7.37639650e-05 9.99976109e-01 4.75570186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:23.76, Z:0.48 [[ 8.95050551e-01 -4.45922307e-01 -6.14880123e-03 9.22702018e+01] [ 4.45911132e-01 8.95071667e-01 -3.15809666e-03 2.37624177e+01] [ 6.91188352e-03 8.48372417e-05 9.99976109e-01 4.76264395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.30, Y:23.78, Z:0.47 [[ 8.95381573e-01 -4.45257272e-01 -6.14819726e-03 9.22953304e+01] [ 4.45246073e-01 8.95402677e-01 -3.15927204e-03 2.37760628e+01] [ 6.91180113e-03 9.12932880e-05 9.99976109e-01 4.73367817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:23.79, Z:0.47 [[ 8.95541846e-01 -4.44934837e-01 -6.14767064e-03 9.23193762e+01] [ 4.44923623e-01 8.95562941e-01 -3.16029647e-03 2.37881790e+01] [ 6.91175199e-03 9.49338376e-05 9.99976109e-01 4.73175413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:23.80, Z:0.47 [[ 8.95257222e-01 -4.45507256e-01 -6.14740901e-03 9.23461527e+01] [ 4.45496052e-01 8.95278324e-01 -3.16080530e-03 2.38002588e+01] [ 6.91180373e-03 9.10873258e-05 9.99976109e-01 4.73916118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:23.81, Z:0.47 [[ 8.95079761e-01 -4.45863698e-01 -6.14690998e-03 9.23705406e+01] [ 4.45852496e-01 8.95100863e-01 -3.16177549e-03 2.38124091e+01] [ 6.91182534e-03 8.94260908e-05 9.99976109e-01 4.71731710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.40, Y:23.83, Z:0.48 [[ 8.94877036e-01 -4.46270443e-01 -6.14664351e-03 9.23951025e+01] [ 4.46259247e-01 8.94898142e-01 -3.16229344e-03 2.38256827e+01] [ 6.91185795e-03 8.68672717e-05 9.99976109e-01 4.75136773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:23.84, Z:0.47 [[ 8.94970664e-01 -4.46082658e-01 -6.14601101e-03 9.24190047e+01] [ 4.46071450e-01 8.94991762e-01 -3.16352224e-03 2.38392919e+01] [ 6.91182163e-03 8.96995558e-05 9.99976109e-01 4.74812458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:23.85, Z:0.47 [[ 8.95014671e-01 -4.45994358e-01 -6.14581462e-03 9.24423762e+01] [ 4.45983144e-01 8.95035767e-01 -3.16390372e-03 2.38520194e+01] [ 6.91180711e-03 9.08105155e-05 9.99976109e-01 4.74732056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:23.86, Z:0.48 [[ 8.94948226e-01 -4.46127679e-01 -6.14555436e-03 9.24669309e+01] [ 4.46116465e-01 8.94969321e-01 -3.16440916e-03 2.38647265e+01] [ 6.91181313e-03 9.03493755e-05 9.99976109e-01 4.76689220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:23.88, Z:0.48 [[ 8.94547625e-01 -4.46930405e-01 -6.14493599e-03 9.24923451e+01] [ 4.46919202e-01 8.94568726e-01 -3.16560952e-03 2.38793815e+01] [ 6.91187471e-03 8.54985906e-05 9.99976109e-01 4.75785591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:23.89, Z:0.47 [[ 8.94215981e-01 -4.47593593e-01 -6.14443231e-03 9.25162738e+01] [ 4.47582399e-01 8.94237087e-01 -3.16658686e-03 2.38937413e+01] [ 6.91192324e-03 8.14728158e-05 9.99976109e-01 4.74681916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:23.91, Z:0.47 [[ 8.93881397e-01 -4.48261421e-01 -6.14381024e-03 9.25390754e+01] [ 4.48250235e-01 8.93902507e-01 -3.16779333e-03 2.39074512e+01] [ 6.91196692e-03 7.76671468e-05 9.99976109e-01 4.71352053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.56, Y:23.92, Z:0.47 [[ 8.93261305e-01 -4.49495829e-01 -6.14338680e-03 9.25635659e+01] [ 4.49484666e-01 8.93282427e-01 -3.16861432e-03 2.39219915e+01] [ 6.91205839e-03 6.90423907e-05 9.99976109e-01 4.74333063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:23.94, Z:0.48 [[ 8.92068054e-01 -4.51859330e-01 -6.14275860e-03 9.25873753e+01] [ 4.51848215e-01 8.92089201e-01 -3.16983170e-03 2.39364687e+01] [ 6.91220664e-03 5.21110885e-05 9.99976109e-01 4.77692717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:23.95, Z:0.47 [[ 8.91432564e-01 -4.53111746e-01 -6.14246717e-03 9.26120687e+01] [ 4.53100656e-01 8.91453725e-01 -3.17039633e-03 2.39496305e+01] [ 6.91226905e-03 4.30386226e-05 9.99976109e-01 4.74260568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:23.96, Z:0.48 [[ 8.90812810e-01 -4.54328966e-01 -6.14227484e-03 9.26357034e+01] [ 4.54317903e-01 8.90833985e-01 -3.17076889e-03 2.39632947e+01] [ 6.91231933e-03 3.40161208e-05 9.99976109e-01 4.80814368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:23.98, Z:0.48 [[ 8.90884289e-01 -4.54188920e-01 -6.13257849e-03 9.26609127e+01] [ 4.54177724e-01 8.90905395e-01 -3.18954130e-03 2.39781106e+01] [ 6.91220158e-03 5.62316907e-05 9.99976109e-01 4.80319423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.68, Y:23.99, Z:0.48 [[ 8.91144522e-01 -4.53677997e-01 -6.14142964e-03 9.26842009e+01] [ 4.53666907e-01 8.91165683e-01 -3.17240645e-03 2.39930415e+01] [ 6.91228234e-03 4.09092365e-05 9.99976109e-01 4.78019225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:24.01, Z:0.48 [[ 8.91574664e-01 -4.52832094e-01 -6.14113817e-03 9.27075851e+01] [ 4.52820980e-01 8.91595812e-01 -3.17297058e-03 2.40075610e+01] [ 6.91223598e-03 4.81039731e-05 9.99976109e-01 4.77894320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.73, Y:24.02, Z:0.48 [[ 8.92344602e-01 -4.51312974e-01 -6.14087042e-03 9.27306358e+01] [ 4.51301820e-01 8.92365730e-01 -3.17348869e-03 2.40242024e+01] [ 6.91213893e-03 6.04595108e-05 9.99976109e-01 4.78528170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.76, Y:24.04, Z:0.48 [[ 8.92254634e-01 -4.51490825e-01 -6.14023776e-03 9.27558533e+01] [ 4.51479668e-01 8.92275760e-01 -3.17471231e-03 2.40374513e+01] [ 6.91213880e-03 6.04592691e-05 9.99976109e-01 4.78725034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:24.05, Z:0.48 [[ 8.92686289e-01 -4.50636765e-01 -6.13960476e-03 9.27799353e+01] [ 4.50625579e-01 8.92707399e-01 -3.17593602e-03 2.40519798e+01] [ 6.91206413e-03 6.84515912e-05 9.99976109e-01 4.80368592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:24.07, Z:0.48 [[ 8.93143994e-01 -4.49728933e-01 -6.13940829e-03 9.28035236e+01] [ 4.49717722e-01 8.93165092e-01 -3.17631577e-03 2.40667676e+01] [ 6.91198627e-03 7.59066429e-05 9.99976109e-01 4.79728833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:24.08, Z:0.48 [[ 8.93584815e-01 -4.48852413e-01 -6.13921380e-03 9.28269392e+01] [ 4.48841180e-01 8.93605900e-01 -3.17669163e-03 2.40819818e+01] [ 6.91190338e-03 8.31114355e-05 9.99976109e-01 4.79425201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:24.10, Z:0.48 [[ 8.94151477e-01 -4.47722520e-01 -6.13859476e-03 9.28489104e+01] [ 4.47711251e-01 8.94172543e-01 -3.17788740e-03 2.40999956e+01] [ 6.91177464e-03 9.31947727e-05 9.99976109e-01 4.77872992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:24.12, Z:0.48 [[ 8.94133724e-01 -4.47757973e-01 -6.13840246e-03 9.28731677e+01] [ 4.47746703e-01 8.94154790e-01 -3.17825880e-03 2.41159261e+01] [ 6.91177269e-03 9.33389142e-05 9.99976109e-01 4.80855968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:24.13, Z:0.48 [[ 8.93868537e-01 -4.48287147e-01 -6.13785526e-03 9.28961165e+01] [ 4.48275881e-01 8.93889605e-01 -3.17931521e-03 2.41312474e+01] [ 6.91181116e-03 9.04373628e-05 9.99976109e-01 4.80125984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:24.15, Z:0.48 [[ 8.93403349e-01 -4.49213521e-01 -6.13742992e-03 9.29196775e+01] [ 4.49202272e-01 8.93424426e-01 -3.18013609e-03 2.41469699e+01] [ 6.91188993e-03 8.41967709e-05 9.99976109e-01 4.80437127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:24.16, Z:0.48 [[ 8.92292151e-01 -4.51416721e-01 -6.13680545e-03 9.29416441e+01] [ 4.51405516e-01 8.92313252e-01 -3.18134069e-03 2.41636959e+01] [ 6.91206321e-03 6.84974946e-05 9.99976109e-01 4.77677451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:24.18, Z:0.48 [[ 8.91707940e-01 -4.52569657e-01 -6.13637984e-03 9.29657341e+01] [ 4.52558473e-01 8.91729052e-01 -3.18216143e-03 2.41778893e+01] [ 6.91213788e-03 6.04879213e-05 9.99976109e-01 4.79076715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:24.20, Z:0.48 [[ 8.91146811e-01 -4.53673577e-01 -6.13575095e-03 9.29872184e+01] [ 4.53662412e-01 8.91167932e-01 -3.18337356e-03 2.41951249e+01] [ 6.91219696e-03 5.32936182e-05 9.99976109e-01 4.77520030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:93.01, Y:24.21, Z:0.48 [[ 8.91121048e-01 -4.53724329e-01 -6.12456952e-03 9.30117139e+01] [ 4.53713016e-01 8.91142091e-01 -3.20492426e-03 2.42110016e+01] [ 6.91201380e-03 7.71785492e-05 9.99976109e-01 4.80175879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:24.23, Z:0.48 [[ 8.91159739e-01 -4.53648329e-01 -6.12484511e-03 9.30370749e+01] [ 4.53637018e-01 8.91180783e-01 -3.20439313e-03 2.42267272e+01] [ 6.91201185e-03 7.71696677e-05 9.99976109e-01 4.83006013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.06, Y:24.24, Z:0.48 [[ 8.91293509e-01 -4.53385304e-01 -6.13575275e-03 9.30605955e+01] [ 4.53374132e-01 8.91314626e-01 -3.18336931e-03 2.42417526e+01] [ 6.91217903e-03 5.55248277e-05 9.99976109e-01 4.81582125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:24.26, Z:0.48 [[ 8.92106060e-01 -4.51784393e-01 -6.13512903e-03 9.30810529e+01] [ 4.51773175e-01 8.92127153e-01 -3.18457091e-03 2.42605022e+01] [ 6.91205463e-03 6.92882889e-05 9.99976109e-01 4.79443610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.11, Y:24.28, Z:0.48 [[ 8.92054120e-01 -4.51887085e-01 -6.12449852e-03 9.31068884e+01] [ 4.51875728e-01 8.92075139e-01 -3.20504066e-03 2.42787221e+01] [ 6.91182936e-03 9.15574945e-05 9.99976109e-01 4.75773033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:24.29, Z:0.48 [[ 8.92473660e-01 -4.51057635e-01 -6.14626350e-03 9.31295682e+01] [ 4.51046547e-01 8.92494822e-01 -3.16307935e-03 2.42944621e+01] [ 6.91223944e-03 5.07140756e-05 9.99976109e-01 4.79803153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:24.31, Z:0.48 [[ 8.92373112e-01 -4.51256676e-01 -6.13526553e-03 9.31540411e+01] [ 4.51245447e-01 8.92394199e-01 -3.18426960e-03 2.43104581e+01] [ 6.91199829e-03 7.30459369e-05 9.99976109e-01 4.79528323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:24.33, Z:0.48 [[ 8.92304907e-01 -4.51391484e-01 -6.13845690e-03 9.31769973e+01] [ 4.51380300e-01 8.92326019e-01 -3.17812272e-03 2.43274504e+01] [ 6.91208233e-03 6.50759798e-05 9.99976109e-01 4.82398139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:93.20, Y:24.34, Z:0.48 [[ 8.92136319e-01 -4.51724650e-01 -6.13416661e-03 9.32001670e+01] [ 4.51713418e-01 8.92157405e-01 -3.18638203e-03 2.43429539e+01] [ 6.91200947e-03 7.18017716e-05 9.99976109e-01 4.81978322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:24.36, Z:0.48 [[ 8.91799904e-01 -4.52388446e-01 -6.13397737e-03 9.32236391e+01] [ 4.52377227e-01 8.91820996e-01 -3.18674630e-03 2.43602150e+01] [ 6.91205701e-03 6.70683689e-05 9.99976109e-01 4.84097133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:24.38, Z:0.49 [[ 8.90964974e-01 -4.54030586e-01 -6.13530654e-03 9.32452073e+01] [ 4.54019423e-01 8.90986097e-01 -3.18418846e-03 2.43790007e+01] [ 6.91219178e-03 5.14520513e-05 9.99976109e-01 4.85963297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:24.39, Z:0.49 [[ 8.89962396e-01 -4.55992672e-01 -6.13323808e-03 9.32694671e+01] [ 4.55981529e-01 8.89983529e-01 -3.18816766e-03 2.43935406e+01] [ 6.91226196e-03 4.07060580e-05 9.99976109e-01 4.86015516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:24.41, Z:0.49 [[ 8.88626978e-01 -4.58589664e-01 -6.13305165e-03 9.32939389e+01] [ 4.58578580e-01 8.88648141e-01 -3.18852624e-03 2.44077108e+01] [ 6.91235013e-03 2.09243210e-05 9.99976109e-01 4.86753325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:24.42, Z:0.49 [[ 8.85791068e-01 -4.64043723e-01 -6.13245045e-03 9.33177982e+01] [ 4.64032761e-01 8.85812295e-01 -3.18968212e-03 2.44225296e+01] [ 6.91235197e-03 -2.02659844e-05 9.99976109e-01 4.86568142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:24.44, Z:0.49 [[ 8.84337443e-01 -4.66807976e-01 -6.13184190e-03 9.33416579e+01] [ 4.66797073e-01 8.84358701e-01 -3.19085156e-03 2.44364128e+01] [ 6.91226269e-03 -4.05363382e-05 9.99976109e-01 4.85539389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:24.45, Z:0.48 [[ 8.83036961e-01 -4.69263395e-01 -6.13123569e-03 9.33655721e+01] [ 4.69252542e-01 8.83058244e-01 -3.19201597e-03 2.44505667e+01] [ 6.91213447e-03 -5.84298464e-05 9.99976109e-01 4.83889668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:24.47, Z:0.48 [[ 8.81696494e-01 -4.71777175e-01 -6.13104797e-03 9.33889074e+01] [ 4.71766380e-01 8.81717807e-01 -3.19237649e-03 2.44653002e+01] [ 6.91194453e-03 -7.77151490e-05 9.99976109e-01 4.81258729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:24.48, Z:0.48 [[ 8.80025690e-01 -4.74886478e-01 -6.13329458e-03 9.34122941e+01] [ 4.74875789e-01 8.80047056e-01 -3.18806305e-03 2.44795302e+01] [ 6.91155587e-03 -1.06975712e-04 9.99976109e-01 4.81573069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:24.49, Z:0.48 [[ 8.79382148e-01 -4.76077155e-01 -6.13027883e-03 9.34377951e+01] [ 4.76066454e-01 8.79403508e-01 -3.19385149e-03 2.44918890e+01] [ 6.91150844e-03 -1.09804124e-04 9.99976109e-01 4.82896661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:24.50, Z:0.48 [[ 8.79057751e-01 -4.76675883e-01 -6.12966705e-03 9.34619653e+01] [ 4.76665189e-01 8.79079114e-01 -3.19502518e-03 2.45034543e+01] [ 6.91145373e-03 -1.13187254e-04 9.99976109e-01 4.82377128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:24.52, Z:0.48 [[ 8.79219373e-01 -4.76377712e-01 -6.12940120e-03 9.34873273e+01] [ 4.76367007e-01 8.79240731e-01 -3.19553511e-03 2.45178562e+01] [ 6.91150090e-03 -1.10268134e-04 9.99976109e-01 4.80834890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.51, Y:24.53, Z:0.48 [[ 8.79390767e-01 -4.76061236e-01 -6.13007082e-03 9.35122004e+01] [ 4.76050532e-01 8.79412126e-01 -3.19425097e-03 2.45311333e+01] [ 6.91151768e-03 -1.09228663e-04 9.99976109e-01 4.79678641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:24.54, Z:0.48 [[ 8.79375305e-01 -4.76089816e-01 -6.12859790e-03 9.35362934e+01] [ 4.76079093e-01 8.79396655e-01 -3.19707448e-03 2.45436168e+01] [ 6.91156309e-03 -1.06268984e-04 9.99976109e-01 4.80394049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.56, Y:24.56, Z:0.48 [[ 8.79043142e-01 -4.76702841e-01 -6.12833033e-03 9.35614394e+01] [ 4.76692130e-01 8.79064496e-01 -3.19758728e-03 2.45567174e+01] [ 6.91149656e-03 -1.10509664e-04 9.99976109e-01 4.79145420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:24.57, Z:0.48 [[ 8.78062634e-01 -4.78506490e-01 -6.12780964e-03 9.35877829e+01] [ 4.78495815e-01 8.78084007e-01 -3.19858482e-03 2.45672143e+01] [ 6.91127524e-03 -1.23573456e-04 9.99976109e-01 4.81263895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.61, Y:24.58, Z:0.48 [[ 8.77359805e-01 -4.79793945e-01 -6.12720943e-03 9.36139623e+01] [ 4.79783293e-01 8.77381190e-01 -3.19973415e-03 2.45782705e+01] [ 6.91111138e-03 -1.32414590e-04 9.99976109e-01 4.81870762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:24.59, Z:0.48 [[ 8.76584568e-01 -4.81208852e-01 -6.12658785e-03 9.36395985e+01] [ 4.81198227e-01 8.76605966e-01 -3.20092386e-03 2.45901560e+01] [ 6.91091636e-03 -1.42222751e-04 9.99976109e-01 4.84742162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.67, Y:24.60, Z:0.48 [[ 8.75386285e-01 -4.83385275e-01 -6.12595309e-03 9.36651282e+01] [ 4.83374695e-01 8.75407705e-01 -3.20213822e-03 2.46011643e+01] [ 6.91057300e-03 -1.58022824e-04 9.99976109e-01 4.83317907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:24.61, Z:0.48 [[ 8.75054410e-01 -4.83985801e-01 -6.12565685e-03 9.36904899e+01] [ 4.83975232e-01 8.75075835e-01 -3.20270483e-03 2.46116963e+01] [ 6.91047794e-03 -1.62125207e-04 9.99976109e-01 4.84653208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:24.62, Z:0.48 [[ 8.74619446e-01 -4.84771393e-01 -6.12546477e-03 9.37178525e+01] [ 4.84760840e-01 8.74640879e-01 -3.20307215e-03 2.46202414e+01] [ 6.91033964e-03 -1.67916256e-04 9.99976109e-01 4.83688363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:24.63, Z:0.48 [[ 8.74627122e-01 -4.84757546e-01 -6.12528006e-03 9.37434561e+01] [ 4.84746990e-01 8.74648554e-01 -3.20342533e-03 2.46320184e+01] [ 6.91035195e-03 -1.67408400e-04 9.99976109e-01 4.82976178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:24.64, Z:0.48 [[ 8.74748834e-01 -4.84537889e-01 -6.12468996e-03 9.37690990e+01] [ 4.84527320e-01 8.74770259e-01 -3.20455315e-03 2.46440729e+01] [ 6.91042405e-03 -1.64400480e-04 9.99976109e-01 4.83982459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:24.66, Z:0.48 [[ 8.75055678e-01 -4.83983529e-01 -6.12407680e-03 9.37944313e+01] [ 4.83972938e-01 8.75077093e-01 -3.20572451e-03 2.46550409e+01] [ 6.91055719e-03 -1.58700009e-04 9.99976109e-01 4.84194941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:24.66, Z:0.49 [[ 8.76241842e-01 -4.81832686e-01 -6.12345521e-03 9.38211424e+01] [ 4.81822034e-01 8.76263227e-01 -3.20691141e-03 2.46629423e+01] [ 6.91095336e-03 -1.40385683e-04 9.99976109e-01 4.85379680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:93.85, Y:24.67, Z:0.48 [[ 8.76992838e-01 -4.80464429e-01 -6.12322306e-03 9.38465319e+01] [ 4.80453741e-01 8.77014205e-01 -3.20735462e-03 2.46739630e+01] [ 6.91117341e-03 -1.29098394e-04 9.99976109e-01 4.83969616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:24.69, Z:0.49 [[ 8.77965418e-01 -4.78684906e-01 -6.12260277e-03 9.38724687e+01] [ 4.78674166e-01 8.77986759e-01 -3.20853827e-03 2.46857128e+01] [ 6.91144300e-03 -1.13746134e-04 9.99976109e-01 4.86226041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.90, Y:24.70, Z:0.48 [[ 8.79922003e-01 -4.75078720e-01 -6.12197905e-03 9.38996484e+01] [ 4.75067884e-01 8.79943295e-01 -3.20972789e-03 2.46969085e+01] [ 6.91186784e-03 -8.40454390e-05 9.99976109e-01 4.83549704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.93, Y:24.71, Z:0.48 [[ 8.80772269e-01 -4.73500516e-01 -6.12143200e-03 9.39256417e+01] [ 4.73489635e-01 8.80793538e-01 -3.21077087e-03 2.47093195e+01] [ 6.91201941e-03 -7.04766623e-05 9.99976109e-01 4.82423117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:24.72, Z:0.48 [[ 8.81501409e-01 -4.72141717e-01 -6.12088024e-03 9.39504682e+01] [ 4.72130796e-01 8.81522658e-01 -3.21182238e-03 2.47214087e+01] [ 6.91212995e-03 -5.86301005e-05 9.99976109e-01 4.82972010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:24.73, Z:0.48 [[ 8.82172533e-01 -4.70886572e-01 -6.12024896e-03 9.39756177e+01] [ 4.70875613e-01 8.82193762e-01 -3.21302485e-03 2.47339314e+01] [ 6.91221571e-03 -4.74337011e-05 9.99976109e-01 4.83482911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:24.75, Z:0.48 [[ 8.83209568e-01 -4.68938594e-01 -6.11995320e-03 9.40023740e+01] [ 4.68927583e-01 8.83230771e-01 -3.21358810e-03 2.47454398e+01] [ 6.91230646e-03 -3.15431040e-05 9.99976109e-01 4.82696816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:24.76, Z:0.49 [[ 8.83832117e-01 -4.67764131e-01 -6.12427476e-03 9.40280425e+01] [ 4.67753150e-01 8.83853334e-01 -3.20535891e-03 2.47571304e+01] [ 6.91231259e-03 -3.16496577e-05 9.99976109e-01 4.86665858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:24.77, Z:0.49 [[ 8.84206150e-01 -4.67056784e-01 -6.11920560e-03 9.40523770e+01] [ 4.67045719e-01 8.84227324e-01 -3.21500718e-03 2.47696462e+01] [ 6.91235970e-03 -1.52196640e-05 9.99976109e-01 4.86460741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:24.78, Z:0.49 [[ 8.85050467e-01 -4.65454863e-01 -6.11893330e-03 9.40769912e+01] [ 4.65443756e-01 8.85071619e-01 -3.21552535e-03 2.47807831e+01] [ 6.91237611e-03 -2.11708609e-06 9.99976109e-01 4.85871258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:24.79, Z:0.49 [[ 8.85269360e-01 -4.65038410e-01 -6.11866526e-03 9.41024576e+01] [ 4.65027289e-01 8.85290505e-01 -3.21603531e-03 2.47925120e+01] [ 6.91237620e-03 1.71120260e-06 9.99976109e-01 4.86991669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:24.80, Z:0.49 [[ 8.85578752e-01 -4.64448969e-01 -6.11803600e-03 9.41263505e+01] [ 4.64437826e-01 8.85599885e-01 -3.21723194e-03 2.48046420e+01] [ 6.91237203e-03 7.66491005e-06 9.99976109e-01 4.86560399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:24.82, Z:0.49 [[ 8.85864328e-01 -4.63904048e-01 -6.11776267e-03 9.41506459e+01] [ 4.63892888e-01 8.85885452e-01 -3.21775160e-03 2.48182716e+01] [ 6.91236494e-03 1.25047684e-05 9.99976109e-01 4.86881470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:24.83, Z:0.49 [[ 8.85865206e-01 -4.63902373e-01 -6.11757287e-03 9.41756816e+01] [ 4.63891211e-01 8.85886329e-01 -3.21811240e-03 2.48312137e+01] [ 6.91236416e-03 1.29255169e-05 9.99976109e-01 4.86824187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:24.84, Z:0.48 [[ 8.85332002e-01 -4.64919164e-01 -6.11697490e-03 9.42024480e+01] [ 4.64908018e-01 8.85353134e-01 -3.21924862e-03 2.48445558e+01] [ 6.91237327e-03 6.27315171e-06 9.99976109e-01 4.83809413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:94.23, Y:24.86, Z:0.48 [[ 8.85069430e-01 -4.65418757e-01 -6.12249478e-03 9.42277978e+01] [ 4.65407696e-01 8.85090606e-01 -3.20876407e-03 2.48569103e+01] [ 6.91238160e-03 -9.47720246e-06 9.99976109e-01 4.84491935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:24.87, Z:0.49 [[ 8.84354935e-01 -4.66775046e-01 -6.11601738e-03 9.42524323e+01] [ 4.66763932e-01 8.84376083e-01 -3.22106308e-03 2.48700592e+01] [ 6.91237136e-03 -6.17329208e-06 9.99976109e-01 4.86823137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:24.88, Z:0.49 [[ 8.82783566e-01 -4.69740117e-01 -6.11538618e-03 9.42781821e+01] [ 4.69729066e-01 8.82804747e-01 -3.22226102e-03 2.48815970e+01] [ 6.91231721e-03 -2.80155673e-05 9.99976109e-01 4.85177585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.30, Y:24.89, Z:0.48 [[ 8.82306956e-01 -4.70634670e-01 -6.11900160e-03 9.43025558e+01] [ 4.70623688e-01 8.82328173e-01 -3.21539965e-03 2.48922545e+01] [ 6.91224606e-03 -4.27776194e-05 9.99976109e-01 4.83596654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.33, Y:24.91, Z:0.48 [[ 8.82219276e-01 -4.70799061e-01 -6.11502791e-03 9.43276560e+01] [ 4.70788031e-01 8.82240468e-01 -3.22293913e-03 2.49057122e+01] [ 6.91228179e-03 -3.55429242e-05 9.99976109e-01 4.83793542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:24.92, Z:0.49 [[ 8.81515875e-01 -4.72114790e-01 -6.11442734e-03 9.43529867e+01] [ 4.72103784e-01 8.81537080e-01 -3.22407809e-03 2.49180532e+01] [ 6.91222937e-03 -4.45682628e-05 9.99976109e-01 4.88115450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:24.93, Z:0.49 [[ 8.81026568e-01 -4.73027281e-01 -6.11380439e-03 9.43765600e+01] [ 4.73016288e-01 8.81047779e-01 -3.22525895e-03 2.49308793e+01] [ 6.91218925e-03 -5.03902345e-05 9.99976109e-01 4.87767318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:24.94, Z:0.49 [[ 8.80825971e-01 -4.73400712e-01 -6.11353407e-03 9.44014883e+01] [ 4.73389724e-01 8.80847185e-01 -3.22577128e-03 2.49434403e+01] [ 6.91217169e-03 -5.27410891e-05 9.99976109e-01 4.88189866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.43, Y:24.95, Z:0.49 [[ 8.80917553e-01 -4.73230279e-01 -6.11291422e-03 9.44273385e+01] [ 4.73219280e-01 8.80938761e-01 -3.22694547e-03 2.49532738e+01] [ 6.91219139e-03 -5.00759604e-05 9.99976109e-01 4.85504190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:24.97, Z:0.49 [[ 8.80820178e-01 -4.73411502e-01 -6.11264474e-03 9.44528683e+01] [ 4.73400503e-01 8.80841386e-01 -3.22745585e-03 2.49662237e+01] [ 6.91218519e-03 -5.09208556e-05 9.99976109e-01 4.90399285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.48, Y:24.98, Z:0.49 [[ 8.80915731e-01 -4.73233681e-01 -6.11209484e-03 9.44777669e+01] [ 4.73222671e-01 8.80936933e-01 -3.22849692e-03 2.49787225e+01] [ 6.91220356e-03 -4.83481236e-05 9.99976109e-01 4.88002654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.50, Y:24.99, Z:0.49 [[ 8.80940998e-01 -4.73186648e-01 -6.11180004e-03 9.45041662e+01] [ 4.73175633e-01 8.80962198e-01 -3.22905489e-03 2.49889627e+01] [ 6.91221046e-03 -4.73480184e-05 9.99976109e-01 4.89209945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:25.00, Z:0.49 [[ 8.80828328e-01 -4.73396357e-01 -6.11116527e-03 9.45299237e+01] [ 4.73385338e-01 8.80849526e-01 -3.23025578e-03 2.50004456e+01] [ 6.91220835e-03 -4.76352436e-05 9.99976109e-01 4.89689373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:25.01, Z:0.49 [[ 8.80953933e-01 -4.73162582e-01 -6.11053248e-03 9.45554497e+01] [ 4.73151550e-01 8.80975124e-01 -3.23145236e-03 2.50123600e+01] [ 6.91222945e-03 -4.44472501e-05 9.99976109e-01 4.87562371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:94.58, Y:25.03, Z:0.49 [[ 8.81072810e-01 -4.72941188e-01 -6.11033616e-03 9.45811570e+01] [ 4.72930147e-01 8.81093997e-01 -3.23182354e-03 2.50257216e+01] [ 6.91224297e-03 -4.22903356e-05 9.99976109e-01 4.85252364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:25.04, Z:0.49 [[ 8.81919220e-01 -4.71360966e-01 -6.10980191e-03 9.46074933e+01] [ 4.71349880e-01 8.81940383e-01 -3.23283324e-03 2.50357124e+01] [ 6.91231243e-03 -2.87566310e-05 9.99976109e-01 4.88160093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:94.63, Y:25.05, Z:0.49 [[ 8.82578059e-01 -4.70126203e-01 -6.10917252e-03 9.46325021e+01] [ 4.70115080e-01 8.82599203e-01 -3.23402218e-03 2.50474339e+01] [ 6.91234936e-03 -1.77371099e-05 9.99976109e-01 4.87719069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:25.06, Z:0.49 [[ 8.83469206e-01 -4.68449407e-01 -6.10853519e-03 9.46574117e+01] [ 4.68438235e-01 8.83490324e-01 -3.23522553e-03 2.50590771e+01] [ 6.91237122e-03 -3.24931718e-06 9.99976109e-01 4.89437328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:25.07, Z:0.49 [[ 8.85207593e-01 -4.65156108e-01 -6.10833791e-03 9.46828881e+01] [ 4.65144855e-01 8.85228668e-01 -3.23559797e-03 2.50704571e+01] [ 6.91233399e-03 2.29139356e-05 9.99976109e-01 4.92400073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:94.71, Y:25.08, Z:0.49 [[ 8.86056880e-01 -4.63536301e-01 -6.10769990e-03 9.47082693e+01] [ 4.63525001e-01 8.86077929e-01 -3.23680187e-03 2.50823686e+01] [ 6.91227324e-03 3.69189650e-05 9.99976109e-01 4.89201791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:25.09, Z:0.49 [[ 8.86666580e-01 -4.62368981e-01 -6.10750165e-03 9.47333298e+01] [ 4.62357651e-01 8.86687613e-01 -3.23717590e-03 2.50942253e+01] [ 6.91221578e-03 4.64455623e-05 9.99976109e-01 4.93066883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:25.11, Z:0.49 [[ 8.87727398e-01 -4.60328983e-01 -6.10686847e-03 9.47578524e+01] [ 4.60317596e-01 8.87748401e-01 -3.23836993e-03 2.51081687e+01] [ 6.91207826e-03 6.36906964e-05 9.99976109e-01 4.92777254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:25.12, Z:0.49 [[ 8.88083576e-01 -4.59641458e-01 -6.10667166e-03 9.47834608e+01] [ 4.59630053e-01 8.88104569e-01 -3.23874102e-03 2.51221926e+01] [ 6.91202265e-03 6.94628909e-05 9.99976109e-01 4.94449244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.81, Y:25.14, Z:0.49 [[ 8.88512737e-01 -4.58811325e-01 -6.10612884e-03 9.48078431e+01] [ 4.58799893e-01 8.88533715e-01 -3.23976411e-03 2.51352682e+01] [ 6.91194180e-03 7.70804179e-05 9.99976109e-01 4.91590612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:25.15, Z:0.49 [[ 8.89033695e-01 -4.57801056e-01 -6.10593700e-03 9.48331408e+01] [ 4.57789598e-01 8.89054658e-01 -3.24012562e-03 2.51482970e+01] [ 6.91184467e-03 8.53464091e-05 9.99976109e-01 4.94375189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:25.16, Z:0.49 [[ 8.89770045e-01 -4.56368265e-01 -6.10530432e-03 9.48589622e+01] [ 4.56356765e-01 8.89790985e-01 -3.24131733e-03 2.51633579e+01] [ 6.91167911e-03 9.78301435e-05 9.99976109e-01 4.92284114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:25.18, Z:0.49 [[ 8.90340355e-01 -4.55254545e-01 -6.11151899e-03 9.48826892e+01] [ 4.55243099e-01 8.90361326e-01 -3.22961323e-03 2.51760110e+01] [ 6.91175625e-03 9.32281469e-05 9.99976109e-01 4.91022589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.91, Y:25.19, Z:0.49 [[ 8.90518031e-01 -4.54906991e-01 -6.10455658e-03 9.49071099e+01] [ 4.54895447e-01 8.90538947e-01 -3.24272027e-03 2.51906328e+01] [ 6.91148151e-03 1.10765871e-04 9.99976109e-01 4.90927948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:25.20, Z:0.49 [[ 8.90541413e-01 -4.54861225e-01 -6.10394016e-03 9.49318393e+01] [ 4.54849672e-01 8.90562324e-01 -3.24388016e-03 2.52042816e+01] [ 6.91145444e-03 1.12434443e-04 9.99976109e-01 4.93039990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:25.22, Z:0.50 [[ 8.90302269e-01 -4.55329127e-01 -6.10374917e-03 9.49560412e+01] [ 4.55317583e-01 8.90323185e-01 -3.24423950e-03 2.52178934e+01] [ 6.91150614e-03 1.09209469e-04 9.99976109e-01 4.95208272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:25.23, Z:0.49 [[ 8.89477867e-01 -4.56937498e-01 -6.10311778e-03 9.49810393e+01] [ 4.56925983e-01 8.89498799e-01 -3.24542685e-03 2.52329543e+01] [ 6.91167316e-03 9.80622644e-05 9.99976109e-01 4.93602020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:95.00, Y:25.25, Z:0.49 [[ 8.88852353e-01 -4.58153090e-01 -6.10256524e-03 9.50047847e+01] [ 4.58141596e-01 8.88873297e-01 -3.24646549e-03 2.52468955e+01] [ 6.91178548e-03 8.97895042e-05 9.99976109e-01 4.91408024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:25.26, Z:0.49 [[ 8.88439579e-01 -4.58953028e-01 -6.10193106e-03 9.50294756e+01] [ 4.58941545e-01 8.88460529e-01 -3.24765704e-03 2.52600751e+01] [ 6.91184692e-03 8.49173831e-05 9.99976109e-01 4.92890522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:25.27, Z:0.49 [[ 8.87941271e-01 -4.59916371e-01 -6.10173406e-03 9.50536257e+01] [ 4.59904908e-01 8.87962232e-01 -3.24802711e-03 2.52735469e+01] [ 6.91193024e-03 7.78398792e-05 9.99976109e-01 4.93443920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:25.29, Z:0.49 [[ 8.87192759e-01 -4.61358629e-01 -6.10111572e-03 9.50779753e+01] [ 4.61347192e-01 8.87213735e-01 -3.24918819e-03 2.52879919e+01] [ 6.91203467e-03 6.79236309e-05 9.99976109e-01 4.94116424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:25.30, Z:0.49 [[ 8.87028371e-01 -4.61674618e-01 -6.10049002e-03 9.51030257e+01] [ 4.61663181e-01 8.87049346e-01 -3.25036254e-03 2.53013586e+01] [ 6.91204557e-03 6.67921672e-05 9.99976109e-01 4.94180925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:25.31, Z:0.49 [[ 8.86808472e-01 -4.62096880e-01 -6.09985448e-03 9.51259511e+01] [ 4.62085444e-01 8.86829448e-01 -3.25155480e-03 2.53147638e+01] [ 6.91206391e-03 6.48523766e-05 9.99976109e-01 4.93132579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.15, Y:25.33, Z:0.49 [[ 8.86647961e-01 -4.62404789e-01 -6.09957859e-03 9.51492030e+01] [ 4.62393357e-01 8.86668939e-01 -3.25207226e-03 2.53323806e+01] [ 6.91208067e-03 6.30386121e-05 9.99976109e-01 4.90675950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:25.35, Z:0.49 [[ 8.86674821e-01 -4.62353288e-01 -6.09902182e-03 9.51730426e+01] [ 4.62341848e-01 8.86695795e-01 -3.25311611e-03 2.53468128e+01] [ 6.91206593e-03 6.46231215e-05 9.99976109e-01 4.88767517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:25.36, Z:0.49 [[ 8.86668856e-01 -4.62364731e-01 -6.09882419e-03 9.51981102e+01] [ 4.62353289e-01 8.86689828e-01 -3.25348659e-03 2.53614762e+01] [ 6.91206282e-03 6.49538088e-05 9.99976109e-01 4.89159080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:25.38, Z:0.49 [[ 8.86570382e-01 -4.62553532e-01 -6.09827697e-03 9.52234631e+01] [ 4.62542087e-01 8.86591352e-01 -3.25451195e-03 2.53761693e+01] [ 6.91206563e-03 6.46441468e-05 9.99976109e-01 4.88737469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:25.39, Z:0.49 [[ 8.86152315e-01 -4.63353961e-01 -6.09772435e-03 9.52473175e+01] [ 4.63342528e-01 8.86173292e-01 -3.25554704e-03 2.53908704e+01] [ 6.91211107e-03 5.95755277e-05 9.99976109e-01 4.88946147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:25.40, Z:0.49 [[ 8.85813214e-01 -4.64001907e-01 -6.09752802e-03 9.52712372e+01] [ 4.63990487e-01 8.85834198e-01 -3.25591471e-03 2.54043261e+01] [ 6.91214948e-03 5.49372768e-05 9.99976109e-01 4.90780824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:25.42, Z:0.49 [[ 8.85340511e-01 -4.64903218e-01 -6.09733690e-03 9.52958652e+01] [ 4.64891816e-01 8.85361506e-01 -3.25627258e-03 2.54188112e+01] [ 6.91219898e-03 4.83080016e-05 9.99976109e-01 4.93906421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:25.43, Z:0.50 [[ 8.83822521e-01 -4.67782620e-01 -6.09679739e-03 9.53194212e+01] [ 4.67771280e-01 8.83843549e-01 -3.25728240e-03 2.54341015e+01] [ 6.91231514e-03 2.69528260e-05 9.99976109e-01 4.95066106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.34, Y:25.45, Z:0.49 [[ 8.82764928e-01 -4.69775392e-01 -6.09616217e-03 9.53447974e+01] [ 4.69764091e-01 8.82785977e-01 -3.25847081e-03 2.54483746e+01] [ 6.91235588e-03 1.27056729e-05 9.99976109e-01 4.92827685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:25.46, Z:0.49 [[ 8.81836213e-01 -4.71516423e-01 -6.09560430e-03 9.53694179e+01] [ 4.71505157e-01 8.81857280e-01 -3.25951408e-03 2.54609888e+01] [ 6.91236745e-03 2.48684785e-07 9.99976109e-01 4.94464398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:95.39, Y:25.47, Z:0.49 [[ 8.79781292e-01 -4.75339595e-01 -6.09496698e-03 9.53945292e+01] [ 4.75328412e-01 8.79802403e-01 -3.26070538e-03 2.54743318e+01] [ 6.91230897e-03 -2.84033831e-05 9.99976109e-01 4.92690434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:95.42, Y:25.49, Z:0.49 [[ 8.78955259e-01 -4.76865297e-01 -6.09433216e-03 9.54192550e+01] [ 4.76854142e-01 8.78976386e-01 -3.26189143e-03 2.54880547e+01] [ 6.91225688e-03 -3.90509097e-05 9.99976109e-01 4.93526758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:25.50, Z:0.49 [[ 8.77932879e-01 -4.78744950e-01 -6.09369910e-03 9.54440647e+01] [ 4.78733832e-01 8.77954025e-01 -3.26307366e-03 2.55005927e+01] [ 6.91216769e-03 -5.25002713e-05 9.99976109e-01 4.94148794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:25.51, Z:0.49 [[ 8.77476375e-01 -4.79581156e-01 -6.09307015e-03 9.54689938e+01] [ 4.79570050e-01 8.77497528e-01 -3.26424766e-03 2.55133303e+01] [ 6.91212566e-03 -5.77537521e-05 9.99976109e-01 4.93324746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:25.53, Z:0.49 [[ 8.77169714e-01 -4.80141828e-01 -6.09244453e-03 9.54929128e+01] [ 4.80130728e-01 8.77190869e-01 -3.26541490e-03 2.55259787e+01] [ 6.91209900e-03 -6.08467728e-05 9.99976109e-01 4.93251059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:25.54, Z:0.49 [[ 8.77368069e-01 -4.79779281e-01 -6.09201671e-03 9.55175087e+01] [ 4.79768167e-01 8.77389217e-01 -3.26621286e-03 2.55391924e+01] [ 6.91213103e-03 -5.70848212e-05 9.99976109e-01 4.92542409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:25.55, Z:0.49 [[ 8.77682844e-01 -4.79203214e-01 -6.09139752e-03 9.55428278e+01] [ 4.79192078e-01 8.77703980e-01 -3.26736723e-03 2.55517653e+01] [ 6.91217672e-03 -5.12372756e-05 9.99976109e-01 4.91738185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:25.56, Z:0.49 [[ 8.78116422e-01 -4.78408243e-01 -6.09110728e-03 9.55692365e+01] [ 4.78397084e-01 8.78137547e-01 -3.26790821e-03 2.55643706e+01] [ 6.91222423e-03 -4.43640944e-05 9.99976109e-01 4.93081747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:25.58, Z:0.49 [[ 8.78797463e-01 -4.77156080e-01 -6.09056957e-03 9.55944254e+01] [ 4.77144884e-01 8.78818567e-01 -3.26891007e-03 2.55778228e+01] [ 6.91228593e-03 -3.33742365e-05 9.99976109e-01 4.94643200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:25.59, Z:0.50 [[ 8.80821708e-01 -4.73408946e-01 -6.09003113e-03 9.56176109e+01] [ 4.73397653e-01 8.80842761e-01 -3.26991288e-03 2.55925595e+01] [ 6.91236584e-03 -2.79619425e-06 9.99976109e-01 4.95177369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:25.61, Z:0.50 [[ 8.81843238e-01 -4.71503363e-01 -6.08949485e-03 9.56427143e+01] [ 4.71492018e-01 8.81864263e-01 -3.27091127e-03 2.56051510e+01] [ 6.91235355e-03 1.32827751e-05 9.99976109e-01 4.95989349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:25.62, Z:0.50 [[ 8.82889178e-01 -4.69541931e-01 -6.08887867e-03 9.56678113e+01] [ 4.69530531e-01 8.82910173e-01 -3.27205790e-03 2.56168513e+01] [ 6.91230131e-03 2.99500747e-05 9.99976109e-01 4.96450955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:25.63, Z:0.50 [[ 8.83960716e-01 -4.67521529e-01 -6.08868779e-03 9.56925848e+01] [ 4.67510078e-01 8.83981684e-01 -3.27241306e-03 2.56300901e+01] [ 6.91221204e-03 4.61616855e-05 9.99976109e-01 4.97505300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:25.65, Z:0.50 [[ 8.86148723e-01 -4.63360956e-01 -6.08807737e-03 9.57164506e+01] [ 4.63349400e-01 8.86169633e-01 -3.27354831e-03 2.56454663e+01] [ 6.91190376e-03 7.99436607e-05 9.99976109e-01 4.98926574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:25.66, Z:0.50 [[ 8.87065802e-01 -4.61602865e-01 -6.08743479e-03 9.57402320e+01] [ 4.61591259e-01 8.87086684e-01 -3.27474280e-03 2.56579505e+01] [ 6.91171300e-03 9.50056647e-05 9.99976109e-01 4.97257568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:25.67, Z:0.50 [[ 8.89079856e-01 -4.57711653e-01 -6.08715520e-03 9.57654196e+01] [ 4.57699951e-01 8.89100684e-01 -3.27526243e-03 2.56707524e+01] [ 6.91121963e-03 1.25879205e-04 9.99976109e-01 4.98524084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:25.68, Z:0.50 [[ 8.89953054e-01 -4.56011524e-01 -6.08696317e-03 9.57893098e+01] [ 4.55999781e-01 8.89973859e-01 -3.27561927e-03 2.56848279e+01] [ 6.91095824e-03 1.39493500e-04 9.99976109e-01 4.99188017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:25.70, Z:0.50 [[ 8.90743980e-01 -4.54464650e-01 -6.08634942e-03 9.58131071e+01] [ 4.54452862e-01 8.90764761e-01 -3.27675927e-03 2.56995521e+01] [ 6.91067684e-03 1.52794683e-04 9.99976109e-01 4.99147081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:25.71, Z:0.50 [[ 8.91763551e-01 -4.52460753e-01 -6.08573529e-03 9.58369849e+01] [ 4.52448911e-01 8.91784300e-01 -3.27789946e-03 2.57149989e+01] [ 6.91028404e-03 1.69626959e-04 9.99976109e-01 4.98028138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:25.73, Z:0.50 [[ 8.92111840e-01 -4.51773654e-01 -6.08519618e-03 9.58613469e+01] [ 4.51761790e-01 8.92132577e-01 -3.27889998e-03 2.57293067e+01] [ 6.91012237e-03 1.76086380e-04 9.99976109e-01 4.98019033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:25.74, Z:0.50 [[ 8.92026779e-01 -4.51941593e-01 -6.08457849e-03 9.58863234e+01] [ 4.51929725e-01 8.92047513e-01 -3.28004580e-03 2.57429917e+01] [ 6.91012224e-03 1.76086806e-04 9.99976109e-01 4.98215895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:95.91, Y:25.76, Z:0.50 [[ 8.92206403e-01 -4.51586890e-01 -6.08396080e-03 9.59102605e+01] [ 4.51575006e-01 8.92227128e-01 -3.28119112e-03 2.57574926e+01] [ 6.91001777e-03 1.80135099e-04 9.99976109e-01 4.97186828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:95.93, Y:25.77, Z:0.50 [[ 8.92442005e-01 -4.51121116e-01 -6.08332506e-03 9.59336360e+01] [ 4.51109212e-01 8.92462719e-01 -3.28236936e-03 2.57718690e+01] [ 6.90988695e-03 1.85080312e-04 9.99976109e-01 4.96111166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.96, Y:25.79, Z:0.50 [[ 8.92324656e-01 -4.51353191e-01 -6.08312759e-03 9.59569899e+01] [ 4.51341290e-01 8.92345372e-01 -3.28273528e-03 2.57894816e+01] [ 6.90992380e-03 1.83698971e-04 9.99976109e-01 4.99462640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:95.98, Y:25.80, Z:0.50 [[ 8.91853436e-01 -4.52283596e-01 -6.08258173e-03 9.59809245e+01] [ 4.52271710e-01 8.91874160e-01 -3.28374640e-03 2.58046266e+01] [ 6.91008210e-03 1.77640872e-04 9.99976109e-01 4.98364156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.00, Y:25.82, Z:0.50 [[ 8.91208353e-01 -4.53553389e-01 -6.08238746e-03 9.60034248e+01] [ 4.53541530e-01 8.91229092e-01 -3.28410620e-03 2.58188329e+01] [ 6.91031815e-03 1.68207564e-04 9.99976109e-01 4.98593880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:25.84, Z:0.50 [[ 8.89127514e-01 -4.57619134e-01 -6.08212914e-03 9.60268942e+01] [ 4.57607367e-01 8.89148306e-01 -3.28458453e-03 2.58367565e+01] [ 6.91100355e-03 1.37187379e-04 9.99976109e-01 4.98823583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:25.85, Z:0.50 [[ 8.87718632e-01 -4.60346222e-01 -6.08159198e-03 9.60509918e+01] [ 4.60334512e-01 8.87739456e-01 -3.28557881e-03 2.58524791e+01] [ 6.91137295e-03 1.17102855e-04 9.99976109e-01 4.99537729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:25.87, Z:0.50 [[ 8.86353271e-01 -4.62969653e-01 -6.08102886e-03 9.60738684e+01] [ 4.62957997e-01 8.86374126e-01 -3.28662071e-03 2.58660724e+01] [ 6.91167229e-03 9.78460758e-05 9.99976109e-01 4.98550044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.10, Y:25.88, Z:0.50 [[ 8.83457459e-01 -4.68471926e-01 -6.08058954e-03 9.60987372e+01] [ 4.68460395e-01 8.83478382e-01 -3.28743330e-03 2.58811786e+01] [ 6.91213962e-03 5.57920947e-05 9.99976109e-01 4.96020030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:25.90, Z:0.50 [[ 8.81840041e-01 -4.71509464e-01 -6.08002584e-03 9.61220863e+01] [ 4.71497998e-01 8.81861001e-01 -3.28847552e-03 2.58968475e+01] [ 6.91228500e-03 3.31893822e-05 9.99976109e-01 4.98375044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:25.91, Z:0.50 [[ 8.80386901e-01 -4.74217193e-01 -6.07937338e-03 9.61454304e+01] [ 4.74205783e-01 8.80407890e-01 -3.28968128e-03 2.59119854e+01] [ 6.91235172e-03 1.33182878e-05 9.99976109e-01 4.98233773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.17, Y:25.93, Z:0.50 [[ 8.77629795e-01 -4.79300518e-01 -6.07917158e-03 9.61696028e+01] [ 4.79289226e-01 8.77650849e-01 -3.29005416e-03 2.59252316e+01] [ 6.91231476e-03 -2.62318886e-05 9.99976109e-01 4.98209489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:25.94, Z:0.50 [[ 8.76373363e-01 -4.81593999e-01 -6.07853997e-03 9.61940457e+01] [ 4.81582755e-01 8.76394442e-01 -3.29122067e-03 2.59386421e+01] [ 6.91223077e-03 -4.29818932e-05 9.99976109e-01 4.97759739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:25.95, Z:0.50 [[ 8.75260430e-01 -4.83613724e-01 -6.07834450e-03 9.62173113e+01] [ 4.83602526e-01 8.75281533e-01 -3.29158164e-03 2.59533955e+01] [ 6.91211675e-03 -5.85115951e-05 9.99976109e-01 4.99997720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:25.97, Z:0.50 [[ 8.74567255e-01 -4.84866144e-01 -6.07769694e-03 9.62409994e+01] [ 4.84854968e-01 8.74588370e-01 -3.29277687e-03 2.59682113e+01] [ 6.91203909e-03 -6.70467305e-05 9.99976109e-01 5.00381892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:25.98, Z:0.50 [[ 8.73498367e-01 -4.86789140e-01 -6.07749572e-03 9.62648359e+01] [ 4.86778008e-01 8.73519505e-01 -3.29314823e-03 2.59824883e+01] [ 6.91187985e-03 -8.18316592e-05 9.99976109e-01 5.00701889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:26.00, Z:0.50 [[ 8.73149959e-01 -4.87413805e-01 -6.07719961e-03 9.62902746e+01] [ 4.87402684e-01 8.73171103e-01 -3.29369458e-03 2.59959032e+01] [ 6.91182730e-03 -8.61541217e-05 9.99976109e-01 5.02151695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:26.01, Z:0.50 [[ 8.72786143e-01 -4.88064978e-01 -6.07666129e-03 9.63149361e+01] [ 4.88053866e-01 8.72807292e-01 -3.29468746e-03 2.60098822e+01] [ 6.91177584e-03 -9.01804753e-05 9.99976109e-01 5.04437245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:96.34, Y:26.02, Z:0.50 [[ 8.72758949e-01 -4.88113611e-01 -6.07610968e-03 9.63388602e+01] [ 4.88102493e-01 8.72780095e-01 -3.29570443e-03 2.60232836e+01] [ 6.91178577e-03 -8.94087458e-05 9.99976109e-01 5.03003661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:26.04, Z:0.51 [[ 8.72756015e-01 -4.88118860e-01 -6.07591405e-03 9.63639041e+01] [ 4.88107739e-01 8.72777160e-01 -3.29606505e-03 2.60364841e+01] [ 6.91179052e-03 -8.90400744e-05 9.99976109e-01 5.06664518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:26.05, Z:0.51 [[ 8.72887140e-01 -4.87884342e-01 -6.07528966e-03 9.63883041e+01] [ 4.87873208e-01 8.72908278e-01 -3.29721551e-03 2.60489851e+01] [ 6.91183046e-03 -8.58740373e-05 9.99976109e-01 5.05521878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.41, Y:26.06, Z:0.50 [[ 8.73509694e-01 -4.86768845e-01 -6.07501795e-03 9.64140795e+01] [ 4.86757680e-01 8.73530816e-01 -3.29771606e-03 2.60619736e+01] [ 6.91194082e-03 -7.64747014e-05 9.99976109e-01 5.01395291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:26.08, Z:0.50 [[ 8.73876799e-01 -4.86109495e-01 -6.07448096e-03 9.64400485e+01] [ 4.86098307e-01 8.73897908e-01 -3.29870491e-03 2.60753719e+01] [ 6.91200798e-03 -7.01332256e-05 9.99976109e-01 5.02394314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:26.09, Z:0.50 [[ 8.74308568e-01 -4.85332500e-01 -6.07394093e-03 9.64649690e+01] [ 4.85321287e-01 8.74329663e-01 -3.29969897e-03 2.60878456e+01] [ 6.91207788e-03 -6.28577520e-05 9.99976109e-01 5.01792020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:96.49, Y:26.10, Z:0.50 [[ 8.75562288e-01 -4.83067071e-01 -6.07332716e-03 9.64907925e+01] [ 4.83055795e-01 8.75583350e-01 -3.30082827e-03 2.61012656e+01] [ 6.91222559e-03 -4.36751341e-05 9.99976109e-01 5.01272287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:26.11, Z:0.50 [[ 8.76410218e-01 -4.81526999e-01 -6.07279197e-03 9.65154110e+01] [ 4.81515680e-01 8.76431257e-01 -3.30181262e-03 2.61146825e+01] [ 6.91229662e-03 -3.04022381e-05 9.99976109e-01 5.04652256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:26.13, Z:0.51 [[ 8.77174150e-01 -4.80133975e-01 -6.07259267e-03 9.65406393e+01] [ 4.80122619e-01 8.77195170e-01 -3.30217912e-03 2.61281045e+01] [ 6.91233734e-03 -1.90029379e-05 9.99976109e-01 5.08043791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:26.14, Z:0.50 [[ 8.78935557e-01 -4.76901895e-01 -6.07202776e-03 9.65657764e+01] [ 4.76890455e-01 8.78956530e-01 -3.30321754e-03 2.61405384e+01] [ 6.91235916e-03 7.62325742e-06 9.99976109e-01 5.04990482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.59, Y:26.15, Z:0.50 [[ 8.79606156e-01 -4.75663899e-01 -6.07172930e-03 9.65898067e+01] [ 4.75652426e-01 8.79627111e-01 -3.30376607e-03 2.61541506e+01] [ 6.91233995e-03 1.79802005e-05 9.99976109e-01 5.02684260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:26.17, Z:0.51 [[ 8.80209340e-01 -4.74546788e-01 -6.07153519e-03 9.66145270e+01] [ 4.74535286e-01 8.80230279e-01 -3.30412274e-03 2.61674151e+01] [ 6.91230996e-03 2.71620073e-05 9.99976109e-01 5.06719094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:26.18, Z:0.51 [[ 8.80524098e-01 -4.73962505e-01 -6.07088953e-03 9.66384048e+01] [ 4.73950981e-01 8.80545026e-01 -3.30530864e-03 2.61798869e+01] [ 6.91228394e-03 3.30998581e-05 9.99976109e-01 5.05357741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:26.19, Z:0.51 [[ 8.80451989e-01 -4.74096449e-01 -6.07060898e-03 9.66631955e+01] [ 4.74084924e-01 8.80472916e-01 -3.30582382e-03 2.61938408e+01] [ 6.91228613e-03 3.26349567e-05 9.99976109e-01 5.06358141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:26.21, Z:0.51 [[ 8.80066083e-01 -4.74812432e-01 -6.06997142e-03 9.66881479e+01] [ 4.74800916e-01 8.80087015e-01 -3.30699405e-03 2.62068582e+01] [ 6.91230492e-03 2.83453102e-05 9.99976109e-01 5.06153320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:26.22, Z:0.50 [[ 8.78870148e-01 -4.77022460e-01 -6.06933481e-03 9.67137353e+01] [ 4.77010988e-01 8.78891104e-01 -3.30816202e-03 2.62183089e+01] [ 6.91235196e-03 1.23054407e-05 9.99976109e-01 5.04381314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:26.23, Z:0.50 [[ 8.78208152e-01 -4.78240114e-01 -6.06913725e-03 9.67384716e+01] [ 4.78228670e-01 8.78229123e-01 -3.30852443e-03 2.62312033e+01] [ 6.91236218e-03 3.13769531e-06 9.99976109e-01 5.04132260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.76, Y:26.24, Z:0.50 [[ 8.77354096e-01 -4.79805130e-01 -6.06851117e-03 9.67625579e+01] [ 4.79793715e-01 8.77375083e-01 -3.30967238e-03 2.62442988e+01] [ 6.91235828e-03 -7.87889651e-06 9.99976109e-01 5.03402220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:26.26, Z:0.50 [[ 8.75982838e-01 -4.82304098e-01 -6.06831723e-03 9.67878668e+01] [ 4.82292740e-01 8.76003856e-01 -3.31002794e-03 2.62553228e+01] [ 6.91230933e-03 -2.71776777e-05 9.99976109e-01 5.03533147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:26.27, Z:0.50 [[ 8.75412217e-01 -4.83339046e-01 -6.06769779e-03 9.68127397e+01] [ 4.83327706e-01 8.75433244e-01 -3.31116306e-03 2.62673676e+01] [ 6.91227876e-03 -3.40538570e-05 9.99976109e-01 5.02991693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:26.28, Z:0.50 [[ 8.74943770e-01 -4.84186518e-01 -6.06750594e-03 9.68374905e+01] [ 4.84175196e-01 8.74964807e-01 -3.31151457e-03 2.62803215e+01] [ 6.91224488e-03 -4.03468356e-05 9.99976109e-01 5.03599106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.86, Y:26.29, Z:0.50 [[ 8.74305019e-01 -4.85338981e-01 -6.06688823e-03 9.68637685e+01] [ 4.85327678e-01 8.74326067e-01 -3.31264587e-03 2.62926402e+01] [ 6.91219469e-03 -4.81658717e-05 9.99976109e-01 5.04057996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:26.30, Z:0.50 [[ 8.74410994e-01 -4.85148033e-01 -6.06632277e-03 9.68874706e+01] [ 4.85136718e-01 8.74432035e-01 -3.31368106e-03 2.63030482e+01] [ 6.91221281e-03 -4.54767690e-05 9.99976109e-01 5.02613239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:26.32, Z:0.51 [[ 8.74388112e-01 -4.85189400e-01 -6.05609941e-03 9.69156555e+01] [ 4.85177956e-01 8.74409084e-01 -3.33239068e-03 2.63162274e+01] [ 6.91234897e-03 -2.44831375e-05 9.99976109e-01 5.07907075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:96.94, Y:26.33, Z:0.51 [[ 8.75077105e-01 -4.83945519e-01 -6.06582529e-03 9.69396370e+01] [ 4.83934169e-01 8.75098128e-01 -3.31459196e-03 2.63294672e+01] [ 6.91227428e-03 -3.49365849e-05 9.99976109e-01 5.05640684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.96, Y:26.34, Z:0.51 [[ 8.75502767e-01 -4.83175034e-01 -6.06558295e-03 9.69642452e+01] [ 4.83163663e-01 8.75523778e-01 -3.31503536e-03 2.63435315e+01] [ 6.91230443e-03 -2.83466428e-05 9.99976109e-01 5.07674120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.99, Y:26.36, Z:0.51 [[ 8.76075776e-01 -4.82135304e-01 -6.06493018e-03 9.69888948e+01] [ 4.82123900e-01 8.76096769e-01 -3.31622921e-03 2.63564948e+01] [ 6.91233691e-03 -1.87797110e-05 9.99976109e-01 5.07961891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:26.37, Z:0.51 [[ 8.76621560e-01 -4.81142250e-01 -6.06427811e-03 9.70128003e+01] [ 4.81130813e-01 8.76642536e-01 -3.31742119e-03 2.63686460e+01] [ 6.91235563e-03 -9.58812256e-06 9.99976109e-01 5.08450568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:26.38, Z:0.51 [[ 8.77249125e-01 -4.79997084e-01 -6.06399374e-03 9.70373314e+01] [ 4.79985616e-01 8.77270084e-01 -3.31794092e-03 2.63804759e+01] [ 6.91236226e-03 3.09977603e-08 9.99976109e-01 5.06397017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:26.39, Z:0.51 [[ 8.77466506e-01 -4.79599585e-01 -6.06372047e-03 9.70621841e+01] [ 4.79588104e-01 8.77487458e-01 -3.31844025e-03 2.63933413e+01] [ 6.91236123e-03 3.73196847e-06 9.99976109e-01 5.11008928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:26.41, Z:0.51 [[ 8.78201747e-01 -4.78251953e-01 -6.06307223e-03 9.70867292e+01] [ 4.78240432e-01 8.78222676e-01 -3.31962422e-03 2.64050762e+01] [ 6.91234429e-03 1.56935023e-05 9.99976109e-01 5.10123954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:26.42, Z:0.51 [[ 8.78807641e-01 -4.77137689e-01 -6.06263111e-03 9.71110815e+01] [ 4.77126136e-01 8.78828553e-01 -3.32042965e-03 2.64190703e+01] [ 6.91231545e-03 2.53791918e-05 9.99976109e-01 5.11916526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:26.43, Z:0.51 [[ 8.79499349e-01 -4.75861474e-01 -6.06240566e-03 9.71358835e+01] [ 4.75849888e-01 8.79520242e-01 -3.32084121e-03 2.64341322e+01] [ 6.91226889e-03 3.58826340e-05 9.99976109e-01 5.11293984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:26.45, Z:0.51 [[ 8.81208172e-01 -4.72689552e-01 -6.06183836e-03 9.71596362e+01] [ 4.72677884e-01 8.81229019e-01 -3.32187644e-03 2.64497246e+01] [ 6.91208416e-03 6.19677411e-05 9.99976109e-01 5.10115155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.18, Y:26.46, Z:0.51 [[ 8.81918993e-01 -4.71362012e-01 -6.06163735e-03 9.71840317e+01] [ 4.71350310e-01 8.81939821e-01 -3.32224320e-03 2.64643653e+01] [ 6.91197860e-03 7.27947346e-05 9.99976109e-01 5.10020873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:26.48, Z:0.51 [[ 8.82743715e-01 -4.69815706e-01 -6.06107279e-03 9.72079566e+01] [ 4.69803960e-01 8.82764518e-01 -3.32327286e-03 2.64777373e+01] [ 6.91182578e-03 8.60822281e-05 9.99976109e-01 5.09489876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:26.49, Z:0.51 [[ 8.83503834e-01 -4.68384750e-01 -6.05813472e-03 9.72316778e+01] [ 4.68372934e-01 8.83524598e-01 -3.32863006e-03 2.64931551e+01] [ 6.91159060e-03 1.03391084e-04 9.99976109e-01 5.09831764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.26, Y:26.51, Z:0.51 [[ 8.83703759e-01 -4.68007411e-01 -6.06054102e-03 9.72563185e+01] [ 4.67995615e-01 8.83724535e-01 -3.32424305e-03 2.65089451e+01] [ 6.91161917e-03 1.01339458e-04 9.99976109e-01 5.11478157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:26.52, Z:0.51 [[ 8.83991259e-01 -4.67464150e-01 -6.05996207e-03 9.72796535e+01] [ 4.67452334e-01 8.84012023e-01 -3.32529811e-03 2.65234356e+01] [ 6.91153699e-03 1.06791051e-04 9.99976109e-01 5.10732045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:97.30, Y:26.54, Z:0.51 [[ 8.83905464e-01 -4.67626357e-01 -6.05975667e-03 9.73025397e+01] [ 4.67614543e-01 8.83926229e-01 -3.32567237e-03 2.65389232e+01] [ 6.91154992e-03 1.05949629e-04 9.99976109e-01 5.08578429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:26.56, Z:0.51 [[ 8.83603395e-01 -4.68196883e-01 -6.05956209e-03 9.73262736e+01] [ 4.68185080e-01 8.83624167e-01 -3.32602687e-03 2.65557747e+01] [ 6.91161092e-03 1.01892069e-04 9.99976109e-01 5.09450818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:26.57, Z:0.51 [[ 8.83357675e-01 -4.68660331e-01 -6.05902017e-03 9.73494854e+01] [ 4.68648532e-01 8.83378449e-01 -3.32701379e-03 2.65702440e+01] [ 6.91164723e-03 9.93922576e-05 9.99976109e-01 5.09462114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:26.58, Z:0.51 [[ 8.83075056e-01 -4.69192644e-01 -6.05874990e-03 9.73731659e+01] [ 4.69180854e-01 8.83095835e-01 -3.32750591e-03 2.65848829e+01] [ 6.91169809e-03 9.57880161e-05 9.99976109e-01 5.10300742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:26.60, Z:0.51 [[ 8.82591004e-01 -4.70102563e-01 -6.05812069e-03 9.73961610e+01] [ 4.70090787e-01 8.82611790e-01 -3.32865106e-03 2.66019608e+01] [ 6.91177614e-03 8.99707542e-05 9.99976109e-01 5.09876663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:26.62, Z:0.51 [[ 8.82550518e-01 -4.70178575e-01 -6.05725969e-03 9.74201814e+01] [ 4.70166790e-01 8.82571300e-01 -3.33021750e-03 2.66153246e+01] [ 6.91176048e-03 9.11628416e-05 9.99976109e-01 5.10066709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:26.63, Z:0.51 [[ 8.82250446e-01 -4.70741399e-01 -6.05696888e-03 9.74442090e+01] [ 4.70729623e-01 8.82271233e-01 -3.33074647e-03 2.66311333e+01] [ 6.91180965e-03 8.73578734e-05 9.99976109e-01 5.11174754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:26.65, Z:0.51 [[ 8.81613726e-01 -4.71932781e-01 -6.05713307e-03 9.74669538e+01] [ 4.71921036e-01 8.81634530e-01 -3.33044786e-03 2.66487198e+01] [ 6.91192518e-03 7.76800376e-05 9.99976109e-01 5.10479805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:26.66, Z:0.51 [[ 8.81072032e-01 -4.72943330e-01 -6.05655578e-03 9.74892110e+01] [ 4.72931601e-01 8.81092845e-01 -3.33149735e-03 2.66642953e+01] [ 6.91199741e-03 7.09525127e-05 9.99976109e-01 5.05360978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:26.68, Z:0.51 [[ 8.80426318e-01 -4.74144306e-01 -6.05610629e-03 9.75123484e+01] [ 4.74132600e-01 8.80447144e-01 -3.33231425e-03 2.66798596e+01] [ 6.91207931e-03 6.24597412e-05 9.99976109e-01 5.07844167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:26.70, Z:0.51 [[ 8.78712489e-01 -4.77312993e-01 -6.05547834e-03 9.75365505e+01] [ 4.77301355e-01 8.78733353e-01 -3.33345496e-03 2.66955195e+01] [ 6.91225215e-03 3.88604902e-05 9.99976109e-01 5.11056128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:26.71, Z:0.51 [[ 8.77610036e-01 -4.79337003e-01 -6.05489493e-03 9.75609782e+01] [ 4.79325405e-01 8.77630923e-01 -3.33451434e-03 2.67093408e+01] [ 6.91231913e-03 2.41382860e-05 9.99976109e-01 5.11819190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:26.72, Z:0.51 [[ 8.76363372e-01 -4.81612481e-01 -6.05458488e-03 9.75848430e+01] [ 4.81600934e-01 8.76384287e-01 -3.33507722e-03 2.67230908e+01] [ 6.91235786e-03 6.84578674e-06 9.99976109e-01 5.11472006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.61, Y:26.74, Z:0.51 [[ 8.73615672e-01 -4.86578876e-01 -6.05437946e-03 9.76097790e+01] [ 4.86567445e-01 8.73636650e-01 -3.33545008e-03 2.67377207e+01] [ 6.91228734e-03 -3.19624778e-05 9.99976109e-01 5.14538524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:26.75, Z:0.52 [[ 8.72259207e-01 -4.89006368e-01 -6.05380646e-03 9.76345685e+01] [ 4.88994988e-01 8.72280213e-01 -3.33648975e-03 2.67516652e+01] [ 6.91218032e-03 -4.99971085e-05 9.99976109e-01 5.16872391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.66, Y:26.76, Z:0.52 [[ 8.71217100e-01 -4.90860594e-01 -6.05322949e-03 9.76578603e+01] [ 4.90849251e-01 8.71238127e-01 -3.33753619e-03 2.67649717e+01] [ 6.91206931e-03 -6.35045622e-05 9.99976109e-01 5.15041225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:26.78, Z:0.52 [[ 8.70452945e-01 -4.92214417e-01 -6.05294366e-03 9.76831411e+01] [ 4.92203103e-01 8.70473987e-01 -3.33805449e-03 2.67787381e+01] [ 6.91196854e-03 -7.36582901e-05 9.99976109e-01 5.17189454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:26.79, Z:0.52 [[ 8.69600188e-01 -4.93719437e-01 -6.05236533e-03 9.77070651e+01] [ 4.93708153e-01 8.69621245e-01 -3.33910275e-03 2.67905076e+01] [ 6.91184541e-03 -8.44177234e-05 9.99976109e-01 5.16072050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:26.80, Z:0.52 [[ 8.69375116e-01 -4.94115656e-01 -6.05191710e-03 9.77325980e+01] [ 4.94104375e-01 8.69396176e-01 -3.33991494e-03 2.68031192e+01] [ 6.91181785e-03 -8.66397839e-05 9.99976109e-01 5.17331730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:26.82, Z:0.52 [[ 8.69296915e-01 -4.94253231e-01 -6.05126312e-03 9.77582249e+01] [ 4.94241946e-01 8.69317972e-01 -3.34109941e-03 2.68159579e+01] [ 6.91182096e-03 -8.63806499e-05 9.99976109e-01 5.18149048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:26.83, Z:0.52 [[ 8.69587129e-01 -4.93742457e-01 -6.05069111e-03 9.77839747e+01] [ 4.93731152e-01 8.69608176e-01 -3.34213499e-03 2.68284884e+01] [ 6.91188440e-03 -8.11371237e-05 9.99976109e-01 5.20735376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.81, Y:26.84, Z:0.52 [[ 8.69800295e-01 -4.93366843e-01 -6.05012017e-03 9.78081938e+01] [ 4.93355522e-01 8.69821333e-01 -3.34316821e-03 2.68415349e+01] [ 6.91193194e-03 -7.69714963e-05 9.99976109e-01 5.18944955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:26.85, Z:0.52 [[ 8.70217461e-01 -4.92630662e-01 -6.04991793e-03 9.78339571e+01] [ 4.92619321e-01 8.70238488e-01 -3.34353415e-03 2.68541017e+01] [ 6.91199888e-03 -7.07046586e-05 9.99976109e-01 5.20898451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:26.87, Z:0.52 [[ 8.71236586e-01 -4.90826056e-01 -6.04933884e-03 9.78588588e+01] [ 4.90814663e-01 8.71257585e-01 -3.34458156e-03 2.68657032e+01] [ 6.91214012e-03 -5.51823851e-05 9.99976109e-01 5.19068380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:26.88, Z:0.52 [[ 8.71890205e-01 -4.89664047e-01 -6.04903115e-03 9.78840814e+01] [ 4.89652623e-01 8.71911188e-01 -3.34513794e-03 2.68784010e+01] [ 6.91221172e-03 -4.53309634e-05 9.99976109e-01 5.19262316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.91, Y:26.89, Z:0.52 [[ 8.72638305e-01 -4.88329602e-01 -6.04882647e-03 9.79080139e+01] [ 4.88318144e-01 8.72659268e-01 -3.34550803e-03 2.68901174e+01] [ 6.91227508e-03 -3.43332572e-05 9.99976109e-01 5.17849176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:26.90, Z:0.52 [[ 8.74328972e-01 -4.85296059e-01 -6.04838302e-03 9.79336596e+01] [ 4.85284522e-01 8.74349893e-01 -3.34630955e-03 2.69022197e+01] [ 6.91235388e-03 -9.41127304e-06 9.99976109e-01 5.20601630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:26.92, Z:0.52 [[ 8.75135208e-01 -4.83840669e-01 -6.04772628e-03 9.79578129e+01] [ 4.83829089e-01 8.75156104e-01 -3.34749605e-03 2.69155798e+01] [ 6.91235930e-03 3.44575275e-06 9.99976109e-01 5.19826991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:26.93, Z:0.52 [[ 8.75860106e-01 -4.82527210e-01 -6.04706857e-03 9.79823113e+01] [ 4.82515590e-01 8.75880980e-01 -3.34868373e-03 2.69284670e+01] [ 6.91234337e-03 1.51736275e-05 9.99976109e-01 5.20047685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:26.94, Z:0.52 [[ 8.76492206e-01 -4.81378078e-01 -6.04640406e-03 9.80069657e+01] [ 4.81366423e-01 8.76513061e-01 -3.34988316e-03 2.69407816e+01] [ 6.91231244e-03 2.56105853e-05 9.99976109e-01 5.20595725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:26.95, Z:0.52 [[ 8.77267010e-01 -4.79964620e-01 -6.04619806e-03 9.80323822e+01] [ 4.79952929e-01 8.77287844e-01 -3.35025492e-03 2.69543362e+01] [ 6.91225989e-03 3.71776548e-05 9.99976109e-01 5.22508905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:26.97, Z:0.52 [[ 8.77472531e-01 -4.79588789e-01 -6.04565656e-03 9.80575257e+01] [ 4.79577082e-01 8.77493357e-01 -3.35123179e-03 2.69680114e+01] [ 6.91223667e-03 4.12555053e-05 9.99976109e-01 5.23337193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:26.98, Z:0.52 [[ 8.77908090e-01 -4.78791021e-01 -6.04506873e-03 9.80824784e+01] [ 4.78779288e-01 8.77928901e-01 -3.35229181e-03 2.69799422e+01] [ 6.91218776e-03 4.87504056e-05 9.99976109e-01 5.24919194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:26.99, Z:0.53 [[ 8.78139279e-01 -4.78366874e-01 -6.04486016e-03 9.81067964e+01] [ 4.78355128e-01 8.78160083e-01 -3.35266785e-03 2.69941849e+01] [ 6.91216014e-03 5.25194674e-05 9.99976109e-01 5.26402211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:27.01, Z:0.52 [[ 8.78537854e-01 -4.77634491e-01 -6.04419549e-03 9.81302634e+01] [ 4.77622719e-01 8.78558643e-01 -3.35386570e-03 2.70084895e+01] [ 6.91210212e-03 5.96528892e-05 9.99976109e-01 5.23733808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:27.02, Z:0.52 [[ 8.78894825e-01 -4.76977313e-01 -6.04398898e-03 9.81552942e+01] [ 4.76965523e-01 8.78915604e-01 -3.35423781e-03 2.70226958e+01] [ 6.91205156e-03 6.52478924e-05 9.99976109e-01 5.23391341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:98.18, Y:27.04, Z:0.52 [[ 8.79994719e-01 -4.74945019e-01 -6.04341854e-03 9.81807063e+01] [ 4.74933174e-01 8.80015467e-01 -3.35526527e-03 2.70366017e+01] [ 6.91186831e-03 8.23957687e-05 9.99976109e-01 5.22661239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.21, Y:27.05, Z:0.52 [[ 8.80670391e-01 -4.73690982e-01 -6.04283112e-03 9.82055443e+01] [ 4.73679100e-01 8.80691118e-01 -3.35632288e-03 2.70519617e+01] [ 6.91172757e-03 9.34513748e-05 9.99976109e-01 5.23338331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:27.07, Z:0.52 [[ 8.81548676e-01 -4.72054470e-01 -6.04223294e-03 9.82289670e+01] [ 4.72042543e-01 8.81569377e-01 -3.35739940e-03 2.70664422e+01] [ 6.91152292e-03 1.07519995e-04 9.99976109e-01 5.23951482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.25, Y:27.08, Z:0.52 [[ 8.82578840e-01 -4.70125606e-01 -6.04202104e-03 9.82524268e+01] [ 4.70113631e-01 8.82599512e-01 -3.35778069e-03 2.70833346e+01] [ 6.91126351e-03 1.23069738e-04 9.99976109e-01 5.21408750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:27.10, Z:0.52 [[ 8.82541507e-01 -4.70195692e-01 -6.04144149e-03 9.82756141e+01] [ 4.70183711e-01 8.82562177e-01 -3.35882313e-03 2.70968789e+01] [ 6.91125192e-03 1.23713445e-04 9.99976109e-01 5.20132391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:27.11, Z:0.52 [[ 8.81453108e-01 -4.72232911e-01 -6.04115265e-03 9.83002842e+01] [ 4.72220975e-01 8.81473803e-01 -3.35934254e-03 2.71110696e+01] [ 6.91150992e-03 1.08343930e-04 9.99976109e-01 5.22996821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:27.13, Z:0.52 [[ 8.80519082e-01 -4.73972211e-01 -6.04057824e-03 9.83247235e+01] [ 4.73960308e-01 8.80539797e-01 -3.36037510e-03 2.71250813e+01] [ 6.91169396e-03 9.58800782e-05 9.99976109e-01 5.24181474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:27.14, Z:0.52 [[ 8.79516827e-01 -4.75829455e-01 -6.03991739e-03 9.83481591e+01] [ 4.75817588e-01 8.79537562e-01 -3.36156250e-03 2.71387437e+01] [ 6.91186466e-03 8.26518598e-05 9.99976109e-01 5.23630260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.37, Y:27.15, Z:0.52 [[ 8.78363382e-01 -4.77955327e-01 -6.03946729e-03 9.83726451e+01] [ 4.77943504e-01 8.78384142e-01 -3.36237096e-03 2.71544107e+01] [ 6.91203541e-03 6.68593648e-05 9.99976109e-01 5.23236610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.40, Y:27.17, Z:0.52 [[ 8.77173978e-01 -4.80134715e-01 -6.03888549e-03 9.83971564e+01] [ 4.80122937e-01 8.77194763e-01 -3.36341557e-03 2.71682173e+01] [ 6.91217130e-03 5.08931745e-05 9.99976109e-01 5.23636176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.42, Y:27.18, Z:0.52 [[ 8.76931551e-01 -4.80577356e-01 -6.03821725e-03 9.84218751e+01] [ 4.80565580e-01 8.76952338e-01 -3.36461480e-03 2.71810350e+01] [ 6.91218642e-03 4.87775037e-05 9.99976109e-01 5.23444595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:27.19, Z:0.53 [[ 8.77034569e-01 -4.80389330e-01 -6.03790383e-03 9.84470927e+01] [ 4.80377546e-01 8.77055351e-01 -3.36517715e-03 2.71943571e+01] [ 6.91217106e-03 5.09032634e-05 9.99976109e-01 5.26061499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:27.21, Z:0.52 [[ 8.78068810e-01 -4.78496306e-01 -6.03731355e-03 9.84706337e+01] [ 4.78484470e-01 8.78089563e-01 -3.36623581e-03 2.72088790e+01] [ 6.91203342e-03 6.70259017e-05 9.99976109e-01 5.24055047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.49, Y:27.22, Z:0.53 [[ 8.78685651e-01 -4.77362629e-01 -6.03710351e-03 9.84945621e+01] [ 4.77350763e-01 8.78706387e-01 -3.36661247e-03 2.72242286e+01] [ 6.91193639e-03 7.63781012e-05 9.99976109e-01 5.25060484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:27.24, Z:0.53 [[ 8.79781941e-01 -4.75339139e-01 -6.03652434e-03 9.85183189e+01] [ 4.75327219e-01 8.79802645e-01 -3.36765063e-03 2.72387160e+01] [ 6.91172623e-03 9.34738798e-05 9.99976109e-01 5.25808156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:27.25, Z:0.53 [[ 8.80597785e-01 -4.73826026e-01 -6.03631847e-03 9.85413262e+01] [ 4.73814068e-01 8.80618468e-01 -3.36801960e-03 2.72547791e+01] [ 6.91154886e-03 1.05777996e-04 9.99976109e-01 5.27289110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:27.27, Z:0.53 [[ 8.82325986e-01 -4.70600069e-01 -6.03565537e-03 9.85644824e+01] [ 4.70588026e-01 8.82346620e-01 -3.36920748e-03 2.72715246e+01] [ 6.91108939e-03 1.32432162e-04 9.99976109e-01 5.27183250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.59, Y:27.29, Z:0.53 [[ 8.82741473e-01 -4.69820253e-01 -6.03499165e-03 9.85893954e+01] [ 4.69808184e-01 8.82762092e-01 -3.37039593e-03 2.72860269e+01] [ 6.91094212e-03 1.39899800e-04 9.99976109e-01 5.25755538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:27.30, Z:0.53 [[ 8.83245378e-01 -4.68872251e-01 -6.03440290e-03 9.86138143e+01] [ 4.68860153e-01 8.83265979e-01 -3.37144971e-03 2.72998836e+01] [ 6.91076200e-03 1.48526313e-04 9.99976109e-01 5.25801391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.64, Y:27.32, Z:0.52 [[ 8.83593981e-01 -4.68214977e-01 -6.03419373e-03 9.86352568e+01] [ 4.68202861e-01 8.83614572e-01 -3.37182404e-03 2.73184109e+01] [ 6.91064002e-03 1.54096663e-04 9.99976109e-01 5.23382293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:27.33, Z:0.52 [[ 8.83585990e-01 -4.68230060e-01 -6.03398708e-03 9.86583783e+01] [ 4.68217942e-01 8.83606580e-01 -3.37219380e-03 2.73330649e+01] [ 6.91063319e-03 1.54402191e-04 9.99976109e-01 5.22906784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:27.35, Z:0.53 [[ 8.83292372e-01 -4.68783725e-01 -6.03370120e-03 9.86825920e+01] [ 4.68771616e-01 8.83312966e-01 -3.37270523e-03 2.73479505e+01] [ 6.91071583e-03 1.50656939e-04 9.99976109e-01 5.25366923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.71, Y:27.36, Z:0.52 [[ 8.82604077e-01 -4.70078341e-01 -6.03304359e-03 9.87066388e+01] [ 4.70066254e-01 8.82624684e-01 -3.37388114e-03 2.73640677e+01] [ 6.91090165e-03 1.41871044e-04 9.99976109e-01 5.23536766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:27.38, Z:0.52 [[ 8.81177433e-01 -4.72747227e-01 -6.03247009e-03 9.87295831e+01] [ 4.72735196e-01 8.81198073e-01 -3.37490625e-03 2.73797904e+01] [ 6.91127859e-03 1.22130302e-04 9.99976109e-01 5.23729825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:27.39, Z:0.52 [[ 8.80160167e-01 -4.74638487e-01 -6.03226600e-03 9.87530128e+01] [ 4.74626497e-01 8.80180831e-01 -3.37527100e-03 2.73941063e+01] [ 6.91151842e-03 1.07705801e-04 9.99976109e-01 5.23060065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:27.41, Z:0.53 [[ 8.78061674e-01 -4.78509467e-01 -6.03206314e-03 9.87774929e+01] [ 4.78497567e-01 8.78082390e-01 -3.37563349e-03 2.74091752e+01] [ 6.91192101e-03 7.76868546e-05 9.99976109e-01 5.26340282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:98.80, Y:27.42, Z:0.52 [[ 8.76976728e-01 -4.80494994e-01 -6.03150013e-03 9.88011991e+01] [ 4.80483133e-01 8.76997467e-01 -3.37663917e-03 2.74247062e+01] [ 6.91206855e-03 6.31998891e-05 9.99976109e-01 5.23354937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:27.44, Z:0.53 [[ 8.76279247e-01 -4.81765819e-01 -6.03130078e-03 9.88266529e+01] [ 4.81753986e-01 8.76300002e-01 -3.37699520e-03 2.74390445e+01] [ 6.91214975e-03 5.35876186e-05 9.99976109e-01 5.25123119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:27.46, Z:0.52 [[ 8.74875542e-01 -4.84310248e-01 -6.03074852e-03 9.88508899e+01] [ 4.84298469e-01 8.74896327e-01 -3.37798117e-03 2.74551575e+01] [ 6.91227062e-03 3.46308298e-05 9.99976109e-01 5.22855849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.87, Y:27.47, Z:0.52 [[ 8.74295582e-01 -4.85356437e-01 -6.03019154e-03 9.88746477e+01] [ 4.85344676e-01 8.74316377e-01 -3.37897517e-03 2.74703380e+01] [ 6.91230257e-03 2.75017077e-05 9.99976109e-01 5.22584163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:27.48, Z:0.52 [[ 8.74074840e-01 -4.85753867e-01 -6.02952839e-03 9.88990498e+01] [ 4.85742107e-01 8.74095635e-01 -3.38015810e-03 2.74841041e+01] [ 6.91230931e-03 2.57153253e-05 9.99976109e-01 5.23936173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:98.92, Y:27.50, Z:0.52 [[ 8.73530655e-01 -4.86731797e-01 -6.02932246e-03 9.89236290e+01] [ 4.86720057e-01 8.73551463e-01 -3.38052538e-03 2.74995382e+01] [ 6.91233264e-03 1.84003774e-05 9.99976109e-01 5.22512195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:98.95, Y:27.51, Z:0.52 [[ 8.73434920e-01 -4.86903578e-01 -6.02874208e-03 9.89483644e+01] [ 4.86891835e-01 8.73455726e-01 -3.38156010e-03 2.75136294e+01] [ 6.91233300e-03 1.82273785e-05 9.99976109e-01 5.22709040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:27.53, Z:0.52 [[ 8.73107026e-01 -4.87491316e-01 -6.02807683e-03 9.89725350e+01] [ 4.87479579e-01 8.73127835e-01 -3.38274557e-03 2.75268439e+01] [ 6.91234076e-03 1.49345694e-05 9.99976109e-01 5.22671593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:27.54, Z:0.52 [[ 8.72756760e-01 -4.88118123e-01 -6.02787036e-03 9.89958626e+01] [ 4.88106399e-01 8.72777577e-01 -3.38311345e-03 2.75400137e+01] [ 6.91234907e-03 1.03930400e-05 9.99976109e-01 5.21226014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:27.55, Z:0.53 [[ 8.72458307e-01 -4.88651380e-01 -6.02759959e-03 9.90199235e+01] [ 4.88639665e-01 8.72479128e-01 -3.38359580e-03 2.75536084e+01] [ 6.91235360e-03 6.72202113e-06 9.99976109e-01 5.25556198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:27.57, Z:0.53 [[ 8.72401742e-01 -4.88752367e-01 -6.02693167e-03 9.90436219e+01] [ 4.88740647e-01 8.72422560e-01 -3.38478511e-03 2.75672622e+01] [ 6.91235289e-03 7.28594766e-06 9.99976109e-01 5.25072495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35264000000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:99.07, Y:27.58, Z:0.52 [[ 8.72202584e-01 -4.89107688e-01 -6.02672424e-03 9.90665575e+01] [ 4.89095974e-01 8.72223405e-01 -3.38515440e-03 2.75823453e+01] [ 6.91235498e-03 4.89385614e-06 9.99976109e-01 5.24129861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:27.59, Z:0.53 [[ 8.72324344e-01 -4.88890500e-01 -6.02647812e-03 9.90919385e+01] [ 4.88878777e-01 8.72345161e-01 -3.38559250e-03 2.75949806e+01] [ 6.91235303e-03 7.11750284e-06 9.99976109e-01 5.27972598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.12, Y:27.61, Z:0.53 [[ 8.72061376e-01 -4.89359424e-01 -6.02582156e-03 9.91158799e+01] [ 4.89347704e-01 8.72082195e-01 -3.38676067e-03 2.76088330e+01] [ 6.91235494e-03 4.74122982e-06 9.99976109e-01 5.25520879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:27.62, Z:0.53 [[ 8.71696724e-01 -4.90008687e-01 -6.02561764e-03 9.91408435e+01] [ 4.89996980e-01 8.71717550e-01 -3.38712344e-03 2.76201838e+01] [ 6.91235656e-03 9.96158046e-09 9.99976109e-01 5.28494962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:27.63, Z:0.53 [[ 8.71396329e-01 -4.90542692e-01 -6.02537732e-03 9.91652515e+01] [ 4.90530995e-01 8.71417160e-01 -3.38755090e-03 2.76333104e+01] [ 6.91235553e-03 -3.73491066e-06 9.99976109e-01 5.28957270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:99.19, Y:27.65, Z:0.53 [[ 8.71079784e-01 -4.91104584e-01 -6.02473687e-03 9.91893092e+01] [ 4.91092893e-01 8.71100619e-01 -3.38868955e-03 2.76470116e+01] [ 6.91235298e-03 -6.88649948e-06 9.99976109e-01 5.25889261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:27.66, Z:0.53 [[ 8.71773742e-01 -4.89871669e-01 -6.02409956e-03 9.92156786e+01] [ 4.89859941e-01 8.71794556e-01 -3.38982213e-03 2.76594289e+01] [ 6.91235502e-03 4.19287104e-06 9.99976109e-01 5.27011633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:27.67, Z:0.53 [[ 8.72241366e-01 -4.89038563e-01 -6.02354221e-03 9.92405416e+01] [ 4.89026808e-01 8.72262165e-01 -3.39081221e-03 2.76730696e+01] [ 6.91234590e-03 1.19330625e-05 9.99976109e-01 5.26962707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:27.69, Z:0.53 [[ 8.72712870e-01 -4.88196653e-01 -6.02290057e-03 9.92639531e+01] [ 4.88184870e-01 8.72733652e-01 -3.39195154e-03 2.76861795e+01] [ 6.91232740e-03 1.99108363e-05 9.99976109e-01 5.26075966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:27.70, Z:0.53 [[ 8.73119893e-01 -4.87468340e-01 -6.02246447e-03 9.92879958e+01] [ 4.87456534e-01 8.73140662e-01 -3.39272567e-03 2.76996759e+01] [ 6.91230497e-03 2.65666097e-05 9.99976109e-01 5.27269562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:27.71, Z:0.53 [[ 8.73697736e-01 -4.86431911e-01 -6.02181316e-03 9.93121091e+01] [ 4.86420073e-01 8.73718487e-01 -3.39388130e-03 2.77137516e+01] [ 6.91226165e-03 3.60956097e-05 9.99976109e-01 5.28309269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.34, Y:27.73, Z:0.53 [[ 8.73723672e-01 -4.86385325e-01 -6.02161122e-03 9.93368326e+01] [ 4.86373483e-01 8.73744421e-01 -3.39423954e-03 2.77277821e+01] [ 6.91225752e-03 3.68754100e-05 9.99976109e-01 5.32674553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:27.74, Z:0.53 [[ 8.73622611e-01 -4.86566831e-01 -6.02101575e-03 9.93609163e+01] [ 4.86554986e-01 8.73643358e-01 -3.39529552e-03 2.77406008e+01] [ 6.91225860e-03 3.66517006e-05 9.99976109e-01 5.30606937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:27.75, Z:0.53 [[ 8.73283892e-01 -4.87174502e-01 -6.02071924e-03 9.93859879e+01] [ 4.87162668e-01 8.73304645e-01 -3.39582122e-03 2.77540698e+01] [ 6.91227959e-03 3.24463261e-05 9.99976109e-01 5.30151181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:27.77, Z:0.53 [[ 8.72344414e-01 -4.88854766e-01 -6.02007954e-03 9.94115039e+01] [ 4.88842964e-01 8.72365186e-01 -3.39695490e-03 2.77665780e+01] [ 6.91232540e-03 2.04411024e-05 9.99976109e-01 5.28510320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:27.78, Z:0.53 [[ 8.71674908e-01 -4.90047568e-01 -6.01951859e-03 9.94362851e+01] [ 4.90035788e-01 8.71695693e-01 -3.39794863e-03 2.77804640e+01] [ 6.91234489e-03 1.21270263e-05 9.99976109e-01 5.27880426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:99.46, Y:27.79, Z:0.52 [[ 8.70963442e-01 -4.91310956e-01 -6.01895865e-03 9.94604028e+01] [ 4.91299198e-01 8.70984239e-01 -3.39894019e-03 2.77948657e+01] [ 6.91235467e-03 3.24308289e-06 9.99976109e-01 5.23982079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:27.81, Z:0.53 [[ 8.69669168e-01 -4.93598332e-01 -6.01876038e-03 9.94869866e+01] [ 4.93586627e-01 8.69689994e-01 -3.39929124e-03 2.78054457e+01] [ 6.91234017e-03 -1.45208517e-05 9.99976109e-01 5.28290860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:27.82, Z:0.52 [[ 8.68937458e-01 -4.94885317e-01 -6.01809216e-03 9.95117594e+01] [ 4.94873635e-01 8.68958297e-01 -3.40047385e-03 2.78177738e+01] [ 6.91231570e-03 -2.33960472e-05 9.99976109e-01 5.23949079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:27.83, Z:0.53 [[ 8.68458464e-01 -4.95725410e-01 -6.01779888e-03 9.95371706e+01] [ 4.95713744e-01 8.68479313e-01 -3.40099267e-03 2.78316580e+01] [ 6.91229232e-03 -2.94847402e-05 9.99976109e-01 5.30458963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:27.85, Z:0.53 [[ 8.68217291e-01 -4.96147692e-01 -6.01690874e-03 9.95616804e+01] [ 4.96136025e-01 8.68238140e-01 -3.40256674e-03 2.78458514e+01] [ 6.91228529e-03 -3.10379140e-05 9.99976109e-01 5.29570411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:27.86, Z:0.53 [[ 8.67745093e-01 -4.96973091e-01 -6.01670151e-03 9.95868984e+01] [ 4.96961442e-01 8.67765951e-01 -3.40293314e-03 2.78588045e+01] [ 6.91225491e-03 -3.71901250e-05 9.99976109e-01 5.30194098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:27.87, Z:0.53 [[ 8.67345936e-01 -4.97669403e-01 -6.01603829e-03 9.96122901e+01] [ 4.97657762e-01 8.67366799e-01 -3.40410524e-03 2.78716316e+01] [ 6.91223090e-03 -4.13913046e-05 9.99976109e-01 5.30029883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.64, Y:27.88, Z:0.53 [[ 8.66861073e-01 -4.98513485e-01 -6.01536747e-03 9.96367893e+01] [ 4.98501857e-01 8.66881943e-01 -3.40529024e-03 2.78849741e+01] [ 6.91219654e-03 -4.67582991e-05 9.99976109e-01 5.27552728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:27.90, Z:0.53 [[ 8.66345391e-01 -4.99409138e-01 -6.01469324e-03 9.96629453e+01] [ 4.99397523e-01 8.66366268e-01 -3.40648070e-03 2.78953457e+01] [ 6.91215492e-03 -5.25340442e-05 9.99976109e-01 5.29842412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.69, Y:27.91, Z:0.53 [[ 8.66095644e-01 -4.99842136e-01 -6.01448382e-03 9.96874927e+01] [ 4.99830529e-01 8.66116525e-01 -3.40685042e-03 2.79076334e+01] [ 6.91213121e-03 -5.55643217e-05 9.99976109e-01 5.25944245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:27.92, Z:0.53 [[ 8.65880883e-01 -5.00214079e-01 -6.01427555e-03 9.97127482e+01] [ 5.00202478e-01 8.65901768e-01 -3.40721804e-03 2.79195283e+01] [ 6.91211026e-03 -5.81105656e-05 9.99976109e-01 5.26725716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.74, Y:27.93, Z:0.53 [[ 8.65693931e-01 -5.00537559e-01 -6.01407803e-03 9.97383630e+01] [ 5.00525964e-01 8.65714819e-01 -3.40756665e-03 2.79329524e+01] [ 6.91209156e-03 -6.02924307e-05 9.99976109e-01 5.27362407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:99.76, Y:27.94, Z:0.53 [[ 8.66333719e-01 -4.99429400e-01 -6.01348952e-03 9.97646323e+01] [ 4.99417770e-01 8.66354588e-01 -3.40860491e-03 2.79436736e+01] [ 6.91217173e-03 -5.02541623e-05 9.99976109e-01 5.27037286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:27.95, Z:0.53 [[ 8.66842196e-01 -4.98546334e-01 -6.01328081e-03 9.97901934e+01] [ 4.98534681e-01 8.66863052e-01 -3.40897305e-03 2.79547031e+01] [ 6.91222197e-03 -4.27873431e-05 9.99976109e-01 5.27321046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.82, Y:27.97, Z:0.53 [[ 8.67430656e-01 -4.97521757e-01 -6.01307498e-03 9.98157748e+01] [ 4.97510077e-01 8.67451497e-01 -3.40933607e-03 2.79669390e+01] [ 6.91226977e-03 -3.42027733e-05 9.99976109e-01 5.25959861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:27.98, Z:0.53 [[ 8.68495426e-01 -4.95660716e-01 -6.01243754e-03 9.98423775e+01] [ 4.95648984e-01 8.68516237e-01 -3.41045985e-03 2.79780848e+01] [ 6.91233060e-03 -1.80897743e-05 9.99976109e-01 5.30022839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:27.99, Z:0.53 [[ 8.68775641e-01 -4.95169408e-01 -6.01187638e-03 9.98681340e+01] [ 4.95157657e-01 8.68796442e-01 -3.41144876e-03 2.79909302e+01] [ 6.91234187e-03 -1.30430356e-05 9.99976109e-01 5.31950740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:28.00, Z:0.53 [[ 8.68978974e-01 -4.94812497e-01 -6.01130471e-03 9.98934822e+01] [ 4.94800730e-01 8.68999765e-01 -3.41245581e-03 2.80026262e+01] [ 6.91234816e-03 -9.04561471e-06 9.99976109e-01 5.32441897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.92, Y:28.01, Z:0.53 [[ 8.69296277e-01 -4.94254848e-01 -6.01064048e-03 9.99208590e+01] [ 4.94243060e-01 8.69317057e-01 -3.41362537e-03 2.80130463e+01] [ 6.91235318e-03 -3.26551681e-06 9.99976109e-01 5.29424138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.95, Y:28.03, Z:0.53 [[ 8.69373722e-01 -4.94118620e-01 -6.01006075e-03 9.99468653e+01] [ 4.94106821e-01 8.69394496e-01 -3.41464573e-03 2.80257187e+01] [ 6.91235377e-03 -1.00874616e-06 9.99976109e-01 5.28967090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.97, Y:28.04, Z:0.53 [[ 8.69669912e-01 -4.93597134e-01 -6.00947360e-03 9.99713053e+01] [ 4.93585315e-01 8.69690675e-01 -3.41567875e-03 2.80380671e+01] [ 6.91235239e-03 4.32512108e-06 9.99976109e-01 5.28326663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:28.05, Z:0.53 [[ 8.70658223e-01 -4.91851755e-01 -6.00916114e-03 9.99981229e+01] [ 4.91839892e-01 8.70678959e-01 -3.41622838e-03 2.80497046e+01] [ 6.91232809e-03 1.88221679e-05 9.99976109e-01 5.31303901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:28.06, Z:0.53 [[ 8.71420669e-01 -4.90499658e-01 -6.00856683e-03 1.00023319e+02] [ 4.90487755e-01 8.71441384e-01 -3.41727334e-03 2.80620523e+01] [ 6.91228520e-03 3.07541650e-05 9.99976109e-01 5.31749801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:28.08, Z:0.53 [[ 8.72176490e-01 -4.89154445e-01 -6.00824712e-03 1.00048364e+02] [ 4.89142507e-01 8.72197183e-01 -3.41783537e-03 2.80752596e+01] [ 6.91222558e-03 4.20665964e-05 9.99976109e-01 5.32304761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:100.07, Y:28.09, Z:0.53 [[ 8.73103349e-01 -4.87498154e-01 -6.00757446e-03 1.00072629e+02] [ 4.87486168e-01 8.73124015e-01 -3.41901731e-03 2.80891816e+01] [ 6.91212216e-03 5.65460129e-05 9.99976109e-01 5.30503108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:28.10, Z:0.53 [[ 8.75258677e-01 -4.83617788e-01 -6.00689710e-03 1.00096950e+02] [ 4.83605702e-01 8.75279285e-01 -3.42020694e-03 2.81026318e+01] [ 6.91178552e-03 8.85961110e-05 9.99976109e-01 5.32709226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:100.12, Y:28.12, Z:0.53 [[ 8.76229869e-01 -4.81855930e-01 -6.00658187e-03 1.00120140e+02] [ 4.81843798e-01 8.76250451e-01 -3.42076046e-03 2.81174833e+01] [ 6.91158378e-03 1.03138268e-04 9.99976109e-01 5.34083898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:28.13, Z:0.54 [[ 8.76995528e-01 -4.80461001e-01 -6.00591069e-03 1.00145166e+02] [ 4.80448829e-01 8.77016085e-01 -3.42193846e-03 2.81321098e+01] [ 6.91138826e-03 1.15491970e-04 9.99976109e-01 5.37595276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:28.15, Z:0.54 [[ 8.77750832e-01 -4.79079757e-01 -6.00531765e-03 1.00168981e+02] [ 4.79067546e-01 8.77771365e-01 -3.42297890e-03 2.81457969e+01] [ 6.91117577e-03 1.27569792e-04 9.99976109e-01 5.37264018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.19, Y:28.16, Z:0.54 [[ 8.78386855e-01 -4.77912618e-01 -6.00510787e-03 1.00193217e+02] [ 4.77900377e-01 8.78407372e-01 -3.42334690e-03 2.81598972e+01] [ 6.91099170e-03 1.37179601e-04 9.99976109e-01 5.36857224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:28.17, Z:0.54 [[ 8.78141129e-01 -4.78363988e-01 -6.00443186e-03 1.00216456e+02] [ 4.78351749e-01 8.78161646e-01 -3.42453217e-03 2.81737409e+01] [ 6.91103464e-03 1.34992066e-04 9.99976109e-01 5.37217811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:28.19, Z:0.54 [[ 8.77673257e-01 -4.79221874e-01 -6.00413930e-03 1.00240149e+02] [ 4.79209652e-01 8.77693784e-01 -3.42504504e-03 2.81887798e+01] [ 6.91115225e-03 1.28828930e-04 9.99976109e-01 5.37918966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:28.20, Z:0.54 [[ 8.76222725e-01 -4.81868960e-01 -6.00346791e-03 1.00263828e+02] [ 4.81856792e-01 8.76243284e-01 -3.42622146e-03 2.82040546e+01] [ 6.91148821e-03 1.09321316e-04 9.99976109e-01 5.38632840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:28.22, Z:0.54 [[ 8.75207099e-01 -4.83711169e-01 -6.00325943e-03 1.00288239e+02] [ 4.83699041e-01 8.75227683e-01 -3.42658671e-03 2.82177997e+01] [ 6.91169710e-03 9.52021823e-05 9.99976109e-01 5.39180036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:28.23, Z:0.54 [[ 8.74206845e-01 -4.85516592e-01 -6.00259149e-03 1.00312452e+02] [ 4.85504499e-01 8.74227449e-01 -3.42775639e-03 2.82323526e+01] [ 6.91186284e-03 8.22829247e-05 9.99976109e-01 5.39447159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.34, Y:28.25, Z:0.54 [[ 8.72770758e-01 -4.88093415e-01 -6.00191305e-03 1.00337231e+02] [ 4.88081374e-01 8.72791392e-01 -3.42894391e-03 2.82481229e+01] [ 6.91206299e-03 6.32600082e-05 9.99976109e-01 5.36523054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:28.26, Z:0.54 [[ 8.72126811e-01 -4.89243098e-01 -6.00136449e-03 1.00361844e+02] [ 4.89231078e-01 8.72147458e-01 -3.42990373e-03 2.82620644e+01] [ 6.91213151e-03 5.52569841e-05 9.99976109e-01 5.37772200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:28.28, Z:0.54 [[ 8.71688812e-01 -4.90023068e-01 -6.00068498e-03 1.00386475e+02] [ 4.90011058e-01 8.71709465e-01 -3.43109213e-03 2.82760919e+01] [ 6.91216818e-03 5.04426286e-05 9.99976109e-01 5.37607002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:28.29, Z:0.54 [[ 8.71021338e-01 -4.91208540e-01 -6.00000861e-03 1.00411027e+02] [ 4.91196550e-01 8.71042002e-01 -3.43227451e-03 2.82901733e+01] [ 6.91222206e-03 4.24008089e-05 9.99976109e-01 5.37822651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:28.30, Z:0.54 [[ 8.70864270e-01 -4.91486960e-01 -5.99933362e-03 1.00435376e+02] [ 4.91474969e-01 8.70884933e-01 -3.43345393e-03 2.83043546e+01] [ 6.91222709e-03 4.15500433e-05 9.99976109e-01 5.36847702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:28.32, Z:0.53 [[ 8.70662057e-01 -4.91845090e-01 -5.99912458e-03 1.00459045e+02] [ 4.91833105e-01 8.70682724e-01 -3.43381913e-03 2.83184199e+01] [ 6.91224121e-03 3.91279647e-05 9.99976109e-01 5.34862703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.48, Y:28.33, Z:0.53 [[ 8.70358011e-01 -4.92382927e-01 -5.99881279e-03 1.00483810e+02] [ 4.92370951e-01 8.70378683e-01 -3.43436375e-03 2.83329576e+01] [ 6.91226085e-03 3.54848409e-05 9.99976109e-01 5.31897449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:28.35, Z:0.53 [[ 8.70026447e-01 -4.92968561e-01 -5.99822326e-03 1.00508974e+02] [ 4.92956592e-01 8.70047123e-01 -3.43539307e-03 2.83467235e+01] [ 6.91227767e-03 3.20191297e-05 9.99976109e-01 5.33669498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:28.36, Z:0.53 [[ 8.69597307e-01 -4.93725178e-01 -5.99763493e-03 1.00533411e+02] [ 4.93713220e-01 8.69617989e-01 -3.43641988e-03 2.83604841e+01] [ 6.91229825e-03 2.71898180e-05 9.99976109e-01 5.33604054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:28.37, Z:0.53 [[ 8.69503882e-01 -4.93889694e-01 -5.99742597e-03 1.00558021e+02] [ 4.93877737e-01 8.69524565e-01 -3.43678454e-03 2.83748166e+01] [ 6.91230167e-03 2.63023366e-05 9.99976109e-01 5.33800917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:28.39, Z:0.54 [[ 8.69018510e-01 -4.94743235e-01 -5.99677552e-03 1.00583312e+02] [ 4.94731291e-01 8.69039200e-01 -3.43791911e-03 2.83884074e+01] [ 6.91232023e-03 2.08228485e-05 9.99976109e-01 5.35789797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:28.40, Z:0.54 [[ 8.68731221e-01 -4.95247526e-01 -5.99619950e-03 1.00608237e+02] [ 4.95235586e-01 8.68751914e-01 -3.43892347e-03 2.84001626e+01] [ 6.91232814e-03 1.79688095e-05 9.99976109e-01 5.37561953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:28.41, Z:0.54 [[ 8.68834194e-01 -4.95066857e-01 -5.99589254e-03 1.00632356e+02] [ 4.95054910e-01 8.68854882e-01 -3.43945860e-03 2.84141663e+01] [ 6.91232246e-03 2.00231977e-05 9.99976109e-01 5.39121784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:28.43, Z:0.54 [[ 8.70224530e-01 -4.92618844e-01 -5.99522033e-03 1.00656293e+02] [ 4.92606830e-01 8.70245180e-01 -3.44062991e-03 2.84276443e+01] [ 6.91223072e-03 4.08340649e-05 9.99976109e-01 5.36468178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:28.44, Z:0.54 [[ 8.71035788e-01 -4.91182977e-01 -5.99501207e-03 1.00681153e+02] [ 4.91170926e-01 8.71056416e-01 -3.44099274e-03 2.84410576e+01] [ 6.91215079e-03 5.26521856e-05 9.99976109e-01 5.37936826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:28.45, Z:0.54 [[ 8.72046282e-01 -4.89386708e-01 -5.99433664e-03 1.00705547e+02] [ 4.89374607e-01 8.72066881e-01 -3.44216896e-03 2.84544416e+01] [ 6.91201420e-03 6.82545075e-05 9.99976109e-01 5.37780776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:28.47, Z:0.54 [[ 8.73106969e-01 -4.87491838e-01 -5.99412667e-03 1.00728676e+02] [ 4.87479690e-01 8.73127540e-01 -3.44253457e-03 2.84684257e+01] [ 6.91184457e-03 8.36859160e-05 9.99976109e-01 5.37580059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39264000000001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.75, Y:28.48, Z:0.54 [[ 8.74146782e-01 -4.85624832e-01 -5.99384091e-03 1.00753054e+02] [ 4.85612637e-01 8.74167325e-01 -3.44303204e-03 2.84843767e+01] [ 6.91164173e-03 9.90304848e-05 9.99976109e-01 5.35833195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:28.50, Z:0.54 [[ 8.76099150e-01 -4.82093726e-01 -5.99326280e-03 1.00775993e+02] [ 4.82081441e-01 8.76119640e-01 -3.44403805e-03 2.84997815e+01] [ 6.91116438e-03 1.28078045e-04 9.99976109e-01 5.35808298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.80, Y:28.51, Z:0.53 [[ 8.77015766e-01 -4.80424218e-01 -5.99305775e-03 1.00800902e+02] [ 4.80411891e-01 8.77036231e-01 -3.44439482e-03 2.85147949e+01] [ 6.91089947e-03 1.41652355e-04 9.99976109e-01 5.34360689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:28.53, Z:0.54 [[ 8.77782356e-01 -4.79022156e-01 -5.99248914e-03 1.00824293e+02] [ 4.79009790e-01 8.77802797e-01 -3.44538379e-03 2.85297764e+01] [ 6.91063890e-03 1.53836137e-04 9.99976109e-01 5.35577205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:28.55, Z:0.53 [[ 8.79177804e-01 -4.76456175e-01 -5.99184011e-03 1.00847875e+02] [ 4.76443742e-01 8.79198204e-01 -3.44651215e-03 2.85466770e+01] [ 6.91012706e-03 1.75322261e-04 9.99976109e-01 5.34971717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:28.56, Z:0.54 [[ 8.79466310e-01 -4.75923433e-01 -5.99126650e-03 1.00872012e+02] [ 4.75910981e-01 8.79486699e-01 -3.44750900e-03 2.85613872e+01] [ 6.90998951e-03 1.80658504e-04 9.99976109e-01 5.35696259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:100.89, Y:28.58, Z:0.53 [[ 8.79968402e-01 -4.74994446e-01 -5.99059169e-03 1.00894706e+02] [ 4.74981964e-01 8.79988773e-01 -3.44868120e-03 2.85755029e+01] [ 6.90975784e-03 1.89307477e-04 9.99976109e-01 5.31943403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:28.59, Z:0.54 [[ 8.80008193e-01 -4.74920726e-01 -5.99029698e-03 1.00918097e+02] [ 4.74908239e-01 8.80028561e-01 -3.44919303e-03 2.85919789e+01] [ 6.90972568e-03 1.90476740e-04 9.99976109e-01 5.37351194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:28.61, Z:0.54 [[ 8.80328875e-01 -4.74326043e-01 -5.98971031e-03 1.00939881e+02] [ 4.74313535e-01 8.80349230e-01 -3.45021151e-03 2.86123655e+01] [ 6.90956203e-03 1.96320143e-04 9.99976109e-01 5.41672740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:28.63, Z:0.54 [[ 8.80272719e-01 -4.74430259e-01 -5.98911917e-03 1.00962719e+02] [ 4.74417747e-01 8.80293071e-01 -3.45123735e-03 2.86274783e+01] [ 6.90955153e-03 1.96685658e-04 9.99976109e-01 5.42218304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:28.64, Z:0.54 [[ 8.80091392e-01 -4.74766548e-01 -5.98886685e-03 1.00986638e+02] [ 4.74754041e-01 8.80111747e-01 -3.45167514e-03 2.86419746e+01] [ 6.90961195e-03 1.94550843e-04 9.99976109e-01 5.41906251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:28.66, Z:0.54 [[ 8.78910585e-01 -4.76948970e-01 -5.98865971e-03 1.01008762e+02] [ 4.76936511e-01 8.78930969e-01 -3.45203449e-03 2.86598086e+01] [ 6.91006277e-03 1.77819185e-04 9.99976109e-01 5.43762467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:28.68, Z:0.54 [[ 8.78200864e-01 -4.78254520e-01 -5.98798664e-03 1.01030591e+02] [ 4.78242083e-01 8.78221262e-01 -3.45320161e-03 2.86768448e+01] [ 6.91028647e-03 1.68897440e-04 9.99976109e-01 5.43633736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.05, Y:28.69, Z:0.54 [[ 8.77342023e-01 -4.79828222e-01 -5.98769308e-03 1.01053699e+02] [ 4.79815818e-01 8.77362441e-01 -3.45371056e-03 2.86927741e+01] [ 6.91056481e-03 1.57095550e-04 9.99976109e-01 5.42382663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:28.71, Z:0.54 [[ 8.74406134e-01 -4.85157776e-01 -5.98701642e-03 1.01075684e+02] [ 4.85145489e-01 8.74426623e-01 -3.45488315e-03 2.87099592e+01] [ 6.91136998e-03 1.16397007e-04 9.99976109e-01 5.43392665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:28.73, Z:0.54 [[ 8.72910928e-01 -4.87842875e-01 -5.98680646e-03 1.01098985e+02] [ 4.87830648e-01 8.72931452e-01 -3.45524695e-03 2.87257149e+01] [ 6.91168926e-03 9.55751500e-05 9.99976109e-01 5.40034586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:28.74, Z:0.54 [[ 8.71229475e-01 -4.90839447e-01 -5.98660344e-03 1.01122713e+02] [ 4.90827288e-01 8.71250040e-01 -3.45559866e-03 2.87419020e+01] [ 6.91197262e-03 7.22310771e-05 9.99976109e-01 5.41824888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:28.76, Z:0.54 [[ 8.68362597e-01 -4.95893706e-01 -5.98601514e-03 1.01146120e+02] [ 4.95881660e-01 8.68383228e-01 -3.45661746e-03 2.87581867e+01] [ 6.91226999e-03 3.32421915e-05 9.99976109e-01 5.42258658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:28.77, Z:0.54 [[ 8.67370086e-01 -4.97627682e-01 -5.98533866e-03 1.01169689e+02] [ 4.97615669e-01 8.67390736e-01 -3.45778842e-03 2.87731158e+01] [ 6.91231855e-03 2.07839389e-05 9.99976109e-01 5.43174766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.19, Y:28.79, Z:0.54 [[ 8.66156908e-01 -4.99736325e-01 -5.98466447e-03 1.01193903e+02] [ 4.99724354e-01 8.66177583e-01 -3.45895490e-03 2.87897760e+01] [ 6.91234762e-03 5.31509711e-06 9.99976109e-01 5.42162012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.22, Y:28.80, Z:0.54 [[ 8.65617982e-01 -5.00669252e-01 -5.98411111e-03 1.01217187e+02] [ 5.00657297e-01 8.65638666e-01 -3.45991196e-03 2.88043278e+01] [ 6.91234950e-03 -1.02688668e-06 9.99976109e-01 5.41554335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:28.82, Z:0.54 [[ 8.65020623e-01 -5.01700623e-01 -5.98381517e-03 1.01239476e+02] [ 5.01688689e-01 8.65041320e-01 -3.46042372e-03 2.88186689e+01] [ 6.91234410e-03 -8.67450492e-06 9.99976109e-01 5.42839632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:28.83, Z:0.54 [[ 8.64600310e-01 -5.02424626e-01 -5.98330670e-03 1.01263225e+02] [ 5.02412703e-01 8.64621012e-01 -3.46130267e-03 2.88343782e+01] [ 6.91233640e-03 -1.34459355e-05 9.99976109e-01 5.43742330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:28.85, Z:0.55 [[ 8.63893844e-01 -5.03638396e-01 -5.98265547e-03 1.01285691e+02] [ 5.03626494e-01 8.63914559e-01 -3.46242791e-03 2.88506167e+01] [ 6.91231480e-03 -2.18536423e-05 9.99976109e-01 5.45025631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:28.86, Z:0.54 [[ 8.63569286e-01 -5.04194708e-01 -5.98198129e-03 1.01309554e+02] [ 5.04182812e-01 8.63590005e-01 -3.46359229e-03 2.88641174e+01] [ 6.91230415e-03 -2.49602211e-05 9.99976109e-01 5.43349030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:28.88, Z:0.54 [[ 8.63168443e-01 -5.04880638e-01 -5.98168904e-03 1.01334038e+02] [ 5.04868755e-01 8.63189168e-01 -3.46409695e-03 2.88783133e+01] [ 6.91228466e-03 -2.98687316e-05 9.99976109e-01 5.42790049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:28.89, Z:0.54 [[ 8.62976224e-01 -5.05209128e-01 -5.98104199e-03 1.01359078e+02] [ 5.05197245e-01 8.62996950e-01 -3.46521377e-03 2.88932395e+01] [ 6.91227862e-03 -3.12088439e-05 9.99976109e-01 5.44148393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:28.91, Z:0.54 [[ 8.63050576e-01 -5.05082110e-01 -5.98045323e-03 1.01382559e+02] [ 5.05070217e-01 8.63071296e-01 -3.46622957e-03 2.89084519e+01] [ 6.91228807e-03 -2.90173825e-05 9.99976109e-01 5.42206678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.41, Y:28.92, Z:0.54 [[ 8.63347764e-01 -5.04573954e-01 -5.98024413e-03 1.01405323e+02] [ 5.04562046e-01 8.63368475e-01 -3.46659030e-03 2.89220632e+01] [ 6.91230543e-03 -2.45312307e-05 9.99976109e-01 5.39730268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:28.94, Z:0.54 [[ 8.63310621e-01 -5.04637505e-01 -5.97995241e-03 1.01429587e+02] [ 5.04625595e-01 8.63331332e-01 -3.46709345e-03 2.89357722e+01] [ 6.91230567e-03 -2.44584433e-05 9.99976109e-01 5.42264805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:28.95, Z:0.54 [[ 8.63225112e-01 -5.04783769e-01 -5.97927417e-03 1.01453746e+02] [ 5.04771855e-01 8.63245820e-01 -3.46826274e-03 2.89491240e+01] [ 6.91230617e-03 -2.42778193e-05 9.99976109e-01 5.42881786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.48, Y:28.96, Z:0.54 [[ 8.63524494e-01 -5.04271460e-01 -5.97859251e-03 1.01478171e+02] [ 5.04259525e-01 8.63545190e-01 -3.46943738e-03 2.89632250e+01] [ 6.91232306e-03 -1.88180615e-05 9.99976109e-01 5.43211867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:28.98, Z:0.54 [[ 8.63718037e-01 -5.03939890e-01 -5.97827631e-03 1.01500930e+02] [ 5.03927944e-01 8.63738726e-01 -3.46998215e-03 2.89774998e+01] [ 6.91233119e-03 -1.55343132e-05 9.99976109e-01 5.43786929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:28.99, Z:0.54 [[ 8.64237077e-01 -5.03049240e-01 -5.97798314e-03 1.01525666e+02] [ 5.03037269e-01 8.64257752e-01 -3.47048714e-03 2.89923760e+01] [ 6.91234419e-03 -7.82465736e-06 9.99976109e-01 5.44796708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:29.01, Z:0.54 [[ 8.64712589e-01 -5.02231429e-01 -5.97738742e-03 1.01550083e+02] [ 5.02219431e-01 8.64733249e-01 -3.47151288e-03 2.90052272e+01] [ 6.91234852e-03 -9.92182874e-08 9.99976109e-01 5.43622228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:29.02, Z:0.54 [[ 8.65169343e-01 -5.01444196e-01 -5.97717506e-03 1.01574111e+02] [ 5.01432176e-01 8.65189990e-01 -3.47187848e-03 2.90185670e+01] [ 6.91234534e-03 6.61491951e-06 9.99976109e-01 5.44541248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:29.03, Z:0.55 [[ 8.65761338e-01 -5.00421410e-01 -5.97650917e-03 1.01598201e+02] [ 5.00409358e-01 8.65781966e-01 -3.47302436e-03 2.90332303e+01] [ 6.91232961e-03 1.61090992e-05 9.99976109e-01 5.45549614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:29.05, Z:0.55 [[ 8.67194890e-01 -4.97933040e-01 -5.97583063e-03 1.01622256e+02] [ 4.97920921e-01 8.67215478e-01 -3.47419149e-03 2.90483156e+01] [ 6.91224755e-03 3.73100102e-05 9.99976109e-01 5.45601902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:29.06, Z:0.54 [[ 8.67874267e-01 -4.96747978e-01 -5.97523090e-03 1.01645298e+02] [ 4.96735824e-01 8.67894834e-01 -3.47522266e-03 2.90618129e+01] [ 6.91218186e-03 4.79450665e-05 9.99976109e-01 5.43182320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:101.67, Y:29.08, Z:0.54 [[ 8.68626164e-01 -4.95432021e-01 -5.97493298e-03 1.01670469e+02] [ 4.95419832e-01 8.68646711e-01 -3.47573479e-03 2.90765915e+01] [ 6.91209620e-03 5.90138813e-05 9.99976109e-01 5.43722462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:29.09, Z:0.55 [[ 8.69947519e-01 -4.93108124e-01 -5.97433533e-03 1.01695152e+02] [ 4.93095873e-01 8.69968029e-01 -3.47676178e-03 2.90923149e+01] [ 6.91190021e-03 7.86801868e-05 9.99976109e-01 5.48259808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:29.11, Z:0.55 [[ 8.70445485e-01 -4.92228577e-01 -5.97373553e-03 1.01718886e+02] [ 4.92216299e-01 8.70465979e-01 -3.47779204e-03 2.91075099e+01] [ 6.91180217e-03 8.68583814e-05 9.99976109e-01 5.49844663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:29.12, Z:0.55 [[ 8.70965508e-01 -4.91307853e-01 -5.97303851e-03 1.01742617e+02] [ 4.91295544e-01 8.70985984e-01 -3.47898875e-03 2.91227586e+01] [ 6.91168732e-03 9.55520007e-05 9.99976109e-01 5.49276519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:29.14, Z:0.55 [[ 8.71464679e-01 -4.90421900e-01 -5.97272136e-03 1.01765760e+02] [ 4.90409567e-01 8.71485140e-01 -3.47953314e-03 2.91379901e+01] [ 6.91157717e-03 1.03210535e-04 9.99976109e-01 5.46630629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:29.15, Z:0.55 [[ 8.71345870e-01 -4.90632963e-01 -5.97251029e-03 1.01789748e+02] [ 4.90620633e-01 8.71366332e-01 -3.47989541e-03 2.91527804e+01] [ 6.91159578e-03 1.01955710e-04 9.99976109e-01 5.47097606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:29.17, Z:0.55 [[ 8.71019357e-01 -4.91212394e-01 -5.97183709e-03 1.01813727e+02] [ 4.91200069e-01 8.71039824e-01 -3.48105030e-03 2.91669337e+01] [ 6.91164297e-03 9.86954049e-05 9.99976109e-01 5.47116843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:29.18, Z:0.55 [[ 8.70546932e-01 -4.92049169e-01 -5.97115507e-03 1.01838833e+02] [ 4.92036856e-01 8.70567405e-01 -3.48221979e-03 2.91815979e+01] [ 6.91171633e-03 9.34073842e-05 9.99976109e-01 5.48806190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.86, Y:29.20, Z:0.55 [[ 8.70412626e-01 -4.92286719e-01 -5.97054939e-03 1.01862625e+02] [ 4.92274404e-01 8.70433098e-01 -3.48325797e-03 2.91961231e+01] [ 6.91172544e-03 9.27230715e-05 9.99976109e-01 5.45800467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.89, Y:29.21, Z:0.55 [[ 8.70290675e-01 -4.92502280e-01 -5.97033485e-03 1.01887581e+02] [ 4.92489968e-01 8.70311149e-01 -3.48362566e-03 2.92112954e+01] [ 6.91174256e-03 9.14369040e-05 9.99976109e-01 5.49715746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:29.23, Z:0.55 [[ 8.70230698e-01 -4.92608257e-01 -5.96973956e-03 1.01910735e+02] [ 4.92595940e-01 8.70251169e-01 -3.48464547e-03 2.92261344e+01] [ 6.91173796e-03 9.17759894e-05 9.99976109e-01 5.50969289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:29.24, Z:0.55 [[ 8.70029313e-01 -4.92963858e-01 -5.96906220e-03 1.01934631e+02] [ 4.92951542e-01 8.70049784e-01 -3.48580538e-03 2.92415116e+01] [ 6.91175735e-03 9.02944471e-05 9.99976109e-01 5.49807917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:29.26, Z:0.55 [[ 8.69853556e-01 -4.93273928e-01 -5.96847566e-03 1.01958402e+02] [ 4.93261613e-01 8.69874027e-01 -3.48680938e-03 2.92565748e+01] [ 6.91177412e-03 8.89936084e-05 9.99976109e-01 5.49823121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.98, Y:29.27, Z:0.55 [[ 8.69561641e-01 -4.93788353e-01 -5.96780073e-03 1.01981374e+02] [ 4.93776042e-01 8.69582115e-01 -3.48796417e-03 2.92717651e+01] [ 6.91180886e-03 8.62428272e-05 9.99976109e-01 5.48488073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:29.29, Z:0.55 [[ 8.69591198e-01 -4.93736303e-01 -5.96759174e-03 1.02005251e+02] [ 4.93723988e-01 8.69611669e-01 -3.48832170e-03 2.92864010e+01] [ 6.91179847e-03 8.70706545e-05 9.99976109e-01 5.49091606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:29.30, Z:0.55 [[ 8.69512574e-01 -4.93874755e-01 -5.96738437e-03 1.02029314e+02] [ 4.93862441e-01 8.69533046e-01 -3.48867640e-03 2.93008145e+01] [ 6.91180711e-03 8.63809819e-05 9.99976109e-01 5.49568183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:29.32, Z:0.55 [[ 8.69419838e-01 -4.94037999e-01 -5.96672767e-03 1.02053787e+02] [ 4.94025680e-01 8.69440308e-01 -3.48979920e-03 2.93153598e+01] [ 6.91180695e-03 8.63839541e-05 9.99976109e-01 5.49765043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:29.33, Z:0.55 [[ 8.69579500e-01 -4.93756924e-01 -5.96607226e-03 1.02078295e+02] [ 4.93744591e-01 8.69599961e-01 -3.49091931e-03 2.93289906e+01] [ 6.91176179e-03 8.99159570e-05 9.99976109e-01 5.50781329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:29.34, Z:0.55 [[ 8.69739770e-01 -4.93474566e-01 -5.96541131e-03 1.02101683e+02] [ 4.93462219e-01 8.69760222e-01 -3.49204841e-03 2.93441313e+01] [ 6.91171454e-03 9.34682781e-05 9.99976109e-01 5.51432737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:29.36, Z:0.55 [[ 8.70003472e-01 -4.93009514e-01 -5.96474010e-03 1.02124676e+02] [ 4.92997148e-01 8.70023913e-01 -3.49319452e-03 2.93595015e+01] [ 6.91164465e-03 9.84915060e-05 9.99976109e-01 5.50886808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:29.38, Z:0.55 [[ 8.70294637e-01 -4.92495349e-01 -5.96453205e-03 1.02147890e+02] [ 4.92482969e-01 8.70315070e-01 -3.49354972e-03 2.93762025e+01] [ 6.91157912e-03 1.02987129e-04 9.99976109e-01 5.52125198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.17, Y:29.39, Z:0.55 [[ 8.70155410e-01 -4.92741304e-01 -5.96393802e-03 1.02172079e+02] [ 4.92728923e-01 8.70175842e-01 -3.49456350e-03 2.93916654e+01] [ 6.91159057e-03 1.02208579e-04 9.99976109e-01 5.50748883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:29.41, Z:0.55 [[ 8.70001327e-01 -4.93013316e-01 -5.96334180e-03 1.02196217e+02] [ 4.93000934e-01 8.70021758e-01 -3.49558064e-03 2.94064603e+01] [ 6.91160492e-03 1.01226718e-04 9.99976109e-01 5.53318739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:29.42, Z:0.55 [[ 8.69241299e-01 -4.94352113e-01 -5.96265401e-03 1.02220686e+02] [ 4.94339754e-01 8.69261744e-01 -3.49675345e-03 2.94200448e+01] [ 6.91173449e-03 9.19455957e-05 9.99976109e-01 5.52392535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:29.43, Z:0.55 [[ 8.68722389e-01 -4.95263424e-01 -5.96244052e-03 1.02245041e+02] [ 4.95251085e-01 8.68742846e-01 -3.49711744e-03 2.94346084e+01] [ 6.91182191e-03 8.51190830e-05 9.99976109e-01 5.53460805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.27, Y:29.45, Z:0.55 [[ 8.68177739e-01 -4.96217565e-01 -5.96176223e-03 1.02268662e+02] [ 4.96205240e-01 8.68198205e-01 -3.49827340e-03 2.94496768e+01] [ 6.91189597e-03 7.88654308e-05 9.99976109e-01 5.52635011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:29.46, Z:0.55 [[ 8.67670075e-01 -4.97104725e-01 -5.96107039e-03 1.02292570e+02] [ 4.97092412e-01 8.67690548e-01 -3.49945190e-03 2.94649180e+01] [ 6.91195850e-03 7.31668338e-05 9.99976109e-01 5.51234431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:29.48, Z:0.55 [[ 8.66546421e-01 -4.99060891e-01 -5.96047016e-03 1.02316748e+02] [ 4.99048618e-01 8.66566918e-01 -3.50047394e-03 2.94799808e+01] [ 6.91209590e-03 5.87587715e-05 9.99976109e-01 5.53699821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40264 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:102.34, Y:29.49, Z:0.55 [[ 8.65949700e-01 -5.00095587e-01 -5.95986246e-03 1.02341122e+02] [ 5.00083331e-01 8.65970208e-01 -3.50150830e-03 2.94944934e+01] [ 6.91215218e-03 5.17021955e-05 9.99976109e-01 5.52943500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.36, Y:29.51, Z:0.55 [[ 8.65434906e-01 -5.00985939e-01 -5.95925496e-03 1.02364434e+02] [ 5.00973697e-01 8.65455422e-01 -3.50254191e-03 2.95079176e+01] [ 6.91219376e-03 4.57920357e-05 9.99976109e-01 5.52615319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:29.52, Z:0.55 [[ 8.64586412e-01 -5.02448832e-01 -5.95878078e-03 1.02388548e+02] [ 5.02436619e-01 8.64606945e-01 -3.50334842e-03 2.95233557e+01] [ 6.91225657e-03 3.50377715e-05 9.99976109e-01 5.53122153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:29.54, Z:0.55 [[ 8.64367846e-01 -5.02824747e-01 -5.95818194e-03 1.02412288e+02] [ 5.02812537e-01 8.64388381e-01 -3.50436658e-03 2.95373208e+01] [ 6.91226548e-03 3.32132157e-05 9.99976109e-01 5.53499260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:29.55, Z:0.55 [[ 8.63980555e-01 -5.03489925e-01 -5.95786275e-03 1.02437396e+02] [ 5.03477726e-01 8.64001097e-01 -3.50490916e-03 2.95515695e+01] [ 6.91228640e-03 2.85221690e-05 9.99976109e-01 5.54766973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:29.57, Z:0.56 [[ 8.63663175e-01 -5.04034157e-01 -5.95727845e-03 1.02462418e+02] [ 5.04021965e-01 8.63683720e-01 -3.50590201e-03 2.95654217e+01] [ 6.91229878e-03 2.53192688e-05 9.99976109e-01 5.57811194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:29.58, Z:0.56 [[ 8.63470991e-01 -5.04363328e-01 -5.95667144e-03 1.02484396e+02] [ 5.04351136e-01 8.63491536e-01 -3.50693305e-03 2.95806557e+01] [ 6.91230379e-03 2.38809475e-05 9.99976109e-01 5.57770696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:29.60, Z:0.56 [[ 8.63261100e-01 -5.04722493e-01 -5.95636978e-03 1.02508174e+02] [ 5.04710306e-01 8.63281648e-01 -3.50744533e-03 2.95961441e+01] [ 6.91231127e-03 2.15998918e-05 9.99976109e-01 5.58206570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:29.61, Z:0.56 [[ 8.63220367e-01 -5.04792162e-01 -5.95568160e-03 1.02533613e+02] [ 5.04779969e-01 8.63240912e-01 -3.50861347e-03 2.96105353e+01] [ 6.91230860e-03 2.23978367e-05 9.99976109e-01 5.59378749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:29.62, Z:0.56 [[ 8.62861585e-01 -5.05405206e-01 -5.95508158e-03 1.02559625e+02] [ 5.05393021e-01 8.62882134e-01 -3.50963158e-03 2.96225696e+01] [ 6.91231958e-03 1.86695947e-05 9.99976109e-01 5.61167218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:29.64, Z:0.56 [[ 8.62630732e-01 -5.05799135e-01 -5.95447631e-03 1.02584429e+02] [ 5.05786951e-01 8.62651282e-01 -3.51065820e-03 2.96360463e+01] [ 6.91232450e-03 1.67052326e-05 9.99976109e-01 5.61119892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.61, Y:29.65, Z:0.56 [[ 8.62257532e-01 -5.06435090e-01 -5.95378146e-03 1.02608806e+02] [ 5.06422914e-01 8.62278087e-01 -3.51183620e-03 2.96491762e+01] [ 6.91233237e-03 1.29758532e-05 9.99976109e-01 5.59814993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:29.66, Z:0.56 [[ 8.61353950e-01 -5.07970400e-01 -5.95356591e-03 1.02634106e+02] [ 5.07958258e-01 8.61374525e-01 -3.51220158e-03 2.96616229e+01] [ 6.91234445e-03 1.08573912e-06 9.99976109e-01 5.63922293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:29.68, Z:0.57 [[ 8.60811912e-01 -5.08888406e-01 -5.95335345e-03 1.02659396e+02] [ 5.08876283e-01 8.60832498e-01 -3.51256168e-03 2.96762640e+01] [ 6.91234204e-03 -5.86543669e-06 9.99976109e-01 5.65180893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:29.69, Z:0.57 [[ 8.60353027e-01 -5.09663844e-01 -5.95276600e-03 1.02683903e+02] [ 5.09651733e-01 8.60373620e-01 -3.51355695e-03 2.96903082e+01] [ 6.91233577e-03 -1.09381476e-05 9.99976109e-01 5.65758500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:29.70, Z:0.56 [[ 8.59718227e-01 -5.10733926e-01 -5.95208135e-03 1.02709183e+02] [ 5.10721832e-01 8.59738831e-01 -3.51471639e-03 2.97016413e+01] [ 6.91232036e-03 -1.81921433e-05 9.99976109e-01 5.64446334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:29.71, Z:0.56 [[ 8.59484020e-01 -5.11127968e-01 -5.95139734e-03 1.02733432e+02] [ 5.11115876e-01 8.59504624e-01 -3.51587423e-03 2.97130771e+01] [ 6.91231519e-03 -2.00159480e-05 9.99976109e-01 5.63541725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:29.72, Z:0.56 [[ 8.59572109e-01 -5.10979818e-01 -5.95110093e-03 1.02758994e+02] [ 5.10967719e-01 8.59592709e-01 -3.51637587e-03 2.97242042e+01] [ 6.91232007e-03 -1.82418369e-05 9.99976109e-01 5.63626876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.78, Y:29.74, Z:0.56 [[ 8.59809291e-01 -5.10580625e-01 -5.95041659e-03 1.02783428e+02] [ 5.10568509e-01 8.59829881e-01 -3.51753352e-03 2.97376660e+01] [ 6.91233046e-03 -1.36873217e-05 9.99976109e-01 5.62338346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:29.75, Z:0.56 [[ 8.60205414e-01 -5.09912980e-01 -5.94972355e-03 1.02807717e+02] [ 5.09900839e-01 8.60225990e-01 -3.51870538e-03 2.97509708e+01] [ 6.91234037e-03 -6.95960598e-06 9.99976109e-01 5.62326941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:29.76, Z:0.56 [[ 8.60688823e-01 -5.09096604e-01 -5.94950870e-03 1.02831623e+02] [ 5.09084442e-01 8.60709386e-01 -3.51906861e-03 2.97646210e+01] [ 6.91234386e-03 2.07047449e-08 9.99976109e-01 5.61666574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:29.78, Z:0.56 [[ 8.61364485e-01 -5.07952591e-01 -5.94881600e-03 1.02855281e+02] [ 5.07940393e-01 8.61385027e-01 -3.52023919e-03 2.97773299e+01] [ 6.91233566e-03 1.05650800e-05 9.99976109e-01 5.59089988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.88, Y:29.79, Z:0.56 [[ 8.62300652e-01 -5.06361731e-01 -5.94834347e-03 1.02880889e+02] [ 5.06349490e-01 8.62321168e-01 -3.52103748e-03 2.97881682e+01] [ 6.91230112e-03 2.42522289e-05 9.99976109e-01 5.58289249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:102.91, Y:29.80, Z:0.56 [[ 8.62547157e-01 -5.05941723e-01 -5.94765777e-03 1.02906025e+02] [ 5.05929464e-01 8.62567662e-01 -3.52219538e-03 2.98012544e+01] [ 6.91228285e-03 2.89643048e-05 9.99976109e-01 5.56973492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.93, Y:29.81, Z:0.56 [[ 8.62950518e-01 -5.05253439e-01 -5.94697091e-03 1.02930832e+02] [ 5.05241155e-01 8.62971008e-01 -3.52335470e-03 2.98142572e+01] [ 6.91225056e-03 3.58263117e-05 9.99976109e-01 5.55010136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:29.83, Z:0.55 [[ 8.63166676e-01 -5.04884073e-01 -5.94665177e-03 1.02954894e+02] [ 5.04871777e-01 8.63187159e-01 -3.52389326e-03 2.98277091e+01] [ 6.91223103e-03 3.94105860e-05 9.99976109e-01 5.54615533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.98, Y:29.84, Z:0.55 [[ 8.63273937e-01 -5.04700653e-01 -5.94643932e-03 1.02979389e+02] [ 5.04688350e-01 8.63294416e-01 -3.52425172e-03 2.98418936e+01] [ 6.91222001e-03 4.12960093e-05 9.99976109e-01 5.53514175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21264000000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:103.01, Y:29.85, Z:0.55 [[ 8.62962318e-01 -5.05233299e-01 -5.94575247e-03 1.03005016e+02] [ 5.05221000e-01 8.62982800e-01 -3.52541013e-03 2.98537063e+01] [ 6.91223670e-03 3.83770830e-05 9.99976109e-01 5.53968142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:29.87, Z:0.56 [[ 8.62653142e-01 -5.05761024e-01 -5.94506253e-03 1.03030813e+02] [ 5.05748730e-01 8.62673626e-01 -3.52657321e-03 2.98662689e+01] [ 6.91225193e-03 3.55016390e-05 9.99976109e-01 5.56924723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:103.06, Y:29.88, Z:0.56 [[ 8.61947559e-01 -5.06962591e-01 -5.94446159e-03 1.03056947e+02] [ 5.06950319e-01 8.61968056e-01 -3.52758588e-03 2.98780751e+01] [ 6.91229008e-03 2.70473379e-05 9.99976109e-01 5.57571462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:103.08, Y:29.89, Z:0.56 [[ 8.61505767e-01 -5.07712994e-01 -5.94385992e-03 1.03081627e+02] [ 5.07700732e-01 8.61526271e-01 -3.52859938e-03 2.98914818e+01] [ 6.91230723e-03 2.22066858e-05 9.99976109e-01 5.60095314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.10, Y:29.90, Z:0.56 [[ 8.61206630e-01 -5.08220247e-01 -5.94313409e-03 1.03104825e+02] [ 5.08207989e-01 8.61227136e-01 -3.52982146e-03 2.99044601e+01] [ 6.91231509e-03 1.95574187e-05 9.99976109e-01 5.55882474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:29.92, Z:0.56 [[ 8.60871647e-01 -5.08787471e-01 -5.94281975e-03 1.03129455e+02] [ 5.08775223e-01 8.60892159e-01 -3.53035060e-03 2.99178796e+01] [ 6.91232508e-03 1.56192898e-05 9.99976109e-01 5.59653126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.16, Y:29.93, Z:0.56 [[ 8.60266502e-01 -5.09810000e-01 -5.94215051e-03 1.03155633e+02] [ 5.09797769e-01 8.60287024e-01 -3.53147669e-03 2.99300676e+01] [ 6.91233711e-03 8.71602934e-06 9.99976109e-01 5.59113712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:29.94, Z:0.56 [[ 8.59987877e-01 -5.10279873e-01 -5.94155900e-03 1.03180042e+02] [ 5.10267646e-01 8.60008402e-01 -3.53247159e-03 2.99415951e+01] [ 6.91233982e-03 6.09742304e-06 9.99976109e-01 5.60256395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:29.95, Z:0.56 [[ 8.59652695e-01 -5.10844346e-01 -5.94126473e-03 1.03204429e+02] [ 5.10832129e-01 8.59673225e-01 -3.53296646e-03 2.99544657e+01] [ 6.91234215e-03 2.13522250e-06 9.99976109e-01 5.62231300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:29.97, Z:0.56 [[ 8.59523461e-01 -5.11061767e-01 -5.94056828e-03 1.03227782e+02] [ 5.11049547e-01 8.59543990e-01 -3.53413712e-03 2.99677375e+01] [ 6.91234213e-03 1.74903848e-06 9.99976109e-01 5.62008067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:29.98, Z:0.56 [[ 8.59225719e-01 -5.11562192e-01 -5.94026446e-03 1.03251041e+02] [ 5.11549981e-01 8.59246253e-01 -3.53464772e-03 2.99808816e+01] [ 6.91234212e-03 -1.68194662e-06 9.99976109e-01 5.61531681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:29.99, Z:0.56 [[ 8.58855675e-01 -5.12183218e-01 -5.93980138e-03 1.03275325e+02] [ 5.12171016e-01 8.58876214e-01 -3.53542573e-03 2.99946172e+01] [ 6.91233985e-03 -5.77364920e-06 9.99976109e-01 5.61937308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.30, Y:30.01, Z:0.56 [[ 8.58416949e-01 -5.12918189e-01 -5.93912996e-03 1.03299835e+02] [ 5.12905997e-01 8.58437494e-01 -3.53655329e-03 3.00077014e+01] [ 6.91233435e-03 -1.03780882e-05 9.99976109e-01 5.60627659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:30.02, Z:0.56 [[ 8.57681391e-01 -5.14147223e-01 -5.93845783e-03 1.03326264e+02] [ 5.14135052e-01 8.57701949e-01 -3.53768155e-03 3.00190039e+01] [ 6.91231599e-03 -1.89656923e-05 9.99976109e-01 5.61031666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:30.03, Z:0.56 [[ 8.57388764e-01 -5.14635064e-01 -5.93785095e-03 1.03350164e+02] [ 5.14622898e-01 8.57409325e-01 -3.53869987e-03 3.00320581e+01] [ 6.91230781e-03 -2.17125562e-05 9.99976109e-01 5.60479321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:30.05, Z:0.56 [[ 8.57245308e-01 -5.14873991e-01 -5.93754928e-03 1.03373894e+02] [ 5.14861828e-01 8.57265870e-01 -3.53920596e-03 3.00454241e+01] [ 6.91230346e-03 -2.30497696e-05 9.99976109e-01 5.60513093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:103.40, Y:30.06, Z:0.56 [[ 8.56894399e-01 -5.15457794e-01 -5.93725091e-03 1.03397565e+02] [ 5.15445641e-01 8.56914968e-01 -3.53970644e-03 3.00592800e+01] [ 6.91228844e-03 -2.71754749e-05 9.99976109e-01 5.58127028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:30.07, Z:0.56 [[ 8.56515344e-01 -5.16087414e-01 -5.93695843e-03 1.03422524e+02] [ 5.16075272e-01 8.56535919e-01 -3.54019693e-03 3.00733842e+01] [ 6.91226922e-03 -3.16844472e-05 9.99976109e-01 5.63028986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:30.09, Z:0.56 [[ 8.56093724e-01 -5.16786509e-01 -5.93635074e-03 1.03446358e+02] [ 5.16774377e-01 8.56114305e-01 -3.54121563e-03 3.00870459e+01] [ 6.91224725e-03 -3.61414766e-05 9.99976109e-01 5.64836403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:30.10, Z:0.57 [[ 8.54820937e-01 -5.18889128e-01 -5.93613540e-03 1.03472008e+02] [ 5.18877045e-01 8.54841547e-01 -3.54157656e-03 3.01007880e+01] [ 6.91214075e-03 -5.27105963e-05 9.99976109e-01 5.66339798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:30.11, Z:0.56 [[ 8.54313822e-01 -5.19723641e-01 -5.93553470e-03 1.03496322e+02] [ 5.19711570e-01 8.54334439e-01 -3.54258303e-03 3.01146821e+01] [ 6.91209586e-03 -5.82884102e-05 9.99976109e-01 5.64952545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:30.13, Z:0.56 [[ 8.53727602e-01 -5.20686041e-01 -5.93532199e-03 1.03521486e+02] [ 5.20673991e-01 8.53748231e-01 -3.54293938e-03 3.01276694e+01] [ 6.91202973e-03 -6.56626443e-05 9.99976109e-01 5.62815368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:30.14, Z:0.56 [[ 8.53598063e-01 -5.20898379e-01 -5.93511119e-03 1.03545638e+02] [ 5.20886332e-01 8.53618694e-01 -3.54329248e-03 3.01414146e+01] [ 6.91201717e-03 -6.69706988e-05 9.99976109e-01 5.63073498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:30.15, Z:0.56 [[ 8.53764355e-01 -5.20625786e-01 -5.93443911e-03 1.03568694e+02] [ 5.20613724e-01 8.53784977e-01 -3.54441775e-03 3.01547966e+01] [ 6.91205023e-03 -6.34529106e-05 9.99976109e-01 5.63345400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:30.17, Z:0.56 [[ 8.53962303e-01 -5.20301038e-01 -5.93414622e-03 1.03592451e+02] [ 5.20288965e-01 8.53982919e-01 -3.54490804e-03 3.01693242e+01] [ 6.91207884e-03 -6.02529621e-05 9.99976109e-01 5.64453360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:30.18, Z:0.56 [[ 8.53863923e-01 -5.20462481e-01 -5.93347746e-03 1.03616798e+02] [ 5.20450404e-01 8.53884537e-01 -3.54602705e-03 3.01841038e+01] [ 6.91207869e-03 -6.02561781e-05 9.99976109e-01 5.64650236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:30.20, Z:0.57 [[ 8.54375498e-01 -5.19622277e-01 -5.93280685e-03 1.03640531e+02] [ 5.19610172e-01 8.54396095e-01 -3.54714869e-03 3.01977152e+01] [ 6.91214448e-03 -5.21498587e-05 9.99976109e-01 5.65310850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:30.21, Z:0.57 [[ 8.54300348e-01 -5.19745824e-01 -5.93251533e-03 1.03664441e+02] [ 5.19733719e-01 8.54320944e-01 -3.54763618e-03 3.02117191e+01] [ 6.91214119e-03 -5.25814363e-05 9.99976109e-01 5.65964304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:30.23, Z:0.57 [[ 8.54310379e-01 -5.19729342e-01 -5.93185311e-03 1.03687082e+02] [ 5.19717229e-01 8.54330971e-01 -3.54874310e-03 3.02262135e+01] [ 6.91215175e-03 -5.11581963e-05 9.99976109e-01 5.65713067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:30.24, Z:0.57 [[ 8.54059654e-01 -5.20141256e-01 -5.93140199e-03 1.03709270e+02] [ 5.20129147e-01 8.54080249e-01 -3.54949695e-03 3.02413479e+01] [ 6.91213309e-03 -5.36129192e-05 9.99976109e-01 5.65711260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:30.26, Z:0.57 [[ 8.53146334e-01 -5.21637953e-01 -5.93111750e-03 1.03732094e+02] [ 5.21625878e-01 8.53166948e-01 -3.54997226e-03 3.02560236e+01] [ 6.91203368e-03 -6.51785580e-05 9.99976109e-01 5.65390420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:30.27, Z:0.57 [[ 8.52235915e-01 -5.23124049e-01 -5.93083462e-03 1.03757417e+02] [ 5.23112006e-01 8.52256548e-01 -3.55044480e-03 3.02700048e+01] [ 6.91191570e-03 -7.66742192e-05 9.99976109e-01 5.68391601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17264000000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:103.78, Y:30.28, Z:0.57 [[ 8.50495991e-01 -5.25948098e-01 -5.93024780e-03 1.03782009e+02] [ 5.25936117e-01 8.50516659e-01 -3.55142468e-03 3.02831939e+01] [ 6.91163961e-03 -9.84590465e-05 9.99976109e-01 5.66969954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:30.30, Z:0.57 [[ 8.49897167e-01 -5.26915218e-01 -5.92954585e-03 1.03806680e+02] [ 5.26903252e-01 8.49917844e-01 -3.55259628e-03 3.02970700e+01] [ 6.91154388e-03 -1.04955476e-04 9.99976109e-01 5.65403117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:30.31, Z:0.57 [[ 8.49351563e-01 -5.27794246e-01 -5.92932731e-03 1.03830830e+02] [ 5.27782298e-01 8.49372252e-01 -3.55296100e-03 3.03106598e+01] [ 6.91143846e-03 -1.11681020e-04 9.99976109e-01 5.66749396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:30.32, Z:0.56 [[ 8.49019625e-01 -5.28328049e-01 -5.92864588e-03 1.03855022e+02] [ 5.28316107e-01 8.49040317e-01 -3.55409771e-03 3.03237949e+01] [ 6.91138888e-03 -1.14700407e-04 9.99976109e-01 5.62813627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:30.34, Z:0.56 [[ 8.49336722e-01 -5.27818139e-01 -5.92832690e-03 1.03878747e+02] [ 5.27806181e-01 8.49357404e-01 -3.55462970e-03 3.03380883e+01] [ 6.91146638e-03 -1.09930046e-04 9.99976109e-01 5.61504301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:30.35, Z:0.57 [[ 8.50674676e-01 -5.25659067e-01 -5.92803196e-03 1.03902863e+02] [ 5.25647053e-01 8.50695326e-01 -3.55512150e-03 3.03526983e+01] [ 6.91173092e-03 -9.18007028e-05 9.99976109e-01 5.65308289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:30.37, Z:0.57 [[ 8.51489681e-01 -5.24337859e-01 -5.92733348e-03 1.03927119e+02] [ 5.24325804e-01 8.51510307e-01 -3.55628566e-03 3.03671011e+01] [ 6.91188076e-03 -7.97133493e-05 9.99976109e-01 5.66422695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:30.38, Z:0.57 [[ 8.52454852e-01 -5.22767248e-01 -5.92700633e-03 1.03950052e+02] [ 5.22755152e-01 8.52475454e-01 -3.55683082e-03 3.03808462e+01] [ 6.91202207e-03 -6.63354018e-05 9.99976109e-01 5.66563495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:30.40, Z:0.57 [[ 8.53282213e-01 -5.21415706e-01 -5.92670374e-03 1.03974088e+02] [ 5.21403574e-01 8.53302794e-01 -3.55733495e-03 3.03954832e+01] [ 6.91212317e-03 -5.47938682e-05 9.99976109e-01 5.66873181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:30.41, Z:0.57 [[ 8.54180060e-01 -5.19943562e-01 -5.92600773e-03 1.03997278e+02] [ 5.19931386e-01 8.54200615e-01 -3.55849403e-03 3.04097595e+01] [ 6.91221550e-03 -4.15227701e-05 9.99976109e-01 5.65880286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:30.43, Z:0.57 [[ 8.55889666e-01 -5.17124519e-01 -5.92553248e-03 1.04020280e+02] [ 5.17112270e-01 8.55910177e-01 -3.55928523e-03 3.04257992e+01] [ 6.91231721e-03 -1.78101082e-05 9.99976109e-01 5.66820196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.04, Y:30.44, Z:0.57 [[ 8.56654075e-01 -5.15857239e-01 -5.92484125e-03 1.04041890e+02] [ 5.15844952e-01 8.56674564e-01 -3.56043548e-03 3.04413656e+01] [ 6.91233721e-03 -6.23789183e-06 9.99976109e-01 5.65097415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:30.46, Z:0.57 [[ 8.57294878e-01 -5.14791601e-01 -5.92453961e-03 1.04065104e+02] [ 5.14779285e-01 8.57315349e-01 -3.56093733e-03 3.04561702e+01] [ 6.91233938e-03 2.94306773e-06 9.99976109e-01 5.66645363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:30.47, Z:0.57 [[ 8.57796949e-01 -5.13954572e-01 -5.92385046e-03 1.04089501e+02] [ 5.13942228e-01 8.57817404e-01 -3.56208342e-03 3.04704524e+01] [ 6.91233108e-03 1.10273913e-05 9.99976109e-01 5.65939449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:30.49, Z:0.57 [[ 8.57779924e-01 -5.13982989e-01 -5.92363616e-03 1.04112568e+02] [ 5.13970643e-01 8.57800377e-01 -3.56243975e-03 3.04855061e+01] [ 6.91233077e-03 1.12142061e-05 9.99976109e-01 5.66837239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:30.50, Z:0.57 [[ 8.57600461e-01 -5.14282382e-01 -5.92296410e-03 1.04135270e+02] [ 5.14270035e-01 8.57620914e-01 -3.56355677e-03 3.05018718e+01] [ 6.91233235e-03 1.01049714e-05 9.99976109e-01 5.67493925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:104.16, Y:30.52, Z:0.57 [[ 8.56932181e-01 -5.15395153e-01 -5.92229485e-03 1.04157442e+02] [ 5.15382825e-01 8.56952645e-01 -3.56466867e-03 3.05200498e+01] [ 6.91233919e-03 2.43024380e-06 9.99976109e-01 5.66499606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:30.53, Z:0.57 [[ 8.56343686e-01 -5.16372371e-01 -5.92162815e-03 1.04182372e+02] [ 5.16360060e-01 8.56364160e-01 -3.56577584e-03 3.05346810e+01] [ 6.91233824e-03 -4.16264411e-06 9.99976109e-01 5.69008494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:30.55, Z:0.57 [[ 8.54673592e-01 -5.19131961e-01 -5.92104581e-03 1.04206948e+02] [ 5.19119709e-01 8.54694101e-01 -3.56674257e-03 3.05474872e+01] [ 6.91229299e-03 -2.53308907e-05 9.99976109e-01 5.68130598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:30.56, Z:0.57 [[ 8.53493270e-01 -5.21070233e-01 -5.92037992e-03 1.04230947e+02] [ 5.21058020e-01 8.53513802e-01 -3.56784753e-03 3.05615284e+01] [ 6.91222512e-03 -3.97275778e-05 9.99976109e-01 5.68013873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:30.58, Z:0.57 [[ 8.52328408e-01 -5.22973461e-01 -5.91970963e-03 1.04255392e+02] [ 5.22961286e-01 8.52348964e-01 -3.56895931e-03 3.05754874e+01] [ 6.91212937e-03 -5.38535556e-05 9.99976109e-01 5.69732663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:30.59, Z:0.57 [[ 8.50599859e-01 -5.25780225e-01 -5.91901524e-03 1.04280348e+02] [ 5.25768110e-01 8.50620449e-01 -3.57011056e-03 3.05883981e+01] [ 6.91192894e-03 -7.52939172e-05 9.99976109e-01 5.69683391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83264000000001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:104.30, Y:30.60, Z:0.57 [[ 8.49821574e-01 -5.27037248e-01 -5.91880054e-03 1.04304464e+02] [ 5.27025160e-01 8.49842181e-01 -3.57046647e-03 3.06026250e+01] [ 6.91181518e-03 -8.50973693e-05 9.99976109e-01 5.66442249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:30.62, Z:0.57 [[ 8.49215993e-01 -5.28012469e-01 -5.91858855e-03 1.04329514e+02] [ 5.28000403e-01 8.49236612e-01 -3.57081785e-03 3.06161872e+01] [ 6.91171844e-03 -9.26215158e-05 9.99976109e-01 5.68481980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.35, Y:30.63, Z:0.57 [[ 8.48841709e-01 -5.28613973e-01 -5.91791880e-03 1.04353574e+02] [ 5.28601913e-01 8.48862332e-01 -3.57192748e-03 3.06294443e+01] [ 6.91166913e-03 -9.62221758e-05 9.99976109e-01 5.67237248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:30.64, Z:0.57 [[ 8.48601289e-01 -5.28999843e-01 -5.91762812e-03 1.04379384e+02] [ 5.28987789e-01 8.48621916e-01 -3.57240899e-03 3.06397805e+01] [ 6.91163271e-03 -9.88021392e-05 9.99976110e-01 5.69379319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:30.65, Z:0.57 [[ 8.48431073e-01 -5.29272802e-01 -5.91742163e-03 1.04404700e+02] [ 5.29260753e-01 8.48451702e-01 -3.57275099e-03 3.06528230e+01] [ 6.91160638e-03 -1.00626067e-04 9.99976110e-01 5.71834569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:30.66, Z:0.57 [[ 8.48407788e-01 -5.29310134e-01 -5.91673210e-03 1.04428474e+02] [ 5.29298078e-01 8.48428413e-01 -3.57389254e-03 3.06649464e+01] [ 6.91162116e-03 -9.95966593e-05 9.99976110e-01 5.71822956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:30.68, Z:0.57 [[ 8.48351536e-01 -5.29400290e-01 -5.91643192e-03 1.04453542e+02] [ 5.29388232e-01 8.48372161e-01 -3.57438940e-03 3.06753846e+01] [ 6.91161892e-03 -9.97506961e-05 9.99976110e-01 5.71880571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:30.69, Z:0.57 [[ 8.48264834e-01 -5.29539206e-01 -5.91615222e-03 1.04478604e+02] [ 5.29527149e-01 8.48285458e-01 -3.57485230e-03 3.06885930e+01] [ 6.91161034e-03 -1.00341727e-04 9.99976110e-01 5.72721092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:30.70, Z:0.57 [[ 8.48200255e-01 -5.29642649e-01 -5.91544296e-03 1.04503450e+02] [ 5.29630586e-01 8.48220876e-01 -3.57602554e-03 3.07015827e+01] [ 6.91161785e-03 -9.98137500e-05 9.99976110e-01 5.71503363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:104.53, Y:30.71, Z:0.57 [[ 8.48344619e-01 -5.29411387e-01 -5.91522271e-03 1.04528516e+02] [ 5.29399316e-01 8.48365236e-01 -3.57638983e-03 3.07145940e+01] [ 6.91165081e-03 -9.75037861e-05 9.99976110e-01 5.65965763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:30.72, Z:0.57 [[ 8.49117673e-01 -5.28170607e-01 -5.91500422e-03 1.04555360e+02] [ 5.28158503e-01 8.49138271e-01 -3.57675116e-03 3.07243014e+01] [ 6.91179128e-03 -8.69771545e-05 9.99976110e-01 5.69099323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:30.74, Z:0.57 [[ 8.49814929e-01 -5.27048013e-01 -5.91431165e-03 1.04579661e+02] [ 5.27035874e-01 8.49835506e-01 -3.57789598e-03 3.07372640e+01] [ 6.91191500e-03 -7.65049865e-05 9.99976110e-01 5.69360810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:30.75, Z:0.57 [[ 8.50669072e-01 -5.25668298e-01 -5.91361985e-03 1.04603999e+02] [ 5.25656117e-01 8.50689624e-01 -3.57903904e-03 3.07511535e+01] [ 6.91204241e-03 -6.39526324e-05 9.99976110e-01 5.70742858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:104.63, Y:30.76, Z:0.57 [[ 8.52908189e-01 -5.22027450e-01 -5.91290812e-03 1.04627914e+02] [ 5.22015174e-01 8.52928684e-01 -3.58021450e-03 3.07635792e+01] [ 6.91225919e-03 -3.30334916e-05 9.99976110e-01 5.65512552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:30.78, Z:0.57 [[ 8.54114795e-01 -5.20050919e-01 -5.91259861e-03 1.04652903e+02] [ 5.20038592e-01 8.54135260e-01 -3.58072556e-03 3.07767424e+01] [ 6.91231857e-03 -1.64287786e-05 9.99976110e-01 5.71243284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:30.79, Z:0.57 [[ 8.55209806e-01 -5.18248239e-01 -5.91189970e-03 1.04678133e+02] [ 5.18235861e-01 8.55230239e-01 -3.58187913e-03 3.07911470e+01] [ 6.91233794e-03 -5.00280157e-07 9.99976110e-01 5.72605266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:30.80, Z:0.58 [[ 8.57409429e-01 -5.14600940e-01 -5.91128486e-03 1.04702925e+02] [ 5.14588468e-01 8.57429806e-01 -3.58289353e-03 3.08043837e+01] [ 6.91227220e-03 3.01276736e-05 9.99976110e-01 5.75698989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:30.82, Z:0.58 [[ 8.58324060e-01 -5.13073939e-01 -5.91106644e-03 1.04727807e+02] [ 5.13061428e-01 8.58344413e-01 -3.58325384e-03 3.08194966e+01] [ 6.91220501e-03 4.28527896e-05 9.99976110e-01 5.77187397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:30.83, Z:0.58 [[ 8.59180672e-01 -5.11638192e-01 -5.91045877e-03 1.04750785e+02] [ 5.11625641e-01 8.59200999e-01 -3.58425590e-03 3.08336811e+01] [ 6.91211428e-03 5.55811355e-05 9.99976110e-01 5.77680740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:104.77, Y:30.85, Z:0.58 [[ 8.60086086e-01 -5.10114687e-01 -5.91017493e-03 1.04773969e+02] [ 5.10102096e-01 8.60106389e-01 -3.58472386e-03 3.08496853e+01] [ 6.91199951e-03 6.83784982e-05 9.99976110e-01 5.76954319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:30.86, Z:0.58 [[ 8.60340612e-01 -5.09685305e-01 -5.90949116e-03 1.04797473e+02] [ 5.09672696e-01 8.60360904e-01 -3.58585071e-03 3.08641168e+01] [ 6.91195057e-03 7.31467035e-05 9.99976110e-01 5.79676240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:30.88, Z:0.58 [[ 8.60453979e-01 -5.09493898e-01 -5.90917206e-03 1.04821819e+02] [ 5.09481281e-01 8.60474266e-01 -3.58637649e-03 3.08788483e+01] [ 6.91192743e-03 7.52993730e-05 9.99976110e-01 5.80806904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:30.89, Z:0.58 [[ 8.60829770e-01 -5.08858721e-01 -5.90846454e-03 1.04845079e+02] [ 5.08846081e-01 8.60850042e-01 -3.58754173e-03 3.08916641e+01] [ 6.91185384e-03 8.17636933e-05 9.99976110e-01 5.80124519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:30.91, Z:0.58 [[ 8.60879382e-01 -5.08774787e-01 -5.90815700e-03 1.04868882e+02] [ 5.08762142e-01 8.60899651e-01 -3.58804814e-03 3.09068606e+01] [ 6.91183872e-03 8.30300550e-05 9.99976110e-01 5.79987112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:30.92, Z:0.58 [[ 8.60825655e-01 -5.08865693e-01 -5.90745889e-03 1.04891556e+02] [ 5.08853042e-01 8.60845921e-01 -3.58919714e-03 3.09227983e+01] [ 6.91183118e-03 8.36445517e-05 9.99976110e-01 5.79052498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:30.94, Z:0.57 [[ 8.60853238e-01 -5.08819037e-01 -5.90676069e-03 1.04913107e+02] [ 5.08806377e-01 8.60873498e-01 -3.59034582e-03 3.09410751e+01] [ 6.91181004e-03 8.53633161e-05 9.99976110e-01 5.74943785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:30.96, Z:0.58 [[ 8.60712767e-01 -5.09056622e-01 -5.90654364e-03 1.04936199e+02] [ 5.09043965e-01 8.60733030e-01 -3.59070286e-03 3.09568941e+01] [ 6.91182827e-03 8.38734000e-05 9.99976110e-01 5.75178160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:30.97, Z:0.58 [[ 8.60340264e-01 -5.09685934e-01 -5.90586735e-03 1.04959404e+02] [ 5.09673284e-01 8.60360530e-01 -3.59181484e-03 3.09720132e+01] [ 6.91187267e-03 8.01201164e-05 9.99976110e-01 5.77373532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:104.98, Y:30.99, Z:0.57 [[ 8.60046541e-01 -5.10181415e-01 -5.90515566e-03 1.04982484e+02] [ 5.10168769e-01 8.60066810e-01 -3.59298452e-03 3.09866963e+01] [ 6.91190232e-03 7.75079221e-05 9.99976110e-01 5.74435326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:105.01, Y:31.00, Z:0.58 [[ 8.58861100e-01 -5.12174525e-01 -5.90484602e-03 1.05006292e+02] [ 5.12161922e-01 8.58881396e-01 -3.59349332e-03 3.10020763e+01] [ 6.91205813e-03 6.20743416e-05 9.99976110e-01 5.75404983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.03, Y:31.02, Z:0.57 [[ 8.58028706e-01 -5.13567792e-01 -5.90441027e-03 1.05028243e+02] [ 5.13555218e-01 8.58049020e-01 -3.59420916e-03 3.10171802e+01] [ 6.91214351e-03 5.16939317e-05 9.99976110e-01 5.74481379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76264 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:105.05, Y:31.03, Z:0.58 [[ 8.57178302e-01 -5.14985925e-01 -5.90393146e-03 1.05051358e+02] [ 5.14973378e-01 8.57198633e-01 -3.59499548e-03 3.10338245e+01] [ 6.91221405e-03 4.11845933e-05 9.99976110e-01 5.75107318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:31.05, Z:0.58 [[ 8.55578049e-01 -5.17640178e-01 -5.90321643e-03 1.05074833e+02] [ 5.17627687e-01 8.55598414e-01 -3.59616923e-03 3.10495870e+01] [ 6.91230430e-03 2.11351820e-05 9.99976110e-01 5.75699531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:31.06, Z:0.58 [[ 8.54560392e-01 -5.19318487e-01 -5.90299481e-03 1.05098819e+02] [ 5.19306033e-01 8.54580780e-01 -3.59653298e-03 3.10632470e+01] [ 6.91233197e-03 7.99381863e-06 9.99976110e-01 5.75675840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:31.08, Z:0.58 [[ 8.54458649e-01 -5.19485880e-01 -5.90228753e-03 1.05123043e+02] [ 5.19473422e-01 8.54479035e-01 -3.59769332e-03 3.10782346e+01] [ 6.91233183e-03 7.99866933e-06 9.99976110e-01 5.75872712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:31.09, Z:0.58 [[ 8.53541577e-01 -5.20991312e-01 -5.90158256e-03 1.05147013e+02] [ 5.20978882e-01 8.53561979e-01 -3.59884937e-03 3.10914323e+01] [ 6.91233575e-03 -2.83231421e-06 9.99976110e-01 5.75284702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:31.10, Z:0.58 [[ 8.51801518e-01 -5.23831413e-01 -5.90128267e-03 1.05172428e+02] [ 5.23819048e-01 8.51821959e-01 -3.59934106e-03 3.11040024e+01] [ 6.91229008e-03 -2.52800929e-05 9.99976110e-01 5.76481179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.20, Y:31.12, Z:0.58 [[ 8.50939262e-01 -5.25230954e-01 -5.90059838e-03 1.05196071e+02] [ 5.25218615e-01 8.50959719e-01 -3.60046250e-03 3.11181429e+01] [ 6.91224589e-03 -3.53292075e-05 9.99976110e-01 5.76414311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.22, Y:31.13, Z:0.58 [[ 8.50320393e-01 -5.26232288e-01 -5.89991110e-03 1.05219841e+02] [ 5.26219965e-01 8.50340859e-01 -3.60158836e-03 3.11328585e+01] [ 6.91220756e-03 -4.21469883e-05 9.99976110e-01 5.78072381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.24, Y:31.15, Z:0.58 [[ 8.49661774e-01 -5.27295050e-01 -5.89920205e-03 1.05243834e+02] [ 5.27282745e-01 8.49682251e-01 -3.60274938e-03 3.11474147e+01] [ 6.91215919e-03 -4.94290206e-05 9.99976110e-01 5.77905713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.27, Y:31.16, Z:0.58 [[ 8.49317886e-01 -5.27848777e-01 -5.89898221e-03 1.05268518e+02] [ 5.27836482e-01 8.49338370e-01 -3.60310928e-03 3.11614908e+01] [ 6.91212876e-03 -5.35128604e-05 9.99976110e-01 5.78143998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.29, Y:31.17, Z:0.58 [[ 8.49215452e-01 -5.28013566e-01 -5.89827564e-03 1.05292298e+02] [ 5.28001267e-01 8.49235934e-01 -3.60426558e-03 3.11742538e+01] [ 6.91212874e-03 -5.34989868e-05 9.99976110e-01 5.76245671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:31.19, Z:0.58 [[ 8.49056746e-01 -5.28268734e-01 -5.89797048e-03 1.05317851e+02] [ 5.28256438e-01 8.49077229e-01 -3.60476486e-03 3.11863515e+01] [ 6.91211701e-03 -5.49909514e-05 9.99976110e-01 5.79776472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:31.20, Z:0.58 [[ 8.49083197e-01 -5.28226226e-01 -5.89727337e-03 1.05341920e+02] [ 5.28213921e-01 8.49103675e-01 -3.60590495e-03 3.11995505e+01] [ 6.91213006e-03 -5.33085831e-05 9.99976110e-01 5.78584309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:31.21, Z:0.58 [[ 8.49078507e-01 -5.28233770e-01 -5.89679860e-03 1.05366697e+02] [ 5.28221460e-01 8.49098982e-01 -3.60668119e-03 3.12135122e+01] [ 6.91213649e-03 -5.24600815e-05 9.99976110e-01 5.78202335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:105.39, Y:31.23, Z:0.57 [[ 8.49165414e-01 -5.28094060e-01 -5.89610813e-03 1.05390948e+02] [ 5.28081738e-01 8.49185882e-01 -3.60780960e-03 3.12273704e+01] [ 6.91215460e-03 -4.99998996e-05 9.99976110e-01 5.73720833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.42, Y:31.24, Z:0.57 [[ 8.49697738e-01 -5.27237132e-01 -5.89589456e-03 1.05416944e+02] [ 5.27224787e-01 8.49718192e-01 -3.60815858e-03 3.12403786e+01] [ 6.91220404e-03 -4.26175717e-05 9.99976110e-01 5.72504957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.44, Y:31.25, Z:0.57 [[ 8.50116370e-01 -5.26561870e-01 -5.89529424e-03 1.05441526e+02] [ 5.26549503e-01 8.50136810e-01 -3.60913917e-03 3.12542396e+01] [ 6.91224170e-03 -3.59759611e-05 9.99976110e-01 5.74445584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:31.27, Z:0.58 [[ 8.50798126e-01 -5.25459612e-01 -5.89457843e-03 1.05464884e+02] [ 5.25447209e-01 8.50818545e-01 -3.61030786e-03 3.12674465e+01] [ 6.91228761e-03 -2.56466255e-05 9.99976110e-01 5.75350894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.49, Y:31.28, Z:0.57 [[ 8.52572625e-01 -5.22575525e-01 -5.89408967e-03 1.05489988e+02] [ 5.22563048e-01 8.52592998e-01 -3.61110562e-03 3.12800057e+01] [ 6.91233500e-03 -1.30366625e-06 9.99976110e-01 5.74109483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:31.29, Z:0.57 [[ 8.53457872e-01 -5.21128515e-01 -5.89337483e-03 1.05513237e+02] [ 5.21115995e-01 8.53478220e-01 -3.61227187e-03 3.12932443e+01] [ 6.91232494e-03 1.17899751e-05 9.99976110e-01 5.73559649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:31.31, Z:0.58 [[ 8.54366604e-01 -5.19637354e-01 -5.89288747e-03 1.05537421e+02] [ 5.19624793e-01 8.54386926e-01 -3.61306676e-03 3.13077470e+01] [ 6.91229046e-03 2.47931388e-05 9.99976110e-01 5.75392183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:105.56, Y:31.32, Z:0.57 [[ 8.56268055e-01 -5.16498113e-01 -5.89217494e-03 1.05561755e+02] [ 5.16485470e-01 8.56288325e-01 -3.61422838e-03 3.13230707e+01] [ 6.91214275e-03 5.15255557e-05 9.99976110e-01 5.74815730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:105.58, Y:31.34, Z:0.57 [[ 8.57140557e-01 -5.15048886e-01 -5.89154780e-03 1.05584246e+02] [ 5.15036202e-01 8.57160802e-01 -3.61525039e-03 3.13379324e+01] [ 6.91203452e-03 6.44173373e-05 9.99976110e-01 5.72659626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:31.35, Z:0.58 [[ 8.57774380e-01 -5.13992615e-01 -5.89105878e-03 1.05607154e+02] [ 5.13979901e-01 8.57794606e-01 -3.61604707e-03 3.13537861e+01] [ 6.91193994e-03 7.38667224e-05 9.99976110e-01 5.78994980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.63, Y:31.37, Z:0.58 [[ 8.59012877e-01 -5.11920093e-01 -5.89033795e-03 1.05629654e+02] [ 5.11907321e-01 8.59033067e-01 -3.61722089e-03 3.13712323e+01] [ 6.91172313e-03 9.19321992e-05 9.99976110e-01 5.78274883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:31.39, Z:0.58 [[ 8.59510952e-01 -5.11083388e-01 -5.89011516e-03 1.05653426e+02] [ 5.11070595e-01 8.59531128e-01 -3.61758363e-03 3.13857644e+01] [ 6.91162423e-03 9.90880961e-05 9.99976110e-01 5.79939759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:31.40, Z:0.58 [[ 8.59781622e-01 -5.10627918e-01 -5.88989633e-03 1.05677022e+02] [ 5.10615111e-01 8.59801790e-01 -3.61793987e-03 3.14002014e+01] [ 6.91156452e-03 1.03168138e-04 9.99976110e-01 5.81148103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:31.42, Z:0.58 [[ 8.60202413e-01 -5.09918744e-01 -5.88919837e-03 1.05699633e+02] [ 5.09905913e-01 8.60222566e-01 -3.61907564e-03 3.14168339e+01] [ 6.91145584e-03 1.10200524e-04 9.99976110e-01 5.81900535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:31.43, Z:0.58 [[ 8.60117896e-01 -5.10061295e-01 -5.88898147e-03 1.05722155e+02] [ 5.10048465e-01 8.60138049e-01 -3.61942856e-03 3.14338918e+01] [ 6.91146745e-03 1.09469320e-04 9.99976110e-01 5.82908389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.74, Y:31.45, Z:0.58 [[ 8.59973657e-01 -5.10304456e-01 -5.88827410e-03 1.05744350e+02] [ 5.10291624e-01 8.59993808e-01 -3.62057898e-03 3.14506533e+01] [ 6.91147685e-03 1.08865594e-04 9.99976110e-01 5.79319843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.77, Y:31.47, Z:0.58 [[ 8.59052523e-01 -5.11853586e-01 -5.88805408e-03 1.05766691e+02] [ 5.11840787e-01 8.59072696e-01 -3.62093676e-03 3.14688405e+01] [ 6.91165595e-03 9.68286216e-05 9.99976110e-01 5.79250565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:31.48, Z:0.58 [[ 8.58312616e-01 -5.13093355e-01 -5.88743292e-03 1.05789836e+02] [ 5.13080578e-01 8.58332803e-01 -3.62194643e-03 3.14845795e+01] [ 6.91177345e-03 8.80348287e-05 9.99976110e-01 5.80311376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:31.50, Z:0.58 [[ 8.57368486e-01 -5.14669434e-01 -5.88672440e-03 1.05812816e+02] [ 5.14656687e-01 8.57388691e-01 -3.62309762e-03 3.14994433e+01] [ 6.91190853e-03 7.66876491e-05 9.99976110e-01 5.78818629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:31.51, Z:0.58 [[ 8.55158762e-01 -5.18332752e-01 -5.88641688e-03 1.05836199e+02] [ 5.18320088e-01 8.55179020e-01 -3.62359717e-03 3.15148933e+01] [ 6.91216932e-03 4.77027575e-05 9.99976110e-01 5.81414380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:31.53, Z:0.58 [[ 8.54201613e-01 -5.19908610e-01 -5.88571330e-03 1.05858585e+02] [ 5.19895976e-01 8.54221889e-01 -3.62473963e-03 3.15305378e+01] [ 6.91223847e-03 3.62997848e-05 9.99976110e-01 5.79481525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.88, Y:31.55, Z:0.58 [[ 8.53342347e-01 -5.21317756e-01 -5.88523485e-03 1.05881822e+02] [ 5.21305150e-01 8.53362641e-01 -3.62551628e-03 3.15480475e+01] [ 6.91228557e-03 2.58033402e-05 9.99976110e-01 5.78474002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84264 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:105.91, Y:31.56, Z:0.58 [[ 8.52724291e-01 -5.22328110e-01 -5.88462434e-03 1.05905130e+02] [ 5.22315521e-01 8.52744595e-01 -3.62650694e-03 3.15648410e+01] [ 6.91230812e-03 1.87799268e-05 9.99976110e-01 5.77124604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:31.58, Z:0.58 [[ 8.52116544e-01 -5.23318998e-01 -5.88400542e-03 1.05927259e+02] [ 5.23306426e-01 8.52136859e-01 -3.62751086e-03 3.15802405e+01] [ 6.91232325e-03 1.19241717e-05 9.99976110e-01 5.76935502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.95, Y:31.60, Z:0.58 [[ 8.52180830e-01 -5.23214312e-01 -5.88369696e-03 1.05950163e+02] [ 5.23201733e-01 8.52201141e-01 -3.62801111e-03 3.15956601e+01] [ 6.91232059e-03 1.33610678e-05 9.99976110e-01 5.75715601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.97, Y:31.61, Z:0.58 [[ 8.52598022e-01 -5.22534212e-01 -5.88299665e-03 1.05971942e+02] [ 5.22521610e-01 8.52618318e-01 -3.62914634e-03 3.16127260e+01] [ 6.91230383e-03 2.02101102e-05 9.99976110e-01 5.77441445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264000000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:105.99, Y:31.63, Z:0.58 [[ 8.52814719e-01 -5.22180479e-01 -5.88228150e-03 1.05994057e+02] [ 5.22167860e-01 8.52835005e-01 -3.63030512e-03 3.16285292e+01] [ 6.91229004e-03 2.44392979e-05 9.99976110e-01 5.77843718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:31.64, Z:0.58 [[ 8.53047269e-01 -5.21800497e-01 -5.88196932e-03 1.06018094e+02] [ 5.21787866e-01 8.53067547e-01 -3.63081085e-03 3.16448423e+01] [ 6.91227605e-03 2.81130636e-05 9.99976110e-01 5.80425018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.04, Y:31.66, Z:0.58 [[ 8.52931309e-01 -5.21990030e-01 -5.88134647e-03 1.06041479e+02] [ 5.21977396e-01 8.52951586e-01 -3.63181948e-03 3.16607844e+01] [ 6.91227736e-03 2.77626293e-05 9.99976110e-01 5.79663309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.07, Y:31.67, Z:0.58 [[ 8.52571218e-01 -5.22577965e-01 -5.88112549e-03 1.06065851e+02] [ 5.22565343e-01 8.52591502e-01 -3.63217730e-03 3.16746441e+01] [ 6.91229344e-03 2.34174673e-05 9.99976110e-01 5.82395864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:31.69, Z:0.58 [[ 8.52002009e-01 -5.23505489e-01 -5.88040894e-03 1.06090792e+02] [ 5.23492881e-01 8.52022302e-01 -3.63333700e-03 3.16887892e+01] [ 6.91231142e-03 1.72582087e-05 9.99976110e-01 5.84925488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.11, Y:31.70, Z:0.58 [[ 8.51226089e-01 -5.24766208e-01 -5.87977316e-03 1.06114309e+02] [ 5.24753623e-01 8.51246396e-01 -3.63436558e-03 3.17025450e+01] [ 6.91232796e-03 8.23452754e-06 9.99976110e-01 5.83804929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:106.14, Y:31.72, Z:0.58 [[ 8.50749323e-01 -5.25538793e-01 -5.87927818e-03 1.06138256e+02] [ 5.25526221e-01 8.50769638e-01 -3.63516612e-03 3.17167789e+01] [ 6.91233219e-03 2.90027751e-06 9.99976110e-01 5.83979252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.16, Y:31.73, Z:0.58 [[ 8.50391877e-01 -5.26117000e-01 -5.87855969e-03 1.06161851e+02] [ 5.26104434e-01 8.50412195e-01 -3.63632765e-03 3.17306257e+01] [ 6.91233265e-03 -4.32823811e-07 9.99976110e-01 5.84221874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.19, Y:31.75, Z:0.58 [[ 8.50071927e-01 -5.26633806e-01 -5.87825300e-03 1.06186186e+02] [ 5.26621248e-01 8.50092251e-01 -3.63682336e-03 3.17453059e+01] [ 6.91233145e-03 -4.05149128e-06 9.99976110e-01 5.83779566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.21, Y:31.76, Z:0.58 [[ 8.50003822e-01 -5.26743729e-01 -5.87753957e-03 1.06210697e+02] [ 5.26731166e-01 8.50024143e-01 -3.63797599e-03 3.17589920e+01] [ 6.91233157e-03 -3.58978020e-06 9.99976110e-01 5.82081555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:106.24, Y:31.77, Z:0.58 [[ 8.49939618e-01 -5.26847325e-01 -5.87720883e-03 1.06235420e+02] [ 5.26834761e-01 8.49959938e-01 -3.63851022e-03 3.17728018e+01] [ 6.91233143e-03 -3.80392103e-06 9.99976110e-01 5.81738517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:31.79, Z:0.59 [[ 8.50047695e-01 -5.26672938e-01 -5.87650140e-03 1.06260280e+02] [ 5.26660361e-01 8.50068007e-01 -3.63965243e-03 3.17858172e+01] [ 6.91233227e-03 -1.04219247e-06 9.99976110e-01 5.85521142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:31.80, Z:0.59 [[ 8.50892464e-01 -5.25307043e-01 -5.87576857e-03 1.06284753e+02] [ 5.25294426e-01 8.50912751e-01 -3.64083510e-03 3.17982966e+01] [ 6.91232272e-03 1.14506787e-05 9.99976110e-01 5.86987570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:31.81, Z:0.59 [[ 8.51464822e-01 -5.24378808e-01 -5.87554119e-03 1.06308187e+02] [ 5.24366167e-01 8.51485094e-01 -3.64120200e-03 3.18126473e+01] [ 6.91230491e-03 1.94204020e-05 9.99976110e-01 5.87876569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:31.83, Z:0.59 [[ 8.52089033e-01 -5.23363890e-01 -5.87521036e-03 1.06331699e+02] [ 5.23351221e-01 8.52109287e-01 -3.64173573e-03 3.18275525e+01] [ 6.91227430e-03 2.82845647e-05 9.99976110e-01 5.89802738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:31.84, Z:0.59 [[ 8.53913582e-01 -5.20381672e-01 -5.87449797e-03 1.06354965e+02] [ 5.20368924e-01 8.53933787e-01 -3.64288453e-03 3.18427690e+01] [ 6.91212264e-03 5.38023949e-05 9.99976110e-01 5.89622265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:31.86, Z:0.59 [[ 8.54855432e-01 -5.18833002e-01 -5.87416431e-03 1.06378821e+02] [ 5.18820213e-01 8.54875612e-01 -3.64342248e-03 3.18577969e+01] [ 6.91200763e-03 6.69643131e-05 9.99976110e-01 5.89216435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.40, Y:31.87, Z:0.59 [[ 8.55946936e-01 -5.17030314e-01 -5.87347799e-03 1.06403700e+02] [ 5.17017475e-01 8.55967083e-01 -3.64452854e-03 3.18727027e+01] [ 6.91183556e-03 8.28322737e-05 9.99976110e-01 5.88280006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:31.89, Z:0.59 [[ 8.57893378e-01 -5.13794183e-01 -5.87285123e-03 1.06427989e+02] [ 5.13781261e-01 8.57913472e-01 -3.64553824e-03 3.18860075e+01] [ 6.91145453e-03 1.10122202e-04 9.99976110e-01 5.87446383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:31.90, Z:0.59 [[ 8.58622301e-01 -5.12575122e-01 -5.87262831e-03 1.06451481e+02] [ 5.12562170e-01 8.58642376e-01 -3.64589731e-03 3.19015560e+01] [ 6.91128378e-03 1.20361633e-04 9.99976110e-01 5.87967658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.47, Y:31.92, Z:0.59 [[ 8.59276848e-01 -5.11477095e-01 -5.87191788e-03 1.06474261e+02] [ 5.11464109e-01 8.59296901e-01 -3.64704114e-03 3.19182109e+01] [ 6.91109884e-03 1.30542771e-04 9.99976110e-01 5.86553784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:31.94, Z:0.59 [[ 8.60270806e-01 -5.09803559e-01 -5.87120098e-03 1.06496048e+02] [ 5.09790526e-01 8.60290829e-01 -3.64819488e-03 3.19350914e+01] [ 6.91080309e-03 1.45352914e-04 9.99976110e-01 5.86324442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.52, Y:31.95, Z:0.59 [[ 8.60550846e-01 -5.09330713e-01 -5.87071210e-03 1.06519687e+02] [ 5.09317664e-01 8.60570858e-01 -3.64898141e-03 3.19505858e+01] [ 6.91070206e-03 1.50076667e-04 9.99976110e-01 5.85057378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:31.97, Z:0.59 [[ 8.60511864e-01 -5.09396574e-01 -5.87049822e-03 1.06543010e+02] [ 5.09383524e-01 8.60531875e-01 -3.64932547e-03 3.19662407e+01] [ 6.91070473e-03 1.49952785e-04 9.99976110e-01 5.89169974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:31.98, Z:0.59 [[ 8.60327362e-01 -5.09708128e-01 -5.86977830e-03 1.06563983e+02] [ 5.09695077e-01 8.60347373e-01 -3.65048307e-03 3.19828507e+01] [ 6.91072923e-03 1.48813373e-04 9.99976110e-01 5.86992916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.59, Y:32.00, Z:0.59 [[ 8.59935457e-01 -5.10369045e-01 -5.86928662e-03 1.06586480e+02] [ 5.10356004e-01 8.59955474e-01 -3.65127343e-03 3.19988888e+01] [ 6.91082209e-03 1.44433817e-04 9.99976110e-01 5.87657179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:32.01, Z:0.59 [[ 8.59304787e-01 -5.11430194e-01 -5.86857526e-03 1.06609984e+02] [ 5.11417171e-01 8.59324815e-01 -3.65241641e-03 3.20148818e+01] [ 6.91096838e-03 1.37248745e-04 9.99976110e-01 5.89440251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:32.03, Z:0.59 [[ 8.59204903e-01 -5.11597989e-01 -5.86786145e-03 1.06634064e+02] [ 5.11584961e-01 8.59224929e-01 -3.65356284e-03 3.20300956e+01] [ 6.91096824e-03 1.37249436e-04 9.99976110e-01 5.89637120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:32.05, Z:0.59 [[ 8.57730337e-01 -5.14066383e-01 -5.86714778e-03 1.06655025e+02] [ 5.14053405e-01 8.57750395e-01 -3.65470854e-03 3.20467687e+01] [ 6.91131112e-03 1.18727097e-04 9.99976110e-01 5.88736773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:32.06, Z:0.59 [[ 8.56796913e-01 -5.15620629e-01 -5.86666173e-03 1.06678362e+02] [ 5.15607682e-01 8.56816991e-01 -3.65548859e-03 3.20622884e+01] [ 6.91150078e-03 1.07115485e-04 9.99976110e-01 5.87973506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:32.08, Z:0.59 [[ 8.55576484e-01 -5.17643183e-01 -5.86644184e-03 1.06702205e+02] [ 5.17630281e-01 8.55596591e-01 -3.65584146e-03 3.20776103e+01] [ 6.91172904e-03 9.12040447e-05 9.99976110e-01 5.89314824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:32.09, Z:0.59 [[ 8.53151105e-01 -5.21630890e-01 -5.86573199e-03 1.06725740e+02] [ 5.21618075e-01 8.53171267e-01 -3.65698004e-03 3.20922520e+01] [ 6.91206774e-03 6.02847308e-05 9.99976110e-01 5.90328606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.75, Y:32.11, Z:0.59 [[ 8.51982147e-01 -5.23537981e-01 -5.86550892e-03 1.06750289e+02] [ 5.23525208e-01 8.52002336e-01 -3.65733778e-03 3.21081070e+01] [ 6.91218254e-03 4.52447159e-05 9.99976110e-01 5.89821472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.77, Y:32.12, Z:0.59 [[ 8.50955806e-01 -5.25204549e-01 -5.86489325e-03 1.06773438e+02] [ 5.25191809e-01 8.50976016e-01 -3.65832481e-03 3.21238619e+01] [ 6.91225233e-03 3.28788441e-05 9.99976110e-01 5.91775840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:32.14, Z:0.59 [[ 8.50070689e-01 -5.26635961e-01 -5.86417124e-03 1.06794723e+02] [ 5.26623247e-01 8.50090915e-01 -3.65948180e-03 3.21401211e+01] [ 6.91229341e-03 2.26093174e-05 9.99976110e-01 5.92046367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:32.16, Z:0.59 [[ 8.50064012e-01 -5.26646742e-01 -5.86385726e-03 1.06817486e+02] [ 5.26634025e-01 8.50084236e-01 -3.65998485e-03 3.21559095e+01] [ 6.91229171e-03 2.31146594e-05 9.99976110e-01 5.92440666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:32.17, Z:0.59 [[ 8.50231994e-01 -5.26375512e-01 -5.86313714e-03 1.06840760e+02] [ 5.26362780e-01 8.50252209e-01 -3.66113809e-03 3.21721255e+01] [ 6.91227874e-03 2.66795725e-05 9.99976110e-01 5.91506596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.86, Y:32.19, Z:0.59 [[ 8.51154763e-01 -5.24882084e-01 -5.86241649e-03 1.06862828e+02] [ 5.24869309e-01 8.51174950e-01 -3.66229167e-03 3.21881840e+01] [ 6.91221335e-03 4.01745079e-05 9.99976110e-01 5.88568933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:32.20, Z:0.59 [[ 8.51397074e-01 -5.24488950e-01 -5.86210631e-03 1.06885909e+02] [ 5.24476162e-01 8.51417254e-01 -3.66278809e-03 3.22033865e+01] [ 6.91219033e-03 4.39520437e-05 9.99976110e-01 5.90102781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:32.22, Z:0.59 [[ 8.51464650e-01 -5.24379245e-01 -5.86141374e-03 1.06908605e+02] [ 5.24366447e-01 8.51484824e-01 -3.66389605e-03 3.22190936e+01] [ 6.91217589e-03 4.61492748e-05 9.99976110e-01 5.92126583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.93, Y:32.24, Z:0.59 [[ 8.51550080e-01 -5.24240511e-01 -5.86067860e-03 1.06930358e+02] [ 5.24227701e-01 8.51570246e-01 -3.66507158e-03 3.22362498e+01] [ 6.91215852e-03 4.86619339e-05 9.99976110e-01 5.90660047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19264000000001 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:106.95, Y:32.25, Z:0.59 [[ 8.51268545e-01 -5.24697551e-01 -5.86045036e-03 1.06953164e+02] [ 5.24684750e-01 8.51288716e-01 -3.66543649e-03 3.22525881e+01] [ 6.91218082e-03 4.53818561e-05 9.99976110e-01 5.89675114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:32.27, Z:0.59 [[ 8.50358100e-01 -5.26171796e-01 -5.86022319e-03 1.06976623e+02] [ 5.26159027e-01 8.50378292e-01 -3.66579966e-03 3.22694294e+01] [ 6.91224698e-03 3.38331051e-05 9.99976110e-01 5.90100371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:32.28, Z:0.59 [[ 8.49712798e-01 -5.27213264e-01 -5.85959805e-03 1.07000447e+02] [ 5.27200513e-01 8.49733001e-01 -3.66679865e-03 3.22847765e+01] [ 6.91227872e-03 2.65426404e-05 9.99976110e-01 5.90069043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:32.30, Z:0.59 [[ 8.49285103e-01 -5.27901968e-01 -5.85887300e-03 1.07023893e+02] [ 5.27889225e-01 8.49305311e-01 -3.66795677e-03 3.22999948e+01] [ 6.91229356e-03 2.23051150e-05 9.99976110e-01 5.89398854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:32.32, Z:0.59 [[ 8.49055898e-01 -5.28270540e-01 -5.85815401e-03 1.07046928e+02] [ 5.28257798e-01 8.49076107e-01 -3.66910472e-03 3.23150367e+01] [ 6.91229854e-03 2.06594601e-05 9.99976110e-01 5.89112933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:32.33, Z:0.59 [[ 8.48840424e-01 -5.28616709e-01 -5.85743882e-03 1.07069529e+02] [ 5.28603968e-01 8.48860633e-01 -3.67024611e-03 3.23314180e+01] [ 6.91230265e-03 1.91878663e-05 9.99976110e-01 5.89978840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.09, Y:32.35, Z:0.59 [[ 8.48764837e-01 -5.28738073e-01 -5.85671446e-03 1.07092729e+02] [ 5.28725327e-01 8.48785043e-01 -3.67140163e-03 3.23468573e+01] [ 6.91230146e-03 1.95633407e-05 9.99976110e-01 5.86410070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:32.36, Z:0.59 [[ 8.48434818e-01 -5.29267476e-01 -5.85649052e-03 1.07116227e+02] [ 5.29254740e-01 8.48455030e-01 -3.67175882e-03 3.23621815e+01] [ 6.91231136e-03 1.56726600e-05 9.99976110e-01 5.89569853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:32.38, Z:0.59 [[ 8.47893256e-01 -5.30134640e-01 -5.85577414e-03 1.07140715e+02] [ 5.30121916e-01 8.47913476e-01 -3.67290095e-03 3.23779549e+01] [ 6.91232183e-03 9.95373903e-06 9.99976110e-01 5.91938856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:32.39, Z:0.59 [[ 8.47636682e-01 -5.30544788e-01 -5.85513832e-03 1.07164113e+02] [ 5.30532068e-01 8.47656904e-01 -3.67391426e-03 3.23934244e+01] [ 6.91232449e-03 7.80585356e-06 9.99976110e-01 5.92898399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:32.41, Z:0.59 [[ 8.47359205e-01 -5.30987857e-01 -5.85440201e-03 1.07186728e+02] [ 5.30975138e-01 8.47379429e-01 -3.67508721e-03 3.24083135e+01] [ 6.91232651e-03 5.57705404e-06 9.99976110e-01 5.89585288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.21, Y:32.42, Z:0.59 [[ 8.47480394e-01 -5.30794418e-01 -5.85390192e-03 1.07209980e+02] [ 5.30781690e-01 8.47500611e-01 -3.67588361e-03 3.24233565e+01] [ 6.91232395e-03 8.09534033e-06 9.99976110e-01 5.89028431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:32.44, Z:0.59 [[ 8.47878325e-01 -5.30158549e-01 -5.85319509e-03 1.07233495e+02] [ 5.30145797e-01 8.47898528e-01 -3.67700876e-03 3.24379581e+01] [ 6.91231313e-03 1.46092444e-05 9.99976110e-01 5.91795761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:32.45, Z:0.59 [[ 8.49363738e-01 -5.27775511e-01 -5.85246376e-03 1.07256834e+02] [ 5.27762695e-01 8.49383900e-01 -3.67817241e-03 3.24532061e+01] [ 6.91223781e-03 3.53942174e-05 9.99976110e-01 5.86388008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:32.47, Z:0.59 [[ 8.50377071e-01 -5.26141225e-01 -5.85223642e-03 1.07281067e+02] [ 5.26128367e-01 8.50397207e-01 -3.67853408e-03 3.24688587e+01] [ 6.91215393e-03 4.91134412e-05 9.99976110e-01 5.87517754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:32.48, Z:0.58 [[ 8.51347502e-01 -5.24569528e-01 -5.85160970e-03 1.07304384e+02] [ 5.24556626e-01 8.51367610e-01 -3.67953077e-03 3.24846682e+01] [ 6.91204068e-03 6.30586911e-05 9.99976110e-01 5.84726783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:32.50, Z:0.59 [[ 8.52856868e-01 -5.22111985e-01 -5.85138699e-03 1.07326314e+02] [ 5.22099023e-01 8.52876936e-01 -3.67988491e-03 3.25023914e+01] [ 6.91182502e-03 8.34116860e-05 9.99976110e-01 5.86077727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.35, Y:32.52, Z:0.59 [[ 8.53309227e-01 -5.21372356e-01 -5.85067006e-03 1.07349724e+02] [ 5.21359369e-01 8.53329279e-01 -3.68102440e-03 3.25191327e+01] [ 6.91173243e-03 9.07504351e-05 9.99976110e-01 5.86153765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73264 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:107.37, Y:32.53, Z:0.59 [[ 8.53539534e-01 -5.20995241e-01 -5.85004494e-03 1.07372275e+02] [ 5.20982238e-01 8.53559576e-01 -3.68201760e-03 3.25347233e+01] [ 6.91167552e-03 9.49780763e-05 9.99976110e-01 5.86645947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:32.55, Z:0.59 [[ 8.53754067e-01 -5.20643614e-01 -5.84971266e-03 1.07395561e+02] [ 5.20630600e-01 8.53774102e-01 -3.68254543e-03 3.25501814e+01] [ 6.91162693e-03 9.84487280e-05 9.99976110e-01 5.90231332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.42, Y:32.57, Z:0.59 [[ 8.53758901e-01 -5.20635697e-01 -5.84897022e-03 1.07418879e+02] [ 5.20622674e-01 8.53778930e-01 -3.68372426e-03 3.25663086e+01] [ 6.91160588e-03 9.99058562e-05 9.99976110e-01 5.89293545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:32.58, Z:0.59 [[ 8.53797115e-01 -5.20573035e-01 -5.84822468e-03 1.07440619e+02] [ 5.20560002e-01 8.53817138e-01 -3.68490749e-03 3.25832955e+01] [ 6.91157793e-03 1.01811535e-04 9.99976110e-01 5.90045693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:32.60, Z:0.59 [[ 8.53714697e-01 -5.20708188e-01 -5.84799300e-03 1.07463618e+02] [ 5.20695157e-01 8.53734720e-01 -3.68527513e-03 3.25993480e+01] [ 6.91158760e-03 1.01151905e-04 9.99976110e-01 5.91035258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:32.62, Z:0.59 [[ 8.53584409e-01 -5.20921747e-01 -5.84726735e-03 1.07485449e+02] [ 5.20908712e-01 8.53604430e-01 -3.68642612e-03 3.26161625e+01] [ 6.91159285e-03 1.00783356e-04 9.99976110e-01 5.90674512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:32.63, Z:0.59 [[ 8.53262126e-01 -5.21449477e-01 -5.84695838e-03 1.07508074e+02] [ 5.21436452e-01 8.53282153e-01 -3.68691612e-03 3.26333405e+01] [ 6.91164572e-03 9.70886536e-05 9.99976110e-01 5.91581120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:32.65, Z:0.59 [[ 8.52709899e-01 -5.22352036e-01 -5.84622342e-03 1.07529966e+02] [ 5.22339024e-01 8.52729935e-01 -3.68808115e-03 3.26493724e+01] [ 6.91172641e-03 9.11526636e-05 9.99976110e-01 5.91212341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:32.67, Z:0.59 [[ 8.50641854e-01 -5.25713099e-01 -5.84590460e-03 1.07552948e+02] [ 5.25700162e-01 8.50661939e-01 -3.68858644e-03 3.26655009e+01] [ 6.91202674e-03 6.44730101e-05 9.99976110e-01 5.90458070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:32.68, Z:0.59 [[ 8.49187400e-01 -5.28059266e-01 -5.84567833e-03 1.07577088e+02] [ 5.28046382e-01 8.49207519e-01 -3.68894500e-03 3.26820083e+01] [ 6.91217557e-03 4.58163168e-05 9.99976110e-01 5.93979068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:32.70, Z:0.60 [[ 8.46280733e-01 -5.32705131e-01 -5.84504393e-03 1.07600301e+02] [ 5.32692351e-01 8.46300918e-01 -3.68994991e-03 3.26975487e+01] [ 6.91232129e-03 9.12332576e-06 9.99976110e-01 5.95684097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:107.62, Y:32.71, Z:0.59 [[ 8.44642822e-01 -5.35298366e-01 -5.84481886e-03 1.07624148e+02] [ 5.35285646e-01 8.44663045e-01 -3.69030639e-03 3.27123669e+01] [ 6.91231747e-03 -1.16568329e-05 9.99976110e-01 5.93850707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:32.73, Z:0.60 [[ 8.43214649e-01 -5.37545252e-01 -5.84448152e-03 1.07647863e+02] [ 5.37532582e-01 8.43234903e-01 -3.69084056e-03 3.27267103e+01] [ 6.91226463e-03 -2.94284150e-05 9.99976110e-01 5.97051803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.67, Y:32.74, Z:0.60 [[ 8.41774319e-01 -5.39797968e-01 -5.84375241e-03 1.07670666e+02] [ 5.39785344e-01 8.41794602e-01 -3.69199461e-03 3.27418537e+01] [ 6.91217042e-03 -4.65456526e-05 9.99976110e-01 5.95985802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:32.76, Z:0.60 [[ 8.39371380e-01 -5.43526948e-01 -5.84325725e-03 1.07695109e+02] [ 5.43514408e-01 8.39391715e-01 -3.69277813e-03 3.27562065e+01] [ 6.91190615e-03 -7.62822328e-05 9.99976110e-01 5.98351321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.72, Y:32.77, Z:0.60 [[ 8.38145104e-01 -5.45416033e-01 -5.84253488e-03 1.07719503e+02] [ 5.45403532e-01 8.38165462e-01 -3.69392068e-03 3.27704821e+01] [ 6.91173451e-03 -9.04976265e-05 9.99976110e-01 5.97367260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.74, Y:32.78, Z:0.60 [[ 8.37247814e-01 -5.46792439e-01 -5.84181430e-03 1.07744345e+02] [ 5.46779963e-01 8.37268188e-01 -3.69505989e-03 3.27839493e+01] [ 6.91159609e-03 -1.00506190e-04 9.99976110e-01 5.97402415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:32.80, Z:0.60 [[ 8.35963474e-01 -5.48753999e-01 -5.84109563e-03 1.07770556e+02] [ 5.48741563e-01 8.35983873e-01 -3.69619560e-03 3.27964289e+01] [ 6.91136387e-03 -1.15367429e-04 9.99976110e-01 5.96765383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.79, Y:32.81, Z:0.60 [[ 8.35328327e-01 -5.49720360e-01 -5.84046561e-03 1.07794818e+02] [ 5.49707941e-01 8.35348736e-01 -3.69719086e-03 3.28107821e+01] [ 6.91124665e-03 -1.22182065e-04 9.99976110e-01 5.95732700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:32.82, Z:0.60 [[ 8.34860751e-01 -5.50430217e-01 -5.83973898e-03 1.07818955e+02] [ 5.50417807e-01 8.34881165e-01 -3.69833822e-03 3.28240300e+01] [ 6.91116519e-03 -1.26698897e-04 9.99976110e-01 5.95791646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:32.84, Z:0.60 [[ 8.34348385e-01 -5.51206566e-01 -5.83901858e-03 1.07845037e+02] [ 5.51194167e-01 8.34368806e-01 -3.69947525e-03 3.28351480e+01] [ 6.91107001e-03 -1.31781785e-04 9.99976110e-01 5.95520743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:32.85, Z:0.60 [[ 8.34202199e-01 -5.51427782e-01 -5.83879704e-03 1.07869891e+02] [ 5.51415386e-01 8.34222622e-01 -3.69982487e-03 3.28488586e+01] [ 6.91104280e-03 -1.33200483e-04 9.99976110e-01 5.98177841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:32.86, Z:0.60 [[ 8.34211085e-01 -5.51414347e-01 -5.83807665e-03 1.07893498e+02] [ 5.51401943e-01 8.34231503e-01 -3.70096124e-03 3.28617456e+01] [ 6.91107059e-03 -1.31743919e-04 9.99976110e-01 5.97968253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:32.87, Z:0.60 [[ 8.34430292e-01 -5.51082581e-01 -5.83758487e-03 1.07920579e+02] [ 5.51070163e-01 8.34450701e-01 -3.70173677e-03 3.28725124e+01] [ 6.91113944e-03 -1.28077551e-04 9.99976110e-01 5.96672992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.95, Y:32.89, Z:0.59 [[ 8.34384811e-01 -5.51151447e-01 -5.83695981e-03 1.07945156e+02] [ 5.51139024e-01 8.34405217e-01 -3.70272212e-03 3.28850950e+01] [ 6.91115037e-03 -1.27481242e-04 9.99976110e-01 5.94156410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:32.90, Z:0.60 [[ 8.34616404e-01 -5.50800683e-01 -5.83662608e-03 1.07971052e+02] [ 5.50788247e-01 8.34636803e-01 -3.70324810e-03 3.28971285e+01] [ 6.91121451e-03 -1.23953436e-04 9.99976110e-01 5.97127571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:32.91, Z:0.60 [[ 8.34722344e-01 -5.50640128e-01 -5.83590000e-03 1.07996362e+02] [ 5.50627681e-01 8.34742735e-01 -3.70439197e-03 3.29071387e+01] [ 6.91126200e-03 -1.21269337e-04 9.99976110e-01 5.96840999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.02, Y:32.92, Z:0.60 [[ 8.34684438e-01 -5.50697589e-01 -5.83558374e-03 1.08021951e+02] [ 5.50685140e-01 8.34704829e-01 -3.70489012e-03 3.29206145e+01] [ 6.91126398e-03 -1.21155119e-04 9.99976110e-01 5.95634373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:32.93, Z:0.60 [[ 8.35282225e-01 -5.49790468e-01 -5.83495340e-03 1.08046676e+02] [ 5.49777989e-01 8.35302597e-01 -3.70588259e-03 3.29315990e+01] [ 6.91141065e-03 -1.12471096e-04 9.99976110e-01 5.96453391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.07, Y:32.94, Z:0.60 [[ 8.36206787e-01 -5.48383230e-01 -5.83463897e-03 1.08073759e+02] [ 5.48370714e-01 8.36227136e-01 -3.70637757e-03 3.29427271e+01] [ 6.91159874e-03 -1.00247059e-04 9.99976110e-01 5.95935286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:32.96, Z:0.60 [[ 8.37407925e-01 -5.46547282e-01 -5.83402722e-03 1.08099808e+02] [ 5.46534714e-01 8.37428243e-01 -3.70734025e-03 3.29553321e+01] [ 6.91181590e-03 -8.39422955e-05 9.99976110e-01 5.97273382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:32.97, Z:0.60 [[ 8.37301446e-01 -5.46710398e-01 -5.83339539e-03 1.08123747e+02] [ 5.46697828e-01 8.37321762e-01 -3.70833414e-03 3.29707695e+01] [ 6.91181375e-03 -8.41110460e-05 9.99976110e-01 5.97470255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:32.98, Z:0.60 [[ 8.38446061e-01 -5.44953376e-01 -5.83267280e-03 1.08149084e+02] [ 5.44940755e-01 8.38466346e-01 -3.70947033e-03 3.29843991e+01] [ 6.91198823e-03 -6.82703354e-05 9.99976110e-01 5.95974456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264000000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:108.17, Y:33.00, Z:0.59 [[ 8.39665378e-01 -5.43072776e-01 -5.83204061e-03 1.08173972e+02] [ 5.43060103e-01 8.39685630e-01 -3.71046399e-03 3.29991910e+01] [ 6.91213268e-03 -5.16004206e-05 9.99976110e-01 5.93977667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:33.01, Z:0.59 [[ 8.42705603e-01 -5.38343070e-01 -5.83140480e-03 1.08199855e+02] [ 5.38330276e-01 8.42725779e-01 -3.71146297e-03 3.30107194e+01] [ 6.91231552e-03 -1.15511130e-05 9.99976110e-01 5.90866693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:33.02, Z:0.59 [[ 8.43800284e-01 -5.36625642e-01 -5.83106949e-03 1.08224683e+02] [ 5.36612803e-01 8.43820431e-01 -3.71198970e-03 3.30244308e+01] [ 6.91232443e-03 3.15142200e-06 9.99976110e-01 5.91658815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.25, Y:33.04, Z:0.59 [[ 8.44448666e-01 -5.35604759e-01 -5.83036379e-03 1.08249396e+02] [ 5.35591888e-01 8.44468793e-01 -3.71309780e-03 3.30394020e+01] [ 6.91231312e-03 1.28249308e-05 9.99976110e-01 5.92239002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:33.05, Z:0.59 [[ 8.46102203e-01 -5.32988814e-01 -5.82972832e-03 1.08274948e+02] [ 5.32975874e-01 8.46122286e-01 -3.71409525e-03 3.30520990e+01] [ 6.91223428e-03 3.53996224e-05 9.99976110e-01 5.94175060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.30, Y:33.07, Z:0.59 [[ 8.46284392e-01 -5.32699493e-01 -5.82908048e-03 1.08298456e+02] [ 5.32686539e-01 8.46304466e-01 -3.71511172e-03 3.30661821e+01] [ 6.91221497e-03 3.89683592e-05 9.99976110e-01 5.93267413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:33.08, Z:0.60 [[ 8.46519441e-01 -5.32325897e-01 -5.82885021e-03 1.08322904e+02] [ 5.32312932e-01 8.46539507e-01 -3.71547297e-03 3.30790624e+01] [ 6.91219447e-03 4.24477569e-05 9.99976110e-01 5.95821401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:33.09, Z:0.60 [[ 8.46418132e-01 -5.32486976e-01 -5.82810379e-03 1.08348134e+02] [ 5.32474007e-01 8.46438195e-01 -3.71664344e-03 3.30919958e+01] [ 6.91219388e-03 4.25206152e-05 9.99976110e-01 5.96910864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.37, Y:33.11, Z:0.60 [[ 8.45969879e-01 -5.33198837e-01 -5.82787226e-03 1.08372331e+02] [ 5.33185882e-01 8.45989952e-01 -3.71700645e-03 3.31068830e+01] [ 6.91222489e-03 3.71362841e-05 9.99976110e-01 5.96656209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:33.12, Z:0.60 [[ 8.45839557e-01 -5.33405557e-01 -5.82723652e-03 1.08396639e+02] [ 5.33392600e-01 8.45859628e-01 -3.71800285e-03 3.31196245e+01] [ 6.91222750e-03 3.66290452e-05 9.99976110e-01 5.98262355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.42, Y:33.13, Z:0.60 [[ 8.45134900e-01 -5.34521326e-01 -5.82692036e-03 1.08422259e+02] [ 5.34508392e-01 8.45154987e-01 -3.71849827e-03 3.31316436e+01] [ 6.91226743e-03 2.80948285e-05 9.99976110e-01 5.99789537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:33.15, Z:0.60 [[ 8.44952132e-01 -5.34810194e-01 -5.82669797e-03 1.08447129e+02] [ 5.34797265e-01 8.44972222e-01 -3.71884672e-03 3.31450256e+01] [ 6.91227506e-03 2.61453263e-05 9.99976110e-01 6.02288751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:33.16, Z:0.60 [[ 8.44632918e-01 -5.35314199e-01 -5.82597814e-03 1.08472039e+02] [ 5.35301274e-01 8.44653010e-01 -3.71997407e-03 3.31586559e+01] [ 6.91228491e-03 2.33590305e-05 9.99976110e-01 6.03117130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:33.17, Z:0.60 [[ 8.44495194e-01 -5.35531449e-01 -5.82524946e-03 1.08495950e+02] [ 5.35518522e-01 8.44515285e-01 -3.72111478e-03 3.31712161e+01] [ 6.91228620e-03 2.29345674e-05 9.99976110e-01 6.01984082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:33.18, Z:0.60 [[ 8.44188214e-01 -5.36015232e-01 -5.82493227e-03 1.08521362e+02] [ 5.36002312e-01 8.44208310e-01 -3.72161124e-03 3.31840843e+01] [ 6.91229654e-03 1.95631770e-05 9.99976110e-01 6.02102723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:33.20, Z:0.60 [[ 8.43808136e-01 -5.36613369e-01 -5.82420667e-03 1.08545717e+02] [ 5.36600456e-01 8.43828236e-01 -3.72274644e-03 3.31968266e+01] [ 6.91230555e-03 1.60117773e-05 9.99976110e-01 5.99936166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:33.21, Z:0.60 [[ 8.43536613e-01 -5.37040097e-01 -5.82386613e-03 1.08569857e+02] [ 5.37027190e-01 8.43556717e-01 -3.72327911e-03 3.32105314e+01] [ 6.91231156e-03 1.31477838e-05 9.99976110e-01 6.00957047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:33.22, Z:0.60 [[ 8.43297695e-01 -5.37415191e-01 -5.82314209e-03 1.08594501e+02] [ 5.37402286e-01 8.43317800e-01 -3.72441113e-03 3.32237926e+01] [ 6.91231450e-03 1.14174536e-05 9.99976110e-01 6.02031608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:33.24, Z:0.60 [[ 8.43358706e-01 -5.37319451e-01 -5.82238845e-03 1.08617959e+02] [ 5.37306535e-01 8.43378804e-01 -3.72558893e-03 3.32374058e+01] [ 6.91231041e-03 1.36004932e-05 9.99976110e-01 5.99283523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:33.25, Z:0.60 [[ 8.43416432e-01 -5.37228840e-01 -5.82205997e-03 1.08642201e+02] [ 5.37215918e-01 8.43436526e-01 -3.72610218e-03 3.32522897e+01] [ 6.91230759e-03 1.49525127e-05 9.99976110e-01 6.00839622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:33.27, Z:0.60 [[ 8.44049078e-01 -5.36234339e-01 -5.82132547e-03 1.08664616e+02] [ 5.36221386e-01 8.44069152e-01 -3.72724935e-03 3.32665874e+01] [ 6.91228035e-03 2.44621648e-05 9.99976110e-01 6.00691639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:33.28, Z:0.60 [[ 8.44428619e-01 -5.35636466e-01 -5.82100627e-03 1.08688736e+02] [ 5.35623495e-01 8.44448681e-01 -3.72774779e-03 3.32814240e+01] [ 6.91225872e-03 2.99491935e-05 9.99976110e-01 6.00383740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:108.71, Y:33.30, Z:0.60 [[ 8.44872965e-01 -5.34935315e-01 -5.82077960e-03 1.08714169e+02] [ 5.34922325e-01 8.44893016e-01 -3.72810171e-03 3.32955669e+01] [ 6.91222929e-03 3.61073934e-05 9.99976110e-01 6.01820282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:33.31, Z:0.60 [[ 8.45172695e-01 -5.34461637e-01 -5.82013362e-03 1.08737272e+02] [ 5.34448629e-01 8.45192734e-01 -3.72910991e-03 3.33098848e+01] [ 6.91220083e-03 4.11794436e-05 9.99976110e-01 6.03190956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:33.33, Z:0.60 [[ 8.45403769e-01 -5.34096059e-01 -5.81963092e-03 1.08759766e+02] [ 5.34083037e-01 8.45423798e-01 -3.72989424e-03 3.33266423e+01] [ 6.91217629e-03 4.51004945e-05 9.99976110e-01 6.01861071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:33.34, Z:0.61 [[ 8.45112999e-01 -5.34556043e-01 -5.81851977e-03 1.08784256e+02] [ 5.34543020e-01 8.45133028e-01 -3.73162737e-03 3.33424444e+01] [ 6.91218720e-03 4.33976721e-05 9.99976110e-01 6.05451833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:33.36, Z:0.61 [[ 8.44448236e-01 -5.35605562e-01 -5.81885339e-03 1.08809011e+02] [ 5.35592567e-01 8.44468283e-01 -3.73110708e-03 3.33577943e+01] [ 6.91223884e-03 3.41921622e-05 9.99976110e-01 6.07727960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:33.37, Z:0.61 [[ 8.43664391e-01 -5.36839402e-01 -5.81820943e-03 1.08832524e+02] [ 5.36826429e-01 8.43684453e-01 -3.73211099e-03 3.33718629e+01] [ 6.91227707e-03 2.52805560e-05 9.99976110e-01 6.07637120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:33.39, Z:0.61 [[ 8.41298840e-01 -5.40539002e-01 -5.81798156e-03 1.08857697e+02] [ 5.40526115e-01 8.41318957e-01 -3.73246619e-03 3.33865256e+01] [ 6.91232172e-03 -4.65149486e-06 9.99976110e-01 6.08368123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:33.40, Z:0.61 [[ 8.39741091e-01 -5.42955853e-01 -5.81733154e-03 1.08880582e+02] [ 5.42943018e-01 8.39761240e-01 -3.73347901e-03 3.34006584e+01] [ 6.91228383e-03 -2.33238087e-05 9.99976110e-01 6.06950688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62264 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:108.91, Y:33.42, Z:0.61 [[ 8.38189771e-01 -5.45347669e-01 -5.81619645e-03 1.08905116e+02] [ 5.45334878e-01 8.38209949e-01 -3.73524687e-03 3.34155473e+01] [ 6.91220190e-03 -4.09290616e-05 9.99976110e-01 6.05282436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.93, Y:33.43, Z:0.61 [[ 8.36793473e-01 -5.47487766e-01 -5.81632910e-03 1.08929285e+02] [ 5.47475028e-01 8.36813685e-01 -3.73504029e-03 3.34291265e+01] [ 6.91207265e-03 -5.88376021e-05 9.99976110e-01 6.05910330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:33.44, Z:0.61 [[ 8.34345976e-01 -5.51210460e-01 -5.81559778e-03 1.08955854e+02] [ 5.51197805e-01 8.34366239e-01 -3.73617864e-03 3.34402171e+01] [ 6.91175920e-03 -8.82791203e-05 9.99976110e-01 6.05121628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71264000000001 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:108.98, Y:33.45, Z:0.60 [[ 8.33227536e-01 -5.52899684e-01 -5.81496104e-03 1.08981510e+02] [ 5.52887063e-01 8.33247820e-01 -3.73716939e-03 3.34540160e+01] [ 6.91158339e-03 -1.01104286e-04 9.99976110e-01 6.02664591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:33.47, Z:0.60 [[ 8.32658954e-01 -5.53755596e-01 -5.81431775e-03 1.09008511e+02] [ 5.53742989e-01 8.32679247e-01 -3.73816997e-03 3.34654573e+01] [ 6.91149426e-03 -1.07016998e-04 9.99976110e-01 6.03678656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:33.48, Z:0.60 [[ 8.33148565e-01 -5.53018688e-01 -5.81366664e-03 1.09032271e+02] [ 5.53006056e-01 8.33168843e-01 -3.73918231e-03 3.34789725e+01] [ 6.91160360e-03 -9.96984850e-05 9.99976110e-01 6.02880480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:33.49, Z:0.60 [[ 8.34123000e-01 -5.51547845e-01 -5.81334248e-03 1.09056095e+02] [ 5.51535174e-01 8.34143253e-01 -3.73968621e-03 3.34929300e+01] [ 6.91177628e-03 -8.69045726e-05 9.99976110e-01 6.03862176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:33.51, Z:0.60 [[ 8.37834245e-01 -5.45893755e-01 -5.81260080e-03 1.09080390e+02] [ 5.45880939e-01 8.37854407e-01 -3.74083865e-03 3.35063805e+01] [ 6.91221366e-03 -3.87852528e-05 9.99976110e-01 6.03008104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:33.52, Z:0.60 [[ 8.40108978e-01 -5.42386505e-01 -5.81237046e-03 1.09103374e+02] [ 5.42373603e-01 8.40129085e-01 -3.74119651e-03 3.35206122e+01] [ 6.91231598e-03 -9.46353016e-06 9.99976110e-01 6.02999641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:109.13, Y:33.54, Z:0.60 [[ 8.42299970e-01 -5.38977719e-01 -5.81195371e-03 1.09127062e+02] [ 5.38964730e-01 8.42320021e-01 -3.74184383e-03 3.35356458e+01] [ 6.91229542e-03 1.93168868e-05 9.99976110e-01 6.02136633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:33.55, Z:0.61 [[ 8.46643003e-01 -5.32129543e-01 -5.81163467e-03 1.09152779e+02] [ 5.32116389e-01 8.46662946e-01 -3.74233928e-03 3.35491040e+01] [ 6.91190502e-03 7.59593145e-05 9.99976110e-01 6.05263882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:33.56, Z:0.61 [[ 8.48274584e-01 -5.29524752e-01 -5.81099209e-03 1.09175967e+02] [ 5.29511530e-01 8.48294481e-01 -3.74333678e-03 3.35638450e+01] [ 6.91162201e-03 9.83901385e-05 9.99976110e-01 6.05571721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:33.58, Z:0.61 [[ 8.49590527e-01 -5.27410822e-01 -5.81049510e-03 1.09198998e+02] [ 5.27397545e-01 8.49610388e-01 -3.74410807e-03 3.35793751e+01] [ 6.91134011e-03 1.16517897e-04 9.99976110e-01 6.06295165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:33.59, Z:0.60 [[ 8.50996667e-01 -5.25138953e-01 -5.80976665e-03 1.09221434e+02] [ 5.25125615e-01 8.51016487e-01 -3.74523808e-03 3.35939023e+01] [ 6.91097761e-03 1.36327835e-04 9.99976110e-01 6.03977761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:33.61, Z:0.60 [[ 8.51074631e-01 -5.25012595e-01 -5.80926982e-03 1.09245331e+02] [ 5.24999249e-01 8.51094446e-01 -3.74600856e-03 3.36075852e+01] [ 6.91093895e-03 1.38270558e-04 9.99976110e-01 6.03726977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.27, Y:33.62, Z:0.60 [[ 8.50686877e-01 -5.25640649e-01 -5.80896424e-03 1.09269474e+02] [ 5.25627315e-01 8.50706700e-01 -3.74648236e-03 3.36215355e+01] [ 6.91102822e-03 1.33733105e-04 9.99976110e-01 6.04309640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264000000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:109.29, Y:33.64, Z:0.60 [[ 8.50132430e-01 -5.26536909e-01 -5.80823936e-03 1.09293160e+02] [ 5.26523587e-01 8.50152261e-01 -3.74760581e-03 3.36352371e+01] [ 6.91114061e-03 1.27786202e-04 9.99976110e-01 6.02949324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:33.65, Z:0.60 [[ 8.48897906e-01 -5.28524943e-01 -5.80774429e-03 1.09317867e+02] [ 5.28511663e-01 8.48917765e-01 -3.74837287e-03 3.36475736e+01] [ 6.91140586e-03 1.12525288e-04 9.99976110e-01 6.03660665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:33.66, Z:0.60 [[ 8.48160509e-01 -5.29707491e-01 -5.80735663e-03 1.09342172e+02] [ 5.29694234e-01 8.48180384e-01 -3.74897339e-03 3.36619148e+01] [ 6.91154526e-03 1.03607857e-04 9.99976110e-01 6.04538452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19264 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:109.37, Y:33.68, Z:0.60 [[ 8.47402408e-01 -5.30919430e-01 -5.80666006e-03 1.09365542e+02] [ 5.30906194e-01 8.47422297e-01 -3.75005197e-03 3.36763170e+01] [ 6.91166866e-03 9.50112771e-05 9.99976110e-01 6.02688664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:33.69, Z:0.61 [[ 8.46720508e-01 -5.32006267e-01 -5.80628201e-03 1.09389735e+02] [ 5.31993053e-01 8.46740412e-01 -3.75063722e-03 3.36909615e+01] [ 6.91177612e-03 8.68397654e-05 9.99976110e-01 6.07088423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:33.70, Z:0.61 [[ 8.45782443e-01 -5.33496349e-01 -5.80554318e-03 1.09414050e+02] [ 5.33483162e-01 8.45802364e-01 -3.75178049e-03 3.37038550e+01] [ 6.91190334e-03 7.60305328e-05 9.99976110e-01 6.06025253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:109.44, Y:33.72, Z:0.60 [[ 8.45511847e-01 -5.33925103e-01 -5.80519933e-03 1.09437945e+02] [ 5.33911923e-01 8.45531773e-01 -3.75231245e-03 3.37173468e+01] [ 6.91193430e-03 7.31594926e-05 9.99976110e-01 6.03451894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:33.73, Z:0.60 [[ 8.45577286e-01 -5.33821464e-01 -5.80497123e-03 1.09462307e+02] [ 5.33808279e-01 8.45597209e-01 -3.75266531e-03 3.37306291e+01] [ 6.91192076e-03 7.44268487e-05 9.99976110e-01 6.03744298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:33.75, Z:0.60 [[ 8.45894500e-01 -5.33318666e-01 -5.80474650e-03 1.09485854e+02] [ 5.33305467e-01 8.45914413e-01 -3.75301289e-03 3.37462532e+01] [ 6.91187056e-03 7.89499130e-05 9.99976110e-01 6.03977611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:109.51, Y:33.76, Z:0.60 [[ 8.46283988e-01 -5.32700408e-01 -5.80402007e-03 1.09510203e+02] [ 5.32687186e-01 8.46303887e-01 -3.75413598e-03 3.37622568e+01] [ 6.91179451e-03 8.53380570e-05 9.99976110e-01 6.02100369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:33.78, Z:0.60 [[ 8.47350764e-01 -5.31001886e-01 -5.80337848e-03 1.09534477e+02] [ 5.30988618e-01 8.47370631e-01 -3.75512753e-03 3.37760403e+01] [ 6.91159229e-03 1.00382268e-04 9.99976110e-01 6.02612855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:33.79, Z:0.60 [[ 8.47469169e-01 -5.30812986e-01 -5.79490084e-03 1.09558798e+02] [ 5.30799624e-01 8.47488973e-01 -3.76822482e-03 3.37918338e+01] [ 6.91133723e-03 1.17523175e-04 9.99976110e-01 6.01374346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.58, Y:33.81, Z:0.60 [[ 8.47697133e-01 -5.30448773e-01 -5.80258600e-03 1.09582028e+02] [ 5.30435483e-01 8.47716986e-01 -3.75635325e-03 3.38070729e+01] [ 6.91150369e-03 1.06352366e-04 9.99976110e-01 6.01904787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:33.82, Z:0.61 [[ 8.47831598e-01 -5.30233835e-01 -5.80188107e-03 1.09606288e+02] [ 5.30220533e-01 8.47851442e-01 -3.75744173e-03 3.38221161e+01] [ 6.91145597e-03 1.09401357e-04 9.99976110e-01 6.06769627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:33.84, Z:0.61 [[ 8.47614445e-01 -5.30580907e-01 -5.80124249e-03 1.09629957e+02] [ 5.30567606e-01 8.47634290e-01 -3.75842740e-03 3.38371047e+01] [ 6.91148188e-03 1.07746021e-04 9.99976110e-01 6.06836714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:33.85, Z:0.61 [[ 8.47380332e-01 -5.30954731e-01 -5.80051298e-03 1.09653078e+02] [ 5.30941432e-01 8.47400178e-01 -3.75955294e-03 3.38515417e+01] [ 6.91150816e-03 1.06038554e-04 9.99976110e-01 6.06050233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:33.87, Z:0.61 [[ 8.47277732e-01 -5.31118445e-01 -5.80019623e-03 1.09676893e+02] [ 5.31105146e-01 8.47297578e-01 -3.76004156e-03 3.38672010e+01] [ 6.91151965e-03 1.05285417e-04 9.99976110e-01 6.06247181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:33.88, Z:0.61 [[ 8.46848226e-01 -5.31803017e-01 -5.79946953e-03 1.09700564e+02] [ 5.31789726e-01 8.46868078e-01 -3.76116208e-03 3.38819906e+01] [ 6.91158296e-03 1.01035125e-04 9.99976110e-01 6.05955493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:33.90, Z:0.61 [[ 8.46123042e-01 -5.32956064e-01 -5.79924397e-03 1.09725299e+02] [ 5.32942798e-01 8.46142911e-01 -3.76150984e-03 3.38961001e+01] [ 6.91170865e-03 9.20348500e-05 9.99976110e-01 6.07354454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:33.91, Z:0.61 [[ 8.45652637e-01 -5.33702159e-01 -5.79862031e-03 1.09749087e+02] [ 5.33688904e-01 8.45672512e-01 -3.76247101e-03 3.39106140e+01] [ 6.91177270e-03 8.70842123e-05 9.99976110e-01 6.07028974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.77, Y:33.93, Z:0.61 [[ 8.45297669e-01 -5.34264200e-01 -5.79790813e-03 1.09773409e+02] [ 5.34250951e-01 8.45317548e-01 -3.76356814e-03 3.39256156e+01] [ 6.91181321e-03 8.37974383e-05 9.99976110e-01 6.05972903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:33.94, Z:0.61 [[ 8.44757161e-01 -5.35118426e-01 -5.79727920e-03 1.09798086e+02] [ 5.35105190e-01 8.44777050e-01 -3.76453667e-03 3.39403850e+01] [ 6.91188136e-03 7.79651218e-05 9.99976110e-01 6.06541398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:33.95, Z:0.60 [[ 8.44521480e-01 -5.35490306e-01 -5.79663882e-03 1.09820581e+02] [ 5.35477072e-01 8.44541370e-01 -3.76552247e-03 3.39547946e+01] [ 6.91190208e-03 7.60974285e-05 9.99976110e-01 6.04684865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:33.97, Z:0.61 [[ 8.44413706e-01 -5.35660243e-01 -5.79633246e-03 1.09844454e+02] [ 5.35647009e-01 8.44433597e-01 -3.76599400e-03 3.39701587e+01] [ 6.91191113e-03 7.52688046e-05 9.99976110e-01 6.06107186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:33.99, Z:0.61 [[ 8.45056935e-01 -5.34644916e-01 -5.79561933e-03 1.09868524e+02] [ 5.34631652e-01 8.45076805e-01 -3.76709114e-03 3.39855568e+01] [ 6.91179960e-03 8.48849621e-05 9.99976110e-01 6.09043187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:34.00, Z:0.61 [[ 8.45812060e-01 -5.33449507e-01 -5.79498528e-03 1.09891590e+02] [ 5.33436208e-01 8.45831907e-01 -3.76806626e-03 3.40010468e+01] [ 6.91165654e-03 9.58209146e-05 9.99976110e-01 6.10491360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:34.02, Z:0.61 [[ 8.47929787e-01 -5.30076883e-01 -5.79425648e-03 1.09913623e+02] [ 5.30063497e-01 8.47949575e-01 -3.76918662e-03 3.40185101e+01] [ 6.91119602e-03 1.24681756e-04 9.99976110e-01 6.12646725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:34.04, Z:0.61 [[ 8.49125764e-01 -5.28158947e-01 -5.79351292e-03 1.09935553e+02] [ 5.28145508e-01 8.49145516e-01 -3.77032919e-03 3.40354901e+01] [ 6.91086861e-03 1.41665826e-04 9.99976110e-01 6.12347994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:34.05, Z:0.61 [[ 8.50266194e-01 -5.26321040e-01 -5.79328271e-03 1.09957430e+02] [ 5.26307556e-01 8.50285916e-01 -3.77068287e-03 3.40523544e+01] [ 6.91053643e-03 1.57035708e-04 9.99976110e-01 6.13956013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.98, Y:34.07, Z:0.61 [[ 8.51379500e-01 -5.24518245e-01 -5.79294898e-03 1.09980525e+02] [ 5.24504716e-01 8.51399190e-01 -3.77119553e-03 3.40698506e+01] [ 6.91017293e-03 1.72289505e-04 9.99976110e-01 6.14312828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:34.09, Z:0.62 [[ 8.52428337e-01 -5.22811992e-01 -5.79232078e-03 1.10001433e+02] [ 5.22798417e-01 8.52447996e-01 -3.77216016e-03 3.40883920e+01] [ 6.90978280e-03 1.87280074e-04 9.99976110e-01 6.15506148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:110.02, Y:34.11, Z:0.61 [[ 8.52515732e-01 -5.22669473e-01 -5.79209774e-03 1.10024250e+02] [ 5.22655893e-01 8.52535387e-01 -3.77250259e-03 3.41056015e+01] [ 6.90974023e-03 1.88843791e-04 9.99976110e-01 6.14889474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:34.12, Z:0.62 [[ 8.52260103e-01 -5.23086204e-01 -5.79141067e-03 1.10046906e+02] [ 5.23072626e-01 8.52279759e-01 -3.77355706e-03 3.41217759e+01] [ 6.90979773e-03 1.86723742e-04 9.99976110e-01 6.17216775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:34.14, Z:0.62 [[ 8.51157491e-01 -5.24878450e-01 -5.79118353e-03 1.10068749e+02] [ 5.24864911e-01 8.51177175e-01 -3.77390562e-03 3.41395940e+01] [ 6.91016497e-03 1.72599012e-04 9.99976110e-01 6.16066911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:34.16, Z:0.62 [[ 8.50310464e-01 -5.26249541e-01 -5.79095788e-03 1.10091024e+02] [ 5.26236031e-01 8.50330168e-01 -3.77425184e-03 3.41564993e+01] [ 6.91042449e-03 1.61875138e-04 9.99976110e-01 6.16836912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:110.11, Y:34.17, Z:0.61 [[ 8.49588644e-01 -5.27414078e-01 -5.79021694e-03 1.10113603e+02] [ 5.27400588e-01 8.49608361e-01 -3.77538821e-03 3.41736065e+01] [ 6.91060961e-03 1.53763128e-04 9.99976110e-01 6.13716477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:34.19, Z:0.61 [[ 8.47510721e-01 -5.30746695e-01 -5.78998685e-03 1.10136090e+02] [ 5.30733280e-01 8.47530489e-01 -3.77574103e-03 3.41907809e+01] [ 6.91115246e-03 1.27042290e-04 9.99976110e-01 6.13044114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.16, Y:34.21, Z:0.61 [[ 8.46379119e-01 -5.32549402e-01 -5.78976261e-03 1.10159670e+02] [ 5.32536027e-01 8.46398914e-01 -3.77608486e-03 3.42082399e+01] [ 6.91140052e-03 1.12742197e-04 9.99976110e-01 6.10678819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:34.23, Z:0.61 [[ 8.44964771e-01 -5.34790633e-01 -5.78914336e-03 1.10181650e+02] [ 5.34777303e-01 8.44984597e-01 -3.77703401e-03 3.42251682e+01] [ 6.91165937e-03 9.55582029e-05 9.99976110e-01 6.12111795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:34.24, Z:0.61 [[ 8.42054146e-01 -5.39361946e-01 -5.78843644e-03 1.10204285e+02] [ 5.39348716e-01 8.42074040e-01 -3.77811706e-03 3.42428910e+01] [ 6.91206463e-03 5.93933718e-05 9.99976110e-01 6.14680455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:34.26, Z:0.62 [[ 8.40336932e-01 -5.42033525e-01 -5.78778915e-03 1.10228055e+02] [ 5.42020352e-01 8.40356862e-01 -3.77910841e-03 3.42585704e+01] [ 6.91221178e-03 3.86248591e-05 9.99976110e-01 6.15713635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:34.27, Z:0.61 [[ 8.37133474e-01 -5.46968058e-01 -5.78713588e-03 1.10252285e+02] [ 5.46954996e-01 8.37153477e-01 -3.78010853e-03 3.42731895e+01] [ 6.91231954e-03 -8.47492245e-07 9.99976110e-01 6.14312414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:34.29, Z:0.61 [[ 8.35654576e-01 -5.49224855e-01 -5.78690364e-03 1.10274791e+02] [ 5.49211844e-01 8.35674613e-01 -3.78046402e-03 3.42876795e+01] [ 6.91229326e-03 -1.90739595e-05 9.99976110e-01 6.13664927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:34.30, Z:0.61 [[ 8.34490700e-01 -5.50991640e-01 -5.78650258e-03 1.10298661e+02] [ 5.50978668e-01 8.34510761e-01 -3.78107780e-03 3.43029712e+01] [ 6.91224094e-03 -3.29652217e-05 9.99976110e-01 6.14938007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264000000003 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:110.32, Y:34.32, Z:0.61 [[ 8.33721681e-01 -5.52154583e-01 -5.78577126e-03 1.10322902e+02] [ 5.52141631e-01 8.33741755e-01 -3.78219652e-03 3.43189095e+01] [ 6.91219623e-03 -4.12659366e-05 9.99976110e-01 6.13418725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:34.33, Z:0.61 [[ 8.33352491e-01 -5.52711641e-01 -5.78511700e-03 1.10346486e+02] [ 5.52698695e-01 8.33372569e-01 -3.78319700e-03 3.43331585e+01] [ 6.91217484e-03 -4.46899728e-05 9.99976110e-01 6.12514297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:34.35, Z:0.61 [[ 8.33542163e-01 -5.52425558e-01 -5.78488494e-03 1.10370493e+02] [ 5.52412603e-01 8.33562236e-01 -3.78355181e-03 3.43490695e+01] [ 6.91219234e-03 -4.18933913e-05 9.99976110e-01 6.12218800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51264000000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:110.39, Y:34.36, Z:0.61 [[ 8.34236195e-01 -5.51376925e-01 -5.78423275e-03 1.10392560e+02] [ 5.51363938e-01 8.34256247e-01 -3.78454860e-03 3.43643566e+01] [ 6.91224508e-03 -3.20099199e-05 9.99976110e-01 6.10148292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:34.38, Z:0.61 [[ 8.36113052e-01 -5.48526673e-01 -5.78382756e-03 1.10416250e+02] [ 5.48513613e-01 8.36133057e-01 -3.78516775e-03 3.43809031e+01] [ 6.91231489e-03 -7.67999181e-06 9.99976110e-01 6.13862130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.44, Y:34.40, Z:0.61 [[ 8.37106639e-01 -5.47009168e-01 -5.78318257e-03 1.10439304e+02] [ 5.46996065e-01 8.37126615e-01 -3.78615294e-03 3.43960193e+01] [ 6.91231642e-03 6.03565522e-06 9.99976110e-01 6.14048368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:34.41, Z:0.62 [[ 8.38062097e-01 -5.45544210e-01 -5.78242771e-03 1.10462684e+02] [ 5.45531064e-01 8.38082045e-01 -3.78730546e-03 3.44110286e+01] [ 6.91229140e-03 1.95032113e-05 9.99976110e-01 6.15191868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:34.43, Z:0.61 [[ 8.39758999e-01 -5.42928531e-01 -5.78219289e-03 1.10484276e+02] [ 5.42915321e-01 8.39778904e-01 -3.78766392e-03 3.44274649e+01] [ 6.91219442e-03 4.14837514e-05 9.99976110e-01 6.14856743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:34.44, Z:0.62 [[ 8.40335766e-01 -5.42035397e-01 -5.78178872e-03 1.10508406e+02] [ 5.42022161e-01 8.40355654e-01 -3.78828077e-03 3.44434340e+01] [ 6.91214112e-03 4.95702041e-05 9.99976110e-01 6.17566314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:110.53, Y:34.46, Z:0.61 [[ 8.40801956e-01 -5.41311971e-01 -5.78113118e-03 1.10531578e+02] [ 5.41298711e-01 8.40821828e-01 -3.78928396e-03 3.44583681e+01] [ 6.91208606e-03 5.67185062e-05 9.99976110e-01 6.14688992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:110.55, Y:34.48, Z:0.62 [[ 8.41903885e-01 -5.39596544e-01 -5.78089808e-03 1.10554701e+02] [ 5.39583241e-01 8.41923729e-01 -3.78963954e-03 3.44756145e+01] [ 6.91195166e-03 7.12365327e-05 9.99976110e-01 6.20197717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:34.49, Z:0.62 [[ 8.42531002e-01 -5.38616839e-01 -5.78022598e-03 1.10576203e+02] [ 5.38603506e-01 8.42550826e-01 -3.79066440e-03 3.44922530e+01] [ 6.91184985e-03 8.05023019e-05 9.99976110e-01 6.21154678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:34.51, Z:0.62 [[ 8.43038649e-01 -5.37821930e-01 -5.77989378e-03 1.10597759e+02] [ 5.37808575e-01 8.43058458e-01 -3.79117086e-03 3.45090644e+01] [ 6.91176317e-03 8.76271252e-05 9.99976110e-01 6.19335894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:34.53, Z:0.62 [[ 8.43356229e-01 -5.37323801e-01 -5.77957269e-03 1.10620501e+02] [ 5.37310431e-01 8.43376028e-01 -3.79166030e-03 3.45261631e+01] [ 6.91170238e-03 9.22956416e-05 9.99976110e-01 6.22091094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:110.64, Y:34.54, Z:0.62 [[ 8.44083131e-01 -5.36181195e-01 -5.77881797e-03 1.10640778e+02] [ 5.36167790e-01 8.44102906e-01 -3.79281020e-03 3.45445108e+01] [ 6.91155055e-03 1.03031043e-04 9.99976110e-01 6.18783805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.66, Y:34.56, Z:0.62 [[ 8.44198311e-01 -5.35999835e-01 -5.77830495e-03 1.10663058e+02] [ 5.35986421e-01 8.44218079e-01 -3.79359162e-03 3.45619556e+01] [ 6.91151399e-03 1.05450647e-04 9.99976110e-01 6.19574558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:34.58, Z:0.62 [[ 8.44104473e-01 -5.36147609e-01 -5.77756875e-03 1.10684399e+02] [ 5.36134191e-01 8.44124238e-01 -3.79471251e-03 3.45794744e+01] [ 6.91151186e-03 1.05581662e-04 9.99976110e-01 6.20363035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:34.60, Z:0.62 [[ 8.43720588e-01 -5.36751518e-01 -5.77724815e-03 1.10705831e+02] [ 5.36738110e-01 8.43740361e-01 -3.79520054e-03 3.45965019e+01] [ 6.91157709e-03 1.01219576e-04 9.99976110e-01 6.18598989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:34.61, Z:0.62 [[ 8.43235786e-01 -5.37512826e-01 -5.77686786e-03 1.10727144e+02] [ 5.37499431e-01 8.43255568e-01 -3.79577931e-03 3.46142569e+01] [ 6.91165605e-03 9.56737540e-05 9.99976110e-01 6.21046368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:34.63, Z:0.62 [[ 8.42735240e-01 -5.38297271e-01 -5.77613123e-03 1.10748556e+02] [ 5.38283888e-01 8.42755029e-01 -3.79689992e-03 3.46317449e+01] [ 6.91172452e-03 9.05829904e-05 9.99976110e-01 6.18509239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:34.65, Z:0.62 [[ 8.40847482e-01 -5.41241305e-01 -5.77590283e-03 1.10769892e+02] [ 5.41227989e-01 8.40867317e-01 -3.79724734e-03 3.46503074e+01] [ 6.91199503e-03 6.68255931e-05 9.99976110e-01 6.20165794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:34.67, Z:0.62 [[ 8.39670368e-01 -5.43065669e-01 -5.77515361e-03 1.10792471e+02] [ 5.43052388e-01 8.39690227e-01 -3.79838648e-03 3.46667643e+01] [ 6.91211333e-03 5.31816208e-05 9.99976110e-01 6.21470523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.81, Y:34.68, Z:0.62 [[ 8.38538134e-01 -5.44812307e-01 -5.77480418e-03 1.10814661e+02] [ 5.44799063e-01 8.38558018e-01 -3.79891765e-03 3.46834651e+01] [ 6.91220543e-03 3.94294049e-05 9.99976110e-01 6.20667332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:34.70, Z:0.62 [[ 8.36486434e-01 -5.47957212e-01 -5.77405476e-03 1.10836446e+02] [ 5.47944035e-01 8.36506362e-01 -3.80005637e-03 3.47017328e+01] [ 6.91230183e-03 1.48367399e-05 9.99976110e-01 6.23171786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:110.86, Y:34.72, Z:0.62 [[ 8.35637264e-01 -5.49251338e-01 -5.77329608e-03 1.10858179e+02] [ 5.49238184e-01 8.35657207e-01 -3.80120866e-03 3.47186329e+01] [ 6.91231542e-03 5.51694724e-06 9.99976110e-01 6.20278567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:34.74, Z:0.62 [[ 8.34271247e-01 -5.51324006e-01 -5.77296507e-03 1.10879414e+02] [ 5.51310899e-01 8.34291220e-01 -3.80171129e-03 3.47380373e+01] [ 6.91230878e-03 -1.10401418e-05 9.99976110e-01 6.22982232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:34.75, Z:0.62 [[ 8.33933743e-01 -5.51834389e-01 -5.77221638e-03 1.10900297e+02] [ 5.51821286e-01 8.33953720e-01 -3.80284772e-03 3.47548028e+01] [ 6.91230347e-03 -1.39088333e-05 9.99976110e-01 6.22124357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.92, Y:34.77, Z:0.62 [[ 8.33565275e-01 -5.52390819e-01 -5.77189007e-03 1.10921985e+02] [ 5.52377726e-01 8.33585258e-01 -3.80334291e-03 3.47707945e+01] [ 6.91229418e-03 -1.79289352e-05 9.99976110e-01 6.20106325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:34.79, Z:0.62 [[ 8.33070966e-01 -5.53136019e-01 -5.77154647e-03 1.10945341e+02] [ 5.53122940e-01 8.33090958e-01 -3.80386425e-03 3.47867338e+01] [ 6.91227751e-03 -2.34858923e-05 9.99976110e-01 6.22262074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:110.97, Y:34.80, Z:0.62 [[ 8.32631872e-01 -5.53796772e-01 -5.77080207e-03 1.10967070e+02] [ 5.53783701e-01 8.32651869e-01 -3.80499324e-03 3.48041474e+01] [ 6.91226210e-03 -2.76174799e-05 9.99976110e-01 6.21497536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:110.99, Y:34.82, Z:0.62 [[ 8.32543327e-01 -5.53929879e-01 -5.77045529e-03 1.10989423e+02] [ 5.53916807e-01 8.32563324e-01 -3.80551908e-03 3.48213950e+01] [ 6.91226016e-03 -2.80926545e-05 9.99976110e-01 6.21874771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:34.84, Z:0.62 [[ 8.32449703e-01 -5.54070571e-01 -5.77012315e-03 1.11012433e+02] [ 5.54057499e-01 8.32469700e-01 -3.80602262e-03 3.48379046e+01] [ 6.91225781e-03 -2.86575970e-05 9.99976110e-01 6.24851044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:34.86, Z:0.62 [[ 8.32681272e-01 -5.53722506e-01 -5.76939014e-03 1.11035666e+02] [ 5.53709418e-01 8.32701259e-01 -3.80713343e-03 3.48551907e+01] [ 6.91227389e-03 -2.44369547e-05 9.99976110e-01 6.24916962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41264 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:111.06, Y:34.87, Z:0.62 [[ 8.32871719e-01 -5.53436014e-01 -5.76873120e-03 1.11059018e+02] [ 5.53422913e-01 8.32891696e-01 -3.80813162e-03 3.48730796e+01] [ 6.91228550e-03 -2.08628947e-05 9.99976110e-01 6.21829718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:34.89, Z:0.62 [[ 8.33571016e-01 -5.52382196e-01 -5.76811024e-03 1.11081264e+02] [ 5.52369063e-01 8.33590973e-01 -3.80907195e-03 3.48900210e+01] [ 6.91230815e-03 -1.09936711e-05 9.99976110e-01 6.18783451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:34.91, Z:0.62 [[ 8.33467691e-01 -5.52538089e-01 -5.76787220e-03 1.11104923e+02] [ 5.52524957e-01 8.33487648e-01 -3.80943236e-03 3.49058871e+01] [ 6.91230672e-03 -1.18545483e-05 9.99976110e-01 6.18980342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:34.92, Z:0.62 [[ 8.33787275e-01 -5.52055721e-01 -5.76715952e-03 1.11127679e+02] [ 5.52042570e-01 8.33807220e-01 -3.81051100e-03 3.49215703e+01] [ 6.91231365e-03 -6.56197396e-06 9.99976110e-01 6.19378929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:34.94, Z:0.62 [[ 8.34183266e-01 -5.51457186e-01 -5.76644378e-03 1.11149852e+02] [ 5.51444013e-01 8.34203196e-01 -3.81159381e-03 3.49371485e+01] [ 6.91231663e-03 -3.03125012e-07 9.99976110e-01 6.19317921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:34.95, Z:0.62 [[ 8.34699262e-01 -5.50675853e-01 -5.76604895e-03 1.11172220e+02] [ 5.50662658e-01 8.34719177e-01 -3.81219101e-03 3.49535069e+01] [ 6.91231317e-03 6.88518051e-06 9.99976110e-01 6.21695765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.19, Y:34.97, Z:0.62 [[ 8.35032608e-01 -5.50170250e-01 -5.76529620e-03 1.11194588e+02] [ 5.50157035e-01 8.35052511e-01 -3.81332908e-03 3.49695542e+01] [ 6.91230528e-03 1.24358664e-05 9.99976110e-01 6.18205861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.22, Y:34.99, Z:0.62 [[ 8.35346674e-01 -5.49693279e-01 -5.76478477e-03 1.11216809e+02] [ 5.49680047e-01 8.35366566e-01 -3.81410207e-03 3.49858171e+01] [ 6.91229473e-03 1.73103223e-05 9.99976110e-01 6.21322239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:35.00, Z:0.62 [[ 8.35841359e-01 -5.48940797e-01 -5.76402722e-03 1.11239352e+02] [ 5.48927539e-01 8.35861233e-01 -3.81524657e-03 3.50021351e+01] [ 6.91227139e-03 2.49075961e-05 9.99976110e-01 6.23012235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:111.26, Y:35.02, Z:0.62 [[ 8.35817195e-01 -5.48977592e-01 -5.76367537e-03 1.11263669e+02] [ 5.48964332e-01 8.35837067e-01 -3.81577803e-03 3.50179822e+01] [ 6.91227015e-03 2.52406916e-05 9.99976110e-01 6.23165555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:35.03, Z:0.62 [[ 8.35736287e-01 -5.49100762e-01 -5.76301390e-03 1.11287520e+02] [ 5.49087497e-01 8.35756156e-01 -3.81677681e-03 3.50323872e+01] [ 6.91226939e-03 2.54200007e-05 9.99976110e-01 6.24659631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:35.05, Z:0.63 [[ 8.35493535e-01 -5.49470057e-01 -5.76266256e-03 1.11310813e+02] [ 5.49456798e-01 8.35513408e-01 -3.81730718e-03 3.50471540e+01] [ 6.91227784e-03 2.30013573e-05 9.99976110e-01 6.27729287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:35.06, Z:0.63 [[ 8.35397609e-01 -5.49615898e-01 -5.76190906e-03 1.11332837e+02] [ 5.49602634e-01 8.35417479e-01 -3.81844419e-03 3.50622879e+01] [ 6.91227718e-03 2.31587573e-05 9.99976110e-01 6.28004354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:35.08, Z:0.63 [[ 8.35460406e-01 -5.49520440e-01 -5.76158132e-03 1.11355234e+02] [ 5.49507171e-01 8.35480272e-01 -3.81893865e-03 3.50782703e+01] [ 6.91227238e-03 2.45417786e-05 9.99976110e-01 6.26465067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:35.09, Z:0.63 [[ 8.36322187e-01 -5.48207997e-01 -5.76125670e-03 1.11377843e+02] [ 5.48194693e-01 8.36342030e-01 -3.81942831e-03 3.50944053e+01] [ 6.91222227e-03 3.59822872e-05 9.99976110e-01 6.27259712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:35.11, Z:0.63 [[ 8.37052369e-01 -5.47092449e-01 -5.76051373e-03 1.11401354e+02] [ 5.47079111e-01 8.37072189e-01 -3.82054854e-03 3.51098228e+01] [ 6.91215910e-03 4.65424821e-05 9.99976110e-01 6.27781699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:35.12, Z:0.63 [[ 8.38227545e-01 -5.45290205e-01 -5.75976427e-03 1.11424575e+02] [ 5.45276816e-01 8.38247331e-01 -3.82167807e-03 3.51245509e+01] [ 6.91203065e-03 6.27699007e-05 9.99976110e-01 6.28866674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:35.14, Z:0.63 [[ 8.41016361e-01 -5.40979027e-01 -5.75951254e-03 1.11447458e+02] [ 5.40965535e-01 8.41036077e-01 -3.82205740e-03 3.51412063e+01] [ 6.91161073e-03 9.87150258e-05 9.99976110e-01 6.30427205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:35.16, Z:0.63 [[ 8.42558923e-01 -5.38573391e-01 -5.75876477e-03 1.11469087e+02] [ 5.38559834e-01 8.42578595e-01 -3.82318376e-03 3.51580108e+01] [ 6.91127697e-03 1.19818200e-04 9.99976110e-01 6.28760679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:35.18, Z:0.63 [[ 8.43913365e-01 -5.36448574e-01 -5.75844117e-03 1.11490553e+02] [ 5.36434964e-01 8.43933000e-01 -3.82367110e-03 3.51755546e+01] [ 6.91094144e-03 1.37817963e-04 9.99976110e-01 6.32648733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:35.20, Z:0.63 [[ 8.45886035e-01 -5.33332603e-01 -5.75766941e-03 1.11510872e+02] [ 5.33318913e-01 8.45905614e-01 -3.82483285e-03 3.51953891e+01] [ 6.91035294e-03 1.64698701e-04 9.99976110e-01 6.29714939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:35.21, Z:0.63 [[ 8.46508038e-01 -5.32344808e-01 -5.75730993e-03 1.11533578e+02] [ 5.32331091e-01 8.46527599e-01 -3.82537389e-03 3.52123057e+01] [ 6.91013968e-03 1.73414673e-04 9.99976110e-01 6.29916026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.56, Y:35.23, Z:0.63 [[ 8.46767521e-01 -5.31931975e-01 -5.75660094e-03 1.11555813e+02] [ 5.31918242e-01 8.46787070e-01 -3.82644051e-03 3.52299960e+01] [ 6.91002130e-03 1.78064492e-04 9.99976110e-01 6.30784216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.58, Y:35.25, Z:0.63 [[ 8.46972680e-01 -5.31605257e-01 -5.75584706e-03 1.11576171e+02] [ 5.31591508e-01 8.46992218e-01 -3.82757419e-03 3.52495377e+01] [ 6.90991623e-03 1.82091349e-04 9.99976110e-01 6.31151728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:35.27, Z:0.63 [[ 8.46809032e-01 -5.31865902e-01 -5.75549626e-03 1.11598150e+02] [ 5.31852157e-01 8.46828571e-01 -3.82810160e-03 3.52674613e+01] [ 6.90995539e-03 1.80597908e-04 9.99976110e-01 6.33218443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:111.62, Y:35.29, Z:0.63 [[ 8.46534783e-01 -5.32302306e-01 -5.75475060e-03 1.11618261e+02] [ 5.32288562e-01 8.46554324e-01 -3.82922222e-03 3.52858342e+01] [ 6.91001282e-03 1.78381876e-04 9.99976110e-01 6.29490904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:35.30, Z:0.63 [[ 8.46044650e-01 -5.33080987e-01 -5.75424221e-03 1.11639302e+02] [ 5.33067256e-01 8.46064201e-01 -3.82998604e-03 3.53043091e+01] [ 6.91015107e-03 1.72941095e-04 9.99976110e-01 6.30926776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:111.66, Y:35.32, Z:0.63 [[ 8.44584259e-01 -5.35391750e-01 -5.75351463e-03 1.11660493e+02] [ 5.35378065e-01 8.44603842e-01 -3.83107872e-03 3.53244701e+01] [ 6.91056850e-03 1.55363252e-04 9.99976110e-01 6.30522949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:35.34, Z:0.63 [[ 8.43643361e-01 -5.36873154e-01 -5.75286793e-03 1.11683411e+02] [ 5.36859497e-01 8.43662963e-01 -3.83204957e-03 3.53407174e+01] [ 6.91080615e-03 1.44401397e-04 9.99976110e-01 6.33749942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:35.36, Z:0.63 [[ 8.42554134e-01 -5.38580954e-01 -5.75211397e-03 1.11705586e+02] [ 5.38567329e-01 8.42573759e-01 -3.83318097e-03 3.53580887e+01] [ 6.91105855e-03 1.31761815e-04 9.99976110e-01 6.34159771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:35.38, Z:0.63 [[ 8.40579366e-01 -5.41657874e-01 -5.75135792e-03 1.11725140e+02] [ 5.41644313e-01 8.40599034e-01 -3.83431503e-03 3.53783994e+01] [ 6.91147284e-03 1.07855782e-04 9.99976110e-01 6.32089620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:111.75, Y:35.40, Z:0.63 [[ 8.39353446e-01 -5.43555624e-01 -5.75112214e-03 1.11748260e+02] [ 5.43542106e-01 8.39373144e-01 -3.83466865e-03 3.53966275e+01] [ 6.91169318e-03 9.26653121e-05 9.99976110e-01 6.28501785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.77, Y:35.41, Z:0.63 [[ 8.38138968e-01 -5.45426440e-01 -5.75051423e-03 1.11770517e+02] [ 5.45412959e-01 8.38158691e-01 -3.83558005e-03 3.54129208e+01] [ 6.91187026e-03 7.83441205e-05 9.99976110e-01 6.28826646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:35.43, Z:0.63 [[ 8.35760180e-01 -5.49064528e-01 -5.75028186e-03 1.11790793e+02] [ 5.49051130e-01 8.35779960e-01 -3.83592839e-03 3.54313568e+01] [ 6.91214256e-03 4.87174443e-05 9.99976110e-01 6.28635826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:111.81, Y:35.45, Z:0.63 [[ 8.34550521e-01 -5.50901411e-01 -5.74995769e-03 1.11813837e+02] [ 5.50888054e-01 8.34570329e-01 -3.83641425e-03 3.54476064e+01] [ 6.91223011e-03 3.40985061e-05 9.99976110e-01 6.27615782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:111.84, Y:35.46, Z:0.63 [[ 8.32584973e-01 -5.53867501e-01 -5.74921072e-03 1.11836497e+02] [ 5.53854207e-01 8.32604823e-01 -3.83753332e-03 3.54631749e+01] [ 6.91230557e-03 1.08480343e-05 9.99976110e-01 6.29252827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49264000000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:111.86, Y:35.48, Z:0.63 [[ 8.31944534e-01 -5.54829025e-01 -5.74845297e-03 1.11857945e+02] [ 5.54815746e-01 8.31964394e-01 -3.83866807e-03 3.54804132e+01] [ 6.91231265e-03 4.22669839e-06 9.99976110e-01 6.28294837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.88, Y:35.50, Z:0.63 [[ 8.31603381e-01 -5.55340235e-01 -5.74812482e-03 1.11879781e+02] [ 5.55326964e-01 8.31623246e-01 -3.83915938e-03 3.54979933e+01] [ 6.91231390e-03 5.69215910e-07 9.99976110e-01 6.28906220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:35.51, Z:0.63 [[ 8.31544242e-01 -5.55428791e-01 -5.74739586e-03 1.11901935e+02] [ 5.55415515e-01 8.31564104e-01 -3.84025036e-03 3.55146374e+01] [ 6.91231370e-03 1.14523651e-06 9.99976110e-01 6.32742276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.92, Y:35.53, Z:0.63 [[ 8.32093188e-01 -5.54606079e-01 -5.74664055e-03 1.11922957e+02] [ 5.54592776e-01 8.32113031e-01 -3.84138029e-03 3.55317288e+01] [ 6.91230735e-03 9.34103190e-06 9.99976110e-01 6.29336422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.95, Y:35.55, Z:0.63 [[ 8.32254688e-01 -5.54363702e-01 -5.74632475e-03 1.11945595e+02] [ 5.54350390e-01 8.32274525e-01 -3.84185265e-03 3.55479766e+01] [ 6.91230336e-03 1.19225136e-05 9.99976110e-01 6.31252603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.97, Y:35.56, Z:0.63 [[ 8.32326533e-01 -5.54255835e-01 -5.74557137e-03 1.11969678e+02] [ 5.54242512e-01 8.32346364e-01 -3.84297900e-03 3.55646345e+01] [ 6.91229898e-03 1.41734837e-05 9.99976110e-01 6.32853424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:35.58, Z:0.64 [[ 8.32282879e-01 -5.54321392e-01 -5.74490612e-03 1.11992906e+02] [ 5.54308064e-01 8.32302706e-01 -3.84397323e-03 3.55807311e+01] [ 6.91229750e-03 1.48253139e-05 9.99976110e-01 6.35213998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:35.60, Z:0.63 [[ 8.32283139e-01 -5.54321009e-01 -5.74414710e-03 1.12015297e+02] [ 5.54307673e-01 8.32302961e-01 -3.84510713e-03 3.55964789e+01] [ 6.91229430e-03 1.61930220e-05 9.99976110e-01 6.33900633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:35.61, Z:0.63 [[ 8.32226516e-01 -5.54406019e-01 -5.74391169e-03 1.12038148e+02] [ 5.54392683e-01 8.32246337e-01 -3.84545876e-03 3.56123406e+01] [ 6.91229495e-03 1.59101364e-05 9.99976110e-01 6.32096967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:35.63, Z:0.63 [[ 8.32176726e-01 -5.54480754e-01 -5.74367800e-03 1.12060196e+02] [ 5.54467417e-01 8.32196547e-01 -3.84580777e-03 3.56288287e+01] [ 6.91229539e-03 1.57094126e-05 9.99976110e-01 6.30212607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.08, Y:35.65, Z:0.63 [[ 8.32131008e-01 -5.54549365e-01 -5.74345061e-03 1.12083140e+02] [ 5.54536027e-01 8.32150829e-01 -3.84614733e-03 3.56450130e+01] [ 6.91229574e-03 1.55481650e-05 9.99976110e-01 6.31072515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:35.66, Z:0.63 [[ 8.32197791e-01 -5.54449148e-01 -5.74269485e-03 1.12106637e+02] [ 5.54435800e-01 8.32217605e-01 -3.84727542e-03 3.56609297e+01] [ 6.91229034e-03 1.77384932e-05 9.99976110e-01 6.34438312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:35.68, Z:0.64 [[ 8.32507078e-01 -5.53984651e-01 -5.74203622e-03 1.12130178e+02] [ 5.53971286e-01 8.32526880e-01 -3.84825817e-03 3.56775430e+01] [ 6.91227546e-03 2.27789778e-05 9.99976110e-01 6.37104668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:35.69, Z:0.64 [[ 8.32875438e-01 -5.53430701e-01 -5.74137732e-03 1.12151969e+02] [ 5.53417315e-01 8.32895226e-01 -3.84924096e-03 3.56929665e+01] [ 6.91225389e-03 2.85606276e-05 9.99976110e-01 6.35691282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.17, Y:35.71, Z:0.64 [[ 8.33307153e-01 -5.52780454e-01 -5.74105031e-03 1.12174335e+02] [ 5.52767049e-01 8.33326928e-01 -3.84972863e-03 3.57091338e+01] [ 6.91222656e-03 3.45429592e-05 9.99976110e-01 6.35781485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:35.73, Z:0.64 [[ 8.34670024e-01 -5.50720437e-01 -5.74029230e-03 1.12196207e+02] [ 5.50706976e-01 8.34689761e-01 -3.85085857e-03 3.57260166e+01] [ 6.91210972e-03 5.29772014e-05 9.99976110e-01 6.37440007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:35.74, Z:0.64 [[ 8.35295147e-01 -5.49771834e-01 -5.74005653e-03 1.12218236e+02] [ 5.49758349e-01 8.35314867e-01 -3.85120996e-03 3.57426428e+01] [ 6.91204132e-03 6.12529922e-05 9.99976110e-01 6.38762904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.24, Y:35.76, Z:0.64 [[ 8.36221732e-01 -5.48361445e-01 -5.73930119e-03 1.12240613e+02] [ 5.48347919e-01 8.36241424e-01 -3.85233529e-03 3.57587454e+01] [ 6.91191355e-03 7.42726220e-05 9.99976110e-01 6.35867980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:35.77, Z:0.64 [[ 8.38222622e-01 -5.45297991e-01 -5.73905616e-03 1.12263023e+02] [ 5.45284389e-01 8.38242263e-01 -3.85270029e-03 3.57749012e+01] [ 6.91158915e-03 1.00002804e-04 9.99976110e-01 6.35900384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:35.79, Z:0.64 [[ 8.39080032e-01 -5.43977725e-01 -5.73882525e-03 1.12285142e+02] [ 5.43964091e-01 8.39099650e-01 -3.85304421e-03 3.57921717e+01] [ 6.91141648e-03 1.11297600e-04 9.99976110e-01 6.38336340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:35.81, Z:0.64 [[ 8.40315425e-01 -5.42067395e-01 -5.73806884e-03 1.12305730e+02] [ 5.42053709e-01 8.40335006e-01 -3.85417036e-03 3.58107675e+01] [ 6.91112020e-03 1.28377307e-04 9.99976110e-01 6.36813332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:35.83, Z:0.64 [[ 8.40363998e-01 -5.41992093e-01 -5.73773939e-03 1.12327929e+02] [ 5.41978401e-01 8.40383576e-01 -3.85466075e-03 3.58281084e+01] [ 6.91109759e-03 1.29587298e-04 9.99976110e-01 6.37885823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:112.35, Y:35.85, Z:0.64 [[ 8.39977085e-01 -5.42591544e-01 -5.73700737e-03 1.12350801e+02] [ 5.42577859e-01 8.39996667e-01 -3.85574993e-03 3.58462855e+01] [ 6.91116438e-03 1.25968414e-04 9.99976110e-01 6.37710847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:35.86, Z:0.64 [[ 8.37966105e-01 -5.45692130e-01 -5.73636664e-03 1.12373822e+02] [ 5.45678510e-01 8.37985733e-01 -3.85670293e-03 3.58640646e+01] [ 6.91156584e-03 1.01574333e-04 9.99976110e-01 6.42135331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:35.88, Z:0.64 [[ 8.36483512e-01 -5.47962074e-01 -5.73570722e-03 1.12396216e+02] [ 5.47948502e-01 8.36503173e-01 -3.85768338e-03 3.58787927e+01] [ 6.91180147e-03 8.40163671e-05 9.99976110e-01 6.40191125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:35.89, Z:0.64 [[ 8.34670549e-01 -5.50719692e-01 -5.73537949e-03 1.12419717e+02] [ 5.50706181e-01 8.34690252e-01 -3.85817056e-03 3.58945357e+01] [ 6.91203586e-03 6.17924052e-05 9.99976110e-01 6.40083059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.44, Y:35.91, Z:0.64 [[ 8.33057348e-01 -5.53156911e-01 -5.73465522e-03 1.12442435e+02] [ 5.53143450e-01 8.33077085e-01 -3.85924679e-03 3.59102162e+01] [ 6.91217889e-03 4.28869234e-05 9.99976110e-01 6.37966545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.47, Y:35.93, Z:0.64 [[ 8.30395148e-01 -5.57145421e-01 -5.73393152e-03 1.12466007e+02] [ 5.57132048e-01 8.30414944e-01 -3.86032175e-03 3.59274402e+01] [ 6.91230301e-03 1.10354411e-05 9.99976110e-01 6.37958036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:35.94, Z:0.64 [[ 8.29493661e-01 -5.58486701e-01 -5.73327778e-03 1.12488380e+02] [ 5.58473353e-01 8.29513475e-01 -3.86129242e-03 3.59435060e+01] [ 6.91231164e-03 1.03472127e-06 9.99976110e-01 6.40655619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:35.96, Z:0.64 [[ 8.28827902e-01 -5.59474260e-01 -5.73252876e-03 1.12511184e+02] [ 5.59460927e-01 8.28847726e-01 -3.86240411e-03 3.59605467e+01] [ 6.91230911e-03 -5.85755533e-06 9.99976110e-01 6.40959716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:35.98, Z:0.64 [[ 8.28718683e-01 -5.59636034e-01 -5.73177533e-03 1.12534688e+02] [ 5.59622698e-01 8.28738505e-01 -3.86352187e-03 3.59766131e+01] [ 6.91230897e-03 -5.85881156e-06 9.99976110e-01 6.41156577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:35.99, Z:0.64 [[ 8.27669382e-01 -5.61186733e-01 -5.73102098e-03 1.12558017e+02] [ 5.61173426e-01 8.27689223e-01 -3.86464053e-03 3.59933126e+01] [ 6.91228929e-03 -1.74520424e-05 9.99976110e-01 6.39822678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:36.01, Z:0.64 [[ 8.27102244e-01 -5.62022279e-01 -5.73036184e-03 1.12581757e+02] [ 5.62008985e-01 8.27122094e-01 -3.86561763e-03 3.60087564e+01] [ 6.91227211e-03 -2.32538295e-05 9.99976110e-01 6.40493409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264000000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:112.61, Y:36.02, Z:0.64 [[ 8.26524215e-01 -5.62872005e-01 -5.72960496e-03 1.12606088e+02] [ 5.62858724e-01 8.26544074e-01 -3.86673914e-03 3.60247964e+01] [ 6.91225024e-03 -2.90046048e-05 9.99976110e-01 6.40386188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:36.04, Z:0.64 [[ 8.25141772e-01 -5.64896659e-01 -5.72893687e-03 1.12629987e+02] [ 5.64883420e-01 8.25161658e-01 -3.86772874e-03 3.60388392e+01] [ 6.91216609e-03 -4.47569105e-05 9.99976110e-01 6.43773296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:36.05, Z:0.64 [[ 8.24032144e-01 -5.66514085e-01 -5.72869947e-03 1.12653159e+02] [ 5.66500882e-01 8.24052055e-01 -3.86808032e-03 3.60549729e+01] [ 6.91206855e-03 -5.78907843e-05 9.99976110e-01 6.44964817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.67, Y:36.07, Z:0.64 [[ 8.23055593e-01 -5.67931933e-01 -5.72793998e-03 1.12674872e+02] [ 5.67918757e-01 8.23075522e-01 -3.86920466e-03 3.60702209e+01] [ 6.91197207e-03 -6.84340196e-05 9.99976110e-01 6.42545261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.70, Y:36.08, Z:0.64 [[ 8.20951834e-01 -5.70968721e-01 -5.72760913e-03 1.12698512e+02] [ 5.70955615e-01 8.20971809e-01 -3.86969436e-03 3.60841485e+01] [ 6.91168007e-03 -9.33779105e-05 9.99976110e-01 6.40513917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63264000000004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:112.72, Y:36.10, Z:0.64 [[ 8.19743281e-01 -5.72702498e-01 -5.72729905e-03 1.12723291e+02] [ 5.72689431e-01 8.19763281e-01 -3.87015324e-03 3.60989543e+01] [ 6.91147589e-03 -1.07431519e-04 9.99976110e-01 6.41767708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:112.75, Y:36.11, Z:0.64 [[ 8.17837237e-01 -5.75421114e-01 -5.72664746e-03 1.12748719e+02] [ 5.75408107e-01 8.17857276e-01 -3.87111715e-03 3.61106929e+01] [ 6.91110284e-03 -1.29215622e-04 9.99976110e-01 6.42457677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.77, Y:36.12, Z:0.64 [[ 8.17232198e-01 -5.76280095e-01 -5.72589968e-03 1.12772886e+02] [ 5.76267102e-01 8.17252246e-01 -3.87222290e-03 3.61241230e+01] [ 6.91098936e-03 -1.35142381e-04 9.99976110e-01 6.43233693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:36.14, Z:0.64 [[ 8.17034925e-01 -5.76559757e-01 -5.72514879e-03 1.12796459e+02] [ 5.76546763e-01 8.17054972e-01 -3.87333279e-03 3.61370234e+01] [ 6.91096910e-03 -1.36167838e-04 9.99976110e-01 6.44283680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:112.82, Y:36.15, Z:0.64 [[ 8.17224324e-01 -5.76291272e-01 -5.72483813e-03 1.12819829e+02] [ 5.76278268e-01 8.17244365e-01 -3.87379189e-03 3.61522563e+01] [ 6.91102416e-03 -1.33342841e-04 9.99976110e-01 6.44199889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:112.84, Y:36.17, Z:0.64 [[ 8.17980357e-01 -5.75217672e-01 -5.72408120e-03 1.12843069e+02] [ 5.75204634e-01 8.18000375e-01 -3.87491004e-03 3.61672279e+01] [ 6.91121731e-03 -1.22917733e-04 9.99976110e-01 6.41862909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:36.18, Z:0.64 [[ 8.20531219e-01 -5.71573054e-01 -5.72384571e-03 1.12867473e+02] [ 5.71559924e-01 8.20551178e-01 -3.87525787e-03 3.61825785e+01] [ 6.91170132e-03 -9.17507591e-05 9.99976110e-01 6.43191965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.89, Y:36.20, Z:0.64 [[ 8.22167867e-01 -5.69216342e-01 -5.72318456e-03 1.12891031e+02] [ 5.69203148e-01 8.22187784e-01 -3.87623405e-03 3.61981962e+01] [ 6.91194819e-03 -7.07395903e-05 9.99976110e-01 6.40758331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87264000000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:112.92, Y:36.21, Z:0.64 [[ 8.25060689e-01 -5.65015144e-01 -5.72242600e-03 1.12915829e+02] [ 5.65001841e-01 8.25080533e-01 -3.87735358e-03 3.62134724e+01] [ 6.91222578e-03 -3.41292100e-05 9.99976110e-01 6.39826564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:36.23, Z:0.64 [[ 8.26114018e-01 -5.63473949e-01 -5.72175396e-03 1.12939693e+02] [ 5.63460602e-01 8.26133832e-01 -3.87834505e-03 3.62285717e+01] [ 6.91228092e-03 -2.00277177e-05 9.99976110e-01 6.42589775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:36.24, Z:0.64 [[ 8.27035472e-01 -5.62120626e-01 -5.72098366e-03 1.12962955e+02] [ 5.62107239e-01 8.27055259e-01 -3.87948099e-03 3.62439024e+01] [ 6.91230590e-03 -7.33793441e-06 9.99976110e-01 6.42972277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:36.26, Z:0.64 [[ 8.28137330e-01 -5.60496062e-01 -5.72074381e-03 1.12985967e+02] [ 5.60482634e-01 8.28157089e-01 -3.87983464e-03 3.62589809e+01] [ 6.91230658e-03 6.65834215e-06 9.99976110e-01 6.44714040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:36.27, Z:0.65 [[ 8.28332584e-01 -5.60207468e-01 -5.72039282e-03 1.13009544e+02] [ 5.60194029e-01 8.28352336e-01 -3.88035207e-03 3.62746494e+01] [ 6.91230296e-03 9.69215941e-06 9.99976110e-01 6.46774220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:36.29, Z:0.65 [[ 8.28324493e-01 -5.60219439e-01 -5.71963602e-03 1.13033378e+02] [ 5.60205993e-01 8.28344240e-01 -3.88146727e-03 3.62901671e+01] [ 6.91230097e-03 1.09400349e-05 9.99976110e-01 6.47170492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.06, Y:36.31, Z:0.65 [[ 8.27890967e-01 -5.60859912e-01 -5.71887971e-03 1.13057836e+02] [ 5.60846473e-01 8.27910719e-01 -3.88258129e-03 3.63060145e+01] [ 6.91230601e-03 6.94046090e-06 9.99976110e-01 6.47407935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.08, Y:36.32, Z:0.65 [[ 8.27228443e-01 -5.61836636e-01 -5.71821792e-03 1.13081791e+02] [ 5.61823214e-01 8.27248206e-01 -3.88355571e-03 3.63205804e+01] [ 6.91230939e-03 -3.98276197e-08 9.99976110e-01 6.48606044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:36.34, Z:0.65 [[ 8.26458027e-01 -5.62969302e-01 -5.71798278e-03 1.13105466e+02] [ 5.62955904e-01 8.26477807e-01 -3.88390189e-03 3.63352540e+01] [ 6.91230340e-03 -9.09027143e-06 9.99976110e-01 6.51719974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.13, Y:36.35, Z:0.65 [[ 8.25730236e-01 -5.64036249e-01 -5.71721745e-03 1.13129841e+02] [ 5.64022869e-01 8.25750028e-01 -3.88502816e-03 3.63507236e+01] [ 6.91228918e-03 -1.66561716e-05 9.99976110e-01 6.51361120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:36.36, Z:0.65 [[ 8.24221194e-01 -5.66239124e-01 -5.71653602e-03 1.13153316e+02] [ 5.66225790e-01 8.24241017e-01 -3.88603057e-03 3.63635827e+01] [ 6.91222601e-03 -3.39013647e-05 9.99976110e-01 6.51174417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:36.38, Z:0.65 [[ 8.23435602e-01 -5.67380943e-01 -5.71619721e-03 1.13177630e+02] [ 5.67367634e-01 8.23455441e-01 -3.88652889e-03 3.63781529e+01] [ 6.91217612e-03 -4.28790322e-05 9.99976110e-01 6.52624320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:36.39, Z:0.65 [[ 8.22909766e-01 -5.68143337e-01 -5.71542509e-03 1.13202133e+02] [ 5.68130037e-01 8.22929612e-01 -3.88766401e-03 3.63923912e+01] [ 6.91214296e-03 -4.79079860e-05 9.99976110e-01 6.50645455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:36.41, Z:0.65 [[ 8.22209408e-01 -5.69156416e-01 -5.71518661e-03 1.13228100e+02] [ 5.69143139e-01 8.22229269e-01 -3.88801457e-03 3.64060538e+01] [ 6.91208214e-03 -5.59970890e-05 9.99976110e-01 6.49386073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:36.42, Z:0.65 [[ 8.22173495e-01 -5.69208299e-01 -5.71452390e-03 1.13251545e+02] [ 5.69195017e-01 8.22193352e-01 -3.88898836e-03 3.64202705e+01] [ 6.91208801e-03 -5.52553712e-05 9.99976110e-01 6.48405213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.28, Y:36.43, Z:0.65 [[ 8.22867746e-01 -5.68204206e-01 -5.71428821e-03 1.13276912e+02] [ 5.68190896e-01 8.22887585e-01 -3.88933464e-03 3.64345637e+01] [ 6.91215313e-03 -4.63985101e-05 9.99976110e-01 6.48327858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.30, Y:36.45, Z:0.65 [[ 8.23540805e-01 -5.67228258e-01 -5.71362976e-03 1.13299777e+02] [ 5.67214919e-01 8.23560624e-01 -3.89030169e-03 3.64484849e+01] [ 6.91220954e-03 -3.70338548e-05 9.99976110e-01 6.47713792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:36.46, Z:0.65 [[ 8.24780242e-01 -5.65424540e-01 -5.71330311e-03 1.13322109e+02] [ 5.65411154e-01 8.24800030e-01 -3.89078135e-03 3.64615367e+01] [ 6.91227583e-03 -2.13257161e-05 9.99976110e-01 6.45527885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:36.48, Z:0.65 [[ 8.26684627e-01 -5.62636665e-01 -5.70178948e-03 1.13347456e+02] [ 5.62623096e-01 8.26704289e-01 -3.90768334e-03 3.64770713e+01] [ 6.91229975e-03 2.24632933e-05 9.99976110e-01 6.51823804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.37, Y:36.49, Z:0.65 [[ 8.27780498e-01 -5.61023005e-01 -5.71266247e-03 1.13370171e+02] [ 5.61009507e-01 8.27800210e-01 -3.89172287e-03 3.64928138e+01] [ 6.91228926e-03 1.66343398e-05 9.99976110e-01 6.51317540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.39, Y:36.51, Z:0.65 [[ 8.28752708e-01 -5.59585849e-01 -5.71190062e-03 1.13393307e+02] [ 5.59572309e-01 8.28772391e-01 -3.89284073e-03 3.65084798e+01] [ 6.91224412e-03 2.99808784e-05 9.99976110e-01 6.52016983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.42, Y:36.52, Z:0.65 [[ 8.30027091e-01 -5.57693833e-01 -5.71113399e-03 1.13415822e+02] [ 5.57680241e-01 8.30046737e-01 -3.89396512e-03 3.65233493e+01] [ 6.91214847e-03 4.71099660e-05 9.99976110e-01 6.51266252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:36.54, Z:0.65 [[ 8.30302012e-01 -5.57284449e-01 -5.71061219e-03 1.13438845e+02] [ 5.57270842e-01 8.30321649e-01 -3.89473021e-03 3.65382524e+01] [ 6.91211750e-03 5.14446684e-05 9.99976110e-01 6.50247433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:36.55, Z:0.65 [[ 8.30087176e-01 -5.57604404e-01 -5.71035656e-03 1.13461485e+02] [ 5.57590802e-01 8.30106816e-01 -3.89510496e-03 3.65539278e+01] [ 6.91213359e-03 4.92343869e-05 9.99976110e-01 6.52630783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:36.57, Z:0.65 [[ 8.29417699e-01 -5.58599750e-01 -5.70959177e-03 1.13484619e+02] [ 5.58586164e-01 8.29437350e-01 -3.89622570e-03 3.65694973e+01] [ 6.91217937e-03 4.22995923e-05 9.99976110e-01 6.53068977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:36.58, Z:0.65 [[ 8.27151441e-01 -5.61950089e-01 -5.70882329e-03 1.13508913e+02] [ 5.61936574e-01 8.27171142e-01 -3.89735137e-03 3.65829062e+01] [ 6.91229082e-03 1.57032000e-05 9.99976110e-01 6.54040399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:36.60, Z:0.65 [[ 8.25422473e-01 -5.64486633e-01 -5.70804815e-03 1.13533193e+02] [ 5.64473171e-01 8.25442209e-01 -3.89848630e-03 3.65980277e+01] [ 6.91230728e-03 -4.14183496e-06 9.99976110e-01 6.54739987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.56, Y:36.61, Z:0.65 [[ 8.22203547e-01 -5.69164961e-01 -5.70736988e-03 1.13556812e+02] [ 5.69151605e-01 8.22223355e-01 -3.89947904e-03 3.66110523e+01] [ 6.91217964e-03 -4.21932309e-05 9.99976110e-01 6.53937400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:36.62, Z:0.65 [[ 8.20581367e-01 -5.71501225e-01 -5.70703266e-03 1.13581116e+02] [ 5.71487921e-01 8.20601210e-01 -3.89997250e-03 3.66245293e+01] [ 6.91203697e-03 -6.12554632e-05 9.99976110e-01 6.54718579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:113.61, Y:36.64, Z:0.65 [[ 8.18322593e-01 -5.74730870e-01 -5.70626515e-03 1.13607502e+02] [ 5.74717637e-01 8.18342483e-01 -3.90109517e-03 3.66371244e+01] [ 6.91175901e-03 -8.71369135e-05 9.99976110e-01 6.52864523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.63, Y:36.65, Z:0.65 [[ 8.17671182e-01 -5.75657264e-01 -5.70559207e-03 1.13631544e+02] [ 5.75644046e-01 8.17691082e-01 -3.90207934e-03 3.66517267e+01] [ 6.91167207e-03 -9.37722864e-05 9.99976110e-01 6.50008814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.66, Y:36.67, Z:0.65 [[ 8.17276276e-01 -5.76217788e-01 -5.70523823e-03 1.13655030e+02] [ 5.76204580e-01 8.17296183e-01 -3.90259662e-03 3.66667440e+01] [ 6.91161502e-03 -9.78847629e-05 9.99976110e-01 6.51535292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.68, Y:36.68, Z:0.65 [[ 8.17226603e-01 -5.76288243e-01 -5.70448342e-03 1.13679082e+02] [ 5.76275029e-01 8.17246506e-01 -3.90369963e-03 3.66809675e+01] [ 6.91162534e-03 -9.71441638e-05 9.99976110e-01 6.52348770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264000000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:113.70, Y:36.69, Z:0.65 [[ 8.18116076e-01 -5.75024828e-01 -5.70371994e-03 1.13704362e+02] [ 5.75011576e-01 8.18135954e-01 -3.90481484e-03 3.66937049e+01] [ 6.91178384e-03 -8.51131944e-05 9.99976110e-01 6.52014617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:113.73, Y:36.71, Z:0.65 [[ 8.18970292e-01 -5.73807578e-01 -5.70295292e-03 1.13727260e+02] [ 5.73794289e-01 8.18990145e-01 -3.90593475e-03 3.67087589e+01] [ 6.91191719e-03 -7.34772895e-05 9.99976110e-01 6.52344440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:36.72, Z:0.65 [[ 8.20078966e-01 -5.72221958e-01 -5.70261960e-03 1.13751115e+02] [ 5.72208627e-01 8.20098791e-01 -3.90642133e-03 3.67238766e+01] [ 6.91205150e-03 -5.95141645e-05 9.99976110e-01 6.54599311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:113.77, Y:36.74, Z:0.66 [[ 8.21147177e-01 -5.70688003e-01 -5.70238279e-03 1.13774804e+02] [ 5.70674632e-01 8.21166975e-01 -3.90676698e-03 3.67395111e+01] [ 6.91215347e-03 -4.61745174e-05 9.99976110e-01 6.56477606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.80, Y:36.75, Z:0.66 [[ 8.23511461e-01 -5.67270979e-01 -5.70171418e-03 1.13799714e+02] [ 5.67257519e-01 8.23531199e-01 -3.90774253e-03 3.67525287e+01] [ 6.91228845e-03 -1.62694831e-05 9.99976110e-01 6.56647611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.82, Y:36.77, Z:0.66 [[ 8.24752092e-01 -5.65465720e-01 -5.70147700e-03 1.13823222e+02] [ 5.65452215e-01 8.24771798e-01 -3.90808855e-03 3.67672714e+01] [ 6.91230755e-03 -7.08593628e-07 9.99976110e-01 6.59660009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:36.78, Z:0.66 [[ 8.26959482e-01 -5.62232618e-01 -5.70070822e-03 1.13846826e+02] [ 5.62219028e-01 8.26979130e-01 -3.90920965e-03 3.67810267e+01] [ 6.91225190e-03 2.77113463e-05 9.99976110e-01 6.60378474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:36.80, Z:0.66 [[ 8.27891082e-01 -5.60859932e-01 -5.70029068e-03 1.13870244e+02] [ 5.60846305e-01 8.27910705e-01 -3.90981840e-03 3.67962177e+01] [ 6.91219215e-03 3.99168239e-05 9.99976110e-01 6.61163392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.89, Y:36.81, Z:0.66 [[ 8.28792136e-01 -5.59527579e-01 -5.69951540e-03 1.13894001e+02] [ 5.59513913e-01 8.28811731e-01 -3.91094823e-03 3.68119409e+01] [ 6.91210862e-03 5.24049689e-05 9.99976110e-01 6.60597915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:36.83, Z:0.66 [[ 8.30067862e-01 -5.57633275e-01 -5.69874388e-03 1.13917327e+02] [ 5.57619556e-01 8.30087421e-01 -3.91207210e-03 3.68269647e+01] [ 6.91195719e-03 6.95542892e-05 9.99976110e-01 6.60926042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.94, Y:36.84, Z:0.66 [[ 8.30661995e-01 -5.56747863e-01 -5.69797603e-03 1.13940372e+02] [ 5.56734116e-01 8.30681534e-01 -3.91319018e-03 3.68430994e+01] [ 6.91186373e-03 7.82807089e-05 9.99976110e-01 6.59805785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:36.86, Z:0.66 [[ 8.31326956e-01 -5.55754473e-01 -5.69721450e-03 1.13962396e+02] [ 5.55740695e-01 8.31346473e-01 -3.91429856e-03 3.68580074e+01] [ 6.91174812e-03 8.78879557e-05 9.99976110e-01 6.59822143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:36.87, Z:0.66 [[ 8.32764209e-01 -5.53598516e-01 -5.69688249e-03 1.13985672e+02] [ 5.53584684e-01 8.32783688e-01 -3.91478172e-03 3.68747756e+01] [ 6.91148816e-03 1.06383207e-04 9.99976110e-01 6.61327816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.01, Y:36.89, Z:0.66 [[ 8.33387162e-01 -5.52660286e-01 -5.69620578e-03 1.14007684e+02] [ 5.52646426e-01 8.33406620e-01 -3.91576612e-03 3.68913582e+01] [ 6.91134403e-03 1.15361453e-04 9.99976110e-01 6.60539235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.03, Y:36.91, Z:0.66 [[ 8.33278621e-01 -5.52823929e-01 -5.69596573e-03 1.14031051e+02] [ 5.52810070e-01 8.33298080e-01 -3.91611527e-03 3.69076510e+01] [ 6.91135954e-03 1.14427920e-04 9.99976110e-01 6.60736125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:36.92, Z:0.66 [[ 8.33961334e-01 -5.51793492e-01 -5.69519649e-03 1.14054804e+02] [ 5.51779602e-01 8.33980771e-01 -3.91723365e-03 3.69243324e+01] [ 6.91118840e-03 1.24328154e-04 9.99976110e-01 6.63591560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:36.94, Z:0.66 [[ 8.34450220e-01 -5.51053902e-01 -5.69451839e-03 1.14078157e+02] [ 5.51039988e-01 8.34469640e-01 -3.91821916e-03 3.69415588e+01] [ 6.91105267e-03 1.31651498e-04 9.99976110e-01 6.64227898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:36.96, Z:0.66 [[ 8.35080775e-01 -5.50097881e-01 -5.69384236e-03 1.14099758e+02] [ 5.50083938e-01 8.35100174e-01 -3.91920131e-03 3.69595844e+01] [ 6.91087308e-03 1.40758436e-04 9.99976110e-01 6.64039707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:36.98, Z:0.66 [[ 8.35133993e-01 -5.50017092e-01 -5.69307369e-03 1.14122187e+02] [ 5.50003139e-01 8.35153386e-01 -3.92031756e-03 3.69766365e+01] [ 6.91083144e-03 1.42782058e-04 9.99976110e-01 6.62138690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:36.99, Z:0.66 [[ 8.35113547e-01 -5.50048140e-01 -5.69283457e-03 1.14144801e+02] [ 5.50034185e-01 8.35132938e-01 -3.92066477e-03 3.69946084e+01] [ 6.91082802e-03 1.42946636e-04 9.99976110e-01 6.63531224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:114.17, Y:37.01, Z:0.66 [[ 8.35000667e-01 -5.50219488e-01 -5.69216296e-03 1.14166946e+02] [ 5.50205531e-01 8.35020057e-01 -3.92163959e-03 3.70124131e+01] [ 6.91083277e-03 1.42712132e-04 9.99976110e-01 6.64448569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:114.19, Y:37.03, Z:0.66 [[ 8.34836472e-01 -5.50468595e-01 -5.69136247e-03 1.14188343e+02] [ 5.50454636e-01 8.34855859e-01 -3.92280098e-03 3.70297588e+01] [ 6.91084605e-03 1.42060474e-04 9.99976110e-01 6.60222518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:37.05, Z:0.66 [[ 8.34470366e-01 -5.51023429e-01 -5.69103197e-03 1.14209008e+02] [ 5.51009480e-01 8.34489761e-01 -3.92328040e-03 3.70484370e+01] [ 6.91092733e-03 1.38048674e-04 9.99976110e-01 6.63427550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:37.07, Z:0.66 [[ 8.34116313e-01 -5.51559242e-01 -5.69025742e-03 1.14230317e+02] [ 5.51545297e-01 8.34135711e-01 -3.92440347e-03 3.70659393e+01] [ 6.91098792e-03 1.34974235e-04 9.99976110e-01 6.62364006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:37.08, Z:0.66 [[ 8.33508522e-01 -5.52477300e-01 -5.69001648e-03 1.14252298e+02] [ 5.52463375e-01 8.33527934e-01 -3.92475278e-03 3.70835449e+01] [ 6.91112450e-03 1.27789185e-04 9.99976110e-01 6.63424812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.27, Y:37.10, Z:0.66 [[ 8.31924458e-01 -5.54859738e-01 -5.68924731e-03 1.14274045e+02] [ 5.54845860e-01 8.31943904e-01 -3.92586744e-03 3.71021474e+01] [ 6.91144039e-03 1.09369821e-04 9.99976110e-01 6.61653641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:114.30, Y:37.12, Z:0.66 [[ 8.31106765e-01 -5.56083793e-01 -5.68856200e-03 1.14295133e+02] [ 5.56069937e-01 8.31126227e-01 -3.92686020e-03 3.71186660e+01] [ 6.91157638e-03 1.00401765e-04 9.99976110e-01 6.58914472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:37.14, Z:0.66 [[ 8.30515281e-01 -5.56966796e-01 -5.68822273e-03 1.14318205e+02] [ 5.56952957e-01 8.30534755e-01 -3.92735157e-03 3.71356193e+01] [ 6.91167110e-03 9.36530231e-05 9.99976110e-01 6.61051358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:37.15, Z:0.66 [[ 8.29871760e-01 -5.57925186e-01 -5.68754534e-03 1.14340363e+02] [ 5.57911363e-01 8.29891245e-01 -3.92833233e-03 3.71530975e+01] [ 6.91175963e-03 8.68658896e-05 9.99976110e-01 6.60265979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:114.36, Y:37.17, Z:0.66 [[ 8.28811711e-01 -5.59498708e-01 -5.68718147e-03 1.14361477e+02] [ 5.59484918e-01 8.28831219e-01 -3.92885904e-03 3.71722540e+01] [ 6.91190511e-03 7.43921192e-05 9.99976110e-01 6.59537157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:37.19, Z:0.66 [[ 8.28439913e-01 -5.60049083e-01 -5.68640715e-03 1.14383286e+02] [ 5.60035298e-01 8.28459426e-01 -3.92997943e-03 3.71881384e+01] [ 6.91193898e-03 7.11630908e-05 9.99976110e-01 6.59924268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:37.21, Z:0.66 [[ 8.27958326e-01 -5.60760803e-01 -5.68606943e-03 1.14404222e+02] [ 5.60747032e-01 8.27977848e-01 -3.93046800e-03 3.72069318e+01] [ 6.91199192e-03 6.58171481e-05 9.99976110e-01 6.59808532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:37.23, Z:0.66 [[ 8.27596026e-01 -5.61295368e-01 -5.68583034e-03 1.14426628e+02] [ 5.61281607e-01 8.27615555e-01 -3.93081383e-03 3.72255449e+01] [ 6.91202923e-03 6.17739144e-05 9.99976110e-01 6.62193362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:37.24, Z:0.66 [[ 8.27235746e-01 -5.61826218e-01 -5.68514807e-03 1.14448108e+02] [ 5.61812463e-01 8.27255279e-01 -3.93180036e-03 3.72431613e+01] [ 6.91205728e-03 5.85387657e-05 9.99976110e-01 6.62327312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:37.26, Z:0.66 [[ 8.26172213e-01 -5.63388992e-01 -5.68490552e-03 1.14469406e+02] [ 5.63375271e-01 8.26191771e-01 -3.93215103e-03 3.72605991e+01] [ 6.91215276e-03 4.58987326e-05 9.99976110e-01 6.62856290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.49, Y:37.28, Z:0.66 [[ 8.25484589e-01 -5.64396029e-01 -5.68466590e-03 1.14492663e+02] [ 5.64382330e-01 8.25504162e-01 -3.93249741e-03 3.72779756e+01] [ 6.91220128e-03 3.78910284e-05 9.99976110e-01 6.62898934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.51, Y:37.29, Z:0.66 [[ 8.24997185e-01 -5.65108252e-01 -5.68399394e-03 1.14514812e+02] [ 5.65094564e-01 8.25016765e-01 -3.93346842e-03 3.72943002e+01] [ 6.91222575e-03 3.31062952e-05 9.99976110e-01 6.61822690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:37.31, Z:0.66 [[ 8.24247681e-01 -5.66200898e-01 -5.68366599e-03 1.14537530e+02] [ 5.66187232e-01 8.24267276e-01 -3.93394223e-03 3.73111655e+01] [ 6.91226151e-03 2.45236465e-05 9.99976110e-01 6.64388703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:37.33, Z:0.66 [[ 8.24015152e-01 -5.66539261e-01 -5.68291972e-03 1.14560111e+02] [ 5.66525596e-01 8.24034748e-01 -3.93501999e-03 3.73265800e+01] [ 6.91226663e-03 2.29966150e-05 9.99976110e-01 6.64926188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:37.34, Z:0.67 [[ 8.23551841e-01 -5.67212547e-01 -5.68252956e-03 1.14583770e+02] [ 5.67198894e-01 8.23571446e-01 -3.93558333e-03 3.73430961e+01] [ 6.91228133e-03 1.80324187e-05 9.99976110e-01 6.68289773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.61, Y:37.36, Z:0.67 [[ 8.22936150e-01 -5.68105456e-01 -5.68184700e-03 1.14606368e+02] [ 5.68091818e-01 8.22955764e-01 -3.93656851e-03 3.73601512e+01] [ 6.91229479e-03 1.17337439e-05 9.99976110e-01 6.67755200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:37.38, Z:0.67 [[ 8.22783973e-01 -5.68325839e-01 -5.68106182e-03 1.14628497e+02] [ 5.68312198e-01 8.22803585e-01 -3.93770130e-03 3.73754254e+01] [ 6.91229544e-03 1.12607911e-05 9.99976110e-01 6.66697738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:37.39, Z:0.67 [[ 8.22659731e-01 -5.68505669e-01 -5.68072152e-03 1.14650387e+02] [ 5.68492028e-01 8.22679345e-01 -3.93819218e-03 3.73904187e+01] [ 6.91229684e-03 1.03472176e-05 9.99976110e-01 6.65579417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.67, Y:37.41, Z:0.66 [[ 8.22585399e-01 -5.68613220e-01 -5.68036893e-03 1.14674290e+02] [ 5.68599579e-01 8.22605012e-01 -3.93870068e-03 3.74057423e+01] [ 6.91229723e-03 1.00622915e-05 9.99976110e-01 6.62917185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.70, Y:37.42, Z:0.66 [[ 8.22656691e-01 -5.68510079e-01 -5.67972070e-03 1.14696923e+02] [ 5.68496428e-01 8.22676297e-01 -3.93963523e-03 3.74211915e+01] [ 6.91229393e-03 1.20663557e-05 9.99976110e-01 6.61234683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:37.44, Z:0.66 [[ 8.22748515e-01 -5.68377186e-01 -5.67939005e-03 1.14720219e+02] [ 5.68363530e-01 8.22768117e-01 -3.94011183e-03 3.74364035e+01] [ 6.91229074e-03 1.37629798e-05 9.99976110e-01 6.62124050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:114.74, Y:37.45, Z:0.66 [[ 8.23467891e-01 -5.67334457e-01 -5.67865173e-03 1.14744137e+02] [ 5.67320768e-01 8.23487470e-01 -3.94117564e-03 3.74503614e+01] [ 6.91226329e-03 2.38145361e-05 9.99976110e-01 6.63519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27264000000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:114.77, Y:37.47, Z:0.66 [[ 8.23970553e-01 -5.66604173e-01 -5.67787499e-03 1.14766911e+02] [ 5.66590459e-01 8.23990115e-01 -3.94229435e-03 3.74654927e+01] [ 6.91223329e-03 3.13046629e-05 9.99976110e-01 6.62145176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:37.48, Z:0.66 [[ 8.24724432e-01 -5.65506301e-01 -5.67753716e-03 1.14789895e+02] [ 5.65492557e-01 8.24743974e-01 -3.94278082e-03 3.74816016e+01] [ 6.91218195e-03 4.11026672e-05 9.99976110e-01 6.64662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.81, Y:37.50, Z:0.66 [[ 8.26599971e-01 -5.62761284e-01 -5.67675224e-03 1.14812235e+02] [ 5.62747468e-01 8.26619461e-01 -3.94391061e-03 3.74977366e+01] [ 6.91199407e-03 6.54584395e-05 9.99976110e-01 6.62275226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:37.51, Z:0.66 [[ 8.27470167e-01 -5.61480989e-01 -5.67638579e-03 1.14835831e+02] [ 5.61467139e-01 8.27489633e-01 -3.94443797e-03 3.75134139e+01] [ 6.91187732e-03 7.68006561e-05 9.99976110e-01 6.63671029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.86, Y:37.53, Z:0.67 [[ 8.29047335e-01 -5.59149626e-01 -5.67560880e-03 1.14858907e+02] [ 5.59135714e-01 8.29066756e-01 -3.94555565e-03 3.75286375e+01] [ 6.91161454e-03 9.76168153e-05 9.99976110e-01 6.65430386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:37.55, Z:0.67 [[ 8.29739528e-01 -5.58121945e-01 -5.67536791e-03 1.14881894e+02] [ 5.58108006e-01 8.29758931e-01 -3.94590211e-03 3.75451265e+01] [ 6.91148177e-03 1.06602685e-04 9.99976110e-01 6.68755541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:37.56, Z:0.67 [[ 8.30448576e-01 -5.57066383e-01 -5.67513250e-03 1.14904102e+02] [ 5.57052418e-01 8.30467959e-01 -3.94624066e-03 3.75617300e+01] [ 6.91133372e-03 1.15803663e-04 9.99976110e-01 6.68525418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.93, Y:37.58, Z:0.67 [[ 8.31741168e-01 -5.55134602e-01 -5.67478301e-03 1.14926280e+02] [ 5.55120588e-01 8.31760516e-01 -3.94674317e-03 3.75802698e+01] [ 6.91103414e-03 1.32479890e-04 9.99976110e-01 6.72114135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:37.60, Z:0.67 [[ 8.32422279e-01 -5.54112763e-01 -5.67411444e-03 1.14948361e+02] [ 5.54098718e-01 8.32441605e-01 -3.94770412e-03 3.75974341e+01] [ 6.91084217e-03 1.42137324e-04 9.99976110e-01 6.74373909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:37.61, Z:0.67 [[ 8.32930128e-01 -5.53349085e-01 -5.67386249e-03 1.14969820e+02] [ 5.53335020e-01 8.32949439e-01 -3.94806621e-03 3.76149409e+01] [ 6.91069940e-03 1.48916475e-04 9.99976110e-01 6.74936617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:37.63, Z:0.67 [[ 8.33931388e-01 -5.51838977e-01 -5.67308770e-03 1.14991889e+02] [ 5.51824870e-01 8.33950668e-01 -3.94917920e-03 3.76329302e+01] [ 6.91038629e-03 1.62793610e-04 9.99976110e-01 6.73481850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.01, Y:37.65, Z:0.67 [[ 8.34211017e-01 -5.51416180e-01 -5.67231303e-03 1.15013964e+02] [ 5.51402056e-01 8.34230285e-01 -3.95029158e-03 3.76495808e+01] [ 6.91027000e-03 1.67651696e-04 9.99976110e-01 6.69666050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:37.67, Z:0.67 [[ 8.34202272e-01 -5.51429412e-01 -5.67207252e-03 1.15036129e+02] [ 5.51415286e-01 8.34221538e-01 -3.95063688e-03 3.76662441e+01] [ 6.91026244e-03 1.67962765e-04 9.99976110e-01 6.71452184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:37.68, Z:0.67 [[ 8.33966758e-01 -5.51785541e-01 -5.67130533e-03 1.15058480e+02] [ 5.51771415e-01 8.33986024e-01 -3.95173791e-03 3.76844994e+01] [ 6.91030123e-03 1.66353878e-04 9.99976110e-01 6.70568750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:115.08, Y:37.70, Z:0.66 [[ 8.32841152e-01 -5.53483025e-01 -5.67062480e-03 1.15078665e+02] [ 5.53468932e-01 8.32860443e-01 -3.95271421e-03 3.77036038e+01] [ 6.91059930e-03 1.53468401e-04 9.99976110e-01 6.62369158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:37.72, Z:0.67 [[ 8.31800620e-01 -5.55045563e-01 -5.67026412e-03 1.15100571e+02] [ 5.55031503e-01 8.31819934e-01 -3.95323154e-03 3.77207754e+01] [ 6.91086236e-03 1.41125230e-04 9.99976110e-01 6.67546505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:37.74, Z:0.67 [[ 8.30721196e-01 -5.56659817e-01 -5.66948487e-03 1.15122455e+02] [ 5.56645787e-01 8.30740532e-01 -3.95434879e-03 3.77371685e+01] [ 6.91109795e-03 1.29066487e-04 9.99976110e-01 6.66704307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:37.76, Z:0.67 [[ 8.28489922e-01 -5.59975277e-01 -5.66914579e-03 1.15144706e+02] [ 5.59961320e-01 8.28509311e-01 -3.95483485e-03 3.77553255e+01] [ 6.91154981e-03 1.02038455e-04 9.99976110e-01 6.70506608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:37.77, Z:0.67 [[ 8.27682204e-01 -5.61168457e-01 -5.66846097e-03 1.15166998e+02] [ 5.61154522e-01 8.27701609e-01 -3.95581616e-03 3.77723385e+01] [ 6.91167351e-03 9.32761312e-05 9.99976110e-01 6.70452534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:37.79, Z:0.67 [[ 8.26742796e-01 -5.62551527e-01 -5.66821853e-03 1.15188523e+02] [ 5.62537622e-01 8.26762223e-01 -3.95616350e-03 3.77922964e+01] [ 6.91181477e-03 8.21435043e-05 9.99976110e-01 6.68983872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:37.81, Z:0.67 [[ 8.26567340e-01 -5.62809303e-01 -5.66754421e-03 1.15209997e+02] [ 5.62795397e-01 8.26586766e-01 -3.95712929e-03 3.78110937e+01] [ 6.91182622e-03 8.11660360e-05 9.99976110e-01 6.68315003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:37.83, Z:0.67 [[ 8.26484708e-01 -5.62930648e-01 -5.66677518e-03 1.15231345e+02] [ 5.62916738e-01 8.26504131e-01 -3.95823028e-03 3.78295361e+01] [ 6.91182223e-03 8.14941945e-05 9.99976110e-01 6.69379742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.25, Y:37.85, Z:0.66 [[ 8.26446193e-01 -5.62987199e-01 -5.66598356e-03 1.15252925e+02] [ 5.62973282e-01 8.26465611e-01 -3.95936310e-03 3.78465670e+01] [ 6.91181131e-03 8.24032009e-05 9.99976110e-01 6.63871882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:37.86, Z:0.67 [[ 8.26330624e-01 -5.63156816e-01 -5.66573824e-03 1.15275965e+02] [ 5.63142901e-01 8.26350043e-01 -3.95971412e-03 3.78628650e+01] [ 6.91182304e-03 8.14127652e-05 9.99976110e-01 6.67021231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:37.88, Z:0.67 [[ 8.26136979e-01 -5.63440858e-01 -5.66496177e-03 1.15297871e+02] [ 5.63426942e-01 8.26156397e-01 -3.96082467e-03 3.78804832e+01] [ 6.91183486e-03 8.03916406e-05 9.99976110e-01 6.67442269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:37.90, Z:0.67 [[ 8.25519320e-01 -5.64345429e-01 -5.66472121e-03 1.15318558e+02] [ 5.64331532e-01 8.25538752e-01 -3.96116868e-03 3.79007119e+01] [ 6.91191432e-03 7.32404756e-05 9.99976110e-01 6.71545517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:37.92, Z:0.67 [[ 8.25152621e-01 -5.64881466e-01 -5.66403519e-03 1.15339832e+02] [ 5.64867575e-01 8.25172057e-01 -3.96214938e-03 3.79180256e+01] [ 6.91194832e-03 6.99481223e-05 9.99976110e-01 6.70861898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:37.94, Z:0.67 [[ 8.24915816e-01 -5.65227228e-01 -5.66369502e-03 1.15361855e+02] [ 5.65213342e-01 8.24935256e-01 -3.96263557e-03 3.79356027e+01] [ 6.91197122e-03 6.76447635e-05 9.99976110e-01 6.69264905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:115.38, Y:37.95, Z:0.67 [[ 8.24575981e-01 -5.65722881e-01 -5.66333256e-03 1.15383898e+02] [ 5.65709003e-01 8.24595427e-01 -3.96315353e-03 3.79538470e+01] [ 6.91200476e-03 6.41229955e-05 9.99976110e-01 6.69065542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:37.97, Z:0.67 [[ 8.24716960e-01 -5.65517347e-01 -5.66266172e-03 1.15406948e+02] [ 5.65503458e-01 8.24736397e-01 -3.96411181e-03 3.79699270e+01] [ 6.91197722e-03 6.70154547e-05 9.99976110e-01 6.72888496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:37.99, Z:0.67 [[ 8.25288817e-01 -5.64682487e-01 -5.66188106e-03 1.15429221e+02] [ 5.64668570e-01 8.25308235e-01 -3.96522650e-03 3.79869687e+01] [ 6.91189103e-03 7.53708101e-05 9.99976110e-01 6.73601734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:38.00, Z:0.67 [[ 8.25177858e-01 -5.64844628e-01 -5.66110031e-03 1.15452430e+02] [ 5.64830707e-01 8.25197273e-01 -3.96634086e-03 3.80034613e+01] [ 6.91189086e-03 7.53733613e-05 9.99976110e-01 6.73798608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:38.02, Z:0.67 [[ 8.25740248e-01 -5.64022166e-01 -5.66032080e-03 1.15474008e+02] [ 5.64008218e-01 8.25759644e-01 -3.96745296e-03 3.80199376e+01] [ 6.91179590e-03 8.36181415e-05 9.99976110e-01 6.71965550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.50, Y:38.04, Z:0.67 [[ 8.25998037e-01 -5.63644575e-01 -5.65998797e-03 1.15495782e+02] [ 5.63630615e-01 8.26017425e-01 -3.96792773e-03 3.80381381e+01] [ 6.91174962e-03 8.73580211e-05 9.99976110e-01 6.69598092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:38.06, Z:0.67 [[ 8.26407861e-01 -5.63043533e-01 -5.65923470e-03 1.15517275e+02] [ 5.63029552e-01 8.26427233e-01 -3.96900179e-03 3.80555233e+01] [ 6.91166646e-03 9.36979029e-05 9.99976110e-01 6.73008580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:38.07, Z:0.67 [[ 8.26634861e-01 -5.62710217e-01 -5.65843941e-03 1.15537290e+02] [ 5.62696220e-01 8.26654222e-01 -3.97013527e-03 3.80739809e+01] [ 6.91160851e-03 9.78697570e-05 9.99976110e-01 6.72264477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.56, Y:38.09, Z:0.67 [[ 8.26090918e-01 -5.63508458e-01 -5.65809314e-03 1.15560242e+02] [ 5.63494476e-01 8.26110289e-01 -3.97062870e-03 3.80904386e+01] [ 6.91169182e-03 9.17960785e-05 9.99976110e-01 6.71136052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:38.10, Z:0.67 [[ 8.25815293e-01 -5.63912313e-01 -5.65727745e-03 1.15583050e+02] [ 5.63898333e-01 8.25834665e-01 -3.97179055e-03 3.81049892e+01] [ 6.91171742e-03 8.98360552e-05 9.99976110e-01 6.69950678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.61, Y:38.12, Z:0.67 [[ 8.24212751e-01 -5.66252011e-01 -5.65692373e-03 1.15605250e+02] [ 5.66238082e-01 8.24232161e-01 -3.97229428e-03 3.81218575e+01] [ 6.91193809e-03 7.08499516e-05 9.99976110e-01 6.69775601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:38.14, Z:0.67 [[ 8.23746133e-01 -5.66930609e-01 -5.65614072e-03 1.15627088e+02] [ 5.66916689e-01 8.23765549e-01 -3.97340889e-03 3.81375680e+01] [ 6.91198099e-03 6.65196427e-05 9.99976110e-01 6.70386884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:115.65, Y:38.16, Z:0.67 [[ 8.23122038e-01 -5.67836352e-01 -5.65580784e-03 1.15649165e+02] [ 5.67822450e-01 8.23141466e-01 -3.97388266e-03 3.81555397e+01] [ 6.91204499e-03 5.94957355e-05 9.99976110e-01 6.70532815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:38.17, Z:0.67 [[ 8.23431862e-01 -5.67386984e-01 -5.65502931e-03 1.15672316e+02] [ 5.67373064e-01 8.23451277e-01 -3.97499024e-03 3.81720344e+01] [ 6.91199883e-03 6.46223024e-05 9.99976110e-01 6.72036216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.69, Y:38.19, Z:0.67 [[ 8.23584719e-01 -5.67165090e-01 -5.65434370e-03 1.15694769e+02] [ 5.67151158e-01 8.23604126e-01 -3.97596526e-03 3.81891921e+01] [ 6.91196950e-03 6.76766537e-05 9.99976110e-01 6.70431382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:38.21, Z:0.67 [[ 8.24203019e-01 -5.66266210e-01 -5.65356097e-03 1.15717861e+02] [ 5.66252248e-01 8.24222406e-01 -3.97707794e-03 3.82056888e+01] [ 6.91187647e-03 7.65780311e-05 9.99976110e-01 6.72639049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:38.22, Z:0.67 [[ 8.25625184e-01 -5.64190661e-01 -5.65276786e-03 1.15739116e+02] [ 5.64176643e-01 8.25644529e-01 -3.97820490e-03 3.82244690e+01] [ 6.91164291e-03 9.53465501e-05 9.99976110e-01 6.73350434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:38.24, Z:0.67 [[ 8.26346132e-01 -5.63134193e-01 -5.65252075e-03 1.15760739e+02] [ 5.63120148e-01 8.26365458e-01 -3.97855598e-03 3.82429264e+01] [ 6.91150881e-03 1.04616027e-04 9.99976110e-01 6.74432704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.78, Y:38.26, Z:0.67 [[ 8.26846629e-01 -5.62399063e-01 -5.65214616e-03 1.15781715e+02] [ 5.62384998e-01 8.26865939e-01 -3.97908807e-03 3.82628757e+01] [ 6.91140255e-03 1.11413352e-04 9.99976110e-01 6.72797524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:38.28, Z:0.67 [[ 8.27119620e-01 -5.61997505e-01 -5.65147055e-03 1.15803646e+02] [ 5.61983424e-01 8.27138919e-01 -3.98004740e-03 3.82786038e+01] [ 6.91132795e-03 1.15942527e-04 9.99976110e-01 6.73720541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:38.30, Z:0.67 [[ 8.26752545e-01 -5.62537371e-01 -5.65114590e-03 1.15825781e+02] [ 5.62523299e-01 8.26771851e-01 -3.98050832e-03 3.82958371e+01] [ 6.91139304e-03 1.11994146e-04 9.99976110e-01 6.73989956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:38.31, Z:0.67 [[ 8.25680739e-01 -5.64109378e-01 -5.65037531e-03 1.15845790e+02] [ 5.64095335e-01 8.25700067e-01 -3.98160187e-03 3.83138267e+01] [ 6.91157422e-03 1.00181617e-04 9.99976110e-01 6.72741204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:38.33, Z:0.67 [[ 8.24993125e-01 -5.65114520e-01 -5.65004109e-03 1.15868153e+02] [ 5.65100497e-01 8.25012467e-01 -3.98207609e-03 3.83302687e+01] [ 6.91168335e-03 9.23443651e-05 9.99976110e-01 6.72357247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:38.35, Z:0.67 [[ 8.23654889e-01 -5.67063232e-01 -5.64928953e-03 1.15890349e+02] [ 5.67049248e-01 8.23674259e-01 -3.98314203e-03 3.83476121e+01] [ 6.91186776e-03 7.73090267e-05 9.99976110e-01 6.73318503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:38.36, Z:0.67 [[ 8.22999455e-01 -5.68014077e-01 -5.64849972e-03 1.15911485e+02] [ 5.68000108e-01 8.23018835e-01 -3.98426174e-03 3.83644395e+01] [ 6.91193842e-03 7.06967879e-05 9.99976110e-01 6.72400521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.93, Y:38.38, Z:0.67 [[ 8.22005412e-01 -5.69451668e-01 -5.64815871e-03 1.15933995e+02] [ 5.69437729e-01 8.22024814e-01 -3.98474510e-03 3.83829674e+01] [ 6.91204636e-03 5.92073670e-05 9.99976110e-01 6.70780214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:38.40, Z:0.67 [[ 8.21557252e-01 -5.70098051e-01 -5.64750153e-03 1.15957654e+02] [ 5.70084121e-01 8.21576660e-01 -3.98567630e-03 3.84000712e+01] [ 6.91208173e-03 5.49103211e-05 9.99976110e-01 6.73802366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:38.42, Z:0.67 [[ 8.21213877e-01 -5.70592571e-01 -5.64682375e-03 1.15979330e+02] [ 5.70578646e-01 8.21233289e-01 -3.98663633e-03 3.84162451e+01] [ 6.91210471e-03 5.19240261e-05 9.99976110e-01 6.72578109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.00, Y:38.43, Z:0.67 [[ 8.21145422e-01 -5.70691084e-01 -5.64648706e-03 1.16000592e+02] [ 5.70677159e-01 8.21164833e-01 -3.98711314e-03 3.84342334e+01] [ 6.91210653e-03 5.16785069e-05 9.99976110e-01 6.70419758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.02, Y:38.45, Z:0.67 [[ 8.21308373e-01 -5.70456550e-01 -5.64625572e-03 1.16022976e+02] [ 5.70442617e-01 8.21327780e-01 -3.98744071e-03 3.84514272e+01] [ 6.91208835e-03 5.40535576e-05 9.99976110e-01 6.70887002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:38.47, Z:0.67 [[ 8.22213038e-01 -5.69151867e-01 -5.64551855e-03 1.16044885e+02] [ 5.69137896e-01 8.22232417e-01 -3.98848415e-03 3.84693453e+01] [ 6.91198157e-03 6.63051232e-05 9.99976110e-01 6.72527007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:38.49, Z:0.67 [[ 8.23056812e-01 -5.67931000e-01 -5.64476250e-03 1.16065733e+02] [ 5.67916992e-01 8.23076165e-01 -3.98955388e-03 3.84858692e+01] [ 6.91186079e-03 7.78729593e-05 9.99976110e-01 6.71233547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.09, Y:38.50, Z:0.67 [[ 8.23768070e-01 -5.66898853e-01 -5.64424666e-03 1.16087286e+02] [ 5.66884816e-01 8.23787401e-01 -3.99028353e-03 3.85036103e+01] [ 6.91174645e-03 8.74304291e-05 9.99976110e-01 6.74159869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.11, Y:38.52, Z:0.67 [[ 8.25106025e-01 -5.64949732e-01 -5.64345277e-03 1.16107983e+02] [ 5.64935642e-01 8.25125317e-01 -3.99140601e-03 3.85225557e+01] [ 6.91149951e-03 1.05145538e-04 9.99976110e-01 6.72268828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:38.54, Z:0.67 [[ 8.25659150e-01 -5.64141049e-01 -5.64308375e-03 1.16129662e+02] [ 5.64126937e-01 8.25678426e-01 -3.99192767e-03 3.85387387e+01] [ 6.91138277e-03 1.12556054e-04 9.99976110e-01 6.71987847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.15, Y:38.56, Z:0.67 [[ 8.25828070e-01 -5.63893748e-01 -5.64274702e-03 1.16150294e+02] [ 5.63879626e-01 8.25847339e-01 -3.99240359e-03 3.85583164e+01] [ 6.91133904e-03 1.15208867e-04 9.99976110e-01 6.73129512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:38.57, Z:0.68 [[ 8.25799581e-01 -5.63935476e-01 -5.64196314e-03 1.16172202e+02] [ 5.63921347e-01 8.25818846e-01 -3.99351105e-03 3.85749222e+01] [ 6.91132204e-03 1.16216300e-04 9.99976110e-01 6.75246848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.19, Y:38.59, Z:0.67 [[ 8.25422875e-01 -5.64486718e-01 -5.64117742e-03 1.16193613e+02] [ 5.64472595e-01 8.25442144e-01 -3.99462063e-03 3.85920225e+01] [ 6.91137587e-03 1.12961190e-04 9.99976110e-01 6.72423149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:38.61, Z:0.68 [[ 8.25240981e-01 -5.64752604e-01 -5.64080952e-03 1.16216364e+02] [ 5.64738484e-01 8.25260252e-01 -3.99514008e-03 3.86091378e+01] [ 6.91140165e-03 1.11371103e-04 9.99976110e-01 6.75142906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:38.63, Z:0.67 [[ 8.24478120e-01 -5.65865725e-01 -5.64012109e-03 1.16235696e+02] [ 5.65851624e-01 8.24497405e-01 -3.99611174e-03 3.86291704e+01] [ 6.91152786e-03 1.03235019e-04 9.99976110e-01 6.74599423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:38.65, Z:0.67 [[ 8.23968684e-01 -5.66607272e-01 -5.63981033e-03 1.16256573e+02] [ 5.66593186e-01 8.23987979e-01 -3.99655027e-03 3.86457996e+01] [ 6.91161036e-03 9.75541603e-05 9.99976110e-01 6.73360607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:38.66, Z:0.67 [[ 8.23429046e-01 -5.67391225e-01 -5.63948797e-03 1.16280322e+02] [ 5.67377154e-01 8.23448353e-01 -3.99700509e-03 3.86629086e+01] [ 6.91169269e-03 9.15334565e-05 9.99976110e-01 6.72728167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:38.68, Z:0.67 [[ 8.22421683e-01 -5.68850401e-01 -5.63882658e-03 1.16303505e+02] [ 5.68836357e-01 8.22441010e-01 -3.99793794e-03 3.86800108e+01] [ 6.91183083e-03 8.04212784e-05 9.99976110e-01 6.73319895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:116.33, Y:38.70, Z:0.67 [[ 8.21714762e-01 -5.69871092e-01 -5.63812991e-03 1.16325343e+02] [ 5.69857066e-01 8.21734101e-01 -3.99892018e-03 3.86977578e+01] [ 6.91191263e-03 7.30435782e-05 9.99976110e-01 6.70335394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:38.72, Z:0.67 [[ 8.20527322e-01 -5.71579503e-01 -5.63788300e-03 1.16346320e+02] [ 5.71565515e-01 8.20546688e-01 -3.99926825e-03 3.87165646e+01] [ 6.91204599e-03 5.90893650e-05 9.99976110e-01 6.73125704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:38.73, Z:0.67 [[ 8.19521204e-01 -5.73021128e-01 -5.63760749e-03 1.16368553e+02] [ 5.73007171e-01 8.19540594e-01 -3.99965660e-03 3.87344125e+01] [ 6.91213592e-03 4.74138770e-05 9.99976110e-01 6.73019760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.39, Y:38.75, Z:0.67 [[ 8.18412447e-01 -5.74603596e-01 -5.63683631e-03 1.16390931e+02] [ 5.74589670e-01 8.18431858e-01 -4.00074315e-03 3.87524237e+01] [ 6.91220781e-03 3.53900762e-05 9.99976110e-01 6.72174229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:38.77, Z:0.68 [[ 8.17395253e-01 -5.76049681e-01 -5.63615849e-03 1.16412587e+02] [ 5.76035781e-01 8.17414684e-01 -4.00169782e-03 3.87693410e+01] [ 6.91225546e-03 2.43398429e-05 9.99976110e-01 6.75278897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.43, Y:38.79, Z:0.67 [[ 8.15169587e-01 -5.79194948e-01 -5.63537425e-03 1.16434465e+02] [ 5.79181116e-01 8.15189065e-01 -4.00280192e-03 3.87865682e+01] [ 6.91229812e-03 -9.39958869e-07 9.99976110e-01 6.73111130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.46, Y:38.80, Z:0.67 [[ 8.13974446e-01 -5.80873348e-01 -5.63513032e-03 1.16457791e+02] [ 5.80859554e-01 8.13993952e-01 -4.00314529e-03 3.88017691e+01] [ 6.91228240e-03 -1.47613174e-05 9.99976110e-01 6.74819025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:38.82, Z:0.68 [[ 8.12867623e-01 -5.82421223e-01 -5.63435634e-03 1.16482098e+02] [ 5.82407458e-01 8.12887150e-01 -4.00423436e-03 3.88174110e+01] [ 6.91224694e-03 -2.65786835e-05 9.99976110e-01 6.77340684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:38.83, Z:0.68 [[ 8.11232842e-01 -5.84696108e-01 -5.63367551e-03 1.16504933e+02] [ 5.84682391e-01 8.11252402e-01 -4.00519201e-03 3.88323296e+01] [ 6.91215297e-03 -4.47675748e-05 9.99976110e-01 6.77773741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.53, Y:38.85, Z:0.68 [[ 8.10856862e-01 -5.85217408e-01 -5.63335667e-03 1.16527857e+02] [ 5.85203701e-01 8.10876429e-01 -4.00564041e-03 3.88489312e+01] [ 6.91212664e-03 -4.86601538e-05 9.99976110e-01 6.75118531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:38.87, Z:0.68 [[ 8.10847896e-01 -5.85229833e-01 -5.63311985e-03 1.16550256e+02] [ 5.85216124e-01 8.10867461e-01 -4.00597342e-03 3.88650872e+01] [ 6.91212875e-03 -4.83574428e-05 9.99976110e-01 6.79905822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:116.57, Y:38.88, Z:0.68 [[ 8.11051771e-01 -5.84947264e-01 -5.63233223e-03 1.16572930e+02] [ 5.84933540e-01 8.11071326e-01 -4.00708050e-03 3.88816373e+01] [ 6.91215395e-03 -4.45902924e-05 9.99976110e-01 6.75657327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:38.90, Z:0.68 [[ 8.11197335e-01 -5.84745383e-01 -5.63208667e-03 1.16596439e+02] [ 5.84731652e-01 8.11216886e-01 -4.00742561e-03 3.88978053e+01] [ 6.91216743e-03 -4.24463654e-05 9.99976110e-01 6.77624184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79264000000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:116.62, Y:38.92, Z:0.67 [[ 8.11396069e-01 -5.84469594e-01 -5.63142375e-03 1.16620117e+02] [ 5.84455850e-01 8.11415610e-01 -4.00835696e-03 3.89151496e+01] [ 6.91218790e-03 -3.89534789e-05 9.99976110e-01 6.72670972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:38.93, Z:0.68 [[ 8.11391047e-01 -5.84476570e-01 -5.63106380e-03 1.16643355e+02] [ 5.84462823e-01 8.11410585e-01 -4.00886256e-03 3.89305671e+01] [ 6.91219101e-03 -3.83922564e-05 9.99976110e-01 6.76684234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.67, Y:38.95, Z:0.67 [[ 8.11266169e-01 -5.84649898e-01 -5.63028728e-03 1.16665670e+02] [ 5.84636147e-01 8.11285705e-01 -4.00995286e-03 3.89463482e+01] [ 6.91219012e-03 -3.85303656e-05 9.99976110e-01 6.73272189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.69, Y:38.96, Z:0.67 [[ 8.10530487e-01 -5.85669389e-01 -5.62999982e-03 1.16689439e+02] [ 5.85655660e-01 8.10550038e-01 -4.01035642e-03 3.89613777e+01] [ 6.91213956e-03 -4.67251204e-05 9.99976110e-01 6.74482220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.71, Y:38.98, Z:0.68 [[ 8.09822763e-01 -5.86647598e-01 -5.62924980e-03 1.16712364e+02] [ 5.86633886e-01 8.09842326e-01 -4.01140892e-03 3.89770991e+01] [ 6.91208816e-03 -5.37784337e-05 9.99976110e-01 6.75792434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:38.99, Z:0.68 [[ 8.09164794e-01 -5.87554811e-01 -5.62845908e-03 1.16736036e+02] [ 5.87541113e-01 8.09184367e-01 -4.01251808e-03 3.89925589e+01] [ 6.91203541e-03 -6.01627453e-05 9.99976110e-01 6.77743890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:39.01, Z:0.68 [[ 8.08340799e-01 -5.88687932e-01 -5.62767018e-03 1.16760348e+02] [ 5.88674254e-01 8.08360386e-01 -4.01362424e-03 3.90061547e+01] [ 6.91195779e-03 -6.84883163e-05 9.99976110e-01 6.78929266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:39.02, Z:0.68 [[ 8.07904392e-01 -5.89286710e-01 -5.62742489e-03 1.16783928e+02] [ 5.89273043e-01 8.07923987e-01 -4.01396812e-03 3.90207048e+01] [ 6.91190962e-03 -7.31873169e-05 9.99976110e-01 6.79512014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:39.03, Z:0.68 [[ 8.07312830e-01 -5.90096883e-01 -5.62706132e-03 1.16807319e+02] [ 5.90083233e-01 8.07332436e-01 -4.01447774e-03 3.90337730e+01] [ 6.91183992e-03 -7.94951506e-05 9.99976110e-01 6.80167854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:116.83, Y:39.05, Z:0.68 [[ 8.07027265e-01 -5.90487372e-01 -5.62654395e-03 1.16831029e+02] [ 5.90473726e-01 8.07046874e-01 -4.01520273e-03 3.90487751e+01] [ 6.91181122e-03 -8.19482923e-05 9.99976110e-01 6.78398798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:116.85, Y:39.07, Z:0.68 [[ 8.06913952e-01 -5.90642213e-01 -5.62577152e-03 1.16854090e+02] [ 5.90628564e-01 8.06933559e-01 -4.01628471e-03 3.90654579e+01] [ 6.91181113e-03 -8.19451848e-05 9.99976110e-01 6.78595670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:39.08, Z:0.68 [[ 8.06644130e-01 -5.91010665e-01 -5.62500069e-03 1.16878295e+02] [ 5.90997017e-01 8.06663738e-01 -4.01736401e-03 3.90791821e+01] [ 6.91178906e-03 -8.37755337e-05 9.99976110e-01 6.79942718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.90, Y:39.09, Z:0.68 [[ 8.06449796e-01 -5.91275816e-01 -5.62464188e-03 1.16901581e+02] [ 5.91262170e-01 8.06469406e-01 -4.01786630e-03 3.90924487e+01] [ 6.91176877e-03 -8.54305104e-05 9.99976110e-01 6.79181604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:39.10, Z:0.68 [[ 8.06670150e-01 -5.90975157e-01 -5.62431973e-03 1.16926822e+02] [ 5.90961502e-01 8.06689752e-01 -4.01831720e-03 3.91044790e+01] [ 6.91180673e-03 -8.22998938e-05 9.99976110e-01 6.81184373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.95, Y:39.12, Z:0.68 [[ 8.07094998e-01 -5.90394817e-01 -5.62354851e-03 1.16950597e+02] [ 5.90381140e-01 8.07114585e-01 -4.01939622e-03 3.91188642e+01] [ 6.91187872e-03 -7.60023939e-05 9.99976110e-01 6.80270873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.97, Y:39.13, Z:0.68 [[ 8.07584910e-01 -5.89724509e-01 -5.62277951e-03 1.16973756e+02] [ 5.89710808e-01 8.07604482e-01 -4.02047170e-03 3.91333631e+01] [ 6.91195263e-03 -6.89415745e-05 9.99976110e-01 6.80860931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:39.15, Z:0.68 [[ 8.09197375e-01 -5.87509997e-01 -5.62244408e-03 1.16998554e+02] [ 5.87496239e-01 8.09216906e-01 -4.02094073e-03 3.91480019e+01] [ 6.91211968e-03 -4.94300751e-05 9.99976110e-01 6.80499290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:39.16, Z:0.68 [[ 8.09776710e-01 -5.86711237e-01 -5.62178547e-03 1.17022070e+02] [ 5.86697454e-01 8.09796223e-01 -4.02186134e-03 3.91633906e+01] [ 6.91217188e-03 -4.14775827e-05 9.99976110e-01 6.81495031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:39.18, Z:0.68 [[ 8.11007556e-01 -5.85008674e-01 -5.62099194e-03 1.17047491e+02] [ 5.84994842e-01 8.11027034e-01 -4.02297007e-03 3.91759591e+01] [ 6.91224881e-03 -2.55921711e-05 9.99976110e-01 6.80825636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:39.19, Z:0.68 [[ 8.11348985e-01 -5.84535056e-01 -5.62074470e-03 1.17071587e+02] [ 5.84521210e-01 8.11368454e-01 -4.02331548e-03 3.91907025e+01] [ 6.91226388e-03 -2.11315629e-05 9.99976110e-01 6.82768573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:39.21, Z:0.68 [[ 8.11620340e-01 -5.84158232e-01 -5.61995609e-03 1.17095574e+02] [ 5.84144370e-01 8.11639796e-01 -4.02441675e-03 3.92050965e+01] [ 6.91227619e-03 -1.65672240e-05 9.99976110e-01 6.82461665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.12, Y:39.22, Z:0.68 [[ 8.12180554e-01 -5.83379099e-01 -5.61917180e-03 1.17120451e+02] [ 5.83365210e-01 8.12199992e-01 -4.02551153e-03 3.92163471e+01] [ 6.91229058e-03 -8.58715902e-06 9.99976110e-01 6.78650489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45264000000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:117.14, Y:39.23, Z:0.68 [[ 8.12388293e-01 -5.83089778e-01 -5.61883314e-03 1.17143543e+02] [ 5.83075879e-01 8.12407724e-01 -4.02598418e-03 3.92311257e+01] [ 6.91229367e-03 -5.54365450e-06 9.99976110e-01 6.77612587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:39.25, Z:0.68 [[ 8.12681495e-01 -5.82681062e-01 -5.61849291e-03 1.17166514e+02] [ 5.82667150e-01 8.12700917e-01 -4.02645893e-03 3.92469863e+01] [ 6.91229571e-03 -1.48258362e-06 9.99976110e-01 6.80603702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.19, Y:39.26, Z:0.68 [[ 8.14205410e-01 -5.80549732e-01 -5.61773459e-03 1.17189753e+02] [ 5.80535762e-01 8.14224790e-01 -4.02751666e-03 3.92628958e+01] [ 6.91227249e-03 1.79300237e-05 9.99976110e-01 6.78253588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.21, Y:39.28, Z:0.68 [[ 8.15001816e-01 -5.79431178e-01 -5.61697502e-03 1.17213389e+02] [ 5.79417174e-01 8.15021171e-01 -4.02857573e-03 3.92786622e+01] [ 6.91223593e-03 2.87247472e-05 9.99976110e-01 6.79377357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:39.29, Z:0.68 [[ 8.16572345e-01 -5.77215786e-01 -5.61618785e-03 1.17237155e+02] [ 5.77201722e-01 8.16591657e-01 -4.02967280e-03 3.92937575e+01] [ 6.91212290e-03 4.88460686e-05 9.99976110e-01 6.79392266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:39.31, Z:0.68 [[ 8.17148466e-01 -5.76399901e-01 -5.61594327e-03 1.17259488e+02] [ 5.76385815e-01 8.17167762e-01 -4.03001363e-03 3.93097408e+01] [ 6.91206725e-03 5.61694143e-05 9.99976110e-01 6.77796024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:39.33, Z:0.68 [[ 8.17633502e-01 -5.75711665e-01 -5.61562884e-03 1.17282386e+02] [ 5.75697560e-01 8.17652784e-01 -4.03045174e-03 3.93257439e+01] [ 6.91201263e-03 6.25285446e-05 9.99976110e-01 6.78090881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264000000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:117.31, Y:39.34, Z:0.68 [[ 8.17982297e-01 -5.75215990e-01 -5.61486401e-03 1.17306226e+02] [ 5.75201866e-01 8.18001565e-01 -4.03151694e-03 3.93420657e+01] [ 6.91196056e-03 6.80292271e-05 9.99976110e-01 6.76467757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:39.36, Z:0.68 [[ 8.18270315e-01 -5.74806204e-01 -5.61419551e-03 1.17329777e+02] [ 5.74792064e-01 8.18289571e-01 -4.03244767e-03 3.93591059e+01] [ 6.91191357e-03 7.26372057e-05 9.99976110e-01 6.81606928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:39.38, Z:0.68 [[ 8.18125467e-01 -5.75012355e-01 -5.61352644e-03 1.17352396e+02] [ 5.74998214e-01 8.18144722e-01 -4.03337886e-03 3.93757177e+01] [ 6.91191970e-03 7.20422840e-05 9.99976110e-01 6.82628272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:39.39, Z:0.68 [[ 8.17753411e-01 -5.75541355e-01 -5.61316902e-03 1.17375470e+02] [ 5.75527223e-01 8.17772672e-01 -4.03387620e-03 3.93925168e+01] [ 6.91195881e-03 6.81844447e-05 9.99976110e-01 6.84274903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:39.41, Z:0.68 [[ 8.16970022e-01 -5.76652828e-01 -5.61249154e-03 1.17399264e+02] [ 5.76638715e-01 8.16989298e-01 -4.03481859e-03 3.94076368e+01] [ 6.91203507e-03 5.99459204e-05 9.99976110e-01 6.83718249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:39.42, Z:0.68 [[ 8.16901935e-01 -5.76749285e-01 -5.61170048e-03 1.17421603e+02] [ 5.76735167e-01 8.16921207e-01 -4.03591851e-03 3.94236381e+01] [ 6.91203025e-03 6.04846333e-05 9.99976110e-01 6.81373278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:39.44, Z:0.68 [[ 8.16910607e-01 -5.76737004e-01 -5.61141918e-03 1.17444882e+02] [ 5.76722883e-01 8.16929877e-01 -4.03630959e-03 3.94412993e+01] [ 6.91202508e-03 6.10702703e-05 9.99976110e-01 6.79508774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:39.46, Z:0.68 [[ 8.16917003e-01 -5.76727952e-01 -5.61075209e-03 1.17467129e+02] [ 5.76713824e-01 8.16936268e-01 -4.03723668e-03 3.94591489e+01] [ 6.91201411e-03 6.22889977e-05 9.99976110e-01 6.77159328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.49, Y:39.47, Z:0.67 [[ 8.17015076e-01 -5.76589016e-01 -5.61005966e-03 1.17489770e+02] [ 5.76574878e-01 8.17034334e-01 -4.03819864e-03 3.94749584e+01] [ 6.91199233e-03 6.46497042e-05 9.99976110e-01 6.74227169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:117.51, Y:39.49, Z:0.67 [[ 8.16486505e-01 -5.77337269e-01 -5.60926590e-03 1.17513217e+02] [ 5.77323142e-01 8.16505771e-01 -4.03930091e-03 3.94891751e+01] [ 6.91203693e-03 5.96756682e-05 9.99976110e-01 6.71038990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:39.50, Z:0.68 [[ 8.15664268e-01 -5.78498351e-01 -5.60892129e-03 1.17536065e+02] [ 5.78484248e-01 8.15683551e-01 -4.03977937e-03 3.95048424e+01] [ 6.91211054e-03 5.04310721e-05 9.99976110e-01 6.75542371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:39.52, Z:0.68 [[ 8.15039164e-01 -5.79378728e-01 -5.60813719e-03 1.17559424e+02] [ 5.79364638e-01 8.15058456e-01 -4.04086758e-03 3.95216519e+01] [ 6.91215236e-03 4.43089611e-05 9.99976110e-01 6.78042165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:39.54, Z:0.68 [[ 8.13906311e-01 -5.80969081e-01 -5.60743538e-03 1.17581400e+02] [ 5.80955022e-01 8.13925627e-01 -4.04184124e-03 3.95394728e+01] [ 6.91222015e-03 3.20123476e-05 9.99976110e-01 6.80142450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:39.56, Z:0.68 [[ 8.13445856e-01 -5.81613617e-01 -5.60718628e-03 1.17604521e+02] [ 5.81599571e-01 8.13465181e-01 -4.04218679e-03 3.95558430e+01] [ 6.91224167e-03 2.69629588e-05 9.99976110e-01 6.81650824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:39.57, Z:0.68 [[ 8.12888304e-01 -5.82392624e-01 -5.60680974e-03 1.17627493e+02] [ 5.82378593e-01 8.12907640e-01 -4.04270901e-03 3.95708868e+01] [ 6.91226238e-03 2.09849010e-05 9.99976110e-01 6.82143241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:39.58, Z:0.68 [[ 8.11999660e-01 -5.83630978e-01 -5.60656175e-03 1.17651858e+02] [ 5.83616974e-01 8.12019015e-01 -4.04305290e-03 3.95849344e+01] [ 6.91228567e-03 1.08729761e-05 9.99976110e-01 6.82706648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.68, Y:39.60, Z:0.68 [[ 8.11557632e-01 -5.84245484e-01 -5.60577589e-03 1.17675888e+02] [ 5.84231487e-01 8.11576992e-01 -4.04414222e-03 3.96005299e+01] [ 6.91229056e-03 6.98369646e-06 9.99976110e-01 6.82329536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:39.62, Z:0.68 [[ 8.11061880e-01 -5.84933509e-01 -5.60508722e-03 1.17699491e+02] [ 5.84919522e-01 8.11081247e-01 -4.04509647e-03 3.96164282e+01] [ 6.91229361e-03 2.29861490e-06 9.99976110e-01 6.84308274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:39.63, Z:0.68 [[ 8.10996164e-01 -5.85024627e-01 -5.60430150e-03 1.17722410e+02] [ 5.85010635e-01 8.11015528e-01 -4.04618476e-03 3.96323138e+01] [ 6.91229327e-03 2.86434569e-06 9.99976110e-01 6.84745199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:39.65, Z:0.68 [[ 8.11026592e-01 -5.84982450e-01 -5.60351689e-03 1.17744639e+02] [ 5.84968450e-01 8.11045950e-01 -4.04727107e-03 3.96479265e+01] [ 6.91229222e-03 4.56387783e-06 9.99976110e-01 6.81732224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:39.66, Z:0.68 [[ 8.11087844e-01 -5.84897524e-01 -5.60317653e-03 1.17768321e+02] [ 5.84883518e-01 8.11107198e-01 -4.04774222e-03 3.96634534e+01] [ 6.91229121e-03 5.86890984e-06 9.99976110e-01 6.83051876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:39.68, Z:0.68 [[ 8.11247805e-01 -5.84675646e-01 -5.60239293e-03 1.17793158e+02] [ 5.84661627e-01 8.11267150e-01 -4.04882648e-03 3.96773243e+01] [ 6.91228759e-03 9.09742938e-06 9.99976110e-01 6.80229813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:39.69, Z:0.68 [[ 8.11435958e-01 -5.84414496e-01 -5.60214996e-03 1.17815793e+02] [ 5.84400468e-01 8.11455296e-01 -4.04916264e-03 3.96924165e+01] [ 6.91228360e-03 1.17371026e-05 9.99976110e-01 6.78640175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:39.71, Z:0.68 [[ 8.11624532e-01 -5.84152583e-01 -5.60173645e-03 1.17838879e+02] [ 5.84138545e-01 8.11643862e-01 -4.04973463e-03 3.97084608e+01] [ 6.91227795e-03 1.46737899e-05 9.99976110e-01 6.80118202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:39.72, Z:0.68 [[ 8.12054926e-01 -5.83554133e-01 -5.60096364e-03 1.17862315e+02] [ 5.83540074e-01 8.12074241e-01 -4.05080318e-03 3.97246182e+01] [ 6.91226123e-03 2.10879437e-05 9.99976110e-01 6.81091577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:39.74, Z:0.68 [[ 8.12302206e-01 -5.83209880e-01 -5.60017186e-03 1.17884227e+02] [ 5.83195805e-01 8.12321510e-01 -4.05189750e-03 3.97401279e+01] [ 6.91224672e-03 2.53685431e-05 9.99976110e-01 6.80912634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.91, Y:39.76, Z:0.68 [[ 8.12271378e-01 -5.83252819e-01 -5.59982859e-03 1.17908162e+02] [ 5.83238741e-01 8.12290680e-01 -4.05237185e-03 3.97554466e+01] [ 6.91224588e-03 2.55886849e-05 9.99976110e-01 6.80013046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:39.77, Z:0.68 [[ 8.11641323e-01 -5.84129278e-01 -5.59913335e-03 1.17931849e+02] [ 5.84115215e-01 8.11660635e-01 -4.05333223e-03 3.97709630e+01] [ 6.91226616e-03 1.93129529e-05 9.99976110e-01 6.82769341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:39.79, Z:0.68 [[ 8.11146073e-01 -5.84816815e-01 -5.59832783e-03 1.17954726e+02] [ 5.84802760e-01 8.11165392e-01 -4.05444449e-03 3.97854730e+01] [ 6.91227710e-03 1.48291588e-05 9.99976110e-01 6.80360065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:39.80, Z:0.68 [[ 8.10475502e-01 -5.85745784e-01 -5.59797866e-03 1.17979469e+02] [ 5.85731749e-01 8.10494834e-01 -4.05492654e-03 3.97983954e+01] [ 6.91228891e-03 7.50479173e-06 9.99976110e-01 6.82425575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:39.81, Z:0.68 [[ 8.10296477e-01 -5.85993422e-01 -5.59719176e-03 1.18003044e+02] [ 5.85979385e-01 8.10315808e-01 -4.05601244e-03 3.98136691e+01] [ 6.91228957e-03 6.73360552e-06 9.99976110e-01 6.83083409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:39.83, Z:0.68 [[ 8.10227189e-01 -5.86089224e-01 -5.59684130e-03 1.18025882e+02] [ 5.86075185e-01 8.10246519e-01 -4.05649596e-03 3.98293313e+01] [ 6.91228976e-03 6.51351681e-06 9.99976110e-01 6.84481406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:39.84, Z:0.68 [[ 8.10589361e-01 -5.85588228e-01 -5.59605429e-03 1.18048801e+02] [ 5.85574170e-01 8.10608677e-01 -4.05758138e-03 3.98436872e+01] [ 6.91228206e-03 1.21274462e-05 9.99976110e-01 6.84453225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:39.86, Z:0.68 [[ 8.10861017e-01 -5.85212012e-01 -5.59561627e-03 1.18071771e+02] [ 5.85197942e-01 8.10880324e-01 -4.05818535e-03 3.98589587e+01] [ 6.91227395e-03 1.60811745e-05 9.99976110e-01 6.84924770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.10, Y:39.87, Z:0.68 [[ 8.11839123e-01 -5.83854379e-01 -5.59482022e-03 1.18095759e+02] [ 5.83840268e-01 8.11858401e-01 -4.05928253e-03 3.98732134e+01] [ 6.91223167e-03 2.90030299e-05 9.99976110e-01 6.82071334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:39.89, Z:0.68 [[ 8.12075872e-01 -5.83525051e-01 -5.59401718e-03 1.18119409e+02] [ 5.83510925e-01 8.12095138e-01 -4.06038887e-03 3.98883455e+01] [ 6.91221278e-03 3.31736904e-05 9.99976110e-01 6.84697855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:39.90, Z:0.69 [[ 8.12525458e-01 -5.82898873e-01 -5.59321572e-03 1.18143029e+02] [ 5.82884725e-01 8.12544708e-01 -4.06149259e-03 3.99035599e+01] [ 6.91217729e-03 3.98661250e-05 9.99976110e-01 6.86206668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:39.92, Z:0.69 [[ 8.13151106e-01 -5.82025776e-01 -5.59240113e-03 1.18166188e+02] [ 5.82011599e-01 8.13170335e-01 -4.06261392e-03 3.99189210e+01] [ 6.91212072e-03 4.86766839e-05 9.99976110e-01 6.86030422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:39.93, Z:0.68 [[ 8.14299706e-01 -5.80417709e-01 -5.59214781e-03 1.18188881e+02] [ 5.80403492e-01 8.14318905e-01 -4.06296258e-03 3.99337710e+01] [ 6.91200711e-03 6.27671200e-05 9.99976110e-01 6.83749670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.21, Y:39.95, Z:0.68 [[ 8.14922718e-01 -5.79542662e-01 -5.59175650e-03 1.18212880e+02] [ 5.79528420e-01 8.14941899e-01 -4.06350105e-03 3.99505847e+01] [ 6.91192888e-03 7.08575088e-05 9.99976110e-01 6.82337446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:39.97, Z:0.68 [[ 8.16022113e-01 -5.77993643e-01 -5.59105476e-03 1.18236388e+02] [ 5.77979358e-01 8.16041262e-01 -4.06446638e-03 3.99659881e+01] [ 6.91176711e-03 8.51802006e-05 9.99976110e-01 6.84227867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:39.98, Z:0.68 [[ 8.16542194e-01 -5.77258684e-01 -5.59080590e-03 1.18259777e+02] [ 5.77244380e-01 8.16561328e-01 -4.06480866e-03 3.99829326e+01] [ 6.91168199e-03 9.18264952e-05 9.99976110e-01 6.83657907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:40.00, Z:0.68 [[ 8.17188266e-01 -5.76343725e-01 -5.59006489e-03 1.18281702e+02] [ 5.76329393e-01 8.17207379e-01 -4.06582746e-03 3.99987952e+01] [ 6.91155642e-03 1.00827786e-04 9.99976110e-01 6.81789105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:40.02, Z:0.68 [[ 8.18290708e-01 -5.74777411e-01 -5.58967874e-03 1.18305189e+02] [ 5.74763038e-01 8.18309791e-01 -4.06635827e-03 4.00152617e+01] [ 6.91133972e-03 1.14722448e-04 9.99976110e-01 6.80255651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:40.03, Z:0.68 [[ 8.18788260e-01 -5.74068417e-01 -5.58899747e-03 1.18328453e+02] [ 5.74054022e-01 8.18807326e-01 -4.06729442e-03 4.00324063e+01] [ 6.91121735e-03 1.21866450e-04 9.99976110e-01 6.80198743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:40.05, Z:0.68 [[ 8.18675563e-01 -5.74229129e-01 -5.58829902e-03 1.18351366e+02] [ 5.74214731e-01 8.18694627e-01 -4.06825385e-03 4.00493190e+01] [ 6.91122024e-03 1.21696394e-04 9.99976110e-01 6.80395606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:40.07, Z:0.68 [[ 8.19068222e-01 -5.73668918e-01 -5.58750024e-03 1.18372953e+02] [ 5.73654499e-01 8.19087270e-01 -4.06935062e-03 4.00660426e+01] [ 6.91111029e-03 1.27781127e-04 9.99976110e-01 6.78992991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:40.08, Z:0.68 [[ 8.19568337e-01 -5.72954208e-01 -5.58715315e-03 1.18395713e+02] [ 5.72939770e-01 8.19587370e-01 -4.06982711e-03 4.00840863e+01] [ 6.91098473e-03 1.34399201e-04 9.99976110e-01 6.80766868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.42, Y:40.10, Z:0.68 [[ 8.19753694e-01 -5.72688985e-01 -5.58645185e-03 1.18417916e+02] [ 5.72674533e-01 8.19772717e-01 -4.07078953e-03 4.01008173e+01] [ 6.91091713e-03 1.37826046e-04 9.99976110e-01 6.79678263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:40.12, Z:0.68 [[ 8.19623208e-01 -5.72875722e-01 -5.58607970e-03 1.18439911e+02] [ 5.72861272e-01 8.19642232e-01 -4.07130014e-03 4.01178581e+01] [ 6.91093584e-03 1.36883360e-04 9.99976110e-01 6.82404621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:40.14, Z:0.69 [[ 8.19078049e-01 -5.73654903e-01 -5.58583351e-03 1.18462237e+02] [ 5.73640468e-01 8.19097085e-01 -4.07163789e-03 4.01356223e+01] [ 6.91105498e-03 1.30729074e-04 9.99976110e-01 6.85562377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:40.15, Z:0.68 [[ 8.18743071e-01 -5.74132903e-01 -5.58512935e-03 1.18484235e+02] [ 5.74118473e-01 8.18762110e-01 -4.07260356e-03 4.01519578e+01] [ 6.91110800e-03 1.27890008e-04 9.99976110e-01 6.84776940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:40.17, Z:0.69 [[ 8.17658405e-01 -5.75676594e-01 -5.58487915e-03 1.18506614e+02] [ 5.75662197e-01 8.17677470e-01 -4.07294664e-03 4.01693099e+01] [ 6.91132991e-03 1.15275249e-04 9.99976110e-01 6.87194866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.53, Y:40.19, Z:0.68 [[ 8.17104443e-01 -5.76462616e-01 -5.58407217e-03 1.18528252e+02] [ 5.76448230e-01 8.17123516e-01 -4.07405272e-03 4.01865253e+01] [ 6.91141577e-03 1.09998065e-04 9.99976110e-01 6.83091740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:40.20, Z:0.69 [[ 8.16094815e-01 -5.77891057e-01 -5.58382218e-03 1.18550206e+02] [ 5.77876702e-01 8.16113912e-01 -4.07439532e-03 4.02038941e+01] [ 6.91159158e-03 9.83321464e-05 9.99976110e-01 6.88818402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:40.22, Z:0.69 [[ 8.14565898e-01 -5.80044161e-01 -5.58301352e-03 1.18571241e+02] [ 5.80029849e-01 8.14585026e-01 -4.07550310e-03 4.02216746e+01] [ 6.91181099e-03 8.14513492e-05 9.99976110e-01 6.87038337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:40.24, Z:0.68 [[ 8.13899066e-01 -5.80979474e-01 -5.58230915e-03 1.18592686e+02] [ 5.80965177e-01 8.13918206e-01 -4.07646767e-03 4.02382926e+01] [ 6.91188709e-03 7.47060018e-05 9.99976110e-01 6.84442087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:40.25, Z:0.68 [[ 8.13267233e-01 -5.81863603e-01 -5.58175918e-03 1.18614408e+02] [ 5.81849322e-01 8.13286384e-01 -4.07722058e-03 4.02549550e+01] [ 6.91195500e-03 6.81271091e-05 9.99976110e-01 6.84975491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.64, Y:40.27, Z:0.68 [[ 8.12652871e-01 -5.82721339e-01 -5.58134942e-03 1.18636716e+02] [ 5.82707075e-01 8.12672035e-01 -4.07778143e-03 4.02732647e+01] [ 6.91201685e-03 6.15290001e-05 9.99976110e-01 6.84147293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:40.29, Z:0.69 [[ 8.12187306e-01 -5.83370068e-01 -5.58066598e-03 1.18658093e+02] [ 5.83355812e-01 8.12206477e-01 -4.07871654e-03 4.02909990e+01] [ 6.91205420e-03 5.71678614e-05 9.99976110e-01 6.87061212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:40.31, Z:0.69 [[ 8.11993335e-01 -5.83640034e-01 -5.57988887e-03 1.18679456e+02] [ 5.83625777e-01 8.12012504e-01 -4.07977939e-03 4.03112190e+01] [ 6.91206212e-03 5.61866930e-05 9.99976110e-01 6.85630510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:40.33, Z:0.69 [[ 8.11924578e-01 -5.83735686e-01 -5.57920111e-03 1.18700369e+02] [ 5.83721425e-01 8.11943745e-01 -4.08071970e-03 4.03297791e+01] [ 6.91205916e-03 5.65373968e-05 9.99976110e-01 6.85353406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264000000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.72, Y:40.35, Z:0.68 [[ 8.12114714e-01 -5.83471142e-01 -5.57841490e-03 1.18720894e+02] [ 5.83456867e-01 8.12133870e-01 -4.08179418e-03 4.03470436e+01] [ 6.91202879e-03 6.01206258e-05 9.99976110e-01 6.81446321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:40.36, Z:0.69 [[ 8.11410336e-01 -5.84450299e-01 -5.57797909e-03 1.18743172e+02] [ 5.84436044e-01 8.11429507e-01 -4.08238965e-03 4.03645503e+01] [ 6.91209068e-03 5.25211251e-05 9.99976110e-01 6.86648423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:40.38, Z:0.69 [[ 8.09789728e-01 -5.86693694e-01 -5.57727805e-03 1.18766350e+02] [ 5.86679485e-01 8.09808933e-01 -4.08334718e-03 4.03817672e+01] [ 6.91220362e-03 3.45779870e-05 9.99976110e-01 6.89335444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:40.40, Z:0.69 [[ 8.08800547e-01 -5.88056610e-01 -5.57656560e-03 1.18787191e+02] [ 5.88042427e-01 8.08819771e-01 -4.08431993e-03 4.03984700e+01] [ 6.91224784e-03 2.41430255e-05 9.99976110e-01 6.89057510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.81, Y:40.42, Z:0.69 [[ 8.07841056e-01 -5.89374019e-01 -5.57621263e-03 1.18808843e+02] [ 5.89359864e-01 8.07860300e-01 -4.08480177e-03 4.04161726e+01] [ 6.91227685e-03 1.34746592e-05 9.99976110e-01 6.87121701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.83, Y:40.43, Z:0.69 [[ 8.05591161e-01 -5.92445607e-01 -5.57542026e-03 1.18829772e+02] [ 5.92431517e-01 8.05610454e-01 -4.08588300e-03 4.04341111e+01] [ 6.91228028e-03 -1.15034582e-05 9.99976110e-01 6.87997735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:40.45, Z:0.69 [[ 8.04452103e-01 -5.93991361e-01 -5.57462238e-03 1.18851611e+02] [ 5.93977301e-01 8.04471418e-01 -4.08697131e-03 4.04498835e+01] [ 6.91225002e-03 -2.34264898e-05 9.99976110e-01 6.88381703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.88, Y:40.46, Z:0.69 [[ 8.03049455e-01 -5.95886315e-01 -5.57427773e-03 1.18875098e+02] [ 5.95872297e-01 8.03068800e-01 -4.08744132e-03 4.04645820e+01] [ 6.91217888e-03 -3.91401529e-05 9.99976110e-01 6.87799549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:40.48, Z:0.69 [[ 8.02321428e-01 -5.96866201e-01 -5.57347430e-03 1.18897668e+02] [ 5.96852200e-01 8.02340785e-01 -4.08853656e-03 4.04803993e+01] [ 6.91213503e-03 -4.62199076e-05 9.99976110e-01 6.89991121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:40.50, Z:0.69 [[ 8.01761873e-01 -5.97617636e-01 -5.57310053e-03 1.18920405e+02] [ 5.97603649e-01 8.01781241e-01 -4.08904598e-03 4.04965294e+01] [ 6.91209345e-03 -5.20640498e-05 9.99976110e-01 6.89952523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:40.51, Z:0.69 [[ 8.01259103e-01 -5.98291567e-01 -5.57230034e-03 1.18943004e+02] [ 5.98277588e-01 8.01278477e-01 -4.09013614e-03 4.05129277e+01] [ 6.91205829e-03 -5.65235912e-05 9.99976110e-01 6.88586486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85264000000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:118.97, Y:40.53, Z:0.69 [[ 8.01263271e-01 -5.98285987e-01 -5.57205109e-03 1.18965549e+02] [ 5.98272006e-01 8.01282643e-01 -4.09047567e-03 4.05290795e+01] [ 6.91206210e-03 -5.60542731e-05 9.99976110e-01 6.85103896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:40.54, Z:0.69 [[ 8.01294040e-01 -5.98244784e-01 -5.57125863e-03 1.18989114e+02] [ 5.98230795e-01 8.01313406e-01 -4.09155472e-03 4.05442275e+01] [ 6.91207550e-03 -5.43600675e-05 9.99976110e-01 6.87466185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:40.56, Z:0.69 [[ 8.01636437e-01 -5.97785908e-01 -5.57045992e-03 1.19011198e+02] [ 5.97771900e-01 8.01655790e-01 -4.09264185e-03 4.05592224e+01] [ 6.91211507e-03 -4.90535814e-05 9.99976110e-01 6.88269375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:40.57, Z:0.69 [[ 8.02136225e-01 -5.97115108e-01 -5.57000470e-03 1.19033512e+02] [ 5.97101079e-01 8.02155562e-01 -4.09326129e-03 4.05747068e+01] [ 6.91215841e-03 -4.25026563e-05 9.99976110e-01 6.88590697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:40.59, Z:0.69 [[ 8.03501185e-01 -5.95277100e-01 -5.56955797e-03 1.19057852e+02] [ 5.95263023e-01 8.03520488e-01 -4.09386906e-03 4.05886077e+01] [ 6.91224043e-03 -2.59232674e-05 9.99976110e-01 6.89932341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:40.60, Z:0.69 [[ 8.04210540e-01 -5.94318430e-01 -5.56877244e-03 1.19080281e+02] [ 5.94304323e-01 8.04229820e-01 -4.09493731e-03 4.06035803e+01] [ 6.91226957e-03 -1.63537917e-05 9.99976110e-01 6.89961242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:40.62, Z:0.69 [[ 8.04910368e-01 -5.93370283e-01 -5.56833622e-03 1.19102182e+02] [ 5.93356149e-01 8.04929629e-01 -4.09553039e-03 4.06186976e+01] [ 6.91228484e-03 -7.47166253e-06 9.99976110e-01 6.89969167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.13, Y:40.63, Z:0.69 [[ 8.06276309e-01 -5.91512901e-01 -5.56791826e-03 1.19126132e+02] [ 5.91498719e-01 8.06295534e-01 -4.09609854e-03 4.06336515e+01] [ 6.91228276e-03 9.17069899e-06 9.99976110e-01 6.86595812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:40.65, Z:0.69 [[ 8.06546748e-01 -5.91144119e-01 -5.56541020e-03 1.19150085e+02] [ 5.91129905e-01 8.06565949e-01 -4.09950705e-03 4.06502490e+01] [ 6.91226984e-03 1.65636787e-05 9.99976110e-01 6.90789613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:40.67, Z:0.69 [[ 8.07797351e-01 -5.89434029e-01 -5.56471335e-03 1.19173652e+02] [ 5.89419767e-01 8.07816517e-01 -4.10045373e-03 4.06657344e+01] [ 6.91221431e-03 3.23836102e-05 9.99976110e-01 6.94764106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:40.68, Z:0.70 [[ 8.08488474e-01 -5.88485687e-01 -5.56632768e-03 1.19196368e+02] [ 5.88471418e-01 8.08507634e-01 -4.09826112e-03 4.06819162e+01] [ 6.91218643e-03 3.77721357e-05 9.99976110e-01 6.96123639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:40.70, Z:0.69 [[ 8.09362486e-01 -5.87283059e-01 -5.56551554e-03 1.19218442e+02] [ 5.87268753e-01 8.09381620e-01 -4.09936372e-03 4.06979817e+01] [ 6.91211285e-03 4.94178392e-05 9.99976110e-01 6.93792948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:40.72, Z:0.69 [[ 8.11133895e-01 -5.84834052e-01 -5.56204358e-03 1.19241380e+02] [ 5.84819656e-01 8.11152961e-01 -4.10407616e-03 4.07151661e+01] [ 6.91187161e-03 7.61628644e-05 9.99976110e-01 6.94753437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:40.73, Z:0.69 [[ 8.12072962e-01 -5.83529382e-01 -5.56452681e-03 1.19263274e+02] [ 5.83514979e-01 8.12092023e-01 -4.10070650e-03 4.07306828e+01] [ 6.91179056e-03 8.30881321e-05 9.99976110e-01 6.92345046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:40.75, Z:0.69 [[ 8.12943012e-01 -5.82316667e-01 -5.56412219e-03 1.19284744e+02] [ 5.82302231e-01 8.12962048e-01 -4.10125544e-03 4.07463883e+01] [ 6.91164957e-03 9.40861781e-05 9.99976110e-01 6.90846161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:40.76, Z:0.69 [[ 8.14323118e-01 -5.80385136e-01 -5.56359407e-03 1.19306279e+02] [ 5.80370650e-01 8.14342116e-01 -4.10197174e-03 4.07644586e+01] [ 6.91139239e-03 1.11383707e-04 9.99976110e-01 6.93516237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:40.78, Z:0.70 [[ 8.14553654e-01 -5.80061608e-01 -5.55649812e-03 1.19328734e+02] [ 5.80047050e-01 8.14572596e-01 -4.11159219e-03 4.07817595e+01] [ 6.91114788e-03 1.26082105e-04 9.99976110e-01 6.95183637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.35, Y:40.80, Z:0.69 [[ 8.14140372e-01 -5.80641465e-01 -5.56281739e-03 1.19350979e+02] [ 5.80626978e-01 8.14159369e-01 -4.10302463e-03 4.07982188e+01] [ 6.91140612e-03 1.10516147e-04 9.99976110e-01 6.90996800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.37, Y:40.82, Z:0.69 [[ 8.13691179e-01 -5.81270783e-01 -5.56256905e-03 1.19372489e+02] [ 5.81256309e-01 8.13710186e-01 -4.10336128e-03 4.08157105e+01] [ 6.91148312e-03 1.05590532e-04 9.99976110e-01 6.91408868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:40.83, Z:0.69 [[ 8.13145116e-01 -5.82034438e-01 -5.56176564e-03 1.19395150e+02] [ 5.82019974e-01 8.13164130e-01 -4.10444994e-03 4.08333695e+01] [ 6.91155954e-03 1.00454730e-04 9.99976110e-01 6.93481586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:40.85, Z:0.69 [[ 8.12179249e-01 -5.83381473e-01 -5.56106059e-03 1.19416967e+02] [ 5.83367034e-01 8.12198282e-01 -4.10540499e-03 4.08489608e+01] [ 6.91170106e-03 9.01853219e-05 9.99976110e-01 6.93660726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:40.86, Z:0.69 [[ 8.10101087e-01 -5.86263855e-01 -5.56070868e-03 1.19440511e+02] [ 5.86249480e-01 8.10120169e-01 -4.10588159e-03 4.08644114e+01] [ 6.91197222e-03 6.62165627e-05 9.99976110e-01 6.94479903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:119.46, Y:40.88, Z:0.69 [[ 8.09170884e-01 -5.87547077e-01 -5.55990852e-03 1.19462996e+02] [ 5.87532726e-01 8.09189983e-01 -4.10696482e-03 4.08816596e+01] [ 6.91205746e-03 5.66081441e-05 9.99976110e-01 6.91855835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:40.90, Z:0.69 [[ 8.08550096e-01 -5.88401086e-01 -5.55920954e-03 1.19484810e+02] [ 5.88386748e-01 8.08569205e-01 -4.10791075e-03 4.08980676e+01] [ 6.91210478e-03 5.04864068e-05 9.99976110e-01 6.93364773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:40.91, Z:0.69 [[ 8.08136157e-01 -5.88969483e-01 -5.55875979e-03 1.19508061e+02] [ 5.88955154e-01 8.08155274e-01 -4.10851925e-03 4.09138345e+01] [ 6.91213350e-03 4.63827239e-05 9.99976110e-01 6.94654983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:40.93, Z:0.70 [[ 8.08443649e-01 -5.88547343e-01 -5.55796162e-03 1.19530669e+02] [ 5.88532997e-01 8.08462752e-01 -4.10959872e-03 4.09304054e+01] [ 6.91209836e-03 5.13351723e-05 9.99976110e-01 6.96054777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:40.95, Z:0.69 [[ 8.10372727e-01 -5.85888353e-01 -5.55715212e-03 1.19551757e+02] [ 5.85873937e-01 8.10391777e-01 -4.11069307e-03 4.09465517e+01] [ 6.91187757e-03 7.54029687e-05 9.99976110e-01 6.94874746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:40.96, Z:0.70 [[ 8.11466323e-01 -5.84372766e-01 -5.55669582e-03 1.19573662e+02] [ 5.84358311e-01 8.11485343e-01 -4.11130979e-03 4.09632383e+01] [ 6.91171469e-03 8.90880600e-05 9.99976110e-01 6.96552698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:40.98, Z:0.69 [[ 8.12880339e-01 -5.82404230e-01 -5.55591623e-03 1.19596581e+02] [ 5.82389721e-01 8.12899318e-01 -4.11236304e-03 4.09807203e+01] [ 6.91145814e-03 1.07150554e-04 9.99976110e-01 6.94675843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:41.00, Z:0.69 [[ 8.15345954e-01 -5.78947437e-01 -5.55344783e-03 1.19618490e+02] [ 5.78932825e-01 8.15364854e-01 -4.11569697e-03 4.09996705e+01] [ 6.91085839e-03 1.40643626e-04 9.99976110e-01 6.92201201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:41.02, Z:0.69 [[ 8.15931031e-01 -5.78122558e-01 -5.55523857e-03 1.19640353e+02] [ 5.78107943e-01 8.15949930e-01 -4.11327873e-03 4.10174586e+01] [ 6.91077574e-03 1.44624217e-04 9.99976110e-01 6.91104369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:41.03, Z:0.69 [[ 8.16096066e-01 -5.77889571e-01 -5.55462869e-03 1.19662317e+02] [ 5.77874945e-01 8.16114956e-01 -4.11410199e-03 4.10343673e+01] [ 6.91071219e-03 1.47621701e-04 9.99976110e-01 6.92755850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.69, Y:41.05, Z:0.69 [[ 8.15559081e-01 -5.78647167e-01 -5.55352527e-03 1.19686130e+02] [ 5.78632549e-01 8.15577976e-01 -4.11559094e-03 4.10515479e+01] [ 6.91080794e-03 1.43057082e-04 9.99976110e-01 6.90145409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:41.07, Z:0.69 [[ 8.15213159e-01 -5.79134413e-01 -5.55314176e-03 1.19708950e+02] [ 5.79119802e-01 8.15232061e-01 -4.11610834e-03 4.10689881e+01] [ 6.91087918e-03 1.39571330e-04 9.99976110e-01 6.93316402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:41.09, Z:0.69 [[ 8.14759356e-01 -5.79772682e-01 -5.55244856e-03 1.19730928e+02] [ 5.79758079e-01 8.14778264e-01 -4.11704322e-03 4.10861502e+01] [ 6.91096359e-03 1.35322565e-04 9.99976110e-01 6.91268552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:41.10, Z:0.69 [[ 8.14699923e-01 -5.79856217e-01 -5.55006549e-03 1.19752916e+02] [ 5.79841595e-01 8.14718816e-01 -4.12025622e-03 4.11026454e+01] [ 6.91089897e-03 1.38613603e-04 9.99976110e-01 6.91458619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:41.12, Z:0.69 [[ 8.13974481e-01 -5.80874122e-01 -5.54962135e-03 1.19775759e+02] [ 5.80859520e-01 8.13993389e-01 -4.12085492e-03 4.11192934e+01] [ 6.91105307e-03 1.30720351e-04 9.99976110e-01 6.91814204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:41.14, Z:0.69 [[ 8.13646716e-01 -5.81333129e-01 -5.55104873e-03 1.19798005e+02] [ 5.81318551e-01 8.13665642e-01 -4.11893124e-03 4.11359060e+01] [ 6.91116882e-03 1.24427272e-04 9.99976110e-01 6.94191744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:41.15, Z:0.70 [[ 8.13212564e-01 -5.81940307e-01 -5.55023787e-03 1.19820734e+02] [ 5.81925735e-01 8.13231495e-01 -4.12002358e-03 4.11540730e+01] [ 6.91123603e-03 1.20628688e-04 9.99976110e-01 6.96142143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.84, Y:41.17, Z:0.70 [[ 8.12810471e-01 -5.82501794e-01 -5.54957308e-03 1.19842179e+02] [ 5.82487229e-01 8.12829408e-01 -4.12091885e-03 4.11702685e+01] [ 6.91129882e-03 1.16970549e-04 9.99976110e-01 6.95392950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:41.19, Z:0.70 [[ 8.12320078e-01 -5.83185474e-01 -5.54921526e-03 1.19864360e+02] [ 5.83170921e-01 8.12339025e-01 -4.12140063e-03 4.11865955e+01] [ 6.91138509e-03 1.11755508e-04 9.99976110e-01 6.97835160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:41.20, Z:0.70 [[ 8.11973847e-01 -5.83667446e-01 -5.54837941e-03 1.19886237e+02] [ 5.83652897e-01 8.11992796e-01 -4.12252557e-03 4.12030306e+01] [ 6.91142808e-03 1.09055232e-04 9.99976110e-01 6.96975652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:41.22, Z:0.70 [[ 8.11427430e-01 -5.84426854e-01 -5.54781162e-03 1.19908432e+02] [ 5.84412318e-01 8.11446388e-01 -4.12328952e-03 4.12204682e+01] [ 6.91151283e-03 1.03540770e-04 9.99976110e-01 6.97864419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:41.24, Z:0.70 [[ 8.11204633e-01 -5.84736073e-01 -5.54699900e-03 1.19930477e+02] [ 5.84721536e-01 8.11223591e-01 -4.12438244e-03 4.12372978e+01] [ 6.91153164e-03 1.02268367e-04 9.99976110e-01 6.98738722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:119.95, Y:41.25, Z:0.70 [[ 8.11005153e-01 -5.85012719e-01 -5.54617609e-03 1.19951933e+02] [ 5.84998182e-01 8.11024111e-01 -4.12548873e-03 4.12540860e+01] [ 6.91154591e-03 1.01289688e-04 9.99976110e-01 6.97688665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:41.27, Z:0.70 [[ 8.10975448e-01 -5.85053901e-01 -5.54582012e-03 1.19974488e+02] [ 5.85039361e-01 8.10994404e-01 -4.12596720e-03 4.12706069e+01] [ 6.91154229e-03 1.01535035e-04 9.99976110e-01 7.00940005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:41.29, Z:0.70 [[ 8.10774558e-01 -5.85332267e-01 -5.54556679e-03 1.19997196e+02] [ 5.85317731e-01 8.10793517e-01 -4.12630767e-03 4.12871228e+01] [ 6.91157062e-03 9.95866995e-05 9.99976110e-01 7.01677553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:41.30, Z:0.70 [[ 8.10507715e-01 -5.85701716e-01 -5.54475434e-03 1.20018757e+02] [ 5.85687181e-01 8.10526675e-01 -4.12739912e-03 4.13033156e+01] [ 6.91159604e-03 9.77972863e-05 9.99976110e-01 6.99434178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:41.32, Z:0.70 [[ 8.10389396e-01 -5.85865417e-01 -5.54436616e-03 1.20041148e+02] [ 5.85850882e-01 8.10408356e-01 -4.12792049e-03 4.13207615e+01] [ 6.91160653e-03 9.70511850e-05 9.99976110e-01 6.99423749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:41.34, Z:0.70 [[ 8.10246155e-01 -5.86063509e-01 -5.54365699e-03 1.20064374e+02] [ 5.86048972e-01 8.10265114e-01 -4.12887266e-03 4.13386681e+01] [ 6.91161346e-03 9.65487085e-05 9.99976110e-01 6.99725030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:41.35, Z:0.70 [[ 8.09725816e-01 -5.86782222e-01 -5.54326817e-03 1.20086265e+02] [ 5.86767699e-01 8.09744784e-01 -4.12939461e-03 4.13546758e+01] [ 6.91168783e-03 9.10667129e-05 9.99976110e-01 6.99518022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.11, Y:41.37, Z:0.70 [[ 8.09187857e-01 -5.87523863e-01 -5.54282846e-03 1.20108951e+02] [ 5.87509353e-01 8.09206836e-01 -4.12998475e-03 4.13720583e+01] [ 6.91175927e-03 8.54699492e-05 9.99976110e-01 6.97688718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:41.39, Z:0.70 [[ 8.08630759e-01 -5.88290388e-01 -5.54212430e-03 1.20131163e+02] [ 5.88275890e-01 8.08649747e-01 -4.13092946e-03 4.13882367e+01] [ 6.91182350e-03 8.00985210e-05 9.99976110e-01 6.97877403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:41.40, Z:0.70 [[ 8.08201141e-01 -5.88880468e-01 -5.54157401e-03 1.20153320e+02] [ 5.88865979e-01 8.08220136e-01 -4.13166753e-03 4.14047162e+01] [ 6.91187001e-03 7.59740085e-05 9.99976110e-01 6.98466029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:41.42, Z:0.70 [[ 8.07677322e-01 -5.89598714e-01 -5.54078413e-03 1.20175113e+02] [ 5.89584234e-01 8.07696324e-01 -4.13272653e-03 4.14202816e+01] [ 6.91192122e-03 7.11505238e-05 9.99976110e-01 6.98627792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:41.44, Z:0.70 [[ 8.06940937e-01 -5.90606154e-01 -5.54034062e-03 1.20198235e+02] [ 5.90591694e-01 8.06959953e-01 -4.13332101e-03 4.14360855e+01] [ 6.91199784e-03 6.32667757e-05 9.99976110e-01 7.01638252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:41.45, Z:0.70 [[ 8.06655171e-01 -5.90996402e-01 -5.53958007e-03 1.20220897e+02] [ 5.90981945e-01 8.06674190e-01 -4.13434008e-03 4.14532116e+01] [ 6.91201637e-03 6.11950031e-05 9.99976110e-01 7.02456506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:41.47, Z:0.70 [[ 8.06501907e-01 -5.91205545e-01 -5.53877286e-03 1.20242601e+02] [ 5.91191084e-01 8.06520924e-01 -4.13542120e-03 4.14691899e+01] [ 6.91202015e-03 6.07519520e-05 9.99976110e-01 7.01466299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.26, Y:41.49, Z:0.70 [[ 8.06187384e-01 -5.91634371e-01 -5.53831452e-03 1.20264786e+02] [ 5.91619916e-01 8.06206405e-01 -4.13603495e-03 4.14863585e+01] [ 6.91204507e-03 5.78420263e-05 9.99976110e-01 6.99873181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:41.50, Z:0.70 [[ 8.06409091e-01 -5.91332148e-01 -5.53790781e-03 1.20287875e+02] [ 5.91317682e-01 8.06428104e-01 -4.13657943e-03 4.15035189e+01] [ 6.91201690e-03 6.11124454e-05 9.99976110e-01 7.03336686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.31, Y:41.52, Z:0.70 [[ 8.06709097e-01 -5.90922814e-01 -5.53722885e-03 1.20309448e+02] [ 5.90908332e-01 8.06728098e-01 -4.13748809e-03 4.15205414e+01] [ 6.91197420e-03 6.57546102e-05 9.99976110e-01 7.01947246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:41.54, Z:0.70 [[ 8.06885465e-01 -5.90681970e-01 -5.53690522e-03 1.20332503e+02] [ 5.90667480e-01 8.06904459e-01 -4.13792113e-03 4.15368678e+01] [ 6.91194892e-03 6.83585592e-05 9.99976110e-01 7.03400959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.35, Y:41.55, Z:0.70 [[ 8.06844448e-01 -5.90738002e-01 -5.53612059e-03 1.20354710e+02] [ 5.90723507e-01 8.06863438e-01 -4.13897062e-03 4.15531727e+01] [ 6.91194053e-03 6.91888953e-05 9.99976110e-01 7.02015095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:41.57, Z:0.70 [[ 8.07092596e-01 -5.90398934e-01 -5.53533486e-03 1.20377617e+02] [ 5.90384423e-01 8.07111574e-01 -4.14002116e-03 4.15691204e+01] [ 6.91189692e-03 7.34049457e-05 9.99976110e-01 7.04993097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:41.59, Z:0.70 [[ 8.07669209e-01 -5.89609886e-01 -5.53451382e-03 1.20399622e+02] [ 5.89595349e-01 8.07688167e-01 -4.14111847e-03 4.15855904e+01] [ 6.91180571e-03 8.15302706e-05 9.99976110e-01 7.04258084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:41.60, Z:0.70 [[ 8.08338013e-01 -5.88692645e-01 -5.53408543e-03 1.20421894e+02] [ 5.88678082e-01 8.08356952e-01 -4.14169088e-03 4.16026617e+01] [ 6.91169939e-03 9.00913723e-05 9.99976110e-01 7.04892483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:41.62, Z:0.71 [[ 8.09114246e-01 -5.87625318e-01 -5.53367503e-03 1.20444039e+02] [ 5.87610727e-01 8.09133163e-01 -4.14223914e-03 4.16203704e+01] [ 6.91156457e-03 9.98978930e-05 9.99976110e-01 7.05533677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:41.64, Z:0.71 [[ 8.10887012e-01 -5.85176590e-01 -5.53290814e-03 1.20465690e+02] [ 5.85161935e-01 8.10905878e-01 -4.14326324e-03 4.16393914e+01] [ 6.91120839e-03 1.22071114e-04 9.99976110e-01 7.05415218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:41.66, Z:0.71 [[ 8.11531003e-01 -5.84283172e-01 -5.53222625e-03 1.20488208e+02] [ 5.84268490e-01 8.11549849e-01 -4.14417352e-03 4.16582231e+01] [ 6.91104823e-03 1.30819817e-04 9.99976110e-01 7.06414510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:41.68, Z:0.70 [[ 8.12811123e-01 -5.82501056e-01 -5.53156009e-03 1.20508315e+02] [ 5.82486326e-01 8.12829932e-01 -4.14506251e-03 4.16778923e+01] [ 6.91072090e-03 1.47094799e-04 9.99976110e-01 7.04481422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.53, Y:41.70, Z:0.70 [[ 8.13057982e-01 -5.82156442e-01 -5.53130487e-03 1.20528646e+02] [ 5.82141702e-01 8.13076782e-01 -4.14540306e-03 4.16963922e+01] [ 6.91064866e-03 1.50449817e-04 9.99976110e-01 7.02519825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:41.71, Z:0.71 [[ 8.13034340e-01 -5.82189462e-01 -5.53105240e-03 1.20550918e+02] [ 5.82174721e-01 8.13053139e-01 -4.14573990e-03 4.17148418e+01] [ 6.91064560e-03 1.50590014e-04 9.99976110e-01 7.05581534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:41.73, Z:0.71 [[ 8.11941455e-01 -5.83712677e-01 -5.53034544e-03 1.20572533e+02] [ 5.83697964e-01 8.11960277e-01 -4.14668275e-03 4.17347535e+01] [ 6.91089210e-03 1.38812242e-04 9.99976110e-01 7.08012417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.59, Y:41.75, Z:0.71 [[ 8.10833708e-01 -5.85250477e-01 -5.52964073e-03 1.20594026e+02] [ 5.85235794e-01 8.10852553e-01 -4.14762227e-03 4.17535254e+01] [ 6.91112122e-03 1.26888261e-04 9.99976110e-01 7.07020989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:41.77, Z:0.71 [[ 8.09727254e-01 -5.86780374e-01 -5.52883470e-03 1.20614937e+02] [ 5.86765718e-01 8.09746121e-01 -4.14869645e-03 4.17710365e+01] [ 6.91132610e-03 1.15181920e-04 9.99976110e-01 7.08837931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:41.79, Z:0.71 [[ 8.06717079e-01 -5.90912000e-01 -5.52838122e-03 1.20636487e+02] [ 5.90897437e-01 8.06736017e-01 -4.14930065e-03 4.17910816e+01] [ 6.91181579e-03 8.06054043e-05 9.99976110e-01 7.11198654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:41.81, Z:0.71 [[ 8.05127225e-01 -5.93076383e-01 -5.52769587e-03 1.20659584e+02] [ 5.93061865e-01 8.05146198e-01 -4.15021346e-03 4.18089403e+01] [ 6.91199690e-03 6.31842244e-05 9.99976110e-01 7.13781997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:41.83, Z:0.71 [[ 8.03409971e-01 -5.95400597e-01 -5.52698229e-03 1.20681230e+02] [ 5.95386128e-01 8.03428980e-01 -4.15116355e-03 4.18255919e+01] [ 6.91214300e-03 4.43976019e-05 9.99976110e-01 7.14214419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:41.84, Z:0.71 [[ 8.00297734e-01 -5.99577346e-01 -5.52652402e-03 1.20703347e+02] [ 5.99562971e-01 8.00316816e-01 -4.15177356e-03 4.18421307e+01] [ 6.91227948e-03 9.15581537e-06 9.99976110e-01 7.14517086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:41.86, Z:0.71 [[ 7.98891286e-01 -6.01450064e-01 -5.52572090e-03 1.20725780e+02] [ 6.01435727e-01 7.98910396e-01 -4.15284218e-03 4.18580026e+01] [ 6.91228307e-03 -5.69653043e-06 9.99976110e-01 7.13925222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.75, Y:41.87, Z:0.71 [[ 7.96507069e-01 -6.04603969e-01 -5.52530290e-03 1.20749415e+02] [ 6.04589704e-01 7.96526233e-01 -4.15339826e-03 4.18740438e+01] [ 6.91220977e-03 -3.23301669e-05 9.99976110e-01 7.13009785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:41.89, Z:0.71 [[ 7.95908289e-01 -6.05392001e-01 -5.52458899e-03 1.20771651e+02] [ 6.05377748e-01 7.95927461e-01 -4.15434763e-03 4.18901406e+01] [ 6.91218092e-03 -3.79835275e-05 9.99976110e-01 7.12250861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:41.91, Z:0.71 [[ 7.95356498e-01 -6.06116757e-01 -5.52433560e-03 1.20793079e+02] [ 6.06102519e-01 7.95375682e-01 -4.15468456e-03 4.19061579e+01] [ 6.91214612e-03 -4.38583601e-05 9.99976110e-01 7.10748994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.82, Y:41.92, Z:0.71 [[ 7.94605489e-01 -6.07100982e-01 -5.52395580e-03 1.20815967e+02] [ 6.07086764e-01 7.94624688e-01 -4.15518948e-03 4.19214971e+01] [ 6.91209126e-03 -5.17840818e-05 9.99976110e-01 7.10622063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:41.94, Z:0.71 [[ 7.94474657e-01 -6.07272192e-01 -5.52314706e-03 1.20839531e+02] [ 6.07257971e-01 7.94493853e-01 -4.15626418e-03 4.19372691e+01] [ 6.91209005e-03 -5.19285185e-05 9.99976110e-01 7.12777553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:41.95, Z:0.71 [[ 7.94385721e-01 -6.07388532e-01 -5.52233586e-03 1.20862739e+02] [ 6.07374307e-01 7.94404914e-01 -4.15734173e-03 4.19534042e+01] [ 6.91209244e-03 -5.15920016e-05 9.99976110e-01 7.12633628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:41.97, Z:0.71 [[ 7.94433623e-01 -6.07325885e-01 -5.52152684e-03 1.20886031e+02] [ 6.07311651e-01 7.94452809e-01 -4.15841594e-03 4.19688871e+01] [ 6.91210615e-03 -4.97021395e-05 9.99976110e-01 7.12261031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:41.98, Z:0.71 [[ 7.94990979e-01 -6.06596130e-01 -5.52071583e-03 1.20910610e+02] [ 6.06581871e-01 7.95010146e-01 -4.15949235e-03 4.19823302e+01] [ 6.91215707e-03 -4.20072396e-05 9.99976110e-01 7.10816701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:42.00, Z:0.71 [[ 7.95449655e-01 -6.05994531e-01 -5.52046337e-03 1.20932214e+02] [ 6.05980254e-01 7.95468810e-01 -4.15982739e-03 4.19981873e+01] [ 6.91218908e-03 -3.63585381e-05 9.99976110e-01 7.10594910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:42.01, Z:0.71 [[ 7.96673190e-01 -6.04385107e-01 -5.52000345e-03 1.20955021e+02] [ 6.04370787e-01 7.96692313e-01 -4.16043760e-03 4.20149003e+01] [ 6.91225085e-03 -2.16197363e-05 9.99976110e-01 7.11495963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:42.03, Z:0.71 [[ 7.97107710e-01 -6.03811923e-01 -5.51920470e-03 1.20979118e+02] [ 6.03797582e-01 7.97126817e-01 -4.16149696e-03 4.20312225e+01] [ 6.91226755e-03 -1.53211425e-05 9.99976110e-01 7.10884173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:42.05, Z:0.71 [[ 7.97620941e-01 -6.03133799e-01 -5.51849890e-03 1.21002647e+02] [ 6.03119436e-01 7.97640032e-01 -4.16243269e-03 4.20465656e+01] [ 6.91227948e-03 -8.27046080e-06 9.99976110e-01 7.10348405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:42.06, Z:0.71 [[ 7.99107785e-01 -6.01162457e-01 -5.51808734e-03 1.21027473e+02] [ 6.01148043e-01 7.99126836e-01 -4.16297823e-03 4.20608241e+01] [ 6.91227790e-03 9.48090559e-06 9.99976110e-01 7.13364855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:42.08, Z:0.71 [[ 7.99906476e-01 -6.00099316e-01 -5.51731558e-03 1.21050598e+02] [ 6.00084870e-01 7.99925503e-01 -4.16400081e-03 4.20767557e+01] [ 6.91225548e-03 1.99536154e-05 9.99976110e-01 7.12159350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:42.09, Z:0.71 [[ 8.00649745e-01 -5.99107294e-01 -5.51695403e-03 1.21073688e+02] [ 5.99092821e-01 8.00668751e-01 -4.16447977e-03 4.20931418e+01] [ 6.91222291e-03 2.91221139e-05 9.99976110e-01 7.14170977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.10, Y:42.11, Z:0.71 [[ 8.02312327e-01 -5.96878968e-01 -5.51614109e-03 1.21097537e+02] [ 5.96864435e-01 8.02331287e-01 -4.16555630e-03 4.21106367e+01] [ 6.91210553e-03 4.96887349e-05 9.99976110e-01 7.12764567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.12, Y:42.13, Z:0.72 [[ 8.03213051e-01 -5.95666254e-01 -5.52342642e-03 1.21119765e+02] [ 5.95651758e-01 8.03232041e-01 -4.15590913e-03 4.21259169e+01] [ 6.91212790e-03 4.80417957e-05 9.99976110e-01 7.15072632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:42.14, Z:0.71 [[ 8.04410322e-01 -5.94048493e-01 -5.51551119e-03 1.21143794e+02] [ 5.94033887e-01 8.04429227e-01 -4.16638740e-03 4.21408349e+01] [ 6.91187456e-03 7.50844738e-05 9.99976110e-01 7.14441787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:42.16, Z:0.71 [[ 8.04651502e-01 -5.93721773e-01 -5.51514459e-03 1.21166868e+02] [ 5.93707156e-01 8.04670399e-01 -4.16687262e-03 4.21575994e+01] [ 6.91183660e-03 7.84994997e-05 9.99976110e-01 7.14057249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:42.17, Z:0.71 [[ 8.04539243e-01 -5.93873891e-01 -5.51443055e-03 1.21189467e+02] [ 5.93859271e-01 8.04558137e-01 -4.16781737e-03 4.21749308e+01] [ 6.91183789e-03 7.83769325e-05 9.99976110e-01 7.14254115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:42.19, Z:0.71 [[ 8.04602120e-01 -5.93788707e-01 -5.51364239e-03 1.21212027e+02] [ 5.93774078e-01 8.04621007e-01 -4.16885977e-03 4.21915188e+01] [ 6.91181434e-03 8.04154861e-05 9.99976110e-01 7.13798712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:42.21, Z:0.72 [[ 8.04647839e-01 -5.93726758e-01 -5.51285669e-03 1.21234725e+02] [ 5.93712121e-01 8.04666720e-01 -4.16989852e-03 4.22082880e+01] [ 6.91179264e-03 8.22499953e-05 9.99976110e-01 7.15183988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:42.22, Z:0.71 [[ 8.05013255e-01 -5.93231217e-01 -5.51203100e-03 1.21256212e+02] [ 5.93216560e-01 8.05032121e-01 -4.17098968e-03 4.22241077e+01] [ 6.91172329e-03 8.78739126e-05 9.99976110e-01 7.14649858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.28, Y:42.24, Z:0.71 [[ 8.05199652e-01 -5.92978198e-01 -5.51156874e-03 1.21277907e+02] [ 5.92963531e-01 8.05218510e-01 -4.17160042e-03 4.22408978e+01] [ 6.91168527e-03 9.08119375e-05 9.99976110e-01 7.11125603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:42.26, Z:0.71 [[ 8.05949293e-01 -5.91958922e-01 -5.51114079e-03 1.21299812e+02] [ 5.91944227e-01 8.05968129e-01 -4.17216571e-03 4.22579289e+01] [ 6.91155455e-03 1.00266027e-04 9.99976110e-01 7.11231713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:42.27, Z:0.71 [[ 8.06251117e-01 -5.91547777e-01 -5.51035465e-03 1.21321653e+02] [ 5.91533066e-01 8.06269940e-01 -4.17320374e-03 4.22749376e+01] [ 6.91148271e-03 1.05093191e-04 9.99976110e-01 7.12046574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03264000000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:121.34, Y:42.29, Z:0.71 [[ 8.06602664e-01 -5.91068343e-01 -5.50954874e-03 1.21342462e+02] [ 5.91053614e-01 8.06621473e-01 -4.17426745e-03 4.22913802e+01] [ 6.91139767e-03 1.10536550e-04 9.99976110e-01 7.09710581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:42.31, Z:0.71 [[ 8.06685138e-01 -5.90955783e-01 -5.50910738e-03 1.21365258e+02] [ 5.90941047e-01 8.06703942e-01 -4.17484986e-03 4.23094631e+01] [ 6.91137031e-03 1.12231654e-04 9.99976110e-01 7.13501264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.39, Y:42.33, Z:0.71 [[ 8.06452350e-01 -5.91273427e-01 -5.50839292e-03 1.21385603e+02] [ 5.91258691e-01 8.06471154e-01 -4.17579233e-03 4.23268023e+01] [ 6.91139503e-03 1.10692352e-04 9.99976110e-01 7.11094115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:42.34, Z:0.71 [[ 8.06311359e-01 -5.91465684e-01 -5.50783666e-03 1.21407351e+02] [ 5.91450948e-01 8.06330163e-01 -4.17652591e-03 4.23435745e+01] [ 6.91140658e-03 1.09965067e-04 9.99976110e-01 7.11939423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:42.36, Z:0.71 [[ 8.05541356e-01 -5.92513960e-01 -5.50738755e-03 1.21429654e+02] [ 5.92499245e-01 8.05560176e-01 -4.17711803e-03 4.23612597e+01] [ 6.91153283e-03 1.01718357e-04 9.99976110e-01 7.13756459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:42.38, Z:0.72 [[ 8.05030555e-01 -5.93207789e-01 -5.50670307e-03 1.21451317e+02] [ 5.93193084e-01 8.05049383e-01 -4.17802020e-03 4.23783594e+01] [ 6.91160203e-03 9.68957467e-05 9.99976110e-01 7.15787343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:42.40, Z:0.72 [[ 8.04107165e-01 -5.94458874e-01 -5.50588700e-03 1.21473255e+02] [ 5.94444191e-01 8.04126010e-01 -4.17909536e-03 4.23965274e+01] [ 6.91172726e-03 8.74979786e-05 9.99976110e-01 7.15755145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:42.41, Z:0.71 [[ 8.03610203e-01 -5.95130519e-01 -5.50510845e-03 1.21494838e+02] [ 5.95115845e-01 8.03629055e-01 -4.18012068e-03 4.24135710e+01] [ 6.91178249e-03 8.30103569e-05 9.99976110e-01 7.13361307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:42.43, Z:0.72 [[ 8.02988311e-01 -5.95969355e-01 -5.50463957e-03 1.21516664e+02] [ 5.95954695e-01 8.03007175e-01 -4.18073804e-03 4.24313274e+01] [ 6.91185682e-03 7.65679761e-05 9.99976110e-01 7.15103501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:42.45, Z:0.71 [[ 8.01836879e-01 -5.97517638e-01 -5.50381718e-03 1.21537789e+02] [ 5.97503008e-01 8.01855765e-01 -4.18182041e-03 4.24489644e+01] [ 6.91197899e-03 6.45905061e-05 9.99976110e-01 7.12259113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:42.47, Z:0.71 [[ 8.01155986e-01 -5.98430277e-01 -5.50356187e-03 1.21559120e+02] [ 5.98415666e-01 8.01174887e-01 -4.18215639e-03 4.24656795e+01] [ 6.91204457e-03 5.71419815e-05 9.99976110e-01 7.10877744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:42.48, Z:0.71 [[ 8.00400422e-01 -5.99440472e-01 -5.50311607e-03 1.21581267e+02] [ 5.99425881e-01 8.00419339e-01 -4.18274291e-03 4.24826421e+01] [ 6.91210592e-03 4.91589959e-05 9.99976110e-01 7.11660356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:42.50, Z:0.71 [[ 7.99719310e-01 -6.00348856e-01 -5.50231303e-03 1.21603140e+02] [ 6.00334279e-01 7.99738238e-01 -4.18379903e-03 4.24992019e+01] [ 6.91214909e-03 4.26377432e-05 9.99976110e-01 7.11969237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:42.52, Z:0.72 [[ 7.99033893e-01 -6.01260815e-01 -5.50185698e-03 1.21626048e+02] [ 6.01246256e-01 7.99052834e-01 -4.18439867e-03 4.25168626e+01] [ 6.91218937e-03 3.55054470e-05 9.99976110e-01 7.15237642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:42.53, Z:0.71 [[ 7.99002212e-01 -6.01302921e-01 -5.50112951e-03 1.21647357e+02] [ 6.01288356e-01 7.99021149e-01 -4.18535484e-03 4.25334473e+01] [ 6.91218491e-03 3.63426561e-05 9.99976110e-01 7.13239771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:42.55, Z:0.71 [[ 7.99550627e-01 -6.00573507e-01 -5.50068351e-03 1.21669415e+02] [ 6.00558920e-01 7.99569547e-01 -4.18594092e-03 4.25507890e+01] [ 6.91214424e-03 4.33871315e-05 9.99976110e-01 7.14953076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:42.57, Z:0.72 [[ 8.00121557e-01 -5.99812676e-01 -5.49986255e-03 1.21691129e+02] [ 5.99798064e-01 8.00140457e-01 -4.18701929e-03 4.25682742e+01] [ 6.91208978e-03 5.13174814e-05 9.99976110e-01 7.15233406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:42.59, Z:0.72 [[ 8.01042898e-01 -5.98581683e-01 -5.49943983e-03 1.21712066e+02] [ 5.98567038e-01 8.01061774e-01 -4.18757444e-03 4.25855733e+01] [ 6.91199638e-03 6.26433591e-05 9.99976110e-01 7.15790237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:42.60, Z:0.72 [[ 8.02828531e-01 -5.96184628e-01 -5.49898584e-03 1.21733458e+02] [ 5.96169923e-01 8.02847359e-01 -4.18817052e-03 4.26041747e+01] [ 6.91176915e-03 8.40528261e-05 9.99976110e-01 7.15668617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:42.62, Z:0.71 [[ 8.03375599e-01 -5.95447240e-01 -5.49817704e-03 1.21754452e+02] [ 5.95432511e-01 8.03394408e-01 -4.18923204e-03 4.26211828e+01] [ 6.91167135e-03 9.17334394e-05 9.99976110e-01 7.13878379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.78, Y:42.64, Z:0.71 [[ 8.03712576e-01 -5.94992327e-01 -5.49778498e-03 1.21776826e+02] [ 5.94977584e-01 8.03731374e-01 -4.18974650e-03 4.26395310e+01] [ 6.91160929e-03 9.62931319e-05 9.99976110e-01 7.13879813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.80, Y:42.66, Z:0.71 [[ 8.03575327e-01 -5.95177685e-01 -5.49706127e-03 1.21796989e+02] [ 5.95162939e-01 8.03594123e-01 -4.19069581e-03 4.26574952e+01] [ 6.91161476e-03 9.58926138e-05 9.99976110e-01 7.12503659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:121.82, Y:42.68, Z:0.71 [[ 8.03321043e-01 -5.95520856e-01 -5.49661908e-03 1.21817046e+02] [ 5.95506114e-01 8.03339842e-01 -4.19127571e-03 4.26751310e+01] [ 6.91164520e-03 9.36697048e-05 9.99976110e-01 7.10683903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:42.69, Z:0.71 [[ 8.03129632e-01 -5.95778974e-01 -5.49615473e-03 1.21838364e+02] [ 5.95764234e-01 8.03148433e-01 -4.19188454e-03 4.26929566e+01] [ 6.91166473e-03 9.22142726e-05 9.99976110e-01 7.13969842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:42.71, Z:0.71 [[ 8.02839350e-01 -5.96170093e-01 -5.49533324e-03 1.21858760e+02] [ 5.96155355e-01 8.02858152e-01 -4.19296120e-03 4.27106207e+01] [ 6.91169116e-03 9.02019066e-05 9.99976110e-01 7.12210644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:42.73, Z:0.71 [[ 8.02322556e-01 -5.96865415e-01 -5.49477375e-03 1.21880646e+02] [ 5.96850688e-01 8.02341367e-01 -4.19369426e-03 4.27283408e+01] [ 6.91175535e-03 8.51360076e-05 9.99976110e-01 7.12108116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.90, Y:42.75, Z:0.71 [[ 8.01560870e-01 -5.97887939e-01 -5.49399112e-03 1.21901821e+02] [ 5.97873229e-01 8.01579694e-01 -4.19471931e-03 4.27462307e+01] [ 6.91184380e-03 7.76126523e-05 9.99976110e-01 7.12565962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.92, Y:42.76, Z:0.72 [[ 7.99380744e-01 -6.00799676e-01 -5.49318531e-03 1.21922924e+02] [ 6.00785027e-01 7.99399616e-01 -4.19577429e-03 4.27643094e+01] [ 6.91207006e-03 5.37976805e-05 9.99976110e-01 7.15004326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:42.78, Z:0.72 [[ 7.98055716e-01 -6.02558630e-01 -5.49293536e-03 1.21945485e+02] [ 6.02544021e-01 7.98074618e-01 -4.19610149e-03 4.27817760e+01] [ 6.91216945e-03 3.89874193e-05 9.99976110e-01 7.16957601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:42.80, Z:0.72 [[ 7.95109017e-01 -6.06441660e-01 -5.49223428e-03 1.21967344e+02] [ 6.06427137e-01 7.95127985e-01 -4.19701892e-03 4.27996645e+01] [ 6.91227630e-03 6.44767665e-06 9.99976110e-01 7.18339332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:42.82, Z:0.72 [[ 7.93525659e-01 -6.08512012e-01 -5.49188846e-03 1.21989889e+02] [ 6.08497535e-01 7.93544663e-01 -4.19747139e-03 4.28175144e+01] [ 6.91227053e-03 -1.09993395e-05 9.99976110e-01 7.21365450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:42.83, Z:0.72 [[ 7.92198167e-01 -6.10239225e-01 -5.49116221e-03 1.22012648e+02] [ 6.10224783e-01 7.92217197e-01 -4.19842125e-03 4.28341218e+01] [ 6.91223447e-03 -2.48616502e-05 9.99976110e-01 7.20941546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.04, Y:42.85, Z:0.72 [[ 7.91405541e-01 -6.11266817e-01 -5.49072440e-03 1.22035388e+02] [ 6.11252395e-01 7.91424588e-01 -4.19899375e-03 4.28492966e+01] [ 6.91219984e-03 -3.31115139e-05 9.99976110e-01 7.19345215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:42.86, Z:0.72 [[ 7.90822412e-01 -6.12021052e-01 -5.49030064e-03 1.22058916e+02] [ 6.12006645e-01 7.90841469e-01 -4.19954776e-03 4.28638551e+01] [ 6.91216906e-03 -3.90039894e-05 9.99976110e-01 7.19523465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05264000000003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:122.08, Y:42.88, Z:0.72 [[ 7.91101073e-01 -6.11660823e-01 -5.48900104e-03 1.22080817e+02] [ 6.11646396e-01 7.91120115e-01 -4.20124620e-03 4.28816472e+01] [ 6.91219684e-03 -3.37173222e-05 9.99976110e-01 7.17113085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.10, Y:42.90, Z:0.72 [[ 7.91847979e-01 -6.10693578e-01 -5.48927528e-03 1.22102746e+02] [ 6.10679129e-01 7.91867005e-01 -4.20088785e-03 4.28989119e+01] [ 6.91223120e-03 -2.57212903e-05 9.99976110e-01 7.18106452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:122.12, Y:42.92, Z:0.72 [[ 7.92016741e-01 -6.10474699e-01 -5.48846903e-03 1.22124581e+02] [ 6.10460238e-01 7.92035758e-01 -4.20194095e-03 4.29158640e+01] [ 6.91224236e-03 -2.24845282e-05 9.99976110e-01 7.19551566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:42.93, Z:0.72 [[ 7.91939344e-01 -6.10575107e-01 -5.48765436e-03 1.22146651e+02] [ 6.10560642e-01 7.91958356e-01 -4.20300462e-03 4.29322041e+01] [ 6.91224373e-03 -2.20210513e-05 9.99976110e-01 7.21125086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:42.95, Z:0.72 [[ 7.91741081e-01 -6.10832179e-01 -5.48729703e-03 1.22168623e+02] [ 6.10817716e-01 7.91760096e-01 -4.20347109e-03 4.29487090e+01] [ 6.91223822e-03 -2.36774920e-05 9.99976110e-01 7.21237454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:42.97, Z:0.72 [[ 7.91475107e-01 -6.11176774e-01 -5.48686014e-03 1.22191016e+02] [ 6.11162315e-01 7.91494125e-01 -4.20404130e-03 4.29656390e+01] [ 6.91222996e-03 -2.59681070e-05 9.99976110e-01 7.23001629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:42.98, Z:0.72 [[ 7.91309414e-01 -6.11391294e-01 -5.48607154e-03 1.22212988e+02] [ 6.11376834e-01 7.91328430e-01 -4.20507012e-03 4.29828379e+01] [ 6.91222765e-03 -2.65454729e-05 9.99976110e-01 7.24219807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:43.00, Z:0.73 [[ 7.91195927e-01 -6.11538152e-01 -5.48572490e-03 1.22235600e+02] [ 6.11523692e-01 7.91214944e-01 -4.20552229e-03 4.30004668e+01] [ 6.91222485e-03 -2.72586357e-05 9.99976110e-01 7.27451540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:43.02, Z:0.73 [[ 7.90957408e-01 -6.11846626e-01 -5.48502193e-03 1.22258080e+02] [ 6.11832167e-01 7.90976425e-01 -4.20643893e-03 4.30172958e+01] [ 6.91221851e-03 -2.87988181e-05 9.99976110e-01 7.28272273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:43.03, Z:0.73 [[ 7.90202369e-01 -6.12821455e-01 -5.48458076e-03 1.22281594e+02] [ 6.12807015e-01 7.90221402e-01 -4.20701407e-03 4.30329420e+01] [ 6.91218158e-03 -3.65970792e-05 9.99976110e-01 7.27531756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:43.05, Z:0.73 [[ 7.89464216e-01 -6.13772110e-01 -5.48167084e-03 1.22303159e+02] [ 6.13757667e-01 7.89483246e-01 -4.21080657e-03 4.30483552e+01] [ 6.91216292e-03 -4.01363945e-05 9.99976110e-01 7.25136520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:43.07, Z:0.72 [[ 7.88362105e-01 -6.15187111e-01 -5.47820856e-03 1.22325939e+02] [ 6.15172671e-01 7.88381137e-01 -4.21531718e-03 4.30650862e+01] [ 6.91212509e-03 -4.68478626e-05 9.99976110e-01 7.24670747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:43.08, Z:0.72 [[ 7.86406219e-01 -6.17685353e-01 -5.48301468e-03 1.22349423e+02] [ 6.17671017e-01 7.86425330e-01 -4.20905639e-03 4.30792412e+01] [ 6.91185411e-03 -7.66711276e-05 9.99976110e-01 7.22096091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:43.10, Z:0.72 [[ 7.85512513e-01 -6.18821488e-01 -5.48249826e-03 1.22373022e+02] [ 6.18807175e-01 7.85531641e-01 -4.20972894e-03 4.30952034e+01] [ 6.91174659e-03 -8.58145009e-05 9.99976110e-01 7.22216073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:43.11, Z:0.72 [[ 7.85193604e-01 -6.19226093e-01 -5.48173106e-03 1.22395820e+02] [ 6.19211783e-01 7.85212734e-01 -4.21072773e-03 4.31111220e+01] [ 6.91171751e-03 -8.81159852e-05 9.99976110e-01 7.20351279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.42, Y:43.13, Z:0.72 [[ 7.85001164e-01 -6.19470090e-01 -5.47548101e-03 1.22419254e+02] [ 6.19455728e-01 7.85020256e-01 -4.21886220e-03 4.31267157e+01] [ 6.91182245e-03 -8.00063413e-05 9.99976110e-01 7.20157413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:43.14, Z:0.72 [[ 7.85484857e-01 -6.18856605e-01 -5.48095131e-03 1.22443340e+02] [ 6.18842279e-01 7.85503975e-01 -4.21174342e-03 4.31418974e+01] [ 6.91177428e-03 -8.35837196e-05 9.99976110e-01 7.22146635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:43.16, Z:0.72 [[ 7.88046678e-01 -6.15591099e-01 -5.48014713e-03 1.22466458e+02] [ 6.15576686e-01 7.88065731e-01 -4.21278953e-03 4.31558858e+01] [ 6.91207189e-03 -5.35760203e-05 9.99976110e-01 7.22005519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:122.49, Y:43.17, Z:0.72 [[ 7.89489167e-01 -6.13740081e-01 -5.47435920e-03 1.22488749e+02] [ 6.13725571e-01 7.89508146e-01 -4.22031619e-03 4.31735469e+01] [ 6.91222838e-03 -2.78603193e-05 9.99976110e-01 7.24052371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:43.19, Z:0.72 [[ 7.91283847e-01 -6.11424444e-01 -5.47927765e-03 1.22510128e+02] [ 6.11409923e-01 7.91302818e-01 -4.21392082e-03 4.31893412e+01] [ 6.91226204e-03 -1.56772481e-05 9.99976110e-01 7.24730649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:43.21, Z:0.73 [[ 7.94605295e-01 -6.07101646e-01 -5.47881891e-03 1.22532942e+02] [ 6.07087017e-01 7.94624183e-01 -4.21451718e-03 4.32053899e+01] [ 6.91224231e-03 2.27578311e-05 9.99976110e-01 7.25679914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:43.22, Z:0.73 [[ 7.96659994e-01 -6.04402883e-01 -5.47801227e-03 1.22554315e+02] [ 6.04388184e-01 7.96678826e-01 -4.21556539e-03 4.32223055e+01] [ 6.91211626e-03 4.75264144e-05 9.99976110e-01 7.25988863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:43.24, Z:0.73 [[ 7.96555783e-01 -6.04540286e-01 -5.47060938e-03 1.22576774e+02] [ 6.04525523e-01 7.96574566e-01 -4.22518149e-03 4.32398231e+01] [ 6.91204072e-03 5.84697481e-05 9.99976110e-01 7.26185726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:122.60, Y:43.26, Z:0.73 [[ 7.98099632e-01 -6.02500668e-01 -5.47009760e-03 1.22598392e+02] [ 6.02485853e-01 7.98118374e-01 -4.22584608e-03 4.32585416e+01] [ 6.91186049e-03 7.69897851e-05 9.99976110e-01 7.26972481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:43.28, Z:0.73 [[ 8.00967793e-01 -5.98682390e-01 -5.47633217e-03 1.22620368e+02] [ 5.98667541e-01 8.00986508e-01 -4.21775110e-03 4.32751350e+01] [ 6.91156149e-03 9.97804725e-05 9.99976110e-01 7.29437879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:43.29, Z:0.73 [[ 8.02159955e-01 -5.97084102e-01 -5.47551237e-03 1.22641541e+02] [ 5.97069209e-01 8.02178635e-01 -4.21881510e-03 4.32909441e+01] [ 6.91132647e-03 1.14904696e-04 9.99976110e-01 7.28597634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:43.31, Z:0.73 [[ 8.03253062e-01 -5.95612800e-01 -5.46906146e-03 1.22662739e+02] [ 5.95597815e-01 8.03271668e-01 -4.22718328e-03 4.33103152e+01] [ 6.91090660e-03 1.38136851e-04 9.99976110e-01 7.30962651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:43.33, Z:0.73 [[ 8.03484616e-01 -5.95300348e-01 -5.47427452e-03 1.22684424e+02] [ 5.95285402e-01 8.03503254e-01 -4.22042147e-03 4.33288223e+01] [ 6.91101575e-03 1.32288018e-04 9.99976110e-01 7.31604579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:43.35, Z:0.73 [[ 8.03643483e-01 -5.95085870e-01 -5.47345358e-03 1.22704917e+02] [ 5.95070912e-01 8.03662111e-01 -4.22148588e-03 4.33457567e+01] [ 6.91095385e-03 1.35476606e-04 9.99976110e-01 7.30765419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.73, Y:43.36, Z:0.73 [[ 8.03554708e-01 -5.95205744e-01 -5.47300728e-03 1.22726305e+02] [ 5.95190784e-01 8.03573335e-01 -4.22206441e-03 4.33645460e+01] [ 6.91095969e-03 1.35176239e-04 9.99976110e-01 7.28037326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:43.38, Z:0.73 [[ 8.03193880e-01 -5.95692577e-01 -5.47221769e-03 1.22747921e+02] [ 5.95677622e-01 8.03212510e-01 -4.22308755e-03 4.33828332e+01] [ 6.91101561e-03 1.32280453e-04 9.99976110e-01 7.28275683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:43.40, Z:0.73 [[ 8.02803633e-01 -5.96218409e-01 -5.47142835e-03 1.22769223e+02] [ 5.96203459e-01 8.02822267e-01 -4.22410997e-03 4.34009465e+01] [ 6.91107663e-03 1.29046322e-04 9.99976110e-01 7.28611179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.79, Y:43.42, Z:0.73 [[ 8.02297595e-01 -5.96899189e-01 -5.47059473e-03 1.22789916e+02] [ 5.96884248e-01 8.02316236e-01 -4.22518931e-03 4.34189604e+01] [ 6.91115904e-03 1.24547397e-04 9.99976110e-01 7.25789651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:43.44, Z:0.73 [[ 8.01622141e-01 -5.97806005e-01 -5.47014422e-03 1.22810826e+02] [ 5.97791081e-01 8.01640796e-01 -4.22577247e-03 4.34372868e+01] [ 6.91128293e-03 1.17469347e-04 9.99976110e-01 7.27830193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:43.46, Z:0.73 [[ 8.00480087e-01 -5.99334395e-01 -5.46931234e-03 1.22830106e+02] [ 5.99319499e-01 8.00498764e-01 -4.22684888e-03 4.34567243e+01] [ 6.91147369e-03 1.05642829e-04 9.99976110e-01 7.27027147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:43.48, Z:0.73 [[ 7.99714684e-01 -6.00355325e-01 -5.46874499e-03 1.22851575e+02] [ 6.00340448e-01 7.99733377e-01 -4.22758280e-03 4.34750845e+01] [ 6.91158974e-03 9.77512327e-05 9.99976110e-01 7.27894863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:43.49, Z:0.73 [[ 7.99058890e-01 -6.01227903e-01 -5.46791615e-03 1.22871537e+02] [ 6.01213039e-01 7.99077593e-01 -4.22865454e-03 4.34928651e+01] [ 6.91167438e-03 9.15615236e-05 9.99976110e-01 7.25048822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.89, Y:43.51, Z:0.73 [[ 7.98042129e-01 -6.02576908e-01 -5.46168114e-03 1.22892000e+02] [ 6.02562020e-01 7.98060814e-01 -4.23671288e-03 4.35116930e+01] [ 6.91169904e-03 9.00737466e-05 9.99976110e-01 7.26894203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:43.53, Z:0.73 [[ 7.96647659e-01 -6.04419244e-01 -5.46671492e-03 1.22911521e+02] [ 6.04404445e-01 7.96666412e-01 -4.23020770e-03 4.35310799e+01] [ 6.91196711e-03 6.58782634e-05 9.99976110e-01 7.29877816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:43.55, Z:0.73 [[ 7.96142276e-01 -6.05084783e-01 -5.46641631e-03 1.22932351e+02] [ 6.05069996e-01 7.96161040e-01 -4.23059354e-03 4.35493306e+01] [ 6.91201547e-03 6.05898775e-05 9.99976110e-01 7.32158651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:43.57, Z:0.73 [[ 7.95997815e-01 -6.05274819e-01 -5.46558269e-03 1.22952324e+02] [ 6.05260029e-01 7.96016577e-01 -4.23167024e-03 4.35672945e+01] [ 6.91201786e-03 6.03015240e-05 9.99976110e-01 7.32687769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:43.59, Z:0.73 [[ 7.96331835e-01 -6.04835301e-01 -5.46511370e-03 1.22971736e+02] [ 6.04820497e-01 7.96350585e-01 -4.23227585e-03 4.35887189e+01] [ 6.91197633e-03 6.48832120e-05 9.99976110e-01 7.33585691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:43.61, Z:0.73 [[ 7.96616293e-01 -6.04460605e-01 -5.46431461e-03 1.22992645e+02] [ 6.04445785e-01 7.96635031e-01 -4.23330730e-03 4.36081089e+01] [ 6.91193193e-03 6.94396393e-05 9.99976110e-01 7.33756162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:43.63, Z:0.73 [[ 7.97097358e-01 -6.03826094e-01 -5.46352137e-03 1.23011395e+02] [ 6.03811252e-01 7.97116078e-01 -4.23433082e-03 4.36288677e+01] [ 6.91186016e-03 7.62382292e-05 9.99976110e-01 7.32301566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:43.65, Z:0.73 [[ 7.96990273e-01 -6.03967435e-01 -5.46272709e-03 1.23032248e+02] [ 6.03952589e-01 7.97008991e-01 -4.23535526e-03 4.36483431e+01] [ 6.91185926e-03 7.63087774e-05 9.99976110e-01 7.31340663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:43.67, Z:0.73 [[ 7.96534077e-01 -6.04568964e-01 -5.46192571e-03 1.23052167e+02] [ 6.04554125e-01 7.96552800e-01 -4.23638847e-03 4.36668747e+01] [ 6.91190121e-03 7.23980642e-05 9.99976110e-01 7.30820905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:43.69, Z:0.73 [[ 7.94943374e-01 -6.06659052e-01 -5.46137842e-03 1.23072606e+02] [ 6.06644258e-01 7.94962132e-01 -4.23709391e-03 4.36875974e+01] [ 6.91206040e-03 5.51358739e-05 9.99976110e-01 7.32734647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.09, Y:43.71, Z:0.73 [[ 7.94065460e-01 -6.07807722e-01 -5.46061752e-03 1.23093258e+02] [ 6.07792949e-01 7.94084234e-01 -4.23807430e-03 4.37061095e+01] [ 6.91212457e-03 4.63835907e-05 9.99976110e-01 7.31571427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:43.72, Z:0.73 [[ 7.92882173e-01 -6.09350516e-01 -5.45978761e-03 1.23113530e+02] [ 6.09335771e-01 7.92900970e-01 -4.23914318e-03 4.37240526e+01] [ 6.91219497e-03 3.42971601e-05 9.99976110e-01 7.33204988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:43.74, Z:0.73 [[ 7.90626207e-01 -6.12274772e-01 -5.45934775e-03 1.23133853e+02] [ 6.12260093e-01 7.90645055e-01 -4.23970958e-03 4.37440281e+01] [ 6.91227352e-03 9.48474197e-06 9.99976110e-01 7.33054949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:43.76, Z:0.73 [[ 7.89511011e-01 -6.13712122e-01 -5.45854163e-03 1.23154026e+02] [ 6.13697470e-01 7.89529880e-01 -4.24074718e-03 4.37614120e+01] [ 6.91227967e-03 -1.77659997e-06 9.99976110e-01 7.32713532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:43.78, Z:0.73 [[ 7.87525316e-01 -6.16258133e-01 -5.45810732e-03 1.23175126e+02] [ 6.16243538e-01 7.87544229e-01 -4.24130609e-03 4.37791539e+01] [ 6.91224030e-03 -2.33874480e-05 9.99976110e-01 7.31532544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:43.80, Z:0.73 [[ 7.86785603e-01 -6.17202262e-01 -5.45727302e-03 1.23196678e+02] [ 6.17187683e-01 7.86804529e-01 -4.24237931e-03 4.37965559e+01] [ 6.91221324e-03 -3.03187231e-05 9.99976110e-01 7.30972605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:43.81, Z:0.73 [[ 7.86266836e-01 -6.17863003e-01 -5.45643737e-03 1.23217858e+02] [ 6.17848432e-01 7.86285768e-01 -4.24345383e-03 4.38128326e+01] [ 6.91219217e-03 -3.47642546e-05 9.99976110e-01 7.29724951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:43.83, Z:0.73 [[ 7.86102837e-01 -6.18071648e-01 -5.45598684e-03 1.23240079e+02] [ 6.18057078e-01 7.86121770e-01 -4.24403301e-03 4.38305973e+01] [ 6.91218651e-03 -3.58648938e-05 9.99976110e-01 7.29941564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.26, Y:43.85, Z:0.73 [[ 7.86944055e-01 -6.17000239e-01 -5.45515499e-03 1.23259762e+02] [ 6.16985636e-01 7.86962963e-01 -4.24510199e-03 4.38493866e+01] [ 6.91223387e-03 -2.50944966e-05 9.99976110e-01 7.25673991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:43.87, Z:0.73 [[ 7.87259956e-01 -6.16597120e-01 -5.45458807e-03 1.23281226e+02] [ 6.16582502e-01 7.87278852e-01 -4.24583030e-03 4.38679210e+01] [ 6.91224857e-03 -2.06313812e-05 9.99976110e-01 7.27579615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:43.89, Z:0.73 [[ 7.88191366e-01 -6.15406067e-01 -5.45376903e-03 1.23302041e+02] [ 6.15391413e-01 7.88210234e-01 -4.24688210e-03 4.38871610e+01] [ 6.91227357e-03 -8.84683416e-06 9.99976110e-01 7.26347551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:43.91, Z:0.73 [[ 7.88564195e-01 -6.14928269e-01 -5.45294323e-03 1.23323138e+02] [ 6.14913597e-01 7.88583048e-01 -4.24794216e-03 4.39053692e+01] [ 6.91227831e-03 -3.31384596e-06 9.99976110e-01 7.26665199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.34, Y:43.92, Z:0.73 [[ 7.89368592e-01 -6.13895349e-01 -5.45210727e-03 1.23344439e+02] [ 6.13880645e-01 7.89387421e-01 -4.24901481e-03 4.39240292e+01] [ 6.91227533e-03 7.09571968e-06 9.99976110e-01 7.25811614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:43.94, Z:0.73 [[ 7.88953675e-01 -6.14428496e-01 -5.45174189e-03 1.23366648e+02] [ 6.14413801e-01 7.88972511e-01 -4.24948356e-03 4.39417649e+01] [ 6.91227828e-03 3.02021736e-06 9.99976110e-01 7.28580671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.39, Y:43.96, Z:0.73 [[ 7.88924145e-01 -6.14466419e-01 -5.45090798e-03 1.23387837e+02] [ 6.14451718e-01 7.88942976e-01 -4.25055297e-03 4.39588485e+01] [ 6.91227763e-03 4.04409768e-06 9.99976110e-01 7.26631309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:43.98, Z:0.73 [[ 7.87706894e-01 -6.16026089e-01 -5.45043275e-03 1.23407812e+02] [ 6.16011420e-01 7.87725750e-01 -4.25116227e-03 4.39767481e+01] [ 6.91227309e-03 -8.85899123e-06 9.99976110e-01 7.28987550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:43.99, Z:0.73 [[ 7.86875239e-01 -6.17088045e-01 -5.44999173e-03 1.23429700e+02] [ 6.17073398e-01 7.86894113e-01 -4.25172757e-03 4.39939554e+01] [ 6.91225666e-03 -1.74657691e-05 9.99976110e-01 7.29264940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:44.01, Z:0.73 [[ 7.85072259e-01 -6.19380218e-01 -5.44918127e-03 1.23452751e+02] [ 6.19365618e-01 7.85091170e-01 -4.25276604e-03 4.40098373e+01] [ 6.91218325e-03 -3.63068785e-05 9.99976110e-01 7.27621518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:44.03, Z:0.73 [[ 7.84166710e-01 -6.20526298e-01 -5.44835435e-03 1.23473873e+02] [ 6.20511720e-01 7.84185636e-01 -4.25382517e-03 4.40263282e+01] [ 6.91213160e-03 -4.50596356e-05 9.99976110e-01 7.26704195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.50, Y:44.04, Z:0.73 [[ 7.83349301e-01 -6.21557876e-01 -5.44779054e-03 1.23495376e+02] [ 6.21543317e-01 7.83368243e-01 -4.25454711e-03 4.40437389e+01] [ 6.91207337e-03 -5.32413027e-05 9.99976110e-01 7.25923670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:44.06, Z:0.73 [[ 7.82496149e-01 -6.22631598e-01 -5.44696325e-03 1.23516473e+02] [ 6.22617058e-01 7.82515105e-01 -4.25560600e-03 4.40599737e+01] [ 6.91200578e-03 -6.13769185e-05 9.99976110e-01 7.28300910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:44.08, Z:0.73 [[ 7.81433177e-01 -6.23965163e-01 -5.44650882e-03 1.23538834e+02] [ 6.23950651e-01 7.81452154e-01 -4.25618752e-03 4.40773432e+01] [ 6.91189879e-03 -7.24265886e-05 9.99976110e-01 7.29698749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:44.09, Z:0.73 [[ 7.81229300e-01 -6.24220414e-01 -5.44567924e-03 1.23560016e+02] [ 6.24205900e-01 7.81248277e-01 -4.25724868e-03 4.40937618e+01] [ 6.91188905e-03 -7.33377055e-05 9.99976110e-01 7.29769207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:44.11, Z:0.73 [[ 7.81160272e-01 -6.24306799e-01 -5.44521397e-03 1.23581616e+02] [ 6.24292284e-01 7.81179246e-01 -4.25784369e-03 4.41100115e+01] [ 6.91188891e-03 -7.33467351e-05 9.99976110e-01 7.29621993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.60, Y:44.13, Z:0.73 [[ 7.81600701e-01 -6.23755320e-01 -5.44477614e-03 1.23604302e+02] [ 6.23740787e-01 7.81619662e-01 -4.25840351e-03 4.41263385e+01] [ 6.91194593e-03 -6.77577877e-05 9.99976110e-01 7.27828428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:44.14, Z:0.73 [[ 7.81931725e-01 -6.23340309e-01 -5.44397716e-03 1.23626328e+02] [ 6.23325759e-01 7.81950673e-01 -4.25942468e-03 4.41422698e+01] [ 6.91199270e-03 -6.27919058e-05 9.99976110e-01 7.28078821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:44.16, Z:0.73 [[ 7.82604529e-01 -6.22495396e-01 -5.44354891e-03 1.23649828e+02] [ 6.22480822e-01 7.82623459e-01 -4.25997191e-03 4.41579661e+01] [ 6.91206198e-03 -5.46314946e-05 9.99976110e-01 7.25796875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:44.18, Z:0.72 [[ 7.82865415e-01 -6.22167272e-01 -5.44313566e-03 1.23672591e+02] [ 6.22152686e-01 7.82884336e-01 -4.26049988e-03 4.41751877e+01] [ 6.91208923e-03 -5.10634644e-05 9.99976110e-01 7.24920500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.70, Y:44.19, Z:0.72 [[ 7.83254204e-01 -6.21677756e-01 -5.44241958e-03 1.23695039e+02] [ 6.21663152e-01 7.83273110e-01 -4.26141441e-03 4.41931125e+01] [ 6.91212746e-03 -4.55809667e-05 9.99976110e-01 7.21836076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:44.21, Z:0.72 [[ 7.83903459e-01 -6.20858885e-01 -5.44169578e-03 1.23718362e+02] [ 6.20844255e-01 7.83922346e-01 -4.26233848e-03 4.42103620e+01] [ 6.91217763e-03 -3.71836807e-05 9.99976110e-01 7.21862279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:44.23, Z:0.72 [[ 7.84185736e-01 -6.20502318e-01 -5.44096325e-03 1.23740845e+02] [ 6.20487673e-01 7.84204611e-01 -4.26327336e-03 4.42269371e+01] [ 6.91219947e-03 -3.28524690e-05 9.99976110e-01 7.21151883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:44.24, Z:0.72 [[ 7.84388345e-01 -6.20246180e-01 -5.44052472e-03 1.23763107e+02] [ 6.20231525e-01 7.84407212e-01 -4.26383291e-03 4.42432733e+01] [ 6.91221291e-03 -2.98841002e-05 9.99976110e-01 7.22363588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:44.26, Z:0.72 [[ 7.85193685e-01 -6.19226362e-01 -5.43969485e-03 1.23786034e+02] [ 6.19211675e-01 7.85212527e-01 -4.26489138e-03 4.42602359e+01] [ 6.91224971e-03 -1.95567773e-05 9.99976110e-01 7.23422586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.81, Y:44.28, Z:0.72 [[ 7.85745633e-01 -6.18525842e-01 -5.43897079e-03 1.23808096e+02] [ 6.18511132e-01 7.85764457e-01 -4.26581456e-03 4.42765509e+01] [ 6.91226648e-03 -1.22188201e-05 9.99976110e-01 7.20908606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:44.29, Z:0.72 [[ 7.86641975e-01 -6.17385475e-01 -5.43852258e-03 1.23831691e+02] [ 6.17370734e-01 7.86660775e-01 -4.26638591e-03 4.42924493e+01] [ 6.91227708e-03 -1.46643795e-06 9.99976110e-01 7.21452967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:44.31, Z:0.72 [[ 7.86965928e-01 -6.16972494e-01 -5.43780266e-03 1.23853722e+02] [ 6.16957736e-01 7.86984715e-01 -4.26730330e-03 4.43096930e+01] [ 6.91227634e-03 3.32788787e-06 9.99976110e-01 7.21545013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.88, Y:44.33, Z:0.72 [[ 7.87171750e-01 -6.16709879e-01 -5.43697477e-03 1.23875409e+02] [ 6.16695108e-01 7.87190527e-01 -4.26835786e-03 4.43267740e+01] [ 6.91227349e-03 6.97498666e-06 9.99976110e-01 7.20867043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:44.34, Z:0.72 [[ 7.87274527e-01 -6.16578679e-01 -5.43613198e-03 1.23899516e+02] [ 6.16563897e-01 7.87293295e-01 -4.26943096e-03 4.43416975e+01] [ 6.91227036e-03 9.49151577e-06 9.99976110e-01 7.22459788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:44.36, Z:0.72 [[ 7.87402929e-01 -6.16414698e-01 -5.43576543e-03 1.23922532e+02] [ 6.16399909e-01 7.87421691e-01 -4.26989759e-03 4.43573940e+01] [ 6.91226724e-03 1.15245499e-05 9.99976110e-01 7.23058135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:44.38, Z:0.72 [[ 7.87282209e-01 -6.16568881e-01 -5.43492929e-03 1.23944804e+02] [ 6.16554088e-01 7.87300969e-01 -4.27096160e-03 4.43751336e+01] [ 6.91226711e-03 1.15242130e-05 9.99976110e-01 7.23255009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:44.39, Z:0.72 [[ 7.87534481e-01 -6.16246632e-01 -5.43409273e-03 1.23967511e+02] [ 6.16231825e-01 7.87553229e-01 -4.27202572e-03 4.43918955e+01] [ 6.91225874e-03 1.57066786e-05 9.99976110e-01 7.23108900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:44.41, Z:0.72 [[ 7.88458077e-01 -6.15064501e-01 -5.43325632e-03 1.23988438e+02] [ 6.15049658e-01 7.88476797e-01 -4.27308923e-03 4.44082333e+01] [ 6.91222203e-03 2.74292746e-05 9.99976110e-01 7.22040054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:44.42, Z:0.72 [[ 7.88928300e-01 -6.14461245e-01 -5.43279612e-03 1.24010873e+02] [ 6.14446384e-01 7.88947005e-01 -4.27367424e-03 4.44248705e+01] [ 6.91219543e-03 3.34606227e-05 9.99976110e-01 7.21948213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:124.03, Y:44.44, Z:0.72 [[ 7.90001715e-01 -6.13080569e-01 -5.43198955e-03 1.24033581e+02] [ 6.13065668e-01 7.90020388e-01 -4.27469918e-03 4.44418349e+01] [ 6.91211750e-03 4.68533851e-05 9.99976110e-01 7.21056077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:44.46, Z:0.72 [[ 7.90518090e-01 -6.12414608e-01 -5.43115973e-03 1.24054617e+02] [ 6.12399684e-01 7.90536745e-01 -4.27575323e-03 4.44591256e+01] [ 6.91206507e-03 5.40197695e-05 9.99976110e-01 7.23043046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:44.48, Z:0.72 [[ 7.91178809e-01 -6.11560790e-01 -5.43068895e-03 1.24076197e+02] [ 6.11545842e-01 7.91197444e-01 -4.27635109e-03 4.44770456e+01] [ 6.91199587e-03 6.22431112e-05 9.99976110e-01 7.22421073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:124.10, Y:44.50, Z:0.72 [[ 7.91713452e-01 -6.10868501e-01 -5.42988563e-03 1.24098663e+02] [ 6.10853530e-01 7.91732069e-01 -4.27737087e-03 4.44952518e+01] [ 6.91192571e-03 6.95872567e-05 9.99976110e-01 7.20147443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:44.51, Z:0.72 [[ 7.92415835e-01 -6.09957105e-01 -5.42915271e-03 1.24120824e+02] [ 6.09942105e-01 7.92434429e-01 -4.27830094e-03 4.45130717e+01] [ 6.91182758e-03 7.87245722e-05 9.99976110e-01 7.22061261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:44.53, Z:0.72 [[ 7.92494539e-01 -6.09854851e-01 -5.42831521e-03 1.24141619e+02] [ 6.09839842e-01 7.92513126e-01 -4.27936329e-03 4.45310438e+01] [ 6.91180152e-03 8.09691485e-05 9.99976110e-01 7.21035384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:44.55, Z:0.72 [[ 7.92086910e-01 -6.10384195e-01 -5.42785560e-03 1.24162100e+02] [ 6.10369195e-01 7.92105503e-01 -4.27994618e-03 4.45490741e+01] [ 6.91184579e-03 7.70934906e-05 9.99976110e-01 7.18400155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.18, Y:44.57, Z:0.72 [[ 7.90361255e-01 -6.12617035e-01 -5.42730759e-03 1.24183819e+02] [ 6.12602082e-01 7.90379887e-01 -4.28064098e-03 4.45673800e+01] [ 6.91202834e-03 5.84728428e-05 9.99976110e-01 7.19897804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:44.58, Z:0.72 [[ 7.88879812e-01 -6.14523551e-01 -5.42647027e-03 1.24205456e+02] [ 6.14508636e-01 7.88898474e-01 -4.28170216e-03 4.45846060e+01] [ 6.91214094e-03 4.31355509e-05 9.99976110e-01 7.22044683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:44.60, Z:0.72 [[ 7.84848737e-01 -6.19663633e-01 -5.42603734e-03 1.24228173e+02] [ 6.19648836e-01 7.84867493e-01 -4.28225074e-03 4.46023049e+01] [ 6.91227537e-03 -1.31863325e-06 9.99976110e-01 7.23169673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.25, Y:44.62, Z:0.72 [[ 7.82430310e-01 -6.22714521e-01 -5.42532209e-03 1.24250048e+02] [ 6.22699792e-01 7.82449119e-01 -4.28315672e-03 4.46196141e+01] [ 6.91222238e-03 -2.70752933e-05 9.99976110e-01 7.23384384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:44.64, Z:0.72 [[ 7.80192181e-01 -6.25516375e-01 -5.42447267e-03 1.24271646e+02] [ 6.25501705e-01 7.80211037e-01 -4.28423221e-03 4.46358235e+01] [ 6.91209085e-03 -5.04924335e-05 9.99976110e-01 7.24698611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:124.29, Y:44.65, Z:0.72 [[ 7.76045736e-01 -6.30653309e-01 -5.42398723e-03 1.24293832e+02] [ 6.30638760e-01 7.76064685e-01 -4.28484670e-03 4.46509538e+01] [ 6.91161769e-03 -9.53395707e-05 9.99976110e-01 7.21799117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:44.67, Z:0.73 [[ 7.73746363e-01 -6.33472297e-01 -5.42353373e-03 1.24316490e+02] [ 6.33457813e-01 7.73765362e-01 -4.28542064e-03 4.46666592e+01] [ 6.91123780e-03 -1.19751182e-04 9.99976110e-01 7.25689184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:44.68, Z:0.73 [[ 7.71929941e-01 -6.35684482e-01 -5.42274719e-03 1.24338058e+02] [ 6.35670045e-01 7.71948975e-01 -4.28641569e-03 4.46822224e+01] [ 6.91089208e-03 -1.38265338e-04 9.99976110e-01 7.25165213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:44.70, Z:0.72 [[ 7.69234693e-01 -6.38943335e-01 -5.42227739e-03 1.24361961e+02] [ 6.38928975e-01 7.69253785e-01 -4.28700991e-03 4.46957725e+01] [ 6.91026382e-03 -1.66733385e-04 9.99976110e-01 7.23928356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.39, Y:44.71, Z:0.72 [[ 7.68268486e-01 -6.40104789e-01 -5.42156310e-03 1.24385257e+02] [ 6.40090451e-01 7.68287595e-01 -4.28791304e-03 4.47110887e+01] [ 6.91003335e-03 -1.76022317e-04 9.99976110e-01 7.23268002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:44.73, Z:0.72 [[ 7.68130268e-01 -6.40270651e-01 -5.42074648e-03 1.24408890e+02] [ 6.40256310e-01 7.68149375e-01 -4.28894515e-03 4.47255739e+01] [ 6.91002873e-03 -1.76198549e-04 9.99976110e-01 7.23299528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:124.43, Y:44.74, Z:0.72 [[ 7.68786869e-01 -6.39482110e-01 -5.42038083e-03 1.24431218e+02] [ 6.39467746e-01 7.68805959e-01 -4.28940722e-03 4.47428691e+01] [ 6.91022026e-03 -1.68518765e-04 9.99976110e-01 7.21652861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.45, Y:44.76, Z:0.72 [[ 7.69840234e-01 -6.38213634e-01 -5.41954478e-03 1.24452959e+02] [ 6.38199232e-01 7.69859294e-01 -4.29046329e-03 4.47587432e+01] [ 6.91051908e-03 -1.55778056e-04 9.99976110e-01 7.21035872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:44.77, Z:0.72 [[ 7.71307929e-01 -6.36439087e-01 -5.41913793e-03 1.24475589e+02] [ 6.36424637e-01 7.71326954e-01 -4.29097710e-03 4.47747350e+01] [ 6.91087270e-03 -1.39208229e-04 9.99976110e-01 7.23143251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.50, Y:44.79, Z:0.72 [[ 7.75033400e-01 -6.31897040e-01 -5.41836790e-03 1.24499439e+02] [ 6.31882472e-01 7.75052334e-01 -4.29194923e-03 4.47896665e+01] [ 6.91158870e-03 -9.73676966e-05 9.99976110e-01 7.20995819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:44.80, Z:0.72 [[ 7.79721082e-01 -6.26103573e-01 -5.41754225e-03 1.24522951e+02] [ 6.26088857e-01 7.79739902e-01 -4.29299115e-03 4.48032065e+01] [ 6.91213096e-03 -4.45271226e-05 9.99976110e-01 7.21698318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:124.55, Y:44.82, Z:0.72 [[ 7.82316438e-01 -6.22857645e-01 -5.41713293e-03 1.24545218e+02] [ 6.22842847e-01 7.82335193e-01 -4.29350760e-03 4.48211684e+01] [ 6.91225776e-03 -1.51409220e-05 9.99976110e-01 7.22796908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:44.84, Z:0.73 [[ 7.85019799e-01 -6.19446993e-01 -5.41644136e-03 1.24566494e+02] [ 6.19432107e-01 7.85038485e-01 -4.29437986e-03 4.48393531e+01] [ 6.91225561e-03 1.60555364e-05 9.99976110e-01 7.25343591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:44.86, Z:0.72 [[ 7.90282040e-01 -6.12719319e-01 -5.41606645e-03 1.24586735e+02] [ 6.12704271e-01 7.90300595e-01 -4.29485264e-03 4.48580007e+01] [ 6.91185973e-03 7.56978639e-05 9.99976110e-01 7.22935254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:44.87, Z:0.72 [[ 7.92392101e-01 -6.09988056e-01 -5.41565569e-03 1.24608748e+02] [ 6.09972941e-01 7.92410601e-01 -4.29537054e-03 4.48749388e+01] [ 6.91154771e-03 1.00214261e-04 9.99976110e-01 7.22677198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:44.89, Z:0.72 [[ 7.94125424e-01 -6.07729784e-01 -5.41484322e-03 1.24629726e+02] [ 6.07714609e-01 7.94143876e-01 -4.29639451e-03 4.48921432e+01] [ 6.91121149e-03 1.21196776e-04 9.99976110e-01 7.22378931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:44.91, Z:0.72 [[ 7.95381526e-01 -6.06084905e-01 -5.41440702e-03 1.24650444e+02] [ 6.06069688e-01 7.95399943e-01 -4.29694415e-03 4.49110815e+01] [ 6.91093202e-03 1.36202018e-04 9.99976110e-01 7.22434237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:44.93, Z:0.72 [[ 7.96902769e-01 -6.04083330e-01 -5.41359924e-03 1.24670628e+02] [ 6.04068060e-01 7.96921142e-01 -4.29796161e-03 4.49314746e+01] [ 6.91053865e-03 1.54875126e-04 9.99976110e-01 7.20976121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:44.95, Z:0.72 [[ 7.96952785e-01 -6.04017350e-01 -5.41284664e-03 1.24691747e+02] [ 6.04002072e-01 7.96971152e-01 -4.29890922e-03 4.49490941e+01] [ 6.91049838e-03 1.56657090e-04 9.99976110e-01 7.20632915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:44.97, Z:0.72 [[ 7.96713950e-01 -6.04332351e-01 -5.41203677e-03 1.24711067e+02] [ 6.04317074e-01 7.96732317e-01 -4.29992856e-03 4.49674107e+01] [ 6.91053053e-03 1.55226847e-04 9.99976110e-01 7.19025137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:44.99, Z:0.72 [[ 7.96402991e-01 -6.04742086e-01 -5.41164528e-03 1.24731850e+02] [ 6.04726814e-01 7.96421362e-01 -4.30042120e-03 4.49865843e+01] [ 6.91059559e-03 1.52301291e-04 9.99976110e-01 7.19973057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.75, Y:45.01, Z:0.72 [[ 7.96253137e-01 -6.04939389e-01 -5.41080453e-03 1.24753173e+02] [ 6.04924115e-01 7.96271507e-01 -4.30147877e-03 4.50050177e+01] [ 6.91060342e-03 1.51939828e-04 9.99976110e-01 7.19606724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:124.77, Y:45.02, Z:0.72 [[ 7.95712516e-01 -6.05650332e-01 -5.40995804e-03 1.24773422e+02] [ 6.05635067e-01 7.95730893e-01 -4.30254314e-03 4.50230862e+01] [ 6.91070742e-03 1.47127128e-04 9.99976110e-01 7.18589781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:124.79, Y:45.04, Z:0.72 [[ 7.95010392e-01 -6.06571690e-01 -5.40947284e-03 1.24794082e+02] [ 6.06556442e-01 7.95028783e-01 -4.30315309e-03 4.50419357e+01] [ 6.91085745e-03 1.39900826e-04 9.99976110e-01 7.18628375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:45.06, Z:0.72 [[ 7.93772035e-01 -6.08191337e-01 -5.40864820e-03 1.24813556e+02] [ 6.08176120e-01 7.93790452e-01 -4.30418932e-03 4.50603440e+01] [ 6.91110396e-03 1.27134444e-04 9.99976110e-01 7.20198695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:45.08, Z:0.72 [[ 7.92274341e-01 -6.10141066e-01 -5.40818224e-03 1.24833252e+02] [ 6.10125890e-01 7.92292791e-01 -4.30477472e-03 4.50785804e+01] [ 6.91138364e-03 1.10890547e-04 9.99976110e-01 7.19647067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:45.10, Z:0.72 [[ 7.88389685e-01 -6.15152388e-01 -5.40772247e-03 1.24854173e+02] [ 6.15137326e-01 7.88408228e-01 -4.30535222e-03 4.50993678e+01] [ 6.91194059e-03 6.78033445e-05 9.99976110e-01 7.17762404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.87, Y:45.12, Z:0.71 [[ 7.86194938e-01 -6.17954919e-01 -5.40705518e-03 1.24874855e+02] [ 6.17939917e-01 7.86213530e-01 -4.30619009e-03 4.51179812e+01] [ 6.91213130e-03 4.42696233e-05 9.99976110e-01 7.14049953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:45.14, Z:0.72 [[ 7.81638389e-01 -6.23708422e-01 -5.40677272e-03 1.24895795e+02] [ 6.23693554e-01 7.81657088e-01 -4.30654472e-03 4.51373305e+01] [ 6.91227043e-03 -6.00861714e-06 9.99976110e-01 7.16073488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.92, Y:45.16, Z:0.72 [[ 7.79708922e-01 -6.26118816e-01 -5.40596458e-03 1.24917359e+02] [ 6.26103999e-01 7.79727662e-01 -4.30755893e-03 4.51558606e+01] [ 6.91222382e-03 -2.60539086e-05 9.99976110e-01 7.15065500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:45.17, Z:0.72 [[ 7.77904593e-01 -6.28359156e-01 -5.40515704e-03 1.24938362e+02] [ 6.28344385e-01 7.77923370e-01 -4.30857201e-03 4.51737899e+01] [ 6.91212864e-03 -4.46421236e-05 9.99976110e-01 7.15177807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:124.96, Y:45.19, Z:0.71 [[ 7.75456462e-01 -6.31377908e-01 -5.40484620e-03 1.24959844e+02] [ 6.31363208e-01 7.75475294e-01 -4.30896190e-03 4.51924224e+01] [ 6.91190805e-03 -7.10086870e-05 9.99976110e-01 7.12945879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:45.21, Z:0.71 [[ 7.74205766e-01 -6.32910916e-01 -5.40400520e-03 1.24979993e+02] [ 6.32896247e-01 7.74224622e-01 -4.31001636e-03 4.52100442e+01] [ 6.91177029e-03 -8.33350924e-05 9.99976110e-01 7.14533835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:45.23, Z:0.71 [[ 7.72404722e-01 -6.35107666e-01 -5.40354758e-03 1.25001852e+02] [ 6.35093046e-01 7.72423616e-01 -4.31059001e-03 4.52292156e+01] [ 6.91151652e-03 -1.02235419e-04 9.99976110e-01 7.12710359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.02, Y:45.25, Z:0.71 [[ 7.71641061e-01 -6.36035284e-01 -5.40282187e-03 1.25022832e+02] [ 6.36020680e-01 7.71659968e-01 -4.31149941e-03 4.52475330e+01] [ 6.91140710e-03 -1.09376460e-04 9.99976110e-01 7.11700324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.04, Y:45.27, Z:0.71 [[ 7.71106141e-01 -6.36683703e-01 -5.40199516e-03 1.25044341e+02] [ 6.36669108e-01 7.71125054e-01 -4.31253497e-03 4.52663718e+01] [ 6.91133455e-03 -1.13861242e-04 9.99976110e-01 7.12680213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19264 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:125.07, Y:45.28, Z:0.71 [[ 7.70562044e-01 -6.37342108e-01 -5.40125977e-03 1.25065842e+02] [ 6.37327522e-01 7.70580965e-01 -4.31345581e-03 4.52837412e+01] [ 6.91125499e-03 -1.18586180e-04 9.99976110e-01 7.11303398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:125.09, Y:45.30, Z:0.71 [[ 7.70576489e-01 -6.37324645e-01 -5.40099990e-03 1.25087025e+02] [ 6.37310057e-01 7.70595408e-01 -4.31378119e-03 4.53003286e+01] [ 6.91126478e-03 -1.18013193e-04 9.99976110e-01 7.09959438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:125.11, Y:45.32, Z:0.71 [[ 7.71786942e-01 -6.35858277e-01 -5.40062948e-03 1.25107996e+02] [ 6.35843650e-01 7.71805831e-01 -4.31424489e-03 4.53195898e+01] [ 6.91148564e-03 -1.04278086e-04 9.99976110e-01 7.14357748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:45.34, Z:0.71 [[ 7.72575833e-01 -6.34899538e-01 -5.39989151e-03 1.25128512e+02] [ 6.34884881e-01 7.72594698e-01 -4.31516836e-03 4.53374733e+01] [ 6.91162595e-03 -9.45146915e-05 9.99976110e-01 7.13688225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:45.36, Z:0.71 [[ 7.73367856e-01 -6.33934544e-01 -5.39941977e-03 1.25150066e+02] [ 6.33919859e-01 7.73386700e-01 -4.31575855e-03 4.53556587e+01] [ 6.91174786e-03 -8.51304789e-05 9.99976110e-01 7.13328675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:45.37, Z:0.72 [[ 7.74303986e-01 -6.32790796e-01 -5.39862821e-03 1.25171356e+02] [ 6.32776076e-01 7.74322803e-01 -4.31674849e-03 4.53735552e+01] [ 6.91187964e-03 -7.36472123e-05 9.99976110e-01 7.15712795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37264000000002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:125.19, Y:45.39, Z:0.71 [[ 7.76504127e-01 -6.30089045e-01 -5.39779564e-03 1.25190183e+02] [ 6.30074253e-01 7.76522886e-01 -4.31778931e-03 4.53928933e+01] [ 6.91210360e-03 -4.82308352e-05 9.99976110e-01 7.14837097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:45.41, Z:0.72 [[ 7.77229096e-01 -6.29194566e-01 -5.39731934e-03 1.25209864e+02] [ 6.29179748e-01 7.77247835e-01 -4.31838462e-03 4.54111573e+01] [ 6.91215890e-03 -3.95098431e-05 9.99976110e-01 7.16088763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:45.43, Z:0.71 [[ 7.78973447e-01 -6.27033685e-01 -5.39685449e-03 1.25229797e+02] [ 6.27018811e-01 7.78992142e-01 -4.31896548e-03 4.54306710e+01] [ 6.91224408e-03 -1.95698568e-05 9.99976110e-01 7.13904664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:45.45, Z:0.72 [[ 7.79856692e-01 -6.25934834e-01 -5.39660232e-03 1.25251339e+02] [ 6.25919931e-01 7.79875364e-01 -4.31928055e-03 4.54494161e+01] [ 6.91226535e-03 -9.42111276e-06 9.99976110e-01 7.15390577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:45.47, Z:0.71 [[ 7.80707153e-01 -6.24873768e-01 -5.39585968e-03 1.25271960e+02] [ 6.24858833e-01 7.80725800e-01 -4.32020809e-03 4.54671153e+01] [ 6.91227157e-03 1.16677905e-06 9.99976110e-01 7.12244467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:45.49, Z:0.71 [[ 7.80590913e-01 -6.25018973e-01 -5.39537841e-03 1.25294056e+02] [ 6.25004038e-01 7.80609559e-01 -4.32080905e-03 4.54850628e+01] [ 6.91227159e-03 6.50994087e-07 9.99976110e-01 7.12441288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:45.50, Z:0.71 [[ 7.81588106e-01 -6.23771537e-01 -5.39457453e-03 1.25315171e+02] [ 6.23756565e-01 7.81606723e-01 -4.32181247e-03 4.55041354e+01] [ 6.91225933e-03 1.29759404e-05 9.99976110e-01 7.13285189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:45.52, Z:0.71 [[ 7.81612191e-01 -6.23741364e-01 -5.39385552e-03 1.25336254e+02] [ 6.23726385e-01 7.81630802e-01 -4.32270965e-03 4.55237019e+01] [ 6.91225643e-03 1.43925561e-05 9.99976110e-01 7.13356410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:45.54, Z:0.71 [[ 7.81125247e-01 -6.24351073e-01 -5.39311707e-03 1.25356565e+02] [ 6.24336102e-01 7.81143865e-01 -4.32363076e-03 4.55424086e+01] [ 6.91226381e-03 1.01794587e-05 9.99976110e-01 7.13454622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:45.56, Z:0.71 [[ 7.78636756e-01 -6.27451771e-01 -5.39229002e-03 1.25378389e+02] [ 6.27436868e-01 7.78655427e-01 -4.32466198e-03 4.55595065e+01] [ 6.91225271e-03 -1.59807876e-05 9.99976110e-01 7.12041187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:45.58, Z:0.71 [[ 7.76770436e-01 -6.29760762e-01 -5.39193170e-03 1.25402100e+02] [ 6.29745910e-01 7.76789149e-01 -4.32510868e-03 4.55764468e+01] [ 6.91217777e-03 -3.59303880e-05 9.99976110e-01 7.13417612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:45.59, Z:0.71 [[ 7.75060847e-01 -6.31863607e-01 -5.39120299e-03 1.25424976e+02] [ 6.31848800e-01 7.75079595e-01 -4.32601682e-03 4.55933962e+01] [ 6.91206403e-03 -5.34988788e-05 9.99976110e-01 7.13505262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:45.61, Z:0.71 [[ 7.72392560e-01 -6.35122569e-01 -5.39036371e-03 1.25447680e+02] [ 6.35107834e-01 7.72411364e-01 -4.32706234e-03 4.56096374e+01] [ 6.91179314e-03 -8.12714641e-05 9.99976110e-01 7.13540695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.47, Y:45.63, Z:0.71 [[ 7.71727926e-01 -6.35929992e-01 -5.39010388e-03 1.25470725e+02] [ 6.35915275e-01 7.71746744e-01 -4.32738598e-03 4.56266857e+01] [ 6.91170965e-03 -8.80847884e-05 9.99976110e-01 7.11151670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:45.64, Z:0.71 [[ 7.71599962e-01 -6.36085256e-01 -5.38939904e-03 1.25494609e+02] [ 6.36070536e-01 7.71618778e-01 -4.32826362e-03 4.56436138e+01] [ 6.91170618e-03 -8.83498905e-05 9.99976110e-01 7.13567201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264000000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:125.52, Y:45.66, Z:0.71 [[ 7.72413424e-01 -6.35097206e-01 -5.38902466e-03 1.25516510e+02] [ 6.35082459e-01 7.72432219e-01 -4.32872970e-03 4.56612603e+01] [ 6.91182042e-03 -7.89061017e-05 9.99976110e-01 7.07354636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:45.68, Z:0.71 [[ 7.73338529e-01 -6.33970410e-01 -5.38875987e-03 1.25538466e+02] [ 6.33955633e-01 7.73357301e-01 -4.32905931e-03 4.56793038e+01] [ 6.91193229e-03 -6.84063193e-05 9.99976110e-01 7.12924832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:45.70, Z:0.71 [[ 7.74592720e-01 -6.32437419e-01 -5.38799994e-03 1.25559434e+02] [ 6.32422598e-01 7.74611457e-01 -4.33000492e-03 4.56962698e+01] [ 6.91206362e-03 -5.35026370e-05 9.99976110e-01 7.09680394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91264000000004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:125.58, Y:45.71, Z:0.71 [[ 7.77962146e-01 -6.28288051e-01 -5.38741924e-03 1.25582794e+02] [ 6.28273125e-01 7.77980800e-01 -4.33072731e-03 4.57137943e+01] [ 6.91225295e-03 -1.56288094e-05 9.99976110e-01 7.09677445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:125.60, Y:45.73, Z:0.71 [[ 7.79534248e-01 -6.26336443e-01 -5.38667006e-03 1.25604266e+02] [ 6.26321465e-01 7.79552859e-01 -4.33165895e-03 4.57306193e+01] [ 6.91226991e-03 2.88941964e-06 9.99976110e-01 7.09026014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:45.75, Z:0.71 [[ 7.82253409e-01 -6.22937069e-01 -5.38621411e-03 1.25625471e+02] [ 6.22922006e-01 7.82271952e-01 -4.33222584e-03 4.57476924e+01] [ 6.91218829e-03 3.37071352e-05 9.99976110e-01 7.07432291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:45.76, Z:0.71 [[ 7.83561254e-01 -6.21291200e-01 -5.38573563e-03 1.25647695e+02] [ 6.21276093e-01 7.83579761e-01 -4.33282059e-03 4.57649899e+01] [ 6.91209675e-03 4.90015469e-05 9.99976110e-01 7.11455737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:45.78, Z:0.71 [[ 7.84725117e-01 -6.19820533e-01 -5.38487916e-03 1.25669401e+02] [ 6.19805385e-01 7.84743590e-01 -4.33388476e-03 4.57829178e+01] [ 6.91198017e-03 6.33311240e-05 9.99976110e-01 7.06866907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:45.80, Z:0.71 [[ 7.86873409e-01 -6.17090955e-01 -5.38444017e-03 1.25690939e+02] [ 6.17075738e-01 7.86891826e-01 -4.33443010e-03 4.58019637e+01] [ 6.91170957e-03 8.80403975e-05 9.99976110e-01 7.13321160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:45.82, Z:0.71 [[ 7.87524005e-01 -6.16260463e-01 -5.38370368e-03 1.25712372e+02] [ 6.16245221e-01 7.87542401e-01 -4.33534469e-03 4.58189213e+01] [ 6.91159644e-03 9.65063521e-05 9.99976110e-01 7.12983828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:45.84, Z:0.71 [[ 7.87876781e-01 -6.15809383e-01 -5.38338820e-03 1.25734462e+02] [ 6.15794128e-01 7.87895167e-01 -4.33573640e-03 4.58353304e+01] [ 6.91153270e-03 1.00967200e-04 9.99976110e-01 7.14099820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:45.85, Z:0.71 [[ 7.87565496e-01 -6.16207447e-01 -5.38254104e-03 1.25758503e+02] [ 6.16192194e-01 7.87583883e-01 -4.33678783e-03 4.58515227e+01] [ 6.91156353e-03 9.88246879e-05 9.99976110e-01 7.14352107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:45.87, Z:0.71 [[ 7.87102686e-01 -6.16798507e-01 -5.38177256e-03 1.25780420e+02] [ 6.16783261e-01 7.87121079e-01 -4.33774127e-03 4.58683210e+01] [ 6.91161897e-03 9.48605745e-05 9.99976110e-01 7.10032050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:45.89, Z:0.71 [[ 7.86759461e-01 -6.17236251e-01 -5.38149975e-03 1.25803382e+02] [ 6.17221013e-01 7.86777860e-01 -4.33807970e-03 4.58863175e+01] [ 6.91166491e-03 9.14505215e-05 9.99976110e-01 7.11493393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:45.90, Z:0.71 [[ 7.85873613e-01 -6.18363738e-01 -5.38075294e-03 1.25826698e+02] [ 6.18348520e-01 7.85892029e-01 -4.33900581e-03 4.59023757e+01] [ 6.91177470e-03 8.27295523e-05 9.99976110e-01 7.10007723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:45.92, Z:0.71 [[ 7.85408789e-01 -6.18954025e-01 -5.38048876e-03 1.25849502e+02] [ 6.18938819e-01 7.85427214e-01 -4.33933338e-03 4.59183563e+01] [ 6.91183016e-03 7.79572118e-05 9.99976110e-01 7.11543128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:45.93, Z:0.71 [[ 7.85198863e-01 -6.19220320e-01 -5.37962724e-03 1.25872854e+02] [ 6.19205113e-01 7.85217288e-01 -4.34040117e-03 4.59322509e+01] [ 6.91184092e-03 7.69853735e-05 9.99976110e-01 7.10592290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:45.95, Z:0.71 [[ 7.85364865e-01 -6.19009768e-01 -5.37919869e-03 1.25894309e+02] [ 6.18994553e-01 7.85383282e-01 -4.34093222e-03 4.59486674e+01] [ 6.91181218e-03 7.95209569e-05 9.99976110e-01 7.08428686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:45.97, Z:0.71 [[ 7.85872134e-01 -6.18365634e-01 -5.37873026e-03 1.25916376e+02] [ 6.18350399e-01 7.85890536e-01 -4.34151256e-03 4.59664483e+01] [ 6.91173538e-03 8.59337384e-05 9.99976110e-01 7.08402910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39264000000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:125.94, Y:45.98, Z:0.71 [[ 7.87015093e-01 -6.16910303e-01 -5.37790460e-03 1.25937978e+02] [ 6.16895027e-01 7.87033461e-01 -4.34253508e-03 4.59838760e+01] [ 6.91154550e-03 1.00038046e-04 9.99976110e-01 7.08570449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:46.00, Z:0.71 [[ 7.89788559e-01 -6.13355622e-01 -5.37705662e-03 1.25960806e+02] [ 6.13340256e-01 7.89806852e-01 -4.34358482e-03 4.60018918e+01] [ 6.91099833e-03 1.32548310e-04 9.99976110e-01 7.10534884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:46.02, Z:0.71 [[ 7.91108511e-01 -6.11652205e-01 -5.37631104e-03 1.25981989e+02] [ 6.11636794e-01 7.91126765e-01 -4.34450748e-03 4.60189093e+01] [ 6.91067114e-03 1.48627198e-04 9.99976110e-01 7.07787644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:46.04, Z:0.71 [[ 7.93522093e-01 -6.08517698e-01 -5.37572987e-03 1.26003480e+02] [ 6.08502210e-01 7.93540282e-01 -4.34522648e-03 4.60373090e+01] [ 6.91000541e-03 1.76889711e-04 9.99976110e-01 7.10674574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:46.06, Z:0.71 [[ 7.94334116e-01 -6.07457337e-01 -5.37547188e-03 1.26024766e+02] [ 6.07441822e-01 7.94352282e-01 -4.34554562e-03 4.60568406e+01] [ 6.90975192e-03 1.86528700e-04 9.99976110e-01 7.13498349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:46.07, Z:0.71 [[ 7.95069730e-01 -6.06494219e-01 -5.37473167e-03 1.26045272e+02] [ 6.06478676e-01 7.95087872e-01 -4.34646094e-03 4.60749732e+01] [ 6.90948740e-03 1.96079382e-04 9.99976110e-01 7.13005873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:46.09, Z:0.71 [[ 7.95616830e-01 -6.05776342e-01 -5.37426145e-03 1.26064503e+02] [ 6.05760779e-01 7.95634955e-01 -4.34704227e-03 4.60934991e+01] [ 6.90928564e-03 2.03063185e-04 9.99976110e-01 7.10212809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:46.11, Z:0.71 [[ 7.94973124e-01 -6.06620850e-01 -5.37368960e-03 1.26085521e+02] [ 6.06605302e-01 7.94991261e-01 -4.34774906e-03 4.61122292e+01] [ 6.90947151e-03 1.96635047e-04 9.99976110e-01 7.09331834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:46.13, Z:0.71 [[ 7.92378381e-01 -6.10006257e-01 -5.37287869e-03 1.26105898e+02] [ 6.09990779e-01 7.92396579e-01 -4.34875094e-03 4.61322288e+01] [ 6.91021598e-03 1.68449775e-04 9.99976110e-01 7.09094833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:46.15, Z:0.71 [[ 7.90398055e-01 -6.12570041e-01 -5.37215885e-03 1.26127053e+02] [ 6.12554616e-01 7.90416298e-01 -4.34964001e-03 4.61506027e+01] [ 6.91070106e-03 1.47206302e-04 9.99976110e-01 7.10323084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:46.17, Z:0.71 [[ 7.88180238e-01 -6.15421045e-01 -5.37131698e-03 1.26148781e+02] [ 6.15405678e-01 7.88198530e-01 -4.35067937e-03 4.61674551e+01] [ 6.91116379e-03 1.23580534e-04 9.99976110e-01 7.08305142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:46.18, Z:0.71 [[ 7.85724003e-01 -6.18553918e-01 -5.37048094e-03 1.26171231e+02] [ 6.18538617e-01 7.85742351e-01 -4.35171113e-03 4.61843470e+01] [ 6.91158229e-03 9.73940288e-05 9.99976110e-01 7.12543718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:46.20, Z:0.71 [[ 7.81424236e-01 -6.23977027e-01 -5.36961533e-03 1.26191608e+02] [ 6.23961847e-01 7.81442683e-01 -4.35277896e-03 4.62018757e+01] [ 6.91208068e-03 5.09318744e-05 9.99976110e-01 7.12287653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:46.22, Z:0.71 [[ 7.79490989e-01 -6.26390430e-01 -5.36913840e-03 1.26212100e+02] [ 6.26375303e-01 7.79509479e-01 -4.35336716e-03 4.62205204e+01] [ 6.91220181e-03 3.03147833e-05 9.99976110e-01 7.13055005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:46.24, Z:0.71 [[ 7.76624091e-01 -6.29941427e-01 -5.36828701e-03 1.26232009e+02] [ 6.29926378e-01 7.76642645e-01 -4.35441679e-03 4.62397135e+01] [ 6.91226815e-03 1.19393204e-07 9.99976110e-01 7.12693378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:126.25, Y:46.26, Z:0.71 [[ 7.75512847e-01 -6.31308966e-01 -5.36789789e-03 1.26253083e+02] [ 6.31293945e-01 7.75531424e-01 -4.35489643e-03 4.62575486e+01] [ 6.91225865e-03 -1.14433027e-05 9.99976110e-01 7.11338451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:46.28, Z:0.71 [[ 7.74070830e-01 -6.33076251e-01 -5.36750988e-03 1.26274688e+02] [ 6.33061270e-01 7.74089439e-01 -4.35537460e-03 4.62750903e+01] [ 6.91221694e-03 -2.65941922e-05 9.99976110e-01 7.13852209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:46.29, Z:0.71 [[ 7.71377518e-01 -6.36355187e-01 -5.36667649e-03 1.26296985e+02] [ 6.36340277e-01 7.71396184e-01 -4.35640126e-03 4.62923365e+01] [ 6.91205231e-03 -5.46024175e-05 9.99976110e-01 7.14041346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.32, Y:46.31, Z:0.72 [[ 7.70229965e-01 -6.37743682e-01 -5.36631363e-03 1.26319348e+02] [ 6.37728803e-01 7.70248656e-01 -4.35684819e-03 4.63108887e+01] [ 6.91194827e-03 -6.64777403e-05 9.99976110e-01 7.17206975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:126.34, Y:46.33, Z:0.71 [[ 7.68998962e-01 -6.39227508e-01 -5.36556571e-03 1.26340115e+02] [ 6.39212659e-01 7.69017677e-01 -4.35776909e-03 4.63281351e+01] [ 6.91182075e-03 -7.86176115e-05 9.99976110e-01 7.14882949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:126.36, Y:46.34, Z:0.71 [[ 7.66910942e-01 -6.41731114e-01 -5.36507689e-03 1.26362502e+02] [ 6.41716322e-01 7.66929701e-01 -4.35837081e-03 4.63444873e+01] [ 6.91153898e-03 -1.00375143e-04 9.99976110e-01 7.14719821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:126.39, Y:46.36, Z:0.72 [[ 7.65795415e-01 -6.43061896e-01 -5.36471332e-03 1.26385157e+02] [ 6.43047133e-01 7.65814197e-01 -4.35881829e-03 4.63613602e+01] [ 6.91136358e-03 -1.11800463e-04 9.99976110e-01 7.15755453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:46.38, Z:0.72 [[ 7.63911950e-01 -6.45298195e-01 -5.36391129e-03 1.26410655e+02] [ 6.45283480e-01 7.63930771e-01 -4.35980503e-03 4.63751699e+01] [ 6.91103120e-03 -1.30736188e-04 9.99976110e-01 7.17542570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:46.39, Z:0.72 [[ 7.63176335e-01 -6.46168027e-01 -5.36318321e-03 1.26434179e+02] [ 6.46153327e-01 7.63195167e-01 -4.36070049e-03 4.63912759e+01] [ 6.91090073e-03 -1.37455255e-04 9.99976110e-01 7.18180444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:46.41, Z:0.72 [[ 7.62830199e-01 -6.46576626e-01 -5.36234061e-03 1.26456545e+02] [ 6.46561929e-01 7.62849033e-01 -4.36173638e-03 4.64080388e+01] [ 6.91085314e-03 -1.39821054e-04 9.99976110e-01 7.16210342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:126.48, Y:46.43, Z:0.72 [[ 7.62949727e-01 -6.46435582e-01 -5.36207958e-03 1.26478578e+02] [ 6.46420879e-01 7.62968557e-01 -4.36205725e-03 4.64255676e+01] [ 6.91088714e-03 -1.38129810e-04 9.99976110e-01 7.16041116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:126.50, Y:46.44, Z:0.72 [[ 7.64698448e-01 -6.44365999e-01 -5.36130014e-03 1.26503287e+02] [ 6.44351239e-01 7.64717232e-01 -4.36301504e-03 4.64404368e+01] [ 6.91125715e-03 -1.18169562e-04 9.99976110e-01 7.19291630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:126.53, Y:46.46, Z:0.72 [[ 7.66105937e-01 -6.42691962e-01 -5.36054857e-03 1.26525133e+02] [ 6.42677154e-01 7.66124684e-01 -4.36393824e-03 4.64567228e+01] [ 6.91151661e-03 -1.01863107e-04 9.99976110e-01 7.16648824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:46.47, Z:0.72 [[ 7.69982683e-01 -6.38042270e-01 -5.36012229e-03 1.26547163e+02] [ 6.38027345e-01 7.70001337e-01 -4.36446178e-03 4.64724487e+01] [ 6.91201242e-03 -5.93446037e-05 9.99976110e-01 7.17172528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:46.49, Z:0.72 [[ 7.72150592e-01 -6.35416981e-01 -5.35948403e-03 1.26570048e+02] [ 6.35401987e-01 7.72169191e-01 -4.36524541e-03 4.64896456e+01] [ 6.91217950e-03 -3.47999723e-05 9.99976110e-01 7.17254952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:46.51, Z:0.72 [[ 7.76638457e-01 -6.29923798e-01 -5.35875581e-03 1.26592225e+02] [ 6.29908666e-01 7.76656944e-01 -4.36613919e-03 4.65075420e+01] [ 6.91224989e-03 1.53848797e-05 9.99976110e-01 7.16494401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:46.53, Z:0.72 [[ 7.78388228e-01 -6.27760350e-01 -5.35807581e-03 1.26613725e+02] [ 6.27745162e-01 7.78406669e-01 -4.36697351e-03 4.65269520e+01] [ 6.91217476e-03 3.56946028e-05 9.99976110e-01 7.18310458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:46.54, Z:0.72 [[ 7.79943444e-01 -6.25827071e-01 -5.35732150e-03 1.26634071e+02] [ 6.25811830e-01 7.79961842e-01 -4.36789868e-03 4.65442995e+01] [ 6.91205559e-03 5.40387684e-05 9.99976110e-01 7.15965918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:46.56, Z:0.72 [[ 7.81126756e-01 -6.24349499e-01 -5.35673522e-03 1.26656011e+02] [ 6.24334219e-01 7.81145120e-01 -4.36861757e-03 4.65616401e+01] [ 6.91193177e-03 6.80509686e-05 9.99976110e-01 7.16253743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:46.58, Z:0.72 [[ 7.82530735e-01 -6.22588916e-01 -5.35637110e-03 1.26678207e+02] [ 6.22573591e-01 7.82549062e-01 -4.36906398e-03 4.65800408e+01] [ 6.91175399e-03 8.41916516e-05 9.99976110e-01 7.20926922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:46.60, Z:0.72 [[ 7.82408836e-01 -6.22742106e-01 -5.35562271e-03 1.26700142e+02] [ 6.22726778e-01 7.82427161e-01 -4.36998116e-03 4.65981871e+01] [ 6.91175595e-03 8.40222013e-05 9.99976110e-01 7.21123743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:126.72, Y:46.62, Z:0.71 [[ 7.82645544e-01 -6.22444599e-01 -5.35476698e-03 1.26721086e+02] [ 6.22429258e-01 7.82663857e-01 -4.37102949e-03 4.66168619e+01] [ 6.91170628e-03 8.80031115e-05 9.99976110e-01 7.14992834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:46.64, Z:0.72 [[ 7.81347411e-01 -6.24073356e-01 -5.35438265e-03 1.26741929e+02] [ 6.24058049e-01 7.81365754e-01 -4.37150023e-03 4.66358987e+01] [ 6.91186805e-03 7.42147983e-05 9.99976110e-01 7.19846504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:46.65, Z:0.72 [[ 7.80328441e-01 -6.25346995e-01 -5.35356145e-03 1.26764161e+02] [ 6.25331712e-01 7.80346802e-01 -4.37250568e-03 4.66542992e+01] [ 6.91196785e-03 6.42387878e-05 9.99976110e-01 7.23089077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:46.67, Z:0.72 [[ 7.79244821e-01 -6.26696781e-01 -5.35281804e-03 1.26785398e+02] [ 6.26681523e-01 7.79263204e-01 -4.37341558e-03 4.66718272e+01] [ 6.91205960e-03 5.34492818e-05 9.99976110e-01 7.21523429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:46.69, Z:0.73 [[ 7.76261293e-01 -6.30388576e-01 -5.35244591e-03 1.26807858e+02] [ 6.30373402e-01 7.76279745e-01 -4.37387096e-03 4.66885591e+01] [ 6.91223363e-03 2.12271810e-05 9.99976110e-01 7.25796766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:46.70, Z:0.72 [[ 7.74438281e-01 -6.32626833e-01 -5.35159578e-03 1.26830801e+02] [ 6.32611705e-01 7.74456771e-01 -4.37491088e-03 4.67048543e+01] [ 6.91226560e-03 2.61632880e-06 9.99976110e-01 7.23968877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:126.85, Y:46.72, Z:0.73 [[ 7.72255595e-01 -6.35289430e-01 -5.35121480e-03 1.26854621e+02] [ 6.35274363e-01 7.72274135e-01 -4.37537683e-03 4.67213194e+01] [ 6.91223543e-03 -2.05803334e-05 9.99976110e-01 7.26816045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:126.88, Y:46.73, Z:0.73 [[ 7.67367418e-01 -6.41185323e-01 -5.35047875e-03 1.26878811e+02] [ 6.41170393e-01 7.67386067e-01 -4.37627674e-03 4.67348458e+01] [ 6.91188726e-03 -7.23563792e-05 9.99976110e-01 7.26973166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:46.75, Z:0.73 [[ 7.65158655e-01 -6.43819550e-01 -5.34971757e-03 1.26902849e+02] [ 6.43804677e-01 7.65177351e-01 -4.37720703e-03 4.67512481e+01] [ 6.91161418e-03 -9.49153440e-05 9.99976110e-01 7.30574434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264000000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:126.93, Y:46.77, Z:0.73 [[ 7.63448130e-01 -6.45846995e-01 -5.34897180e-03 1.26926292e+02] [ 6.45832165e-01 7.63466860e-01 -4.37811817e-03 4.67666483e+01] [ 6.91135717e-03 -1.12071908e-04 9.99976110e-01 7.30085076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.95, Y:46.78, Z:0.73 [[ 7.61175558e-01 -6.48523837e-01 -5.34811542e-03 1.26952325e+02] [ 6.48509066e-01 7.61194334e-01 -4.37916404e-03 4.67791350e+01] [ 6.91094742e-03 -1.34988708e-04 9.99976110e-01 7.31181913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:46.79, Z:0.73 [[ 7.60285197e-01 -6.49567415e-01 -5.34726662e-03 1.26976162e+02] [ 6.49552662e-01 7.60303988e-01 -4.38020023e-03 4.67941882e+01] [ 6.91078348e-03 -1.43129870e-04 9.99976110e-01 7.32513459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.00, Y:46.81, Z:0.73 [[ 7.59945240e-01 -6.49965113e-01 -5.34640743e-03 1.26999800e+02] [ 6.49950362e-01 7.59964033e-01 -4.38124870e-03 4.68079371e+01] [ 6.91073616e-03 -1.45390351e-04 9.99976110e-01 7.31702275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:127.03, Y:46.82, Z:0.73 [[ 7.60019463e-01 -6.49878327e-01 -5.34566083e-03 1.27026756e+02] [ 6.49863568e-01 7.60038249e-01 -4.38215945e-03 4.68199608e+01] [ 6.91077715e-03 -1.43423751e-04 9.99976110e-01 7.32605628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.05, Y:46.84, Z:0.73 [[ 7.60592339e-01 -6.49207768e-01 -5.34485869e-03 1.27050418e+02] [ 6.49192986e-01 7.60611106e-01 -4.38313759e-03 4.68357994e+01] [ 6.91092586e-03 -1.36063902e-04 9.99976110e-01 7.34347693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:46.85, Z:0.73 [[ 7.61609429e-01 -6.48014290e-01 -5.34398668e-03 1.27073283e+02] [ 6.47999470e-01 7.61628167e-01 -4.38420051e-03 4.68512573e+01] [ 6.91115536e-03 -1.23852088e-04 9.99976110e-01 7.33371891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:46.87, Z:0.73 [[ 7.64575839e-01 -6.44511624e-01 -5.34351422e-03 1.27099107e+02] [ 6.44496715e-01 7.64594506e-01 -4.38477627e-03 4.68651100e+01] [ 6.91166089e-03 -9.13833673e-05 9.99976110e-01 7.34797035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:46.88, Z:0.73 [[ 7.66159037e-01 -6.42628805e-01 -5.34308460e-03 1.27121542e+02] [ 6.42613847e-01 7.66177664e-01 -4.38529972e-03 4.68796338e+01] [ 6.91187200e-03 -7.37031438e-05 9.99976110e-01 7.32636968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:46.90, Z:0.73 [[ 7.67748314e-01 -6.40729260e-01 -5.34249449e-03 1.27144738e+02] [ 6.40714250e-01 7.67766900e-01 -4.38601852e-03 4.68954101e+01] [ 6.91204083e-03 -5.56540251e-05 9.99976110e-01 7.32821635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:127.17, Y:46.91, Z:0.73 [[ 7.71830880e-01 -6.35805439e-01 -5.34200500e-03 1.27169558e+02] [ 6.35790306e-01 7.71849366e-01 -4.38661462e-03 4.69090004e+01] [ 6.91225661e-03 -1.06703687e-05 9.99976110e-01 7.30850076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:46.92, Z:0.73 [[ 7.73928215e-01 -6.33250811e-01 -5.34119267e-03 1.27192723e+02] [ 6.33235611e-01 7.73946646e-01 -4.38760350e-03 4.69248456e+01] [ 6.91225162e-03 1.34567503e-05 9.99976110e-01 7.32564844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264000000004 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:127.22, Y:46.94, Z:0.73 [[ 7.76109141e-01 -6.30575992e-01 -5.34032812e-03 1.27215447e+02] [ 6.30560721e-01 7.76127513e-01 -4.38865552e-03 4.69408424e+01] [ 6.91215640e-03 3.86745152e-05 9.99976110e-01 7.31468737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.24, Y:46.96, Z:0.73 [[ 7.80019386e-01 -6.25732569e-01 -5.33948255e-03 1.27238049e+02] [ 6.25717177e-01 7.80037656e-01 -4.38968405e-03 4.69561119e+01] [ 6.91176573e-03 8.30327023e-05 9.99976110e-01 7.31647780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:46.97, Z:0.74 [[ 7.81516219e-01 -6.23862083e-01 -5.33871798e-03 1.27260314e+02] [ 6.23846641e-01 7.81534447e-01 -4.39061372e-03 4.69737225e+01] [ 6.91152942e-03 1.00794549e-04 9.99976110e-01 7.36064131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:46.99, Z:0.74 [[ 7.83811792e-01 -6.20975509e-01 -5.33784779e-03 1.27282556e+02] [ 6.20959992e-01 7.83829957e-01 -4.39167140e-03 4.69892047e+01] [ 6.91108538e-03 1.27653906e-04 9.99976110e-01 7.36504603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:47.01, Z:0.74 [[ 7.84545296e-01 -6.20048539e-01 -5.33735251e-03 1.27305051e+02] [ 6.20032997e-01 7.84563439e-01 -4.39227324e-03 4.70065696e+01] [ 6.91091425e-03 1.36602632e-04 9.99976110e-01 7.38174588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:47.02, Z:0.74 [[ 7.85147906e-01 -6.19285303e-01 -5.33659054e-03 1.27326239e+02] [ 6.19269737e-01 7.85166029e-01 -4.39319884e-03 4.70240479e+01] [ 6.91075307e-03 1.44521853e-04 9.99976110e-01 7.36859653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:47.04, Z:0.74 [[ 7.85801689e-01 -6.18455521e-01 -5.33614370e-03 1.27347274e+02] [ 6.18439932e-01 7.85819792e-01 -4.39374151e-03 4.70431170e+01] [ 6.91058103e-03 1.52525152e-04 9.99976110e-01 7.40952019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:47.06, Z:0.74 [[ 7.87836478e-01 -6.15861362e-01 -5.33538744e-03 1.27366360e+02] [ 6.15845707e-01 7.87854525e-01 -4.39465967e-03 4.70630446e+01] [ 6.91001022e-03 1.76497747e-04 9.99976110e-01 7.41891580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:47.08, Z:0.75 [[ 7.88838820e-01 -6.14576971e-01 -5.33500900e-03 1.27387547e+02] [ 6.14561284e-01 7.88856838e-01 -4.39511904e-03 4.70820645e+01] [ 6.90969727e-03 1.88350536e-04 9.99976110e-01 7.45512489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:47.10, Z:0.74 [[ 7.89759264e-01 -6.13393717e-01 -5.33411118e-03 1.27407430e+02] [ 6.13377995e-01 7.89777252e-01 -4.39620839e-03 4.71000563e+01] [ 6.90936628e-03 2.00119881e-04 9.99976110e-01 7.44490379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:47.12, Z:0.74 [[ 7.91021409e-01 -6.11765219e-01 -5.33361610e-03 1.27426506e+02] [ 6.11749457e-01 7.91039361e-01 -4.39680896e-03 4.71205727e+01] [ 6.90891507e-03 2.15133262e-04 9.99976110e-01 7.39227878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:47.14, Z:0.75 [[ 7.90873235e-01 -6.11956765e-01 -5.33323583e-03 1.27447707e+02] [ 6.11941004e-01 7.90891188e-01 -4.39727017e-03 4.71405842e+01] [ 6.90894845e-03 2.14057597e-04 9.99976110e-01 7.45175166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:127.47, Y:47.16, Z:0.75 [[ 7.88850901e-01 -6.14561486e-01 -5.33249835e-03 1.27467629e+02] [ 6.14545778e-01 7.88868901e-01 -4.39816432e-03 4.71615658e+01] [ 6.90958451e-03 1.92431534e-04 9.99976110e-01 7.45595444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:47.18, Z:0.74 [[ 7.86898485e-01 -6.17059435e-01 -5.33174564e-03 1.27487784e+02] [ 6.17043778e-01 7.86916529e-01 -4.39907662e-03 4.71802421e+01] [ 6.91013051e-03 1.71706256e-04 9.99976110e-01 7.44660886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:47.20, Z:0.74 [[ 7.84481991e-01 -6.20128681e-01 -5.33147797e-03 1.27508584e+02] [ 6.20113092e-01 7.84500094e-01 -4.39940100e-03 4.72002526e+01] [ 6.91073971e-03 1.45131564e-04 9.99976110e-01 7.43833393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.53, Y:47.22, Z:0.74 [[ 7.79144680e-01 -6.26821467e-01 -5.33072404e-03 1.27527803e+02] [ 6.26806028e-01 7.79162910e-01 -4.40031434e-03 4.72218687e+01] [ 6.91171395e-03 8.71515523e-05 9.99976110e-01 7.42585395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:47.24, Z:0.74 [[ 7.76472658e-01 -6.30128402e-01 -5.32996354e-03 1.27550133e+02] [ 6.30113034e-01 7.76490949e-01 -4.40123531e-03 4.72409112e+01] [ 6.91201182e-03 5.89593811e-05 9.99976110e-01 7.41799455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61264000000003 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:127.57, Y:47.26, Z:0.74 [[ 7.73809354e-01 -6.33396149e-01 -5.32925751e-03 1.27572347e+02] [ 6.33380853e-01 7.73827705e-01 -4.40209005e-03 4.72600489e+01] [ 6.91219399e-03 3.09287934e-05 9.99976110e-01 7.40874470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.59, Y:47.28, Z:0.74 [[ 7.69872994e-01 -6.38174881e-01 -5.32855277e-03 1.27593300e+02] [ 6.38159693e-01 7.69891434e-01 -4.40294294e-03 4.72788215e+01] [ 6.91225473e-03 -1.07607321e-05 9.99976110e-01 7.41607217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.61, Y:47.30, Z:0.75 [[ 7.68067764e-01 -6.40346407e-01 -5.32813947e-03 1.27614559e+02] [ 6.40331267e-01 7.68086244e-01 -4.40344303e-03 4.72981596e+01] [ 6.91219956e-03 -2.96316583e-05 9.99976110e-01 7.45531976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.64, Y:47.32, Z:0.75 [[ 7.66578760e-01 -6.42128199e-01 -5.32737808e-03 1.27635387e+02] [ 6.42113096e-01 7.66597270e-01 -4.40436399e-03 4.73165251e+01] [ 6.91211981e-03 -4.44873484e-05 9.99976110e-01 7.47054699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.66, Y:47.33, Z:0.75 [[ 7.64273921e-01 -6.44869755e-01 -5.32650437e-03 1.27656305e+02] [ 6.44854711e-01 7.64292479e-01 -4.40542038e-03 4.73346490e+01] [ 6.91192959e-03 -6.78735280e-05 9.99976110e-01 7.50341805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264000000003 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:127.68, Y:47.35, Z:0.75 [[ 7.63094381e-01 -6.46265115e-01 -5.32602051e-03 1.27677126e+02] [ 6.46250101e-01 7.63112963e-01 -4.40600527e-03 4.73523662e+01] [ 6.91180279e-03 -7.97434307e-05 9.99976110e-01 7.48433781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:47.37, Z:0.75 [[ 7.60553050e-01 -6.49253952e-01 -5.32569830e-03 1.27699432e+02] [ 6.49239008e-01 7.60571689e-01 -4.40639469e-03 4.73693231e+01] [ 6.91144453e-03 -1.06354159e-04 9.99976110e-01 7.48981189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264000000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:127.72, Y:47.39, Z:0.75 [[ 7.59107176e-01 -6.50943885e-01 -5.32486354e-03 1.27721038e+02] [ 6.50928975e-01 7.59125842e-01 -4.40740322e-03 4.73867684e+01] [ 6.91121370e-03 -1.20416557e-04 9.99976110e-01 7.52739644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:47.40, Z:0.75 [[ 7.57958167e-01 -6.52281436e-01 -5.32397317e-03 1.27743304e+02] [ 6.52266552e-01 7.57976854e-01 -4.40847850e-03 4.74040310e+01] [ 6.91101712e-03 -1.31207333e-04 9.99976110e-01 7.53181857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:47.42, Z:0.75 [[ 7.56245236e-01 -6.54266613e-01 -5.32369707e-03 1.27766185e+02] [ 6.54251775e-01 7.56263960e-01 -4.40881189e-03 4.74196195e+01] [ 6.91065865e-03 -1.48895266e-04 9.99976110e-01 7.51672124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:47.44, Z:0.75 [[ 7.55478107e-01 -6.55152269e-01 -5.32292764e-03 1.27788766e+02] [ 6.55137447e-01 7.55496843e-01 -4.40974066e-03 4.74369662e+01] [ 6.91050663e-03 -1.55786693e-04 9.99976110e-01 7.51434156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:47.45, Z:0.75 [[ 7.54901291e-01 -6.55816831e-01 -5.32211019e-03 1.27810736e+02] [ 6.55802018e-01 7.54920035e-01 -4.41072702e-03 4.74540545e+01] [ 6.91039662e-03 -1.60587077e-04 9.99976110e-01 7.53478959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:47.47, Z:0.75 [[ 7.54516633e-01 -6.56259351e-01 -5.32124181e-03 1.27833055e+02] [ 6.56244542e-01 7.54535379e-01 -4.41177441e-03 4.74709474e+01] [ 6.91033341e-03 -1.63278718e-04 9.99976110e-01 7.52504244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.86, Y:47.49, Z:0.75 [[ 7.54423087e-01 -6.56366894e-01 -5.32039392e-03 1.27855626e+02] [ 6.56352080e-01 7.54441830e-01 -4.41279669e-03 4.74865299e+01] [ 6.91034138e-03 -1.62935919e-04 9.99976110e-01 7.52420698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.88, Y:47.50, Z:0.75 [[ 7.54584361e-01 -6.56181487e-01 -5.31962099e-03 1.27878941e+02] [ 6.56166662e-01 7.54603095e-01 -4.41372825e-03 4.75020783e+01] [ 6.91040923e-03 -1.60027637e-04 9.99976110e-01 7.52816122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:47.52, Z:0.76 [[ 7.54808891e-01 -6.55923204e-01 -5.31875620e-03 1.27902559e+02] [ 6.55908365e-01 7.54827613e-01 -4.41477012e-03 4.75172270e+01] [ 6.91049421e-03 -1.56308946e-04 9.99976110e-01 7.55023840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:47.53, Z:0.76 [[ 7.56557573e-01 -6.53905466e-01 -5.31787918e-03 1.27927073e+02] [ 6.53890571e-01 7.56576250e-01 -4.41582630e-03 4.75319458e+01] [ 6.91091405e-03 -1.36484228e-04 9.99976110e-01 7.55485790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:127.95, Y:47.55, Z:0.76 [[ 7.57767901e-01 -6.52502516e-01 -5.31749384e-03 1.27949534e+02] [ 6.52487582e-01 7.57786548e-01 -4.41629027e-03 4.75490949e+01] [ 6.91116581e-03 -1.23075696e-04 9.99976110e-01 7.57104371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:47.56, Z:0.76 [[ 7.61064601e-01 -6.48654304e-01 -5.31661234e-03 1.27973806e+02] [ 6.48639269e-01 7.61083166e-01 -4.41735122e-03 4.75624890e+01] [ 6.91171804e-03 -8.66738985e-05 9.99976110e-01 7.57721102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.00, Y:47.58, Z:0.76 [[ 7.63011161e-01 -6.46363451e-01 -5.31582705e-03 1.27996554e+02] [ 6.46348353e-01 7.63029675e-01 -4.41829604e-03 4.75789958e+01] [ 6.91195886e-03 -6.46668647e-05 9.99976110e-01 7.58082837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:47.59, Z:0.76 [[ 7.64810524e-01 -6.44233353e-01 -5.31494552e-03 1.28017815e+02] [ 6.44218196e-01 7.64828991e-01 -4.41935621e-03 4.75949155e+01] [ 6.91212109e-03 -4.40144786e-05 9.99976110e-01 7.58058491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:47.61, Z:0.76 [[ 7.66576865e-01 -6.42130570e-01 -5.31415603e-03 1.28039413e+02] [ 6.42115356e-01 7.66595285e-01 -4.42030535e-03 4.76110925e+01] [ 6.91222015e-03 -2.37973725e-05 9.99976110e-01 7.57420431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.06, Y:47.62, Z:0.76 [[ 7.69705454e-01 -6.38377068e-01 -5.31356372e-03 1.28063394e+02] [ 6.38361759e-01 7.69723794e-01 -4.42101724e-03 4.76244832e+01] [ 6.91225245e-03 1.09051933e-05 9.99976110e-01 7.55154584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:47.64, Z:0.76 [[ 7.70807055e-01 -6.37046512e-01 -5.31286775e-03 1.28086889e+02] [ 6.37031165e-01 7.70825364e-01 -4.42185345e-03 4.76406371e+01] [ 6.91221953e-03 2.39334961e-05 9.99976110e-01 7.55084055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:47.66, Z:0.76 [[ 7.70685368e-01 -6.37193728e-01 -5.31203177e-03 1.28108653e+02] [ 6.37178378e-01 7.70703674e-01 -4.42285750e-03 4.76590180e+01] [ 6.91221945e-03 2.39197710e-05 9.99976110e-01 7.55280897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:47.67, Z:0.75 [[ 7.71987116e-01 -6.35615988e-01 -5.31118681e-03 1.28130627e+02] [ 6.35600594e-01 7.72005385e-01 -4.42387194e-03 4.76747691e+01] [ 6.91214855e-03 3.93786486e-05 9.99976110e-01 7.54096508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:47.69, Z:0.75 [[ 7.74959238e-01 -6.31988905e-01 -5.31061107e-03 1.28153365e+02] [ 6.31973421e-01 7.74977431e-01 -4.42456297e-03 4.76906981e+01] [ 6.91187843e-03 7.26909032e-05 9.99976110e-01 7.54912109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:47.71, Z:0.76 [[ 7.76413230e-01 -6.30201794e-01 -5.30986422e-03 1.28175908e+02] [ 6.30186262e-01 7.76431381e-01 -4.42545907e-03 4.77081140e+01] [ 6.91167746e-03 8.97814902e-05 9.99976110e-01 7.56521752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:47.73, Z:0.76 [[ 7.77843572e-01 -6.28435511e-01 -5.30901162e-03 1.28198490e+02] [ 6.28419931e-01 7.77861682e-01 -4.42648166e-03 4.77253134e+01] [ 6.91143497e-03 1.06821595e-04 9.99976110e-01 7.57670368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:47.74, Z:0.76 [[ 7.81111683e-01 -6.24368770e-01 -5.30815264e-03 1.28220813e+02] [ 6.24353089e-01 7.81129706e-01 -4.42751149e-03 4.77420438e+01] [ 6.91075562e-03 1.44219453e-04 9.99976110e-01 7.61250541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:47.76, Z:0.76 [[ 7.82871318e-01 -6.22161018e-01 -5.30726606e-03 1.28241295e+02] [ 6.22145278e-01 7.82889290e-01 -4.42857398e-03 4.77600412e+01] [ 6.91028785e-03 1.65113031e-04 9.99976110e-01 7.61550707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:47.78, Z:0.76 [[ 7.85845493e-01 -6.18400112e-01 -5.30678477e-03 1.28260272e+02] [ 6.18384283e-01 7.85863386e-01 -4.42915064e-03 4.77792392e+01] [ 6.90939510e-03 1.98995772e-04 9.99976110e-01 7.61145050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:128.28, Y:47.80, Z:0.76 [[ 7.86976469e-01 -6.16960193e-01 -5.30628798e-03 1.28280354e+02] [ 6.16944327e-01 7.86994330e-01 -4.42974573e-03 4.77985171e+01] [ 6.90899533e-03 2.12421391e-04 9.99976110e-01 7.60771367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264000000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.30, Y:47.82, Z:0.76 [[ 7.87613738e-01 -6.16146454e-01 -5.30543097e-03 1.28301473e+02] [ 6.16130562e-01 7.87631575e-01 -4.43077192e-03 4.78184963e+01] [ 6.90872936e-03 2.20898670e-04 9.99976110e-01 7.61403120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:47.84, Z:0.76 [[ 7.87658355e-01 -6.16089423e-01 -5.30464381e-03 1.28320718e+02] [ 6.16073524e-01 7.87676186e-01 -4.43171412e-03 4.78368850e+01] [ 6.90867380e-03 2.22626049e-04 9.99976110e-01 7.61703891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:47.86, Z:0.76 [[ 7.87090911e-01 -6.16814204e-01 -5.30421104e-03 1.28341180e+02] [ 6.16798318e-01 7.87108754e-01 -4.43223204e-03 4.78575960e+01] [ 6.90885462e-03 2.16941112e-04 9.99976110e-01 7.63087598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:47.88, Z:0.76 [[ 7.86056853e-01 -6.18131456e-01 -5.30350985e-03 1.28361506e+02] [ 6.18115594e-01 7.86074717e-01 -4.43307092e-03 4.78762884e+01] [ 6.90917558e-03 2.06463631e-04 9.99976110e-01 7.62948447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.38, Y:47.90, Z:0.76 [[ 7.84445427e-01 -6.20175176e-01 -5.30309168e-03 1.28382173e+02] [ 6.20159357e-01 7.84463330e-01 -4.43357109e-03 4.78957564e+01] [ 6.90967169e-03 1.89132637e-04 9.99976110e-01 7.64077376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75264 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:128.40, Y:47.92, Z:0.77 [[ 7.79863988e-01 -6.25926550e-01 -5.30233503e-03 1.28402513e+02] [ 6.25910857e-01 7.79882001e-01 -4.43447583e-03 4.79165421e+01] [ 6.91085180e-03 1.39498944e-04 9.99976110e-01 7.67754726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.42, Y:47.93, Z:0.77 [[ 7.77119043e-01 -6.29331301e-01 -5.30157580e-03 1.28422690e+02] [ 6.29315681e-01 7.77137119e-01 -4.43538333e-03 4.79349529e+01] [ 6.91137690e-03 1.10456069e-04 9.99976110e-01 7.68877189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:47.95, Z:0.77 [[ 7.71694094e-01 -6.35971795e-01 -5.30104589e-03 1.28444022e+02] [ 6.35956326e-01 7.71712300e-01 -4.43601657e-03 4.79531522e+01] [ 6.91206373e-03 5.20141289e-05 9.99976110e-01 7.71020078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:47.97, Z:0.77 [[ 7.69168723e-01 -6.39023771e-01 -5.30054278e-03 1.28464756e+02] [ 6.39008370e-01 7.69186986e-01 -4.43661764e-03 4.79699224e+01] [ 6.91221267e-03 2.54163273e-05 9.99976110e-01 7.69309027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.49, Y:47.99, Z:0.77 [[ 7.66729277e-01 -6.41948695e-01 -5.29994728e-03 1.28485941e+02] [ 6.41933359e-01 7.66747594e-01 -4.43732891e-03 4.79876248e+01] [ 6.91225933e-03 1.70263981e-08 9.99976110e-01 7.70017328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:128.51, Y:48.01, Z:0.77 [[ 7.63273343e-01 -6.46053963e-01 -5.29907392e-03 1.28507494e+02] [ 6.46038718e-01 7.63291737e-01 -4.43837164e-03 4.80060661e+01] [ 6.91216692e-03 -3.57161599e-05 9.99976110e-01 7.69770048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.53, Y:48.02, Z:0.77 [[ 7.62537633e-01 -6.46922165e-01 -5.29820024e-03 1.28527947e+02] [ 6.46906934e-01 7.62556038e-01 -4.43941433e-03 4.80235561e+01] [ 6.91213011e-03 -4.22219739e-05 9.99976110e-01 7.68987505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:128.55, Y:48.04, Z:0.77 [[ 7.62329261e-01 -6.47167702e-01 -5.29750851e-03 1.28548614e+02] [ 6.47152471e-01 7.62347666e-01 -4.44023961e-03 4.80414554e+01] [ 6.91212291e-03 -4.33711432e-05 9.99976110e-01 7.67487340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.57, Y:48.06, Z:0.77 [[ 7.62511795e-01 -6.46952631e-01 -5.29676580e-03 1.28569314e+02] [ 6.46937389e-01 7.62530190e-01 -4.44112541e-03 4.80600672e+01] [ 6.91214160e-03 -4.02653346e-05 9.99976110e-01 7.67664803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.59, Y:48.08, Z:0.76 [[ 7.64293204e-01 -6.44847153e-01 -5.29589563e-03 1.28588609e+02] [ 6.44831853e-01 7.64311552e-01 -4.44216282e-03 4.80792390e+01] [ 6.91223026e-03 -1.98473402e-05 9.99976110e-01 7.64508290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:48.10, Z:0.77 [[ 7.65333909e-01 -6.43611660e-01 -5.29520227e-03 1.28609983e+02] [ 6.43596325e-01 7.65352227e-01 -4.44298917e-03 4.80979601e+01] [ 6.91225448e-03 -7.60244620e-06 9.99976110e-01 7.67594738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.63, Y:48.12, Z:0.77 [[ 7.67204755e-01 -6.41380413e-01 -5.29432764e-03 1.28630365e+02] [ 6.41365016e-01 7.67223022e-01 -4.44403115e-03 4.81165251e+01] [ 6.91224459e-03 1.38852974e-05 9.99976110e-01 7.67154141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:48.14, Z:0.77 [[ 7.67801799e-01 -6.40665569e-01 -5.29393741e-03 1.28651318e+02] [ 6.40650152e-01 7.67820050e-01 -4.44449595e-03 4.81353047e+01] [ 6.91222682e-03 2.09301799e-05 9.99976110e-01 7.70300757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:128.67, Y:48.15, Z:0.77 [[ 7.68156444e-01 -6.40240315e-01 -5.29305472e-03 1.28671508e+02] [ 6.40224881e-01 7.68174680e-01 -4.44554693e-03 4.81537787e+01] [ 6.91220898e-03 2.61301941e-05 9.99976110e-01 7.68146202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17264000000003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:128.69, Y:48.17, Z:0.77 [[ 7.68603197e-01 -6.39703929e-01 -5.29228800e-03 1.28691429e+02] [ 6.39688477e-01 7.68621416e-01 -4.44645950e-03 4.81739839e+01] [ 6.91218351e-03 3.21473346e-05 9.99976110e-01 7.69876627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.71, Y:48.19, Z:0.77 [[ 7.68538041e-01 -6.39782213e-01 -5.29140991e-03 1.28711610e+02] [ 6.39766755e-01 7.68556256e-01 -4.44750420e-03 4.81928010e+01] [ 6.91218027e-03 3.28080249e-05 9.99976110e-01 7.68730269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:128.73, Y:48.21, Z:0.77 [[ 7.68559689e-01 -6.39756215e-01 -5.29062166e-03 1.28732631e+02] [ 6.39740750e-01 7.68577898e-01 -4.44844169e-03 4.82115403e+01] [ 6.91217309e-03 3.42666917e-05 9.99976110e-01 7.70674081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.75, Y:48.23, Z:0.77 [[ 7.68349346e-01 -6.40008828e-01 -5.28977443e-03 1.28753030e+02] [ 6.39993362e-01 7.68367554e-01 -4.44944892e-03 4.82294271e+01] [ 6.91217763e-03 3.33106478e-05 9.99976110e-01 7.69895758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.77, Y:48.25, Z:0.77 [[ 7.68025937e-01 -6.40396896e-01 -5.28918023e-03 1.28773893e+02] [ 6.40381434e-01 7.68044149e-01 -4.45015516e-03 4.82467761e+01] [ 6.91218947e-03 3.07417648e-05 9.99976110e-01 7.68378166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:48.26, Z:0.77 [[ 7.67556502e-01 -6.40959475e-01 -5.28849014e-03 1.28795276e+02] [ 6.40944021e-01 7.67574720e-01 -4.45097509e-03 4.82643277e+01] [ 6.91220600e-03 2.67487377e-05 9.99976110e-01 7.70566301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:48.28, Z:0.77 [[ 7.66860615e-01 -6.41791896e-01 -5.28759851e-03 1.28816275e+02] [ 6.41776454e-01 7.66878844e-01 -4.45203407e-03 4.82816739e+01] [ 6.91222682e-03 2.06333596e-05 9.99976110e-01 7.67951860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.84, Y:48.30, Z:0.77 [[ 7.66554159e-01 -6.42157902e-01 -5.28679483e-03 1.28837620e+02] [ 6.42142463e-01 7.66572390e-01 -4.45298823e-03 4.83002520e+01] [ 6.91223253e-03 1.85812001e-05 9.99976110e-01 7.69196124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:48.32, Z:0.77 [[ 7.66264301e-01 -6.42503758e-01 -5.28592448e-03 1.28859147e+02] [ 6.42488320e-01 7.66282533e-01 -4.45402115e-03 4.83179483e+01] [ 6.91223692e-03 1.68126659e-05 9.99976110e-01 7.70860672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264000000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:128.88, Y:48.33, Z:0.77 [[ 7.65743557e-01 -6.43124306e-01 -5.28507066e-03 1.28880441e+02] [ 6.43108876e-01 7.65761795e-01 -4.45503404e-03 4.83345226e+01] [ 6.91224587e-03 1.25377533e-05 9.99976110e-01 7.70042537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:48.35, Z:0.77 [[ 7.65573282e-01 -6.43326998e-01 -5.28433884e-03 1.28901522e+02] [ 6.43311566e-01 7.65591519e-01 -4.45590192e-03 4.83525351e+01] [ 6.91224700e-03 1.18431545e-05 9.99976110e-01 7.70512798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:128.92, Y:48.37, Z:0.77 [[ 7.65136097e-01 -6.43846906e-01 -5.28346332e-03 1.28922974e+02] [ 6.43831480e-01 7.65154338e-01 -4.45693980e-03 4.83712116e+01] [ 6.91225178e-03 8.50551615e-06 9.99976110e-01 7.70303414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:48.39, Z:0.77 [[ 7.64434775e-01 -6.44679432e-01 -5.28257678e-03 1.28946497e+02] [ 6.44664018e-01 7.64453027e-01 -4.45799033e-03 4.83858908e+01] [ 6.91225648e-03 2.35565747e-06 9.99976110e-01 7.70261662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:48.40, Z:0.77 [[ 7.64046468e-01 -6.45139596e-01 -5.28177229e-03 1.28968904e+02] [ 6.45124186e-01 7.64064724e-01 -4.45894327e-03 4.84027056e+01] [ 6.91225674e-03 -5.59195695e-07 9.99976110e-01 7.71650704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:48.42, Z:0.77 [[ 7.64205008e-01 -6.44951795e-01 -5.28091628e-03 1.28989915e+02] [ 6.44936374e-01 7.64223254e-01 -4.45995685e-03 4.84194670e+01] [ 6.91225620e-03 2.46636447e-06 9.99976110e-01 7.73363532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:48.44, Z:0.77 [[ 7.64661645e-01 -6.44410338e-01 -5.28052491e-03 1.29010858e+02] [ 6.44394901e-01 7.64679878e-01 -4.46042018e-03 4.84361052e+01] [ 6.91225202e-03 7.96890320e-06 9.99976110e-01 7.72249075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:48.45, Z:0.78 [[ 7.65118196e-01 -6.43868209e-01 -5.27972575e-03 1.29033097e+02] [ 6.43852753e-01 7.65136412e-01 -4.46136593e-03 4.84532098e+01] [ 6.91224211e-03 1.41062992e-05 9.99976110e-01 7.75571537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:48.47, Z:0.78 [[ 7.65834278e-01 -6.43016323e-01 -5.27886825e-03 1.29054804e+02] [ 6.43000839e-01 7.65852471e-01 -4.46238033e-03 4.84699951e+01] [ 6.91221769e-03 2.31271049e-05 9.99976110e-01 7.75916914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:48.49, Z:0.78 [[ 7.67211569e-01 -6.41372392e-01 -5.27847181e-03 1.29077723e+02] [ 6.41356866e-01 7.67229726e-01 -4.46284922e-03 4.84872488e+01] [ 6.91214876e-03 3.85654207e-05 9.99976110e-01 7.79004470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:48.50, Z:0.78 [[ 7.67685380e-01 -6.40805199e-01 -5.27769624e-03 1.29099673e+02] [ 6.40789653e-01 7.67703520e-01 -4.46376620e-03 4.85047831e+01] [ 6.91211058e-03 4.48749102e-05 9.99976110e-01 7.79100261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.12, Y:48.52, Z:0.78 [[ 7.69171819e-01 -6.39020241e-01 -5.27681239e-03 1.29121472e+02] [ 6.39004646e-01 7.69189916e-01 -4.46481080e-03 4.85229758e+01] [ 6.91197536e-03 6.22990116e-05 9.99976110e-01 7.77608832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:48.54, Z:0.78 [[ 7.69726483e-01 -6.38352024e-01 -5.27594078e-03 1.29142283e+02] [ 6.38336406e-01 7.69744561e-01 -4.46584053e-03 4.85418549e+01] [ 6.91190505e-03 6.96506471e-05 9.99976110e-01 7.76262657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:48.56, Z:0.77 [[ 7.70474754e-01 -6.37448686e-01 -5.27507565e-03 1.29162558e+02] [ 6.37433040e-01 7.70492808e-01 -4.46686218e-03 4.85598457e+01] [ 6.91180328e-03 7.90970351e-05 9.99976110e-01 7.74262942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264000000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:129.18, Y:48.58, Z:0.77 [[ 7.71972279e-01 -6.35634313e-01 -5.27450222e-03 1.29183906e+02] [ 6.35618621e-01 7.71990292e-01 -4.46753920e-03 4.85776776e+01] [ 6.91158571e-03 9.62445892e-05 9.99976110e-01 7.73399020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:129.20, Y:48.60, Z:0.77 [[ 7.72345897e-01 -6.35180293e-01 -5.27361525e-03 1.29204717e+02] [ 6.35164583e-01 7.72363894e-01 -4.46858595e-03 4.85965160e+01] [ 6.91150775e-03 1.01680390e-04 9.99976110e-01 7.73242356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:48.61, Z:0.77 [[ 7.72576721e-01 -6.34899527e-01 -5.27272693e-03 1.29224337e+02] [ 6.34883802e-01 7.72594706e-01 -4.46963388e-03 4.86146537e+01] [ 6.91144935e-03 1.05566163e-04 9.99976110e-01 7.72941885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.25, Y:48.63, Z:0.77 [[ 7.72390854e-01 -6.35125638e-01 -5.27195361e-03 1.29245120e+02] [ 6.35109912e-01 7.72408838e-01 -4.47054583e-03 4.86334812e+01] [ 6.91146184e-03 1.04738710e-04 9.99976110e-01 7.73332619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:48.65, Z:0.77 [[ 7.71126392e-01 -6.36660273e-01 -5.27111516e-03 1.29265542e+02] [ 6.36644577e-01 7.71144402e-01 -4.47153421e-03 4.86516089e+01] [ 6.91163914e-03 9.22911622e-05 9.99976110e-01 7.73604132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:48.67, Z:0.77 [[ 7.70335644e-01 -6.37616828e-01 -5.27032378e-03 1.29286794e+02] [ 6.37601148e-01 7.70353667e-01 -4.47246676e-03 4.86697188e+01] [ 6.91173333e-03 8.49360654e-05 9.99976110e-01 7.73473310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264000000003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:129.31, Y:48.69, Z:0.77 [[ 7.68680849e-01 -6.39610807e-01 -5.26946113e-03 1.29308332e+02] [ 6.39595167e-01 7.68698908e-01 -4.47348291e-03 4.86876417e+01] [ 6.91191703e-03 6.83587780e-05 9.99976110e-01 7.72832452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:129.33, Y:48.70, Z:0.77 [[ 7.67615004e-01 -6.40889576e-01 -5.26858395e-03 1.29329607e+02] [ 6.40873958e-01 7.67633082e-01 -4.47451576e-03 4.87047479e+01] [ 6.91200984e-03 5.82071865e-05 9.99976110e-01 7.72742580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.35, Y:48.72, Z:0.78 [[ 7.66711263e-01 -6.41970474e-01 -5.26780268e-03 1.29352024e+02] [ 6.41954876e-01 7.66729358e-01 -4.47543536e-03 4.87224069e+01] [ 6.91207632e-03 4.96750821e-05 9.99976110e-01 7.76136768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:48.74, Z:0.78 [[ 7.65239250e-01 -6.43724436e-01 -5.26702122e-03 1.29373345e+02] [ 6.43708873e-01 7.65257375e-01 -4.47635484e-03 4.87394284e+01] [ 6.91216583e-03 3.50541285e-05 9.99976110e-01 7.77773456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:48.76, Z:0.78 [[ 7.64507994e-01 -6.44592733e-01 -5.26644884e-03 1.29393491e+02] [ 6.44577186e-01 7.64526133e-01 -4.47702815e-03 4.87566913e+01] [ 6.91219757e-03 2.80910305e-05 9.99976110e-01 7.77134844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:48.78, Z:0.78 [[ 7.64117272e-01 -6.45055864e-01 -5.26564899e-03 1.29414965e+02] [ 6.45040321e-01 7.64135415e-01 -4.47796869e-03 4.87753873e+01] [ 6.91220884e-03 2.51373039e-05 9.99976110e-01 7.78216526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:48.79, Z:0.78 [[ 7.63826554e-01 -6.45400091e-01 -5.26475604e-03 1.29435918e+02] [ 6.45384549e-01 7.63844698e-01 -4.47901829e-03 4.87921261e+01] [ 6.91221480e-03 2.34009079e-05 9.99976110e-01 7.75895836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:48.81, Z:0.78 [[ 7.63703831e-01 -6.45545310e-01 -5.26414867e-03 1.29457486e+02] [ 6.45529766e-01 7.63721973e-01 -4.47973201e-03 4.88107381e+01] [ 6.91221600e-03 2.30238405e-05 9.99976110e-01 7.76092712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:48.83, Z:0.78 [[ 7.63741369e-01 -6.45500905e-01 -5.26329673e-03 1.29479606e+02] [ 6.45485354e-01 7.63759504e-01 -4.48073274e-03 4.88285505e+01] [ 6.91220994e-03 2.47400026e-05 9.99976110e-01 7.77681165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.50, Y:48.85, Z:0.78 [[ 7.64005993e-01 -6.45187686e-01 -5.26241631e-03 1.29500228e+02] [ 6.45172120e-01 7.64024116e-01 -4.48176652e-03 4.88461875e+01] [ 6.91219354e-03 2.89321935e-05 9.99976110e-01 7.75979980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:129.52, Y:48.86, Z:0.78 [[ 7.64753675e-01 -6.44301274e-01 -5.26162486e-03 1.29521306e+02] [ 6.44285681e-01 7.64771774e-01 -4.48269549e-03 4.88648952e+01] [ 6.91214860e-03 3.81682873e-05 9.99976110e-01 7.80165299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:48.88, Z:0.78 [[ 7.66602946e-01 -6.42099873e-01 -5.26073422e-03 1.29541088e+02] [ 6.42084221e-01 7.66620994e-01 -4.48374047e-03 4.88835467e+01] [ 6.91199849e-03 5.94142208e-05 9.99976110e-01 7.80802923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.56, Y:48.90, Z:0.78 [[ 7.67482533e-01 -6.41048278e-01 -5.25991490e-03 1.29561525e+02] [ 6.41032594e-01 7.67500554e-01 -4.48470142e-03 4.89017017e+01] [ 6.91189772e-03 7.01531162e-05 9.99976110e-01 7.80729435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:48.92, Z:0.78 [[ 7.69301843e-01 -6.38863848e-01 -5.25911482e-03 1.29582259e+02] [ 6.38848107e-01 7.69319813e-01 -4.48563946e-03 4.89209099e+01] [ 6.91165412e-03 9.10351523e-05 9.99976110e-01 7.82584304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:48.94, Z:0.79 [[ 7.69886684e-01 -6.38158946e-01 -5.25866995e-03 1.29602695e+02] [ 6.38143185e-01 7.69904637e-01 -4.48616094e-03 4.89400339e+01] [ 6.91155811e-03 9.80511780e-05 9.99976110e-01 7.85101790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.62, Y:48.96, Z:0.79 [[ 7.71017334e-01 -6.36792451e-01 -5.25779972e-03 1.29622142e+02] [ 6.36776652e-01 7.71035253e-01 -4.48718062e-03 4.89602246e+01] [ 6.91135168e-03 1.11649940e-04 9.99976110e-01 7.85832108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:48.98, Z:0.78 [[ 7.71518174e-01 -6.36185564e-01 -5.25691405e-03 1.29642240e+02] [ 6.36169743e-01 7.71536074e-01 -4.48821798e-03 4.89784899e+01] [ 6.91123831e-03 1.18452081e-04 9.99976110e-01 7.84623218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:49.00, Z:0.78 [[ 7.72062559e-01 -6.35524805e-01 -5.25611403e-03 1.29663011e+02] [ 6.35508962e-01 7.72080441e-01 -4.48915468e-03 4.89977482e+01] [ 6.91111199e-03 1.25600684e-04 9.99976110e-01 7.84215286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.68, Y:49.02, Z:0.78 [[ 7.72125478e-01 -6.35448368e-01 -5.25524872e-03 1.29683381e+02] [ 6.35432516e-01 7.72143352e-01 -4.49016743e-03 4.90178093e+01] [ 6.91107492e-03 1.27616754e-04 9.99976110e-01 7.84241255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:49.04, Z:0.78 [[ 7.72512253e-01 -6.34978117e-01 -5.25438891e-03 1.29702207e+02] [ 6.34962248e-01 7.72530111e-01 -4.49117335e-03 4.90377250e+01] [ 6.91097045e-03 1.33147846e-04 9.99976110e-01 7.82420957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:49.06, Z:0.78 [[ 7.72366483e-01 -6.35155426e-01 -5.25360910e-03 1.29721866e+02] [ 6.35139555e-01 7.72384339e-01 -4.49208536e-03 4.90563066e+01] [ 6.91097778e-03 1.32761232e-04 9.99976110e-01 7.81486419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.74, Y:49.08, Z:0.79 [[ 7.71486244e-01 -6.36224318e-01 -5.25283861e-03 1.29740506e+02] [ 6.36208466e-01 7.71504116e-01 -4.49298615e-03 4.90778539e+01] [ 6.91113366e-03 1.24376617e-04 9.99976110e-01 7.85389452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:49.10, Z:0.78 [[ 7.70765240e-01 -6.37097607e-01 -5.25196431e-03 1.29759153e+02] [ 6.37081768e-01 7.70783125e-01 -4.49400792e-03 4.90971782e+01] [ 6.91124715e-03 1.17894389e-04 9.99976110e-01 7.84526102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:49.12, Z:0.78 [[ 7.69728420e-01 -6.38349892e-01 -5.25117944e-03 1.29779021e+02] [ 6.38334076e-01 7.69746324e-01 -4.49492484e-03 4.91167045e+01] [ 6.91141085e-03 1.07864619e-04 9.99976110e-01 7.84274676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:49.14, Z:0.78 [[ 7.66910328e-01 -6.41732798e-01 -5.25030119e-03 1.29799976e+02] [ 6.41717053e-01 7.66928295e-01 -4.49595044e-03 4.91357675e+01] [ 6.91180340e-03 7.87830133e-05 9.99976110e-01 7.83375256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:49.15, Z:0.78 [[ 7.65046128e-01 -6.43954087e-01 -5.24942472e-03 1.29821446e+02] [ 6.43938387e-01 7.65064135e-01 -4.49697356e-03 4.91537740e+01] [ 6.91199109e-03 6.00861239e-05 9.99976110e-01 7.83147870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:49.17, Z:0.78 [[ 7.63073176e-01 -6.46290786e-01 -5.24854181e-03 1.29842504e+02] [ 6.46275135e-01 7.63091225e-01 -4.49800380e-03 4.91705625e+01] [ 6.91213461e-03 4.03039839e-05 9.99976110e-01 7.82729630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:49.19, Z:0.78 [[ 7.59290979e-01 -6.50730105e-01 -5.24775231e-03 1.29865045e+02] [ 6.50714553e-01 7.59309114e-01 -4.49892470e-03 4.91880136e+01] [ 6.91225190e-03 1.20413949e-06 9.99976110e-01 7.83725825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:49.21, Z:0.78 [[ 7.57747417e-01 -6.52526875e-01 -5.24687851e-03 1.29885297e+02] [ 6.52511358e-01 7.57765582e-01 -4.49994354e-03 4.92062695e+01] [ 6.91223805e-03 -1.38272268e-05 9.99976110e-01 7.82979541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:49.22, Z:0.79 [[ 7.56374142e-01 -6.54118211e-01 -5.24631245e-03 1.29906044e+02] [ 6.54102728e-01 7.56392336e-01 -4.50060340e-03 4.92246146e+01] [ 6.91219717e-03 -2.74872490e-05 9.99976110e-01 7.86136570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:49.24, Z:0.79 [[ 7.54348579e-01 -6.56453126e-01 -5.24545786e-03 1.29928648e+02] [ 6.56437693e-01 7.54366815e-01 -4.50159920e-03 4.92418812e+01] [ 6.91208821e-03 -4.75412909e-05 9.99976110e-01 7.86754848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.95, Y:49.26, Z:0.79 [[ 7.53539481e-01 -6.57381734e-01 -5.24458308e-03 1.29949881e+02] [ 6.57366317e-01 7.53557730e-01 -4.50261813e-03 4.92599303e+01] [ 6.91203504e-03 -5.47117327e-05 9.99976110e-01 7.86852764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:49.27, Z:0.79 [[ 7.53371804e-01 -6.57573896e-01 -5.24369322e-03 1.29972627e+02] [ 6.57558475e-01 7.53390051e-01 -4.50365422e-03 4.92746748e+01] [ 6.91203175e-03 -5.51088184e-05 9.99976110e-01 7.86738579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:49.29, Z:0.79 [[ 7.53520959e-01 -6.57402979e-01 -5.24289696e-03 1.29995617e+02] [ 6.57387548e-01 7.53539197e-01 -4.50458099e-03 4.92912409e+01] [ 6.91205332e-03 -5.23189849e-05 9.99976110e-01 7.88193376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:49.31, Z:0.79 [[ 7.53666200e-01 -6.57236472e-01 -5.24201036e-03 1.30017055e+02] [ 6.57221030e-01 7.53684428e-01 -4.50561249e-03 4.93072959e+01] [ 6.91207444e-03 -4.94315989e-05 9.99976110e-01 7.88463409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.04, Y:49.32, Z:0.79 [[ 7.53899342e-01 -6.56969034e-01 -5.24120503e-03 1.30037743e+02] [ 6.56953579e-01 7.53917560e-01 -4.50654910e-03 4.93245875e+01] [ 6.91209972e-03 -4.57439956e-05 9.99976110e-01 7.88501471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:49.34, Z:0.79 [[ 7.55078870e-01 -6.55613023e-01 -5.24060674e-03 1.30060994e+02] [ 6.55597531e-01 7.55097055e-01 -4.50724474e-03 4.93402804e+01] [ 6.91217507e-03 -3.24035688e-05 9.99976110e-01 7.85870941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.08, Y:49.36, Z:0.78 [[ 7.55665833e-01 -6.54936404e-01 -5.23975388e-03 1.30082537e+02] [ 6.54920888e-01 7.55683999e-01 -4.50823599e-03 4.93571942e+01] [ 6.91220603e-03 -2.49043559e-05 9.99976110e-01 7.83754907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:49.37, Z:0.78 [[ 7.56572744e-01 -6.53888550e-01 -5.23906325e-03 1.30105056e+02] [ 6.53873003e-01 7.56590883e-01 -4.50903844e-03 4.93738644e+01] [ 6.91223609e-03 -1.42664391e-05 9.99976110e-01 7.84815635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:49.39, Z:0.79 [[ 7.58612682e-01 -6.51520806e-01 -5.23817380e-03 1.30127082e+02] [ 6.51505196e-01 7.58630766e-01 -4.51007148e-03 4.93894213e+01] [ 6.91224521e-03 8.69997464e-06 9.99976110e-01 7.85337220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.15, Y:49.41, Z:0.79 [[ 7.59455785e-01 -6.50537839e-01 -5.23738219e-03 1.30148618e+02] [ 6.50522199e-01 7.59473844e-01 -4.51099055e-03 4.94065277e+01] [ 6.91222483e-03 1.88644942e-05 9.99976110e-01 7.86630989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:49.42, Z:0.79 [[ 7.61859159e-01 -6.47721545e-01 -5.23658024e-03 1.30172115e+02] [ 6.47705832e-01 7.61877154e-01 -4.51192131e-03 4.94217152e+01] [ 6.91209949e-03 4.56850158e-05 9.99976110e-01 7.88630780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:49.44, Z:0.79 [[ 7.62731627e-01 -6.46693937e-01 -5.23615227e-03 1.30193012e+02] [ 6.46678196e-01 7.62749597e-01 -4.51241792e-03 4.94388338e+01] [ 6.91202635e-03 5.56583495e-05 9.99976110e-01 7.88678929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:49.46, Z:0.79 [[ 7.63549639e-01 -6.45727914e-01 -5.23536216e-03 1.30214325e+02] [ 6.45712144e-01 7.63567585e-01 -4.51333442e-03 4.94566798e+01] [ 6.91193887e-03 6.56179411e-05 9.99976110e-01 7.90118651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:49.47, Z:0.79 [[ 7.64166868e-01 -6.44997362e-01 -5.23451542e-03 1.30234939e+02] [ 6.44981569e-01 7.64184793e-01 -4.51431626e-03 4.94741599e+01] [ 6.91185916e-03 7.35249522e-05 9.99976110e-01 7.90535848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:49.49, Z:0.79 [[ 7.65295961e-01 -6.43657284e-01 -5.23373782e-03 1.30256044e+02] [ 6.43641453e-01 7.65313852e-01 -4.51521759e-03 4.94926576e+01] [ 6.91170475e-03 8.68271708e-05 9.99976110e-01 7.89143297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:49.51, Z:0.79 [[ 7.65538586e-01 -6.43368705e-01 -5.23289405e-03 1.30277667e+02] [ 6.43352860e-01 7.65556465e-01 -4.51619527e-03 4.95111661e+01] [ 6.91165457e-03 9.07243856e-05 9.99976110e-01 7.87133643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:49.53, Z:0.79 [[ 7.65876428e-01 -6.42966502e-01 -5.23206651e-03 1.30299963e+02] [ 6.42950641e-01 7.65894293e-01 -4.51715378e-03 4.95272210e+01] [ 6.91158845e-03 9.56210767e-05 9.99976110e-01 7.85701401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:49.55, Z:0.79 [[ 7.66006544e-01 -6.42811487e-01 -5.23134333e-03 1.30321043e+02] [ 6.42795617e-01 7.66024401e-01 -4.51799114e-03 4.95456110e+01] [ 6.91155325e-03 9.81262148e-05 9.99976110e-01 7.88183164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:49.56, Z:0.79 [[ 7.66275572e-01 -6.42490770e-01 -5.23044774e-03 1.30340577e+02] [ 6.42474885e-01 7.66293416e-01 -4.51902772e-03 4.95641150e+01] [ 6.91149127e-03 1.02389237e-04 9.99976110e-01 7.86057326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:49.58, Z:0.79 [[ 7.66560660e-01 -6.42150610e-01 -5.22965829e-03 1.30359673e+02] [ 6.42134711e-01 7.66578491e-01 -4.51994114e-03 4.95826383e+01] [ 6.91142652e-03 1.06663944e-04 9.99976110e-01 7.85476255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.38, Y:49.60, Z:0.79 [[ 7.66961774e-01 -6.41671486e-01 -5.22890717e-03 1.30379611e+02] [ 6.41655570e-01 7.66979590e-01 -4.52080990e-03 4.96017611e+01] [ 6.91133988e-03 1.12130975e-04 9.99976110e-01 7.87904605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:49.62, Z:0.79 [[ 7.67149241e-01 -6.41447356e-01 -5.22800979e-03 1.30399865e+02] [ 6.41431428e-01 7.67167046e-01 -4.52184742e-03 4.96197866e+01] [ 6.91128390e-03 1.15522037e-04 9.99976110e-01 7.86598680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:49.64, Z:0.79 [[ 7.66952575e-01 -6.41682494e-01 -5.22720770e-03 1.30418782e+02] [ 6.41666565e-01 7.66970380e-01 -4.52277444e-03 4.96404270e+01] [ 6.91129866e-03 1.14629095e-04 9.99976110e-01 7.86100224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:49.66, Z:0.79 [[ 7.66602678e-01 -6.42100475e-01 -5.22631554e-03 1.30438304e+02] [ 6.42084549e-01 7.66620484e-01 -4.52380515e-03 4.96590830e+01] [ 6.91133798e-03 1.12224681e-04 9.99976110e-01 7.86321693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:49.68, Z:0.79 [[ 7.65942444e-01 -6.42887912e-01 -5.22550473e-03 1.30458049e+02] [ 6.42871997e-01 7.65960261e-01 -4.52474153e-03 4.96777623e+01] [ 6.91143060e-03 1.06360927e-04 9.99976110e-01 7.85531582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.48, Y:49.70, Z:0.79 [[ 7.63301761e-01 -6.46020994e-01 -5.22469776e-03 1.30479708e+02] [ 6.46005147e-01 7.63319637e-01 -4.52567314e-03 4.96973424e+01] [ 6.91179426e-03 7.92726386e-05 9.99976110e-01 7.89462718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:49.71, Z:0.79 [[ 7.61593087e-01 -6.48034475e-01 -5.22392146e-03 1.30501136e+02] [ 6.48018668e-01 7.61611000e-01 -4.52656903e-03 4.97149443e+01] [ 6.91196884e-03 6.22050512e-05 9.99976110e-01 7.90505766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:49.73, Z:0.79 [[ 7.59847130e-01 -6.50080807e-01 -5.22336349e-03 1.30522479e+02] [ 6.50065045e-01 7.59865082e-01 -4.52721280e-03 4.97338917e+01] [ 6.91210568e-03 4.44636288e-05 9.99976110e-01 7.93280181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.54, Y:49.75, Z:0.79 [[ 7.58230841e-01 -6.51965273e-01 -5.22249802e-03 1.30541739e+02] [ 6.51949548e-01 7.58248826e-01 -4.52821097e-03 4.97524647e+01] [ 6.91218930e-03 2.86239863e-05 9.99976110e-01 7.94532586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:49.77, Z:0.80 [[ 7.56181036e-01 -6.54341631e-01 -5.22208607e-03 1.30561753e+02] [ 6.54325959e-01 7.56199068e-01 -4.52868600e-03 4.97716436e+01] [ 6.91224440e-03 7.55999133e-06 9.99976110e-01 7.96965142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:130.58, Y:49.79, Z:0.80 [[ 7.55557011e-01 -6.55062087e-01 -5.22163931e-03 1.30581917e+02] [ 6.55046429e-01 7.55575054e-01 -4.52920106e-03 4.97906108e+01] [ 6.91224830e-03 1.65343114e-06 9.99976110e-01 7.97013692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:49.81, Z:0.79 [[ 7.55403243e-01 -6.55239410e-01 -5.22073910e-03 1.30601700e+02] [ 6.55223749e-01 7.55421284e-01 -4.53023848e-03 4.98085812e+01] [ 6.91224822e-03 1.40459972e-06 9.99976110e-01 7.94505583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:49.83, Z:0.80 [[ 7.55662516e-01 -6.54940389e-01 -5.21998076e-03 1.30621747e+02] [ 6.54924715e-01 7.55680545e-01 -4.53111211e-03 4.98274188e+01] [ 6.91224624e-03 5.29716042e-06 9.99976110e-01 7.95745274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:130.64, Y:49.85, Z:0.80 [[ 7.55847089e-01 -6.54727378e-01 -5.21908796e-03 1.30641952e+02] [ 6.54711691e-01 7.55865108e-01 -4.53214024e-03 4.98460736e+01] [ 6.91224277e-03 8.60710532e-06 9.99976110e-01 7.96344516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:49.87, Z:0.79 [[ 7.55737569e-01 -6.54853797e-01 -5.21847964e-03 1.30661495e+02] [ 6.54838109e-01 7.55755585e-01 -4.53284057e-03 4.98650392e+01] [ 6.91224299e-03 8.37857988e-06 9.99976110e-01 7.94714419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:49.88, Z:0.80 [[ 7.54989914e-01 -6.55715644e-01 -5.21767846e-03 1.30682113e+02] [ 6.55699970e-01 7.55007943e-01 -4.53376261e-03 4.98838312e+01] [ 6.91224775e-03 1.71343032e-06 9.99976110e-01 7.96134561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:49.90, Z:0.80 [[ 7.54085583e-01 -6.56755448e-01 -5.21677836e-03 1.30702075e+02] [ 6.56739792e-01 7.54103628e-01 -4.53479808e-03 4.99016082e+01] [ 6.91224483e-03 -6.44007533e-06 9.99976110e-01 7.95979551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.72, Y:49.92, Z:0.80 [[ 7.52117333e-01 -6.59008580e-01 -5.21616605e-03 1.30721344e+02] [ 6.58992973e-01 7.52135421e-01 -4.53550228e-03 4.99198993e+01] [ 6.91219816e-03 -2.61868899e-05 9.99976110e-01 7.97072923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:49.94, Z:0.80 [[ 7.50948698e-01 -6.60339951e-01 -5.21556294e-03 1.30742537e+02] [ 6.60324372e-01 7.50966808e-01 -4.53619571e-03 4.99369480e+01] [ 6.91214591e-03 -3.75130595e-05 9.99976110e-01 7.96179926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:49.96, Z:0.80 [[ 7.50822289e-01 -6.60483684e-01 -5.21477563e-03 1.30763902e+02] [ 6.60468101e-01 7.50840397e-01 -4.53710062e-03 4.99557951e+01] [ 6.91214513e-03 -3.76366852e-05 9.99976110e-01 7.96376803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:49.97, Z:0.80 [[ 7.49751325e-01 -6.61699151e-01 -5.21390697e-03 1.30784807e+02] [ 6.61683591e-01 7.49769452e-01 -4.53809863e-03 4.99725564e+01] [ 6.91208419e-03 -4.75112287e-05 9.99976110e-01 7.95428818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:49.99, Z:0.79 [[ 7.47970239e-01 -6.63711793e-01 -5.21313170e-03 1.30806611e+02] [ 6.63696275e-01 7.47988403e-01 -4.53898905e-03 4.99882336e+01] [ 6.91194262e-03 -6.49073697e-05 9.99976110e-01 7.94600330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.83, Y:50.01, Z:0.80 [[ 7.47333625e-01 -6.64428540e-01 -5.21221918e-03 1.30827830e+02] [ 6.64413033e-01 7.47351798e-01 -4.54003667e-03 5.00061707e+01] [ 6.91189132e-03 -7.01442863e-05 9.99976110e-01 7.95087527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:50.02, Z:0.79 [[ 7.46735434e-01 -6.65100770e-01 -5.21136445e-03 1.30850527e+02] [ 6.65085272e-01 7.46753614e-01 -4.54101758e-03 5.00220581e+01] [ 6.91183953e-03 -7.50630086e-05 9.99976110e-01 7.94536950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:50.04, Z:0.80 [[ 7.46652535e-01 -6.65193839e-01 -5.21051260e-03 1.30872359e+02] [ 6.65178336e-01 7.46670711e-01 -4.54199481e-03 5.00391763e+01] [ 6.91184411e-03 -7.46281597e-05 9.99976110e-01 7.95878159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:50.06, Z:0.80 [[ 7.46882191e-01 -6.64935976e-01 -5.20963203e-03 1.30894209e+02] [ 6.64920460e-01 7.46900357e-01 -4.54300459e-03 5.00562599e+01] [ 6.91188321e-03 -7.09017049e-05 9.99976110e-01 7.96043802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:50.07, Z:0.80 [[ 7.48100948e-01 -6.63564496e-01 -5.20874455e-03 1.30917097e+02] [ 6.63548940e-01 7.48119079e-01 -4.54402190e-03 5.00718833e+01] [ 6.91201278e-03 -5.68698353e-05 9.99976110e-01 7.97456079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:50.09, Z:0.80 [[ 7.49290398e-01 -6.62221094e-01 -5.20781418e-03 1.30938150e+02] [ 6.62205498e-01 7.49308495e-01 -4.54508792e-03 5.00882731e+01] [ 6.91211250e-03 -4.30524478e-05 9.99976110e-01 7.96555058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:50.11, Z:0.80 [[ 7.50744842e-01 -6.60571775e-01 -5.20697114e-03 1.30960097e+02] [ 6.60556132e-01 7.50762899e-01 -4.54605354e-03 5.01057935e+01] [ 6.91219539e-03 -2.65704677e-05 9.99976110e-01 7.97335956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:50.12, Z:0.80 [[ 7.52512559e-01 -6.58557321e-01 -5.20607254e-03 1.30980966e+02] [ 6.58541623e-01 7.52530568e-01 -4.54708236e-03 5.01223473e+01] [ 6.91224310e-03 -6.67886911e-06 9.99976110e-01 7.95720610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:131.00, Y:50.14, Z:0.80 [[ 7.56831987e-01 -6.53588746e-01 -5.20526941e-03 1.31001509e+02] [ 6.53572923e-01 7.56849886e-01 -4.54800156e-03 5.01395354e+01] [ 6.91213019e-03 4.00499138e-05 9.99976110e-01 7.96584453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.02, Y:50.16, Z:0.80 [[ 7.59082175e-01 -6.50974011e-01 -5.20464681e-03 1.31021851e+02] [ 6.50958122e-01 7.59100015e-01 -4.54871394e-03 5.01593715e+01] [ 6.91194203e-03 6.48405533e-05 9.99976110e-01 8.00499590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:50.18, Z:0.80 [[ 7.64156731e-01 -6.45009621e-01 -5.20377569e-03 1.31040931e+02] [ 6.44993586e-01 7.64174440e-01 -4.54971029e-03 5.01790478e+01] [ 6.91119928e-03 1.20289793e-04 9.99976110e-01 7.99746896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:50.20, Z:0.80 [[ 7.66344702e-01 -6.42408535e-01 -5.20297860e-03 1.31061111e+02] [ 6.42392434e-01 7.66362351e-01 -4.55062164e-03 5.01983885e+01] [ 6.91072510e-03 1.44990703e-04 9.99976110e-01 7.99402716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:50.22, Z:0.80 [[ 7.68142752e-01 -6.40257488e-01 -5.20210960e-03 1.31080320e+02] [ 6.40241330e-01 7.68160349e-01 -4.55161484e-03 5.02167513e+01] [ 6.91025981e-03 1.65684382e-04 9.99976110e-01 7.97977928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:50.24, Z:0.80 [[ 7.70418503e-01 -6.37517275e-01 -5.20133507e-03 1.31099047e+02] [ 6.37501049e-01 7.70436037e-01 -4.55249976e-03 5.02381761e+01] [ 6.90959322e-03 1.91473491e-04 9.99976110e-01 7.98393866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:50.26, Z:0.80 [[ 7.71043018e-01 -6.36761824e-01 -5.20044821e-03 1.31118838e+02] [ 6.36745573e-01 7.71060530e-01 -4.55351262e-03 5.02583821e+01] [ 6.90936335e-03 1.99591733e-04 9.99976110e-01 7.98486163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:50.28, Z:0.80 [[ 7.71290122e-01 -6.36462498e-01 -5.19957080e-03 1.31137841e+02] [ 6.36446234e-01 7.71307622e-01 -4.55451429e-03 5.02779943e+01] [ 6.90924613e-03 2.03604630e-04 9.99976110e-01 7.98286495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:50.30, Z:0.80 [[ 7.70945346e-01 -6.36880087e-01 -5.19877715e-03 1.31156837e+02] [ 6.36863827e-01 7.70962849e-01 -4.55542003e-03 5.02987541e+01] [ 6.90932035e-03 2.01066756e-04 9.99976110e-01 7.98504196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:50.32, Z:0.80 [[ 7.70448432e-01 -6.37481133e-01 -5.19790565e-03 1.31175872e+02] [ 6.37464880e-01 7.70465941e-01 -4.55641423e-03 5.03180454e+01] [ 6.90943737e-03 1.96999904e-04 9.99976110e-01 7.97421419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:50.34, Z:0.80 [[ 7.69862409e-01 -6.38188734e-01 -5.19712386e-03 1.31195372e+02] [ 6.38172491e-01 7.69879927e-01 -4.55730578e-03 5.03375296e+01] [ 6.90958255e-03 1.91836923e-04 9.99976110e-01 7.98471331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:50.36, Z:0.80 [[ 7.69329681e-01 -6.38830839e-01 -5.19626420e-03 1.31214069e+02] [ 6.38814604e-01 7.69347207e-01 -4.55828575e-03 5.03572088e+01] [ 6.90970486e-03 1.87375067e-04 9.99976110e-01 7.99254620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:50.38, Z:0.80 [[ 7.68397217e-01 -6.39952124e-01 -5.19568761e-03 1.31232309e+02] [ 6.39935910e-01 7.68414763e-01 -4.55894288e-03 5.03797945e+01] [ 6.90994824e-03 1.78171948e-04 9.99976110e-01 8.02591214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:50.40, Z:0.80 [[ 7.67703646e-01 -6.40783993e-01 -5.19491750e-03 1.31251446e+02] [ 6.40767792e-01 7.67721203e-01 -4.55982025e-03 5.03993457e+01] [ 6.91010814e-03 1.71854811e-04 9.99976110e-01 8.02455296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:50.42, Z:0.80 [[ 7.65947428e-01 -6.42882227e-01 -5.19411715e-03 1.31268525e+02] [ 6.42866068e-01 7.65965024e-01 -4.56073175e-03 5.04205949e+01] [ 6.91052545e-03 1.54159083e-04 9.99976110e-01 8.02121569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:50.44, Z:0.80 [[ 7.64868908e-01 -6.44165028e-01 -5.19334560e-03 1.31288215e+02] [ 6.44148893e-01 7.64886525e-01 -4.56161016e-03 5.04411365e+01] [ 6.91074980e-03 1.43745961e-04 9.99976110e-01 8.03313729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.31, Y:50.46, Z:0.80 [[ 7.63546576e-01 -6.45731883e-01 -5.19249543e-03 1.31307504e+02] [ 6.45715777e-01 7.63564220e-01 -4.56257770e-03 5.04615971e+01] [ 6.91100561e-03 1.30864360e-04 9.99976110e-01 8.04090329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:131.33, Y:50.48, Z:0.80 [[ 7.60769983e-01 -6.49000832e-01 -5.19162681e-03 1.31326246e+02] [ 6.48984796e-01 7.60787690e-01 -4.56356586e-03 5.04816239e+01] [ 6.91148381e-03 1.02537060e-04 9.99976110e-01 8.02360721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:50.50, Z:0.80 [[ 7.59392378e-01 -6.50612228e-01 -5.19087304e-03 1.31346559e+02] [ 6.50596223e-01 7.59410114e-01 -4.56442309e-03 5.05002414e+01] [ 6.91167096e-03 8.90257115e-05 9.99976110e-01 8.03116443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:50.52, Z:0.80 [[ 7.58000056e-01 -6.52233838e-01 -5.18998303e-03 1.31367292e+02] [ 6.52217864e-01 7.58017820e-01 -4.56543484e-03 5.05192530e+01] [ 6.91183071e-03 7.56002228e-05 9.99976110e-01 8.02993543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:50.54, Z:0.80 [[ 7.56692824e-01 -6.53749986e-01 -5.18909351e-03 1.31387456e+02] [ 6.53734041e-01 7.56710613e-01 -4.56644566e-03 5.05375948e+01] [ 6.91195591e-03 6.31095952e-05 9.99976110e-01 8.02278177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:50.55, Z:0.80 [[ 7.54459528e-01 -6.56326064e-01 -5.18829205e-03 1.31408183e+02] [ 6.56310173e-01 7.54477366e-01 -4.56735608e-03 5.05548401e+01] [ 6.91212376e-03 4.07564617e-05 9.99976110e-01 8.00947645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:50.57, Z:0.80 [[ 7.53391567e-01 -6.57551699e-01 -5.18751803e-03 1.31429259e+02] [ 6.57535831e-01 7.53409425e-01 -4.56823502e-03 5.05730038e+01] [ 6.91217568e-03 3.06907606e-05 9.99976110e-01 7.99752027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:50.59, Z:0.80 [[ 7.51820138e-01 -6.59347844e-01 -5.18665027e-03 1.31449832e+02] [ 6.59332012e-01 7.51838028e-01 -4.56922004e-03 5.05912235e+01] [ 6.91222629e-03 1.55070862e-05 9.99976110e-01 7.99376962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:50.61, Z:0.80 [[ 7.51288335e-01 -6.59953744e-01 -5.18587138e-03 1.31470845e+02] [ 6.59937920e-01 7.51306233e-01 -4.57010388e-03 5.06095246e+01] [ 6.91223466e-03 1.11125679e-05 9.99976110e-01 7.99823344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:131.49, Y:50.63, Z:0.80 [[ 7.50408099e-01 -6.60954462e-01 -5.18500796e-03 1.31492560e+02] [ 6.60938655e-01 7.50426012e-01 -4.57108326e-03 5.06259498e+01] [ 6.91224272e-03 3.20571794e-06 9.99976110e-01 8.00286228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:50.64, Z:0.80 [[ 7.49953231e-01 -6.61470539e-01 -5.18437567e-03 1.31514300e+02] [ 6.61454739e-01 7.49971151e-01 -4.57180027e-03 5.06428222e+01] [ 6.91224337e-03 -5.93467131e-07 9.99976110e-01 8.01299009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:50.66, Z:0.80 [[ 7.49665750e-01 -6.61796339e-01 -5.18346656e-03 1.31535951e+02] [ 6.61780540e-01 7.49683670e-01 -4.57283078e-03 5.06605927e+01] [ 6.91224291e-03 -2.22268968e-06 9.99976110e-01 8.02426428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:50.68, Z:0.80 [[ 7.49739216e-01 -6.61713117e-01 -5.18257529e-03 1.31556386e+02] [ 6.61697309e-01 7.49757128e-01 -4.57384067e-03 5.06779197e+01] [ 6.91224313e-03 -1.08409724e-07 9.99976110e-01 7.99383207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:50.70, Z:0.80 [[ 7.49991124e-01 -6.61427593e-01 -5.18197992e-03 1.31577574e+02] [ 6.61411774e-01 7.50009026e-01 -4.57451510e-03 5.06960454e+01] [ 6.91224223e-03 3.42319157e-06 9.99976110e-01 7.99728080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:50.71, Z:0.80 [[ 7.50315262e-01 -6.61059880e-01 -5.18109305e-03 1.31598310e+02] [ 6.61044045e-01 7.50333150e-01 -4.57551935e-03 5.07129509e+01] [ 6.91223814e-03 8.15129058e-06 9.99976110e-01 7.99691027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:50.73, Z:0.80 [[ 7.50548107e-01 -6.60795508e-01 -5.18029662e-03 1.31619897e+02] [ 6.60779661e-01 7.50565984e-01 -4.57642087e-03 5.07303415e+01] [ 6.91223278e-03 1.17893807e-05 9.99976110e-01 8.01387726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:50.75, Z:0.80 [[ 7.51534729e-01 -6.59673195e-01 -5.17941223e-03 1.31640966e+02] [ 6.59657314e-01 7.51552576e-01 -4.57742156e-03 5.07467385e+01] [ 6.91220292e-03 2.34541126e-05 9.99976110e-01 8.02884962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:50.76, Z:0.80 [[ 7.51963321e-01 -6.59184607e-01 -5.17860442e-03 1.31662221e+02] [ 6.59168708e-01 7.51981152e-01 -4.57833530e-03 5.07643812e+01] [ 6.91218107e-03 2.91662350e-05 9.99976110e-01 8.03312998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:50.78, Z:0.80 [[ 7.52841312e-01 -6.58181700e-01 -5.17771553e-03 1.31684166e+02] [ 6.58165771e-01 7.52859116e-01 -4.57934033e-03 5.07803653e+01] [ 6.91212834e-03 3.97214457e-05 9.99976110e-01 8.02319675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:50.80, Z:0.80 [[ 7.53219440e-01 -6.57748945e-01 -5.17692092e-03 1.31705535e+02] [ 6.57732999e-01 7.53237229e-01 -4.58023846e-03 5.07991751e+01] [ 6.91209658e-03 4.48929211e-05 9.99976110e-01 8.02984122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:50.82, Z:0.80 [[ 7.54117988e-01 -6.56718561e-01 -5.17606555e-03 1.31727656e+02] [ 6.56702585e-01 7.54135749e-01 -4.58120490e-03 5.08171527e+01] [ 6.91201836e-03 5.56334006e-05 9.99976110e-01 8.03191229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:131.75, Y:50.83, Z:0.80 [[ 7.54222072e-01 -6.56599027e-01 -5.17520406e-03 1.31749216e+02] [ 6.56583041e-01 7.54239825e-01 -4.58217788e-03 5.08348045e+01] [ 6.91199855e-03 5.80284798e-05 9.99976110e-01 8.04048155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:50.85, Z:0.80 [[ 7.54584756e-01 -6.56182194e-01 -5.17430794e-03 1.31771027e+02] [ 6.56166191e-01 7.54602494e-01 -4.58318958e-03 5.08513680e+01] [ 6.91195307e-03 6.31990642e-05 9.99976110e-01 8.03498319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:50.87, Z:0.80 [[ 7.55119730e-01 -6.55566493e-01 -5.17369845e-03 1.31792113e+02] [ 6.55550471e-01 7.55137450e-01 -4.58387749e-03 5.08687365e+01] [ 6.91188995e-03 6.97558806e-05 9.99976110e-01 8.02731885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:50.89, Z:0.80 [[ 7.56686654e-01 -6.53757253e-01 -5.17309545e-03 1.31812559e+02] [ 6.53741184e-01 7.56704332e-01 -4.58455790e-03 5.08880444e+01] [ 6.91169172e-03 8.72082343e-05 9.99976110e-01 8.03542155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:131.83, Y:50.91, Z:0.80 [[ 7.57587871e-01 -6.52712698e-01 -5.17220137e-03 1.31833150e+02] [ 6.52696597e-01 7.57605520e-01 -4.58556636e-03 5.09069237e+01] [ 6.91154570e-03 9.80912266e-05 9.99976110e-01 8.03460067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:50.92, Z:0.80 [[ 7.58527153e-01 -6.51620914e-01 -5.17131258e-03 1.31854003e+02] [ 6.51604782e-01 7.58544773e-01 -4.58656847e-03 5.09245846e+01] [ 6.91137606e-03 1.09384715e-04 9.99976110e-01 8.02022817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:50.94, Z:0.80 [[ 7.60240496e-01 -6.49621162e-01 -5.17050769e-03 1.31874549e+02] [ 6.49604977e-01 7.60258067e-01 -4.58747566e-03 5.09429426e+01] [ 6.91104145e-03 1.28797242e-04 9.99976110e-01 8.04637673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:50.96, Z:0.80 [[ 7.61091854e-01 -6.48623516e-01 -5.16961455e-03 1.31894246e+02] [ 6.48607301e-01 7.61109398e-01 -4.58848191e-03 5.09618355e+01] [ 6.91083948e-03 1.39206469e-04 9.99976110e-01 8.04125948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:50.98, Z:0.81 [[ 7.62339731e-01 -6.47156410e-01 -5.16881055e-03 1.31912972e+02] [ 6.47140155e-01 7.62357238e-01 -4.58938741e-03 5.09833803e+01] [ 6.91053161e-03 1.53727502e-04 9.99976110e-01 8.05808890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:51.00, Z:0.81 [[ 7.62599074e-01 -6.46850790e-01 -5.16794577e-03 1.31931779e+02] [ 6.46834521e-01 7.62616569e-01 -4.59036100e-03 5.10022711e+01] [ 6.91043971e-03 1.57799320e-04 9.99976110e-01 8.05683249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:51.02, Z:0.81 [[ 7.62660400e-01 -6.46778490e-01 -5.16715584e-03 1.31951887e+02] [ 6.46762213e-01 7.62677887e-01 -4.59125003e-03 5.10224247e+01] [ 6.91039725e-03 1.59643435e-04 9.99976110e-01 8.07655429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:51.04, Z:0.81 [[ 7.62737776e-01 -6.46687246e-01 -5.16626196e-03 1.31970748e+02] [ 6.46670961e-01 7.62755255e-01 -4.59225563e-03 5.10421608e+01] [ 6.91034661e-03 1.61815263e-04 9.99976110e-01 8.07641084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:51.06, Z:0.81 [[ 7.62830704e-01 -6.46577632e-01 -5.16545268e-03 1.31989292e+02] [ 6.46561338e-01 7.62848175e-01 -4.59316574e-03 5.10635327e+01] [ 6.91029438e-03 1.64025856e-04 9.99976110e-01 8.07177411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:51.08, Z:0.81 [[ 7.62545867e-01 -6.46913540e-01 -5.16460132e-03 1.32009515e+02] [ 6.46897247e-01 7.62563339e-01 -4.59412282e-03 5.10835917e+01] [ 6.91033588e-03 1.62262994e-04 9.99976110e-01 8.06240882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:132.03, Y:51.10, Z:0.81 [[ 7.61862458e-01 -6.47718249e-01 -5.16374978e-03 1.32029287e+02] [ 6.47701968e-01 7.61879942e-01 -4.59507975e-03 5.11040725e+01] [ 6.91047439e-03 1.56247859e-04 9.99976110e-01 8.06689957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.05, Y:51.12, Z:0.80 [[ 7.60155698e-01 -6.49720447e-01 -5.16288968e-03 1.32047430e+02] [ 6.49704206e-01 7.60173218e-01 -4.59604592e-03 5.11247958e+01] [ 6.91083547e-03 1.39359354e-04 9.99976110e-01 8.04970738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.07, Y:51.14, Z:0.81 [[ 7.60036197e-01 -6.49860238e-01 -5.16230453e-03 1.32068572e+02] [ 6.49843996e-01 7.60053716e-01 -4.59670308e-03 5.11438886e+01] [ 6.91084330e-03 1.38968125e-04 9.99976110e-01 8.05167623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.09, Y:51.16, Z:0.81 [[ 7.58653289e-01 -6.51474133e-01 -5.16145897e-03 1.32087902e+02] [ 6.51457921e-01 7.58670837e-01 -4.59765233e-03 5.11637963e+01] [ 6.91109996e-03 1.25550731e-04 9.99976110e-01 8.05597922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:132.11, Y:51.18, Z:0.80 [[ 7.55710162e-01 -6.54885883e-01 -5.16059854e-03 1.32106331e+02] [ 6.54869744e-01 7.55727776e-01 -4.59861791e-03 5.11836802e+01] [ 6.91157760e-03 9.57024447e-05 9.99976110e-01 8.04782610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:51.20, Z:0.81 [[ 7.54010331e-01 -6.56842293e-01 -5.15982336e-03 1.32126945e+02] [ 6.56826193e-01 7.54027981e-01 -4.59948752e-03 5.12022239e+01] [ 6.91178912e-03 7.89539630e-05 9.99976110e-01 8.05875291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:51.22, Z:0.81 [[ 7.52086206e-01 -6.59044554e-01 -5.15895311e-03 1.32148003e+02] [ 6.59028499e-01 7.52103898e-01 -4.60046341e-03 5.12213345e+01] [ 6.91197910e-03 6.00479458e-05 9.99976110e-01 8.06463150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:51.24, Z:0.81 [[ 7.48971015e-01 -6.62582684e-01 -5.15808878e-03 1.32167908e+02] [ 6.62566707e-01 7.48988775e-01 -4.60143231e-03 5.12408388e+01] [ 6.91217997e-03 2.87615241e-05 9.99976110e-01 8.09194770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:51.26, Z:0.81 [[ 7.47786194e-01 -6.63919581e-01 -5.15725573e-03 1.32187578e+02] [ 6.63903629e-01 7.47803978e-01 -4.60236580e-03 5.12588828e+01] [ 6.91221712e-03 1.76648118e-05 9.99976110e-01 8.09863286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:51.28, Z:0.81 [[ 7.47105604e-01 -6.64685361e-01 -5.15633958e-03 1.32208286e+02] [ 6.64669420e-01 7.47123397e-01 -4.60339200e-03 5.12770603e+01] [ 6.91222921e-03 1.19587212e-05 9.99976110e-01 8.10511703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:51.30, Z:0.81 [[ 7.47417932e-01 -6.64334145e-01 -5.15547729e-03 1.32229101e+02] [ 6.64318189e-01 7.47435712e-01 -4.60435750e-03 5.12961014e+01] [ 6.91221974e-03 1.65020218e-05 9.99976110e-01 8.09232672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.25, Y:51.32, Z:0.81 [[ 7.48270642e-01 -6.63373557e-01 -5.15459070e-03 1.32248551e+02] [ 6.63357572e-01 7.48288396e-01 -4.60534982e-03 5.13151305e+01] [ 6.91218770e-03 2.67113034e-05 9.99976110e-01 8.06946752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:132.27, Y:51.33, Z:0.81 [[ 7.50271009e-01 -6.61110317e-01 -5.15379968e-03 1.32268249e+02] [ 6.61094272e-01 7.50288709e-01 -4.60623488e-03 5.13337141e+01] [ 6.91206710e-03 4.87770433e-05 9.99976110e-01 8.05314439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.29, Y:51.35, Z:0.81 [[ 7.51273296e-01 -6.59971120e-01 -5.15316871e-03 1.32288936e+02] [ 6.59955043e-01 7.51290967e-01 -4.60694065e-03 5.13531406e+01] [ 6.91197689e-03 6.02118038e-05 9.99976110e-01 8.06789541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:51.37, Z:0.80 [[ 7.52343077e-01 -6.58751356e-01 -5.15228168e-03 1.32308276e+02] [ 6.58735243e-01 7.52360716e-01 -4.60793247e-03 5.13717453e+01] [ 6.91185609e-03 7.27565686e-05 9.99976110e-01 8.04807406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:51.39, Z:0.81 [[ 7.53382649e-01 -6.57562200e-01 -5.15148928e-03 1.32328401e+02] [ 6.57546053e-01 7.53400256e-01 -4.60881817e-03 5.13917256e+01] [ 6.91171796e-03 8.48621923e-05 9.99976110e-01 8.05457685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:51.41, Z:0.81 [[ 7.55396664e-01 -6.55247549e-01 -5.15064547e-03 1.32348137e+02] [ 6.55231342e-01 7.55414216e-01 -4.60976100e-03 5.14105001e+01] [ 6.91140540e-03 1.07333740e-04 9.99976110e-01 8.07097995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:51.43, Z:0.81 [[ 7.56060410e-01 -6.54481579e-01 -5.14975367e-03 1.32369467e+02] [ 6.54465348e-01 7.56077939e-01 -4.61075704e-03 5.14290830e+01] [ 6.91127069e-03 1.15675527e-04 9.99976110e-01 8.09507361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:51.45, Z:0.81 [[ 7.56816527e-01 -6.53607095e-01 -5.14887762e-03 1.32390172e+02] [ 6.53590837e-01 7.56834031e-01 -4.61173513e-03 5.14471302e+01] [ 6.91110860e-03 1.24978125e-04 9.99976110e-01 8.09787015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:51.47, Z:0.81 [[ 7.58485867e-01 -6.51669155e-01 -5.14808846e-03 1.32409283e+02] [ 6.51652846e-01 7.58503324e-01 -4.61261591e-03 5.14666316e+01] [ 6.91074171e-03 1.43837482e-04 9.99976110e-01 8.11365914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:51.49, Z:0.81 [[ 7.59188501e-01 -6.50850463e-01 -5.14731765e-03 1.32428560e+02] [ 6.50834130e-01 7.59205934e-01 -4.61347591e-03 5.14854890e+01] [ 6.91055704e-03 1.52447852e-04 9.99976110e-01 8.09681657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:51.51, Z:0.81 [[ 7.60544453e-01 -6.49265466e-01 -5.14673027e-03 1.32448621e+02] [ 6.49249092e-01 7.60561849e-01 -4.61413108e-03 5.15053779e+01] [ 6.91020266e-03 1.67741843e-04 9.99976110e-01 8.07184702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:51.52, Z:0.81 [[ 7.61097714e-01 -6.48616828e-01 -5.14591183e-03 1.32468301e+02] [ 6.48600433e-01 7.61115090e-01 -4.61504367e-03 5.15249393e+01] [ 6.91002613e-03 1.74858541e-04 9.99976110e-01 8.06727471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:51.55, Z:0.81 [[ 7.61439850e-01 -6.48215152e-01 -5.14509580e-03 1.32487916e+02] [ 6.48198742e-01 7.61457211e-01 -4.61595324e-03 5.15451136e+01] [ 6.90990113e-03 1.79726117e-04 9.99976110e-01 8.09074195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:132.51, Y:51.57, Z:0.81 [[ 7.61844059e-01 -6.47740046e-01 -5.14421659e-03 1.32507312e+02] [ 6.47723618e-01 7.61861404e-01 -4.61693287e-03 5.15656734e+01] [ 6.90975238e-03 1.85352299e-04 9.99976110e-01 8.08755243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:51.59, Z:0.81 [[ 7.61709691e-01 -6.47898057e-01 -5.14334569e-03 1.32527273e+02] [ 6.47881626e-01 7.61727034e-01 -4.61790287e-03 5.15850816e+01] [ 6.90975575e-03 1.85222201e-04 9.99976110e-01 8.07805988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:51.61, Z:0.81 [[ 7.61382314e-01 -6.48282752e-01 -5.14253407e-03 1.32546323e+02] [ 6.48266324e-01 7.61399658e-01 -4.61880651e-03 5.16051790e+01] [ 6.90981628e-03 1.82945933e-04 9.99976110e-01 8.07880929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81264000000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.56, Y:51.63, Z:0.81 [[ 7.60477321e-01 -6.49344136e-01 -5.14166735e-03 1.32564024e+02] [ 6.49327725e-01 7.60494683e-01 -4.61977114e-03 5.16252152e+01] [ 6.91003198e-03 1.74604014e-04 9.99976110e-01 8.05436577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:51.64, Z:0.81 [[ 7.59744670e-01 -6.50201206e-01 -5.14089675e-03 1.32584652e+02] [ 6.50184809e-01 7.59762044e-01 -4.62062851e-03 5.16443579e+01] [ 6.91019645e-03 1.67964907e-04 9.99976110e-01 8.06241055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:51.66, Z:0.81 [[ 7.59121095e-01 -6.50929138e-01 -5.14003954e-03 1.32604133e+02] [ 6.50912752e-01 7.59138479e-01 -4.62158188e-03 5.16632037e+01] [ 6.91032411e-03 1.62623017e-04 9.99976110e-01 8.05119918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:51.68, Z:0.81 [[ 7.57919973e-01 -6.52327297e-01 -5.13927418e-03 1.32622493e+02] [ 6.52310937e-01 7.57937382e-01 -4.62243282e-03 5.16847451e+01] [ 6.91058712e-03 1.51029396e-04 9.99976110e-01 8.06645599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:51.70, Z:0.81 [[ 7.57097811e-01 -6.53281333e-01 -5.13842862e-03 1.32642909e+02] [ 6.53264989e-01 7.57115235e-01 -4.62337258e-03 5.17043272e+01] [ 6.91074559e-03 1.43589741e-04 9.99976110e-01 8.08536324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:51.72, Z:0.81 [[ 7.55773333e-01 -6.54813160e-01 -5.13755999e-03 1.32661422e+02] [ 6.54796844e-01 7.55790783e-01 -4.62433761e-03 5.17247493e+01] [ 6.91099761e-03 1.30892981e-04 9.99976110e-01 8.10293088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:51.75, Z:0.81 [[ 7.55060692e-01 -6.55634780e-01 -5.13678241e-03 1.32680752e+02] [ 6.55618477e-01 7.55078155e-01 -4.62520120e-03 5.17450763e+01] [ 6.91111495e-03 1.24538155e-04 9.99976110e-01 8.11682243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:51.76, Z:0.81 [[ 7.54073204e-01 -6.56770299e-01 -5.13588985e-03 1.32701156e+02] [ 6.56754016e-01 7.54090685e-01 -4.62619209e-03 5.17649254e+01] [ 6.91127226e-03 1.15471209e-04 9.99976110e-01 8.11772812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:51.78, Z:0.81 [[ 7.51665780e-01 -6.59524213e-01 -5.13499463e-03 1.32721891e+02] [ 6.59507987e-01 7.51683314e-01 -4.62718556e-03 5.17829180e+01] [ 6.91163070e-03 9.15270697e-05 9.99976110e-01 8.11537802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:51.80, Z:0.81 [[ 7.50335392e-01 -6.61037395e-01 -5.13442098e-03 1.32742848e+02] [ 6.61021200e-01 7.50352954e-01 -4.62782201e-03 5.18017450e+01] [ 6.91179136e-03 7.84575181e-05 9.99976110e-01 8.12239353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:51.82, Z:0.81 [[ 7.49169741e-01 -6.62358170e-01 -5.13354234e-03 1.32763306e+02] [ 6.62342000e-01 7.49187326e-01 -4.62879646e-03 5.18203175e+01] [ 6.91190601e-03 6.75935415e-05 9.99976110e-01 8.12700609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:51.84, Z:0.81 [[ 7.47556897e-01 -6.64177944e-01 -5.13264465e-03 1.32782871e+02] [ 6.64161810e-01 7.47574515e-01 -4.62979165e-03 5.18388746e+01] [ 6.91203984e-03 5.21261200e-05 9.99976110e-01 8.12624847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:51.86, Z:0.81 [[ 7.47340581e-01 -6.64421342e-01 -5.13184431e-03 1.32802235e+02] [ 6.64405207e-01 7.47358199e-01 -4.63067861e-03 5.18571150e+01] [ 6.91204762e-03 5.10699659e-05 9.99976110e-01 8.12814408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.82, Y:51.88, Z:0.81 [[ 7.47403355e-01 -6.64350734e-01 -5.13104459e-03 1.32822671e+02] [ 6.64334591e-01 7.47420966e-01 -4.63156458e-03 5.18768135e+01] [ 6.91203362e-03 5.29164949e-05 9.99976110e-01 8.13175343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:132.84, Y:51.90, Z:0.81 [[ 7.48443509e-01 -6.63178705e-01 -5.13014317e-03 1.32841224e+02] [ 6.63162528e-01 7.48461088e-01 -4.63256281e-03 5.18959484e+01] [ 6.91192955e-03 6.50928480e-05 9.99976110e-01 8.10725265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.86, Y:51.92, Z:0.81 [[ 7.49019183e-01 -6.62528453e-01 -5.12953791e-03 1.32861380e+02] [ 6.62512256e-01 7.49036744e-01 -4.63323291e-03 5.19153217e+01] [ 6.91186101e-03 7.19985965e-05 9.99976110e-01 8.11880245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:51.93, Z:0.81 [[ 7.49557937e-01 -6.61918874e-01 -5.12865875e-03 1.32881457e+02] [ 6.61902656e-01 7.49575478e-01 -4.63420588e-03 5.19348145e+01] [ 6.91178517e-03 7.89329484e-05 9.99976110e-01 8.13023706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:51.95, Z:0.81 [[ 7.50503043e-01 -6.60847100e-01 -5.12777100e-03 1.32900766e+02] [ 6.60830850e-01 7.50520555e-01 -4.63518797e-03 5.19548336e+01] [ 6.91164806e-03 9.01334076e-05 9.99976110e-01 8.14144592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:51.97, Z:0.81 [[ 7.50752597e-01 -6.60563588e-01 -5.12685800e-03 1.32920289e+02] [ 6.60547324e-01 7.50770097e-01 -4.63619758e-03 5.19730849e+01] [ 6.91159499e-03 9.41050399e-05 9.99976110e-01 8.12527187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:51.99, Z:0.81 [[ 7.50850158e-01 -6.60452696e-01 -5.12604411e-03 1.32940416e+02] [ 6.60436424e-01 7.50867649e-01 -4.63709730e-03 5.19922147e+01] [ 6.91156410e-03 9.63389982e-05 9.99976110e-01 8.14620864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:52.01, Z:0.82 [[ 7.50848304e-01 -6.60454810e-01 -5.12514246e-03 1.32960068e+02] [ 6.60438532e-01 7.50865790e-01 -4.63809364e-03 5.20118783e+01] [ 6.91154539e-03 9.76631842e-05 9.99976110e-01 8.16202214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:52.03, Z:0.82 [[ 7.50920655e-01 -6.60372555e-01 -5.12423707e-03 1.32978692e+02] [ 6.60356268e-01 7.50938132e-01 -4.63909370e-03 5.20308813e+01] [ 6.91151518e-03 9.97692139e-05 9.99976110e-01 8.16423060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:52.05, Z:0.82 [[ 7.51259112e-01 -6.59987498e-01 -5.12341110e-03 1.32997939e+02] [ 6.59971196e-01 7.51276574e-01 -4.64000573e-03 5.20502849e+01] [ 6.91144451e-03 1.04542836e-04 9.99976110e-01 8.16581181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:52.07, Z:0.82 [[ 7.51356670e-01 -6.59876438e-01 -5.12260536e-03 1.33018119e+02] [ 6.59860127e-01 7.51374124e-01 -4.64089509e-03 5.20690315e+01] [ 6.91141044e-03 1.06764454e-04 9.99976110e-01 8.17485788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:133.04, Y:52.09, Z:0.82 [[ 7.51604969e-01 -6.59593617e-01 -5.12170932e-03 1.33037654e+02] [ 6.59577292e-01 7.51622411e-01 -4.64188376e-03 5.20876243e+01] [ 6.91134840e-03 1.10699727e-04 9.99976110e-01 8.16952664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:52.11, Z:0.82 [[ 7.51670452e-01 -6.59518997e-01 -5.12090397e-03 1.33058118e+02] [ 6.59502665e-01 7.51687887e-01 -4.64277204e-03 5.21071523e+01] [ 6.91131785e-03 1.12584745e-04 9.99976110e-01 8.17497317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59264000000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:133.08, Y:52.13, Z:0.82 [[ 7.51795186e-01 -6.59376814e-01 -5.12002315e-03 1.33077942e+02] [ 6.59360472e-01 7.51812612e-01 -4.64374321e-03 5.21275684e+01] [ 6.91127458e-03 1.15202911e-04 9.99976110e-01 8.16976255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:52.15, Z:0.82 [[ 7.52067021e-01 -6.59066757e-01 -5.11914134e-03 1.33096210e+02] [ 6.59050401e-01 7.52084434e-01 -4.64471509e-03 5.21481435e+01] [ 6.91120383e-03 1.19364887e-04 9.99976110e-01 8.15517235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:52.17, Z:0.81 [[ 7.52121376e-01 -6.59004732e-01 -5.11843867e-03 1.33116479e+02] [ 6.58988370e-01 7.52138783e-01 -4.64548930e-03 5.21675965e+01] [ 6.91117566e-03 1.20980256e-04 9.99976110e-01 8.14591474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:133.14, Y:52.19, Z:0.81 [[ 7.52331810e-01 -6.58764494e-01 -5.11757287e-03 1.33137044e+02] [ 6.58748119e-01 7.52349205e-01 -4.64644289e-03 5.21870985e+01] [ 6.91111348e-03 1.24475287e-04 9.99976110e-01 8.14039072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:52.21, Z:0.81 [[ 7.52162382e-01 -6.58957943e-01 -5.11670829e-03 1.33156621e+02] [ 6.58941567e-01 7.52179775e-01 -4.64739477e-03 5.22068606e+01] [ 6.91112219e-03 1.23983745e-04 9.99976110e-01 8.12534009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:52.23, Z:0.81 [[ 7.51989447e-01 -6.59155293e-01 -5.11585930e-03 1.33176401e+02] [ 6.59138914e-01 7.52006838e-01 -4.64832916e-03 5.22264913e+01] [ 6.91113194e-03 1.23432534e-04 9.99976110e-01 8.14345698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:52.25, Z:0.81 [[ 7.51791785e-01 -6.59380731e-01 -5.11495163e-03 1.33195467e+02] [ 6.59364351e-01 7.51809175e-01 -4.64932773e-03 5.22453348e+01] [ 6.91114468e-03 1.22709637e-04 9.99976110e-01 8.13474351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:52.26, Z:0.81 [[ 7.50732961e-01 -6.60586003e-01 -5.11412756e-03 1.33214716e+02] [ 6.60569645e-01 7.50750371e-01 -4.65023401e-03 5.22645134e+01] [ 6.91131266e-03 1.12846520e-04 9.99976110e-01 8.13602205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:52.28, Z:0.81 [[ 7.49875005e-01 -6.61559771e-01 -5.11335055e-03 1.33234601e+02] [ 6.61543430e-01 7.49892431e-01 -4.65108824e-03 5.22837723e+01] [ 6.91143575e-03 1.05031357e-04 9.99976110e-01 8.14643324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:52.30, Z:0.81 [[ 7.48115358e-01 -6.63548999e-01 -5.11244350e-03 1.33254559e+02] [ 6.63532697e-01 7.48132822e-01 -4.65208505e-03 5.23026552e+01] [ 6.91167316e-03 8.80228573e-05 9.99976110e-01 8.12921938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:52.32, Z:0.81 [[ 7.47278034e-01 -6.64491845e-01 -5.11163238e-03 1.33276312e+02] [ 6.64475559e-01 7.47295512e-01 -4.65297612e-03 5.23209434e+01] [ 6.91176462e-03 8.05120662e-05 9.99976110e-01 8.14962021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:52.34, Z:0.81 [[ 7.46570723e-01 -6.65286431e-01 -5.11072358e-03 1.33297550e+02] [ 6.65270157e-01 7.46588212e-01 -4.65397412e-03 5.23383589e+01] [ 6.91183181e-03 7.45089477e-05 9.99976110e-01 8.14441782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:52.36, Z:0.81 [[ 7.46446082e-01 -6.65426282e-01 -5.10989822e-03 1.33318466e+02] [ 6.65410004e-01 7.46463568e-01 -4.65488015e-03 5.23576831e+01] [ 6.91183245e-03 7.44396534e-05 9.99976110e-01 8.14638650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:52.38, Z:0.82 [[ 7.45936752e-01 -6.65997193e-01 -5.10902602e-03 1.33339406e+02] [ 6.65980922e-01 7.45954244e-01 -4.65583726e-03 5.23757585e+01] [ 6.91187418e-03 7.04462610e-05 9.99976110e-01 8.15944895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:52.39, Z:0.82 [[ 7.45840071e-01 -6.66105469e-01 -5.10814016e-03 1.33358915e+02] [ 6.66089194e-01 7.45857560e-01 -4.65680897e-03 5.23943220e+01] [ 6.91187088e-03 7.07577688e-05 9.99976110e-01 8.17476409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:52.41, Z:0.82 [[ 7.45943676e-01 -6.65989450e-01 -5.10734884e-03 1.33379270e+02] [ 6.65973167e-01 7.45961157e-01 -4.65767669e-03 5.24127923e+01] [ 6.91184738e-03 7.30071954e-05 9.99976110e-01 8.18799476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:52.43, Z:0.81 [[ 7.46948991e-01 -6.64861737e-01 -5.10642414e-03 1.33400411e+02] [ 6.64845420e-01 7.46966441e-01 -4.65869026e-03 5.24301384e+01] [ 6.91171236e-03 8.48212850e-05 9.99976110e-01 8.14454151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:52.45, Z:0.82 [[ 7.47506441e-01 -6.64234938e-01 -5.10567787e-03 1.33421081e+02] [ 6.64218602e-01 7.47523871e-01 -4.65950799e-03 5.24492039e+01] [ 6.91162409e-03 9.17260153e-05 9.99976110e-01 8.17851824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:52.47, Z:0.82 [[ 7.48085080e-01 -6.63583193e-01 -5.10475836e-03 1.33441187e+02] [ 6.63566835e-01 7.48102490e-01 -4.66051515e-03 5.24688491e+01] [ 6.91152196e-03 9.91134987e-05 9.99976110e-01 8.18620147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:52.49, Z:0.82 [[ 7.49531906e-01 -6.61948542e-01 -5.10383990e-03 1.33460658e+02] [ 6.61932138e-01 7.49549274e-01 -4.66152075e-03 5.24879283e+01] [ 6.91126636e-03 1.15562871e-04 9.99976110e-01 8.19044320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:52.51, Z:0.82 [[ 7.50032558e-01 -6.61381222e-01 -5.10302134e-03 1.33481024e+02] [ 6.61364800e-01 7.50049908e-01 -4.66241667e-03 5.25064234e+01] [ 6.91115552e-03 1.22005616e-04 9.99976110e-01 8.19694742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:52.53, Z:0.82 [[ 7.50522048e-01 -6.60825714e-01 -5.10213919e-03 1.33502178e+02] [ 6.60809272e-01 7.50539379e-01 -4.66338182e-03 5.25250137e+01] [ 6.91103900e-03 1.28429992e-04 9.99976110e-01 8.20381733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:52.55, Z:0.82 [[ 7.51568600e-01 -6.59635215e-01 -5.10122905e-03 1.33522056e+02] [ 6.59618739e-01 7.51585898e-01 -4.66437720e-03 5.25453960e+01] [ 6.91079928e-03 1.40733172e-04 9.99976110e-01 8.20845315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:52.57, Z:0.82 [[ 7.52094801e-01 -6.59035202e-01 -5.10032194e-03 1.33542102e+02] [ 6.59018705e-01 7.52112080e-01 -4.66536888e-03 5.25653702e+01] [ 6.91065606e-03 1.47592124e-04 9.99976110e-01 8.20774491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.56, Y:52.59, Z:0.82 [[ 7.52816730e-01 -6.58210428e-01 -5.09941072e-03 1.33562058e+02] [ 6.58193905e-01 7.52833984e-01 -4.66636467e-03 5.25856609e+01] [ 6.91045957e-03 1.56516335e-04 9.99976110e-01 8.19182641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:52.60, Z:0.82 [[ 7.52671768e-01 -6.58376196e-01 -5.09850840e-03 1.33582420e+02] [ 6.58359670e-01 7.52689020e-01 -4.66735033e-03 5.26045446e+01] [ 6.91046365e-03 1.56330516e-04 9.99976110e-01 8.19285367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:52.62, Z:0.82 [[ 7.52461940e-01 -6.58616006e-01 -5.09759956e-03 1.33602114e+02] [ 6.58599479e-01 7.52479191e-01 -4.66834274e-03 5.26225878e+01] [ 6.91048284e-03 1.55473818e-04 9.99976110e-01 8.17349305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:133.62, Y:52.64, Z:0.82 [[ 7.51399978e-01 -6.59827321e-01 -5.09697927e-03 1.33622642e+02] [ 6.59810817e-01 7.51417251e-01 -4.66901988e-03 5.26414278e+01] [ 6.91070504e-03 1.45259381e-04 9.99976110e-01 8.18717893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:52.66, Z:0.82 [[ 7.50524433e-01 -6.60823051e-01 -5.09606087e-03 1.33642631e+02] [ 6.60806564e-01 7.50541722e-01 -4.67002207e-03 5.26594889e+01] [ 6.91086454e-03 1.37455194e-04 9.99976110e-01 8.19105903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:52.68, Z:0.82 [[ 7.49735148e-01 -6.61718404e-01 -5.09522417e-03 1.33662938e+02] [ 6.61701931e-01 7.49752450e-01 -4.67093478e-03 5.26778342e+01] [ 6.91100031e-03 1.30444304e-04 9.99976110e-01 8.18886375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:52.70, Z:0.82 [[ 7.48003388e-01 -6.63675354e-01 -5.09460354e-03 1.33684171e+02] [ 6.63658922e-01 7.48020729e-01 -4.67161160e-03 5.26962819e+01] [ 6.91130254e-03 1.13302217e-04 9.99976110e-01 8.20895119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:52.71, Z:0.82 [[ 7.46920894e-01 -6.64893399e-01 -5.09368682e-03 1.33704119e+02] [ 6.64876989e-01 7.46938255e-01 -4.67261093e-03 5.27144492e+01] [ 6.91145771e-03 1.03395577e-04 9.99976110e-01 8.20514900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:52.73, Z:0.82 [[ 7.45194132e-01 -6.66828140e-01 -5.09286762e-03 1.33725834e+02] [ 6.66811768e-01 7.45211530e-01 -4.67350364e-03 5.27326907e+01] [ 6.91168741e-03 8.66834224e-05 9.99976110e-01 8.22447077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:52.75, Z:0.82 [[ 7.44412876e-01 -6.67700188e-01 -5.09198000e-03 1.33746911e+02] [ 6.67683830e-01 7.44430287e-01 -4.67447054e-03 5.27507071e+01] [ 6.91176899e-03 7.99033487e-05 9.99976110e-01 8.21841368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.77, Y:52.77, Z:0.82 [[ 7.43707956e-01 -6.68485270e-01 -5.09107052e-03 1.33767345e+02] [ 6.68468924e-01 7.43725378e-01 -4.67546086e-03 5.27682509e+01] [ 6.91183507e-03 7.39550056e-05 9.99976110e-01 8.19555569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:52.79, Z:0.82 [[ 7.42535920e-01 -6.69786903e-01 -5.09031255e-03 1.33788785e+02] [ 6.69770582e-01 7.42553365e-01 -4.67628594e-03 5.27858333e+01] [ 6.91194380e-03 6.29686844e-05 9.99976110e-01 8.19615584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:52.80, Z:0.82 [[ 7.41821661e-01 -6.70577901e-01 -5.08940968e-03 1.33809438e+02] [ 6.70561591e-01 7.41839117e-01 -4.67726837e-03 5.28047355e+01] [ 6.91199599e-03 5.69363361e-05 9.99976110e-01 8.20743700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264000000003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:133.83, Y:52.82, Z:0.82 [[ 7.41336596e-01 -6.71114117e-01 -5.08849473e-03 1.33829918e+02] [ 6.71097814e-01 7.41354057e-01 -4.67826355e-03 5.28238392e+01] [ 6.91202493e-03 5.32902825e-05 9.99976110e-01 8.21392161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:52.84, Z:0.82 [[ 7.40904900e-01 -6.71590683e-01 -5.08757952e-03 1.33851849e+02] [ 6.71574383e-01 7.40922366e-01 -4.67925863e-03 5.28410759e+01] [ 6.91204795e-03 5.01975720e-05 9.99976110e-01 8.21123259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:52.86, Z:0.82 [[ 7.41259990e-01 -6.71198744e-01 -5.08666713e-03 1.33872430e+02] [ 6.71182428e-01 7.41277440e-01 -4.68025025e-03 5.28587204e+01] [ 6.91200967e-03 5.52006571e-05 9.99976110e-01 8.19929381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:52.88, Z:0.82 [[ 7.42506363e-01 -6.69819704e-01 -5.08585055e-03 1.33892313e+02] [ 6.69803350e-01 7.42523777e-01 -4.68113743e-03 5.28783053e+01] [ 6.91188304e-03 6.92545928e-05 9.99976110e-01 8.20559824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:52.90, Z:0.82 [[ 7.43490041e-01 -6.68727675e-01 -5.08494575e-03 1.33911829e+02] [ 6.68711288e-01 7.43507425e-01 -4.68212006e-03 5.28978737e+01] [ 6.91175818e-03 8.07490115e-05 9.99976110e-01 8.21350317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:52.92, Z:0.82 [[ 7.44472783e-01 -6.67633453e-01 -5.08403296e-03 1.33931049e+02] [ 6.67617034e-01 7.44490137e-01 -4.68311100e-03 5.29169357e+01] [ 6.91161396e-03 9.22616714e-05 9.99976110e-01 8.21678380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:52.94, Z:0.82 [[ 7.45250455e-01 -6.66765264e-01 -5.08344109e-03 1.33951234e+02] [ 6.66748821e-01 7.45267786e-01 -4.68375338e-03 5.29365142e+01] [ 6.91148894e-03 1.01190990e-04 9.99976110e-01 8.24060854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:52.96, Z:0.82 [[ 7.46258508e-01 -6.65636843e-01 -5.08249961e-03 1.33971285e+02] [ 6.65620367e-01 7.46275807e-01 -4.68477479e-03 5.29550448e+01] [ 6.91130520e-03 1.13037787e-04 9.99976110e-01 8.24223970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:52.97, Z:0.82 [[ 7.46392157e-01 -6.65486983e-01 -5.08164947e-03 1.33991192e+02] [ 6.65470497e-01 7.46409447e-01 -4.68569676e-03 5.29729965e+01] [ 6.91126137e-03 1.15679519e-04 9.99976110e-01 8.22617217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:52.99, Z:0.82 [[ 7.45359495e-01 -6.66643414e-01 -5.07757216e-03 1.34011080e+02] [ 6.66626924e-01 7.45376782e-01 -4.69011703e-03 5.29922103e+01] [ 6.91134003e-03 1.10976949e-04 9.99976110e-01 8.22761619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.03, Y:53.01, Z:0.82 [[ 7.44275200e-01 -6.67853740e-01 -5.08024846e-03 1.34030480e+02] [ 6.67837298e-01 7.44292532e-01 -4.68721632e-03 5.30126276e+01] [ 6.91156594e-03 9.57994574e-05 9.99976110e-01 8.23156843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:53.03, Z:0.82 [[ 7.41534636e-01 -6.70895360e-01 -5.07936372e-03 1.34050499e+02] [ 6.70878983e-01 7.41552029e-01 -4.68817488e-03 5.30313569e+01] [ 6.91188725e-03 6.88056882e-05 9.99976110e-01 8.22568495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:53.05, Z:0.82 [[ 7.39934689e-01 -6.72659546e-01 -5.07856313e-03 1.34070341e+02] [ 6.72643204e-01 7.39952115e-01 -4.68904198e-03 5.30492738e+01] [ 6.91202238e-03 5.35238394e-05 9.99976110e-01 8.22446836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:53.07, Z:0.82 [[ 7.38440471e-01 -6.74299554e-01 -5.07763996e-03 1.34090861e+02] [ 6.74283244e-01 7.38457927e-01 -4.69004145e-03 5.30675706e+01] [ 6.91211633e-03 3.95488714e-05 9.99976110e-01 8.22654991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:53.09, Z:0.82 [[ 7.36957368e-01 -6.75920174e-01 -5.07506510e-03 1.34112283e+02] [ 6.75903883e-01 7.36974842e-01 -4.69282835e-03 5.30865102e+01] [ 6.91217265e-03 2.81582150e-05 9.99976110e-01 8.24214400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:53.10, Z:0.82 [[ 7.34159584e-01 -6.78957976e-01 -5.07660909e-03 1.34133262e+02] [ 6.78941769e-01 7.34177136e-01 -4.69115750e-03 5.31031569e+01] [ 6.91222912e-03 -2.66372021e-06 9.99976110e-01 8.22864078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:53.12, Z:0.82 [[ 7.32922470e-01 -6.80293236e-01 -5.07601001e-03 1.34154088e+02] [ 6.80277057e-01 7.32940047e-01 -4.69180563e-03 5.31217116e+01] [ 6.91221465e-03 -1.43633832e-05 9.99976110e-01 8.23678807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:53.14, Z:0.82 [[ 7.31367098e-01 -6.81965110e-01 -5.07508262e-03 1.34173884e+02] [ 6.81948964e-01 7.31384705e-01 -4.69280857e-03 5.31394155e+01] [ 6.91216952e-03 -2.87815475e-05 9.99976110e-01 8.24169761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:53.16, Z:0.82 [[ 7.30744222e-01 -6.82632503e-01 -5.07423652e-03 1.34194073e+02] [ 6.82616367e-01 7.30761838e-01 -4.69372326e-03 5.31576349e+01] [ 6.91214647e-03 -3.38457489e-05 9.99976110e-01 8.22276708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:53.18, Z:0.83 [[ 7.30038483e-01 -6.83387204e-01 -5.07362315e-03 1.34215017e+02] [ 6.83371082e-01 7.30056112e-01 -4.69438618e-03 5.31754736e+01] [ 6.91211304e-03 -4.00847771e-05 9.99976110e-01 8.25630830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:53.19, Z:0.82 [[ 7.29079320e-01 -6.84410413e-01 -5.07270252e-03 1.34237790e+02] [ 6.84394308e-01 7.29096965e-01 -4.69538080e-03 5.31904833e+01] [ 6.91205952e-03 -4.84236928e-05 9.99976110e-01 8.24010246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.26, Y:53.21, Z:0.82 [[ 7.28736082e-01 -6.84775875e-01 -5.07189834e-03 1.34259108e+02] [ 6.84759773e-01 7.28753729e-01 -4.69624930e-03 5.32093507e+01] [ 6.91204306e-03 -5.07056512e-05 9.99976110e-01 8.24666530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:53.23, Z:0.82 [[ 7.28533785e-01 -6.84991101e-01 -5.07098450e-03 1.34279973e+02] [ 6.84974998e-01 7.28551432e-01 -4.69723585e-03 5.32276904e+01] [ 6.91203778e-03 -5.14025838e-05 9.99976110e-01 8.24953313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:53.25, Z:0.83 [[ 7.28707515e-01 -6.84806288e-01 -5.07006643e-03 1.34301061e+02] [ 6.84790173e-01 7.28725151e-01 -4.69822658e-03 5.32451291e+01] [ 6.91206003e-03 -4.82986534e-05 9.99976110e-01 8.25375406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.32, Y:53.26, Z:0.83 [[ 7.28554504e-01 -6.84969078e-01 -5.06924033e-03 1.34322977e+02] [ 6.84952961e-01 7.28572138e-01 -4.69911775e-03 5.32633271e+01] [ 6.91205762e-03 -4.86277724e-05 9.99976110e-01 8.27258442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:53.28, Z:0.83 [[ 7.28332745e-01 -6.85204878e-01 -5.06832546e-03 1.34344198e+02] [ 6.85188759e-01 7.28350378e-01 -4.70010429e-03 5.32797121e+01] [ 6.91205115e-03 -4.95197733e-05 9.99976110e-01 8.28001845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:53.30, Z:0.83 [[ 7.28161790e-01 -6.85386553e-01 -5.06749216e-03 1.34367878e+02] [ 6.85370433e-01 7.28179422e-01 -4.70100256e-03 5.32955672e+01] [ 6.91204745e-03 -5.00188511e-05 9.99976110e-01 8.29446719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:53.31, Z:0.83 [[ 7.28361118e-01 -6.85174731e-01 -5.06657296e-03 1.34390067e+02] [ 6.85158599e-01 7.28378738e-01 -4.70199303e-03 5.33135021e+01] [ 6.91207083e-03 -4.66571323e-05 9.99976110e-01 8.28843520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:53.33, Z:0.83 [[ 7.28717054e-01 -6.84796170e-01 -5.06565651e-03 1.34411033e+02] [ 6.84780021e-01 7.28734660e-01 -4.70298015e-03 5.33311613e+01] [ 6.91210227e-03 -4.17185331e-05 9.99976110e-01 8.27915772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:53.35, Z:0.83 [[ 7.30583519e-01 -6.82804562e-01 -5.06483622e-03 1.34432848e+02] [ 6.82788359e-01 7.30601074e-01 -4.70386340e-03 5.33480628e+01] [ 6.91219417e-03 -2.16461407e-05 9.99976110e-01 8.29740403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.45, Y:53.37, Z:0.83 [[ 7.31769707e-01 -6.81533163e-01 -5.06391717e-03 1.34453436e+02] [ 6.81516924e-01 7.31787228e-01 -4.70485259e-03 5.33659043e+01] [ 6.91222297e-03 -8.27665059e-06 9.99976110e-01 8.28800669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:53.38, Z:0.83 [[ 7.34924782e-01 -6.78129729e-01 -5.06308783e-03 1.34475492e+02] [ 6.78113402e-01 7.34942222e-01 -4.70574490e-03 5.33838094e+01] [ 6.91218254e-03 2.50208364e-05 9.99976110e-01 8.30898188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.50, Y:53.40, Z:0.83 [[ 7.36357877e-01 -6.76573316e-01 -5.06220716e-03 1.34495508e+02] [ 6.76556945e-01 7.36375276e-01 -4.70669209e-03 5.34021792e+01] [ 6.91210647e-03 4.09383797e-05 9.99976110e-01 8.30854303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.52, Y:53.42, Z:0.83 [[ 7.37699632e-01 -6.75110090e-01 -5.06156229e-03 1.34516381e+02] [ 6.75093681e-01 7.37716994e-01 -4.70738548e-03 5.34205736e+01] [ 6.91200395e-03 5.56078249e-05 9.99976110e-01 8.32457312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:53.44, Z:0.83 [[ 7.39971258e-01 -6.72619452e-01 -5.06064851e-03 1.34536830e+02] [ 6.72602978e-01 7.39988558e-01 -4.70836763e-03 5.34379206e+01] [ 6.91176165e-03 8.02494551e-05 9.99976110e-01 8.31938366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:53.46, Z:0.83 [[ 7.40795364e-01 -6.71711714e-01 -5.05982968e-03 1.34557329e+02] [ 6.71695212e-01 7.40812639e-01 -4.70924741e-03 5.34571419e+01] [ 6.91164243e-03 8.99252844e-05 9.99976110e-01 8.33931313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:53.48, Z:0.83 [[ 7.42303290e-01 -6.70044948e-01 -5.05888309e-03 1.34577413e+02] [ 6.70028401e-01 7.42320521e-01 -4.71026407e-03 5.34756658e+01] [ 6.91140137e-03 1.06849176e-04 9.99976110e-01 8.32217731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:53.49, Z:0.83 [[ 7.43010592e-01 -6.69260545e-01 -5.05805854e-03 1.34597755e+02] [ 6.69243973e-01 7.43027799e-01 -4.71114933e-03 5.34949666e+01] [ 6.91126447e-03 1.15358656e-04 9.99976110e-01 8.31846286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:53.51, Z:0.83 [[ 7.43706261e-01 -6.68487414e-01 -5.05713131e-03 1.34616844e+02] [ 6.68470818e-01 7.43723444e-01 -4.71214445e-03 5.35136031e+01] [ 6.91111637e-03 1.23906627e-04 9.99976110e-01 8.30579871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:53.53, Z:0.83 [[ 7.43577328e-01 -6.68630833e-01 -5.05633454e-03 1.34637549e+02] [ 6.68614234e-01 7.43594509e-01 -4.71299926e-03 5.35331635e+01] [ 6.91111922e-03 1.23742151e-04 9.99976110e-01 8.30776740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:53.55, Z:0.83 [[ 7.43884154e-01 -6.68289464e-01 -5.05542543e-03 1.34657071e+02] [ 6.68272850e-01 7.43901321e-01 -4.71397423e-03 5.35529998e+01] [ 6.91103696e-03 1.28247171e-04 9.99976110e-01 8.30504756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:53.57, Z:0.83 [[ 7.44257537e-01 -6.67873619e-01 -5.05451006e-03 1.34675078e+02] [ 6.67856989e-01 7.44274688e-01 -4.71495551e-03 5.35730144e+01] [ 6.91093830e-03 1.33451303e-04 9.99976110e-01 8.27605785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.69, Y:53.59, Z:0.83 [[ 7.44063690e-01 -6.68089578e-01 -5.05390162e-03 1.34694758e+02] [ 6.68072948e-01 7.44080842e-01 -4.71560760e-03 5.35928140e+01] [ 6.91095966e-03 1.32337439e-04 9.99976110e-01 8.27971767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:53.61, Z:0.83 [[ 7.43164221e-01 -6.69089985e-01 -5.05301797e-03 1.34714935e+02] [ 6.69073372e-01 7.43181389e-01 -4.71655429e-03 5.36125339e+01] [ 6.91110815e-03 1.24334621e-04 9.99976110e-01 8.29904661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:53.63, Z:0.83 [[ 7.42304391e-01 -6.70043780e-01 -5.05210664e-03 1.34734903e+02] [ 6.70027182e-01 7.42321574e-01 -4.71753025e-03 5.36325485e+01] [ 6.91123956e-03 1.16794644e-04 9.99976110e-01 8.30667041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:53.65, Z:0.83 [[ 7.41285330e-01 -6.71171025e-01 -5.05118460e-03 1.34754837e+02] [ 6.71154448e-01 7.41302531e-01 -4.71851729e-03 5.36519486e+01] [ 6.91138802e-03 1.07642636e-04 9.99976110e-01 8.30452539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:134.78, Y:53.67, Z:0.83 [[ 7.39037148e-01 -6.73645744e-01 -5.05025853e-03 1.34775049e+02] [ 6.73629217e-01 7.39054398e-01 -4.71950827e-03 5.36719007e+01] [ 6.91169244e-03 8.58902313e-05 9.99976110e-01 8.31198432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.79, Y:53.69, Z:0.83 [[ 7.37794519e-01 -6.75006483e-01 -5.04932542e-03 1.34794539e+02] [ 6.74989981e-01 7.37811794e-01 -4.72050637e-03 5.36904725e+01] [ 6.91182425e-03 7.45196585e-05 9.99976110e-01 8.31105818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:53.71, Z:0.83 [[ 7.36359683e-01 -6.76571452e-01 -5.04848991e-03 1.34814856e+02] [ 6.76554981e-01 7.36376987e-01 -4.72139978e-03 5.37093431e+01] [ 6.91195609e-03 6.10674534e-05 9.99976110e-01 8.32329123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:53.73, Z:0.83 [[ 7.33902368e-01 -6.79236215e-01 -5.04760300e-03 1.34835885e+02] [ 6.79219800e-01 7.33919725e-01 -4.72234777e-03 5.37284075e+01] [ 6.91212503e-03 3.73103169e-05 9.99976110e-01 8.31625504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:53.75, Z:0.83 [[ 7.32644118e-01 -6.80593216e-01 -5.04671909e-03 1.34856483e+02] [ 6.80576827e-01 7.32661500e-01 -4.72329220e-03 5.37474952e+01] [ 6.91217741e-03 2.58121848e-05 9.99976110e-01 8.31904061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:53.77, Z:0.83 [[ 7.30775132e-01 -6.82599623e-01 -5.04583421e-03 1.34877394e+02] [ 6.82583275e-01 7.30792552e-01 -4.72423732e-03 5.37663402e+01] [ 6.91222067e-03 8.15311482e-06 9.99976110e-01 8.32908741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.90, Y:53.79, Z:0.83 [[ 7.30058899e-01 -6.83365607e-01 -5.04492339e-03 1.34896789e+02] [ 6.83349270e-01 7.30076330e-01 -4.72520977e-03 5.37851136e+01] [ 6.91222499e-03 2.23672925e-06 9.99976110e-01 8.30574943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:53.80, Z:0.83 [[ 7.29562144e-01 -6.83895924e-01 -5.04413249e-03 1.34917579e+02] [ 6.83879594e-01 7.29579581e-01 -4.72605390e-03 5.38045151e+01] [ 6.91222507e-03 -1.62926216e-06 9.99976110e-01 8.31141369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:53.82, Z:0.83 [[ 7.29767033e-01 -6.83677295e-01 -5.04324817e-03 1.34937720e+02] [ 6.83660953e-01 7.29784459e-01 -4.72699738e-03 5.38236910e+01] [ 6.91222492e-03 1.73500231e-06 9.99976110e-01 8.32187269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:53.84, Z:0.83 [[ 7.30247478e-01 -6.83164106e-01 -5.04234455e-03 1.34957091e+02] [ 6.83147745e-01 7.30264887e-01 -4.72796108e-03 5.38420831e+01] [ 6.91222048e-03 7.91534650e-06 9.99976110e-01 8.31284748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:53.86, Z:0.83 [[ 7.31014101e-01 -6.82343731e-01 -5.04150415e-03 1.34977112e+02] [ 6.82327345e-01 7.31031485e-01 -4.72885704e-03 5.38609903e+01] [ 6.91220423e-03 1.69050339e-05 9.99976110e-01 8.32614616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:53.88, Z:0.83 [[ 7.31607773e-01 -6.81707165e-01 -5.04057849e-03 1.34997130e+02] [ 6.81690757e-01 7.31625137e-01 -4.72984352e-03 5.38801426e+01] [ 6.91218214e-03 2.42745164e-05 9.99976110e-01 8.32445305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.02, Y:53.90, Z:0.83 [[ 7.32629586e-01 -6.80608913e-01 -5.03964949e-03 1.35016463e+02] [ 6.80592472e-01 7.32646918e-01 -4.73083317e-03 5.38989276e+01] [ 6.91213088e-03 3.60008460e-05 9.99976110e-01 8.32209370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:53.92, Z:0.83 [[ 7.32803525e-01 -6.80421636e-01 -5.03901718e-03 1.35035685e+02] [ 6.80405186e-01 7.32820849e-01 -4.73150657e-03 5.39176246e+01] [ 6.91211629e-03 3.86912664e-05 9.99976110e-01 8.32032868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:53.94, Z:0.83 [[ 7.32910624e-01 -6.80306280e-01 -5.03819273e-03 1.35054557e+02] [ 6.80289821e-01 7.32927939e-01 -4.73238430e-03 5.39373834e+01] [ 6.91210297e-03 4.09834945e-05 9.99976110e-01 8.31700712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:53.96, Z:0.83 [[ 7.32826238e-01 -6.80397187e-01 -5.03722418e-03 1.35074093e+02] [ 6.80380723e-01 7.32843549e-01 -4.73341502e-03 5.39561761e+01] [ 6.91209950e-03 4.15404914e-05 9.99976110e-01 8.31912363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:53.98, Z:0.83 [[ 7.32794213e-01 -6.80431682e-01 -5.03656936e-03 1.35094465e+02] [ 6.80415214e-01 7.32811520e-01 -4.73411167e-03 5.39759853e+01] [ 6.91209561e-03 4.21712162e-05 9.99976110e-01 8.34487144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:54.00, Z:0.84 [[ 7.33217633e-01 -6.79975400e-01 -5.03564939e-03 1.35114213e+02] [ 6.79958915e-01 7.33234924e-01 -4.73509003e-03 5.39954815e+01] [ 6.91205873e-03 4.78168099e-05 9.99976110e-01 8.36307330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:54.01, Z:0.83 [[ 7.33534281e-01 -6.79633807e-01 -5.03471521e-03 1.35133802e+02] [ 6.79617306e-01 7.33551557e-01 -4.73608312e-03 5.40144318e+01] [ 6.91202538e-03 5.23997373e-05 9.99976110e-01 8.34971727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:54.03, Z:0.84 [[ 7.33691598e-01 -6.79463979e-01 -5.03386396e-03 1.35153408e+02] [ 6.79447469e-01 7.33708865e-01 -4.73698771e-03 5.40339835e+01] [ 6.91200313e-03 5.52419582e-05 9.99976110e-01 8.36649597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:54.05, Z:0.84 [[ 7.33852768e-01 -6.79289912e-01 -5.03294530e-03 1.35172775e+02] [ 6.79273391e-01 7.33870024e-01 -4.73796357e-03 5.40537502e+01] [ 6.91197855e-03 5.82218602e-05 9.99976110e-01 8.36482380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:54.07, Z:0.84 [[ 7.33793839e-01 -6.79353576e-01 -5.03202217e-03 1.35192249e+02] [ 6.79337049e-01 7.33811090e-01 -4.73894379e-03 5.40738014e+01] [ 6.91197208e-03 5.89686645e-05 9.99976110e-01 8.36661536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:54.09, Z:0.84 [[ 7.33343917e-01 -6.79839237e-01 -5.03109264e-03 1.35212346e+02] [ 6.79822715e-01 7.33361172e-01 -4.73993042e-03 5.40930120e+01] [ 6.91199868e-03 5.57480808e-05 9.99976110e-01 8.37147420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:54.11, Z:0.83 [[ 7.33083368e-01 -6.80120190e-01 -5.03016481e-03 1.35231341e+02] [ 6.80103668e-01 7.33100624e-01 -4.74091486e-03 5.41125294e+01] [ 6.91200887e-03 5.44522912e-05 9.99976110e-01 8.34994378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:54.13, Z:0.83 [[ 7.33154078e-01 -6.80043971e-01 -5.02944718e-03 1.35251493e+02] [ 6.80027442e-01 7.33171327e-01 -4.74167604e-03 5.41327404e+01] [ 6.91199467e-03 5.62170178e-05 9.99976110e-01 8.34401658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:54.15, Z:0.83 [[ 7.33841249e-01 -6.79302389e-01 -5.02853566e-03 1.35270729e+02] [ 6.79285836e-01 7.33858474e-01 -4.74264251e-03 5.41542125e+01] [ 6.91192189e-03 6.45336509e-05 9.99976110e-01 8.32288325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:54.17, Z:0.83 [[ 7.34610609e-01 -6.78470320e-01 -5.02771280e-03 1.35289171e+02] [ 6.78453741e-01 7.34627810e-01 -4.74351467e-03 5.41739471e+01] [ 6.91183156e-03 7.35656496e-05 9.99976110e-01 8.31037852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:54.19, Z:0.83 [[ 7.35264617e-01 -6.77761517e-01 -5.02692981e-03 1.35308254e+02] [ 6.77744916e-01 7.35281796e-01 -4.74434429e-03 5.41940519e+01] [ 6.91174397e-03 8.13723645e-05 9.99976110e-01 8.32463106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:54.21, Z:0.83 [[ 7.35688506e-01 -6.77301382e-01 -5.02600404e-03 1.35328187e+02] [ 6.77284764e-01 7.35705669e-01 -4.74532483e-03 5.42139938e+01] [ 6.91167472e-03 8.70449782e-05 9.99976110e-01 8.34969414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95264000000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:135.35, Y:54.23, Z:0.83 [[ 7.35887064e-01 -6.77085650e-01 -5.02506493e-03 1.35347041e+02] [ 6.77069020e-01 7.35904216e-01 -4.74631908e-03 5.42345421e+01] [ 6.91163101e-03 9.04390275e-05 9.99976110e-01 8.33435135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:54.26, Z:0.83 [[ 7.35463740e-01 -6.77545452e-01 -5.02461144e-03 1.35366390e+02] [ 6.77528830e-01 7.35480899e-01 -4.74679912e-03 5.42551594e+01] [ 6.91167789e-03 8.67795194e-05 9.99976110e-01 8.34194782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:54.28, Z:0.83 [[ 7.34840128e-01 -6.78221754e-01 -5.02371955e-03 1.35385239e+02] [ 6.78205141e-01 7.34857296e-01 -4.74774285e-03 5.42754562e+01] [ 6.91173945e-03 8.17195386e-05 9.99976110e-01 8.34792107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:54.30, Z:0.84 [[ 7.32829317e-01 -6.80393976e-01 -5.02282155e-03 1.35403454e+02] [ 6.80377408e-01 7.32846528e-01 -4.74869269e-03 5.42964422e+01] [ 6.91193923e-03 6.25669222e-05 9.99976110e-01 8.37893252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:135.42, Y:54.32, Z:0.84 [[ 7.31640673e-01 -6.81671993e-01 -5.02198073e-03 1.35421786e+02] [ 6.81655448e-01 7.31657906e-01 -4.74958173e-03 5.43162854e+01] [ 6.91202875e-03 5.17266501e-05 9.99976110e-01 8.36983503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:135.44, Y:54.34, Z:0.84 [[ 7.29136673e-01 -6.84349692e-01 -5.02113325e-03 1.35441076e+02] [ 6.84333204e-01 7.29153961e-01 -4.75047750e-03 5.43362941e+01] [ 6.91216701e-03 2.76191581e-05 9.99976110e-01 8.37938361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:54.36, Z:0.84 [[ 7.27698919e-01 -6.85878328e-01 -5.02018924e-03 1.35460604e+02] [ 6.85861870e-01 7.27716235e-01 -4.75147490e-03 5.43550927e+01] [ 6.91220687e-03 1.44867674e-05 9.99976110e-01 8.37910893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:135.48, Y:54.38, Z:0.84 [[ 7.25183405e-01 -6.88537461e-01 -5.01933359e-03 1.35480653e+02] [ 6.88521060e-01 7.25200776e-01 -4.75237861e-03 5.43752955e+01] [ 6.91221531e-03 -9.57078023e-06 9.99976110e-01 8.38153594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.50, Y:54.39, Z:0.84 [[ 7.24157092e-01 -6.89616793e-01 -5.01840143e-03 1.35499652e+02] [ 6.89600411e-01 7.24174480e-01 -4.75336275e-03 5.43940554e+01] [ 6.91219702e-03 -1.85103402e-05 9.99976110e-01 8.37817081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:135.52, Y:54.41, Z:0.84 [[ 7.23112461e-01 -6.90712091e-01 -5.01759706e-03 1.35517920e+02] [ 6.90695730e-01 7.23129868e-01 -4.75421168e-03 5.44137900e+01] [ 6.91216579e-03 -2.78031517e-05 9.99976110e-01 8.36449092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:135.54, Y:54.43, Z:0.84 [[ 7.22063145e-01 -6.91808967e-01 -5.01678664e-03 1.35537713e+02] [ 6.91792626e-01 7.22080572e-01 -4.75506671e-03 5.44341053e+01] [ 6.91212195e-03 -3.71175777e-05 9.99976110e-01 8.35751062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:54.45, Z:0.84 [[ 7.19512645e-01 -6.94461226e-01 -5.01588323e-03 1.35557682e+02] [ 6.94444943e-01 7.19530126e-01 -4.75601947e-03 5.44523352e+01] [ 6.91195021e-03 -6.12385913e-05 9.99976110e-01 8.35706296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:54.47, Z:0.84 [[ 7.17127521e-01 -6.96923934e-01 -5.01491838e-03 1.35578131e+02] [ 6.96907704e-01 7.17145050e-01 -4.75703663e-03 5.44708254e+01] [ 6.91171658e-03 -8.35333659e-05 9.99976110e-01 8.37498303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.60, Y:54.49, Z:0.84 [[ 7.16318804e-01 -6.97755134e-01 -5.01435294e-03 1.35598467e+02] [ 6.97738920e-01 7.16336349e-01 -4.75763258e-03 5.44898425e+01] [ 6.91162584e-03 -9.07275283e-05 9.99976110e-01 8.39939412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37264000000002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:135.62, Y:54.51, Z:0.84 [[ 7.15486975e-01 -6.98608083e-01 -5.01343125e-03 1.35618555e+02] [ 6.98591883e-01 7.15504533e-01 -4.75860363e-03 5.45082271e+01] [ 6.91153174e-03 -9.76234637e-05 9.99976110e-01 8.39081870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:54.53, Z:0.84 [[ 7.14850475e-01 -6.99259374e-01 -5.01258110e-03 1.35639901e+02] [ 6.99243184e-01 7.14868042e-01 -4.75949899e-03 5.45268294e+01] [ 6.91145832e-03 -1.02683057e-04 9.99976110e-01 8.39794326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:54.54, Z:0.84 [[ 7.15102688e-01 -6.99001451e-01 -5.01168382e-03 1.35659831e+02] [ 6.98985248e-01 7.15120243e-01 -4.76044362e-03 5.45446508e+01] [ 6.91151355e-03 -9.88870214e-05 9.99976110e-01 8.38796522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:54.56, Z:0.84 [[ 7.15574730e-01 -6.98518217e-01 -5.01073722e-03 1.35679696e+02] [ 6.98501994e-01 7.15592267e-01 -4.76143978e-03 5.45640477e+01] [ 6.91159723e-03 -9.28439540e-05 9.99976110e-01 8.40253502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:54.58, Z:0.84 [[ 7.17751028e-01 -6.96281813e-01 -5.00982129e-03 1.35700561e+02] [ 6.96265530e-01 7.17768508e-01 -4.76240330e-03 5.45823567e+01] [ 6.91186676e-03 -6.99460138e-05 9.99976110e-01 8.40990522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:54.60, Z:0.84 [[ 7.19104498e-01 -6.94883899e-01 -5.00889167e-03 1.35720272e+02] [ 6.94867574e-01 7.19121940e-01 -4.76338083e-03 5.46003303e+01] [ 6.91200054e-03 -5.51478285e-05 9.99976110e-01 8.38836513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:54.62, Z:0.84 [[ 7.20592771e-01 -6.93340449e-01 -5.00805867e-03 1.35740476e+02] [ 6.93324081e-01 7.20610172e-01 -4.76425646e-03 5.46195094e+01] [ 6.91210973e-03 -3.91189064e-05 9.99976110e-01 8.38766573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:54.64, Z:0.84 [[ 7.21979264e-01 -6.91896575e-01 -5.00717117e-03 1.35760804e+02] [ 6.91880166e-01 7.21996627e-01 -4.76518903e-03 5.46394266e+01] [ 6.91217866e-03 -2.39947465e-05 9.99976110e-01 8.40523427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:54.66, Z:0.84 [[ 7.25043366e-01 -6.88685018e-01 -5.00629756e-03 1.35780153e+02] [ 6.88668526e-01 7.25060650e-01 -4.76610666e-03 5.46586098e+01] [ 6.91221561e-03 7.95445371e-06 9.99976110e-01 8.41800330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:54.68, Z:0.84 [[ 7.26305735e-01 -6.87353564e-01 -5.00569081e-03 1.35799562e+02] [ 6.87337036e-01 7.26322984e-01 -4.76674383e-03 5.46785783e+01] [ 6.91218665e-03 2.15166962e-05 9.99976110e-01 8.42978113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:54.70, Z:0.84 [[ 7.29050922e-01 -6.84441162e-01 -5.00477812e-03 1.35818150e+02] [ 6.84424558e-01 7.29068099e-01 -4.76770190e-03 5.46985620e+01] [ 6.91203550e-03 5.05044157e-05 9.99976110e-01 8.41639636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.84, Y:54.72, Z:0.84 [[ 7.30330186e-01 -6.83075970e-01 -5.00394834e-03 1.35837630e+02] [ 6.83059328e-01 7.30347325e-01 -4.76857263e-03 5.47184994e+01] [ 6.91191767e-03 6.46389432e-05 9.99976110e-01 8.43275284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:54.74, Z:0.84 [[ 7.31280670e-01 -6.82058319e-01 -5.00300360e-03 1.35857539e+02] [ 6.82041647e-01 7.31297780e-01 -4.76956362e-03 5.47384419e+01] [ 6.91180597e-03 7.56328712e-05 9.99976110e-01 8.43562822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:54.76, Z:0.84 [[ 7.31144811e-01 -6.82203962e-01 -5.00205276e-03 1.35878017e+02] [ 6.82187286e-01 7.31161917e-01 -4.77056060e-03 5.47582310e+01] [ 6.91180582e-03 7.56338311e-05 9.99976110e-01 8.43759687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:135.90, Y:54.78, Z:0.84 [[ 7.32965567e-01 -6.80247356e-01 -5.00110239e-03 1.35895935e+02] [ 6.80230628e-01 7.32982623e-01 -4.77155669e-03 5.47779397e+01] [ 6.91155997e-03 9.54837407e-05 9.99976110e-01 8.43039902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:54.80, Z:0.84 [[ 7.32868070e-01 -6.80352399e-01 -5.00045536e-03 1.35914452e+02] [ 6.80335668e-01 7.32885123e-01 -4.77223466e-03 5.47983164e+01] [ 6.91156064e-03 9.54302650e-05 9.99976110e-01 8.41796884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:54.82, Z:0.84 [[ 7.32378694e-01 -6.80879158e-01 -5.00207917e-03 1.35932411e+02] [ 6.80862451e-01 7.32395770e-01 -4.77053348e-03 5.48205493e+01] [ 6.91165844e-03 8.81091889e-05 9.99976110e-01 8.42614724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:54.84, Z:0.84 [[ 7.31560050e-01 -6.81758682e-01 -4.99932551e-03 1.35952349e+02] [ 6.81741976e-01 7.31577127e-01 -4.77341745e-03 5.48408098e+01] [ 6.91171099e-03 8.37914610e-05 9.99976110e-01 8.43026318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:54.86, Z:0.84 [[ 7.30576535e-01 -6.82812524e-01 -4.99839168e-03 1.35971300e+02] [ 6.82795836e-01 7.30593630e-01 -4.77439509e-03 5.48599219e+01] [ 6.91180989e-03 7.51799945e-05 9.99976110e-01 8.41536439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:54.88, Z:0.84 [[ 7.29529685e-01 -6.83930891e-01 -4.99755717e-03 1.35991054e+02] [ 6.83914223e-01 7.29546799e-01 -4.77526846e-03 5.48804142e+01] [ 6.91190545e-03 6.57996664e-05 9.99976110e-01 8.41148689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.01, Y:54.90, Z:0.84 [[ 7.27328721e-01 -6.86271053e-01 -4.99732518e-03 1.36009728e+02] [ 6.86254439e-01 7.27345887e-01 -4.77551115e-03 5.49006017e+01] [ 6.91207898e-03 4.39298333e-05 9.99976110e-01 8.40783261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:54.92, Z:0.84 [[ 7.25499140e-01 -6.88204940e-01 -4.99573329e-03 1.36029710e+02] [ 6.88188360e-01 7.25516340e-01 -4.77717587e-03 5.49208639e+01] [ 6.91216217e-03 2.78314812e-05 9.99976110e-01 8.43445569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:54.94, Z:0.84 [[ 7.22121889e-01 -6.91747808e-01 -4.99479627e-03 1.36049610e+02] [ 6.91731305e-01 7.22139163e-01 -4.77815538e-03 5.49406175e+01] [ 6.91221650e-03 -4.64635213e-06 9.99976110e-01 8.43938669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:54.96, Z:0.84 [[ 7.20274948e-01 -6.93670715e-01 -4.99386720e-03 1.36069544e+02] [ 6.93654252e-01 7.20292260e-01 -4.77912619e-03 5.49586538e+01] [ 6.91218377e-03 -2.17323415e-05 9.99976110e-01 8.43249657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:54.98, Z:0.84 [[ 7.18608578e-01 -6.95396851e-01 -4.99305974e-03 1.36089968e+02] [ 6.95380424e-01 7.18625924e-01 -4.77996965e-03 5.49768495e+01] [ 6.91211801e-03 -3.71488026e-05 9.99976110e-01 8.41798599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:55.00, Z:0.84 [[ 7.16412992e-01 -6.97658585e-01 -4.99227487e-03 1.36110491e+02] [ 6.97642207e-01 7.16430384e-01 -4.78078924e-03 5.49961623e+01] [ 6.91197606e-03 -5.78021394e-05 9.99976110e-01 8.43630668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:55.01, Z:0.84 [[ 7.15904486e-01 -6.98180387e-01 -4.99135484e-03 1.36130190e+02] [ 6.98164015e-01 7.15921883e-01 -4.78174959e-03 5.50147416e+01] [ 6.91194394e-03 -6.15083517e-05 9.99976110e-01 8.42974137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.15, Y:55.03, Z:0.84 [[ 7.15568197e-01 -6.98525054e-01 -4.99052007e-03 1.36150799e+02] [ 6.98508684e-01 7.15585596e-01 -4.78262066e-03 5.50333349e+01] [ 6.91192463e-03 -6.36303660e-05 9.99976110e-01 8.44646885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:55.05, Z:0.85 [[ 7.15751951e-01 -6.98336773e-01 -4.98962803e-03 1.36171362e+02] [ 6.98320392e-01 7.15769340e-01 -4.78355112e-03 5.50506701e+01] [ 6.91195242e-03 -6.05229631e-05 9.99976110e-01 8.46678159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:55.07, Z:0.85 [[ 7.16061444e-01 -6.98019427e-01 -4.98866041e-03 1.36191357e+02] [ 6.98003032e-01 7.16078820e-01 -4.78456002e-03 5.50695000e+01] [ 6.91198990e-03 -5.60611365e-05 9.99976110e-01 8.47851016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:136.21, Y:55.09, Z:0.85 [[ 7.17033960e-01 -6.97020389e-01 -4.98769259e-03 1.36211680e+02] [ 6.97003962e-01 7.17051306e-01 -4.78556872e-03 5.50867477e+01] [ 6.91207045e-03 -4.50262024e-05 9.99976110e-01 8.46837268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:136.23, Y:55.11, Z:0.85 [[ 7.17288625e-01 -6.96758321e-01 -4.98702763e-03 1.36232296e+02] [ 6.96741883e-01 7.17305960e-01 -4.78626157e-03 5.51055457e+01] [ 6.91209222e-03 -4.15400451e-05 9.99976110e-01 8.46923371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.25, Y:55.12, Z:0.85 [[ 7.17769916e-01 -6.96262513e-01 -4.98612979e-03 1.36252056e+02] [ 6.96246056e-01 7.17787233e-01 -4.78719672e-03 5.51238031e+01] [ 6.91212592e-03 -3.54674179e-05 9.99976110e-01 8.47043977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:55.14, Z:0.85 [[ 7.18375579e-01 -6.95637604e-01 -4.98517718e-03 1.36271897e+02] [ 6.95621125e-01 7.18392875e-01 -4.78818852e-03 5.51421618e+01] [ 6.91215976e-03 -2.80768683e-05 9.99976110e-01 8.45709413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:55.16, Z:0.84 [[ 7.18693676e-01 -6.95308964e-01 -4.98452016e-03 1.36292279e+02] [ 6.95292472e-01 7.18710960e-01 -4.78887238e-03 5.51612267e+01] [ 6.91217516e-03 -2.39670467e-05 9.99976110e-01 8.44448946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:55.18, Z:0.85 [[ 7.19206470e-01 -6.94778538e-01 -4.98362620e-03 1.36313074e+02] [ 6.94762028e-01 7.19223736e-01 -4.78980251e-03 5.51804994e+01] [ 6.91219425e-03 -1.75772892e-05 9.99976110e-01 8.45730811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:55.20, Z:0.85 [[ 7.19930186e-01 -6.94028602e-01 -4.98268212e-03 1.36333283e+02] [ 6.94012066e-01 7.19947429e-01 -4.79078442e-03 5.51996950e+01] [ 6.91221059e-03 -9.01119433e-06 9.99976110e-01 8.46655096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:55.22, Z:0.85 [[ 7.22863039e-01 -6.90973378e-01 -4.98174561e-03 1.36351086e+02] [ 6.90956763e-01 7.22880205e-01 -4.79175805e-03 5.52195020e+01] [ 6.91218254e-03 2.16139653e-05 9.99976110e-01 8.46804184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:55.24, Z:0.85 [[ 7.24167697e-01 -6.89605928e-01 -4.98090049e-03 1.36369701e+02] [ 6.89589275e-01 7.24184826e-01 -4.79263637e-03 5.52391129e+01] [ 6.91212301e-03 3.58968844e-05 9.99976110e-01 8.46246249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:55.26, Z:0.85 [[ 7.26567600e-01 -6.87076940e-01 -4.98007594e-03 1.36388805e+02] [ 6.87060221e-01 7.26584665e-01 -4.79349302e-03 5.52589090e+01] [ 6.91194532e-03 6.11846451e-05 9.99976110e-01 8.46015575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:55.28, Z:0.85 [[ 7.27539030e-01 -6.86048225e-01 -4.97925064e-03 1.36407724e+02] [ 6.86031476e-01 7.27556065e-01 -4.79435015e-03 5.52797504e+01] [ 6.91183941e-03 7.21541888e-05 9.99976110e-01 8.48002711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:55.30, Z:0.85 [[ 7.27981494e-01 -6.85578705e-01 -4.97831129e-03 1.36425374e+02] [ 6.85561938e-01 7.27998512e-01 -4.79532535e-03 5.52999725e+01] [ 6.91177615e-03 7.79673773e-05 9.99976110e-01 8.46399116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:55.32, Z:0.85 [[ 7.27934047e-01 -6.85629089e-01 -4.97746914e-03 1.36443320e+02] [ 6.85612318e-01 7.27951060e-01 -4.79619932e-03 5.53200789e+01] [ 6.91176771e-03 7.87026347e-05 9.99976110e-01 8.46534495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:55.34, Z:0.85 [[ 7.27286370e-01 -6.86316084e-01 -4.97681135e-03 1.36463530e+02] [ 6.86299324e-01 7.27303395e-01 -4.79688178e-03 5.53398696e+01] [ 6.91182891e-03 7.31244771e-05 9.99976110e-01 8.50900233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:55.36, Z:0.85 [[ 7.25683001e-01 -6.88011208e-01 -4.97588956e-03 1.36482303e+02] [ 6.87994482e-01 7.25700058e-01 -4.79783778e-03 5.53600439e+01] [ 6.91196951e-03 5.83247521e-05 9.99976110e-01 8.51064437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:55.38, Z:0.85 [[ 7.24625184e-01 -6.89125237e-01 -4.97504983e-03 1.36500480e+02] [ 6.89108530e-01 7.24642261e-01 -4.79870836e-03 5.53797674e+01] [ 6.91204240e-03 4.89156512e-05 9.99976110e-01 8.52169849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:55.40, Z:0.85 [[ 7.23571066e-01 -6.90231969e-01 -4.97408702e-03 1.36519649e+02] [ 6.90215282e-01 7.23588162e-01 -4.79970615e-03 5.54002756e+01] [ 6.91210111e-03 3.97376240e-05 9.99976110e-01 8.54077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:55.42, Z:0.85 [[ 7.21795593e-01 -6.92088426e-01 -4.97316273e-03 1.36538514e+02] [ 6.92071776e-01 7.21812725e-01 -4.80066366e-03 5.54204592e+01] [ 6.91217590e-03 2.33123037e-05 9.99976110e-01 8.54007719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.56, Y:55.44, Z:0.85 [[ 7.21389948e-01 -6.92511241e-01 -4.97221829e-03 1.36557533e+02] [ 6.92494595e-01 7.21407083e-01 -4.80164166e-03 5.54389147e+01] [ 6.91218432e-03 2.06217372e-05 9.99976110e-01 8.52354667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:55.46, Z:0.85 [[ 7.20839148e-01 -6.93084558e-01 -4.97175065e-03 1.36576749e+02] [ 6.93067922e-01 7.20856293e-01 -4.80212581e-03 5.54575168e+01] [ 6.91219699e-03 1.57993849e-05 9.99976110e-01 8.51479867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:55.48, Z:0.85 [[ 7.20889473e-01 -6.93032220e-01 -4.97081343e-03 1.36596797e+02] [ 6.93015576e-01 7.20906611e-01 -4.80309576e-03 5.54775295e+01] [ 6.91219238e-03 1.76500378e-05 9.99976110e-01 8.51707988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:55.50, Z:0.85 [[ 7.21393378e-01 -6.92507685e-01 -4.96991199e-03 1.36615979e+02] [ 6.92491023e-01 7.21410497e-01 -4.80402833e-03 5.54972997e+01] [ 6.91217321e-03 2.39747868e-05 9.99976110e-01 8.52190386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:55.52, Z:0.85 [[ 7.23002939e-01 -6.90827083e-01 -4.96900758e-03 1.36633808e+02] [ 6.90810374e-01 7.23020013e-01 -4.80496361e-03 5.55197491e+01] [ 6.91209092e-03 4.13608328e-05 9.99976110e-01 8.54921299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:136.65, Y:55.54, Z:0.86 [[ 7.24052811e-01 -6.89726645e-01 -4.96807453e-03 1.36651853e+02] [ 6.89709903e-01 7.24069853e-01 -4.80592814e-03 5.55408427e+01] [ 6.91200969e-03 5.32155723e-05 9.99976110e-01 8.55218667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:55.56, Z:0.85 [[ 7.26520192e-01 -6.87127163e-01 -4.96714084e-03 1.36667831e+02] [ 6.87110353e-01 7.26537168e-01 -4.80689296e-03 5.55619220e+01] [ 6.91175916e-03 7.93308967e-05 9.99976110e-01 8.53607615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264000000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:136.69, Y:55.59, Z:0.85 [[ 7.26725862e-01 -6.86909739e-01 -4.95294548e-03 1.36687397e+02] [ 6.86892825e-01 7.26742733e-01 -4.82155532e-03 5.55853692e+01] [ 6.91149044e-03 1.01806233e-04 9.99976110e-01 8.54912720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:55.61, Z:0.86 [[ 7.27046370e-01 -6.86570401e-01 -4.96601251e-03 1.36706649e+02] [ 6.86553570e-01 7.27063324e-01 -4.80805902e-03 5.56064522e+01] [ 6.91167657e-03 8.62482385e-05 9.99976110e-01 8.55018296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:55.63, Z:0.85 [[ 7.27078561e-01 -6.86536317e-01 -4.96506898e-03 1.36723243e+02] [ 6.86519479e-01 7.27095508e-01 -4.80903316e-03 5.56281572e+01] [ 6.91165527e-03 8.79283408e-05 9.99976110e-01 8.54730448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:136.74, Y:55.65, Z:0.85 [[ 7.26739418e-01 -6.86895316e-01 -4.96421921e-03 1.36741274e+02] [ 6.86878480e-01 7.26756368e-01 -4.80991019e-03 5.56494135e+01] [ 6.91168270e-03 8.57359875e-05 9.99976110e-01 8.54090663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:55.67, Z:0.85 [[ 7.25646416e-01 -6.88049886e-01 -4.96326808e-03 1.36757120e+02] [ 6.88033071e-01 7.25663385e-01 -4.81089146e-03 5.56715769e+01] [ 6.91179523e-03 7.61135640e-05 9.99976110e-01 8.51992631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:55.69, Z:0.85 [[ 7.24568159e-01 -6.89185284e-01 -4.96258432e-03 1.36775559e+02] [ 6.89168491e-01 7.24585150e-01 -4.81159667e-03 5.56927157e+01] [ 6.91189652e-03 6.62729969e-05 9.99976110e-01 8.53055805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:136.79, Y:55.71, Z:0.85 [[ 7.23464657e-01 -6.90343589e-01 -4.96164214e-03 1.36794427e+02] [ 6.90326817e-01 7.23481669e-01 -4.81256803e-03 5.57142165e+01] [ 6.91198263e-03 5.65682572e-05 9.99976110e-01 8.53801512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:55.73, Z:0.85 [[ 7.22159108e-01 -6.91709197e-01 -4.96082050e-03 1.36812637e+02] [ 6.91692450e-01 7.22176146e-01 -4.81341483e-03 5.57348616e+01] [ 6.91206954e-03 4.46892765e-05 9.99976110e-01 8.54898166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264000000003 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:136.83, Y:55.76, Z:0.86 [[ 7.19553049e-01 -6.94419764e-01 -4.95997506e-03 1.36829791e+02] [ 6.94403076e-01 7.19570143e-01 -4.81428586e-03 5.57575718e+01] [ 6.91218521e-03 1.99121264e-05 9.99976110e-01 8.56960235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:55.78, Z:0.86 [[ 7.18595938e-01 -6.95410157e-01 -4.95898455e-03 1.36847970e+02] [ 6.95393486e-01 7.18613048e-01 -4.81530593e-03 5.57771590e+01] [ 6.91220365e-03 1.18137302e-05 9.99976110e-01 8.55941173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.87, Y:55.80, Z:0.85 [[ 7.15953042e-01 -6.98130895e-01 -4.94925947e-03 1.36865719e+02] [ 6.98114220e-01 7.15970148e-01 -4.82531649e-03 5.57988866e+01] [ 6.91222456e-03 -4.48393339e-07 9.99976110e-01 8.54726437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:55.82, Z:0.85 [[ 7.14664297e-01 -6.99450046e-01 -4.95740542e-03 1.36885036e+02] [ 6.99433460e-01 7.14681490e-01 -4.81693299e-03 5.58195016e+01] [ 6.91216989e-03 -2.48851953e-05 9.99976110e-01 8.54894795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:55.84, Z:0.86 [[ 7.13481761e-01 -7.00656271e-01 -4.95647781e-03 1.36904204e+02] [ 7.00639707e-01 7.13498976e-01 -4.81788728e-03 5.58400296e+01] [ 6.91212478e-03 -3.52304616e-05 9.99976110e-01 8.55927385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:55.86, Z:0.85 [[ 7.11167362e-01 -7.03005281e-01 -4.95553014e-03 1.36922752e+02] [ 7.02988768e-01 7.11184625e-01 -4.81886183e-03 5.58600332e+01] [ 6.91198216e-03 -5.66647718e-05 9.99976110e-01 8.54924107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:136.94, Y:55.88, Z:0.86 [[ 7.09965768e-01 -7.04218758e-01 -4.95467521e-03 1.36942486e+02] [ 7.04202268e-01 7.09983054e-01 -4.81974069e-03 5.58796393e+01] [ 6.91188724e-03 -6.72426195e-05 9.99976110e-01 8.56980691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:55.90, Z:0.86 [[ 7.08651840e-01 -7.05540948e-01 -4.95380339e-03 1.36961892e+02] [ 7.05524484e-01 7.08669150e-01 -4.82063659e-03 5.58977027e+01] [ 6.91176415e-03 -7.88765869e-05 9.99976110e-01 8.58040727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:55.92, Z:0.86 [[ 7.07202732e-01 -7.06993468e-01 -4.95294424e-03 1.36982003e+02] [ 7.06977033e-01 7.07220070e-01 -4.82151916e-03 5.59157955e+01] [ 6.91160413e-03 -9.18262983e-05 9.99976110e-01 8.57153371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:55.94, Z:0.86 [[ 7.06673845e-01 -7.07522122e-01 -4.95210405e-03 1.37001981e+02] [ 7.07505694e-01 7.06691190e-01 -4.82238196e-03 5.59354024e+01] [ 6.91155022e-03 -9.57906063e-05 9.99976110e-01 8.57304948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:55.95, Z:0.86 [[ 7.06606699e-01 -7.07589188e-01 -4.95120223e-03 1.37022389e+02] [ 7.07572755e-01 7.06624039e-01 -4.82330769e-03 5.59541928e+01] [ 6.91155888e-03 -9.51542777e-05 9.99976110e-01 8.56222318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:55.97, Z:0.85 [[ 7.07131747e-01 -7.07064485e-01 -4.95030470e-03 1.37044706e+02] [ 7.07048033e-01 7.07149069e-01 -4.82422867e-03 5.59721303e+01] [ 6.91164412e-03 -8.87379510e-05 9.99976110e-01 8.54864966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:55.99, Z:0.86 [[ 7.07709574e-01 -7.06486138e-01 -4.94941116e-03 1.37064079e+02] [ 7.06469665e-01 7.07726876e-01 -4.82514523e-03 5.59903137e+01] [ 6.91172951e-03 -8.18073679e-05 9.99976110e-01 8.55429736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:56.01, Z:0.86 [[ 7.09355485e-01 -7.04833532e-01 -4.94857742e-03 1.37083823e+02] [ 7.04817012e-01 7.09372743e-01 -4.82600014e-03 5.60104355e+01] [ 6.91191266e-03 -6.44918876e-05 9.99976110e-01 8.56655288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:56.03, Z:0.86 [[ 7.09221419e-01 -7.04968439e-01 -4.94765616e-03 1.37104071e+02] [ 7.04951917e-01 7.09238673e-01 -4.82694444e-03 5.60304464e+01] [ 6.91191258e-03 -6.44873142e-05 9.99976110e-01 8.56852153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:56.05, Z:0.86 [[ 7.10327399e-01 -7.03854044e-01 -4.94673791e-03 1.37123841e+02] [ 7.03837488e-01 7.10344622e-01 -4.82788529e-03 5.60496187e+01] [ 6.91201526e-03 -5.23203874e-05 9.99976110e-01 8.57896102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:56.07, Z:0.86 [[ 7.11538047e-01 -7.02630163e-01 -4.94581053e-03 1.37143444e+02] [ 7.02613571e-01 7.11555235e-01 -4.82883514e-03 5.60690864e+01] [ 6.91210260e-03 -3.90936755e-05 9.99976110e-01 8.58564309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:56.09, Z:0.86 [[ 7.12806662e-01 -7.01343148e-01 -4.94487509e-03 1.37162624e+02] [ 7.01326518e-01 7.12823813e-01 -4.82979287e-03 5.60882573e+01] [ 6.91216685e-03 -2.52634906e-05 9.99976110e-01 8.58029757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:56.11, Z:0.86 [[ 7.15946360e-01 -6.98137785e-01 -4.94394500e-03 1.37180957e+02] [ 6.98121072e-01 7.15963430e-01 -4.83074475e-03 5.61091372e+01] [ 6.91220926e-03 7.08193389e-06 9.99976110e-01 8.59354409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:137.20, Y:56.13, Z:0.86 [[ 7.17386437e-01 -6.96657927e-01 -4.94300117e-03 1.37200309e+02] [ 6.96641172e-01 7.17403465e-01 -4.83171032e-03 5.61287027e+01] [ 6.91217547e-03 2.27053209e-05 9.99976110e-01 8.60055355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.22, Y:56.15, Z:0.86 [[ 7.18393124e-01 -6.95619789e-01 -4.94258463e-03 1.37218951e+02] [ 6.95603006e-01 7.18410125e-01 -4.83213639e-03 5.61475827e+01] [ 6.91213253e-03 3.32968317e-05 9.99976110e-01 8.59303310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:56.17, Z:0.86 [[ 7.18098573e-01 -6.95923860e-01 -4.94165557e-03 1.37237922e+02] [ 6.95907078e-01 7.18115576e-01 -4.83308631e-03 5.61676257e+01] [ 6.91213992e-03 3.16992934e-05 9.99976110e-01 8.59890893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:56.19, Z:0.86 [[ 7.17341120e-01 -6.96704606e-01 -4.94070919e-03 1.37256712e+02] [ 6.96687835e-01 7.17358134e-01 -4.83405357e-03 5.61872401e+01] [ 6.91216531e-03 2.55334071e-05 9.99976110e-01 8.59032921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:137.28, Y:56.21, Z:0.86 [[ 7.14186467e-01 -6.99938061e-01 -4.93986534e-03 1.37276556e+02] [ 6.99921361e-01 7.14203550e-01 -4.83491574e-03 5.62065260e+01] [ 6.91221091e-03 -4.48588575e-06 9.99976110e-01 8.59655275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:56.22, Z:0.86 [[ 7.11577892e-01 -7.02589860e-01 -4.93893366e-03 1.37297074e+02] [ 7.02573218e-01 7.11595031e-01 -4.83586728e-03 5.62245397e+01] [ 6.91215196e-03 -2.88662715e-05 9.99976110e-01 8.60047121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.32, Y:56.24, Z:0.86 [[ 7.09092930e-01 -7.05097747e-01 -4.93808634e-03 1.37318159e+02] [ 7.05081159e-01 7.09110122e-01 -4.83673236e-03 5.62427870e+01] [ 6.91201609e-03 -5.20589227e-05 9.99976110e-01 8.60522582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:56.26, Z:0.86 [[ 7.04252423e-01 -7.09932496e-01 -4.93715094e-03 1.37339890e+02] [ 7.09916020e-01 7.04269722e-01 -4.83768699e-03 5.62600160e+01] [ 6.91151712e-03 -9.80097567e-05 9.99976110e-01 8.61711979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.36, Y:56.28, Z:0.86 [[ 7.02373336e-01 -7.11791634e-01 -4.93620414e-03 1.37360512e+02] [ 7.11775197e-01 7.02390672e-01 -4.83865287e-03 5.62777975e+01] [ 6.91125638e-03 -1.14926914e-04 9.99976110e-01 8.61153963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.38, Y:56.29, Z:0.86 [[ 7.00044798e-01 -7.14081874e-01 -4.93535752e-03 1.37383414e+02] [ 7.14065487e-01 7.00062182e-01 -4.83951626e-03 5.62931358e+01] [ 6.91086800e-03 -1.36290288e-04 9.99976110e-01 8.59441396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:56.31, Z:0.86 [[ 6.99162560e-01 -7.14945707e-01 -4.93452381e-03 1.37404827e+02] [ 7.14929336e-01 6.99179959e-01 -4.84036619e-03 5.63112292e+01] [ 6.91071918e-03 -1.43633019e-04 9.99976110e-01 8.61515142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:56.33, Z:0.86 [[ 6.98578582e-01 -7.15516335e-01 -4.93358456e-03 1.37425385e+02] [ 7.15499971e-01 6.98595987e-01 -4.84132334e-03 5.63292888e+01] [ 6.91062830e-03 -1.47934815e-04 9.99976110e-01 8.60792166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:56.35, Z:0.86 [[ 6.98556207e-01 -7.15538185e-01 -4.93273993e-03 1.37448393e+02] [ 7.15521816e-01 6.98573607e-01 -4.84218376e-03 5.63451986e+01] [ 6.91064931e-03 -1.46945516e-04 9.99976110e-01 8.61065416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:56.36, Z:0.86 [[ 6.98783952e-01 -7.15315780e-01 -4.93184873e-03 1.37470100e+02] [ 7.15299399e-01 6.98801341e-01 -4.84309130e-03 5.63630117e+01] [ 6.91072214e-03 -1.43473955e-04 9.99976110e-01 8.62643578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:56.38, Z:0.86 [[ 6.99218959e-01 -7.14890575e-01 -4.93091382e-03 1.37491710e+02] [ 7.14874176e-01 6.99236331e-01 -4.84404297e-03 5.63807304e+01] [ 6.91083475e-03 -1.37936279e-04 9.99976110e-01 8.63256057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:56.40, Z:0.86 [[ 7.00519362e-01 -7.13616367e-01 -4.92996932e-03 1.37514429e+02] [ 7.13599930e-01 7.00536698e-01 -4.84500404e-03 5.63957408e+01] [ 6.91109861e-03 -1.24006627e-04 9.99976110e-01 8.62086673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:56.41, Z:0.86 [[ 7.01181570e-01 -7.12965714e-01 -4.92911325e-03 1.37536405e+02] [ 7.12949255e-01 7.01198886e-01 -4.84587481e-03 5.64134206e+01] [ 6.91123131e-03 -1.16369512e-04 9.99976110e-01 8.63724356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:56.43, Z:0.86 [[ 7.03093684e-01 -7.11080154e-01 -4.92817293e-03 1.37559008e+02] [ 7.11063642e-01 7.03110948e-01 -4.84683091e-03 5.64295032e+01] [ 6.91153761e-03 -9.64683889e-05 9.99976110e-01 8.62186025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:56.45, Z:0.87 [[ 7.04279876e-01 -7.09905328e-01 -4.92756116e-03 1.37580197e+02] [ 7.09888783e-01 7.04297109e-01 -4.84745279e-03 5.64475212e+01] [ 6.91169965e-03 -8.40569424e-05 9.99976110e-01 8.65752914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.60, Y:56.47, Z:0.87 [[ 7.05566077e-01 -7.08627010e-01 -4.92661862e-03 1.37601173e+02] [ 7.08610427e-01 7.05583274e-01 -4.84841054e-03 5.64650342e+01] [ 6.91185435e-03 -7.01793198e-05 9.99976110e-01 8.65219450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:56.48, Z:0.86 [[ 7.07217266e-01 -7.06979120e-01 -4.92576015e-03 1.37622304e+02] [ 7.06962490e-01 7.07234418e-01 -4.84928254e-03 5.64819072e+01] [ 6.91200862e-03 -5.28313200e-05 9.99976110e-01 8.64963369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:56.50, Z:0.87 [[ 7.11371703e-01 -7.02798724e-01 -4.92478368e-03 1.37645049e+02] [ 7.02781987e-01 7.11388750e-01 -4.85027402e-03 5.64987922e+01] [ 6.91220209e-03 -1.07015667e-05 9.99976110e-01 8.65993317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:56.52, Z:0.87 [[ 7.13565550e-01 -7.00571168e-01 -4.92385846e-03 1.37664608e+02] [ 7.00554371e-01 7.13582538e-01 -4.85121309e-03 5.65167312e+01] [ 6.91219944e-03 1.22279693e-05 9.99976110e-01 8.65956698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:56.54, Z:0.87 [[ 7.18108209e-01 -6.95914050e-01 -4.92287822e-03 1.37685394e+02] [ 6.95897136e-01 7.18125081e-01 -4.85220761e-03 5.65357861e+01] [ 6.91196177e-03 5.85932626e-05 9.99976110e-01 8.66314795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:56.56, Z:0.87 [[ 7.20171690e-01 -6.93778431e-01 -4.92196511e-03 1.37705592e+02] [ 6.93761461e-01 7.20188505e-01 -4.85313367e-03 5.65550074e+01] [ 6.91174215e-03 8.04197723e-05 9.99976110e-01 8.65925249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:56.57, Z:0.86 [[ 7.21929121e-01 -6.91949512e-01 -4.92104187e-03 1.37725052e+02] [ 6.91932493e-01 7.21945887e-01 -4.85406964e-03 5.65740244e+01] [ 6.91149706e-03 9.92654643e-05 9.99976110e-01 8.64957860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:56.59, Z:0.86 [[ 7.24630354e-01 -6.89120195e-01 -4.92007239e-03 1.37744327e+02] [ 6.89103104e-01 7.24647046e-01 -4.85505211e-03 5.65946083e+01] [ 6.91103038e-03 1.27680974e-04 9.99976110e-01 8.63431799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:56.61, Z:0.86 [[ 7.25401899e-01 -6.88307989e-01 -4.91916040e-03 1.37762702e+02] [ 6.88290873e-01 7.25418565e-01 -4.85597597e-03 5.66139320e+01] [ 6.91085733e-03 1.36720987e-04 9.99976110e-01 8.62340161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:56.63, Z:0.86 [[ 7.26219145e-01 -6.87445681e-01 -4.91819698e-03 1.37781689e+02] [ 6.87428539e-01 7.26235784e-01 -4.85695154e-03 5.66335595e+01] [ 6.91066100e-03 1.46302230e-04 9.99976110e-01 8.62748741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:56.65, Z:0.86 [[ 7.26081518e-01 -6.87591048e-01 -4.91724345e-03 1.37800258e+02] [ 6.87573903e-01 7.26098154e-01 -4.85791671e-03 5.66528432e+01] [ 6.91066143e-03 1.46275267e-04 9.99976110e-01 8.63429281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:56.67, Z:0.86 [[ 7.25731020e-01 -6.87960984e-01 -4.91629760e-03 1.37819553e+02] [ 6.87943841e-01 7.25747658e-01 -4.85887374e-03 5.66727439e+01] [ 6.91070703e-03 1.44098741e-04 9.99976110e-01 8.64031884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:56.69, Z:0.86 [[ 7.24629215e-01 -6.89121426e-01 -4.91540625e-03 1.37838704e+02] [ 6.89104303e-01 7.24645874e-01 -4.85977529e-03 5.66932502e+01] [ 6.91090414e-03 1.34307557e-04 9.99976110e-01 8.64556544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:56.71, Z:0.86 [[ 7.23912218e-01 -6.89874589e-01 -4.91448023e-03 1.37856764e+02] [ 6.89857477e-01 7.23928888e-01 -4.86071155e-03 5.67137749e+01] [ 6.91101559e-03 1.28437546e-04 9.99976110e-01 8.63257196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:56.74, Z:0.86 [[ 7.22190533e-01 -6.91676722e-01 -4.91379837e-03 1.37874402e+02] [ 6.91659647e-01 7.22207241e-01 -4.86140076e-03 5.67362537e+01] [ 6.91129851e-03 1.12181563e-04 9.99976110e-01 8.63649312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:56.76, Z:0.86 [[ 7.21238392e-01 -6.92669507e-01 -4.91284466e-03 1.37893956e+02] [ 6.92652448e-01 7.21255117e-01 -4.86236437e-03 5.67559465e+01] [ 6.91142588e-03 1.04029978e-04 9.99976110e-01 8.63539337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:56.78, Z:0.86 [[ 7.20408457e-01 -6.93532644e-01 -4.91188177e-03 1.37913230e+02] [ 6.93515599e-01 7.20425195e-01 -4.86333687e-03 5.67756416e+01] [ 6.91152627e-03 9.71223823e-05 9.99976110e-01 8.60262650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:56.80, Z:0.86 [[ 7.19705977e-01 -6.94261612e-01 -4.91123604e-03 1.37931453e+02] [ 6.94244579e-01 7.19722728e-01 -4.86398888e-03 5.67957499e+01] [ 6.91160896e-03 9.10428695e-05 9.99976110e-01 8.59092720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:56.82, Z:0.86 [[ 7.19089216e-01 -6.94900416e-01 -4.91027764e-03 1.37949460e+02] [ 6.94883392e-01 7.19105976e-01 -4.86495621e-03 5.68176723e+01] [ 6.91167009e-03 8.62671622e-05 9.99976110e-01 8.59627476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:137.97, Y:56.84, Z:0.86 [[ 7.18734742e-01 -6.95267049e-01 -4.90935817e-03 1.37967574e+02] [ 6.95250027e-01 7.18751503e-01 -4.86588390e-03 5.68376959e+01] [ 6.91169730e-03 8.40484105e-05 9.99976110e-01 8.58922101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:56.86, Z:0.86 [[ 7.18362488e-01 -6.95651666e-01 -4.90868621e-03 1.37985264e+02] [ 6.95634648e-01 7.18379254e-01 -4.86656167e-03 5.68597095e+01] [ 6.91173007e-03 8.13031419e-05 9.99976110e-01 8.62485153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:56.88, Z:0.86 [[ 7.18139954e-01 -6.95881398e-01 -4.90775225e-03 1.38003271e+02] [ 6.95864379e-01 7.18156719e-01 -4.86750336e-03 5.68795069e+01] [ 6.91174029e-03 8.04186641e-05 9.99976110e-01 8.63648662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:56.90, Z:0.87 [[ 7.18031869e-01 -6.95992930e-01 -4.90676406e-03 1.38020913e+02] [ 6.95975907e-01 7.18048630e-01 -4.86849931e-03 5.69015869e+01] [ 6.91173631e-03 8.07480935e-05 9.99976110e-01 8.66254668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:56.92, Z:0.87 [[ 7.17990173e-01 -6.96035951e-01 -4.90582918e-03 1.38038944e+02] [ 6.96018922e-01 7.18006928e-01 -4.86944118e-03 5.69220180e+01] [ 6.91172546e-03 8.16609750e-05 9.99976110e-01 8.65702389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:56.94, Z:0.87 [[ 7.17924946e-01 -6.96103235e-01 -4.90484240e-03 1.38057065e+02] [ 6.96086201e-01 7.17941696e-01 -4.87043493e-03 5.69428053e+01] [ 6.91171638e-03 8.24136261e-05 9.99976110e-01 8.66179888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.08, Y:56.96, Z:0.87 [[ 7.17536192e-01 -6.96503959e-01 -4.90390737e-03 1.38075643e+02] [ 6.96486928e-01 7.17552945e-01 -4.87137620e-03 5.69640530e+01] [ 6.91174598e-03 7.98813404e-05 9.99976110e-01 8.66907280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:56.98, Z:0.87 [[ 7.17027388e-01 -6.97027751e-01 -4.90294301e-03 1.38093935e+02] [ 6.97010726e-01 7.17044146e-01 -4.87234662e-03 5.69838465e+01] [ 6.91178739e-03 7.62020989e-05 9.99976110e-01 8.68230049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:57.00, Z:0.87 [[ 7.16445945e-01 -6.97625385e-01 -4.90207298e-03 1.38113395e+02] [ 6.97608368e-01 7.16462711e-01 -4.87322180e-03 5.70029272e+01] [ 6.91183573e-03 7.16728610e-05 9.99976110e-01 8.67373639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:57.02, Z:0.87 [[ 7.15196875e-01 -6.98905865e-01 -4.90122633e-03 1.38132891e+02] [ 6.98888872e-01 7.15213666e-01 -4.87407317e-03 5.70236347e+01] [ 6.91194237e-03 6.05093576e-05 9.99976110e-01 8.69577942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:57.04, Z:0.87 [[ 7.14707423e-01 -6.99406382e-01 -4.90030527e-03 1.38151533e+02] [ 6.99389394e-01 7.14724220e-01 -4.87499901e-03 5.70444067e+01] [ 6.91197227e-03 5.69764464e-05 9.99976110e-01 8.68958704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:57.06, Z:0.87 [[ 7.14666143e-01 -6.99448569e-01 -4.89938622e-03 1.38169608e+02] [ 6.99431576e-01 7.14682934e-01 -4.87592248e-03 5.70642027e+01] [ 6.91196472e-03 5.78712840e-05 9.99976110e-01 8.68167537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:57.08, Z:0.87 [[ 7.15751615e-01 -6.98337762e-01 -4.89842120e-03 1.38189036e+02] [ 6.98320737e-01 7.15768374e-01 -4.87689175e-03 5.70843518e+01] [ 6.91185265e-03 6.99740467e-05 9.99976110e-01 8.68412056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:57.10, Z:0.87 [[ 7.16593531e-01 -6.97473818e-01 -4.89749080e-03 1.38207688e+02] [ 6.97456765e-01 7.16610262e-01 -4.87782591e-03 5.71041736e+01] [ 6.91174802e-03 7.96304043e-05 9.99976110e-01 8.67454673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:57.12, Z:0.87 [[ 7.17571413e-01 -6.96467723e-01 -4.89668357e-03 1.38226618e+02] [ 6.96450642e-01 7.17588115e-01 -4.87863612e-03 5.71248367e+01] [ 6.91161453e-03 9.04714034e-05 9.99976110e-01 8.68651387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:57.14, Z:0.87 [[ 7.18686023e-01 -6.95317505e-01 -4.89572352e-03 1.38244692e+02] [ 6.95300390e-01 7.18702690e-01 -4.87959934e-03 5.71445702e+01] [ 6.91144051e-03 1.02901372e-04 9.99976110e-01 8.66529377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:57.17, Z:0.87 [[ 7.20711117e-01 -6.93218237e-01 -4.89506015e-03 1.38261683e+02] [ 6.93201069e-01 7.20727730e-01 -4.88026473e-03 5.71666776e+01] [ 6.91109410e-03 1.24000120e-04 9.99976110e-01 8.68556053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.28, Y:57.19, Z:0.87 [[ 7.22630387e-01 -6.91217312e-01 -4.89409477e-03 1.38277251e+02] [ 6.91200091e-01 7.22646945e-01 -4.88123265e-03 5.71902002e+01] [ 6.91069515e-03 1.44528291e-04 9.99976110e-01 8.69603408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:57.21, Z:0.87 [[ 7.23249439e-01 -6.90569549e-01 -4.89365842e-03 1.38294890e+02] [ 6.90552311e-01 7.23265978e-01 -4.88167008e-03 5.72104652e+01] [ 6.91054934e-03 1.51338016e-04 9.99976110e-01 8.70326744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:57.23, Z:0.87 [[ 7.23464375e-01 -6.90344378e-01 -4.89267542e-03 1.38313271e+02] [ 6.90327128e-01 7.23480902e-01 -4.88265509e-03 5.72305036e+01] [ 6.91047072e-03 1.54880439e-04 9.99976110e-01 8.69813839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:57.25, Z:0.87 [[ 7.23335885e-01 -6.90479012e-01 -4.89200418e-03 1.38333277e+02] [ 6.90461761e-01 7.23352411e-01 -4.88332752e-03 5.72507596e+01] [ 6.91047818e-03 1.54544208e-04 9.99976110e-01 8.70010684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:57.27, Z:0.87 [[ 7.22878167e-01 -6.90958199e-01 -4.89109517e-03 1.38351656e+02] [ 6.90940953e-01 7.22894698e-01 -4.88423781e-03 5.72712986e+01] [ 6.91055093e-03 1.51250917e-04 9.99976110e-01 8.71531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:57.29, Z:0.87 [[ 7.20938544e-01 -6.92981748e-01 -4.89013821e-03 1.38368402e+02] [ 6.92964541e-01 7.20955116e-01 -4.88519573e-03 5.72933879e+01] [ 6.91092164e-03 1.33233515e-04 9.99976110e-01 8.70213442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:57.31, Z:0.87 [[ 7.19326481e-01 -6.94654956e-01 -4.88927403e-03 1.38385939e+02] [ 6.94637782e-01 7.19343088e-01 -4.88606049e-03 5.73134071e+01] [ 6.91119161e-03 1.18398228e-04 9.99976110e-01 8.67306698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:57.34, Z:0.87 [[ 7.15057732e-01 -6.99048313e-01 -4.88846316e-03 1.38403755e+02] [ 6.99031235e-01 7.15074437e-01 -4.88687162e-03 5.73353884e+01] [ 6.91177440e-03 7.72068900e-05 9.99976110e-01 8.67986943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:57.36, Z:0.87 [[ 7.12463537e-01 -7.01692112e-01 -4.88755365e-03 1.38422668e+02] [ 7.01675090e-01 7.12480300e-01 -4.88778109e-03 5.73565550e+01] [ 6.91200312e-03 5.28911534e-05 9.99976110e-01 8.69419348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:138.44, Y:57.38, Z:0.87 [[ 7.06821336e-01 -7.07375233e-01 -4.88661359e-03 1.38441652e+02] [ 7.07358339e-01 7.06838228e-01 -4.88872074e-03 5.73759418e+01] [ 6.91220526e-03 -1.13474535e-06 9.99976110e-01 8.67964861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:57.39, Z:0.87 [[ 7.03698692e-01 -7.10481724e-01 -4.88576511e-03 1.38461983e+02] [ 7.10464899e-01 7.03715652e-01 -4.88956856e-03 5.73949623e+01] [ 6.91213848e-03 -3.03816183e-05 9.99976110e-01 8.70639037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:57.41, Z:0.87 [[ 7.00694430e-01 -7.13444780e-01 -4.88481655e-03 1.38481892e+02] [ 7.13428020e-01 7.00711454e-01 -4.89051602e-03 5.74129762e+01] [ 6.91196003e-03 -5.82076631e-05 9.99976110e-01 8.70893754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:138.50, Y:57.43, Z:0.87 [[ 6.97881381e-01 -7.16196708e-01 -4.88396654e-03 1.38502267e+02] [ 7.16180010e-01 6.97898465e-01 -4.89136475e-03 5.74319158e+01] [ 6.91169208e-03 -8.42068211e-05 9.99976110e-01 8.72180083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:57.45, Z:0.87 [[ 6.93678007e-01 -7.20268686e-01 -4.88302286e-03 1.38525068e+02] [ 7.20252081e-01 6.93695182e-01 -4.89230663e-03 5.74480352e+01] [ 6.91110470e-03 -1.23321860e-04 9.99976110e-01 8.72772663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:57.47, Z:0.87 [[ 6.92532909e-01 -7.21369763e-01 -4.88217298e-03 1.38545992e+02] [ 7.21353179e-01 6.92550105e-01 -4.89315461e-03 5.74652178e+01] [ 6.91092318e-03 -1.33100406e-04 9.99976110e-01 8.72928554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:57.48, Z:0.87 [[ 6.92485516e-01 -7.21415265e-01 -4.88120760e-03 1.38568607e+02] [ 7.21398676e-01 6.92502706e-01 -4.89411744e-03 5.74828145e+01] [ 6.91094050e-03 -1.32191260e-04 9.99976110e-01 8.74333835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:57.50, Z:0.88 [[ 6.93520653e-01 -7.20420215e-01 -4.88027318e-03 1.38589321e+02] [ 7.20403595e-01 6.93537813e-01 -4.89504904e-03 5.75019145e+01] [ 6.91114627e-03 -1.20948741e-04 9.99976110e-01 8.75103770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:57.52, Z:0.87 [[ 6.95132173e-01 -7.18865393e-01 -4.87931500e-03 1.38609826e+02] [ 7.18848728e-01 6.95149290e-01 -4.89600395e-03 5.75196551e+01] [ 6.91142016e-03 -1.04119518e-04 9.99976110e-01 8.73880635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:57.54, Z:0.87 [[ 6.99612386e-01 -7.14505920e-01 -4.87846024e-03 1.38631694e+02] [ 7.14489142e-01 6.99629393e-01 -4.89685550e-03 5.75361872e+01] [ 6.91194642e-03 -5.97061087e-05 9.99976110e-01 8.74217669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:57.56, Z:0.87 [[ 7.02312101e-01 -7.11852458e-01 -4.87748391e-03 1.38650983e+02] [ 7.11835609e-01 7.02329037e-01 -4.89782777e-03 5.75550019e+01] [ 6.91212932e-03 -3.21630139e-05 9.99976110e-01 8.73659693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:57.57, Z:0.88 [[ 7.05044883e-01 -7.09145917e-01 -4.87652389e-03 1.38670351e+02] [ 7.09128997e-01 7.05061748e-01 -4.89878343e-03 5.75747915e+01] [ 6.91220273e-03 -4.22230322e-06 9.99976110e-01 8.76187270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:57.59, Z:0.88 [[ 7.10632755e-01 -7.03546243e-01 -4.87557418e-03 1.38690401e+02] [ 7.03529183e-01 7.10649478e-01 -4.89972846e-03 5.75940536e+01] [ 6.91200980e-03 5.17988083e-05 9.99976110e-01 8.76677887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:57.61, Z:0.88 [[ 7.13169681e-01 -7.00974496e-01 -4.87462589e-03 1.38709214e+02] [ 7.00957369e-01 7.13186336e-01 -4.90067171e-03 5.76136940e+01] [ 6.91176246e-03 7.81055429e-05 9.99976110e-01 8.75084946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.73, Y:57.64, Z:0.87 [[ 7.17981383e-01 -6.96045242e-01 -4.87377765e-03 1.38727011e+02] [ 6.96027996e-01 7.17997914e-01 -4.90151515e-03 5.76363572e+01] [ 6.91103849e-03 1.26910944e-04 9.99976110e-01 8.73911751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:57.66, Z:0.87 [[ 7.20045968e-01 -6.93909258e-01 -4.87289809e-03 1.38746043e+02] [ 6.93891957e-01 7.20062441e-01 -4.90238942e-03 5.76575410e+01] [ 6.91060430e-03 1.48680949e-04 9.99976110e-01 8.74123326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:57.68, Z:0.87 [[ 7.21803524e-01 -6.92080875e-01 -4.87193000e-03 1.38764397e+02] [ 6.92063525e-01 7.21819946e-01 -4.90335131e-03 5.76780393e+01] [ 6.91017191e-03 1.67571204e-04 9.99976110e-01 8.72169592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:57.70, Z:0.87 [[ 7.23032648e-01 -6.90796686e-01 -4.87106774e-03 1.38783190e+02] [ 6.90779302e-01 7.23049034e-01 -4.90420774e-03 5.76991403e+01] [ 6.90983128e-03 1.81069543e-04 9.99976110e-01 8.74353450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:57.72, Z:0.87 [[ 7.24136512e-01 -6.89639467e-01 -4.87009929e-03 1.38799703e+02] [ 6.89622049e-01 7.24152862e-01 -4.90516927e-03 5.77213308e+01] [ 6.90949466e-03 1.93484313e-04 9.99976110e-01 8.71904452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:57.74, Z:0.87 [[ 7.23594664e-01 -6.90207978e-01 -4.86927073e-03 1.38818049e+02] [ 6.90190568e-01 7.23611022e-01 -4.90599162e-03 5.77421518e+01] [ 6.90961253e-03 1.89224623e-04 9.99976110e-01 8.71649123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:57.76, Z:0.87 [[ 7.20947855e-01 -6.92972214e-01 -4.86833544e-03 1.38835183e+02] [ 6.92954860e-01 7.20964274e-01 -4.90691955e-03 5.77628328e+01] [ 6.91025483e-03 1.64096422e-04 9.99976110e-01 8.69649924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.85, Y:57.78, Z:0.87 [[ 7.18973597e-01 -6.95020340e-01 -4.86756472e-03 1.38853689e+02] [ 6.95003028e-01 7.18990059e-01 -4.90768398e-03 5.77836325e+01] [ 6.91067084e-03 1.45522983e-04 9.99976110e-01 8.71308111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:57.81, Z:0.87 [[ 7.14510411e-01 -6.99607882e-01 -4.86663233e-03 1.38870597e+02] [ 6.99590670e-01 7.14526977e-01 -4.90860840e-03 5.78054203e+01] [ 6.91144121e-03 1.02601235e-04 9.99976110e-01 8.73906350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.89, Y:57.83, Z:0.87 [[ 7.12164093e-01 -7.01996171e-01 -4.86616764e-03 1.38889650e+02] [ 7.01979011e-01 7.12180714e-01 -4.90906902e-03 5.78264218e+01] [ 6.91173840e-03 8.01151418e-05 9.99976110e-01 8.73794179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.91, Y:57.85, Z:0.87 [[ 7.09985040e-01 -7.04199952e-01 -4.86522364e-03 1.38908720e+02] [ 7.04182837e-01 7.10001707e-01 -4.91000441e-03 5.78464965e+01] [ 6.91194196e-03 6.00226870e-05 9.99976110e-01 8.73658214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:57.87, Z:0.87 [[ 7.08031350e-01 -7.06164248e-01 -4.86428534e-03 1.38927135e+02] [ 7.06147173e-01 7.08048058e-01 -4.91093380e-03 5.78659329e+01] [ 6.91207367e-03 4.21937501e-05 9.99976110e-01 8.73428205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:57.89, Z:0.88 [[ 7.04788423e-01 -7.09400893e-01 -4.86329304e-03 1.38946415e+02] [ 7.09383888e-01 7.04805202e-01 -4.91191628e-03 5.78865771e+01] [ 6.91219203e-03 1.19200118e-05 9.99976110e-01 8.75826204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:57.91, Z:0.88 [[ 7.03495739e-01 -7.10682843e-01 -4.86235817e-03 1.38965995e+02] [ 7.10665862e-01 7.03512542e-01 -4.91284154e-03 5.79071829e+01] [ 6.91220215e-03 6.51132457e-07 9.99976110e-01 8.75178714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:57.93, Z:0.87 [[ 7.02541259e-01 -7.11626409e-01 -4.86140789e-03 1.38985104e+02] [ 7.11609444e-01 7.02558079e-01 -4.91378169e-03 5.79267783e+01] [ 6.91219821e-03 -7.28938754e-06 9.99976110e-01 8.72977974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:57.95, Z:0.87 [[ 7.01192341e-01 -7.12955592e-01 -4.86060839e-03 1.39003863e+02] [ 7.12938653e-01 7.01209187e-01 -4.91457241e-03 5.79471055e+01] [ 6.91217514e-03 -1.92550690e-05 9.99976110e-01 8.73325271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:57.97, Z:0.87 [[ 7.00777909e-01 -7.13362955e-01 -4.85966600e-03 1.39022164e+02] [ 7.13346020e-01 7.00794759e-01 -4.91550410e-03 5.79668128e+01] [ 6.91216699e-03 -2.19467118e-05 9.99976110e-01 8.71835612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.04, Y:57.99, Z:0.87 [[ 7.00448160e-01 -7.13686743e-01 -4.85882637e-03 1.39041186e+02] [ 7.13669810e-01 7.00465011e-01 -4.91633391e-03 5.79866519e+01] [ 6.91216020e-03 -2.39606524e-05 9.99976110e-01 8.72667574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:139.06, Y:58.01, Z:0.87 [[ 7.00254154e-01 -7.13877105e-01 -4.85786672e-03 1.39059923e+02] [ 7.13860169e-01 7.00271004e-01 -4.91728197e-03 5.80064422e+01] [ 6.91215821e-03 -2.44904318e-05 9.99976110e-01 8.73535644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.08, Y:58.03, Z:0.87 [[ 7.00036515e-01 -7.14090532e-01 -4.85699161e-03 1.39079003e+02] [ 7.14073595e-01 7.00053364e-01 -4.91814619e-03 5.80266108e+01] [ 6.91215494e-03 -2.53675479e-05 9.99976110e-01 8.74067825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:58.05, Z:0.87 [[ 6.99389153e-01 -7.14724584e-01 -4.85604031e-03 1.39099259e+02] [ 7.14707657e-01 6.99406011e-01 -4.91908530e-03 5.80453503e+01] [ 6.91213498e-03 -3.02942935e-05 9.99976110e-01 8.73418103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:58.06, Z:0.88 [[ 6.98881611e-01 -7.15220890e-01 -4.85519364e-03 1.39119979e+02] [ 7.15203969e-01 6.98898474e-01 -4.91992083e-03 5.80647598e+01] [ 6.91211758e-03 -3.40115623e-05 9.99976110e-01 8.75965752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:58.08, Z:0.88 [[ 6.98320596e-01 -7.15768665e-01 -4.85423474e-03 1.39139262e+02] [ 7.15751750e-01 6.98337466e-01 -4.92086674e-03 5.80836899e+01] [ 6.91209621e-03 -3.80844187e-05 9.99976110e-01 8.76028285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:58.10, Z:0.87 [[ 6.97699356e-01 -7.16374239e-01 -4.85358146e-03 1.39158973e+02] [ 7.16357335e-01 6.97716237e-01 -4.92151101e-03 5.81027312e+01] [ 6.91206630e-03 -4.31636155e-05 9.99976110e-01 8.74769094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.18, Y:58.12, Z:0.88 [[ 6.97354603e-01 -7.16709850e-01 -4.85272854e-03 1.39178960e+02] [ 7.16692948e-01 6.97371485e-01 -4.92235187e-03 5.81216930e+01] [ 6.91205258e-03 -4.52915919e-05 9.99976110e-01 8.76427341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:58.14, Z:0.88 [[ 6.97243622e-01 -7.16817823e-01 -4.85176321e-03 1.39198217e+02] [ 7.16800917e-01 6.97260501e-01 -4.92330317e-03 5.81406395e+01] [ 6.91205431e-03 -4.50065886e-05 9.99976110e-01 8.77252832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:58.16, Z:0.88 [[ 6.98042271e-01 -7.16040120e-01 -4.85112343e-03 1.39217483e+02] [ 7.16023191e-01 6.98059127e-01 -4.92393348e-03 5.81613150e+01] [ 6.91210491e-03 -3.64031689e-05 9.99976110e-01 8.79231568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:58.18, Z:0.88 [[ 6.98698972e-01 -7.15399344e-01 -4.85024893e-03 1.39236550e+02] [ 7.15382393e-01 6.98715806e-01 -4.92479475e-03 5.81797311e+01] [ 6.91214052e-03 -2.88336554e-05 9.99976110e-01 8.78435991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:139.26, Y:58.20, Z:0.88 [[ 6.99326698e-01 -7.14785739e-01 -4.84937795e-03 1.39256461e+02] [ 7.14768768e-01 6.99343511e-01 -4.92565224e-03 5.81977944e+01] [ 6.91216698e-03 -2.15437883e-05 9.99976110e-01 8.76757457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:58.22, Z:0.88 [[ 7.00161312e-01 -7.13968228e-01 -4.84839959e-03 1.39276513e+02] [ 7.13951230e-01 7.00178099e-01 -4.92661507e-03 5.82177623e+01] [ 6.91218984e-03 -1.20955842e-05 9.99976110e-01 8.78768187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:58.24, Z:0.88 [[ 7.00413172e-01 -7.13721157e-01 -4.84746386e-03 1.39295937e+02] [ 7.13704147e-01 7.00429946e-01 -4.92753560e-03 5.82384102e+01] [ 6.91219526e-03 -8.34421842e-06 9.99976110e-01 8.79396940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:139.32, Y:58.26, Z:0.88 [[ 7.00622327e-01 -7.13515849e-01 -4.84650664e-03 1.39315303e+02] [ 7.13498828e-01 7.00639089e-01 -4.92847689e-03 5.82574717e+01] [ 6.91219837e-03 -4.97585798e-06 9.99976110e-01 8.75973930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:139.34, Y:58.28, Z:0.88 [[ 7.00731991e-01 -7.13408155e-01 -4.84575752e-03 1.39335425e+02] [ 7.13391126e-01 7.00748746e-01 -4.92921333e-03 5.82766299e+01] [ 6.91219949e-03 -2.86293632e-06 9.99976110e-01 8.76860334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:139.35, Y:58.30, Z:0.88 [[ 7.00546219e-01 -7.13590585e-01 -4.84480615e-03 1.39354555e+02] [ 7.13573554e-01 7.00562972e-01 -4.93014823e-03 5.82956593e+01] [ 6.91219915e-03 -3.32884169e-06 9.99976110e-01 8.75947837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.38, Y:58.31, Z:0.88 [[ 6.99541844e-01 -7.14575219e-01 -4.84395534e-03 1.39376206e+02] [ 7.14558206e-01 6.99558615e-01 -4.93098402e-03 5.83139800e+01] [ 6.91218968e-03 -1.18583805e-05 9.99976110e-01 8.76910728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264000000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:139.40, Y:58.33, Z:0.88 [[ 6.98873851e-01 -7.15228555e-01 -4.84298799e-03 1.39396244e+02] [ 7.15211550e-01 6.98890631e-01 -4.93193393e-03 5.83321649e+01] [ 6.91217891e-03 -1.69612901e-05 9.99976110e-01 8.76250849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:58.35, Z:0.88 [[ 6.97844239e-01 -7.16233182e-01 -4.84212937e-03 1.39415364e+02] [ 7.16216196e-01 6.97861038e-01 -4.93277677e-03 5.83505255e+01] [ 6.91215183e-03 -2.57016219e-05 9.99976110e-01 8.76569879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:58.37, Z:0.88 [[ 6.96160434e-01 -7.17869911e-01 -4.84149743e-03 1.39435950e+02] [ 7.17852961e-01 6.96177268e-01 -4.93339694e-03 5.83695950e+01] [ 6.91207768e-03 -4.10475127e-05 9.99976110e-01 8.79292882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.46, Y:58.39, Z:0.88 [[ 6.95375107e-01 -7.18630663e-01 -4.84054310e-03 1.39456353e+02] [ 7.18613724e-01 6.95391952e-01 -4.93433313e-03 5.83881900e+01] [ 6.91203781e-03 -4.72682747e-05 9.99976110e-01 8.80008718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:58.41, Z:0.88 [[ 6.94696397e-01 -7.19286796e-01 -4.83958245e-03 1.39476021e+02] [ 7.19269866e-01 6.94713252e-01 -4.93527515e-03 5.84059812e+01] [ 6.91200031e-03 -5.24479590e-05 9.99976110e-01 8.80859429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:58.42, Z:0.88 [[ 6.94271303e-01 -7.19697119e-01 -4.83880607e-03 1.39497374e+02] [ 7.19680194e-01 6.94288163e-01 -4.93603625e-03 5.84229328e+01] [ 6.91197684e-03 -5.54445718e-05 9.99976110e-01 8.82637062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.52, Y:58.44, Z:0.88 [[ 6.94586159e-01 -7.19393260e-01 -4.83781123e-03 1.39517825e+02] [ 7.19376321e-01 6.94603005e-01 -4.93701109e-03 5.84424771e+01] [ 6.91201072e-03 -5.10272705e-05 9.99976110e-01 8.83509107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:58.46, Z:0.88 [[ 6.96144018e-01 -7.17885862e-01 -4.83686689e-03 1.39537159e+02] [ 7.17868880e-01 6.96160820e-01 -4.93793610e-03 5.84605850e+01] [ 6.91211174e-03 -3.47215472e-05 9.99976110e-01 8.84191888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:58.48, Z:0.88 [[ 6.97286958e-01 -7.16775773e-01 -4.83624483e-03 1.39556487e+02] [ 7.16758760e-01 6.97303729e-01 -4.93854528e-03 5.84793682e+01] [ 6.91216116e-03 -2.28376311e-05 9.99976110e-01 8.83730168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:58.50, Z:0.88 [[ 6.97153430e-01 -7.16905653e-01 -4.83526178e-03 1.39576265e+02] [ 7.16888636e-01 6.97170198e-01 -4.93950758e-03 5.84998509e+01] [ 6.91216132e-03 -2.27495704e-05 9.99976110e-01 8.83927040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:58.52, Z:0.88 [[ 6.98650379e-01 -7.15446907e-01 -4.83434150e-03 1.39595960e+02] [ 7.15429849e-01 6.98667105e-01 -4.94040811e-03 5.85200915e+01] [ 6.91219508e-03 -7.01420845e-06 9.99976110e-01 8.83725425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:58.54, Z:0.88 [[ 7.02746749e-01 -7.11423674e-01 -4.83341378e-03 1.39614547e+02] [ 7.11406515e-01 7.02763370e-01 -4.94131557e-03 5.85415950e+01] [ 6.91211503e-03 3.39714024e-05 9.99976110e-01 8.84243317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:58.56, Z:0.89 [[ 7.04918077e-01 -7.09272269e-01 -4.83246879e-03 1.39633710e+02] [ 7.09255052e-01 7.04934639e-01 -4.94223957e-03 5.85621254e+01] [ 6.91196811e-03 5.64211111e-05 9.99976110e-01 8.85346549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:58.58, Z:0.89 [[ 7.07021756e-01 -7.07175292e-01 -4.83150080e-03 1.39652343e+02] [ 7.07158019e-01 7.07038260e-01 -4.94318568e-03 5.85831139e+01] [ 6.91175470e-03 7.83052820e-05 9.99976110e-01 8.85384500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:58.61, Z:0.88 [[ 7.10956069e-01 -7.03219834e-01 -4.83053575e-03 1.39668635e+02] [ 7.03202463e-01 7.10972469e-01 -4.94412857e-03 5.86055869e+01] [ 6.91118719e-03 1.18213575e-04 9.99976110e-01 8.84673275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.69, Y:58.63, Z:0.88 [[ 7.12125342e-01 -7.02035734e-01 -4.82957173e-03 1.39686454e+02] [ 7.02018330e-01 7.12141707e-01 -4.94507006e-03 5.86267576e+01] [ 6.91095535e-03 1.31061828e-04 9.99976110e-01 8.84588863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:58.65, Z:0.88 [[ 7.13109065e-01 -7.01036479e-01 -4.82860631e-03 1.39702022e+02] [ 7.01019046e-01 7.13125399e-01 -4.94601257e-03 5.86490838e+01] [ 6.91073704e-03 1.42101416e-04 9.99976110e-01 8.84947468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:58.67, Z:0.89 [[ 7.12695879e-01 -7.01456540e-01 -4.82774796e-03 1.39718988e+02] [ 7.01439110e-01 7.12712216e-01 -4.94685025e-03 5.86710034e+01] [ 6.91079541e-03 1.39228550e-04 9.99976110e-01 8.86154072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:58.69, Z:0.89 [[ 7.11602720e-01 -7.02565492e-01 -4.82677635e-03 1.39737104e+02] [ 7.02548082e-01 7.11619078e-01 -4.94779810e-03 5.86928429e+01] [ 6.91097834e-03 1.29824120e-04 9.99976110e-01 8.86087635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:58.71, Z:0.89 [[ 7.07540454e-01 -7.06656365e-01 -4.82580529e-03 1.39754714e+02] [ 7.06639043e-01 7.07556905e-01 -4.94874503e-03 5.87129764e+01] [ 6.91159403e-03 9.13348733e-05 9.99976110e-01 8.85135420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.77, Y:58.73, Z:0.89 [[ 7.05056608e-01 -7.09134613e-01 -4.82493567e-03 1.39773666e+02] [ 7.09117343e-01 7.05073114e-01 -4.94959276e-03 5.87339413e+01] [ 6.91185996e-03 6.82975218e-05 9.99976110e-01 8.87104803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85264000000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.79, Y:58.75, Z:0.89 [[ 7.02454362e-01 -7.11712441e-01 -4.82393016e-03 1.39791266e+02] [ 7.11695225e-01 7.02470924e-01 -4.95057254e-03 5.87547233e+01] [ 6.91205475e-03 4.43832137e-05 9.99976110e-01 8.86516016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:58.78, Z:0.89 [[ 6.99549610e-01 -7.14567757e-01 -4.82324418e-03 1.39809607e+02] [ 7.14550603e-01 6.99566237e-01 -4.95124078e-03 5.87757554e+01] [ 6.91217581e-03 1.71865182e-05 9.99976110e-01 8.85938579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:58.80, Z:0.89 [[ 6.94067944e-01 -7.19893350e-01 -4.82226250e-03 1.39828576e+02] [ 7.19876317e-01 6.94084695e-01 -4.95219671e-03 5.87962824e+01] [ 6.91211208e-03 -3.42715812e-05 9.99976110e-01 8.86125320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:139.85, Y:58.82, Z:0.88 [[ 6.91535373e-01 -7.22326508e-01 -4.82128012e-03 1.39847075e+02] [ 7.22309527e-01 6.91552177e-01 -4.95315294e-03 5.88156500e+01] [ 6.91196042e-03 -5.71760991e-05 9.99976110e-01 8.84797735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:58.84, Z:0.89 [[ 6.85873552e-01 -7.27704771e-01 -4.82040499e-03 1.39866516e+02] [ 7.27687917e-01 6.85890482e-01 -4.95400446e-03 5.88353272e+01] [ 6.91132259e-03 -1.09929827e-04 9.99976110e-01 8.85287461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.89, Y:58.85, Z:0.89 [[ 6.83257294e-01 -7.30161792e-01 -4.81943454e-03 1.39885725e+02] [ 7.30144992e-01 6.83274278e-01 -4.95494838e-03 5.88540186e+01] [ 6.91090964e-03 -1.33381367e-04 9.99976110e-01 8.85949671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.90, Y:58.87, Z:0.89 [[ 6.80735267e-01 -7.32513671e-01 -4.81856467e-03 1.39904615e+02] [ 7.32496923e-01 6.80752303e-01 -4.95579415e-03 5.88732056e+01] [ 6.91043596e-03 -1.55999944e-04 9.99976110e-01 8.85457519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:58.89, Z:0.89 [[ 6.76418956e-01 -7.36501314e-01 -4.81769135e-03 1.39924884e+02] [ 7.36484661e-01 6.76436084e-01 -4.95664299e-03 5.88924641e+01] [ 6.90943435e-03 -1.95388508e-04 9.99976110e-01 8.87554642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:58.91, Z:0.89 [[ 6.74563857e-01 -7.38200787e-01 -4.81674906e-03 1.39944502e+02] [ 7.38184170e-01 6.74581021e-01 -4.95755852e-03 5.89103348e+01] [ 6.90896110e-03 -2.11458111e-04 9.99976110e-01 8.88453424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.97, Y:58.93, Z:0.89 [[ 6.73319684e-01 -7.39335791e-01 -4.81575439e-03 1.39965855e+02] [ 7.39319196e-01 6.73336869e-01 -4.95852455e-03 5.89287566e+01] [ 6.90863965e-03 -2.21707485e-04 9.99976110e-01 8.90907779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:139.99, Y:58.95, Z:0.89 [[ 6.71558212e-01 -7.40936155e-01 -4.81479930e-03 1.39988749e+02] [ 7.40919594e-01 6.71575430e-01 -4.95945179e-03 5.89461377e+01] [ 6.90813805e-03 -2.36818563e-04 9.99976110e-01 8.91796437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:140.01, Y:58.96, Z:0.89 [[ 6.70904862e-01 -7.41527810e-01 -4.81384838e-03 1.40010137e+02] [ 7.41511258e-01 6.70922089e-01 -4.96037461e-03 5.89643970e+01] [ 6.90797293e-03 -2.41583323e-04 9.99976110e-01 8.90949107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:58.98, Z:0.89 [[ 6.70283049e-01 -7.42089934e-01 -4.81290077e-03 1.40031642e+02] [ 7.42073390e-01 6.70300283e-01 -4.96129388e-03 5.89825189e+01] [ 6.90781500e-03 -2.46054404e-04 9.99976110e-01 8.90664137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:59.00, Z:0.89 [[ 6.70381421e-01 -7.42001075e-01 -4.81194441e-03 1.40054729e+02] [ 7.41984522e-01 6.70398647e-01 -4.96222127e-03 5.89994223e+01] [ 6.90789454e-03 -2.43807327e-04 9.99976110e-01 8.90781050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:59.02, Z:0.89 [[ 6.71000330e-01 -7.41441442e-01 -4.81098241e-03 1.40075166e+02] [ 7.41424868e-01 6.71017535e-01 -4.96315378e-03 5.90172717e+01] [ 6.90814146e-03 -2.36704177e-04 9.99976110e-01 8.89345955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:59.03, Z:0.89 [[ 6.73033043e-01 -7.39596771e-01 -4.81027737e-03 1.40097841e+02] [ 7.39580145e-01 6.73050198e-01 -4.96383701e-03 5.90330552e+01] [ 6.90879596e-03 -2.16759305e-04 9.99976110e-01 8.87943059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:140.12, Y:59.05, Z:0.89 [[ 6.74514829e-01 -7.38245634e-01 -4.80932273e-03 1.40119570e+02] [ 7.38228967e-01 6.74531944e-01 -4.96476176e-03 5.90507260e+01] [ 6.90925551e-03 -2.01575919e-04 9.99976110e-01 8.90372373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:59.07, Z:0.89 [[ 6.76144277e-01 -7.36753552e-01 -4.80835032e-03 1.40140564e+02] [ 7.36736840e-01 6.76161349e-01 -4.96570336e-03 5.90679334e+01] [ 6.90972023e-03 -1.84956917e-04 9.99976110e-01 8.88941891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.16, Y:59.09, Z:0.89 [[ 6.78228305e-01 -7.34835528e-01 -4.80763969e-03 1.40162428e+02] [ 7.34818763e-01 6.78245324e-01 -4.96639127e-03 5.90856170e+01] [ 6.91023990e-03 -1.64396717e-04 9.99976110e-01 8.92021396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:59.10, Z:0.89 [[ 6.82815035e-01 -7.30575475e-01 -4.80667362e-03 1.40185326e+02] [ 7.30558597e-01 6.82831942e-01 -4.96732610e-03 5.91008505e+01] [ 6.91115691e-03 -1.19791796e-04 9.99976110e-01 8.91747697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:59.12, Z:0.89 [[ 6.85218279e-01 -7.28321918e-01 -4.80565136e-03 1.40206455e+02] [ 7.28304978e-01 6.85235123e-01 -4.96831489e-03 5.91194882e+01] [ 6.91153374e-03 -9.55996344e-05 9.99976110e-01 8.94169068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:59.14, Z:0.89 [[ 6.87751995e-01 -7.25929823e-01 -4.80468744e-03 1.40227241e+02] [ 7.25912819e-01 6.87768774e-01 -4.96924689e-03 5.91385259e+01] [ 6.91183851e-03 -7.01747389e-05 9.99976110e-01 8.94805532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:59.16, Z:0.90 [[ 6.92214281e-01 -7.21676045e-01 -4.80372528e-03 1.40248458e+02] [ 7.21658930e-01 6.92230948e-01 -4.97017683e-03 5.91562577e+01] [ 6.91214486e-03 -2.62238694e-05 9.99976110e-01 8.95452227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:59.17, Z:0.89 [[ 6.94064629e-01 -7.19896676e-01 -4.80275782e-03 1.40269377e+02] [ 7.19879513e-01 6.94081245e-01 -4.97111153e-03 5.91741712e+01] [ 6.91219079e-03 -7.13428088e-06 9.99976110e-01 8.93389560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:59.19, Z:0.89 [[ 6.97085191e-01 -7.16972230e-01 -4.80173979e-03 1.40292291e+02] [ 7.16954990e-01 6.97101729e-01 -4.97209468e-03 5.91907359e+01] [ 6.91215492e-03 2.33422666e-05 9.99976111e-01 8.93576341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:59.21, Z:0.89 [[ 6.98470887e-01 -7.15622368e-01 -4.80077343e-03 1.40312771e+02] [ 7.15605089e-01 6.98487384e-01 -4.97302756e-03 5.92105001e+01] [ 6.91208943e-03 3.80570761e-05 9.99976111e-01 8.93581817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:59.23, Z:0.89 [[ 6.99729220e-01 -7.14392036e-01 -4.79980737e-03 1.40332189e+02] [ 7.14374722e-01 6.99745680e-01 -4.97395980e-03 5.92300373e+01] [ 6.91200174e-03 5.15639565e-05 9.99976111e-01 8.93284681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:59.25, Z:0.89 [[ 7.02134043e-01 -7.12028621e-01 -4.79884219e-03 1.40351955e+02] [ 7.12011245e-01 7.02150437e-01 -4.97489082e-03 5.92483500e+01] [ 6.91177380e-03 7.62106038e-05 9.99976111e-01 8.94118028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:59.27, Z:0.90 [[ 7.03012179e-01 -7.11161625e-01 -4.79782366e-03 1.40370575e+02] [ 7.11144223e-01 7.03028545e-01 -4.97587290e-03 5.92673755e+01] [ 6.91165685e-03 8.61546693e-05 9.99976111e-01 8.95487985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:59.29, Z:0.90 [[ 7.03567737e-01 -7.10612011e-01 -4.79681423e-03 1.40389432e+02] [ 7.10594589e-01 7.03584082e-01 -4.97684582e-03 5.92877159e+01] [ 6.91156856e-03 9.29579165e-05 9.99976111e-01 8.95577584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:59.31, Z:0.89 [[ 7.03980958e-01 -7.10202654e-01 -4.79587306e-03 1.40408534e+02] [ 7.10185216e-01 7.03997287e-01 -4.97775260e-03 5.93076386e+01] [ 6.91149473e-03 9.82848960e-05 9.99976111e-01 8.93742215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:59.33, Z:0.89 [[ 7.03605980e-01 -7.10574158e-01 -4.79493582e-03 1.40427761e+02] [ 7.10556723e-01 7.03622311e-01 -4.97865526e-03 5.93267721e+01] [ 6.91152759e-03 9.59377336e-05 9.99976111e-01 8.93955067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:59.35, Z:0.90 [[ 7.02068495e-01 -7.12093285e-01 -4.79394246e-03 1.40446895e+02] [ 7.12075879e-01 7.02084857e-01 -4.97961158e-03 5.93458184e+01] [ 6.91170238e-03 8.23776118e-05 9.99976111e-01 8.95659586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:140.47, Y:59.37, Z:0.90 [[ 7.00839617e-01 -7.13302781e-01 -4.79311393e-03 1.40466612e+02] [ 7.13285398e-01 7.00856003e-01 -4.98040895e-03 5.93660925e+01] [ 6.91182223e-03 7.16097250e-05 9.99976111e-01 8.95856320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:59.39, Z:0.89 [[ 6.98704888e-01 -7.15393958e-01 -4.79219029e-03 1.40486072e+02] [ 7.15376617e-01 6.98721320e-01 -4.98129753e-03 5.93862628e+01] [ 6.91199568e-03 5.22360577e-05 9.99976111e-01 8.94944449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:140.51, Y:59.40, Z:0.89 [[ 6.94161229e-01 -7.19803606e-01 -4.79126700e-03 1.40506958e+02] [ 7.19786364e-01 6.94177764e-01 -4.98218544e-03 5.94041780e+01] [ 6.91218606e-03 9.75132102e-06 9.99976111e-01 8.93865185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:59.42, Z:0.89 [[ 6.91513621e-01 -7.22347538e-01 -4.79030791e-03 1.40527360e+02] [ 7.22330350e-01 6.91530212e-01 -4.98310742e-03 5.94226357e+01] [ 6.91217802e-03 -1.42981309e-05 9.99976111e-01 8.92037694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:59.44, Z:0.89 [[ 6.88770264e-01 -7.24963851e-01 -4.78928381e-03 1.40547422e+02] [ 7.24946720e-01 6.88786914e-01 -4.98409149e-03 5.94400171e+01] [ 6.91208218e-03 -3.90815747e-05 9.99976111e-01 8.90289892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:140.57, Y:59.46, Z:0.89 [[ 6.84176368e-01 -7.29300878e-01 -4.78820559e-03 1.40569666e+02] [ 7.29283845e-01 6.84193118e-01 -4.98512712e-03 5.94565116e+01] [ 6.91171490e-03 -8.12548137e-05 9.99976111e-01 8.90604792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:59.48, Z:0.89 [[ 6.82163179e-01 -7.31184300e-01 -4.78719378e-03 1.40588879e+02] [ 7.31167306e-01 6.82179969e-01 -4.98609857e-03 5.94751375e+01] [ 6.91148469e-03 -9.89067288e-05 9.99976111e-01 8.89775222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:59.49, Z:0.89 [[ 6.81033707e-01 -7.32236425e-01 -4.78619162e-03 1.40608115e+02] [ 7.32219450e-01 6.81050516e-01 -4.98706036e-03 5.94942798e+01] [ 6.91134553e-03 -1.08186396e-04 9.99976111e-01 8.90713114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:59.51, Z:0.89 [[ 6.81188203e-01 -7.32092708e-01 -4.78518739e-03 1.40628158e+02] [ 7.32075723e-01 6.81205002e-01 -4.98802375e-03 5.95116956e+01] [ 6.91138941e-03 -1.05336580e-04 9.99976111e-01 8.91885333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:59.53, Z:0.90 [[ 6.82122493e-01 -7.31222275e-01 -4.78413218e-03 1.40649436e+02] [ 7.31205262e-01 6.82139264e-01 -4.98903562e-03 5.95303610e+01] [ 6.91153838e-03 -9.50492044e-05 9.99976111e-01 8.95814748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:59.55, Z:0.89 [[ 6.83708407e-01 -7.29739636e-01 -4.78315866e-03 1.40670687e+02] [ 7.29722579e-01 6.83725133e-01 -4.98996879e-03 5.95479358e+01] [ 6.91174381e-03 -7.86952652e-05 9.99976111e-01 8.93117582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:140.69, Y:59.56, Z:0.89 [[ 6.88473704e-01 -7.25245538e-01 -4.78212698e-03 1.40691252e+02] [ 7.25228365e-01 6.88490311e-01 -4.99095731e-03 5.95647539e+01] [ 6.91211761e-03 -3.19912598e-05 9.99976111e-01 8.94913197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:59.59, Z:0.90 [[ 6.90925179e-01 -7.22910463e-01 -4.78107987e-03 1.40710318e+02] [ 7.22893228e-01 6.90941721e-01 -4.99196018e-03 5.95858219e+01] [ 6.91218781e-03 -7.13927777e-06 9.99976111e-01 8.98516211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:59.61, Z:0.89 [[ 6.95769439e-01 -7.18249287e-01 -4.78011817e-03 1.40728744e+02] [ 7.18231934e-01 6.95785858e-01 -4.99288091e-03 5.96057526e+01] [ 6.91207177e-03 4.06604315e-05 9.99976111e-01 8.93148861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:59.63, Z:0.90 [[ 6.97879413e-01 -7.16199333e-01 -4.77910370e-03 1.40747679e+02] [ 7.16181925e-01 6.97895774e-01 -4.99385175e-03 5.96261339e+01] [ 6.91190957e-03 6.23986385e-05 9.99976111e-01 8.96282215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:59.65, Z:0.89 [[ 6.99523112e-01 -7.14594001e-01 -4.77815340e-03 1.40765989e+02] [ 7.14576549e-01 6.99539426e-01 -4.99476084e-03 5.96460183e+01] [ 6.91173282e-03 7.95942797e-05 9.99976111e-01 8.91269613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:59.67, Z:0.89 [[ 7.01933374e-01 -7.12226591e-01 -4.77716042e-03 1.40786345e+02] [ 7.12209078e-01 7.01949622e-01 -4.99571038e-03 5.96659252e+01] [ 6.91140373e-03 1.04318819e-04 9.99976111e-01 8.93734160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:59.69, Z:0.89 [[ 7.02842074e-01 -7.11329885e-01 -4.77628006e-03 1.40805899e+02] [ 7.11312346e-01 7.02858294e-01 -4.99655193e-03 5.96853404e+01] [ 6.91124476e-03 1.14359944e-04 9.99976111e-01 8.93956043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:59.71, Z:0.89 [[ 7.02708677e-01 -7.11461672e-01 -4.77534195e-03 1.40825436e+02] [ 7.11444130e-01 7.02724893e-01 -4.99744834e-03 5.97060700e+01] [ 6.91124462e-03 1.14361317e-04 9.99976111e-01 8.94152901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:59.73, Z:0.89 [[ 7.03281352e-01 -7.10895593e-01 -4.77440466e-03 1.40844801e+02] [ 7.10878032e-01 7.03297548e-01 -4.99834364e-03 5.97260557e+01] [ 6.91112756e-03 1.21222482e-04 9.99976111e-01 8.94529248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:59.75, Z:0.90 [[ 7.04507044e-01 -7.09680942e-01 -4.77346637e-03 1.40863431e+02] [ 7.09663346e-01 7.04523203e-01 -4.99923956e-03 5.97475691e+01] [ 6.91088285e-03 1.34445369e-04 9.99976111e-01 8.97136895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:59.77, Z:0.90 [[ 7.04878093e-01 -7.09312412e-01 -4.77250639e-03 1.40882204e+02] [ 7.09294802e-01 7.04894235e-01 -5.00015583e-03 5.97684593e+01] [ 6.91078483e-03 1.39386327e-04 9.99976111e-01 9.00266649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:59.79, Z:0.90 [[ 7.05050922e-01 -7.09140628e-01 -4.77153908e-03 1.40900556e+02] [ 7.09123008e-01 7.05067053e-01 -5.00107874e-03 5.97888330e+01] [ 6.91072312e-03 1.42407035e-04 9.99976111e-01 8.95686294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:59.81, Z:0.90 [[ 7.05840127e-01 -7.08355106e-01 -4.77065436e-03 1.40918630e+02] [ 7.08337461e-01 7.05856233e-01 -5.00192256e-03 5.98091559e+01] [ 6.91053350e-03 1.51324462e-04 9.99976111e-01 8.97845936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:59.83, Z:0.90 [[ 7.06238151e-01 -7.07958278e-01 -4.76971892e-03 1.40936898e+02] [ 7.07940619e-01 7.06254240e-01 -5.00281442e-03 5.98297598e+01] [ 6.91041809e-03 1.56500641e-04 9.99976111e-01 9.02171420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:59.85, Z:0.90 [[ 7.06867773e-01 -7.07329634e-01 -4.76877948e-03 1.40953743e+02] [ 7.07311954e-01 7.06883840e-01 -5.00370975e-03 5.98503498e+01] [ 6.91024533e-03 1.63946438e-04 9.99976111e-01 9.02166909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:59.87, Z:0.90 [[ 7.06860143e-01 -7.07337265e-01 -4.76778524e-03 1.40972058e+02] [ 7.07319579e-01 7.06876203e-01 -5.00465693e-03 5.98709125e+01] [ 6.91021427e-03 1.65244659e-04 9.99976111e-01 9.02115538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:59.89, Z:0.90 [[ 7.06848351e-01 -7.07349055e-01 -4.76684995e-03 1.40990850e+02] [ 7.07331364e-01 7.06864404e-01 -5.00554761e-03 5.98921102e+01] [ 6.91018593e-03 1.66420597e-04 9.99976111e-01 9.03422311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.01, Y:59.91, Z:0.90 [[ 7.06517644e-01 -7.07679381e-01 -4.76587446e-03 1.41008363e+02] [ 7.07661690e-01 7.06533699e-01 -5.00647623e-03 5.99132868e+01] [ 6.91023090e-03 1.64537013e-04 9.99976111e-01 9.01738637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:59.93, Z:0.90 [[ 7.06053567e-01 -7.08142398e-01 -4.76485343e-03 1.41027026e+02] [ 7.08124712e-01 7.06069627e-01 -5.00744779e-03 5.99346619e+01] [ 6.91030437e-03 1.61415908e-04 9.99976111e-01 9.02706047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:59.96, Z:0.90 [[ 7.05686856e-01 -7.08507845e-01 -4.76386882e-03 1.41044969e+02] [ 7.08490161e-01 7.05702918e-01 -5.00838433e-03 5.99550854e+01] [ 6.91035572e-03 1.59196812e-04 9.99976111e-01 9.02557025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.06, Y:59.98, Z:0.90 [[ 7.05320570e-01 -7.08872491e-01 -4.76283006e-03 1.41063201e+02] [ 7.08854808e-01 7.05336634e-01 -5.00937197e-03 5.99763484e+01] [ 6.91040451e-03 1.57058103e-04 9.99976111e-01 9.02418759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:60.00, Z:0.90 [[ 7.04137273e-01 -7.10047904e-01 -4.76185300e-03 1.41080010e+02] [ 7.10030242e-01 7.04153359e-01 -5.01030058e-03 5.99986482e+01] [ 6.91062821e-03 1.46879752e-04 9.99976111e-01 9.01706817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:60.02, Z:0.90 [[ 7.03199750e-01 -7.10976403e-01 -4.76087790e-03 1.41098502e+02] [ 7.10958756e-01 7.03215852e-01 -5.01122696e-03 6.00201211e+01] [ 6.91078893e-03 1.39105711e-04 9.99976111e-01 9.02035142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:60.04, Z:0.90 [[ 7.01878317e-01 -7.12280964e-01 -4.75989914e-03 1.41114869e+02] [ 7.12263341e-01 7.01894445e-01 -5.01215646e-03 6.00418462e+01] [ 6.91101040e-03 1.27622272e-04 9.99976111e-01 8.99937533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:60.06, Z:0.90 [[ 7.01235055e-01 -7.12914266e-01 -4.75888034e-03 1.41131775e+02] [ 7.12896651e-01 7.01251192e-01 -5.01312360e-03 6.00632550e+01] [ 6.91109784e-03 1.22788149e-04 9.99976111e-01 8.96095997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:141.15, Y:60.08, Z:0.90 [[ 7.00927522e-01 -7.13216637e-01 -4.75787616e-03 1.41148839e+02] [ 7.13199022e-01 7.00943659e-01 -5.01407646e-03 6.00842456e+01] [ 6.91112588e-03 1.21191564e-04 9.99976111e-01 8.99208483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:60.11, Z:0.90 [[ 6.99760599e-01 -7.14361586e-01 -4.75686267e-03 1.41164184e+02] [ 7.14343991e-01 6.99776759e-01 -5.01503778e-03 6.01076312e+01] [ 6.91129228e-03 1.11289574e-04 9.99976111e-01 9.00221239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.18, Y:60.13, Z:0.90 [[ 6.98912640e-01 -7.15191235e-01 -4.75592063e-03 1.41182641e+02] [ 7.15173653e-01 6.98928813e-01 -5.01593099e-03 6.01291006e+01] [ 6.91139984e-03 1.04388441e-04 9.99976111e-01 9.01519358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:60.15, Z:0.90 [[ 6.97792322e-01 -7.16284347e-01 -4.75496184e-03 1.41199752e+02] [ 7.16266784e-01 6.97808517e-01 -5.01683973e-03 6.01509666e+01] [ 6.91153664e-03 9.48910166e-05 9.99976111e-01 9.03332108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:60.17, Z:0.91 [[ 6.95991964e-01 -7.18033833e-01 -4.75397370e-03 1.41214291e+02] [ 7.18016305e-01 6.96008195e-01 -5.01777592e-03 6.01736469e+01] [ 6.91173753e-03 7.89010930e-05 9.99976111e-01 9.05885595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.23, Y:60.19, Z:0.91 [[ 6.94924580e-01 -7.19066920e-01 -4.75317754e-03 1.41232240e+02] [ 7.19049410e-01 6.94940832e-01 -5.01852998e-03 6.01948265e+01] [ 6.91183605e-03 6.97303381e-05 9.99976111e-01 9.06750905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.25, Y:60.22, Z:0.91 [[ 6.91503764e-01 -7.22357225e-01 -4.75219810e-03 1.41248289e+02] [ 7.22339786e-01 6.91520092e-01 -5.01945727e-03 6.02163668e+01] [ 6.91208170e-03 3.82718384e-05 9.99976111e-01 9.07076479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:60.24, Z:0.91 [[ 6.89017695e-01 -7.24728944e-01 -4.75116493e-03 1.41265930e+02] [ 7.24711555e-01 6.89034075e-01 -5.02043502e-03 6.02382634e+01] [ 6.91216911e-03 1.59444376e-05 9.99976111e-01 9.08259170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.28, Y:60.26, Z:0.91 [[ 6.86787468e-01 -7.26842769e-01 -4.75015906e-03 1.41283862e+02] [ 7.26825423e-01 6.86803895e-01 -5.02138656e-03 6.02588367e+01] [ 6.91218626e-03 -3.91100873e-06 9.99976111e-01 9.08660706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.30, Y:60.28, Z:0.91 [[ 6.84393283e-01 -7.29097579e-01 -4.74909783e-03 1.41302482e+02] [ 7.29080281e-01 6.84409760e-01 -5.02239005e-03 6.02802620e+01] [ 6.91214133e-03 -2.51835590e-05 9.99976111e-01 9.09459671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.32, Y:60.30, Z:0.91 [[ 6.79341498e-01 -7.33806913e-01 -4.74810409e-03 1.41319320e+02] [ 7.33789722e-01 6.79358086e-01 -5.02332935e-03 6.03012049e+01] [ 6.91181671e-03 -7.15538962e-05 9.99976111e-01 9.09360280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:60.32, Z:0.91 [[ 6.76701803e-01 -7.36241900e-01 -4.74705299e-03 1.41337226e+02] [ 7.36224762e-01 6.76718446e-01 -5.02432244e-03 6.03210791e+01] [ 6.91153502e-03 -9.49299126e-05 9.99976111e-01 9.09055085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:141.36, Y:60.34, Z:0.91 [[ 6.72165601e-01 -7.40385630e-01 -4.74604783e-03 1.41356914e+02] [ 7.40368588e-01 6.72182342e-01 -5.02527175e-03 6.03415593e+01] [ 6.91084853e-03 -1.36009923e-04 9.99976111e-01 9.11098319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:60.36, Z:0.91 [[ 6.70002376e-01 -7.42343789e-01 -4.74507703e-03 1.41375302e+02] [ 7.42326789e-01 6.70019160e-01 -5.02618826e-03 6.03622273e+01] [ 6.91045216e-03 -1.54839722e-04 9.99976111e-01 9.10878992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:60.38, Z:0.91 [[ 6.67296971e-01 -7.44776642e-01 -4.74409809e-03 1.41395704e+02] [ 7.44759697e-01 6.67313811e-01 -5.02711208e-03 6.03813642e+01] [ 6.90987783e-03 -1.78636384e-04 9.99976111e-01 9.10926744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:60.40, Z:0.91 [[ 6.66365850e-01 -7.45609856e-01 -4.74311221e-03 1.41415282e+02] [ 7.45592926e-01 6.66382704e-01 -5.02804209e-03 6.04005782e+01] [ 6.90968568e-03 -1.85915371e-04 9.99976111e-01 9.11234422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:60.42, Z:0.91 [[ 6.65742362e-01 -7.46166617e-01 -4.74207380e-03 1.41434950e+02] [ 7.46149694e-01 6.65759223e-01 -5.02902125e-03 6.04205285e+01] [ 6.90956714e-03 -1.90264434e-04 9.99976111e-01 9.12830727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:60.44, Z:0.91 [[ 6.65407946e-01 -7.46464860e-01 -4.74109687e-03 1.41453814e+02] [ 7.46447938e-01 6.65424809e-01 -5.02994208e-03 6.04394926e+01] [ 6.90951849e-03 -1.92018553e-04 9.99976111e-01 9.13982624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:60.46, Z:0.91 [[ 6.65441433e-01 -7.46435015e-01 -4.74006839e-03 1.41475359e+02] [ 7.46418085e-01 6.65458287e-01 -5.03091111e-03 6.04564760e+01] [ 6.90956600e-03 -1.90296076e-04 9.99976111e-01 9.14696362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.50, Y:60.48, Z:0.92 [[ 6.65458932e-01 -7.46419419e-01 -4.73936500e-03 1.41496226e+02] [ 7.46402484e-01 6.65475781e-01 -5.03157365e-03 6.04751812e+01] [ 6.90959690e-03 -1.89168181e-04 9.99976111e-01 9.16037346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:60.49, Z:0.91 [[ 6.65651732e-01 -7.46247492e-01 -4.73839102e-03 1.41518353e+02] [ 7.46230546e-01 6.65668571e-01 -5.03249071e-03 6.04908927e+01] [ 6.90968155e-03 -1.86045959e-04 9.99976111e-01 9.11421115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.54, Y:60.51, Z:0.91 [[ 6.65732608e-01 -7.46175349e-01 -4.73738179e-03 1.41539574e+02] [ 7.46158395e-01 6.65749438e-01 -5.03344057e-03 6.05088239e+01] [ 6.90973854e-03 -1.83911672e-04 9.99976111e-01 9.10652641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:60.53, Z:0.91 [[ 6.66064540e-01 -7.45879076e-01 -4.73641389e-03 1.41560725e+02] [ 7.45862107e-01 6.66081356e-01 -5.03435120e-03 6.05274725e+01] [ 6.90985420e-03 -1.79508830e-04 9.99976111e-01 9.09110764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:60.54, Z:0.91 [[ 6.68232285e-01 -7.43937624e-01 -4.73543393e-03 1.41582942e+02] [ 7.43920601e-01 6.68249045e-01 -5.03527280e-03 6.05437176e+01] [ 6.91037809e-03 -1.58055011e-04 9.99976111e-01 9.07512622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:60.56, Z:0.91 [[ 6.69841993e-01 -7.42488579e-01 -4.73441266e-03 1.41603295e+02] [ 7.42471512e-01 6.69858709e-01 -5.03623286e-03 6.05618612e+01] [ 6.91073294e-03 -1.41686270e-04 9.99976111e-01 9.05566876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.63, Y:60.58, Z:0.91 [[ 6.73841037e-01 -7.38861186e-01 -4.73338659e-03 1.41625480e+02] [ 7.38844022e-01 6.73857654e-01 -5.03719705e-03 6.05788298e+01] [ 6.91141817e-03 -1.02964306e-04 9.99976111e-01 9.07178643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.65, Y:60.60, Z:0.90 [[ 6.76232357e-01 -7.36673200e-01 -4.73239781e-03 1.41645317e+02] [ 7.36655976e-01 6.76248911e-01 -5.03812582e-03 6.05977437e+01] [ 6.91173114e-03 -7.92054300e-05 9.99976111e-01 9.04522089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:60.62, Z:0.90 [[ 6.78585510e-01 -7.34506174e-01 -4.73134898e-03 1.41664586e+02] [ 7.34488890e-01 6.78602002e-01 -5.03911060e-03 6.06168258e+01] [ 6.91196074e-03 -5.56558227e-05 9.99976111e-01 9.04488845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:60.63, Z:0.91 [[ 6.83184279e-01 -7.30230693e-01 -4.73029611e-03 1.41686512e+02] [ 7.30213299e-01 6.83200655e-01 -5.04009875e-03 6.06340755e+01] [ 6.91217621e-03 -1.08088919e-05 9.99976111e-01 9.07234672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:60.65, Z:0.91 [[ 6.85070169e-01 -7.28461734e-01 -4.72929835e-03 1.41706792e+02] [ 7.28444292e-01 6.85086492e-01 -5.04103481e-03 6.06528733e+01] [ 6.91217938e-03 8.43218629e-06 9.99976111e-01 9.07859678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.73, Y:60.67, Z:0.91 [[ 6.88293443e-01 -7.25416969e-01 -4.72829997e-03 1.41727076e+02] [ 7.25399448e-01 6.88309683e-01 -5.04197108e-03 6.06705736e+01] [ 6.91206603e-03 4.04494444e-05 9.99976111e-01 9.09761092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:60.69, Z:0.91 [[ 6.89399494e-01 -7.24365921e-01 -4.72756708e-03 1.41746924e+02] [ 7.24348371e-01 6.89415701e-01 -5.04265817e-03 6.06904450e+01] [ 6.91198871e-03 5.20004787e-05 9.99976111e-01 9.09269277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:60.71, Z:0.91 [[ 6.90362720e-01 -7.23447976e-01 -4.72657537e-03 1.41766947e+02] [ 7.23430398e-01 6.90378897e-01 -5.04358755e-03 6.07095039e+01] [ 6.91190110e-03 6.25565176e-05 9.99976111e-01 9.10809460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:60.73, Z:0.91 [[ 6.91137658e-01 -7.22707691e-01 -4.72558972e-03 1.41787360e+02] [ 7.22690089e-01 6.91153810e-01 -5.04451089e-03 6.07286568e+01] [ 6.91181615e-03 7.13145947e-05 9.99976111e-01 9.11671421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:60.75, Z:0.91 [[ 6.92515997e-01 -7.21387048e-01 -4.72460429e-03 1.41808608e+02] [ 7.21369408e-01 6.92532108e-01 -5.04543365e-03 6.07470800e+01] [ 6.91165066e-03 8.58585139e-05 9.99976111e-01 9.09580899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:141.83, Y:60.77, Z:0.91 [[ 6.93129291e-01 -7.20797804e-01 -4.72361593e-03 1.41827902e+02] [ 7.20780144e-01 6.93145380e-01 -5.04635880e-03 6.07659136e+01] [ 6.91155690e-03 9.30905244e-05 9.99976111e-01 9.09013227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:60.78, Z:0.91 [[ 6.94400369e-01 -7.19573363e-01 -4.72257749e-03 1.41848847e+02] [ 7.19555669e-01 6.94416420e-01 -5.04733043e-03 6.07847820e+01] [ 6.91135988e-03 1.06710707e-04 9.99976111e-01 9.07384148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:60.80, Z:0.91 [[ 6.94813679e-01 -7.19174289e-01 -4.72158258e-03 1.41867930e+02] [ 7.19156579e-01 6.94829713e-01 -5.04826096e-03 6.08039279e+01] [ 6.91127535e-03 1.12043600e-04 9.99976111e-01 9.06521711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:60.82, Z:0.90 [[ 6.94913060e-01 -7.19078268e-01 -4.72054048e-03 1.41886967e+02] [ 7.19060550e-01 6.94929084e-01 -5.04923522e-03 6.08237243e+01] [ 6.91123619e-03 1.14425063e-04 9.99976111e-01 9.04963845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:60.84, Z:0.91 [[ 6.94998476e-01 -7.18995720e-01 -4.71950284e-03 1.41907064e+02] [ 7.18977993e-01 6.95014490e-01 -5.05020492e-03 6.08434523e+01] [ 6.91119858e-03 1.16666046e-04 9.99976111e-01 9.05099632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:60.86, Z:0.91 [[ 6.94773692e-01 -7.19212939e-01 -4.71851947e-03 1.41926809e+02] [ 7.19195211e-01 6.94789705e-01 -5.05112353e-03 6.08635292e+01] [ 6.91121215e-03 1.15851131e-04 9.99976111e-01 9.05314298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:60.88, Z:0.91 [[ 6.94474354e-01 -7.19501993e-01 -4.71753075e-03 1.41946027e+02] [ 7.19484265e-01 6.94490367e-01 -5.05204679e-03 6.08829029e+01] [ 6.91123739e-03 1.14327787e-04 9.99976111e-01 9.05530622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:60.90, Z:0.91 [[ 6.93869257e-01 -7.20085557e-01 -4.71648489e-03 1.41965590e+02] [ 7.20067836e-01 6.93885278e-01 -5.05302299e-03 6.09032650e+01] [ 6.91130830e-03 1.09948246e-04 9.99976111e-01 9.08301366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:141.98, Y:60.92, Z:0.91 [[ 6.93354742e-01 -7.20580992e-01 -4.71550106e-03 1.41984128e+02] [ 7.20563277e-01 6.93370768e-01 -5.05394094e-03 6.09229742e+01] [ 6.91136437e-03 1.06357021e-04 9.99976111e-01 9.08967762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:142.00, Y:60.94, Z:0.91 [[ 6.92711169e-01 -7.21199702e-01 -4.71446098e-03 1.42003933e+02] [ 7.21181994e-01 6.92727204e-01 -5.05491097e-03 6.09430516e+01] [ 6.91143566e-03 1.01608911e-04 9.99976111e-01 9.10513771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:60.96, Z:0.91 [[ 6.91339530e-01 -7.22514662e-01 -4.71347661e-03 1.42024733e+02] [ 7.22496978e-01 6.91355592e-01 -5.05582867e-03 6.09611224e+01] [ 6.91159876e-03 8.98216111e-05 9.99976111e-01 9.07240559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:60.98, Z:0.91 [[ 6.91203748e-01 -7.22644566e-01 -4.71275515e-03 1.42044014e+02] [ 7.22626880e-01 6.91219809e-01 -5.05650109e-03 6.09820987e+01] [ 6.91160275e-03 8.95089576e-05 9.99976111e-01 9.07437447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:61.00, Z:0.91 [[ 6.90508046e-01 -7.23309365e-01 -4.71180478e-03 1.42062848e+02] [ 7.23291689e-01 6.90524116e-01 -5.05738652e-03 6.10023495e+01] [ 6.91166987e-03 8.41568489e-05 9.99976111e-01 9.08034641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:61.02, Z:0.91 [[ 6.89891153e-01 -7.23897786e-01 -4.71081667e-03 1.42081710e+02] [ 7.23880117e-01 6.89907232e-01 -5.05830675e-03 6.10234976e+01] [ 6.91172355e-03 7.96145563e-05 9.99976111e-01 9.08271664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:61.04, Z:0.91 [[ 6.89633907e-01 -7.24142867e-01 -4.70983022e-03 1.42100670e+02] [ 7.24125198e-01 6.89649985e-01 -5.05922507e-03 6.10438095e+01] [ 6.91173609e-03 7.85064081e-05 9.99976111e-01 9.09009297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:61.06, Z:0.91 [[ 6.89519945e-01 -7.24251387e-01 -4.70882331e-03 1.42119190e+02] [ 7.24233714e-01 6.89536019e-01 -5.06016207e-03 6.10631960e+01] [ 6.91173268e-03 7.87940762e-05 9.99976111e-01 9.07867002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45264000000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:142.14, Y:61.08, Z:0.91 [[ 6.90034470e-01 -7.23761193e-01 -4.70808445e-03 1.42138741e+02] [ 7.23743504e-01 6.90050526e-01 -5.06084943e-03 6.10827137e+01] [ 6.91166257e-03 8.47150122e-05 9.99976111e-01 9.11571528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:61.10, Z:0.91 [[ 6.90278139e-01 -7.23528807e-01 -4.70709104e-03 1.42157637e+02] [ 7.23511106e-01 6.90294182e-01 -5.06177324e-03 6.11024079e+01] [ 6.91161631e-03 8.83987721e-05 9.99976111e-01 9.10880900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:61.12, Z:0.91 [[ 6.90607433e-01 -7.23214508e-01 -4.70636467e-03 1.42176418e+02] [ 7.23196795e-01 6.90623463e-01 -5.06244851e-03 6.11216095e+01] [ 6.91156207e-03 9.25367184e-05 9.99976111e-01 9.10131272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:61.14, Z:0.91 [[ 6.90705555e-01 -7.23120804e-01 -4.70533239e-03 1.42195227e+02] [ 7.23103082e-01 6.90721575e-01 -5.06340779e-03 6.11428081e+01] [ 6.91153011e-03 9.48835274e-05 9.99976111e-01 9.11345566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:61.16, Z:0.91 [[ 6.90721616e-01 -7.23105469e-01 -4.70434970e-03 1.42213151e+02] [ 7.23087741e-01 6.90737629e-01 -5.06432064e-03 6.11634407e+01] [ 6.91150930e-03 9.63781392e-05 9.99976111e-01 9.09387532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:61.18, Z:0.91 [[ 6.90591880e-01 -7.23229379e-01 -4.70331977e-03 1.42232054e+02] [ 7.23211647e-01 6.90607889e-01 -5.06527697e-03 6.11846140e+01] [ 6.91150685e-03 9.65435101e-05 9.99976111e-01 9.09950976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:61.20, Z:0.91 [[ 6.90095821e-01 -7.23702733e-01 -4.70233795e-03 1.42251486e+02] [ 7.23685007e-01 6.90111835e-01 -5.06618827e-03 6.12040057e+01] [ 6.91155337e-03 9.31438841e-05 9.99976111e-01 9.09853943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.27, Y:61.22, Z:0.91 [[ 6.89556875e-01 -7.24216275e-01 -4.70129901e-03 1.42271072e+02] [ 7.24198554e-01 6.89572896e-01 -5.06715220e-03 6.12233228e+01] [ 6.91160246e-03 8.94156886e-05 9.99976111e-01 9.11844735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:61.24, Z:0.91 [[ 6.88592893e-01 -7.25132909e-01 -4.70030597e-03 1.42290427e+02] [ 7.25115202e-01 6.88608930e-01 -5.06807318e-03 6.12422056e+01] [ 6.91169931e-03 8.15758545e-05 9.99976111e-01 9.10388646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.31, Y:61.26, Z:0.91 [[ 6.87665685e-01 -7.26012274e-01 -4.69925814e-03 1.42309706e+02] [ 7.25994582e-01 6.87681738e-01 -5.06904457e-03 6.12622935e+01] [ 6.91178258e-03 7.41720583e-05 9.99976111e-01 9.13039387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:61.28, Z:0.91 [[ 6.87096025e-01 -7.26551429e-01 -4.69828711e-03 1.42328823e+02] [ 7.26533743e-01 6.87112084e-01 -5.06994441e-03 6.12819906e+01] [ 6.91182521e-03 7.00745332e-05 9.99976111e-01 9.13097109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.35, Y:61.30, Z:0.92 [[ 6.85896069e-01 -7.27684352e-01 -4.69757763e-03 1.42347719e+02] [ 7.27666687e-01 6.85912153e-01 -5.07060170e-03 6.13022804e+01] [ 6.91192310e-03 5.96350175e-05 9.99976111e-01 9.16225275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:61.32, Z:0.92 [[ 6.85581691e-01 -7.27980554e-01 -4.69658787e-03 1.42367231e+02] [ 7.27962890e-01 6.85597776e-01 -5.07151829e-03 6.13227999e+01] [ 6.91193689e-03 5.79984090e-05 9.99976111e-01 9.15539691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:61.34, Z:0.91 [[ 6.84943704e-01 -7.28580863e-01 -4.69557405e-03 1.42387857e+02] [ 7.28563207e-01 6.84959797e-01 -5.07245679e-03 6.13408670e+01] [ 6.91197439e-03 5.33248492e-05 9.99976111e-01 9.14341392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:61.36, Z:0.92 [[ 6.84680234e-01 -7.28828468e-01 -4.69483271e-03 1.42407681e+02] [ 7.28810813e-01 6.84696328e-01 -5.07314285e-03 6.13605379e+01] [ 6.91198564e-03 5.18357887e-05 9.99976111e-01 9.15279448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:61.38, Z:0.92 [[ 6.84306949e-01 -7.29178968e-01 -4.69382189e-03 1.42426504e+02] [ 7.29161315e-01 6.84323045e-01 -5.07407791e-03 6.13803111e+01] [ 6.91200138e-03 4.96734340e-05 9.99976111e-01 9.16637261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:61.40, Z:0.92 [[ 6.83951292e-01 -7.29512580e-01 -4.69308433e-03 1.42445380e+02] [ 7.29494931e-01 6.83967392e-01 -5.07476000e-03 6.14006442e+01] [ 6.91201791e-03 4.73074255e-05 9.99976111e-01 9.16820311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:61.42, Z:0.92 [[ 6.83380019e-01 -7.30047761e-01 -4.69209744e-03 1.42464322e+02] [ 7.30030118e-01 6.83396126e-01 -5.07567231e-03 6.14194958e+01] [ 6.91204442e-03 4.32405998e-05 9.99976111e-01 9.16174176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:61.44, Z:0.92 [[ 6.82650250e-01 -7.30730204e-01 -4.69105765e-03 1.42484406e+02] [ 7.30712570e-01 6.82666367e-01 -5.07663313e-03 6.14386007e+01] [ 6.91207644e-03 3.77500828e-05 9.99976111e-01 9.16143457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:61.46, Z:0.92 [[ 6.81644673e-01 -7.31668329e-01 -4.69007089e-03 1.42504128e+02] [ 7.31650711e-01 6.81660807e-01 -5.07754458e-03 6.14577835e+01] [ 6.91211607e-03 2.95875126e-05 9.99976111e-01 9.15116873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:61.48, Z:0.91 [[ 6.81688131e-01 -7.31627846e-01 -4.68902900e-03 1.42523209e+02] [ 7.31610221e-01 6.81704257e-01 -5.07850657e-03 6.14771685e+01] [ 6.91210785e-03 3.14161121e-05 9.99976111e-01 9.13709307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:61.50, Z:0.91 [[ 6.82401579e-01 -7.30962453e-01 -4.68799231e-03 1.42543782e+02] [ 7.30944805e-01 6.82417681e-01 -5.07946336e-03 6.14957898e+01] [ 6.91206584e-03 3.95701885e-05 9.99976111e-01 9.11073039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:61.51, Z:0.91 [[ 6.83424160e-01 -7.30006472e-01 -4.68698340e-03 1.42562653e+02] [ 7.29988795e-01 6.83440230e-01 -5.08039415e-03 6.15148250e+01] [ 6.91199362e-03 5.06187393e-05 9.99976111e-01 9.10766886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:61.54, Z:0.91 [[ 6.84565108e-01 -7.28936660e-01 -4.68591088e-03 1.42581678e+02] [ 7.28918952e-01 6.84581143e-01 -5.08138319e-03 6.15357599e+01] [ 6.91189272e-03 6.28883888e-05 9.99976111e-01 9.12062606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.60, Y:61.56, Z:0.91 [[ 6.87355625e-01 -7.26305925e-01 -4.68491081e-03 1.42599524e+02] [ 7.26288149e-01 6.87371584e-01 -5.08230507e-03 6.15559929e+01] [ 6.91158285e-03 9.07557787e-05 9.99976111e-01 9.12811397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:61.58, Z:0.91 [[ 6.88532383e-01 -7.25190471e-01 -4.68385494e-03 1.42618171e+02] [ 7.25172662e-01 6.88548307e-01 -5.08327797e-03 6.15768978e+01] [ 6.91140513e-03 1.03397938e-04 9.99976111e-01 9.13284123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:61.60, Z:0.91 [[ 6.89547452e-01 -7.24225367e-01 -4.68285148e-03 1.42636061e+02] [ 7.24207530e-01 6.89563343e-01 -5.08420222e-03 6.15969648e+01] [ 6.91123094e-03 1.14442379e-04 9.99976111e-01 9.12814115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:61.62, Z:0.91 [[ 6.90803014e-01 -7.23027853e-01 -4.68179541e-03 1.42654227e+02] [ 7.23009982e-01 6.90818867e-01 -5.08517451e-03 6.16176801e+01] [ 6.91099541e-03 1.27869066e-04 9.99976111e-01 9.14595761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:61.64, Z:0.91 [[ 6.90732247e-01 -7.23095466e-01 -4.68083605e-03 1.42673378e+02] [ 7.23077590e-01 6.90748095e-01 -5.08605744e-03 6.16386109e+01] [ 6.91098366e-03 1.28496232e-04 9.99976111e-01 9.14941250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:61.66, Z:0.91 [[ 6.89742348e-01 -7.24039772e-01 -4.67983804e-03 1.42692530e+02] [ 7.24021912e-01 6.89758214e-01 -5.08697557e-03 6.16579975e+01] [ 6.91112936e-03 1.20397188e-04 9.99976111e-01 9.13460233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:61.68, Z:0.91 [[ 6.88911668e-01 -7.24830203e-01 -4.67879643e-03 1.42711456e+02] [ 7.24812354e-01 6.88927547e-01 -5.08793342e-03 6.16783980e+01] [ 6.91123956e-03 1.13887241e-04 9.99976111e-01 9.13819738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:61.70, Z:0.91 [[ 6.87944103e-01 -7.25748599e-01 -4.67778442e-03 1.42729229e+02] [ 7.25730765e-01 6.87959999e-01 -5.08886368e-03 6.16985471e+01] [ 6.91136425e-03 1.06041692e-04 9.99976111e-01 9.13570239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:61.72, Z:0.91 [[ 6.86952973e-01 -7.26686825e-01 -4.67671560e-03 1.42746433e+02] [ 7.26669006e-01 6.86968885e-01 -5.08984575e-03 6.17188895e+01] [ 6.91148195e-03 9.80603885e-05 9.99976111e-01 9.13205016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:61.74, Z:0.92 [[ 6.84683252e-01 -7.28825756e-01 -4.67566425e-03 1.42765992e+02] [ 7.28807980e-01 6.84699213e-01 -5.09081136e-03 6.17395093e+01] [ 6.91173807e-03 7.79318640e-05 9.99976111e-01 9.16307835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:61.76, Z:0.92 [[ 6.83276387e-01 -7.30144866e-01 -4.67471661e-03 1.42785665e+02] [ 7.30127115e-01 6.83292375e-01 -5.09168140e-03 6.17598771e+01] [ 6.91186325e-03 6.58883178e-05 9.99976111e-01 9.16498275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:61.78, Z:0.92 [[ 6.80632763e-01 -7.32609854e-01 -4.67372232e-03 1.42803879e+02] [ 7.32592155e-01 6.80648808e-01 -5.09259391e-03 6.17796865e+01] [ 6.91204801e-03 4.22539627e-05 9.99976111e-01 9.16521125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:61.80, Z:0.92 [[ 6.79193073e-01 -7.33944777e-01 -4.67267040e-03 1.42822239e+02] [ 7.33927102e-01 6.79209146e-01 -5.09355891e-03 6.18002437e+01] [ 6.91211143e-03 3.01104880e-05 9.99976111e-01 9.18283277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:61.82, Z:0.92 [[ 6.77313698e-01 -7.35679503e-01 -4.67166301e-03 1.42841405e+02] [ 7.35661863e-01 6.77329808e-01 -5.09448269e-03 6.18198584e+01] [ 6.91216310e-03 1.37985999e-05 9.99976111e-01 9.17681047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:61.84, Z:0.92 [[ 6.76581011e-01 -7.36353394e-01 -4.67060582e-03 1.42859663e+02] [ 7.36335764e-01 6.76597132e-01 -5.09545173e-03 6.18400672e+01] [ 6.91217168e-03 8.35177990e-06 9.99976111e-01 9.17276503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.88, Y:61.86, Z:0.92 [[ 6.76075263e-01 -7.36817775e-01 -4.66954463e-03 1.42878867e+02] [ 7.36800149e-01 6.76091389e-01 -5.09642403e-03 6.18610206e+01] [ 6.91217474e-03 5.04503634e-06 9.99976111e-01 9.17755722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:61.88, Z:0.92 [[ 6.74913321e-01 -7.37882249e-01 -4.66853668e-03 1.42899172e+02] [ 7.37864643e-01 6.74929468e-01 -5.09734720e-03 6.18785890e+01] [ 6.91217499e-03 -4.48062196e-06 9.99976111e-01 9.15131578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:61.90, Z:0.92 [[ 6.74188539e-01 -7.38544533e-01 -4.66748461e-03 1.42919011e+02] [ 7.38526936e-01 6.74204696e-01 -5.09831036e-03 6.18982193e+01] [ 6.91216929e-03 -9.84069827e-06 9.99976111e-01 9.16744076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:61.92, Z:0.92 [[ 6.73527408e-01 -7.39147519e-01 -4.66647072e-03 1.42938812e+02] [ 7.39129930e-01 6.73543573e-01 -5.09923821e-03 6.19183817e+01] [ 6.91216063e-03 -1.46514833e-05 9.99976111e-01 9.17055510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:61.94, Z:0.92 [[ 6.71868792e-01 -7.40655494e-01 -4.66546065e-03 1.42959766e+02] [ 7.40637934e-01 6.71884989e-01 -5.10016219e-03 6.19351533e+01] [ 6.91211612e-03 -2.87773304e-05 9.99976111e-01 9.18079008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:61.95, Z:0.92 [[ 6.70739052e-01 -7.41678747e-01 -4.66477213e-03 1.42980145e+02] [ 7.41661208e-01 6.70755271e-01 -5.10079185e-03 6.19529854e+01] [ 6.91206940e-03 -3.83802430e-05 9.99976111e-01 9.21255125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.00, Y:61.97, Z:0.92 [[ 6.69650738e-01 -7.42661524e-01 -4.66364943e-03 1.43000794e+02] [ 7.42644001e-01 6.69666976e-01 -5.10181813e-03 6.19691055e+01] [ 6.91201603e-03 -4.69949987e-05 9.99976111e-01 9.21555837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:61.99, Z:0.92 [[ 6.69763410e-01 -7.42559921e-01 -4.66247047e-03 1.43021301e+02] [ 7.42542388e-01 6.69779637e-01 -5.10289533e-03 6.19888607e+01] [ 6.91203333e-03 -4.43493806e-05 9.99976111e-01 9.22215822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:62.01, Z:0.92 [[ 6.70497565e-01 -7.41897086e-01 -4.66145724e-03 1.43041485e+02] [ 7.41879531e-01 6.70513768e-01 -5.10382074e-03 6.20069942e+01] [ 6.91208099e-03 -3.61403353e-05 9.99976111e-01 9.20693982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:62.02, Z:0.92 [[ 6.71354798e-01 -7.41121456e-01 -4.66071751e-03 1.43062319e+02] [ 7.41103878e-01 6.71370975e-01 -5.10449616e-03 6.20247520e+01] [ 6.91212209e-03 -2.71478317e-05 9.99976111e-01 9.21185383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.08, Y:62.04, Z:0.92 [[ 6.74810529e-01 -7.37976313e-01 -4.65962244e-03 1.43084291e+02] [ 7.37958652e-01 6.74826616e-01 -5.10549560e-03 6.20410085e+01] [ 6.91217206e-03 6.63348879e-06 9.99976111e-01 9.23172551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:62.06, Z:0.92 [[ 6.77237026e-01 -7.35750167e-01 -4.65853033e-03 1.43104205e+02] [ 7.35732447e-01 6.77253047e-01 -5.10649190e-03 6.20608282e+01] [ 6.91210613e-03 3.08734647e-05 9.99976111e-01 9.24484779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:62.08, Z:0.92 [[ 6.83131839e-01 -7.30280219e-01 -4.65750605e-03 1.43124114e+02] [ 7.30262364e-01 6.83147710e-01 -5.10742595e-03 6.20793837e+01] [ 6.91161673e-03 8.78438955e-05 9.99976111e-01 9.21130225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:62.10, Z:0.92 [[ 6.86220499e-01 -7.27378680e-01 -4.65643665e-03 1.43142923e+02] [ 7.27360751e-01 6.86236287e-01 -5.10840074e-03 6.20986398e+01] [ 6.91115758e-03 1.18580045e-04 9.99976111e-01 9.22016102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:62.12, Z:0.92 [[ 6.89314351e-01 -7.24447412e-01 -4.65534965e-03 1.43160667e+02] [ 7.24429409e-01 6.89330055e-01 -5.10939114e-03 6.21181833e+01] [ 6.91055762e-03 1.49504449e-04 9.99976111e-01 9.21468098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:62.14, Z:0.92 [[ 6.95584874e-01 -7.18428856e-01 -4.65421002e-03 1.43178325e+02] [ 7.18410711e-01 6.95600413e-01 -5.11042903e-03 6.21400268e+01] [ 6.90895009e-03 2.11102810e-04 9.99976111e-01 9.22843161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:62.16, Z:0.92 [[ 6.98321950e-01 -7.15768679e-01 -4.65322459e-03 1.43195933e+02] [ 7.15750469e-01 6.98337412e-01 -5.11132614e-03 6.21602920e+01] [ 6.90804798e-03 2.38803556e-04 9.99976111e-01 9.22777074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:62.18, Z:0.92 [[ 7.02610159e-01 -7.11559781e-01 -4.65218975e-03 1.43213663e+02] [ 7.11541472e-01 7.02625504e-01 -5.11226785e-03 6.21817138e+01] [ 6.90643136e-03 2.81705380e-04 9.99976111e-01 9.24985973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:62.20, Z:0.92 [[ 7.04046866e-01 -7.10138280e-01 -4.65119666e-03 1.43230921e+02] [ 7.10119934e-01 7.04062167e-01 -5.11317122e-03 6.22028119e+01] [ 6.90579021e-03 2.97004712e-04 9.99976111e-01 9.22707566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:62.22, Z:0.92 [[ 7.03904927e-01 -7.10278981e-01 -4.65015463e-03 1.43249362e+02] [ 7.10260631e-01 7.03920224e-01 -5.11411871e-03 6.22234396e+01] [ 6.90578891e-03 2.97031596e-04 9.99976111e-01 9.22898662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:62.25, Z:0.92 [[ 7.04798058e-01 -7.09392756e-01 -4.64913233e-03 1.43267142e+02] [ 7.09374382e-01 7.04813325e-01 -5.11504790e-03 6.22456887e+01] [ 6.90534834e-03 3.07100455e-04 9.99976111e-01 9.23622886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:62.27, Z:0.93 [[ 7.05479778e-01 -7.08714806e-01 -4.64820347e-03 1.43282928e+02] [ 7.08696411e-01 7.05495021e-01 -5.11589184e-03 6.22685808e+01] [ 6.90499270e-03 3.14993127e-04 9.99976111e-01 9.25389894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:62.29, Z:0.93 [[ 7.05323706e-01 -7.08870139e-01 -4.64723219e-03 1.43299860e+02] [ 7.08851741e-01 7.05338945e-01 -5.11677399e-03 6.22903421e+01] [ 6.90500214e-03 3.14783366e-04 9.99976111e-01 9.25468192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:62.31, Z:0.92 [[ 7.04383718e-01 -7.09804192e-01 -4.64620448e-03 1.43314288e+02] [ 7.09785808e-01 7.04398975e-01 -5.11770701e-03 6.23135481e+01] [ 6.90535156e-03 3.07019487e-04 9.99976111e-01 9.23790622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:62.34, Z:0.92 [[ 7.03477804e-01 -7.10702049e-01 -4.64519775e-03 1.43330624e+02] [ 7.10683679e-01 7.03493076e-01 -5.11862063e-03 6.23355532e+01] [ 6.90567862e-03 2.99569773e-04 9.99976111e-01 9.21919255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:62.36, Z:0.92 [[ 7.02087229e-01 -7.12075805e-01 -4.64449837e-03 1.43347782e+02] [ 7.12057461e-01 7.02102532e-01 -5.11925516e-03 6.23577925e+01] [ 6.90621180e-03 2.87013951e-04 9.99976111e-01 9.22505855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:62.38, Z:0.92 [[ 6.97916880e-01 -7.16163715e-01 -4.64352130e-03 1.43362813e+02] [ 7.16145454e-01 6.97932284e-01 -5.12014127e-03 6.23802394e+01] [ 6.90772281e-03 2.47996354e-04 9.99976111e-01 9.22302976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:62.40, Z:0.92 [[ 6.94860820e-01 -7.19129257e-01 -4.64248315e-03 1.43380045e+02] [ 7.19111056e-01 6.94876293e-01 -5.12108240e-03 6.24025176e+01] [ 6.90867166e-03 2.19978556e-04 9.99976111e-01 9.23922987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:62.42, Z:0.92 [[ 6.91377538e-01 -7.22478758e-01 -4.64149068e-03 1.43397476e+02] [ 7.22460626e-01 6.91393093e-01 -5.12198176e-03 6.24246166e+01] [ 6.90961762e-03 1.87928873e-04 9.99976111e-01 9.24669649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:62.45, Z:0.92 [[ 6.83812569e-01 -7.29642951e-01 -4.64049713e-03 1.43414318e+02] [ 7.29624977e-01 6.83828304e-01 -5.12288176e-03 6.24463385e+01] [ 6.91117785e-03 1.17268327e-04 9.99976111e-01 9.24188664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.43, Y:62.47, Z:0.93 [[ 6.79762369e-01 -7.33417750e-01 -4.63950856e-03 1.43432438e+02] [ 7.33399857e-01 6.79778197e-01 -5.12377690e-03 6.24672143e+01] [ 6.91170569e-03 8.03358107e-05 9.99976111e-01 9.26641342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:62.49, Z:0.92 [[ 6.72176335e-01 -7.40376566e-01 -4.63849806e-03 1.43451402e+02] [ 7.40358830e-01 6.72192339e-01 -5.12469153e-03 6.24871059e+01] [ 6.91216437e-03 1.05433747e-05 9.99976111e-01 9.23128499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:62.51, Z:0.92 [[ 6.68767214e-01 -7.43457401e-01 -4.63748894e-03 1.43470876e+02] [ 7.43439732e-01 6.68783293e-01 -5.12560455e-03 6.25066592e+01] [ 6.91214376e-03 -1.98572586e-05 9.99976111e-01 9.24092847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.49, Y:62.53, Z:0.93 [[ 6.65839095e-01 -7.46080963e-01 -4.63648785e-03 1.43490459e+02] [ 7.46063351e-01 6.65855236e-01 -5.12650995e-03 6.25262628e+01] [ 6.91202119e-03 -4.56829218e-05 9.99976111e-01 9.26301636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:62.54, Z:0.93 [[ 6.61977194e-01 -7.49509644e-01 -4.63546720e-03 1.43510201e+02] [ 7.49492110e-01 6.61993419e-01 -5.12743267e-03 6.25446016e+01] [ 6.91170901e-03 -8.00025978e-05 9.99976111e-01 9.25269758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.53, Y:62.57, Z:0.93 [[ 6.61000977e-01 -7.50370729e-01 -4.63438766e-03 1.43529571e+02] [ 7.50353209e-01 6.61017217e-01 -5.12840821e-03 6.25651756e+01] [ 6.91161744e-03 -8.75448127e-05 9.99976111e-01 9.28025228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264000000003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:143.55, Y:62.58, Z:0.92 [[ 6.60436039e-01 -7.50868011e-01 -4.63334418e-03 1.43548897e+02] [ 7.50850497e-01 6.60452285e-01 -5.12935079e-03 6.25837928e+01] [ 6.91156818e-03 -9.13406635e-05 9.99976111e-01 9.24966582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:62.60, Z:0.92 [[ 6.60411566e-01 -7.50889543e-01 -4.63223869e-03 1.43568270e+02] [ 7.50872022e-01 6.60427806e-01 -5.13034895e-03 6.26031314e+01] [ 6.91158461e-03 -9.00766442e-05 9.99976111e-01 9.24016647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:62.62, Z:0.93 [[ 6.60783985e-01 -7.50561841e-01 -4.63114938e-03 1.43587989e+02] [ 7.50544305e-01 6.60800208e-01 -5.13133208e-03 6.26228024e+01] [ 6.91164653e-03 -8.51807316e-05 9.99976111e-01 9.25912244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:62.64, Z:0.92 [[ 6.62600436e-01 -7.48958760e-01 -4.63012794e-03 1.43608172e+02] [ 7.48941178e-01 6.62616610e-01 -5.13225358e-03 6.26404159e+01] [ 6.91184596e-03 -6.70600147e-05 9.99976111e-01 9.23034029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:62.66, Z:0.92 [[ 6.63668902e-01 -7.48012140e-01 -4.62891996e-03 1.43627626e+02] [ 7.47994528e-01 6.63685042e-01 -5.13334286e-03 6.26588225e+01] [ 6.91194772e-03 -5.55667795e-05 9.99976111e-01 9.22658742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:62.68, Z:0.93 [[ 6.64930070e-01 -7.46891281e-01 -4.62784263e-03 1.43647390e+02] [ 7.46873634e-01 6.64946173e-01 -5.13431391e-03 6.26771846e+01] [ 6.91204054e-03 -4.24539350e-05 9.99976111e-01 9.25161787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:62.69, Z:0.93 [[ 6.67574531e-01 -7.44528602e-01 -4.62669628e-03 1.43668498e+02] [ 7.44510891e-01 6.67590564e-01 -5.13534672e-03 6.26949358e+01] [ 6.91215129e-03 -1.63990966e-05 9.99976111e-01 9.25771930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:62.71, Z:0.93 [[ 6.68822132e-01 -7.43408071e-01 -4.62555360e-03 1.43688388e+02] [ 7.43390326e-01 6.68838127e-01 -5.13637576e-03 6.27137789e+01] [ 6.91216980e-03 -3.27000610e-06 9.99976111e-01 9.25734401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:62.73, Z:0.93 [[ 6.70989344e-01 -7.41452571e-01 -4.62441818e-03 1.43709613e+02] [ 7.41434773e-01 6.71005279e-01 -5.13739780e-03 6.27324595e+01] [ 6.91214582e-03 1.84347384e-05 9.99976111e-01 9.26829771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:62.75, Z:0.93 [[ 6.71847752e-01 -7.40674842e-01 -4.62340880e-03 1.43728304e+02] [ 7.40657020e-01 6.71863660e-01 -5.13830604e-03 6.27512388e+01] [ 6.91211437e-03 2.77991812e-05 9.99976111e-01 9.25900780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:62.77, Z:0.93 [[ 6.73460698e-01 -7.39208579e-01 -4.62222164e-03 1.43749871e+02] [ 7.39190715e-01 6.73476558e-01 -5.13937374e-03 6.27694831e+01] [ 6.91202708e-03 4.44629130e-05 9.99976111e-01 9.25734783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:62.79, Z:0.92 [[ 6.74162030e-01 -7.38569023e-01 -4.62121829e-03 1.43768662e+02] [ 7.38551137e-01 6.74177866e-01 -5.14027577e-03 6.27878147e+01] [ 6.91197154e-03 5.23727230e-05 9.99976111e-01 9.24537215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:62.81, Z:0.92 [[ 6.74932655e-01 -7.37864870e-01 -4.62002934e-03 1.43787940e+02] [ 7.37846960e-01 6.74948465e-01 -5.14134416e-03 6.28071134e+01] [ 6.91189896e-03 6.11864634e-05 9.99976111e-01 9.24661061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:143.81, Y:62.83, Z:0.93 [[ 6.75723356e-01 -7.37140836e-01 -4.61892797e-03 1.43806679e+02] [ 7.37122902e-01 6.75739139e-01 -5.14233344e-03 6.28261555e+01] [ 6.91181437e-03 7.00772213e-05 9.99976111e-01 9.25082076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:62.84, Z:0.92 [[ 6.77344733e-01 -7.35651268e-01 -4.61781852e-03 1.43826455e+02] [ 7.35633293e-01 6.77360469e-01 -5.14332953e-03 6.28433970e+01] [ 6.91162461e-03 8.67861223e-05 9.99976111e-01 9.23926502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:62.86, Z:0.92 [[ 6.78083967e-01 -7.34969943e-01 -4.61695869e-03 1.43845888e+02] [ 7.34951947e-01 6.78099678e-01 -5.14410125e-03 6.28630534e+01] [ 6.91151801e-03 9.48898080e-05 9.99976111e-01 9.24501882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:62.88, Z:0.93 [[ 6.79834740e-01 -7.33350817e-01 -4.61586606e-03 1.43866345e+02] [ 7.33332777e-01 6.79850400e-01 -5.14508149e-03 6.28821652e+01] [ 6.91124810e-03 1.12839255e-04 9.99976111e-01 9.27249386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:62.90, Z:0.93 [[ 6.80590868e-01 -7.32649147e-01 -4.61488796e-03 1.43885064e+02] [ 7.32631085e-01 6.80606503e-01 -5.14595865e-03 6.29022990e+01] [ 6.91110498e-03 1.21282092e-04 9.99976111e-01 9.28353948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:62.92, Z:0.93 [[ 6.81029474e-01 -7.32241469e-01 -4.61379377e-03 1.43903028e+02] [ 7.32223391e-01 6.81045090e-01 -5.14693950e-03 6.29224502e+01] [ 6.91100413e-03 1.26889785e-04 9.99976111e-01 9.29230951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:62.94, Z:0.93 [[ 6.81748898e-01 -7.31571707e-01 -4.61269460e-03 1.43921076e+02] [ 7.31553607e-01 6.81764489e-01 -5.14792439e-03 6.29427783e+01] [ 6.91084721e-03 1.35158413e-04 9.99976111e-01 9.28211434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:62.96, Z:0.93 [[ 6.81688828e-01 -7.31627689e-01 -4.61159661e-03 1.43938842e+02] [ 7.31609583e-01 6.81704413e-01 -5.14890780e-03 6.29627113e+01] [ 6.91082927e-03 1.36064655e-04 9.99976111e-01 9.26351999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:62.98, Z:0.93 [[ 6.81441944e-01 -7.31857651e-01 -4.61050237e-03 1.43956740e+02] [ 7.31839544e-01 6.81457527e-01 -5.14988743e-03 6.29825927e+01] [ 6.91084606e-03 1.35201355e-04 9.99976111e-01 9.25128772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:63.00, Z:0.92 [[ 6.80684895e-01 -7.32561825e-01 -4.60940753e-03 1.43974727e+02] [ 7.32543727e-01 6.80700489e-01 -5.15086718e-03 6.30032595e+01] [ 6.91095462e-03 1.29524911e-04 9.99976111e-01 9.24426694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:143.99, Y:63.02, Z:0.93 [[ 6.80108986e-01 -7.33096536e-01 -4.60829848e-03 1.43992033e+02] [ 7.33078444e-01 6.80124587e-01 -5.15185922e-03 6.30234812e+01] [ 6.91102725e-03 1.25581473e-04 9.99976111e-01 9.25444204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:63.04, Z:0.93 [[ 6.78901353e-01 -7.34215042e-01 -4.60713477e-03 1.44010269e+02] [ 7.34196969e-01 6.78916975e-01 -5.15289967e-03 6.30434352e+01] [ 6.91119845e-03 1.15766175e-04 9.99976111e-01 9.25483377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:63.06, Z:0.93 [[ 6.78109786e-01 -7.34946190e-01 -4.60604753e-03 1.44027817e+02] [ 7.34928127e-01 6.78125421e-01 -5.15387135e-03 6.30637492e+01] [ 6.91129603e-03 1.09776716e-04 9.99976111e-01 9.26127127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:144.05, Y:63.09, Z:0.93 [[ 6.77305408e-01 -7.35687555e-01 -4.60495303e-03 1.44045975e+02] [ 7.35669502e-01 6.77321054e-01 -5.15484909e-03 6.30856891e+01] [ 6.91138997e-03 1.03683664e-04 9.99976111e-01 9.28254454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:63.11, Z:0.93 [[ 6.76104091e-01 -7.36791736e-01 -4.60395629e-03 1.44063518e+02] [ 7.36773703e-01 6.76119760e-01 -5.15573916e-03 6.31066291e+01] [ 6.91153182e-03 9.37424183e-05 9.99976111e-01 9.28948128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:144.08, Y:63.13, Z:0.93 [[ 6.75295464e-01 -7.37532948e-01 -4.60290421e-03 1.44080563e+02] [ 7.37514926e-01 6.75311145e-01 -5.15667825e-03 6.31263886e+01] [ 6.91161263e-03 8.75708734e-05 9.99976111e-01 9.29441386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:63.15, Z:0.93 [[ 6.74542115e-01 -7.38222025e-01 -4.60174741e-03 1.44099869e+02] [ 7.38204012e-01 6.74557807e-01 -5.15771036e-03 6.31466535e+01] [ 6.91168003e-03 8.20644548e-05 9.99976111e-01 9.31018262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:63.17, Z:0.93 [[ 6.74310060e-01 -7.38434003e-01 -4.60075104e-03 1.44116821e+02] [ 7.38415989e-01 6.74325750e-01 -5.15859899e-03 6.31660146e+01] [ 6.91168979e-03 8.12270665e-05 9.99976111e-01 9.30598383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:63.19, Z:0.93 [[ 6.74312729e-01 -7.38431571e-01 -4.59987910e-03 1.44134510e+02] [ 7.38413551e-01 6.74328413e-01 -5.15937637e-03 6.31864110e+01] [ 6.91167557e-03 8.24200976e-05 9.99976111e-01 9.30528390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.15, Y:63.21, Z:0.93 [[ 6.74495116e-01 -7.38264986e-01 -4.59875610e-03 1.44151116e+02] [ 7.38246956e-01 6.74510788e-01 -5.16037715e-03 6.32067188e+01] [ 6.91163636e-03 8.56314890e-05 9.99976111e-01 9.31061205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.17, Y:63.23, Z:0.93 [[ 6.74676172e-01 -7.38099536e-01 -4.59758045e-03 1.44168618e+02] [ 7.38081495e-01 6.74691831e-01 -5.16142437e-03 6.32276017e+01] [ 6.91159490e-03 8.89009848e-05 9.99976111e-01 9.31499501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.19, Y:63.25, Z:0.93 [[ 6.75475662e-01 -7.37367956e-01 -4.59646972e-03 1.44185836e+02] [ 7.37349891e-01 6.75491294e-01 -5.16241333e-03 6.32478490e+01] [ 6.91147344e-03 9.78781139e-05 9.99976111e-01 9.32452918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:63.27, Z:0.93 [[ 6.75913490e-01 -7.36966646e-01 -4.59530723e-03 1.44204734e+02] [ 7.36948565e-01 6.75929102e-01 -5.16344791e-03 6.32689119e+01] [ 6.91139078e-03 1.03539028e-04 9.99976111e-01 9.32906337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:63.29, Z:0.93 [[ 6.76604890e-01 -7.36331933e-01 -4.59431175e-03 1.44221496e+02] [ 7.36313830e-01 6.76620479e-01 -5.16433351e-03 6.32884250e+01] [ 6.91126909e-03 1.11358027e-04 9.99976111e-01 9.33546638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:63.31, Z:0.94 [[ 6.77802745e-01 -7.35229447e-01 -4.59344126e-03 1.44239308e+02] [ 7.35211314e-01 6.77818298e-01 -5.16510766e-03 6.33099299e+01] [ 6.91105778e-03 1.23774171e-04 9.99976111e-01 9.35203812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:63.33, Z:0.93 [[ 6.78315249e-01 -7.34756648e-01 -4.59244928e-03 1.44256271e+02] [ 7.34738499e-01 6.78330783e-01 -5.16598951e-03 6.33297299e+01] [ 6.91094485e-03 1.29920174e-04 9.99976111e-01 9.34539833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:63.35, Z:0.93 [[ 6.79570182e-01 -7.33596134e-01 -4.59127749e-03 1.44272047e+02] [ 7.33577951e-01 6.79585676e-01 -5.16703073e-03 6.33505106e+01] [ 6.91068018e-03 1.43300072e-04 9.99976111e-01 9.33475693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:63.37, Z:0.93 [[ 6.80295526e-01 -7.32923549e-01 -4.59013323e-03 1.44288849e+02] [ 7.32905344e-01 6.80310994e-01 -5.16804704e-03 6.33719265e+01] [ 6.91050147e-03 1.51666105e-04 9.99976111e-01 9.33343551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:63.39, Z:0.93 [[ 6.81174384e-01 -7.32106822e-01 -4.58906404e-03 1.44305474e+02] [ 7.32088592e-01 6.81189823e-01 -5.16899626e-03 6.33933666e+01] [ 6.91028115e-03 1.61386411e-04 9.99976111e-01 9.32450088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:63.42, Z:0.93 [[ 6.83528475e-01 -7.29909429e-01 -4.58799654e-03 1.44322244e+02] [ 7.29891143e-01 6.83543848e-01 -5.16994360e-03 6.34159365e+01] [ 6.90968739e-03 1.85065630e-04 9.99976111e-01 9.32385083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:63.44, Z:0.93 [[ 6.84671781e-01 -7.28837095e-01 -4.58701071e-03 1.44340107e+02] [ 7.28818779e-01 6.84687118e-01 -5.17081813e-03 6.34379091e+01] [ 6.90935121e-03 1.97213710e-04 9.99976111e-01 9.32060769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:144.36, Y:63.46, Z:0.93 [[ 6.85687561e-01 -7.27881540e-01 -4.58602772e-03 1.44357363e+02] [ 7.27863197e-01 6.85702866e-01 -5.17168980e-03 6.34592843e+01] [ 6.90902989e-03 2.08162575e-04 9.99976111e-01 9.32919238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:63.48, Z:0.93 [[ 6.87330961e-01 -7.26329903e-01 -4.58500924e-03 1.44372739e+02] [ 7.26311519e-01 6.87346217e-01 -5.17259259e-03 6.34818734e+01] [ 6.90849742e-03 2.25138007e-04 9.99976111e-01 9.31558744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:63.50, Z:0.93 [[ 6.87926621e-01 -7.25765769e-01 -4.58398072e-03 1.44387575e+02] [ 7.25747366e-01 6.87941855e-01 -5.17350391e-03 6.35032376e+01] [ 6.90826424e-03 2.32179128e-04 9.99976111e-01 9.31226341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:63.52, Z:0.93 [[ 6.87780941e-01 -7.25903833e-01 -4.58283929e-03 1.44405742e+02] [ 7.25885427e-01 6.87796170e-01 -5.17451482e-03 6.35241081e+01] [ 6.90825945e-03 2.32316413e-04 9.99976111e-01 9.31417427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:63.55, Z:0.93 [[ 6.88601822e-01 -7.25125188e-01 -4.58180052e-03 1.44419773e+02] [ 7.25106759e-01 6.88617022e-01 -5.17543444e-03 6.35486385e+01] [ 6.90794370e-03 2.41519065e-04 9.99976111e-01 9.34426235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:63.57, Z:0.93 [[ 6.88779805e-01 -7.24956134e-01 -4.58083848e-03 1.44435735e+02] [ 7.24937695e-01 6.88794994e-01 -5.17628582e-03 6.35699474e+01] [ 6.90783877e-03 2.44498648e-04 9.99976111e-01 9.34204515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:63.59, Z:0.94 [[ 6.88651950e-01 -7.25077594e-01 -4.57982087e-03 1.44452865e+02] [ 7.25059152e-01 6.88667135e-01 -5.17718601e-03 6.35924632e+01] [ 6.90783369e-03 2.44638205e-04 9.99976111e-01 9.36655363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:63.62, Z:0.94 [[ 6.88560763e-01 -7.25164195e-01 -4.57886213e-03 1.44467296e+02] [ 7.25145750e-01 6.88575943e-01 -5.17803380e-03 6.36165653e+01] [ 6.90781903e-03 2.45048491e-04 9.99976111e-01 9.38444316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:63.64, Z:0.94 [[ 6.88219858e-01 -7.25487746e-01 -4.57789743e-03 1.44483260e+02] [ 7.25469302e-01 6.88235041e-01 -5.17888656e-03 6.36385029e+01] [ 6.90788816e-03 2.43088522e-04 9.99976111e-01 9.38126810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:63.66, Z:0.94 [[ 6.87591669e-01 -7.26083155e-01 -4.57687695e-03 1.44499570e+02] [ 7.26064718e-01 6.87606861e-01 -5.17978826e-03 6.36613725e+01] [ 6.90804899e-03 2.38470383e-04 9.99976111e-01 9.38159755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:63.69, Z:0.94 [[ 6.86368822e-01 -7.27239233e-01 -4.57590357e-03 1.44513654e+02] [ 7.27220816e-01 6.86384037e-01 -5.18064801e-03 6.36869865e+01] [ 6.90839765e-03 2.28142941e-04 9.99976111e-01 9.37255507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:63.71, Z:0.94 [[ 6.85512000e-01 -7.28046954e-01 -4.57496420e-03 1.44529118e+02] [ 7.28028549e-01 6.85527230e-01 -5.18147742e-03 6.37095147e+01] [ 6.90862140e-03 2.21260399e-04 9.99976111e-01 9.35218781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:63.73, Z:0.93 [[ 6.83206216e-01 -7.30211163e-01 -4.57422816e-03 1.44543608e+02] [ 7.30192802e-01 6.83221500e-01 -5.18212713e-03 6.37336367e+01] [ 6.90925810e-03 2.00392994e-04 9.99976111e-01 9.34123455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:63.76, Z:0.93 [[ 6.81698254e-01 -7.31619147e-01 -4.57322151e-03 1.44560344e+02] [ 7.31600812e-01 6.81713568e-01 -5.18301534e-03 6.37555525e+01] [ 6.90962041e-03 1.87479940e-04 9.99976111e-01 9.32647963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.58, Y:63.78, Z:0.93 [[ 6.80106022e-01 -7.33099512e-01 -4.57221636e-03 1.44577415e+02] [ 7.33081204e-01 6.80121369e-01 -5.18390188e-03 6.37782821e+01] [ 6.90997799e-03 1.73797010e-04 9.99976111e-01 9.32772789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.59, Y:63.80, Z:0.93 [[ 6.76568530e-01 -7.36365485e-01 -4.57122557e-03 1.44593135e+02] [ 7.36347246e-01 6.76583958e-01 -5.18477542e-03 6.38019853e+01] [ 6.91070756e-03 1.41846528e-04 9.99976111e-01 9.31282517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:63.82, Z:0.93 [[ 6.74754078e-01 -7.38028487e-01 -4.57021696e-03 1.44609422e+02] [ 7.38010279e-01 6.74769543e-01 -5.18566434e-03 6.38234621e+01] [ 6.91101121e-03 1.26181065e-04 9.99976111e-01 9.28808209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:63.85, Z:0.93 [[ 6.71474110e-01 -7.41013928e-01 -4.56915058e-03 1.44624595e+02] [ 7.40995783e-01 6.71489649e-01 -5.18660376e-03 6.38454293e+01] [ 6.91148295e-03 9.69488343e-05 9.99976111e-01 9.25703968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:63.87, Z:0.93 [[ 6.69868336e-01 -7.42465855e-01 -4.56799437e-03 1.44642104e+02] [ 7.42447736e-01 6.69883906e-01 -5.18762187e-03 6.38666823e+01] [ 6.91165802e-03 8.35265476e-05 9.99976111e-01 9.28407829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59264000000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:144.66, Y:63.89, Z:0.93 [[ 6.68725053e-01 -7.43495760e-01 -4.56697242e-03 1.44659222e+02] [ 7.43477660e-01 6.68740644e-01 -5.18852139e-03 6.38874806e+01] [ 6.91176374e-03 7.42522770e-05 9.99976111e-01 9.30859788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:144.68, Y:63.91, Z:0.93 [[ 6.66947684e-01 -7.45090558e-01 -4.56588863e-03 1.44675627e+02] [ 7.45072488e-01 6.66963310e-01 -5.18947496e-03 6.39097713e+01] [ 6.91190898e-03 5.91903039e-05 9.99976111e-01 9.31491381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.69, Y:63.93, Z:0.93 [[ 6.66453088e-01 -7.45532993e-01 -4.56487524e-03 1.44692437e+02] [ 7.45514927e-01 6.66468719e-01 -5.19036622e-03 6.39305378e+01] [ 6.91193582e-03 5.59529616e-05 9.99976111e-01 9.29550700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:63.95, Z:0.93 [[ 6.66343213e-01 -7.45631205e-01 -4.56380432e-03 1.44708181e+02] [ 7.45613135e-01 6.66358840e-01 -5.19130770e-03 6.39513921e+01] [ 6.91193236e-03 5.63602086e-05 9.99976111e-01 9.26345273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:63.97, Z:0.93 [[ 6.66379061e-01 -7.45599175e-01 -4.56265119e-03 1.44726316e+02] [ 7.45581097e-01 6.66394678e-01 -5.19232098e-03 6.39731275e+01] [ 6.91191671e-03 5.82274932e-05 9.99976111e-01 9.27191511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:63.99, Z:0.93 [[ 6.66331298e-01 -7.45641866e-01 -4.56163441e-03 1.44743661e+02] [ 7.45623783e-01 6.66346910e-01 -5.19321411e-03 6.39937347e+01] [ 6.91190885e-03 5.91379922e-05 9.99976111e-01 9.26582172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:64.01, Z:0.93 [[ 6.66393805e-01 -7.45586009e-01 -4.56056332e-03 1.44760778e+02] [ 7.45567919e-01 6.66409408e-01 -5.19415454e-03 6.40143508e+01] [ 6.91189126e-03 6.11427036e-05 9.99976111e-01 9.27435220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:64.03, Z:0.93 [[ 6.66394994e-01 -7.45584954e-01 -4.55944208e-03 1.44777607e+02] [ 7.45566857e-01 6.66410588e-01 -5.19513858e-03 6.40345195e+01] [ 6.91187764e-03 6.26454401e-05 9.99976111e-01 9.26601277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.79, Y:64.06, Z:0.93 [[ 6.66677184e-01 -7.45332647e-01 -4.55826175e-03 1.44794224e+02] [ 7.45314537e-01 6.66692763e-01 -5.19617401e-03 6.40560459e+01] [ 6.91183825e-03 6.68319045e-05 9.99976111e-01 9.28350560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:64.08, Z:0.92 [[ 6.66657274e-01 -7.45350462e-01 -4.55714499e-03 1.44811086e+02] [ 7.45332346e-01 6.66672846e-01 -5.19715325e-03 6.40763829e+01] [ 6.91182540e-03 6.81324484e-05 9.99976111e-01 9.23948823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:64.10, Z:0.92 [[ 6.66800389e-01 -7.45222439e-01 -4.55597064e-03 1.44829120e+02] [ 7.45204313e-01 6.66815950e-01 -5.19818251e-03 6.40972800e+01] [ 6.91179614e-03 7.10211495e-05 9.99976111e-01 9.24221337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:144.85, Y:64.12, Z:0.93 [[ 6.68148459e-01 -7.44014039e-01 -4.55488609e-03 1.44848141e+02] [ 7.43995878e-01 6.68163979e-01 -5.19913267e-03 6.41183345e+01] [ 6.91163851e-03 8.49760051e-05 9.99976111e-01 9.30686582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:64.14, Z:0.93 [[ 6.68798722e-01 -7.43429575e-01 -4.55386380e-03 1.44865146e+02] [ 7.43411394e-01 6.68814219e-01 -5.20002793e-03 6.41399746e+01] [ 6.91154341e-03 9.23777944e-05 9.99976111e-01 9.26424583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:64.16, Z:0.93 [[ 6.71002922e-01 -7.41440727e-01 -4.55278951e-03 1.44880767e+02] [ 7.41422494e-01 6.71018357e-01 -5.20096833e-03 6.41636928e+01] [ 6.91121508e-03 1.14324397e-04 9.99976111e-01 9.29937299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:64.19, Z:0.93 [[ 6.72016108e-01 -7.40522539e-01 -4.55177936e-03 1.44897661e+02] [ 7.40504279e-01 6.72031512e-01 -5.20185225e-03 6.41854403e+01] [ 6.91102800e-03 1.25116410e-04 9.99976111e-01 9.27257078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:64.21, Z:0.93 [[ 6.72714302e-01 -7.39888342e-01 -4.55071341e-03 1.44914452e+02] [ 7.39870061e-01 6.72729681e-01 -5.20278460e-03 6.42065766e+01] [ 6.91087965e-03 1.33051004e-04 9.99976111e-01 9.27969736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:64.23, Z:0.93 [[ 6.72692173e-01 -7.39908468e-01 -4.54961956e-03 1.44931712e+02] [ 7.39890182e-01 6.72707544e-01 -5.20374095e-03 6.42271824e+01] [ 6.91085540e-03 1.34296957e-04 9.99976111e-01 9.27171925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:64.25, Z:0.93 [[ 6.72092723e-01 -7.40453026e-01 -4.54852042e-03 1.44950359e+02] [ 7.40434745e-01 6.72108101e-01 -5.20470151e-03 6.42484581e+01] [ 6.91093441e-03 1.30159452e-04 9.99976111e-01 9.28679771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:64.27, Z:0.93 [[ 6.70717743e-01 -7.41698746e-01 -4.54750861e-03 1.44966899e+02] [ 7.41680487e-01 6.70733149e-01 -5.20558542e-03 6.42699157e+01] [ 6.91114094e-03 1.18680101e-04 9.99976111e-01 9.28188243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:144.98, Y:64.29, Z:0.93 [[ 6.69866048e-01 -7.42468052e-01 -4.54643398e-03 1.44983654e+02] [ 7.42449805e-01 6.69881467e-01 -5.20652380e-03 6.42910339e+01] [ 6.91124945e-03 1.12174502e-04 9.99976111e-01 9.31783555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:64.31, Z:0.93 [[ 6.67522464e-01 -7.44575785e-01 -4.54532148e-03 1.45002578e+02] [ 7.44557580e-01 6.67537933e-01 -5.20749484e-03 6.43115322e+01] [ 6.91154906e-03 9.18662253e-05 9.99976111e-01 9.30433036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:64.33, Z:0.93 [[ 6.66266217e-01 -7.45700125e-01 -4.54430801e-03 1.45020175e+02] [ 7.45681940e-01 6.66281710e-01 -5.20837909e-03 6.43314475e+01] [ 6.91167825e-03 8.15586210e-05 9.99976111e-01 9.30194701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:64.35, Z:0.93 [[ 6.65153510e-01 -7.46692818e-01 -4.54356671e-03 1.45036731e+02] [ 7.46674652e-01 6.65169024e-01 -5.20902569e-03 6.43513230e+01] [ 6.91178190e-03 7.22356271e-05 9.99976111e-01 9.30868664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:64.37, Z:0.93 [[ 6.63760645e-01 -7.47931262e-01 -4.54240508e-03 1.45053815e+02] [ 7.47913118e-01 6.63776185e-01 -5.21003846e-03 6.43718443e+01] [ 6.91189096e-03 6.08941433e-05 9.99976111e-01 9.30421197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:64.39, Z:0.93 [[ 6.63267528e-01 -7.48368601e-01 -4.54130737e-03 1.45071241e+02] [ 7.48350461e-01 6.63283072e-01 -5.21099510e-03 6.43921783e+01] [ 6.91191742e-03 5.77943786e-05 9.99976111e-01 9.32127105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:64.41, Z:0.93 [[ 6.62980996e-01 -7.48622459e-01 -4.54017836e-03 1.45089229e+02] [ 7.48604318e-01 6.62996539e-01 -5.21197859e-03 6.44134639e+01] [ 6.91192677e-03 5.66456375e-05 9.99976111e-01 9.34667541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:64.43, Z:0.93 [[ 6.63144709e-01 -7.48477448e-01 -4.53914694e-03 1.45107413e+02] [ 7.48459297e-01 6.63160242e-01 -5.21287671e-03 6.44345560e+01] [ 6.91190243e-03 5.95248806e-05 9.99976111e-01 9.33963197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:64.46, Z:0.93 [[ 6.63536939e-01 -7.48129759e-01 -4.53812055e-03 1.45125131e+02] [ 7.48111594e-01 6.63552455e-01 -5.21377009e-03 6.44552437e+01] [ 6.91185759e-03 6.45084502e-05 9.99976111e-01 9.33239849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:64.48, Z:0.93 [[ 6.64161727e-01 -7.47575157e-01 -4.53703574e-03 1.45141874e+02] [ 7.47556973e-01 6.64177220e-01 -5.21471392e-03 6.44752246e+01] [ 6.91178636e-03 7.17206956e-05 9.99976111e-01 9.31371871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:145.16, Y:64.50, Z:0.93 [[ 6.65609629e-01 -7.46286304e-01 -4.53584553e-03 1.45158594e+02] [ 7.46268083e-01 6.65625078e-01 -5.21574897e-03 6.44961913e+01] [ 6.91161456e-03 8.66959878e-05 9.99976111e-01 9.33670467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:64.52, Z:0.93 [[ 6.66046829e-01 -7.45896144e-01 -4.53477365e-03 1.45176387e+02] [ 7.45877907e-01 6.66062260e-01 -5.21668075e-03 6.45165617e+01] [ 6.91154364e-03 9.21661946e-05 9.99976111e-01 9.31117872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:64.54, Z:0.93 [[ 6.65782739e-01 -7.46131886e-01 -4.53367216e-03 1.45193967e+02] [ 7.46113648e-01 6.65798168e-01 -5.21763784e-03 6.45359100e+01] [ 6.91155658e-03 9.11785400e-05 9.99976111e-01 9.28609186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:64.56, Z:0.93 [[ 6.65166025e-01 -7.46681736e-01 -4.53251629e-03 1.45211718e+02] [ 7.46663504e-01 6.65181462e-01 -5.21864174e-03 6.45562412e+01] [ 6.91161029e-03 8.69986883e-05 9.99976111e-01 9.30401853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:64.58, Z:0.93 [[ 6.64653814e-01 -7.47137721e-01 -4.53140464e-03 1.45228907e+02] [ 7.47119493e-01 6.64669256e-01 -5.21960682e-03 6.45768279e+01] [ 6.91165049e-03 8.37308486e-05 9.99976111e-01 9.30830114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:64.60, Z:0.93 [[ 6.64055085e-01 -7.47669927e-01 -4.53029338e-03 1.45244497e+02] [ 7.47651705e-01 6.64070534e-01 -5.22057115e-03 6.45974623e+01] [ 6.91169839e-03 7.96652551e-05 9.99976111e-01 9.29978727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:64.62, Z:0.93 [[ 6.64467489e-01 -7.47303448e-01 -4.52912541e-03 1.45263571e+02] [ 7.47285210e-01 6.64482919e-01 -5.22158423e-03 6.46165669e+01] [ 6.91163437e-03 8.50245242e-05 9.99976111e-01 9.32095047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:64.64, Z:0.94 [[ 6.64965112e-01 -7.46860703e-01 -4.52655008e-03 1.45282873e+02] [ 7.46842440e-01 6.64980512e-01 -5.22381730e-03 6.46382300e+01] [ 6.91153145e-03 9.30365564e-05 9.99976111e-01 9.35525226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264000000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:145.30, Y:64.66, Z:0.94 [[ 6.65681282e-01 -7.46222439e-01 -4.52787180e-03 1.45299754e+02] [ 7.46204169e-01 6.65696674e-01 -5.22267142e-03 6.46587143e+01] [ 6.91146380e-03 9.79177877e-05 9.99976111e-01 9.39572324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:64.68, Z:0.94 [[ 6.66724755e-01 -7.45290285e-01 -4.52678597e-03 1.45317633e+02] [ 7.45271987e-01 6.66740114e-01 -5.22361240e-03 6.46802970e+01] [ 6.91129736e-03 1.09024925e-04 9.99976111e-01 9.38501283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:145.33, Y:64.70, Z:0.94 [[ 6.69054060e-01 -7.43199961e-01 -4.52576670e-03 1.45333853e+02] [ 7.43181609e-01 6.69069354e-01 -5.22449535e-03 6.47020229e+01] [ 6.91089654e-03 1.32003252e-04 9.99976111e-01 9.38744127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:64.72, Z:0.94 [[ 6.71024324e-01 -7.41421527e-01 -4.52502049e-03 1.45349266e+02] [ 7.41403130e-01 6.71039564e-01 -5.22514157e-03 6.47243821e+01] [ 6.91050022e-03 1.51332739e-04 9.99976111e-01 9.35217411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:64.75, Z:0.94 [[ 6.71771935e-01 -7.40744221e-01 -4.52392488e-03 1.45366005e+02] [ 7.40725803e-01 6.71787149e-01 -5.22608998e-03 6.47467086e+01] [ 6.91031055e-03 1.59752689e-04 9.99976111e-01 9.35929224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:64.77, Z:0.94 [[ 6.72331501e-01 -7.40236379e-01 -4.52291952e-03 1.45383347e+02] [ 7.40217943e-01 6.72346693e-01 -5.22695992e-03 6.47686593e+01] [ 6.91015587e-03 1.66303626e-04 9.99976111e-01 9.35422059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:64.79, Z:0.93 [[ 6.73039196e-01 -7.39592992e-01 -4.52190842e-03 1.45399497e+02] [ 7.39574535e-01 6.73054364e-01 -5.22783449e-03 6.47906457e+01] [ 6.90995995e-03 1.74249205e-04 9.99976111e-01 9.32023924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:64.81, Z:0.93 [[ 6.73106018e-01 -7.39532184e-01 -4.52087003e-03 1.45415833e+02] [ 7.39513720e-01 6.73121176e-01 -5.22873231e-03 6.48131204e+01] [ 6.90990917e-03 1.76245766e-04 9.99976111e-01 9.31509449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:64.84, Z:0.93 [[ 6.72355369e-01 -7.40214718e-01 -4.51988506e-03 1.45429722e+02] [ 7.40196264e-01 6.72370540e-01 -5.22958361e-03 6.48369413e+01] [ 6.91005231e-03 1.70536589e-04 9.99976111e-01 9.31146994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.45, Y:64.86, Z:0.93 [[ 6.71372328e-01 -7.41106455e-01 -4.51890480e-03 1.45446489e+02] [ 7.41088015e-01 6.71387516e-01 -5.23043051e-03 6.48590515e+01] [ 6.91024209e-03 1.62660117e-04 9.99976111e-01 9.34234179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.46, Y:64.88, Z:0.93 [[ 6.71231455e-01 -7.41234053e-01 -4.51790686e-03 1.45464967e+02] [ 7.41215611e-01 6.71246640e-01 -5.23129237e-03 6.48807325e+01] [ 6.91024185e-03 1.62664899e-04 9.99976111e-01 9.34431043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:64.90, Z:0.93 [[ 6.70037431e-01 -7.42313572e-01 -4.51691237e-03 1.45482626e+02] [ 7.42295148e-01 6.70052638e-01 -5.23215091e-03 6.49029285e+01] [ 6.91046568e-03 1.52854817e-04 9.99976111e-01 9.32869461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:64.92, Z:0.93 [[ 6.68510096e-01 -7.43689356e-01 -4.51592222e-03 1.45498118e+02] [ 7.43670958e-01 6.68525334e-01 -5.23300539e-03 6.49237823e+01] [ 6.91073881e-03 1.39956733e-04 9.99976111e-01 9.32759321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:145.51, Y:64.95, Z:0.93 [[ 6.65245372e-01 -7.46611150e-01 -4.51505765e-03 1.45512647e+02] [ 7.46592814e-01 6.65260684e-01 -5.23375123e-03 6.49455319e+01] [ 6.91126737e-03 1.10819191e-04 9.99976111e-01 9.34167365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:64.97, Z:0.93 [[ 6.62241926e-01 -7.49276488e-01 -4.51389510e-03 1.45529228e+02] [ 7.49258207e-01 6.62257304e-01 -5.23475369e-03 6.49673824e+01] [ 6.91163786e-03 8.46004202e-05 9.99976111e-01 9.32685998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:145.55, Y:64.99, Z:0.94 [[ 6.61000446e-01 -7.50371938e-01 -4.51279158e-03 1.45546382e+02] [ 7.50353675e-01 6.61015847e-01 -5.23570484e-03 6.49894993e+01] [ 6.91175273e-03 7.46134838e-05 9.99976111e-01 9.35673742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.56, Y:65.01, Z:0.93 [[ 6.59905099e-01 -7.51335414e-01 -4.51176631e-03 1.45563692e+02] [ 7.51317168e-01 6.59920519e-01 -5.23658820e-03 6.50101067e+01] [ 6.91184133e-03 6.58837743e-05 9.99976111e-01 9.32581270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:65.03, Z:0.93 [[ 6.58917519e-01 -7.52201671e-01 -4.51101565e-03 1.45581078e+02] [ 7.52183441e-01 6.58932958e-01 -5.23723477e-03 6.50305029e+01] [ 6.91191363e-03 5.77944727e-05 9.99976111e-01 9.33593061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:145.60, Y:65.05, Z:0.94 [[ 6.57353185e-01 -7.53569142e-01 -4.50988738e-03 1.45597504e+02] [ 7.53550937e-01 6.57368653e-01 -5.23820617e-03 6.50537923e+01] [ 6.91200912e-03 4.49216428e-05 9.99976111e-01 9.39752048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:145.61, Y:65.08, Z:0.94 [[ 6.56719597e-01 -7.54121371e-01 -4.50885193e-03 1.45612882e+02] [ 7.54103173e-01 6.56735073e-01 -5.23909729e-03 6.50764733e+01] [ 6.91203643e-03 4.04783110e-05 9.99976111e-01 9.38617056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:145.63, Y:65.10, Z:0.94 [[ 6.56435540e-01 -7.54368652e-01 -4.50776167e-03 1.45630103e+02] [ 7.54350453e-01 6.56451016e-01 -5.24003519e-03 6.50958513e+01] [ 6.91204301e-03 3.93132738e-05 9.99976111e-01 9.36880478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:65.12, Z:0.94 [[ 6.56264176e-01 -7.54517740e-01 -4.50688246e-03 1.45648488e+02] [ 7.54499540e-01 6.56279650e-01 -5.24079128e-03 6.51164169e+01] [ 6.91204523e-03 3.89028279e-05 9.99976111e-01 9.36873204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:65.14, Z:0.93 [[ 6.55987409e-01 -7.54758383e-01 -4.50585871e-03 1.45664993e+02] [ 7.54740182e-01 6.56002883e-01 -5.24167132e-03 6.51380389e+01] [ 6.91205167e-03 3.77177648e-05 9.99976111e-01 9.34552374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.68, Y:65.16, Z:0.94 [[ 6.55832645e-01 -7.54892871e-01 -4.50510869e-03 1.45682161e+02] [ 7.54874669e-01 6.55848117e-01 -5.24231587e-03 6.51599416e+01] [ 6.91205392e-03 3.72894496e-05 9.99976111e-01 9.38364574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:65.18, Z:0.94 [[ 6.55662491e-01 -7.55040669e-01 -4.50407402e-03 1.45699687e+02] [ 7.55022464e-01 6.55677960e-01 -5.24320468e-03 6.51802604e+01] [ 6.91205483e-03 3.70955717e-05 9.99976111e-01 9.36343964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:65.20, Z:0.94 [[ 6.55722435e-01 -7.54988615e-01 -4.50331758e-03 1.45718550e+02] [ 7.54970405e-01 6.55737897e-01 -5.24385429e-03 6.52014207e+01] [ 6.91204629e-03 3.86414039e-05 9.99976111e-01 9.35563124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:65.22, Z:0.94 [[ 6.55847402e-01 -7.54880066e-01 -4.50230177e-03 1.45737413e+02] [ 7.54861848e-01 6.55862854e-01 -5.24472631e-03 6.52227486e+01] [ 6.91203183e-03 4.11242865e-05 9.99976111e-01 9.35729975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:65.24, Z:0.94 [[ 6.56594211e-01 -7.54230588e-01 -4.50127596e-03 1.45756368e+02] [ 7.54212348e-01 6.56609638e-01 -5.24560656e-03 6.52434943e+01] [ 6.91197810e-03 4.93169949e-05 9.99976111e-01 9.37203454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:145.77, Y:65.27, Z:0.94 [[ 6.57051328e-01 -7.53832409e-01 -4.50025370e-03 1.45774425e+02] [ 7.53814154e-01 6.57066737e-01 -5.24648342e-03 6.52652967e+01] [ 6.91193625e-03 5.48539688e-05 9.99976111e-01 9.39902851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:65.29, Z:0.94 [[ 6.58480447e-01 -7.52584386e-01 -4.49923152e-03 1.45791079e+02] [ 7.52566095e-01 6.58495814e-01 -5.24735987e-03 6.52866988e+01] [ 6.91180622e-03 6.93147766e-05 9.99976111e-01 9.37795796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:65.31, Z:0.94 [[ 6.59087768e-01 -7.52052579e-01 -4.49814846e-03 1.45807758e+02] [ 7.52034269e-01 6.59103113e-01 -5.24828813e-03 6.53073536e+01] [ 6.91173227e-03 7.63207166e-05 9.99976111e-01 9.38488242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:65.33, Z:0.94 [[ 6.59614982e-01 -7.51590215e-01 -4.49698993e-03 1.45825893e+02] [ 7.51571889e-01 6.59630306e-01 -5.24928062e-03 6.53279178e+01] [ 6.91165880e-03 8.26929337e-05 9.99976111e-01 9.38503956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.84, Y:65.35, Z:0.94 [[ 6.60386319e-01 -7.50912576e-01 -4.49588494e-03 1.45844772e+02] [ 7.50894227e-01 6.60401616e-01 -5.25022685e-03 6.53476645e+01] [ 6.91155105e-03 9.12439355e-05 9.99976111e-01 9.39635854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:65.37, Z:0.94 [[ 6.60787057e-01 -7.50559966e-01 -4.49475820e-03 1.45861460e+02] [ 7.50541603e-01 6.60802336e-01 -5.25119128e-03 6.53674642e+01] [ 6.91148067e-03 9.64162112e-05 9.99976111e-01 9.38374107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264000000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:145.88, Y:65.39, Z:0.94 [[ 6.61227272e-01 -7.50172180e-01 -4.49388906e-03 1.45878441e+02] [ 7.50153802e-01 6.61242535e-01 -5.25193498e-03 6.53884865e+01] [ 6.91140610e-03 1.01614676e-04 9.99976111e-01 9.38938787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:65.41, Z:0.94 [[ 6.61727166e-01 -7.49731226e-01 -4.49973088e-03 1.45896722e+02] [ 7.49712872e-01 6.61742457e-01 -5.24693788e-03 6.54089119e+01] [ 6.91145614e-03 9.85351770e-05 9.99976111e-01 9.39047921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:145.91, Y:65.43, Z:0.94 [[ 6.62179683e-01 -7.49331628e-01 -4.49194329e-03 1.45914531e+02] [ 7.49313220e-01 6.62194909e-01 -5.25359644e-03 6.54298194e+01] [ 6.91122796e-03 1.12952335e-04 9.99976111e-01 9.40820157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:65.45, Z:0.94 [[ 6.63327027e-01 -7.48316169e-01 -4.49082782e-03 1.45931947e+02] [ 7.48297730e-01 6.63342217e-01 -5.25454979e-03 6.54495021e+01] [ 6.91102025e-03 1.25008618e-04 9.99976111e-01 9.38676175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:65.47, Z:0.94 [[ 6.63748265e-01 -7.47942567e-01 -4.48965689e-03 1.45950360e+02] [ 7.47924114e-01 6.63763436e-01 -5.25555008e-03 6.54708751e+01] [ 6.91091970e-03 1.30439603e-04 9.99976111e-01 9.41396074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87264000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:145.97, Y:65.49, Z:0.94 [[ 6.64513180e-01 -7.47263064e-01 -4.48858614e-03 1.45967549e+02] [ 7.47244589e-01 6.64528324e-01 -5.25646441e-03 6.54910763e+01] [ 6.91075433e-03 1.38918178e-04 9.99976111e-01 9.38580258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:65.51, Z:0.94 [[ 6.64550521e-01 -7.47229862e-01 -4.48771916e-03 1.45985753e+02] [ 7.47211381e-01 6.64565658e-01 -5.25720449e-03 6.55117361e+01] [ 6.91072422e-03 1.40403149e-04 9.99976111e-01 9.39427527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:65.53, Z:0.94 [[ 6.64398505e-01 -7.47365035e-01 -4.48669836e-03 1.46004643e+02] [ 7.47346552e-01 6.64413639e-01 -5.25807554e-03 6.55329126e+01] [ 6.91072540e-03 1.40338979e-04 9.99976111e-01 9.40195414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:65.55, Z:0.94 [[ 6.64053626e-01 -7.47671492e-01 -4.48567557e-03 1.46021832e+02] [ 7.47653010e-01 6.64068762e-01 -5.25894794e-03 6.55536763e+01] [ 6.91076247e-03 1.38494601e-04 9.99976111e-01 9.39712243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:65.58, Z:0.94 [[ 6.63703958e-01 -7.47981913e-01 -4.48476973e-03 1.46039257e+02] [ 7.47963433e-01 6.63719096e-01 -5.25972032e-03 6.55750566e+01] [ 6.91080298e-03 1.36453435e-04 9.99976111e-01 9.42044736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:65.60, Z:0.94 [[ 6.63445338e-01 -7.48211320e-01 -4.48374645e-03 1.46056702e+02] [ 7.48192839e-01 6.63460475e-01 -5.26059249e-03 6.55962450e+01] [ 6.91082340e-03 1.35408576e-04 9.99976111e-01 9.39871564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:65.62, Z:0.94 [[ 6.63334626e-01 -7.48309481e-01 -4.48269155e-03 1.46073908e+02] [ 7.48290996e-01 6.63349759e-01 -5.26149124e-03 6.56178909e+01] [ 6.91081614e-03 1.35771608e-04 9.99976111e-01 9.41246139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:65.64, Z:0.94 [[ 6.63350143e-01 -7.48295732e-01 -4.48165638e-03 1.46090631e+02] [ 7.48277241e-01 6.63365268e-01 -5.26237283e-03 6.56394383e+01] [ 6.91078632e-03 1.37274300e-04 9.99976111e-01 9.40447721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:146.11, Y:65.66, Z:0.94 [[ 6.63574146e-01 -7.48097105e-01 -4.48056414e-03 1.46106116e+02] [ 7.48078602e-01 6.63589257e-01 -5.26330263e-03 6.56614805e+01] [ 6.91071569e-03 1.40777386e-04 9.99976111e-01 9.39496476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:146.12, Y:65.68, Z:0.94 [[ 6.63406291e-01 -7.48245967e-01 -4.47948570e-03 1.46122903e+02] [ 7.48227462e-01 6.63421400e-01 -5.26422031e-03 6.56844648e+01] [ 6.91071829e-03 1.40642656e-04 9.99976111e-01 9.41043515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:146.14, Y:65.71, Z:0.94 [[ 6.63266863e-01 -7.48369569e-01 -4.47845467e-03 1.46138826e+02] [ 7.48351061e-01 6.63281968e-01 -5.26509730e-03 6.57069863e+01] [ 6.91071682e-03 1.40708274e-04 9.99976111e-01 9.40360139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:65.73, Z:0.94 [[ 6.62800183e-01 -7.48782924e-01 -4.47769776e-03 1.46152759e+02] [ 7.48764421e-01 6.62815294e-01 -5.26574094e-03 6.57306133e+01] [ 6.91078345e-03 1.37393295e-04 9.99976111e-01 9.40830040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.17, Y:65.75, Z:0.94 [[ 6.61873274e-01 -7.49602381e-01 -4.47657383e-03 1.46169426e+02] [ 7.49583890e-01 6.61888400e-01 -5.26669625e-03 6.57528093e+01] [ 6.91092034e-03 1.30317868e-04 9.99976111e-01 9.43426679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:146.19, Y:65.77, Z:0.94 [[ 6.58965902e-01 -7.52159497e-01 -4.47552763e-03 1.46186140e+02] [ 7.52141059e-01 6.58981092e-01 -5.26758514e-03 6.57745968e+01] [ 6.91135228e-03 1.04930898e-04 9.99976111e-01 9.43665215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:65.80, Z:0.94 [[ 6.56837457e-01 -7.54018922e-01 -4.47442298e-03 1.46203858e+02] [ 7.54000520e-01 6.56852691e-01 -5.26852329e-03 6.57961514e+01] [ 6.91160303e-03 8.68461852e-05 9.99976111e-01 9.42730556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:65.82, Z:0.94 [[ 6.54463557e-01 -7.56080314e-01 -4.47338900e-03 1.46220518e+02] [ 7.56061955e-01 6.54478842e-01 -5.26940107e-03 6.58178458e+01] [ 6.91182887e-03 6.64717335e-05 9.99976111e-01 9.41199841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:65.84, Z:0.94 [[ 6.49600141e-01 -7.60262884e-01 -4.47263087e-03 1.46236919e+02] [ 7.60244618e-01 6.49615538e-01 -5.27004449e-03 6.58412410e+01] [ 6.91210973e-03 2.31280923e-05 9.99976111e-01 9.43142881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:65.86, Z:0.94 [[ 6.47138110e-01 -7.62359673e-01 -4.47157884e-03 1.46253930e+02] [ 7.62341452e-01 6.47153558e-01 -5.27093698e-03 6.58622308e+01] [ 6.91214795e-03 2.15428736e-06 9.99976111e-01 9.41539607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:65.88, Z:0.94 [[ 6.43397230e-01 -7.65519444e-01 -4.47046970e-03 1.46270887e+02] [ 7.65501291e-01 6.43412760e-01 -5.27187751e-03 6.58830549e+01] [ 6.91208199e-03 -3.02389430e-05 9.99976111e-01 9.42708111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264000000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:146.29, Y:65.90, Z:0.94 [[ 6.42134082e-01 -7.66579315e-01 -4.46931455e-03 1.46289092e+02] [ 7.66561181e-01 6.42149634e-01 -5.27285663e-03 6.59046346e+01] [ 6.91203152e-03 -4.01220882e-05 9.99976111e-01 9.43977727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:65.93, Z:0.94 [[ 6.41062114e-01 -7.67475994e-01 -4.46827635e-03 1.46308013e+02] [ 7.67457876e-01 6.41077684e-01 -5.27373626e-03 6.59258473e+01] [ 6.91197823e-03 -4.84213658e-05 9.99976111e-01 9.42299822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:65.95, Z:0.94 [[ 6.41056532e-01 -7.67480662e-01 -4.46724232e-03 1.46325341e+02] [ 7.67462538e-01 6.41072096e-01 -5.27461201e-03 6.59470464e+01] [ 6.91198712e-03 -4.71166432e-05 9.99976111e-01 9.41329910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:146.34, Y:65.97, Z:0.94 [[ 6.41474897e-01 -7.67131025e-01 -4.46615954e-03 1.46342643e+02] [ 7.67112886e-01 6.41490443e-01 -5.27552867e-03 6.59691200e+01] [ 6.91202038e-03 -4.19293230e-05 9.99976111e-01 9.43154526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:65.99, Z:0.94 [[ 6.42636895e-01 -7.66157871e-01 -4.46511555e-03 1.46359132e+02] [ 7.66139703e-01 6.42652406e-01 -5.27641214e-03 6.59905165e+01] [ 6.91208195e-03 -3.00851865e-05 9.99976111e-01 9.40802567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59264000000002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:146.38, Y:66.01, Z:0.94 [[ 6.43436436e-01 -7.65486529e-01 -4.46401237e-03 1.46377351e+02] [ 7.65468337e-01 6.43451921e-01 -5.27734531e-03 6.60114591e+01] [ 6.91211407e-03 -2.14238707e-05 9.99976111e-01 9.43515646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:66.03, Z:0.94 [[ 6.44673617e-01 -7.64444903e-01 -4.46297452e-03 1.46395128e+02] [ 7.64426681e-01 6.44689065e-01 -5.27822285e-03 6.60319468e+01] [ 6.91214143e-03 -8.88578924e-06 9.99976111e-01 9.41100759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:66.05, Z:0.94 [[ 6.45144221e-01 -7.64047790e-01 -4.46190497e-03 1.46413597e+02] [ 7.64029552e-01 6.45159650e-01 -5.27912683e-03 6.60532632e+01] [ 6.91214624e-03 -3.22909630e-06 9.99976111e-01 9.41820636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:66.07, Z:0.94 [[ 6.45531169e-01 -7.63720899e-01 -4.46086162e-03 1.46431883e+02] [ 7.63702647e-01 6.45546582e-01 -5.28000832e-03 6.60732054e+01] [ 6.91214667e-03 1.63811307e-06 9.99976111e-01 9.42007042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.45, Y:66.09, Z:0.95 [[ 6.46488701e-01 -7.62910526e-01 -4.45975872e-03 1.46449527e+02] [ 7.62892248e-01 6.46504083e-01 -5.28093972e-03 6.60949577e+01] [ 6.91213672e-03 1.17525011e-05 9.99976111e-01 9.45158421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:66.12, Z:0.95 [[ 6.46751165e-01 -7.62688043e-01 -4.45871527e-03 1.46466844e+02] [ 7.62669754e-01 6.46766534e-01 -5.28182056e-03 6.61163945e+01] [ 6.91212920e-03 1.54963200e-05 9.99976111e-01 9.45343359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:66.14, Z:0.94 [[ 6.47217445e-01 -7.62292403e-01 -4.45767335e-03 1.46484573e+02] [ 7.62274099e-01 6.47232796e-01 -5.28269975e-03 6.61364848e+01] [ 6.91211428e-03 2.10865033e-05 9.99976111e-01 9.44804804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:66.16, Z:0.95 [[ 6.47264321e-01 -7.62252606e-01 -4.45690901e-03 1.46502182e+02] [ 7.62234296e-01 6.47279665e-01 -5.28334453e-03 6.61576002e+01] [ 6.91210971e-03 2.25115061e-05 9.99976111e-01 9.46588258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:66.18, Z:0.95 [[ 6.47073432e-01 -7.62414664e-01 -4.45575436e-03 1.46518483e+02] [ 7.62396351e-01 6.47088773e-01 -5.28431814e-03 6.61779446e+01] [ 6.91211026e-03 2.22910155e-05 9.99976111e-01 9.45328969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:66.20, Z:0.95 [[ 6.46780499e-01 -7.62663191e-01 -4.45454382e-03 1.46536409e+02] [ 7.62644877e-01 6.46795838e-01 -5.28533839e-03 6.61989672e+01] [ 6.91211345e-03 2.12187770e-05 9.99976111e-01 9.45053443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.55, Y:66.22, Z:0.95 [[ 6.46683368e-01 -7.62745560e-01 -4.45341429e-03 1.46554866e+02] [ 7.62727241e-01 6.46698702e-01 -5.28628997e-03 6.62198831e+01] [ 6.91211144e-03 2.18154039e-05 9.99976111e-01 9.47439480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.57, Y:66.24, Z:0.95 [[ 6.46534020e-01 -7.62872163e-01 -4.45237955e-03 1.46573067e+02] [ 7.62853841e-01 6.46549351e-01 -5.28716134e-03 6.62417901e+01] [ 6.91211131e-03 2.18148344e-05 9.99976111e-01 9.47636343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:66.26, Z:0.94 [[ 6.46643442e-01 -7.62779420e-01 -4.45134420e-03 1.46589987e+02] [ 7.62761091e-01 6.46658763e-01 -5.28803287e-03 6.62620066e+01] [ 6.91210338e-03 2.41596206e-05 9.99976111e-01 9.44799655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:66.28, Z:0.95 [[ 6.46933964e-01 -7.62533043e-01 -4.45012155e-03 1.46608411e+02] [ 7.62514701e-01 6.46949269e-01 -5.28906158e-03 6.62832262e+01] [ 6.91208711e-03 2.83904727e-05 9.99976111e-01 9.46593688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:66.30, Z:0.95 [[ 6.47799097e-01 -7.61798225e-01 -4.44907209e-03 1.46626108e+02] [ 7.61779859e-01 6.47814374e-01 -5.28994422e-03 6.63041153e+01] [ 6.91204297e-03 3.76075797e-05 9.99976111e-01 9.47714217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:66.33, Z:0.95 [[ 6.48201077e-01 -7.61456223e-01 -4.44796295e-03 1.46641802e+02] [ 7.61437843e-01 6.48216336e-01 -5.29087666e-03 6.63255902e+01] [ 6.91201321e-03 4.27046317e-05 9.99976111e-01 9.47818064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:66.35, Z:0.95 [[ 6.48712037e-01 -7.61020971e-01 -4.44677692e-03 1.46657817e+02] [ 7.61002574e-01 6.48727276e-01 -5.29187329e-03 6.63472147e+01] [ 6.91197203e-03 4.88932236e-05 9.99976111e-01 9.48413095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:146.67, Y:66.37, Z:0.95 [[ 6.49948436e-01 -7.59965306e-01 -4.44566136e-03 1.46673984e+02] [ 7.59946878e-01 6.49963637e-01 -5.29281029e-03 6.63692594e+01] [ 6.91187042e-03 6.15872962e-05 9.99976111e-01 9.49090056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.69, Y:66.39, Z:0.95 [[ 6.50332869e-01 -7.59636364e-01 -4.44454959e-03 1.46690382e+02] [ 7.59617921e-01 6.50348053e-01 -5.29374372e-03 6.63907442e+01] [ 6.91182440e-03 6.65360167e-05 9.99976111e-01 9.47666759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:146.71, Y:66.41, Z:0.95 [[ 6.51095396e-01 -7.58982899e-01 -4.44339884e-03 1.46707221e+02] [ 7.58964435e-01 6.51110554e-01 -5.29470944e-03 6.64135871e+01] [ 6.91173780e-03 7.49792513e-05 9.99976111e-01 9.48381313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:66.43, Z:0.95 [[ 6.50879926e-01 -7.59167694e-01 -4.44236184e-03 1.46723996e+02] [ 7.59149228e-01 6.50895081e-01 -5.29557937e-03 6.64348833e+01] [ 6.91174425e-03 7.43707446e-05 9.99976111e-01 9.46606897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:146.74, Y:66.46, Z:0.95 [[ 6.50623562e-01 -7.59387422e-01 -4.44127023e-03 1.46741483e+02] [ 7.59368954e-01 6.50638716e-01 -5.29649471e-03 6.64571849e+01] [ 6.91175382e-03 7.34615277e-05 9.99976111e-01 9.51145931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:66.48, Z:0.95 [[ 6.49115840e-01 -7.60676614e-01 -4.44018960e-03 1.46757596e+02] [ 7.60658171e-01 6.49131023e-01 -5.29740047e-03 6.64795554e+01] [ 6.91187348e-03 6.11600562e-05 9.99976111e-01 9.49179905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:66.50, Z:0.95 [[ 6.47940883e-01 -7.61677692e-01 -4.43911593e-03 1.46773992e+02] [ 7.61659266e-01 6.47956087e-01 -5.29830004e-03 6.65008941e+01] [ 6.91194913e-03 5.18914328e-05 9.99976111e-01 9.48006094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:66.52, Z:0.95 [[ 6.46716203e-01 -7.62717809e-01 -4.43801044e-03 1.46791636e+02] [ 7.62699401e-01 6.46731429e-01 -5.29922587e-03 6.65226339e+01] [ 6.91201478e-03 4.22273256e-05 9.99976111e-01 9.48483317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:66.54, Z:0.95 [[ 6.44470099e-01 -7.64616639e-01 -4.43697817e-03 1.46810081e+02] [ 7.64598270e-01 6.44485372e-01 -5.30009004e-03 6.65437885e+01] [ 6.91210456e-03 2.32437222e-05 9.99976111e-01 9.48851731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:66.57, Z:0.95 [[ 6.43408823e-01 -7.65509901e-01 -4.43592497e-03 1.46827194e+02] [ 7.65491547e-01 6.43424115e-01 -5.30097136e-03 6.65651909e+01] [ 6.91212716e-03 1.50286767e-05 9.99976111e-01 9.49006421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:146.84, Y:66.59, Z:0.95 [[ 6.42354264e-01 -7.66395024e-01 -4.43481143e-03 1.46842649e+02] [ 7.66376684e-01 6.42369572e-01 -5.30190280e-03 6.65857897e+01] [ 6.91213984e-03 6.96379350e-06 9.99976111e-01 9.48792483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:66.61, Z:0.95 [[ 6.41797459e-01 -7.66861372e-01 -4.43358898e-03 1.46859931e+02] [ 7.66843037e-01 6.41812773e-01 -5.30292484e-03 6.66071187e+01] [ 6.91214226e-03 3.53684734e-06 9.99976111e-01 9.46904315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:66.63, Z:0.95 [[ 6.41376496e-01 -7.67213493e-01 -4.43247110e-03 1.46878003e+02] [ 7.67195160e-01 6.41391811e-01 -5.30385906e-03 6.66287865e+01] [ 6.91214291e-03 1.20016044e-06 9.99976111e-01 9.48719324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:66.65, Z:0.95 [[ 6.41236272e-01 -7.67330702e-01 -4.43143292e-03 1.46895133e+02] [ 7.67312365e-01 6.41251584e-01 -5.30472633e-03 6.66492298e+01] [ 6.91214276e-03 1.28966151e-06 9.99976111e-01 9.47938514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:66.67, Z:0.95 [[ 6.40885837e-01 -7.67623419e-01 -4.43067309e-03 1.46912857e+02] [ 7.67605085e-01 6.40901152e-01 -5.30536089e-03 6.66709365e+01] [ 6.91214275e-03 -8.76547037e-07 9.99976111e-01 9.50211421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:66.69, Z:0.95 [[ 6.40616074e-01 -7.67848569e-01 -4.42963028e-03 1.46930018e+02] [ 7.67830234e-01 6.40631388e-01 -5.30623142e-03 6.66913702e+01] [ 6.91214240e-03 -1.94691592e-06 9.99976111e-01 9.49740106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:66.71, Z:0.95 [[ 6.39727590e-01 -7.68588966e-01 -4.42852792e-03 1.46947774e+02] [ 7.68570643e-01 6.39742918e-01 -5.30715129e-03 6.67122065e+01] [ 6.91213729e-03 -8.50544474e-06 9.99976111e-01 9.50895757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61264000000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:146.97, Y:66.73, Z:0.95 [[ 6.38815671e-01 -7.69347085e-01 -4.42737532e-03 1.46965537e+02] [ 7.69328773e-01 6.38831012e-01 -5.30811264e-03 6.67334270e+01] [ 6.91212565e-03 -1.52016854e-05 9.99976111e-01 9.51379327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:66.76, Z:0.95 [[ 6.37816980e-01 -7.70175244e-01 -4.42634280e-03 1.46983055e+02] [ 7.70156947e-01 6.37832339e-01 -5.30897350e-03 6.67553197e+01] [ 6.91210455e-03 -2.28252110e-05 9.99976111e-01 9.49332981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:66.78, Z:0.95 [[ 6.36983701e-01 -7.70864567e-01 -4.42529840e-03 1.47000336e+02] [ 7.70846280e-01 6.36999072e-01 -5.30984392e-03 6.67760668e+01] [ 6.91208151e-03 -2.89407719e-05 9.99976111e-01 9.46890194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:66.80, Z:0.95 [[ 6.36013240e-01 -7.71665462e-01 -4.42420674e-03 1.47018167e+02] [ 7.71647188e-01 6.36028626e-01 -5.31075335e-03 6.67969751e+01] [ 6.91204707e-03 -3.62172466e-05 9.99976111e-01 9.46450932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:147.04, Y:66.82, Z:0.95 [[ 6.34655544e-01 -7.72782490e-01 -4.42310360e-03 1.47035967e+02] [ 7.72764236e-01 6.34670955e-01 -5.31167195e-03 6.68169864e+01] [ 6.91198246e-03 -4.69342229e-05 9.99976111e-01 9.50356441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:147.05, Y:66.84, Z:0.95 [[ 6.33801406e-01 -7.73483176e-01 -4.42198847e-03 1.47054334e+02] [ 7.73464933e-01 6.33816830e-01 -5.31260013e-03 6.68383887e+01] [ 6.91193754e-03 -5.31195822e-05 9.99976111e-01 9.53533181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.07, Y:66.86, Z:0.96 [[ 6.32209678e-01 -7.74784730e-01 -4.42095202e-03 1.47074150e+02] [ 7.74766513e-01 6.32225132e-01 -5.31346249e-03 6.68590526e+01] [ 6.91182658e-03 -6.59831680e-05 9.99976111e-01 9.56763016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:66.88, Z:0.96 [[ 6.31186203e-01 -7.75618747e-01 -4.41994661e-03 1.47092073e+02] [ 7.75600544e-01 6.31201674e-01 -5.31429870e-03 6.68789958e+01] [ 6.91174740e-03 -7.38009750e-05 9.99976111e-01 9.55683509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85264000000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:147.11, Y:66.90, Z:0.96 [[ 6.30643999e-01 -7.76059676e-01 -4.41883361e-03 1.47109056e+02] [ 7.76041477e-01 6.30659475e-01 -5.31522399e-03 6.68985553e+01] [ 6.91171029e-03 -7.71840482e-05 9.99976111e-01 9.57058673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:66.92, Z:0.95 [[ 6.29591284e-01 -7.76913959e-01 -4.41764490e-03 1.47127600e+02] [ 7.76895775e-01 6.29606776e-01 -5.31621178e-03 6.69184464e+01] [ 6.91161831e-03 -8.50090556e-05 9.99976111e-01 9.54307661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:66.94, Z:0.95 [[ 6.29286664e-01 -7.77160723e-01 -4.41651979e-03 1.47145889e+02] [ 7.77142538e-01 6.29302156e-01 -5.31714632e-03 6.69382220e+01] [ 6.91160270e-03 -8.62561333e-05 9.99976111e-01 9.53526197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.17, Y:66.96, Z:0.95 [[ 6.29238928e-01 -7.77199380e-01 -4.41538593e-03 1.47165348e+02] [ 7.77181189e-01 6.29254414e-01 -5.31808772e-03 6.69574886e+01] [ 6.91161556e-03 -8.52070700e-05 9.99976111e-01 9.53677564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.18, Y:66.98, Z:0.95 [[ 6.29359315e-01 -7.77101903e-01 -4.41421476e-03 1.47182361e+02] [ 7.77083703e-01 6.29374789e-01 -5.31905965e-03 6.69771871e+01] [ 6.91164686e-03 -8.26146150e-05 9.99976111e-01 9.53371477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:67.00, Z:0.95 [[ 6.29500874e-01 -7.76987243e-01 -4.41298653e-03 1.47199845e+02] [ 7.76969033e-01 6.29516337e-01 -5.32007846e-03 6.69973979e+01] [ 6.91168021e-03 -7.97598406e-05 9.99976111e-01 9.52109617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:67.02, Z:0.95 [[ 6.30251821e-01 -7.76378244e-01 -4.41182685e-03 1.47217610e+02] [ 7.76360012e-01 6.30267259e-01 -5.32103999e-03 6.70173711e+01] [ 6.91176970e-03 -7.15708046e-05 9.99976111e-01 9.51675319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:67.04, Z:0.95 [[ 6.30673320e-01 -7.76035894e-01 -4.41066504e-03 1.47234918e+02] [ 7.76017648e-01 6.30688740e-01 -5.32200285e-03 6.70371768e+01] [ 6.91182202e-03 -6.63086961e-05 9.99976111e-01 9.50520405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:67.06, Z:0.95 [[ 6.32289475e-01 -7.74719676e-01 -4.40944407e-03 1.47253682e+02] [ 7.74701390e-01 6.32304848e-01 -5.32301428e-03 6.70563464e+01] [ 6.91195676e-03 -5.03165471e-05 9.99976111e-01 9.50622093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:67.08, Z:0.95 [[ 6.33317737e-01 -7.73879326e-01 -4.40829544e-03 1.47271617e+02] [ 7.73861013e-01 6.33333078e-01 -5.32396535e-03 6.70772610e+01] [ 6.91202603e-03 -3.96462805e-05 9.99976111e-01 9.50743362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:67.10, Z:0.95 [[ 6.35991229e-01 -7.71683700e-01 -4.40714639e-03 1.47288268e+02] [ 7.71665328e-01 6.36006499e-01 -5.32491636e-03 6.70972483e+01] [ 6.91212490e-03 -1.42419680e-05 9.99976111e-01 9.50865689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:67.12, Z:0.95 [[ 6.37622064e-01 -7.70336739e-01 -4.40593945e-03 1.47305111e+02] [ 7.70318327e-01 6.37637287e-01 -5.32591481e-03 6.71183859e+01] [ 6.91213912e-03 1.94488910e-06 9.99976111e-01 9.51363146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:67.14, Z:0.95 [[ 6.39592776e-01 -7.68701293e-01 -4.40480414e-03 1.47320962e+02] [ 7.68682837e-01 6.39607943e-01 -5.32685361e-03 6.71392090e+01] [ 6.91210698e-03 2.11197528e-05 9.99976111e-01 9.51527015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:147.34, Y:67.16, Z:0.95 [[ 6.43902900e-01 -7.65094545e-01 -4.40361304e-03 1.47335340e+02] [ 7.65075997e-01 6.43917955e-01 -5.32783809e-03 6.71622096e+01] [ 6.91186536e-03 6.15117576e-05 9.99976111e-01 9.53134301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:67.18, Z:0.95 [[ 6.45556749e-01 -7.63699615e-01 -4.40249152e-03 1.47351871e+02] [ 7.63681028e-01 6.45571756e-01 -5.32876466e-03 6.71840075e+01] [ 6.91169970e-03 7.79207374e-05 9.99976111e-01 9.51663667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:67.21, Z:0.95 [[ 6.48212789e-01 -7.61446523e-01 -4.40136981e-03 1.47367613e+02] [ 7.61427878e-01 6.48227724e-01 -5.32969099e-03 6.72055596e+01] [ 6.91136461e-03 1.03448194e-04 9.99976111e-01 9.52305074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:67.23, Z:0.95 [[ 6.48731699e-01 -7.61004482e-01 -4.40018912e-03 1.47382614e+02] [ 7.60985819e-01 6.48746612e-01 -5.33066559e-03 6.72265367e+01] [ 6.91126819e-03 1.09690215e-04 9.99976111e-01 9.52251517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:67.25, Z:0.95 [[ 6.48873451e-01 -7.60883627e-01 -4.39901762e-03 1.47398306e+02] [ 7.60864955e-01 6.48888352e-01 -5.33163217e-03 6.72485859e+01] [ 6.91122292e-03 1.12496225e-04 9.99976111e-01 9.52460271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:67.27, Z:0.95 [[ 6.48115535e-01 -7.61529324e-01 -4.39790603e-03 1.47414403e+02] [ 7.61510661e-01 6.48130447e-01 -5.33254893e-03 6.72710549e+01] [ 6.91130919e-03 1.07055477e-04 9.99976111e-01 9.53337623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.43, Y:67.29, Z:0.95 [[ 6.47503490e-01 -7.62049801e-01 -4.39675724e-03 1.47430334e+02] [ 7.62031143e-01 6.47518409e-01 -5.33349596e-03 6.72923971e+01] [ 6.91137078e-03 1.02991302e-04 9.99976111e-01 9.53395022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:67.32, Z:0.95 [[ 6.45675887e-01 -7.63598930e-01 -4.39586724e-03 1.47444875e+02] [ 7.63580303e-01 6.45690845e-01 -5.33422939e-03 6.73150331e+01] [ 6.91158309e-03 8.75856492e-05 9.99976111e-01 9.54757850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:67.34, Z:0.95 [[ 6.44794290e-01 -7.64343516e-01 -4.39472332e-03 1.47460380e+02] [ 7.64324900e-01 6.44809261e-01 -5.33517167e-03 6.73356577e+01] [ 6.91166217e-03 8.10917675e-05 9.99976111e-01 9.54964513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:67.36, Z:0.96 [[ 6.43810674e-01 -7.65172210e-01 -4.39383628e-03 1.47476697e+02] [ 7.65153608e-01 6.43825663e-01 -5.33590210e-03 6.73567389e+01] [ 6.91174856e-03 7.33510444e-05 9.99976111e-01 9.55656180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:67.38, Z:0.96 [[ 6.42224369e-01 -7.66504119e-01 -4.39264787e-03 1.47492874e+02] [ 7.66485542e-01 6.42239389e-01 -5.33688025e-03 6.73782998e+01] [ 6.91187217e-03 6.05734722e-05 9.99976111e-01 9.56511521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:67.40, Z:0.96 [[ 6.41581926e-01 -7.67041946e-01 -4.39152625e-03 1.47508317e+02] [ 7.67023375e-01 6.41596953e-01 -5.33780303e-03 6.73992484e+01] [ 6.91190868e-03 5.62346600e-05 9.99976111e-01 9.56149625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:67.42, Z:0.96 [[ 6.40601787e-01 -7.67860713e-01 -4.39034588e-03 1.47522189e+02] [ 7.67842155e-01 6.40616830e-01 -5.33877371e-03 6.74224496e+01] [ 6.91196405e-03 4.89353442e-05 9.99976111e-01 9.57713047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:67.44, Z:0.96 [[ 6.39703352e-01 -7.68609366e-01 -4.38918062e-03 1.47538188e+02] [ 7.68590818e-01 6.39718408e-01 -5.33973154e-03 6.74439279e+01] [ 6.91200731e-03 4.23602390e-05 9.99976111e-01 9.57741077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:67.47, Z:0.96 [[ 6.38858021e-01 -7.69312143e-01 -4.38801709e-03 1.47555646e+02] [ 7.69293606e-01 6.38873090e-01 -5.34068751e-03 6.74659203e+01] [ 6.91204180e-03 3.62675625e-05 9.99976111e-01 9.57957221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:67.49, Z:0.96 [[ 6.38142645e-01 -7.69905656e-01 -4.38697047e-03 1.47571727e+02] [ 7.69887127e-01 6.38157723e-01 -5.34154710e-03 6.74881724e+01] [ 6.91206641e-03 3.11969002e-05 9.99976111e-01 9.57538950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:67.51, Z:0.96 [[ 6.37422299e-01 -7.70502160e-01 -4.38579349e-03 1.47585534e+02] [ 7.70483638e-01 6.37437386e-01 -5.34251331e-03 6.75111581e+01] [ 6.91208678e-03 2.62549942e-05 9.99976111e-01 9.55496533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:67.53, Z:0.96 [[ 6.37236245e-01 -7.70656047e-01 -4.38456008e-03 1.47602188e+02] [ 7.70637522e-01 6.37251329e-01 -5.34352537e-03 6.75333174e+01] [ 6.91208687e-03 2.61815269e-05 9.99976111e-01 9.56142542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:67.56, Z:0.96 [[ 6.37179844e-01 -7.70702687e-01 -4.38350896e-03 1.47616451e+02] [ 7.70684157e-01 6.37194921e-01 -5.34438750e-03 6.75569722e+01] [ 6.91208345e-03 2.70350819e-05 9.99976111e-01 9.55179995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:67.58, Z:0.96 [[ 6.37016342e-01 -7.70837840e-01 -4.38239867e-03 1.47633787e+02] [ 7.70819307e-01 6.37031415e-01 -5.34529778e-03 6.75785026e+01] [ 6.91208342e-03 2.70045294e-05 9.99976111e-01 9.55371090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:67.60, Z:0.96 [[ 6.36926483e-01 -7.70912096e-01 -4.38126456e-03 1.47648964e+02] [ 7.70893558e-01 6.36941551e-01 -5.34622719e-03 6.76012053e+01] [ 6.91208066e-03 2.76650546e-05 9.99976111e-01 9.56097940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:67.62, Z:0.96 [[ 6.36687256e-01 -7.71109689e-01 -4.38011661e-03 1.47664502e+02] [ 7.71091150e-01 6.36702322e-01 -5.34716753e-03 6.76238995e+01] [ 6.91208311e-03 2.70042714e-05 9.99976111e-01 9.56821101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:147.68, Y:67.65, Z:0.96 [[ 6.35935161e-01 -7.71730066e-01 -4.37896320e-03 1.47677625e+02] [ 7.71711535e-01 6.35950237e-01 -5.34811193e-03 6.76467652e+01] [ 6.91210146e-03 2.17560123e-05 9.99976111e-01 9.57763440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.69, Y:67.67, Z:0.96 [[ 6.35390759e-01 -7.72178360e-01 -4.37775188e-03 1.47692959e+02] [ 7.72159832e-01 6.35405839e-01 -5.34910328e-03 6.76696978e+01] [ 6.91211091e-03 1.84466317e-05 9.99976111e-01 9.57191776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:67.69, Z:0.96 [[ 6.33841504e-01 -7.73450576e-01 -4.37661266e-03 1.47706995e+02] [ 7.73432072e-01 6.33856613e-01 -5.35003523e-03 6.76943526e+01] [ 6.91213271e-03 6.06177448e-06 9.99976111e-01 9.56668048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:67.72, Z:0.96 [[ 6.32648043e-01 -7.74427084e-01 -4.37555755e-03 1.47722525e+02] [ 7.74408598e-01 6.32663174e-01 -5.35089801e-03 6.77158923e+01] [ 6.91213448e-03 -3.23423412e-06 9.99976111e-01 9.55597975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:67.74, Z:0.95 [[ 6.31016925e-01 -7.75756730e-01 -4.37444507e-03 1.47737998e+02] [ 7.75738270e-01 6.31032087e-01 -5.35180733e-03 6.77369525e+01] [ 6.91211576e-03 -1.63434492e-05 9.99976111e-01 9.54559776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:67.76, Z:0.95 [[ 6.27453466e-01 -7.78641781e-01 -4.37325033e-03 1.47751770e+02] [ 7.78623383e-01 6.27468704e-01 -5.35278344e-03 6.77590513e+01] [ 6.91197855e-03 -4.64924463e-05 9.99976111e-01 9.52885742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:67.78, Z:0.96 [[ 6.25517106e-01 -7.80198202e-01 -4.37206811e-03 1.47768474e+02] [ 7.80179836e-01 6.25532382e-01 -5.35374889e-03 6.77817849e+01] [ 6.91185544e-03 -6.21378651e-05 9.99976111e-01 9.55581197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:67.80, Z:0.95 [[ 6.24010034e-01 -7.81404103e-01 -4.37099938e-03 1.47785036e+02] [ 7.81385760e-01 6.24025338e-01 -5.35462129e-03 6.78033345e+01] [ 6.91173741e-03 -7.40992589e-05 9.99976111e-01 9.53728779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:67.83, Z:0.96 [[ 6.21283650e-01 -7.83573564e-01 -4.36987244e-03 1.47801831e+02] [ 7.83555268e-01 6.21299011e-01 -5.35554082e-03 6.78251731e+01] [ 6.91145763e-03 -9.67266153e-05 9.99976111e-01 9.55754147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:67.85, Z:0.96 [[ 6.20367887e-01 -7.84298794e-01 -4.36872438e-03 1.47816936e+02] [ 7.84280509e-01 6.20383261e-01 -5.35647718e-03 6.78463429e+01] [ 6.91136207e-03 -1.03318945e-04 9.99976111e-01 9.56316108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:67.87, Z:0.96 [[ 6.18977532e-01 -7.85396548e-01 -4.36783781e-03 1.47833145e+02] [ 7.85378285e-01 6.18992932e-01 -5.35720001e-03 6.78692545e+01] [ 6.91118713e-03 -1.14418528e-04 9.99976111e-01 9.59073448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.85, Y:67.89, Z:0.96 [[ 6.18264729e-01 -7.85957795e-01 -4.36684200e-03 1.47850264e+02] [ 7.85939540e-01 6.18280139e-01 -5.35801162e-03 6.78900682e+01] [ 6.91110267e-03 -1.19404192e-04 9.99976111e-01 9.60331316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:67.91, Z:0.96 [[ 6.17417820e-01 -7.86623275e-01 -4.36573022e-03 1.47868031e+02] [ 7.86605030e-01 6.17433242e-01 -5.35891734e-03 6.79111766e+01] [ 6.91099607e-03 -1.25414288e-04 9.99976111e-01 9.59725496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:147.88, Y:67.93, Z:0.96 [[ 6.16353268e-01 -7.87457681e-01 -4.36461017e-03 1.47883836e+02] [ 7.87439451e-01 6.16368707e-01 -5.35982943e-03 6.79332408e+01] [ 6.91084797e-03 -1.33317851e-04 9.99976111e-01 9.62087330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:67.95, Z:0.96 [[ 6.16024239e-01 -7.87715112e-01 -4.36346679e-03 1.47900599e+02] [ 7.87696882e-01 6.16039678e-01 -5.36076009e-03 6.79541629e+01] [ 6.91082041e-03 -1.34731034e-04 9.99976111e-01 9.60484335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:67.97, Z:0.96 [[ 6.15315563e-01 -7.88268839e-01 -4.35835736e-03 1.47918462e+02] [ 7.88250594e-01 6.15330983e-01 -5.36491736e-03 6.79742535e+01] [ 6.91082950e-03 -1.34360637e-04 9.99976111e-01 9.59629887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:67.99, Z:0.96 [[ 6.14983082e-01 -7.88528238e-01 -4.36188285e-03 1.47936829e+02] [ 7.88510020e-01 6.14998535e-01 -5.36204947e-03 6.79942987e+01] [ 6.91067898e-03 -1.41818619e-04 9.99976111e-01 9.60479447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:68.01, Z:0.96 [[ 6.14460031e-01 -7.88935900e-01 -4.36075048e-03 1.47954526e+02] [ 7.88917685e-01 6.14475488e-01 -5.36297022e-03 6.80138515e+01] [ 6.91061402e-03 -1.44942324e-04 9.99976111e-01 9.59834752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.97, Y:68.03, Z:0.96 [[ 6.14399794e-01 -7.88982818e-01 -4.35956137e-03 1.47972715e+02] [ 7.88964598e-01 6.14415244e-01 -5.36393668e-03 6.80336238e+01] [ 6.91063484e-03 -1.43937996e-04 9.99976111e-01 9.61200998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.99, Y:68.05, Z:0.96 [[ 6.14679085e-01 -7.88765255e-01 -4.35843347e-03 1.47989305e+02] [ 7.88747022e-01 6.14694520e-01 -5.36485300e-03 6.80532714e+01] [ 6.91071481e-03 -1.40038487e-04 9.99976111e-01 9.61162985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:68.07, Z:0.96 [[ 6.15761255e-01 -7.87920739e-01 -4.35725131e-03 1.48008576e+02] [ 7.87902479e-01 6.15776658e-01 -5.36581295e-03 6.80719273e+01] [ 6.91092896e-03 -1.29029395e-04 9.99976111e-01 9.61310899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.03, Y:68.09, Z:0.96 [[ 6.16431461e-01 -7.87396518e-01 -4.35636481e-03 1.48025784e+02] [ 7.87378239e-01 6.16446842e-01 -5.36653258e-03 6.80910221e+01] [ 6.91105640e-03 -1.22007334e-04 9.99976111e-01 9.62622171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:68.11, Z:0.96 [[ 6.17326112e-01 -7.86695306e-01 -4.35516614e-03 1.48043401e+02] [ 7.86677003e-01 6.17341464e-01 -5.36750518e-03 6.81112739e+01] [ 6.91121577e-03 -1.12607945e-04 9.99976111e-01 9.60501870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:68.13, Z:0.96 [[ 6.19894412e-01 -7.84673155e-01 -4.35404270e-03 1.48061932e+02] [ 7.84654796e-01 6.19909696e-01 -5.36841635e-03 6.81311952e+01] [ 6.91156548e-03 -8.85691899e-05 9.99976111e-01 9.58726195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.08, Y:68.15, Z:0.96 [[ 6.21291378e-01 -7.83567531e-01 -4.35291446e-03 1.48080322e+02] [ 7.83549138e-01 6.21306622e-01 -5.36933101e-03 6.81514859e+01] [ 6.91172802e-03 -7.48033096e-05 9.99976111e-01 9.59206899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:68.17, Z:0.96 [[ 6.24184230e-01 -7.81265068e-01 -4.35212970e-03 1.48099669e+02] [ 7.81246614e-01 6.24199400e-01 -5.36996702e-03 6.81722208e+01] [ 6.91196440e-03 -4.82378608e-05 9.99976111e-01 9.61256684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:68.19, Z:0.96 [[ 6.25413095e-01 -7.80281698e-01 -4.35106985e-03 1.48116873e+02] [ 7.80263214e-01 6.25428230e-01 -5.37082564e-03 6.81928915e+01] [ 6.91203886e-03 -3.59950573e-05 9.99976111e-01 9.60939058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:68.21, Z:0.96 [[ 6.26306102e-01 -7.79565097e-01 -4.35029703e-03 1.48134742e+02] [ 7.79546592e-01 6.26321210e-01 -5.37145154e-03 6.82138967e+01] [ 6.91207944e-03 -2.70863524e-05 9.99976111e-01 9.61248033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:148.15, Y:68.23, Z:0.96 [[ 6.27857277e-01 -7.78316340e-01 -4.34912768e-03 1.48153452e+02] [ 7.78297798e-01 6.27872339e-01 -5.37239816e-03 6.82319700e+01] [ 6.91212225e-03 -1.18172201e-05 9.99976111e-01 9.61603241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:68.25, Z:0.96 [[ 6.28700209e-01 -7.77635611e-01 -4.34790014e-03 1.48171735e+02] [ 7.77617045e-01 6.28715243e-01 -5.37339143e-03 6.82523835e+01] [ 6.91213162e-03 -2.74894712e-06 9.99976111e-01 9.61649138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:148.19, Y:68.27, Z:0.96 [[ 6.31101932e-01 -7.75687732e-01 -4.34671814e-03 1.48188142e+02] [ 7.75669114e-01 6.31116900e-01 -5.37434742e-03 6.82727366e+01] [ 6.91210264e-03 2.01460315e-05 9.99976111e-01 9.62059605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:68.29, Z:0.96 [[ 6.32244835e-01 -7.74756466e-01 -4.34580385e-03 1.48205148e+02] [ 7.74737821e-01 6.32259770e-01 -5.37508663e-03 6.82942444e+01] [ 6.91206007e-03 3.15121577e-05 9.99976111e-01 9.62918982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:68.32, Z:0.96 [[ 6.34634899e-01 -7.72799890e-01 -4.34462191e-03 1.48222485e+02] [ 7.72781192e-01 6.34649768e-01 -5.37604181e-03 6.83158186e+01] [ 6.91191781e-03 5.43816534e-05 9.99976111e-01 9.63899573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:68.34, Z:0.96 [[ 6.35436076e-01 -7.72141261e-01 -4.34356186e-03 1.48239102e+02] [ 7.72122542e-01 6.35450918e-01 -5.37689814e-03 6.83370225e+01] [ 6.91184528e-03 6.29130345e-05 9.99976111e-01 9.63632865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:68.36, Z:0.96 [[ 6.35769790e-01 -7.71866515e-01 -4.34243833e-03 1.48254631e+02] [ 7.71847784e-01 6.35784616e-01 -5.37780536e-03 6.83578674e+01] [ 6.91180337e-03 6.73447889e-05 9.99976111e-01 9.63025320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:68.38, Z:0.96 [[ 6.35316967e-01 -7.72239280e-01 -4.34119999e-03 1.48271975e+02] [ 7.72220550e-01 6.35331796e-01 -5.37880482e-03 6.83782096e+01] [ 6.91182674e-03 6.48821189e-05 9.99976111e-01 9.64697324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:68.40, Z:0.96 [[ 6.34616177e-01 -7.72815290e-01 -4.34001413e-03 1.48288835e+02] [ 7.72796567e-01 6.34631014e-01 -5.37976149e-03 6.83980282e+01] [ 6.91186950e-03 6.01356459e-05 9.99976111e-01 9.64407036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:68.42, Z:0.96 [[ 6.33706475e-01 -7.73561426e-01 -4.33876958e-03 1.48305219e+02] [ 7.73542713e-01 6.33721325e-01 -5.38076503e-03 6.84187525e+01] [ 6.91192307e-03 5.36020401e-05 9.99976111e-01 9.63601660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:68.44, Z:0.96 [[ 6.33263258e-01 -7.73924305e-01 -4.33786011e-03 1.48321378e+02] [ 7.73905596e-01 6.33278113e-01 -5.38149812e-03 6.84407037e+01] [ 6.91194406e-03 5.08108201e-05 9.99976111e-01 9.64796663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:68.46, Z:0.96 [[ 6.33172496e-01 -7.73998568e-01 -4.33667609e-03 1.48336596e+02] [ 7.73979854e-01 6.33187345e-01 -5.38245210e-03 6.84614953e+01] [ 6.91193864e-03 5.15207000e-05 9.99976111e-01 9.63246356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:68.48, Z:0.96 [[ 6.33833588e-01 -7.73457294e-01 -4.33543577e-03 1.48352157e+02] [ 7.73438561e-01 6.33848413e-01 -5.38345096e-03 6.84832394e+01] [ 6.91187849e-03 5.90188335e-05 9.99976111e-01 9.63208684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:68.50, Z:0.96 [[ 6.34049789e-01 -7.73280078e-01 -4.33429522e-03 1.48370496e+02] [ 7.73261335e-01 6.34064600e-01 -5.38436908e-03 6.85048399e+01] [ 6.91184850e-03 6.24151764e-05 9.99976111e-01 9.64420928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:68.52, Z:0.96 [[ 6.33834803e-01 -7.73456312e-01 -4.33321955e-03 1.48388271e+02] [ 7.73437566e-01 6.33849612e-01 -5.38523462e-03 6.85246552e+01] [ 6.91185323e-03 6.18743395e-05 9.99976111e-01 9.64002736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:68.55, Z:0.97 [[ 6.33434674e-01 -7.73784044e-01 -4.33208037e-03 1.48404006e+02] [ 7.73765300e-01 6.33449484e-01 -5.38615086e-03 6.85456997e+01] [ 6.91187167e-03 5.97612463e-05 9.99976111e-01 9.65674073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:68.57, Z:0.97 [[ 6.32672699e-01 -7.74407191e-01 -4.33119210e-03 1.48419843e+02] [ 7.74388456e-01 6.32687522e-01 -5.38686505e-03 6.85677437e+01] [ 6.91191822e-03 5.40972795e-05 9.99976111e-01 9.67208459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:68.59, Z:0.97 [[ 6.31260780e-01 -7.75558559e-01 -4.33001417e-03 1.48436462e+02] [ 7.75539845e-01 6.31275629e-01 -5.38781171e-03 6.85895901e+01] [ 6.91199591e-03 4.30157042e-05 9.99976111e-01 9.66828614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:68.61, Z:0.97 [[ 6.30596734e-01 -7.76098589e-01 -4.32882922e-03 1.48452794e+02] [ 7.76079882e-01 6.30611590e-01 -5.38876360e-03 6.86094444e+01] [ 6.91202170e-03 3.86194550e-05 9.99976111e-01 9.66485104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:68.63, Z:0.97 [[ 6.30032193e-01 -7.76556957e-01 -4.32758906e-03 1.48470559e+02] [ 7.76538253e-01 6.30047055e-01 -5.38975935e-03 6.86301503e+01] [ 6.91203986e-03 3.51834600e-05 9.99976111e-01 9.66409406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.49, Y:68.65, Z:0.97 [[ 6.29446374e-01 -7.77031881e-01 -4.32646808e-03 1.48488377e+02] [ 7.77013183e-01 6.29461242e-01 -5.39065904e-03 6.86504393e+01] [ 6.91205790e-03 3.14080565e-05 9.99976111e-01 9.67091604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:68.67, Z:0.97 [[ 6.29219555e-01 -7.77215571e-01 -4.32527289e-03 1.48504803e+02] [ 7.77196870e-01 6.29234420e-01 -5.39161784e-03 6.86702959e+01] [ 6.91205992e-03 3.09228223e-05 9.99976111e-01 9.65590241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:68.69, Z:0.97 [[ 6.29010332e-01 -7.77384914e-01 -4.32401814e-03 1.48522409e+02] [ 7.77366211e-01 6.29025194e-01 -5.39262395e-03 6.86913860e+01] [ 6.91206085e-03 3.06705810e-05 9.99976111e-01 9.65746731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.54, Y:68.71, Z:0.97 [[ 6.28783343e-01 -7.77568531e-01 -4.32283389e-03 1.48538737e+02] [ 7.77549825e-01 6.28798202e-01 -5.39357310e-03 6.87120821e+01] [ 6.91206289e-03 3.01701885e-05 9.99976111e-01 9.65416490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:148.56, Y:68.73, Z:0.97 [[ 6.28648481e-01 -7.77677576e-01 -4.32159537e-03 1.48555883e+02] [ 7.77658866e-01 6.28663334e-01 -5.39456529e-03 6.87331864e+01] [ 6.91206100e-03 3.05583215e-05 9.99976111e-01 9.66290702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:68.75, Z:0.97 [[ 6.28134471e-01 -7.78092810e-01 -4.32045429e-03 1.48573748e+02] [ 7.78074103e-01 6.28149328e-01 -5.39547900e-03 6.87539814e+01] [ 6.91207388e-03 2.74527494e-05 9.99976111e-01 9.65853528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:68.77, Z:0.97 [[ 6.27681529e-01 -7.78458246e-01 -4.31931773e-03 1.48593356e+02] [ 7.78439542e-01 6.27696390e-01 -5.39638872e-03 6.87733768e+01] [ 6.91208345e-03 2.48858140e-05 9.99976111e-01 9.65987403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:68.79, Z:0.97 [[ 6.27395385e-01 -7.78688888e-01 -4.31817771e-03 1.48611246e+02] [ 7.78670183e-01 6.27410244e-01 -5.39730081e-03 6.87939936e+01] [ 6.91208710e-03 2.38053885e-05 9.99976111e-01 9.65950232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:68.81, Z:0.97 [[ 6.27178370e-01 -7.78863696e-01 -4.31701242e-03 1.48628734e+02] [ 7.78844988e-01 6.27193226e-01 -5.39823270e-03 6.88147507e+01] [ 6.91208842e-03 2.33712916e-05 9.99976111e-01 9.65987054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.65, Y:68.84, Z:0.97 [[ 6.27202454e-01 -7.78844307e-01 -4.31584672e-03 1.48645910e+02] [ 7.78825593e-01 6.27217303e-01 -5.39916450e-03 6.88351459e+01] [ 6.91208228e-03 2.50773419e-05 9.99976111e-01 9.68797456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:68.86, Z:0.97 [[ 6.27376696e-01 -7.78703965e-01 -4.31464718e-03 1.48662377e+02] [ 7.78685241e-01 6.27391531e-01 -5.40012293e-03 6.88551827e+01] [ 6.91207024e-03 2.81591999e-05 9.99976111e-01 9.66065688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.68, Y:68.88, Z:0.97 [[ 6.28492108e-01 -7.77804002e-01 -4.31338691e-03 1.48680491e+02] [ 7.77785250e-01 6.28506908e-01 -5.40112939e-03 6.88763840e+01] [ 6.91201352e-03 3.96784776e-05 9.99976111e-01 9.72023714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:68.90, Z:0.97 [[ 6.29924063e-01 -7.76644757e-01 -4.31231180e-03 1.48698142e+02] [ 7.76625972e-01 6.29938821e-01 -5.40198763e-03 6.88954598e+01] [ 6.91191798e-03 5.37886604e-05 9.99976111e-01 9.69611485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:68.92, Z:0.97 [[ 6.29760771e-01 -7.76777179e-01 -4.31104227e-03 1.48715190e+02] [ 7.76758390e-01 6.29775524e-01 -5.40300058e-03 6.89172225e+01] [ 6.91191646e-03 5.39595600e-05 9.99976111e-01 9.69802580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:68.94, Z:0.97 [[ 6.30674456e-01 -7.76035538e-01 -4.30990615e-03 1.48731632e+02] [ 7.76016725e-01 6.30689179e-01 -5.40390670e-03 6.89383961e+01] [ 6.91183481e-03 6.35466591e-05 9.99976111e-01 9.70540956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:68.96, Z:0.97 [[ 6.31533859e-01 -7.75336327e-01 -4.30876064e-03 1.48747797e+02] [ 7.75317492e-01 6.31548553e-01 -5.40481991e-03 6.89602066e+01] [ 6.91174477e-03 7.26692807e-05 9.99976111e-01 9.71543498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.76, Y:68.98, Z:0.97 [[ 6.32984762e-01 -7.74152269e-01 -4.30756391e-03 1.48763289e+02] [ 7.74133400e-01 6.32999413e-01 -5.40577352e-03 6.89810979e+01] [ 6.91157726e-03 8.71431700e-05 9.99976111e-01 9.71457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85264000000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:148.78, Y:69.00, Z:0.97 [[ 6.33471042e-01 -7.73754413e-01 -4.30663826e-03 1.48778756e+02] [ 7.73735530e-01 6.33485674e-01 -5.40651086e-03 6.90018459e+01] [ 6.91150528e-03 9.26690327e-05 9.99976111e-01 9.71372790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:69.03, Z:0.97 [[ 6.33876477e-01 -7.73422313e-01 -4.30539746e-03 1.48793229e+02] [ 7.73403416e-01 6.33891091e-01 -5.40749877e-03 6.90251664e+01] [ 6.91143331e-03 9.78771721e-05 9.99976111e-01 9.70097923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:69.05, Z:0.97 [[ 6.33777364e-01 -7.73503540e-01 -4.30421414e-03 1.48808518e+02] [ 7.73484638e-01 6.33791972e-01 -5.40844050e-03 6.90471429e+01] [ 6.91142424e-03 9.85036503e-05 9.99976111e-01 9.70662240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:69.07, Z:0.97 [[ 6.33656361e-01 -7.73602676e-01 -4.30303215e-03 1.48824747e+02] [ 7.73583769e-01 6.33670964e-01 -5.40938074e-03 6.90694966e+01] [ 6.91141795e-03 9.89326830e-05 9.99976111e-01 9.72953927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:69.09, Z:0.97 [[ 6.33438445e-01 -7.73781125e-01 -4.30195232e-03 1.48837877e+02] [ 7.73762217e-01 6.33453046e-01 -5.41023937e-03 6.90933243e+01] [ 6.91142591e-03 9.83654564e-05 9.99976111e-01 9.74904860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:69.12, Z:0.97 [[ 6.33234267e-01 -7.73948232e-01 -4.30080914e-03 1.48852006e+02] [ 7.73929322e-01 6.33248865e-01 -5.41114797e-03 6.91158005e+01] [ 6.91143091e-03 9.80020200e-05 9.99976111e-01 9.73711457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:69.14, Z:0.97 [[ 6.33415356e-01 -7.73800039e-01 -4.29959022e-03 1.48864658e+02] [ 7.73781118e-01 6.33429941e-01 -5.41211633e-03 6.91405642e+01] [ 6.91138501e-03 1.01175870e-04 9.99976111e-01 9.74653486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:69.16, Z:0.97 [[ 6.33497845e-01 -7.73732515e-01 -4.29843986e-03 1.48879013e+02] [ 7.73713587e-01 6.33512419e-01 -5.41302982e-03 6.91639747e+01] [ 6.91135221e-03 1.03381402e-04 9.99976111e-01 9.74252720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:69.19, Z:0.98 [[ 6.33306997e-01 -7.73888740e-01 -4.29728535e-03 1.48893381e+02] [ 7.73869809e-01 6.33321568e-01 -5.41394621e-03 6.91880751e+01] [ 6.91135550e-03 1.03150618e-04 9.99976111e-01 9.75958220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:69.21, Z:0.97 [[ 6.31977790e-01 -7.74974590e-01 -4.29621600e-03 1.48904777e+02] [ 7.74955679e-01 6.31992386e-01 -5.41479465e-03 6.92133484e+01] [ 6.91150407e-03 9.26529645e-05 9.99976111e-01 9.73502872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:69.24, Z:0.97 [[ 6.28145734e-01 -7.78083858e-01 -4.29509453e-03 1.48916843e+02] [ 7.78065012e-01 6.28160415e-01 -5.41568407e-03 6.92366477e+01] [ 6.91186472e-03 5.99760611e-05 9.99976111e-01 9.71675867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.93, Y:69.26, Z:0.97 [[ 6.25259147e-01 -7.80405383e-01 -4.29387305e-03 1.48932444e+02] [ 7.80386586e-01 6.25273890e-01 -5.41665236e-03 6.92605686e+01] [ 6.91203136e-03 3.59305079e-05 9.99976111e-01 9.73339727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:69.28, Z:0.97 [[ 6.22077342e-01 -7.82944029e-01 -4.29280436e-03 1.48948070e+02] [ 7.82925286e-01 6.22092153e-01 -5.41749919e-03 6.92832315e+01] [ 6.91211855e-03 9.15841283e-06 9.99976111e-01 9.72508228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.96, Y:69.31, Z:0.97 [[ 6.15570137e-01 -7.88070421e-01 -4.29167467e-03 1.48963850e+02] [ 7.88051795e-01 6.15585095e-01 -5.41839397e-03 6.93061039e+01] [ 6.91196697e-03 -4.66604104e-05 9.99976111e-01 9.73177486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:69.33, Z:0.97 [[ 6.12473101e-01 -7.90479785e-01 -4.29061409e-03 1.48979790e+02] [ 7.90461212e-01 6.12488125e-01 -5.41923367e-03 6.93268060e+01] [ 6.91174485e-03 -7.24291666e-05 9.99976111e-01 9.72637318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:69.35, Z:0.97 [[ 6.07867480e-01 -7.94026907e-01 -4.28936645e-03 1.48996142e+02] [ 7.94008414e-01 6.07882603e-01 -5.42022100e-03 6.93485654e+01] [ 6.91123256e-03 -1.11016978e-04 9.99976111e-01 9.73680625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:69.37, Z:0.97 [[ 6.06424338e-01 -7.95129633e-01 -4.28818495e-03 1.49012768e+02] [ 7.95111162e-01 6.06439487e-01 -5.42115558e-03 6.93705157e+01] [ 6.91104613e-03 -1.22063035e-04 9.99976111e-01 9.74175361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:69.39, Z:0.97 [[ 6.05707355e-01 -7.95675953e-01 -4.28699864e-03 1.49029788e+02] [ 7.95657489e-01 6.05722512e-01 -5.42209354e-03 6.93922862e+01] [ 6.91096103e-03 -1.26780637e-04 9.99976111e-01 9.74156159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:69.41, Z:0.97 [[ 6.05525848e-01 -7.95814098e-01 -4.28588819e-03 1.49046545e+02] [ 7.95795631e-01 6.05541002e-01 -5.42297116e-03 6.94121998e+01] [ 6.91095793e-03 -1.26941885e-04 9.99976111e-01 9.71312416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:69.43, Z:0.97 [[ 6.05957038e-01 -7.95485833e-01 -4.28465499e-03 1.49062280e+02] [ 7.95467350e-01 6.05972174e-01 -5.42394532e-03 6.94329620e+01] [ 6.91105336e-03 -1.21625315e-04 9.99976111e-01 9.70237455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.08, Y:69.46, Z:0.97 [[ 6.07508872e-01 -7.94301343e-01 -4.28343275e-03 1.49079369e+02] [ 7.94282824e-01 6.07523963e-01 -5.42491038e-03 6.94554614e+01] [ 6.91130164e-03 -1.06575878e-04 9.99976111e-01 9.73059956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.10, Y:69.48, Z:0.97 [[ 6.08358257e-01 -7.93650989e-01 -4.28237224e-03 1.49096239e+02] [ 7.93632448e-01 6.08373321e-01 -5.42574741e-03 6.94765610e+01] [ 6.91143082e-03 -9.78313308e-05 9.99976111e-01 9.72553014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:69.50, Z:0.97 [[ 6.09405237e-01 -7.92847355e-01 -4.28125342e-03 1.49113128e+02] [ 7.92828788e-01 6.09420269e-01 -5.42663009e-03 6.94971333e+01] [ 6.91157192e-03 -8.72841645e-05 9.99976111e-01 9.70412446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:69.52, Z:0.97 [[ 6.12617571e-01 -7.90367885e-01 -4.28003609e-03 1.49131125e+02] [ 7.90349251e-01 6.12632519e-01 -5.42759004e-03 6.95188881e+01] [ 6.91188215e-03 -5.76862890e-05 9.99976111e-01 9.74871593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:69.54, Z:0.97 [[ 6.14488272e-01 -7.88914351e-01 -4.27899145e-03 1.49147338e+02] [ 7.88895676e-01 6.14503169e-01 -5.42841349e-03 6.95398692e+01] [ 6.91200711e-03 -3.99814284e-05 9.99976111e-01 9.74926352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:69.56, Z:0.98 [[ 6.19384663e-01 -7.85076009e-01 -4.27775566e-03 1.49163054e+02] [ 7.85057234e-01 6.19399435e-01 -5.42938715e-03 6.95625847e+01] [ 6.91212103e-03 4.59610529e-06 9.99976111e-01 9.77262604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:69.58, Z:0.98 [[ 6.22035001e-01 -7.82977757e-01 -4.27656887e-03 1.49178494e+02] [ 7.82958927e-01 6.22049701e-01 -5.43032179e-03 6.95835380e+01] [ 6.91205956e-03 2.94724486e-05 9.99976111e-01 9.75950967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:69.61, Z:0.98 [[ 6.27415029e-01 -7.78673296e-01 -4.27531729e-03 1.49195265e+02] [ 7.78654358e-01 6.27429591e-01 -5.43130699e-03 6.96064752e+01] [ 6.91167429e-03 7.86891982e-05 9.99976111e-01 9.75904174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:69.63, Z:0.97 [[ 6.29704860e-01 -7.76822708e-01 -4.27425101e-03 1.49210481e+02] [ 7.76803721e-01 6.29719358e-01 -5.43214598e-03 6.96284155e+01] [ 6.91139296e-03 1.00394638e-04 9.99976111e-01 9.73318086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:69.65, Z:0.97 [[ 6.31912994e-01 -7.75027552e-01 -4.27347019e-03 1.49225896e+02] [ 7.75008520e-01 6.31927432e-01 -5.43276019e-03 6.96513605e+01] [ 6.91106187e-03 1.21055952e-04 9.99976111e-01 9.74287523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:69.68, Z:0.98 [[ 6.35591078e-01 -7.72014073e-01 -4.27231021e-03 1.49240224e+02] [ 7.71994966e-01 6.35605418e-01 -5.43367223e-03 6.96757646e+01] [ 6.91037495e-03 1.55391616e-04 9.99976111e-01 9.76559661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:69.70, Z:0.98 [[ 6.36688588e-01 -7.71109200e-01 -4.27121403e-03 1.49255644e+02] [ 7.71090067e-01 6.36702893e-01 -5.43453376e-03 6.96982723e+01] [ 6.91011331e-03 1.66614911e-04 9.99976111e-01 9.75386569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.27, Y:69.72, Z:0.97 [[ 6.37332389e-01 -7.70577179e-01 -4.27041384e-03 1.49270633e+02] [ 7.70558030e-01 6.37346672e-01 -5.43516248e-03 6.97212003e+01] [ 6.90994622e-03 1.73403416e-04 9.99976111e-01 9.74446572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.28, Y:69.75, Z:0.98 [[ 6.37710818e-01 -7.70264036e-01 -4.26929760e-03 1.49284256e+02] [ 7.70244874e-01 6.37725084e-01 -5.43603914e-03 6.97457754e+01] [ 6.90982362e-03 1.78216372e-04 9.99976111e-01 9.76246342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:69.77, Z:0.97 [[ 6.36906690e-01 -7.70929083e-01 -4.26819720e-03 1.49299980e+02] [ 7.70909930e-01 6.36920968e-01 -5.43690300e-03 6.97681857e+01] [ 6.90997093e-03 1.72404291e-04 9.99976111e-01 9.73477422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.31, Y:69.79, Z:0.97 [[ 6.34427330e-01 -7.72970734e-01 -4.26704756e-03 1.49314961e+02] [ 7.72951621e-01 6.34441661e-01 -5.43780512e-03 6.97905232e+01] [ 6.91045696e-03 1.51670856e-04 9.99976111e-01 9.73062054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:69.81, Z:0.97 [[ 6.32515153e-01 -7.74536238e-01 -4.26591913e-03 1.49329890e+02] [ 7.74517154e-01 6.32529524e-01 -5.43869023e-03 6.98118609e+01] [ 6.91078246e-03 1.36026437e-04 9.99976111e-01 9.71106578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:69.84, Z:0.97 [[ 6.30451490e-01 -7.76216936e-01 -4.26467782e-03 1.49346087e+02] [ 7.76197885e-01 6.30465902e-01 -5.43966341e-03 6.98351129e+01] [ 6.91109281e-03 1.19209995e-04 9.99976111e-01 9.74346010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:69.86, Z:0.98 [[ 6.26450437e-01 -7.79449596e-01 -4.26360118e-03 1.49360092e+02] [ 7.79430613e-01 6.26464940e-01 -5.44050715e-03 6.98580913e+01] [ 6.91159775e-03 8.50267995e-05 9.99976111e-01 9.75039048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:69.88, Z:0.98 [[ 6.24530354e-01 -7.80988904e-01 -4.26246329e-03 1.49376213e+02] [ 7.80969951e-01 6.24544896e-01 -5.44139850e-03 6.98812085e+01] [ 6.91177154e-03 6.94627851e-05 9.99976111e-01 9.76623025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:69.90, Z:0.98 [[ 6.21944417e-01 -7.83049796e-01 -4.26137829e-03 1.49390579e+02] [ 7.83030885e-01 6.21959014e-01 -5.44224807e-03 6.99047725e+01] [ 6.91195388e-03 4.79849916e-05 9.99976111e-01 9.75635394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.41, Y:69.93, Z:0.98 [[ 6.21445285e-01 -7.83445983e-01 -4.26023379e-03 1.49406632e+02] [ 7.83427075e-01 6.21459886e-01 -5.44314385e-03 6.99279311e+01] [ 6.91197359e-03 4.50335892e-05 9.99976111e-01 9.76940928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:149.42, Y:69.95, Z:0.98 [[ 6.21264774e-01 -7.83589140e-01 -4.25916655e-03 1.49421839e+02] [ 7.83570230e-01 6.21279371e-01 -5.44397881e-03 6.99499002e+01] [ 6.91197500e-03 4.47961473e-05 9.99976111e-01 9.75747813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:69.97, Z:0.97 [[ 6.21433602e-01 -7.83455260e-01 -4.25838475e-03 1.49435503e+02] [ 7.83436343e-01 6.21448190e-01 -5.44459029e-03 6.99733521e+01] [ 6.91195840e-03 4.72779831e-05 9.99976111e-01 9.74394669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:149.45, Y:70.00, Z:0.98 [[ 6.21845007e-01 -7.83128763e-01 -4.25760853e-03 1.49449046e+02] [ 7.83109834e-01 6.21859580e-01 -5.44519722e-03 6.99985608e+01] [ 6.91192521e-03 5.18935944e-05 9.99976111e-01 9.76726730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:70.02, Z:0.97 [[ 6.21337004e-01 -7.83531881e-01 -4.25653769e-03 1.49464015e+02] [ 7.83512956e-01 6.21351582e-01 -5.44603417e-03 7.00222878e+01] [ 6.91194782e-03 4.87701315e-05 9.99976111e-01 9.74987943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:70.05, Z:0.98 [[ 6.20634755e-01 -7.84088235e-01 -4.25920545e-03 1.49478631e+02] [ 7.84069337e-01 6.20649368e-01 -5.44394948e-03 7.00454175e+01] [ 6.91200991e-03 3.91918570e-05 9.99976111e-01 9.78022137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:70.07, Z:0.98 [[ 6.17796529e-01 -7.86326486e-01 -4.25512498e-03 1.49492627e+02] [ 7.86307619e-01 6.17811182e-01 -5.44713702e-03 7.00706444e+01] [ 6.91209190e-03 1.93851525e-05 9.99976111e-01 9.82829161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.51, Y:70.09, Z:0.98 [[ 6.15921524e-01 -7.87796026e-01 -4.25412210e-03 1.49508539e+02] [ 7.87777189e-01 6.15936215e-01 -5.44792013e-03 7.00927347e+01] [ 6.91211770e-03 4.19091658e-06 9.99976111e-01 9.83297417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.52, Y:70.11, Z:0.98 [[ 6.11853257e-01 -7.90959861e-01 -4.25317883e-03 1.49523664e+02] [ 7.90941095e-01 6.11868039e-01 -5.44865644e-03 7.01125424e+01] [ 6.91205273e-03 -3.02357262e-05 9.99976111e-01 9.82959026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:70.14, Z:0.98 [[ 6.09380369e-01 -7.92866704e-01 -4.23750723e-03 1.49541127e+02] [ 7.92847898e-01 6.09395101e-01 -5.46088551e-03 7.01362426e+01] [ 6.91207044e-03 -3.19422711e-05 9.99976111e-01 9.83820402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:70.16, Z:0.98 [[ 6.07620900e-01 -7.94215815e-01 -4.25216650e-03 1.49557933e+02] [ 7.94197122e-01 6.07635775e-01 -5.44944698e-03 7.01587927e+01] [ 6.91180546e-03 -6.58605208e-05 9.99976111e-01 9.83019531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:70.18, Z:0.98 [[ 6.05024107e-01 -7.96195804e-01 -4.25110121e-03 1.49574494e+02] [ 7.96177154e-01 6.05039035e-01 -5.45027788e-03 7.01808780e+01] [ 6.91157056e-03 -8.70801519e-05 9.99976111e-01 9.80799942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:70.20, Z:0.98 [[ 6.03430521e-01 -7.97404253e-01 -4.25003502e-03 1.49590240e+02] [ 7.97385627e-01 6.03445480e-01 -5.45110915e-03 7.02022622e+01] [ 6.91140204e-03 -9.95512047e-05 9.99976111e-01 9.78437289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:70.22, Z:0.98 [[ 6.02795600e-01 -7.97884335e-01 -4.24897156e-03 1.49607067e+02] [ 7.97865715e-01 6.02810566e-01 -5.45193797e-03 7.02230422e+01] [ 6.91134084e-03 -1.03704511e-04 9.99976111e-01 9.77071030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.63, Y:70.24, Z:0.98 [[ 6.02346714e-01 -7.98223272e-01 -4.24786982e-03 1.49625126e+02] [ 7.98204654e-01 6.02361683e-01 -5.45279625e-03 7.02447937e+01] [ 6.91130287e-03 -1.06195560e-04 9.99976111e-01 9.77747367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:70.26, Z:0.98 [[ 6.01664886e-01 -7.98737334e-01 -4.24683648e-03 1.49642661e+02] [ 7.98718724e-01 6.01679864e-01 -5.45360093e-03 7.02640597e+01] [ 6.91123066e-03 -1.10787624e-04 9.99976111e-01 9.75513618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:70.29, Z:0.98 [[ 6.01034271e-01 -7.99212015e-01 -4.23791559e-03 1.49660396e+02] [ 7.99193367e-01 6.01049203e-01 -5.46054463e-03 7.02857623e+01] [ 6.91132866e-03 -1.04939565e-04 9.99976111e-01 9.78523292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:70.31, Z:0.98 [[ 6.01326888e-01 -7.98991838e-01 -4.24454373e-03 1.49677929e+02] [ 7.98973221e-01 6.01341858e-01 -5.45538762e-03 7.03076429e+01] [ 6.91123200e-03 -1.10805513e-04 9.99976111e-01 9.83509791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:70.33, Z:0.98 [[ 6.01167863e-01 -7.99111503e-01 -4.24345491e-03 1.49695268e+02] [ 7.99092883e-01 6.01182829e-01 -5.45623443e-03 7.03302108e+01] [ 6.91123192e-03 -1.10801819e-04 9.99976111e-01 9.83706645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:70.35, Z:0.98 [[ 6.01594922e-01 -7.98790055e-01 -4.24236883e-03 1.49711106e+02] [ 7.98771422e-01 6.01609871e-01 -5.45707876e-03 7.03515395e+01] [ 6.91131120e-03 -1.05732109e-04 9.99976111e-01 9.80245353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:70.37, Z:0.98 [[ 6.02695857e-01 -7.97959721e-01 -4.24122121e-03 1.49730318e+02] [ 7.97941060e-01 6.02710772e-01 -5.45797054e-03 7.03721956e+01] [ 6.91147036e-03 -9.47483150e-05 9.99976111e-01 9.83878841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:70.39, Z:0.98 [[ 6.03115302e-01 -7.97642748e-01 -4.24017684e-03 1.49747860e+02] [ 7.97624074e-01 6.03130201e-01 -5.45878177e-03 7.03913581e+01] [ 6.91153639e-03 -8.97923060e-05 9.99976111e-01 9.82307111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:70.41, Z:0.99 [[ 6.03346877e-01 -7.97467609e-01 -4.23781943e-03 1.49766463e+02] [ 7.97448917e-01 6.03361754e-01 -5.46061217e-03 7.04128299e+01] [ 6.91159950e-03 -8.48012208e-05 9.99976111e-01 9.85754712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:70.43, Z:0.98 [[ 6.03566070e-01 -7.97301724e-01 -4.23795158e-03 1.49783925e+02] [ 7.97283029e-01 6.03580943e-01 -5.46050961e-03 7.04318488e+01] [ 6.91162054e-03 -8.30685469e-05 9.99976111e-01 9.83332337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:70.45, Z:0.99 [[ 6.03258381e-01 -7.97534569e-01 -4.23521508e-03 1.49802348e+02] [ 7.97515865e-01 6.03273243e-01 -5.46263264e-03 7.04529883e+01] [ 6.91163030e-03 -8.22722934e-05 9.99976111e-01 9.85933617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:70.47, Z:0.99 [[ 6.02069209e-01 -7.98432666e-01 -4.23624877e-03 1.49822230e+02] [ 7.98413990e-01 6.02084105e-01 -5.46183090e-03 7.04707184e+01] [ 6.91148225e-03 -9.38800689e-05 9.99976111e-01 9.85754057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:70.49, Z:0.99 [[ 6.01229061e-01 -7.99065503e-01 -4.23533320e-03 1.49840954e+02] [ 7.99046837e-01 6.01243971e-01 -5.46254078e-03 7.04909967e+01] [ 6.91139644e-03 -9.99913307e-05 9.99976111e-01 9.85087161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.86, Y:70.51, Z:0.98 [[ 6.00713585e-01 -7.99453101e-01 -4.23416156e-03 1.49859220e+02] [ 7.99434439e-01 6.00728498e-01 -5.46344880e-03 7.05097527e+01] [ 6.91135260e-03 -1.02966658e-04 9.99976111e-01 9.82991516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:70.53, Z:0.98 [[ 5.99337463e-01 -8.00485299e-01 -4.22987830e-03 1.49881560e+02] [ 8.00466639e-01 5.99352379e-01 -5.46676721e-03 7.05273392e+01] [ 6.91125441e-03 -1.09438081e-04 9.99976111e-01 9.80449671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:70.55, Z:0.98 [[ 5.98818047e-01 -8.00873918e-01 -4.23259343e-03 1.49901097e+02] [ 8.00855282e-01 5.98832994e-01 -5.46466424e-03 7.05459893e+01] [ 6.91112365e-03 -1.17355243e-04 9.99976111e-01 9.83347401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:70.56, Z:0.98 [[ 5.98529114e-01 -8.01089879e-01 -4.23141295e-03 1.49922537e+02] [ 8.01071243e-01 5.98544060e-01 -5.46557815e-03 7.05623994e+01] [ 6.91110643e-03 -1.18355579e-04 9.99976111e-01 9.83741538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:70.58, Z:0.98 [[ 5.98997354e-01 -8.00739830e-01 -4.23017324e-03 1.49941176e+02] [ 8.00721178e-01 5.99012280e-01 -5.46653748e-03 7.05811765e+01] [ 6.91120001e-03 -1.12747817e-04 9.99976111e-01 9.83806230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:70.60, Z:0.99 [[ 5.99395089e-01 -8.00442183e-01 -4.22365409e-03 1.49960830e+02] [ 8.00423488e-01 5.99409961e-01 -5.47157964e-03 7.06017297e+01] [ 6.91138348e-03 -1.01073973e-04 9.99976111e-01 9.85846959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:70.62, Z:0.98 [[ 6.01145404e-01 -7.99128480e-01 -4.22798515e-03 1.49981701e+02] [ 7.99109776e-01 6.01160265e-01 -5.46823090e-03 7.06192717e+01] [ 6.91151572e-03 -9.14223860e-05 9.99976111e-01 9.84856601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:70.64, Z:0.99 [[ 6.02122422e-01 -7.98392583e-01 -4.22756440e-03 1.49999932e+02] [ 7.98373859e-01 6.02137257e-01 -5.46855607e-03 7.06389573e+01] [ 6.91162864e-03 -8.24366752e-05 9.99976111e-01 9.86468721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:70.66, Z:0.99 [[ 6.03157483e-01 -7.97610929e-01 -4.22565833e-03 1.50018939e+02] [ 7.97592175e-01 6.03172281e-01 -5.47002853e-03 7.06591816e+01] [ 6.91175451e-03 -7.10633795e-05 9.99976111e-01 9.87899995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:150.04, Y:70.68, Z:0.99 [[ 6.05678585e-01 -7.95698187e-01 -4.22445620e-03 1.50040251e+02] [ 7.95679380e-01 6.05693316e-01 -5.47095677e-03 7.06776146e+01] [ 6.91195527e-03 -4.76713377e-05 9.99976111e-01 9.88492543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:70.70, Z:0.99 [[ 6.06884154e-01 -7.94779081e-01 -4.22325521e-03 1.50057371e+02] [ 7.94760245e-01 6.06898848e-01 -5.47188370e-03 7.06968399e+01] [ 6.91202742e-03 -3.56758322e-05 9.99976111e-01 9.88638664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264000000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:150.08, Y:70.72, Z:0.99 [[ 6.09617907e-01 -7.92684161e-01 -4.22232086e-03 1.50077116e+02] [ 7.92665270e-01 6.09632529e-01 -5.47260459e-03 7.07164149e+01] [ 6.91211112e-03 -1.06893560e-05 9.99976111e-01 9.87548010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:70.74, Z:0.98 [[ 6.10987080e-01 -7.91629314e-01 -4.22111705e-03 1.50094404e+02] [ 7.91610391e-01 6.11001661e-01 -5.47353296e-03 7.07360792e+01] [ 6.91211866e-03 2.77780244e-06 9.99976111e-01 9.83393358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:70.76, Z:0.99 [[ 6.12349001e-01 -7.90576305e-01 -4.21985575e-03 1.50112375e+02] [ 7.90557350e-01 6.12363540e-01 -5.47450519e-03 7.07568862e+01] [ 6.91209989e-03 1.62698051e-05 9.99976111e-01 9.86115571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.13, Y:70.78, Z:0.99 [[ 6.14993355e-01 -7.88521005e-01 -4.21869944e-03 1.50131368e+02] [ 7.88501996e-01 6.15007823e-01 -5.47539611e-03 7.07776941e+01] [ 6.91199800e-03 4.08792943e-05 9.99976111e-01 9.88342737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:70.80, Z:0.99 [[ 6.15856807e-01 -7.87846815e-01 -4.21766182e-03 1.50147656e+02] [ 7.87827785e-01 6.15871247e-01 -5.47619526e-03 7.07983040e+01] [ 6.91193964e-03 4.97609658e-05 9.99976111e-01 9.88436930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:70.82, Z:0.99 [[ 6.16872819e-01 -7.87051551e-01 -4.21675463e-03 1.50163784e+02] [ 7.87032497e-01 6.16887228e-01 -5.47689372e-03 7.08204567e+01] [ 6.91185977e-03 5.98239448e-05 9.99976111e-01 9.91107107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.18, Y:70.84, Z:0.99 [[ 6.17097382e-01 -7.86875498e-01 -4.21554284e-03 1.50179542e+02] [ 7.86856434e-01 6.17111777e-01 -5.47782627e-03 7.08410135e+01] [ 6.91182841e-03 6.33252465e-05 9.99976111e-01 9.88925076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:70.86, Z:0.99 [[ 6.16513239e-01 -7.87333262e-01 -4.21427255e-03 1.50196118e+02] [ 7.87314201e-01 6.16527640e-01 -5.47880337e-03 7.08623573e+01] [ 6.91185964e-03 5.97981878e-05 9.99976111e-01 9.88147799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:70.88, Z:0.99 [[ 6.15546079e-01 -7.88089636e-01 -4.21306443e-03 1.50211651e+02] [ 7.88070587e-01 6.15560495e-01 -5.47973223e-03 7.08828784e+01] [ 6.91191621e-03 5.28355302e-05 9.99976111e-01 9.87656200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:70.90, Z:0.99 [[ 6.14333422e-01 -7.89035301e-01 -4.21180170e-03 1.50227791e+02] [ 7.89016268e-01 6.14347858e-01 -5.48070261e-03 7.09038450e+01] [ 6.91197919e-03 4.37987290e-05 9.99976111e-01 9.86783346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:70.93, Z:0.99 [[ 6.11201656e-01 -7.91463712e-01 -4.21055287e-03 1.50243969e+02] [ 7.91444729e-01 6.11216158e-01 -5.48166186e-03 7.09261148e+01] [ 6.91209439e-03 1.79809236e-05 9.99976111e-01 9.89548506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:70.95, Z:0.99 [[ 6.09742217e-01 -7.92588613e-01 -4.20937585e-03 1.50259549e+02] [ 7.92569651e-01 6.09756747e-01 -5.48256554e-03 7.09481980e+01] [ 6.91211435e-03 6.72811835e-06 9.99976111e-01 9.90642014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:70.97, Z:0.99 [[ 6.07105969e-01 -7.94609736e-01 -4.20820546e-03 1.50274579e+02] [ 7.94590816e-01 6.07120554e-01 -5.48346374e-03 7.09709122e+01] [ 6.91210171e-03 -1.47578375e-05 9.99976111e-01 9.91613391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.29, Y:70.99, Z:0.99 [[ 6.05812098e-01 -7.95596634e-01 -4.20703041e-03 1.50290812e+02] [ 7.95577731e-01 6.05826705e-01 -5.48436512e-03 7.09928290e+01] [ 6.91207380e-03 -2.45249656e-05 9.99976111e-01 9.92989532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:71.01, Z:0.99 [[ 6.02910061e-01 -7.97798075e-01 -4.20581354e-03 1.50305569e+02] [ 7.97779219e-01 6.02924729e-01 -5.48529815e-03 7.10144969e+01] [ 6.91194929e-03 -4.81692000e-05 9.99976111e-01 9.92003395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:71.04, Z:0.99 [[ 6.01387966e-01 -7.98946079e-01 -4.20453771e-03 1.50321850e+02] [ 7.98927244e-01 6.01402660e-01 -5.48627591e-03 7.10373752e+01] [ 6.91185879e-03 -5.97394132e-05 9.99976111e-01 9.92064497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:71.06, Z:0.99 [[ 6.00129918e-01 -7.99891484e-01 -4.20661864e-03 1.50337585e+02] [ 7.99872683e-01 6.00144657e-01 -5.48468156e-03 7.10594075e+01] [ 6.91172977e-03 -7.32378451e-05 9.99976111e-01 9.94090104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73264000000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:150.35, Y:71.08, Z:0.99 [[ 5.97812665e-01 -8.01624821e-01 -4.20287234e-03 1.50353137e+02] [ 8.01606043e-01 5.97827432e-01 -5.48755082e-03 7.10804157e+01] [ 6.91154933e-03 -8.85204854e-05 9.99976111e-01 9.93124253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:71.10, Z:0.99 [[ 5.96523482e-01 -8.02584626e-01 -4.20160546e-03 1.50369594e+02] [ 8.02565865e-01 5.96538270e-01 -5.48852065e-03 7.11016052e+01] [ 6.91142075e-03 -9.80336781e-05 9.99976111e-01 9.94695729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:71.12, Z:0.99 [[ 5.94735694e-01 -8.03910325e-01 -4.20039881e-03 1.50385315e+02] [ 8.03891590e-01 5.94750516e-01 -5.48944395e-03 7.11221281e+01] [ 6.91121004e-03 -1.11897024e-04 9.99976111e-01 9.92898056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:71.14, Z:0.99 [[ 5.93981500e-01 -8.04467738e-01 -4.19946495e-03 1.50401258e+02] [ 8.04449012e-01 5.93996334e-01 -5.49015827e-03 7.11430859e+01] [ 6.91112199e-03 -1.17202984e-04 9.99976111e-01 9.91287580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:71.16, Z:0.99 [[ 5.93379927e-01 -8.04911571e-01 -4.19822622e-03 1.50417797e+02] [ 8.04892850e-01 5.93394766e-01 -5.49110534e-03 7.11640314e+01] [ 6.91105969e-03 -1.20810578e-04 9.99976111e-01 9.92111173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:71.18, Z:0.99 [[ 5.92425619e-01 -8.05614219e-01 -4.19703742e-03 1.50434136e+02] [ 8.05595509e-01 5.92440472e-01 -5.49201383e-03 7.11847717e+01] [ 6.91093927e-03 -1.27504802e-04 9.99976111e-01 9.91611360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:71.21, Z:0.99 [[ 5.92008576e-01 -8.05920739e-01 -4.19611931e-03 1.50449992e+02] [ 8.05902032e-01 5.92023433e-01 -5.49271521e-03 7.12063514e+01] [ 6.91089407e-03 -1.29926566e-04 9.99976111e-01 9.92189904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:71.23, Z:0.99 [[ 5.92012312e-01 -8.05918002e-01 -4.19494421e-03 1.50465376e+02] [ 8.05899288e-01 5.92027160e-01 -5.49361253e-03 7.12285114e+01] [ 6.91092214e-03 -1.28416293e-04 9.99976111e-01 9.93958217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.48, Y:71.25, Z:0.99 [[ 5.92251142e-01 -8.05742513e-01 -4.19374115e-03 1.50481139e+02] [ 8.05723788e-01 5.92265977e-01 -5.49453077e-03 7.12503698e+01] [ 6.91098723e-03 -1.24854878e-04 9.99976111e-01 9.94588649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:71.27, Z:0.99 [[ 5.93468527e-01 -8.04846277e-01 -4.19254677e-03 1.50497237e+02] [ 8.04827524e-01 5.93483325e-01 -5.49544198e-03 7.12712135e+01] [ 6.91119262e-03 -1.12905180e-04 9.99976111e-01 9.91204187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:71.29, Z:0.99 [[ 5.94519514e-01 -8.04070258e-01 -4.19129435e-03 1.50513791e+02] [ 8.04051479e-01 5.94534279e-01 -5.49639702e-03 7.12930488e+01] [ 6.91135754e-03 -1.02301138e-04 9.99976111e-01 9.93146397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:71.32, Z:0.99 [[ 5.96307242e-01 -8.02745372e-01 -4.18816869e-03 1.50530040e+02] [ 8.02726543e-01 5.96321944e-01 -5.49877968e-03 7.13158635e+01] [ 6.91161683e-03 -8.29920318e-05 9.99976111e-01 9.94843185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:71.34, Z:0.99 [[ 5.96688149e-01 -8.02462273e-01 -4.18978942e-03 1.50545666e+02] [ 8.02443445e-01 5.96702853e-01 -5.49754449e-03 7.13376337e+01] [ 6.91163134e-03 -8.17494099e-05 9.99976111e-01 9.94843605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:71.36, Z:1.00 [[ 5.96683186e-01 -8.02465969e-01 -4.18862595e-03 1.50561926e+02] [ 8.02447135e-01 5.96697882e-01 -5.49843080e-03 7.13593332e+01] [ 6.91164783e-03 -8.03296908e-05 9.99976111e-01 9.96432503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:71.38, Z:0.99 [[ 5.96129656e-01 -8.02877263e-01 -4.18741668e-03 1.50578138e+02] [ 8.02858433e-01 5.96144356e-01 -5.49935158e-03 7.13795430e+01] [ 6.91160917e-03 -8.35762288e-05 9.99976111e-01 9.94592073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.59, Y:71.40, Z:1.00 [[ 5.95276577e-01 -8.03509969e-01 -4.18648113e-03 1.50594681e+02] [ 8.03491150e-01 5.95291291e-01 -5.50006369e-03 7.14008476e+01] [ 6.91153177e-03 -8.97414466e-05 9.99976111e-01 9.95245301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:71.42, Z:0.99 [[ 5.93546448e-01 -8.04788853e-01 -4.18527240e-03 1.50613017e+02] [ 8.04770059e-01 5.93561194e-01 -5.50098332e-03 7.14206808e+01] [ 6.91134534e-03 -1.03092811e-04 9.99976111e-01 9.93840238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:71.44, Z:0.99 [[ 5.92556269e-01 -8.05518178e-01 -4.18723961e-03 1.50630660e+02] [ 8.05499412e-01 5.92571052e-01 -5.49948696e-03 7.14404591e+01] [ 6.91117370e-03 -1.14063570e-04 9.99976111e-01 9.91168960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:71.46, Z:0.99 [[ 5.91705553e-01 -8.06143310e-01 -4.18367359e-03 1.50648239e+02] [ 8.06124541e-01 5.91720332e-01 -5.50219844e-03 7.14606719e+01] [ 6.91112518e-03 -1.16880586e-04 9.99976111e-01 9.94145326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:71.48, Z:0.99 [[ 5.91180070e-01 -8.06528755e-01 -4.18250157e-03 1.50665973e+02] [ 8.06509989e-01 5.91194852e-01 -5.50308921e-03 7.14803896e+01] [ 6.91107308e-03 -1.19912633e-04 9.99976111e-01 9.94383784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:71.50, Z:0.99 [[ 5.91530636e-01 -8.06271681e-01 -4.18126932e-03 1.50683220e+02] [ 8.06252903e-01 5.91545402e-01 -5.50402532e-03 7.15008640e+01] [ 6.91115039e-03 -1.15360930e-04 9.99976111e-01 9.94979880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:71.52, Z:0.99 [[ 5.94162733e-01 -8.04333994e-01 -4.18010906e-03 1.50702001e+02] [ 8.04315161e-01 5.94177430e-01 -5.50490635e-03 7.15191187e+01] [ 6.91150977e-03 -9.13148958e-05 9.99976111e-01 9.94306025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:71.54, Z:1.00 [[ 5.95976650e-01 -8.02990890e-01 -4.17895296e-03 1.50719900e+02] [ 8.02972018e-01 5.95991296e-01 -5.50578384e-03 7.15401756e+01] [ 6.91171386e-03 -7.42636870e-05 9.99976111e-01 9.96266582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:71.56, Z:1.00 [[ 5.98246958e-01 -8.01300895e-01 -4.17773135e-03 1.50736783e+02] [ 8.01281975e-01 5.98261542e-01 -5.50671063e-03 7.15611958e+01] [ 6.91190816e-03 -5.31679403e-05 9.99976111e-01 9.95990998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.75, Y:71.58, Z:0.99 [[ 6.03592059e-01 -7.97282374e-01 -4.17650977e-03 1.50751948e+02] [ 7.97263350e-01 6.03606508e-01 -5.50763697e-03 7.15822620e+01] [ 6.91211036e-03 -5.41222768e-06 9.99976111e-01 9.94470451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:71.60, Z:0.99 [[ 6.06144907e-01 -7.95343271e-01 -4.17522659e-03 1.50767518e+02] [ 7.95324195e-01 6.06159286e-01 -5.50860956e-03 7.16026805e+01] [ 6.91208791e-03 1.83569031e-05 9.99976111e-01 9.92482089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:71.62, Z:0.99 [[ 6.09873947e-01 -7.92487441e-01 -4.17428421e-03 1.50784513e+02] [ 7.92468292e-01 6.09888230e-01 -5.50932357e-03 7.16225931e+01] [ 6.91191655e-03 5.20050322e-05 9.99976111e-01 9.90949558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:71.64, Z:0.99 [[ 6.09703772e-01 -7.92618380e-01 -4.17302145e-03 1.50801007e+02] [ 7.92599227e-01 6.09718051e-01 -5.51027988e-03 7.16447771e+01] [ 6.91191561e-03 5.21048496e-05 9.99976111e-01 9.91140644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:71.67, Z:0.99 [[ 6.10720962e-01 -7.91834896e-01 -4.17183808e-03 1.50817480e+02] [ 7.91815719e-01 6.10735208e-01 -5.51117567e-03 7.16661084e+01] [ 6.91182960e-03 6.24635416e-05 9.99976111e-01 9.92686444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:71.69, Z:0.99 [[ 6.11408192e-01 -7.91304384e-01 -4.17062191e-03 1.50833320e+02] [ 7.91285189e-01 6.11422412e-01 -5.51209586e-03 7.16874774e+01] [ 6.91175733e-03 6.99892155e-05 9.99976111e-01 9.91812238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:71.71, Z:0.99 [[ 6.12788391e-01 -7.90236044e-01 -4.16934630e-03 1.50849321e+02] [ 7.90216817e-01 6.12802569e-01 -5.51306056e-03 7.17106152e+01] [ 6.91160529e-03 8.36519479e-05 9.99976111e-01 9.93197013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.87, Y:71.73, Z:0.99 [[ 6.13251667e-01 -7.89876584e-01 -4.16830471e-03 1.50865715e+02] [ 7.89857344e-01 6.13265827e-01 -5.51384797e-03 7.17326558e+01] [ 6.91153823e-03 8.90103709e-05 9.99976111e-01 9.94197072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:71.75, Z:1.00 [[ 6.14471656e-01 -7.88927892e-01 -4.16713780e-03 1.50883408e+02] [ 7.88908624e-01 6.14485777e-01 -5.51472973e-03 7.17547281e+01] [ 6.91137101e-03 1.01154162e-04 9.99976111e-01 9.95724449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:71.78, Z:1.00 [[ 6.14703584e-01 -7.88747201e-01 -4.16609384e-03 1.50899144e+02] [ 7.88727924e-01 6.14717693e-01 -5.51551827e-03 7.17766950e+01] [ 6.91132120e-03 1.04494305e-04 9.99976111e-01 9.97460564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:71.80, Z:1.00 [[ 6.14695677e-01 -7.88753369e-01 -4.16490803e-03 1.50914374e+02] [ 7.88734086e-01 6.14709778e-01 -5.51641356e-03 7.17994625e+01] [ 6.91129948e-03 1.05910642e-04 9.99976111e-01 9.98894966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:150.93, Y:71.82, Z:1.00 [[ 6.14529696e-01 -7.88882702e-01 -4.16370111e-03 1.50928706e+02] [ 7.88863415e-01 6.14543792e-01 -5.51732438e-03 7.18227452e+01] [ 6.91129843e-03 1.05968197e-04 9.99976111e-01 9.99374852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:71.84, Z:1.00 [[ 6.14115227e-01 -7.89205399e-01 -4.16247255e-03 1.50943426e+02] [ 7.89186113e-01 6.14129325e-01 -5.51825110e-03 7.18446203e+01] [ 6.91133001e-03 1.03876494e-04 9.99976111e-01 9.98453011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:150.96, Y:71.87, Z:1.00 [[ 6.13440173e-01 -7.89730231e-01 -4.16118278e-03 1.50957791e+02] [ 7.89710951e-01 6.13454278e-01 -5.51922351e-03 7.18668556e+01] [ 6.91139304e-03 9.95818142e-05 9.99976111e-01 9.96992761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:71.89, Z:1.00 [[ 6.11682956e-01 -7.91092064e-01 -4.16023859e-03 1.50972881e+02] [ 7.91072811e-01 6.11697097e-01 -5.51993512e-03 7.18892999e+01] [ 6.91158274e-03 8.53985925e-05 9.99976111e-01 9.99029489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:71.91, Z:1.00 [[ 6.10255770e-01 -7.92193535e-01 -4.15901729e-03 1.50988580e+02] [ 7.92174301e-01 6.10269938e-01 -5.52085516e-03 7.19098875e+01] [ 6.91170899e-03 7.44671095e-05 9.99976111e-01 9.98418585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:71.93, Z:1.00 [[ 6.07098959e-01 -7.94615358e-01 -4.15773773e-03 1.51003705e+02] [ 7.94596173e-01 6.07113195e-01 -5.52181862e-03 7.19318720e+01] [ 6.91193932e-03 4.85678499e-05 9.99976111e-01 9.99988269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:71.95, Z:1.00 [[ 6.05374282e-01 -7.95930086e-01 -4.15653298e-03 1.51018944e+02] [ 7.95910926e-01 6.05388551e-01 -5.52272535e-03 7.19544621e+01] [ 6.91202074e-03 3.50858817e-05 9.99976111e-01 1.00012521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.03, Y:71.98, Z:1.00 [[ 6.02029097e-01 -7.98463336e-01 -4.15531609e-03 1.51034631e+02] [ 7.98444230e-01 6.02043437e-01 -5.52364078e-03 7.19756888e+01] [ 6.91210543e-03 7.60431417e-06 9.99976111e-01 9.99486311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:72.00, Z:1.00 [[ 6.00289732e-01 -7.99771831e-01 -4.15403900e-03 1.51050889e+02] [ 7.99752749e-01 6.00304105e-01 -5.52460105e-03 7.19965931e+01] [ 6.91210696e-03 -5.84282378e-06 9.99976111e-01 9.98091191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:72.02, Z:1.00 [[ 5.97545802e-01 -8.01824026e-01 -4.15278887e-03 1.51068121e+02] [ 8.01804988e-01 5.97560231e-01 -5.52554060e-03 7.20179602e+01] [ 6.91205269e-03 -2.79632365e-05 9.99976111e-01 9.99264944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.09, Y:72.04, Z:1.00 [[ 5.96417356e-01 -8.02663754e-01 -4.15157612e-03 1.51085324e+02] [ 8.02644729e-01 5.96431804e-01 -5.52645164e-03 7.20392839e+01] [ 6.91201446e-03 -3.61690201e-05 9.99976111e-01 1.00067875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:72.06, Z:1.00 [[ 5.95627589e-01 -8.03249992e-01 -4.15035200e-03 1.51102048e+02] [ 8.03230975e-01 5.95642048e-01 -5.52737080e-03 7.20599990e+01] [ 6.91198472e-03 -4.14367395e-05 9.99976111e-01 9.99319929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:72.08, Z:1.00 [[ 5.95734023e-01 -8.03171065e-01 -4.14906494e-03 1.51118233e+02] [ 8.03152039e-01 5.95748470e-01 -5.52833675e-03 7.20818441e+01] [ 6.91199921e-03 -3.89116742e-05 9.99976111e-01 1.00160303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:72.10, Z:1.00 [[ 5.96242979e-01 -8.02793314e-01 -4.14787812e-03 1.51135135e+02] [ 8.02774273e-01 5.96257406e-01 -5.52922708e-03 7.21035722e+01] [ 6.91202957e-03 -3.30470182e-05 9.99976111e-01 1.00240737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264000000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:151.15, Y:72.12, Z:1.01 [[ 5.97593191e-01 -8.01788739e-01 -4.14668719e-03 1.51152482e+02] [ 8.01769668e-01 5.97607578e-01 -5.53012008e-03 7.21238713e+01] [ 6.91207969e-03 -1.99259062e-05 9.99976111e-01 1.00534967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:72.14, Z:1.00 [[ 5.98379892e-01 -8.01201798e-01 -4.14545297e-03 1.51168159e+02] [ 8.01182706e-01 5.98394251e-01 -5.53104511e-03 7.21449313e+01] [ 6.91209851e-03 -1.15990569e-05 9.99976111e-01 1.00458425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:72.17, Z:1.00 [[ 6.00081331e-01 -7.99928261e-01 -4.14415486e-03 1.51184503e+02] [ 7.99909132e-01 6.00095641e-01 -5.53201755e-03 7.21659430e+01] [ 6.91210644e-03 4.71314387e-06 9.99976111e-01 1.00405489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:72.19, Z:1.00 [[ 6.00648403e-01 -7.99502553e-01 -4.14288994e-03 1.51200480e+02] [ 7.99483408e-01 6.00662690e-01 -5.53296468e-03 7.21860490e+01] [ 6.91209880e-03 1.11946328e-05 9.99976111e-01 1.00370436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:72.21, Z:1.00 [[ 6.01380524e-01 -7.98952009e-01 -4.14166052e-03 1.51217260e+02] [ 7.98932843e-01 6.01394785e-01 -5.53388480e-03 7.22071719e+01] [ 6.91208142e-03 1.90619308e-05 9.99976111e-01 1.00459304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:72.23, Z:1.01 [[ 6.03037622e-01 -7.97702001e-01 -4.14049062e-03 1.51234055e+02] [ 7.97682800e-01 6.03051836e-01 -5.53475999e-03 7.22287536e+01] [ 6.91201959e-03 3.48703496e-05 9.99976111e-01 1.00582371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:72.25, Z:1.01 [[ 6.03642171e-01 -7.97244628e-01 -4.13926189e-03 1.51250170e+02] [ 7.97225410e-01 6.03656361e-01 -5.53567876e-03 7.22498484e+01] [ 6.91198192e-03 4.16443823e-05 9.99976111e-01 1.00517871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:72.27, Z:1.00 [[ 6.04728272e-01 -7.96421116e-01 -4.13796976e-03 1.51266487e+02] [ 7.96401872e-01 6.04742427e-01 -5.53664447e-03 7.22706379e+01] [ 6.91190645e-03 5.26785802e-05 9.99976111e-01 1.00441865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:72.29, Z:1.00 [[ 6.05159956e-01 -7.96093157e-01 -4.13669511e-03 1.51281855e+02] [ 7.96073900e-01 6.05174092e-01 -5.53759666e-03 7.22912606e+01] [ 6.91186352e-03 5.80167493e-05 9.99976111e-01 1.00368490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:72.31, Z:1.00 [[ 6.05718036e-01 -7.95668624e-01 -4.13543975e-03 1.51297728e+02] [ 7.95649349e-01 6.05732150e-01 -5.53853400e-03 7.23126870e+01] [ 6.91180653e-03 6.44299896e-05 9.99976111e-01 1.00331908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:72.33, Z:1.00 [[ 6.07556319e-01 -7.94265842e-01 -4.13426189e-03 1.51313942e+02] [ 7.94246529e-01 6.07570379e-01 -5.53941307e-03 7.23338980e+01] [ 6.91162166e-03 8.18822526e-05 9.99976111e-01 1.00333659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.33, Y:72.36, Z:1.00 [[ 6.08567178e-01 -7.93491592e-01 -4.13306572e-03 1.51330335e+02] [ 7.93472256e-01 6.08581206e-01 -5.54030542e-03 7.23553423e+01] [ 6.91149189e-03 9.21750501e-05 9.99976111e-01 1.00476618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:72.38, Z:1.00 [[ 6.11473733e-01 -7.91253943e-01 -4.13186164e-03 1.51345761e+02] [ 7.91234549e-01 6.11487681e-01 -5.54120326e-03 7.23774049e+01] [ 6.91108142e-03 1.19028561e-04 9.99976111e-01 1.00455706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:72.40, Z:1.00 [[ 6.12946758e-01 -7.90113416e-01 -4.13063862e-03 1.51359900e+02] [ 7.90093990e-01 6.12960662e-01 -5.54211479e-03 7.24000890e+01] [ 6.91081823e-03 1.33428550e-04 9.99976111e-01 1.00270725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.37, Y:72.43, Z:1.00 [[ 6.15487345e-01 -7.88135950e-01 -4.12935653e-03 1.51371964e+02] [ 7.88116473e-01 6.15501177e-01 -5.54306990e-03 7.24252764e+01] [ 6.91031647e-03 1.57275469e-04 9.99976111e-01 1.00466318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:72.45, Z:1.00 [[ 6.16570361e-01 -7.87288987e-01 -4.12813447e-03 1.51386493e+02] [ 7.87269485e-01 6.16584157e-01 -5.54397986e-03 7.24487847e+01] [ 6.91005660e-03 1.68299365e-04 9.99976111e-01 1.00402201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:72.47, Z:1.00 [[ 6.17885296e-01 -7.86257420e-01 -4.12691084e-03 1.51398308e+02] [ 7.86237888e-01 6.17899051e-01 -5.54489057e-03 7.24726789e+01] [ 6.90972565e-03 1.81372683e-04 9.99976111e-01 1.00232286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:72.50, Z:1.00 [[ 6.18175869e-01 -7.86028991e-01 -4.12563122e-03 1.51412615e+02] [ 7.86009448e-01 6.18189608e-01 -5.54584251e-03 7.24953785e+01] [ 6.90961533e-03 1.85520892e-04 9.99976111e-01 1.00370262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:72.52, Z:1.00 [[ 6.18296116e-01 -7.85934413e-01 -4.12441832e-03 1.51426898e+02] [ 7.85914862e-01 6.18309844e-01 -5.54674439e-03 7.25180197e+01] [ 6.90954574e-03 1.88088860e-04 9.99976111e-01 1.00380660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.44, Y:72.54, Z:1.00 [[ 6.18307639e-01 -7.85925355e-01 -4.12320566e-03 1.51438726e+02] [ 7.85905798e-01 6.18321357e-01 -5.54764568e-03 7.25423432e+01] [ 6.90950152e-03 1.89700463e-04 9.99976111e-01 1.00239903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:72.57, Z:1.00 [[ 6.18040361e-01 -7.86135562e-01 -4.12193412e-03 1.51451783e+02] [ 7.86116003e-01 6.18054077e-01 -5.54859028e-03 7.25659773e+01] [ 6.90952233e-03 1.88934363e-04 9.99976111e-01 1.00204868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:72.59, Z:1.00 [[ 6.16414868e-01 -7.87410776e-01 -4.12073816e-03 1.51463245e+02] [ 7.87391240e-01 6.16428616e-01 -5.54947833e-03 7.25910580e+01] [ 6.90985996e-03 1.76147822e-04 9.99976111e-01 1.00213115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:72.61, Z:1.00 [[ 6.14851164e-01 -7.88632408e-01 -4.11952940e-03 1.51477186e+02] [ 7.88612893e-01 6.14864943e-01 -5.55037549e-03 7.26133472e+01] [ 6.91016019e-03 1.63940833e-04 9.99976111e-01 1.00221653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:72.64, Z:1.00 [[ 6.12835292e-01 -7.90199940e-01 -4.11825488e-03 1.51492035e+02] [ 7.90180454e-01 6.12849111e-01 -5.55132099e-03 7.26364538e+01] [ 6.91052235e-03 1.47880905e-04 9.99976111e-01 1.00360576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.51, Y:72.66, Z:1.01 [[ 6.07770271e-01 -7.94102227e-01 -4.11707708e-03 1.51505753e+02] [ 7.94082824e-01 6.07784207e-01 -5.55219436e-03 7.26605293e+01] [ 6.91130433e-03 1.05158478e-04 9.99976111e-01 1.00526848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:72.68, Z:1.00 [[ 6.04964918e-01 -7.96241488e-01 -4.11602891e-03 1.51520611e+02] [ 7.96222128e-01 6.04978914e-01 -5.55297129e-03 7.26832084e+01] [ 6.91161682e-03 8.20795214e-05 9.99976111e-01 1.00112750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.53, Y:72.71, Z:1.00 [[ 5.99954515e-01 -8.00023530e-01 -4.11483978e-03 1.51534267e+02] [ 8.00004253e-01 5.99968624e-01 -5.55385231e-03 7.27063846e+01] [ 6.91198729e-03 4.01694414e-05 9.99976111e-01 1.00243753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:72.73, Z:1.00 [[ 5.98124744e-01 -8.01392456e-01 -4.11360659e-03 1.51549988e+02] [ 8.01373205e-01 5.98138889e-01 -5.55476556e-03 7.27288637e+01] [ 6.91205529e-03 2.59086324e-05 9.99976111e-01 1.00106890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:72.75, Z:1.00 [[ 5.96662298e-01 -8.02481894e-01 -4.11237435e-03 1.51564792e+02] [ 8.02462663e-01 5.96676469e-01 -5.55567767e-03 7.27499373e+01] [ 6.91208775e-03 1.48365330e-05 9.99976111e-01 9.99317534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.58, Y:72.77, Z:1.00 [[ 5.95526690e-01 -8.03325003e-01 -4.11115544e-03 1.51580123e+02] [ 8.03305785e-01 5.95540880e-01 -5.55657951e-03 7.27720466e+01] [ 6.91210038e-03 6.57645104e-06 9.99976111e-01 1.00124174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:72.79, Z:1.00 [[ 5.94469972e-01 -8.04107306e-01 -4.10992512e-03 1.51595902e+02] [ 8.04088101e-01 5.94484179e-01 -5.55748937e-03 7.27940259e+01] [ 6.91210327e-03 -9.81337825e-07 9.99976111e-01 9.99893015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:72.82, Z:1.00 [[ 5.94170939e-01 -8.04328300e-01 -4.10869390e-03 1.51610983e+02] [ 8.04309093e-01 5.94185145e-01 -5.55839947e-03 7.28157252e+01] [ 6.91210288e-03 -2.02043146e-06 9.99976111e-01 1.00032263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:72.84, Z:1.00 [[ 5.94596873e-01 -8.04013487e-01 -4.10740011e-03 1.51624570e+02] [ 8.03994267e-01 5.94611060e-01 -5.55935536e-03 7.28384716e+01] [ 6.91210222e-03 3.24917081e-06 9.99976111e-01 1.00127530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:72.86, Z:1.00 [[ 5.94904339e-01 -8.03786021e-01 -4.10612636e-03 1.51639760e+02] [ 8.03766788e-01 5.94918510e-01 -5.56029598e-03 7.28610582e+01] [ 6.91209876e-03 7.47620825e-06 9.99976111e-01 1.00126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:151.66, Y:72.88, Z:1.00 [[ 5.95973335e-01 -8.02993732e-01 -4.10493507e-03 1.51655674e+02] [ 8.02974475e-01 5.95987471e-01 -5.56117533e-03 7.28832434e+01] [ 6.91207880e-03 1.81541262e-05 9.99976111e-01 1.00240224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:72.90, Z:1.00 [[ 5.96645557e-01 -8.02494385e-01 -4.10371495e-03 1.51670833e+02] [ 8.02475110e-01 5.96659669e-01 -5.56207553e-03 7.29048832e+01] [ 6.91205559e-03 2.54585471e-05 9.99976111e-01 1.00108495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:72.93, Z:1.00 [[ 5.98416158e-01 -8.01174930e-01 -4.10277224e-03 1.51684575e+02] [ 8.01155619e-01 5.98430221e-01 -5.56277083e-03 7.29282295e+01] [ 6.91197542e-03 4.18929114e-05 9.99976111e-01 1.00469483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.70, Y:72.95, Z:1.01 [[ 5.99021747e-01 -8.00722251e-01 -4.10155246e-03 1.51698589e+02] [ 8.00702923e-01 5.99035787e-01 -5.56367005e-03 7.29502423e+01] [ 6.91193111e-03 4.86343072e-05 9.99976111e-01 1.00651237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:151.71, Y:72.97, Z:1.01 [[ 5.99528784e-01 -8.00342692e-01 -4.10026969e-03 1.51712955e+02] [ 8.00323349e-01 5.99542803e-01 -5.56461525e-03 7.29716772e+01] [ 6.91188633e-03 5.46054420e-05 9.99976111e-01 1.00624405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37264000000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:151.73, Y:72.99, Z:1.01 [[ 5.99851381e-01 -8.00100943e-01 -4.09899966e-03 1.51728277e+02] [ 8.00081587e-01 5.99865383e-01 -5.56555062e-03 7.29941641e+01] [ 6.91185030e-03 5.89690731e-05 9.99976111e-01 1.00803648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:73.02, Z:1.01 [[ 5.99598847e-01 -8.00290216e-01 -4.09781436e-03 1.51743442e+02] [ 8.00270859e-01 5.99612847e-01 -5.56642320e-03 7.30152657e+01] [ 6.91185616e-03 5.82595186e-05 9.99976111e-01 1.00727231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:73.04, Z:1.01 [[ 5.99430405e-01 -8.00416395e-01 -4.09689967e-03 1.51759627e+02] [ 8.00397036e-01 5.99444402e-01 -5.56709633e-03 7.30376648e+01] [ 6.91185875e-03 5.79404565e-05 9.99976111e-01 1.00746339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:73.06, Z:1.01 [[ 5.97622873e-01 -8.01766878e-01 -4.09572781e-03 1.51774052e+02] [ 8.01747545e-01 5.97636906e-01 -5.56795834e-03 7.30612488e+01] [ 6.91196267e-03 4.37995435e-05 9.99976111e-01 1.00994903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:73.08, Z:1.01 [[ 5.96401479e-01 -8.02675844e-01 -4.09451052e-03 1.51789769e+02] [ 8.02656527e-01 5.96415533e-01 -5.56885336e-03 7.30848679e+01] [ 6.91201374e-03 3.47867856e-05 9.99976111e-01 1.01041866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:73.11, Z:1.01 [[ 5.95231583e-01 -8.03543780e-01 -4.09340099e-03 1.51804721e+02] [ 8.03524477e-01 5.95245658e-01 -5.56966880e-03 7.31068658e+01] [ 6.91205189e-03 2.60948895e-05 9.99976111e-01 1.00739792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:151.82, Y:73.13, Z:1.01 [[ 5.93138622e-01 -8.05089951e-01 -4.09209010e-03 1.51819582e+02] [ 8.05070679e-01 5.93152738e-01 -5.57063176e-03 7.31279710e+01] [ 6.91209410e-03 9.73508771e-06 9.99976111e-01 1.00684087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:73.15, Z:1.01 [[ 5.91975043e-01 -8.05945912e-01 -4.09086263e-03 1.51835178e+02] [ 8.05926654e-01 5.91989178e-01 -5.57153302e-03 7.31497569e+01] [ 6.91210067e-03 1.27326560e-06 9.99976111e-01 1.00582573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.85, Y:73.17, Z:1.01 [[ 5.89910933e-01 -8.07457965e-01 -4.08971203e-03 1.51850688e+02] [ 8.07438737e-01 5.89925110e-01 -5.57237747e-03 7.31716821e+01] [ 6.91208439e-03 -1.49855187e-05 9.99976111e-01 1.00840338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:73.19, Z:1.01 [[ 5.88996044e-01 -8.08125574e-01 -4.08855802e-03 1.51866591e+02] [ 8.08106356e-01 5.89010234e-01 -5.57322406e-03 7.31932958e+01] [ 6.91206741e-03 -2.13828022e-05 9.99976111e-01 1.00868308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:73.22, Z:1.01 [[ 5.87388001e-01 -8.09295144e-01 -4.08738633e-03 1.51881747e+02] [ 8.09275948e-01 5.87402221e-01 -5.57408324e-03 7.32163908e+01] [ 6.91201831e-03 -3.36738353e-05 9.99976111e-01 1.00962462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:151.90, Y:73.24, Z:1.01 [[ 5.86830604e-01 -8.09699417e-01 -4.08618488e-03 1.51897364e+02] [ 8.09680225e-01 5.86844829e-01 -5.57496385e-03 7.32371282e+01] [ 6.91200145e-03 -3.69436924e-05 9.99976111e-01 1.01017351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:151.91, Y:73.26, Z:1.01 [[ 5.86318113e-01 -8.10070604e-01 -4.08492129e-03 1.51914127e+02] [ 8.10051415e-01 5.86332341e-01 -5.57588956e-03 7.32585456e+01] [ 6.91198569e-03 -3.97512293e-05 9.99976111e-01 1.01028600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:73.28, Z:1.01 [[ 5.86802856e-01 -8.09719538e-01 -4.08374610e-03 1.51932153e+02] [ 8.09700335e-01 5.86817065e-01 -5.57675013e-03 7.32795579e+01] [ 6.91201544e-03 -3.41576814e-05 9.99976111e-01 1.00934306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:73.30, Z:1.01 [[ 5.87647365e-01 -8.09106858e-01 -4.08253005e-03 1.51946836e+02] [ 8.09087633e-01 5.87661546e-01 -5.57764021e-03 7.33007718e+01] [ 6.91205287e-03 -2.54390027e-05 9.99976111e-01 1.00925714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:73.32, Z:1.01 [[ 5.90015012e-01 -8.07381960e-01 -4.08124976e-03 1.51960840e+02] [ 8.07362687e-01 5.90029127e-01 -5.57857687e-03 7.33223188e+01] [ 6.91209856e-03 -3.60467604e-06 9.99976111e-01 1.01072279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:73.34, Z:1.01 [[ 5.91151869e-01 -8.06549949e-01 -4.08013186e-03 1.51975994e+02] [ 8.06530651e-01 5.91165949e-01 -5.57939437e-03 7.33447326e+01] [ 6.91209527e-03 7.51800128e-06 9.99976111e-01 1.01255323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:73.37, Z:1.01 [[ 5.93692893e-01 -8.04681372e-01 -4.07893909e-03 1.51990778e+02] [ 8.04662024e-01 5.93706904e-01 -5.58026624e-03 7.33673145e+01] [ 6.91203059e-03 3.07970261e-05 9.99976111e-01 1.01420806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:73.39, Z:1.01 [[ 5.94720966e-01 -8.03921852e-01 -4.07769558e-03 1.52006689e+02] [ 8.03902480e-01 5.94734944e-01 -5.58117477e-03 7.33885184e+01] [ 6.91197641e-03 4.11720671e-05 9.99976111e-01 1.01172546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:73.41, Z:1.01 [[ 5.96517619e-01 -8.02589629e-01 -4.07638988e-03 1.52022545e+02] [ 8.02570219e-01 5.96531544e-01 -5.58212826e-03 7.34103039e+01] [ 6.91185340e-03 5.82487398e-05 9.99976111e-01 1.01106115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:73.43, Z:1.01 [[ 5.97544615e-01 -8.01825309e-01 -4.07521611e-03 1.52037423e+02] [ 8.01805875e-01 5.97558507e-01 -5.58298504e-03 7.34328089e+01] [ 6.91175876e-03 6.85504215e-05 9.99976111e-01 1.01199630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:73.46, Z:1.01 [[ 5.98726755e-01 -8.00942992e-01 -4.07399645e-03 1.52051822e+02] [ 8.00923531e-01 5.98740610e-01 -5.58387490e-03 7.34556562e+01] [ 6.91163259e-03 8.02556803e-05 9.99976111e-01 1.01154926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:73.48, Z:1.01 [[ 6.01477964e-01 -7.98879009e-01 -4.07276677e-03 1.52064957e+02] [ 7.98859495e-01 6.01491743e-01 -5.58477166e-03 7.34790250e+01] [ 6.91129244e-03 1.05548678e-04 9.99976111e-01 1.01134381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:73.50, Z:1.01 [[ 6.02681657e-01 -7.97971328e-01 -4.07181048e-03 1.52079118e+02] [ 7.97951789e-01 6.02695400e-01 -5.58546880e-03 7.35004759e+01] [ 6.91110540e-03 1.17151130e-04 9.99976111e-01 1.00779059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:73.52, Z:1.01 [[ 6.04561499e-01 -7.96548067e-01 -4.07069850e-03 1.52092685e+02] [ 7.96528490e-01 6.04575188e-01 -5.58627909e-03 7.35238670e+01] [ 6.91078313e-03 1.34821935e-04 9.99976111e-01 1.01249880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:73.55, Z:1.01 [[ 6.04787691e-01 -7.96376348e-01 -4.06945529e-03 1.52106638e+02] [ 7.96356761e-01 6.04801367e-01 -5.58718459e-03 7.35466684e+01] [ 6.91071378e-03 1.38322243e-04 9.99976111e-01 1.00799556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:73.57, Z:1.01 [[ 6.05286496e-01 -7.95997303e-01 -4.06821726e-03 1.52121150e+02] [ 7.95977701e-01 6.05300151e-01 -5.58808590e-03 7.35691705e+01] [ 6.91059383e-03 1.44182713e-04 9.99976111e-01 1.00986449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:73.59, Z:1.01 [[ 6.05236842e-01 -7.96035065e-01 -4.06701411e-03 1.52134673e+02] [ 7.96015458e-01 6.05250489e-01 -5.58896142e-03 7.35920567e+01] [ 6.91057154e-03 1.45239259e-04 9.99976111e-01 1.00777861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:73.61, Z:1.01 [[ 6.04984786e-01 -7.96226650e-01 -4.06575172e-03 1.52148759e+02] [ 7.96207041e-01 6.04998431e-01 -5.58987961e-03 7.36148838e+01] [ 6.91058452e-03 1.44611974e-04 9.99976111e-01 1.01151598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:73.64, Z:1.01 [[ 6.04223902e-01 -7.96804215e-01 -4.06452119e-03 1.52161891e+02] [ 7.96784613e-01 6.04237556e-01 -5.59077420e-03 7.36386572e+01] [ 6.91068880e-03 1.39531456e-04 9.99976111e-01 1.01128853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:152.18, Y:73.66, Z:1.01 [[ 6.03999479e-01 -7.96974353e-01 -4.06328399e-03 1.52175881e+02] [ 7.96954749e-01 6.04013131e-01 -5.59167324e-03 7.36608862e+01] [ 6.91069704e-03 1.39114251e-04 9.99976111e-01 1.01162319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:73.68, Z:1.01 [[ 6.04174584e-01 -7.96841621e-01 -4.06232652e-03 1.52188987e+02] [ 7.96822010e-01 6.04188224e-01 -5.59236875e-03 7.36846920e+01] [ 6.91064203e-03 1.41815881e-04 9.99976111e-01 1.01001833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:73.71, Z:1.01 [[ 6.04181108e-01 -7.96836681e-01 -4.06110976e-03 1.52202169e+02] [ 7.96817063e-01 6.04194740e-01 -5.59325220e-03 7.37069600e+01] [ 6.91060968e-03 1.43375760e-04 9.99976111e-01 1.00948042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:73.73, Z:1.01 [[ 6.04249468e-01 -7.96784851e-01 -4.05982967e-03 1.52215747e+02] [ 7.96765225e-01 6.04263089e-01 -5.59418119e-03 7.37289752e+01] [ 6.91056405e-03 1.45549906e-04 9.99976111e-01 1.00889327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:73.75, Z:1.01 [[ 6.04504941e-01 -7.96591052e-01 -4.05855873e-03 1.52227935e+02] [ 7.96571416e-01 6.04518547e-01 -5.59510311e-03 7.37532770e+01] [ 6.91048310e-03 1.49335604e-04 9.99976111e-01 1.01031304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.24, Y:73.78, Z:1.01 [[ 6.04057303e-01 -7.96930557e-01 -4.05736106e-03 1.52241457e+02] [ 7.96910923e-01 6.04070912e-01 -5.59597147e-03 7.37768295e+01] [ 6.91053446e-03 1.46932087e-04 9.99976111e-01 1.01184060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.25, Y:73.80, Z:1.01 [[ 6.02825729e-01 -7.97862575e-01 -4.05615091e-03 1.52252890e+02] [ 7.97842956e-01 6.02839359e-01 -5.59684850e-03 7.38010581e+01] [ 6.91072337e-03 1.37752848e-04 9.99976111e-01 1.01309610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:73.82, Z:1.01 [[ 6.01773545e-01 -7.98656471e-01 -4.05488352e-03 1.52266929e+02] [ 7.98636864e-01 6.01787192e-01 -5.59776657e-03 7.38245292e+01] [ 6.91086946e-03 1.30208378e-04 9.99976111e-01 1.01320106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:73.85, Z:1.01 [[ 6.00483797e-01 -7.99626648e-01 -4.05368898e-03 1.52281282e+02] [ 7.99607058e-01 6.00497468e-01 -5.59863147e-03 7.38478698e+01] [ 6.91104489e-03 1.20529164e-04 9.99976111e-01 1.01289184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:73.87, Z:1.01 [[ 5.97447311e-01 -8.01897929e-01 -4.05249771e-03 1.52296215e+02] [ 8.01878384e-01 5.97461047e-01 -5.59949362e-03 7.38704478e+01] [ 6.91143186e-03 9.57920887e-05 9.99976111e-01 1.01378880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:73.89, Z:1.01 [[ 5.95828192e-01 -8.03101708e-01 -4.05127852e-03 1.52311834e+02] [ 8.03082185e-01 5.95841959e-01 -5.60037558e-03 7.38929740e+01] [ 6.91159292e-03 8.33520488e-05 9.99976111e-01 1.01480513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:73.92, Z:1.01 [[ 5.93045316e-01 -8.05158897e-01 -4.05006630e-03 1.52325781e+02] [ 8.05139416e-01 5.93059143e-01 -5.60125209e-03 7.39166451e+01] [ 6.91182680e-03 6.09283071e-05 9.99976111e-01 1.01439496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63264000000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:152.34, Y:73.94, Z:1.01 [[ 5.91820384e-01 -8.06059700e-01 -4.04882538e-03 1.52339159e+02] [ 8.06040234e-01 5.91834231e-01 -5.60214894e-03 7.39390069e+01] [ 6.91189995e-03 5.19497780e-05 9.99976111e-01 1.01333489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:73.96, Z:1.01 [[ 5.90902175e-01 -8.06733064e-01 -4.04752941e-03 1.52354003e+02] [ 8.06713607e-01 5.90916036e-01 -5.60308511e-03 7.39619561e+01] [ 6.91194406e-03 4.56781284e-05 9.99976111e-01 1.01144030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:73.98, Z:1.01 [[ 5.90626881e-01 -8.06934641e-01 -4.04634723e-03 1.52369207e+02] [ 8.06915183e-01 5.90640740e-01 -5.60393872e-03 7.39832441e+01] [ 6.91194979e-03 4.47778304e-05 9.99976111e-01 1.00871068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:74.01, Z:1.01 [[ 5.90700234e-01 -8.06880952e-01 -4.04510537e-03 1.52385240e+02] [ 8.06861487e-01 5.90714082e-01 -5.60483499e-03 7.40053726e+01] [ 6.91193530e-03 4.69376020e-05 9.99976111e-01 1.01117920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:152.40, Y:74.03, Z:1.01 [[ 5.91832941e-01 -8.06050505e-01 -4.04389286e-03 1.52399766e+02] [ 8.06031014e-01 5.91846754e-01 -5.60570968e-03 7.40284346e+01] [ 6.91184998e-03 5.81405889e-05 9.99976111e-01 1.01313747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.41, Y:74.05, Z:1.01 [[ 5.92792125e-01 -8.05345363e-01 -4.04267118e-03 1.52414314e+02] [ 8.05325849e-01 5.92805906e-01 -5.60659058e-03 7.40498924e+01] [ 6.91176107e-03 6.78751431e-05 9.99976111e-01 1.01272401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:74.07, Z:1.01 [[ 5.94732947e-01 -8.03913172e-01 -4.04138400e-03 1.52429141e+02] [ 8.03893620e-01 5.94746672e-01 -5.60751826e-03 7.40722444e+01] [ 6.91155748e-03 8.61330446e-05 9.99976111e-01 1.01230195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:74.09, Z:1.01 [[ 5.94893877e-01 -8.03794111e-01 -4.03753910e-03 1.52443892e+02] [ 8.03774537e-01 5.94907571e-01 -5.61028830e-03 7.40948061e+01] [ 6.91147928e-03 9.22550406e-05 9.99976111e-01 1.01494873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.46, Y:74.12, Z:1.02 [[ 5.94823985e-01 -8.03845824e-01 -4.03969801e-03 1.52459094e+02] [ 8.03826261e-01 5.94837695e-01 -5.60873335e-03 7.41170255e+01] [ 6.91152153e-03 8.89937712e-05 9.99976111e-01 1.01733579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:152.47, Y:74.14, Z:1.02 [[ 5.94227291e-01 -8.04287022e-01 -4.03892068e-03 1.52474705e+02] [ 8.04267466e-01 5.94241011e-01 -5.60929306e-03 7.41384392e+01] [ 6.91157391e-03 8.48225187e-05 9.99976111e-01 1.01952998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:74.16, Z:1.02 [[ 5.93850660e-01 -8.04565154e-01 -4.03806577e-03 1.52489701e+02] [ 8.04545601e-01 5.93864383e-01 -5.60990843e-03 7.41600046e+01] [ 6.91160028e-03 8.26397721e-05 9.99976111e-01 1.01769914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:74.18, Z:1.02 [[ 5.93961608e-01 -8.04483258e-01 -4.03682810e-03 1.52504772e+02] [ 8.04463696e-01 5.93975320e-01 -5.61079890e-03 7.41822124e+01] [ 6.91157004e-03 8.51174825e-05 9.99976111e-01 1.01952524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:74.20, Z:1.02 [[ 5.95014838e-01 -8.03704583e-01 -4.03561896e-03 1.52519818e+02] [ 8.03684997e-01 5.95028516e-01 -5.61166845e-03 7.42048245e+01] [ 6.91143201e-03 9.56595810e-05 9.99976111e-01 1.01921790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.53, Y:74.23, Z:1.02 [[ 5.95282374e-01 -8.03506452e-01 -4.03441382e-03 1.52534118e+02] [ 8.03486856e-01 5.95296037e-01 -5.61253473e-03 7.42272576e+01] [ 6.91137843e-03 9.94445233e-05 9.99976111e-01 1.02012351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:74.25, Z:1.02 [[ 5.95944947e-01 -8.03015163e-01 -4.03321807e-03 1.52549692e+02] [ 8.02995550e-01 5.95958586e-01 -5.61339387e-03 7.42493310e+01] [ 6.91127134e-03 1.06617549e-04 9.99976111e-01 1.02074883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:74.27, Z:1.02 [[ 5.96206443e-01 -8.02821039e-01 -4.03199855e-03 1.52564244e+02] [ 8.02801416e-01 5.96220066e-01 -5.61426970e-03 7.42729951e+01] [ 6.91121227e-03 1.10369618e-04 9.99976111e-01 1.02027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:74.29, Z:1.02 [[ 5.96221355e-01 -8.02809970e-01 -4.03089984e-03 1.52578914e+02] [ 8.02790341e-01 5.96234970e-01 -5.61505843e-03 7.42947450e+01] [ 6.91118834e-03 1.11850288e-04 9.99976111e-01 1.01852855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264000000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:152.59, Y:74.32, Z:1.02 [[ 5.95421311e-01 -8.03403524e-01 -4.02994284e-03 1.52592052e+02] [ 8.03383904e-01 5.95434939e-01 -5.61574519e-03 7.43190602e+01] [ 6.91127824e-03 1.06143157e-04 9.99976111e-01 1.02076500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:152.61, Y:74.34, Z:1.02 [[ 5.95223092e-01 -8.03550396e-01 -4.02874641e-03 1.52606818e+02] [ 8.03530774e-01 5.95236717e-01 -5.61660338e-03 7.43419354e+01] [ 6.91128166e-03 1.05910317e-04 9.99976111e-01 1.02150737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:74.36, Z:1.02 [[ 5.95713144e-01 -8.03187170e-01 -4.02752122e-03 1.52621007e+02] [ 8.03167533e-01 5.95726748e-01 -5.61748179e-03 7.43639564e+01] [ 6.91119142e-03 1.11633455e-04 9.99976111e-01 1.01711215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:152.64, Y:74.39, Z:1.02 [[ 5.95450332e-01 -8.03382033e-01 -4.02623298e-03 1.52635830e+02] [ 8.03362394e-01 5.95463934e-01 -5.61840497e-03 7.43877436e+01] [ 6.91120213e-03 1.10956939e-04 9.99976111e-01 1.02302075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:74.41, Z:1.02 [[ 5.96101831e-01 -8.02898752e-01 -4.02511887e-03 1.52650663e+02] [ 8.02879097e-01 5.96115409e-01 -5.61920302e-03 7.44102020e+01] [ 6.91108647e-03 1.17933411e-04 9.99976111e-01 1.02065172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:74.43, Z:1.02 [[ 5.96030031e-01 -8.02952058e-01 -4.02430210e-03 1.52664270e+02] [ 8.02932400e-01 5.96043605e-01 -5.61978791e-03 7.44320841e+01] [ 6.91107979e-03 1.18319820e-04 9.99976111e-01 1.02084365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:74.46, Z:1.02 [[ 5.95545832e-01 -8.03311258e-01 -4.02302603e-03 1.52678945e+02] [ 8.03291602e-01 5.95559409e-01 -5.62070126e-03 7.44562008e+01] [ 6.91112360e-03 1.15722180e-04 9.99976111e-01 1.02137078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:74.48, Z:1.02 [[ 5.95369441e-01 -8.03442004e-01 -4.02193172e-03 1.52694821e+02] [ 8.03422346e-01 5.95383014e-01 -5.62148419e-03 7.44787974e+01] [ 6.91112635e-03 1.15550083e-04 9.99976111e-01 1.02156184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.71, Y:74.50, Z:1.02 [[ 5.94809360e-01 -8.03856741e-01 -4.02069723e-03 1.52708694e+02] [ 8.03837086e-01 5.94822938e-01 -5.62236700e-03 7.45012894e+01] [ 6.91118055e-03 1.12250974e-04 9.99976111e-01 1.02206639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:74.52, Z:1.02 [[ 5.94757505e-01 -8.03895113e-01 -4.01974165e-03 1.52723790e+02] [ 8.03875454e-01 5.94771078e-01 -5.62305012e-03 7.45231593e+01] [ 6.91116858e-03 1.12979617e-04 9.99976111e-01 1.01803898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:74.55, Z:1.02 [[ 5.94874299e-01 -8.03808694e-01 -4.01880506e-03 1.52737931e+02] [ 8.03789030e-01 5.94887863e-01 -5.62371942e-03 7.45468460e+01] [ 6.91113292e-03 1.15134732e-04 9.99976111e-01 1.02002457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:74.57, Z:1.02 [[ 5.95067880e-01 -8.03665401e-01 -4.01762717e-03 1.52753495e+02] [ 8.03645727e-01 5.95081431e-01 -5.62456079e-03 7.45704147e+01] [ 6.91108022e-03 1.18246559e-04 9.99976111e-01 1.02156563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:74.59, Z:1.02 [[ 5.95510600e-01 -8.03337409e-01 -4.01651338e-03 1.52767242e+02] [ 8.03317723e-01 5.95524132e-01 -5.62535604e-03 7.45938768e+01] [ 6.91098959e-03 1.23422769e-04 9.99976111e-01 1.01960355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:74.62, Z:1.02 [[ 5.95548111e-01 -8.03309607e-01 -4.01537904e-03 1.52782564e+02] [ 8.03289914e-01 5.95561634e-01 -5.62616561e-03 7.46169085e+01] [ 6.91095859e-03 1.25138813e-04 9.99976111e-01 1.02034338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:74.64, Z:1.02 [[ 5.95456660e-01 -8.03377403e-01 -4.01426608e-03 1.52796971e+02] [ 8.03357707e-01 5.95470178e-01 -5.62695960e-03 7.46399224e+01] [ 6.91094792e-03 1.25718975e-04 9.99976111e-01 1.01900126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.81, Y:74.67, Z:1.02 [[ 5.95127612e-01 -8.03621192e-01 -4.01308721e-03 1.52810095e+02] [ 8.03601496e-01 5.95141129e-01 -5.62780023e-03 7.46652673e+01] [ 6.91097278e-03 1.24336428e-04 9.99976111e-01 1.02245259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:74.69, Z:1.02 [[ 5.94738123e-01 -8.03909491e-01 -4.01198845e-03 1.52823151e+02] [ 8.03889795e-01 5.94751642e-01 -5.62858341e-03 7.46886272e+01] [ 6.91100834e-03 1.22336555e-04 9.99976111e-01 1.02084338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:74.71, Z:1.02 [[ 5.94363505e-01 -8.04186506e-01 -4.01089491e-03 1.52836277e+02] [ 8.04166812e-01 5.94377025e-01 -5.62936255e-03 7.47113821e+01] [ 6.91104119e-03 1.20459080e-04 9.99976111e-01 1.02067054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:74.73, Z:1.02 [[ 5.93988424e-01 -8.04463595e-01 -4.00962961e-03 1.52850481e+02] [ 8.04443901e-01 5.94001945e-01 -5.63026364e-03 7.47347965e+01] [ 6.91106992e-03 1.18789342e-04 9.99976111e-01 1.02190891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:74.76, Z:1.02 [[ 5.93497488e-01 -8.04825860e-01 -4.00841048e-03 1.52865850e+02] [ 8.04806168e-01 5.93511013e-01 -5.63113146e-03 7.47586099e+01] [ 6.91111598e-03 1.16068896e-04 9.99976111e-01 1.02196362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:74.78, Z:1.02 [[ 5.91818241e-01 -8.06061481e-01 -4.00731884e-03 1.52878907e+02] [ 8.06041812e-01 5.91831799e-01 -5.63190820e-03 7.47824150e+01] [ 6.91132298e-03 1.02999461e-04 9.99976111e-01 1.01999158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:74.81, Z:1.02 [[ 5.88928195e-01 -8.08175434e-01 -4.00616374e-03 1.52892229e+02] [ 8.08155808e-01 5.88941816e-01 -5.63272974e-03 7.48077898e+01] [ 6.91163115e-03 7.96688673e-05 9.99976111e-01 1.02028478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:152.91, Y:74.83, Z:1.02 [[ 5.86774158e-01 -8.09740719e-01 -4.00680876e-03 1.52906068e+02] [ 8.09721133e-01 5.86787835e-01 -5.63227118e-03 7.48309352e+01] [ 6.91182595e-03 6.04734523e-05 9.99976111e-01 1.02417687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:74.85, Z:1.02 [[ 5.85216597e-01 -8.10867124e-01 -4.00528997e-03 1.52921067e+02] [ 8.10847557e-01 5.85230301e-01 -5.63335043e-03 7.48517858e+01] [ 6.91191572e-03 4.90505802e-05 9.99976111e-01 1.02412689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:74.87, Z:1.03 [[ 5.80732181e-01 -8.14084844e-01 -4.00014268e-03 1.52936184e+02] [ 8.14065328e-01 5.80745957e-01 -5.63700666e-03 7.48746533e+01] [ 6.91206837e-03 1.72137102e-05 9.99976111e-01 1.02605363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:74.90, Z:1.03 [[ 5.78263151e-01 -8.15840494e-01 -4.00207059e-03 1.52951971e+02] [ 8.15821029e-01 5.78276999e-01 -5.63563758e-03 7.48963084e+01] [ 6.91208672e-03 -6.09180548e-06 9.99976111e-01 1.02797895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.97, Y:74.92, Z:1.03 [[ 5.73196083e-01 -8.19408471e-01 -4.00087383e-03 1.52969007e+02] [ 8.19389087e-01 5.73210044e-01 -5.63648706e-03 7.49187391e+01] [ 6.91192631e-03 -4.74600441e-05 9.99976111e-01 1.02994873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95264000000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:152.98, Y:74.94, Z:1.03 [[ 5.70950647e-01 -8.20974640e-01 -3.99979630e-03 1.52984973e+02] [ 8.20955289e-01 5.70964654e-01 -5.63725160e-03 7.49389210e+01] [ 6.91178291e-03 -6.50614722e-05 9.99976111e-01 1.02808305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:74.96, Z:1.02 [[ 5.67454043e-01 -8.23395360e-01 -3.99885905e-03 1.53004795e+02] [ 8.23376063e-01 5.67468125e-01 -5.63791637e-03 7.49569741e+01] [ 6.91145922e-03 -9.33063816e-05 9.99976111e-01 1.02310709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.02, Y:74.98, Z:1.03 [[ 5.65814240e-01 -8.24523053e-01 -3.99764135e-03 1.53020933e+02] [ 8.24503778e-01 5.65828353e-01 -5.63877967e-03 7.49785082e+01] [ 6.91128264e-03 -1.05568561e-04 9.99976111e-01 1.02708369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:75.00, Z:1.03 [[ 5.65271871e-01 -8.24894987e-01 -3.99646492e-03 1.53038905e+02] [ 8.24875716e-01 5.65285988e-01 -5.63961333e-03 7.49990880e+01] [ 6.91123439e-03 -1.08672075e-04 9.99976111e-01 1.02516252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:75.02, Z:1.02 [[ 5.65663801e-01 -8.24626280e-01 -3.99528831e-03 1.53057689e+02] [ 8.24606996e-01 5.65677900e-01 -5.64044676e-03 7.50184319e+01] [ 6.91130693e-03 -1.03946142e-04 9.99976111e-01 1.02491012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:75.04, Z:1.02 [[ 5.68075371e-01 -8.22966854e-01 -3.99132073e-03 1.53076950e+02] [ 8.22947509e-01 5.68089387e-01 -5.64325614e-03 7.50379264e+01] [ 6.91163970e-03 -7.88526287e-05 9.99976111e-01 1.02480284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:75.06, Z:1.03 [[ 5.70142451e-01 -8.21536144e-01 -3.99374496e-03 1.53094324e+02] [ 8.21516776e-01 5.70156434e-01 -5.64153999e-03 7.50596100e+01] [ 6.91178840e-03 -6.44470534e-05 9.99976111e-01 1.02652460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:153.11, Y:75.08, Z:1.03 [[ 5.71925201e-01 -8.20296058e-01 -3.99265334e-03 1.53110194e+02] [ 8.20276655e-01 5.71939135e-01 -5.64231245e-03 7.50810642e+01] [ 6.91192136e-03 -4.80996470e-05 9.99976111e-01 1.02552999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:75.10, Z:1.02 [[ 5.76425368e-01 -8.17140051e-01 -3.99150129e-03 1.53130504e+02] [ 8.17120565e-01 5.76439188e-01 -5.64312732e-03 7.51001468e+01] [ 6.91208311e-03 -8.69605130e-06 9.99976111e-01 1.02484279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:75.12, Z:1.02 [[ 5.79315907e-01 -8.15093343e-01 -3.99028318e-03 1.53148872e+02] [ 8.15073802e-01 5.79329649e-01 -5.64398852e-03 7.51199111e+01] [ 6.91206682e-03 1.72770498e-05 9.99976111e-01 1.02458344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:75.14, Z:1.02 [[ 5.80004261e-01 -8.14603673e-01 -3.98906800e-03 1.53164680e+02] [ 8.14584115e-01 5.80017978e-01 -5.64484726e-03 7.51403956e+01] [ 6.91204447e-03 2.46040395e-05 9.99976111e-01 1.02428881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:75.16, Z:1.02 [[ 5.80684095e-01 -8.14119203e-01 -3.98812521e-03 1.53180991e+02] [ 8.14099629e-01 5.80697789e-01 -5.64551327e-03 7.51613001e+01] [ 6.91201625e-03 3.15285051e-05 9.99976111e-01 1.02414344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:75.18, Z:1.02 [[ 5.81611134e-01 -8.13457186e-01 -3.98686877e-03 1.53200325e+02] [ 8.13437590e-01 5.81624798e-01 -5.64640042e-03 7.51807402e+01] [ 6.91196674e-03 4.09404305e-05 9.99976111e-01 1.02320154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:75.20, Z:1.02 [[ 5.81745037e-01 -8.13361436e-01 -3.98567123e-03 1.53217769e+02] [ 8.13341833e-01 5.81758689e-01 -5.64724562e-03 7.52013985e+01] [ 6.91195067e-03 4.35439707e-05 9.99976111e-01 1.02339728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:75.22, Z:1.02 [[ 5.82009612e-01 -8.13172144e-01 -3.98447026e-03 1.53236430e+02] [ 8.13152530e-01 5.82023249e-01 -5.64809284e-03 7.52216481e+01] [ 6.91192609e-03 4.72622498e-05 9.99976111e-01 1.02437587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:75.24, Z:1.02 [[ 5.81944876e-01 -8.13218479e-01 -3.98334522e-03 1.53253111e+02] [ 8.13198861e-01 5.81958506e-01 -5.64888617e-03 7.52420282e+01] [ 6.91192026e-03 4.80885629e-05 9.99976111e-01 1.02451383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:75.26, Z:1.03 [[ 5.81730705e-01 -8.13371705e-01 -3.98209586e-03 1.53272431e+02] [ 8.13352084e-01 5.81744332e-01 -5.64976675e-03 7.52616753e+01] [ 6.91192211e-03 4.77968238e-05 9.99976111e-01 1.02749588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:153.29, Y:75.28, Z:1.03 [[ 5.81382244e-01 -8.13620820e-01 -3.98086116e-03 1.53288569e+02] [ 8.13601199e-01 5.81395871e-01 -5.65063660e-03 7.52831006e+01] [ 6.91193182e-03 4.63463707e-05 9.99976111e-01 1.02974588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:75.30, Z:1.03 [[ 5.81536660e-01 -8.13510464e-01 -3.97961143e-03 1.53307110e+02] [ 8.13490835e-01 5.81550274e-01 -5.65151661e-03 7.53016708e+01] [ 6.91191203e-03 4.91866687e-05 9.99976111e-01 1.02711898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:75.32, Z:1.03 [[ 5.81530245e-01 -8.13515056e-01 -3.97830308e-03 1.53324618e+02] [ 8.13495421e-01 5.81543851e-01 -5.65243746e-03 7.53227890e+01] [ 6.91190067e-03 5.07320103e-05 9.99976111e-01 1.02753930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:75.34, Z:1.03 [[ 5.82208370e-01 -8.13029887e-01 -3.97707734e-03 1.53342753e+02] [ 8.13010234e-01 5.82221951e-01 -5.65329977e-03 7.53423424e+01] [ 6.91184339e-03 5.79938660e-05 9.99976111e-01 1.02605499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:75.36, Z:1.03 [[ 5.82719896e-01 -8.12663348e-01 -3.97578754e-03 1.53359060e+02] [ 8.12643680e-01 5.82733455e-01 -5.65420670e-03 7.53634364e+01] [ 6.91179095e-03 6.39201225e-05 9.99976111e-01 1.02657192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:75.38, Z:1.03 [[ 5.84383522e-01 -8.11467869e-01 -3.97457613e-03 1.53376870e+02] [ 8.11448168e-01 5.84397033e-01 -5.65505812e-03 7.53845954e+01] [ 6.91162845e-03 7.95602646e-05 9.99976111e-01 1.02600249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:75.41, Z:1.03 [[ 5.85198441e-01 -8.10880384e-01 -3.97336564e-03 1.53392351e+02] [ 8.10860664e-01 5.85211923e-01 -5.65590851e-03 7.54056800e+01] [ 6.91152621e-03 8.79829394e-05 9.99976111e-01 1.02523676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:75.43, Z:1.03 [[ 5.85964048e-01 -8.10327315e-01 -3.97209299e-03 1.53408331e+02] [ 8.10307575e-01 5.85977503e-01 -5.65680213e-03 7.54272203e+01] [ 6.91141841e-03 9.60656377e-05 9.99976111e-01 1.02823076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:75.45, Z:1.03 [[ 5.86745741e-01 -8.09761488e-01 -3.97084541e-03 1.53425084e+02] [ 8.09741730e-01 5.86759169e-01 -5.65767775e-03 7.54469274e+01] [ 6.91129950e-03 1.04259095e-04 9.99976111e-01 1.02841142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73264000000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:153.44, Y:75.47, Z:1.03 [[ 5.86706608e-01 -8.09789849e-01 -3.96953806e-03 1.53441168e+02] [ 8.09770085e-01 5.86720027e-01 -5.65859486e-03 7.54701756e+01] [ 6.91128015e-03 1.05521824e-04 9.99976111e-01 1.03329121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:75.49, Z:1.03 [[ 5.86864739e-01 -8.09675262e-01 -3.96841259e-03 1.53458386e+02] [ 8.09655490e-01 5.86878146e-01 -5.65938405e-03 7.54900894e+01] [ 6.91123789e-03 1.08245900e-04 9.99976111e-01 1.02989140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:75.51, Z:1.03 [[ 5.86788508e-01 -8.09730516e-01 -3.96708412e-03 1.53476051e+02] [ 8.09710739e-01 5.86801908e-01 -5.66031512e-03 7.55111964e+01] [ 6.91122242e-03 1.09217252e-04 9.99976111e-01 1.03089742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:75.53, Z:1.03 [[ 5.86867964e-01 -8.09672937e-01 -3.96588254e-03 1.53492647e+02] [ 8.09653153e-01 5.86881354e-01 -5.66115688e-03 7.55326459e+01] [ 6.91118803e-03 1.11362308e-04 9.99976111e-01 1.03232928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:75.55, Z:1.03 [[ 5.86934241e-01 -8.09624900e-01 -3.96462954e-03 1.53508117e+02] [ 8.09605109e-01 5.86947620e-01 -5.66203425e-03 7.55537347e+01] [ 6.91115378e-03 1.13457437e-04 9.99976111e-01 1.03142727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:75.58, Z:1.03 [[ 5.88627921e-01 -8.08394373e-01 -3.96331411e-03 1.53523599e+02] [ 8.08374548e-01 5.88641249e-01 -5.66295488e-03 7.55758443e+01] [ 6.91087103e-03 1.29531107e-04 9.99976111e-01 1.03301147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:75.60, Z:1.03 [[ 5.91366726e-01 -8.06393017e-01 -3.96207583e-03 1.53538338e+02] [ 8.06373141e-01 5.91379978e-01 -5.66382110e-03 7.55980343e+01] [ 6.91035810e-03 1.54483812e-04 9.99976111e-01 1.03495851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:75.62, Z:1.03 [[ 5.92937964e-01 -8.05238401e-01 -3.96082342e-03 1.53551640e+02] [ 8.05218494e-01 5.92951168e-01 -5.66469680e-03 7.56202682e+01] [ 6.91000627e-03 1.69485522e-04 9.99976111e-01 1.03365428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.56, Y:75.64, Z:1.04 [[ 5.94476121e-01 -8.04103516e-01 -3.95951079e-03 1.53564951e+02] [ 8.04083577e-01 5.94489278e-01 -5.66561416e-03 7.56437003e+01] [ 6.90962697e-03 1.84294726e-04 9.99976111e-01 1.03598277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:75.67, Z:1.03 [[ 5.96988722e-01 -8.02239863e-01 -3.95829340e-03 1.53578029e+02] [ 8.02219878e-01 5.97001808e-01 -5.66646456e-03 7.56666691e+01] [ 6.90897207e-03 2.07393792e-04 9.99976111e-01 1.03401540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:75.69, Z:1.03 [[ 5.97699840e-01 -8.01710199e-01 -3.95701491e-03 1.53592687e+02] [ 8.01690196e-01 5.97712900e-01 -5.66735722e-03 7.56893651e+01] [ 6.90873694e-03 2.15078447e-04 9.99976111e-01 1.03435082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:75.71, Z:1.03 [[ 5.98367737e-01 -8.01211834e-01 -3.95581917e-03 1.53604998e+02] [ 8.01191815e-01 5.98380771e-01 -5.66819172e-03 7.57114005e+01] [ 6.90850841e-03 2.22293115e-04 9.99976111e-01 1.03320772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:75.74, Z:1.03 [[ 5.97514993e-01 -8.01848050e-01 -3.94182212e-03 1.53619963e+02] [ 8.01827980e-01 5.97527950e-01 -5.67795491e-03 7.57360229e+01] [ 6.90820596e-03 2.31999926e-04 9.99976111e-01 1.03442272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:75.76, Z:1.04 [[ 5.96851471e-01 -8.02342003e-01 -3.95364626e-03 1.53634379e+02] [ 8.02321998e-01 5.96864528e-01 -5.66970961e-03 7.57593082e+01] [ 6.90883738e-03 2.11877160e-04 9.99976111e-01 1.03513861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:75.78, Z:1.04 [[ 5.95310107e-01 -8.03486313e-01 -3.95243878e-03 1.53646331e+02] [ 8.03466328e-01 5.95323194e-01 -5.67055124e-03 7.57832922e+01] [ 6.90918878e-03 2.00084990e-04 9.99976111e-01 1.03535247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:75.81, Z:1.04 [[ 5.95079677e-01 -8.03656995e-01 -3.95116973e-03 1.53659308e+02] [ 8.03637008e-01 5.95092761e-01 -5.67143536e-03 7.58059633e+01] [ 6.90920120e-03 1.99649704e-04 9.99976111e-01 1.03537664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.67, Y:75.83, Z:1.03 [[ 5.93273314e-01 -8.04991483e-01 -3.93544018e-03 1.53671318e+02] [ 8.04971452e-01 5.93286332e-01 -5.68238803e-03 7.58319449e+01] [ 6.90911684e-03 2.03292185e-04 9.99976111e-01 1.03393301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.69, Y:75.85, Z:1.03 [[ 5.93107058e-01 -8.05113917e-01 -3.94949395e-03 1.53686901e+02] [ 8.05093954e-01 5.93120179e-01 -5.67260324e-03 7.58547556e+01] [ 6.90961637e-03 1.84747316e-04 9.99976111e-01 1.03412221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:75.88, Z:1.03 [[ 5.92114768e-01 -8.05843975e-01 -3.94832228e-03 1.53701082e+02] [ 8.05824023e-01 5.92127906e-01 -5.67341864e-03 7.58767842e+01] [ 6.90980203e-03 1.77662017e-04 9.99976111e-01 1.03142744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:75.90, Z:1.03 [[ 5.90822675e-01 -8.06791786e-01 -3.94709180e-03 1.53712307e+02] [ 8.06771850e-01 5.90835836e-01 -5.67427458e-03 7.59023873e+01] [ 6.91004140e-03 1.68087539e-04 9.99976111e-01 1.03322636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:75.92, Z:1.03 [[ 5.90091997e-01 -8.07326369e-01 -3.94585814e-03 1.53724933e+02] [ 8.07306438e-01 5.90105167e-01 -5.67513233e-03 7.59248894e+01] [ 6.91015525e-03 1.63333483e-04 9.99976111e-01 1.03135633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:75.95, Z:1.03 [[ 5.88555999e-01 -8.08446830e-01 -3.94456003e-03 1.53736958e+02] [ 8.08426918e-01 5.88569198e-01 -5.67603445e-03 7.59491830e+01] [ 6.91041859e-03 1.51775617e-04 9.99976111e-01 1.03390217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:75.97, Z:1.03 [[ 5.87333050e-01 -8.09335739e-01 -3.94332097e-03 1.53749677e+02] [ 8.09315842e-01 5.87346270e-01 -5.67689513e-03 7.59721764e+01] [ 6.91060898e-03 1.42836003e-04 9.99976111e-01 1.03402347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.76, Y:76.00, Z:1.04 [[ 5.86087823e-01 -8.10237943e-01 -3.94202460e-03 1.53762464e+02] [ 8.10218060e-01 5.86101064e-01 -5.67779519e-03 7.59964754e+01] [ 6.91078991e-03 1.33787098e-04 9.99976111e-01 1.03580658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:76.02, Z:1.03 [[ 5.83138445e-01 -8.12363234e-01 -3.94079922e-03 1.53775794e+02] [ 8.12343393e-01 5.83151751e-01 -5.67864556e-03 7.60205011e+01] [ 6.91120683e-03 1.10154330e-04 9.99976111e-01 1.03470751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:76.04, Z:1.03 [[ 5.81527822e-01 -8.13516979e-01 -3.93923535e-03 1.53789669e+02] [ 8.13497157e-01 5.81541155e-01 -5.67973037e-03 7.60422270e+01] [ 6.91138457e-03 9.83644752e-05 9.99976111e-01 1.03496074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.80, Y:76.07, Z:1.03 [[ 5.79372174e-01 -8.15053601e-01 -3.93832861e-03 1.53800669e+02] [ 8.15033811e-01 5.79385554e-01 -5.68035904e-03 7.60667873e+01] [ 6.91160779e-03 8.11709905e-05 9.99976111e-01 1.03338355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.81, Y:76.09, Z:1.04 [[ 5.78585799e-01 -8.15612022e-01 -3.93739269e-03 1.53813448e+02] [ 8.15592240e-01 5.78599191e-01 -5.68100771e-03 7.60903210e+01] [ 6.91167041e-03 7.56434598e-05 9.99976111e-01 1.03558377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:76.11, Z:1.03 [[ 5.77056054e-01 -8.16695058e-01 -3.93610085e-03 1.53827510e+02] [ 8.16675295e-01 5.77069475e-01 -5.68190262e-03 7.61139314e+01] [ 6.91178544e-03 6.42599878e-05 9.99976111e-01 1.03453507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:76.14, Z:1.04 [[ 5.76219630e-01 -8.17285418e-01 -3.93488682e-03 1.53841589e+02] [ 8.17265663e-01 5.76233062e-01 -5.68274325e-03 7.61370403e+01] [ 6.91183507e-03 5.86603260e-05 9.99976111e-01 1.03566874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:76.16, Z:1.03 [[ 5.74944104e-01 -8.18183233e-01 -3.93365293e-03 1.53853749e+02] [ 8.18163494e-01 5.74957559e-01 -5.68359723e-03 7.61590823e+01] [ 6.91190744e-03 4.93794999e-05 9.99976111e-01 1.03422653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:76.18, Z:1.04 [[ 5.73856068e-01 -8.18946794e-01 -3.91948216e-03 1.53867891e+02] [ 8.18927005e-01 5.73869450e-01 -5.69339797e-03 7.61827971e+01] [ 6.91186108e-03 5.74211894e-05 9.99976111e-01 1.03626944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:76.21, Z:1.04 [[ 5.72661774e-01 -8.19782310e-01 -3.93153076e-03 1.53880455e+02] [ 8.19762598e-01 5.72675269e-01 -5.68506571e-03 7.62069529e+01] [ 6.91200673e-03 3.26979495e-05 9.99976111e-01 1.03811773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:76.23, Z:1.04 [[ 5.72077335e-01 -8.20190268e-01 -3.93031562e-03 1.53895518e+02] [ 8.20170560e-01 5.72090835e-01 -5.68590566e-03 7.62310906e+01] [ 6.91202203e-03 2.92485944e-05 9.99976111e-01 1.03883070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:76.26, Z:1.04 [[ 5.70771224e-01 -8.21099733e-01 -3.92921503e-03 1.53909560e+02] [ 8.21080041e-01 5.70784748e-01 -5.68666611e-03 7.62554272e+01] [ 6.91205604e-03 1.95853379e-05 9.99976111e-01 1.03868849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:76.28, Z:1.03 [[ 5.70402573e-01 -8.21355876e-01 -3.92809673e-03 1.53923762e+02] [ 8.21336185e-01 5.70416098e-01 -5.68743848e-03 7.62783001e+01] [ 6.91206062e-03 1.78415680e-05 9.99976111e-01 1.03494979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:76.30, Z:1.04 [[ 5.69956982e-01 -8.21665167e-01 -3.92326087e-03 1.53937069e+02] [ 8.21645460e-01 5.69970484e-01 -5.69077715e-03 7.63017553e+01] [ 6.91205626e-03 1.99686836e-05 9.99976111e-01 1.03638327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:76.32, Z:1.04 [[ 5.69891064e-01 -8.21710897e-01 -3.92124969e-03 1.53951136e+02] [ 8.21691182e-01 5.69904554e-01 -5.69216512e-03 7.63246053e+01] [ 6.91205216e-03 2.18577487e-05 9.99976111e-01 1.03649967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:153.97, Y:76.35, Z:1.04 [[ 5.70156521e-01 -8.21526710e-01 -3.92513064e-03 1.53965048e+02] [ 8.21507008e-01 5.70170032e-01 -5.68948767e-03 7.63492071e+01] [ 6.91205795e-03 1.93761674e-05 9.99976111e-01 1.03953534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.98, Y:76.37, Z:1.04 [[ 5.70860461e-01 -8.21037719e-01 -3.92403617e-03 1.53977635e+02] [ 8.21018001e-01 5.70873947e-01 -5.69024243e-03 7.63728525e+01] [ 6.91203368e-03 2.66300824e-05 9.99976111e-01 1.03733648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:76.39, Z:1.03 [[ 5.71032978e-01 -8.20917748e-01 -3.92280992e-03 1.53991189e+02] [ 8.20898022e-01 5.71046451e-01 -5.69108768e-03 7.63947611e+01] [ 6.91202156e-03 2.95718421e-05 9.99976111e-01 1.03479494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:76.42, Z:1.04 [[ 5.70522475e-01 -8.21272653e-01 -3.91608098e-03 1.54003379e+02] [ 8.21252903e-01 5.70535914e-01 -5.69572329e-03 7.64198347e+01] [ 6.91200662e-03 3.34452719e-05 9.99976111e-01 1.03837675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:154.02, Y:76.44, Z:1.04 [[ 5.70272407e-01 -8.21446293e-01 -3.92039689e-03 1.54017165e+02] [ 8.21426568e-01 5.70285881e-01 -5.69275108e-03 7.64434539e+01] [ 6.91203627e-03 2.61006998e-05 9.99976111e-01 1.03997466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:76.47, Z:1.04 [[ 5.68350235e-01 -8.22777411e-01 -3.91693270e-03 1.54032420e+02] [ 8.22757701e-01 5.68363732e-01 -5.69513615e-03 7.64682630e+01] [ 6.91207187e-03 1.41454287e-05 9.99976111e-01 1.03986079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:76.49, Z:1.04 [[ 5.67331502e-01 -8.23480182e-01 -3.91869574e-03 1.54047212e+02] [ 8.23460497e-01 5.67345036e-01 -5.69392252e-03 7.64907967e+01] [ 6.91208493e-03 3.45047900e-06 9.99976111e-01 1.03962833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:76.51, Z:1.04 [[ 5.64660333e-01 -8.25314094e-01 -3.91862837e-03 1.54063164e+02] [ 8.25294452e-01 5.64673929e-01 -5.69396888e-03 7.65129150e+01] [ 6.91206005e-03 -1.88638876e-05 9.99976111e-01 1.04141300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:76.54, Z:1.04 [[ 5.63108682e-01 -8.26373564e-01 -3.91742422e-03 1.54079329e+02] [ 8.26353942e-01 5.63122307e-01 -5.69479721e-03 7.65350184e+01] [ 6.91201883e-03 -3.03891974e-05 9.99976111e-01 1.04188289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.09, Y:76.56, Z:1.04 [[ 5.60473268e-01 -8.28163256e-01 -3.91621751e-03 1.54093755e+02] [ 8.28143672e-01 5.60486947e-01 -5.69562693e-03 7.65572246e+01] [ 6.91189774e-03 -5.09441088e-05 9.99976111e-01 1.04224174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:76.58, Z:1.04 [[ 5.59406988e-01 -8.28883885e-01 -3.91495557e-03 1.54108973e+02] [ 8.28864312e-01 5.59420684e-01 -5.69649420e-03 7.65783716e+01] [ 6.91183937e-03 -5.83082883e-05 9.99976111e-01 1.04013764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:76.60, Z:1.04 [[ 5.57682248e-01 -8.30045358e-01 -3.90060646e-03 1.54126835e+02] [ 8.30025744e-01 5.57695886e-01 -5.70635002e-03 7.65994783e+01] [ 6.91188152e-03 -5.52736760e-05 9.99976111e-01 1.03852770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:76.62, Z:1.04 [[ 5.56844072e-01 -8.30607869e-01 -3.90482806e-03 1.54143398e+02] [ 8.30588290e-01 5.56857759e-01 -5.70345102e-03 7.66215905e+01] [ 6.91176510e-03 -6.73715764e-05 9.99976111e-01 1.04010750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:76.64, Z:1.04 [[ 5.56779769e-01 -8.30650942e-01 -3.91170211e-03 1.54160110e+02] [ 8.30631397e-01 5.56793504e-01 -5.69873256e-03 7.66417959e+01] [ 6.91166790e-03 -7.62435938e-05 9.99976111e-01 1.03757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:76.66, Z:1.04 [[ 5.57091099e-01 -8.30442181e-01 -3.91042330e-03 1.54176651e+02] [ 8.30422625e-01 5.57104818e-01 -5.69960993e-03 7.66647624e+01] [ 6.91171217e-03 -7.21020240e-05 9.99976111e-01 1.03926537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:76.69, Z:1.04 [[ 5.57598904e-01 -8.30101307e-01 -3.90930532e-03 1.54191955e+02] [ 8.30081737e-01 5.57612603e-01 -5.70037664e-03 7.66865305e+01] [ 6.91176802e-03 -6.65191873e-05 9.99976111e-01 1.03766610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:76.71, Z:1.04 [[ 5.58980915e-01 -8.29171311e-01 -3.90812640e-03 1.54209204e+02] [ 8.29151713e-01 5.58994574e-01 -5.70118478e-03 7.67091062e+01] [ 6.91188032e-03 -5.35762155e-05 9.99976111e-01 1.03806917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:76.73, Z:1.04 [[ 5.59670553e-01 -8.28705983e-01 -3.90701567e-03 1.54224824e+02] [ 8.28686368e-01 5.59684188e-01 -5.70194586e-03 7.67299965e+01] [ 6.91193155e-03 -4.64794338e-05 9.99976111e-01 1.03720893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:76.75, Z:1.04 [[ 5.60684759e-01 -8.28020162e-01 -3.90036656e-03 1.54241924e+02] [ 8.28000498e-01 5.60698325e-01 -5.70649925e-03 7.67510289e+01] [ 6.91202543e-03 -2.99582937e-05 9.99976111e-01 1.03815537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:76.77, Z:1.04 [[ 5.60938524e-01 -8.27848251e-01 -3.90454061e-03 1.54256586e+02] [ 8.27828604e-01 5.60952112e-01 -5.70364182e-03 7.67725990e+01] [ 6.91201021e-03 -3.28979796e-05 9.99976111e-01 1.03925883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:76.79, Z:1.04 [[ 5.61295709e-01 -8.27606121e-01 -3.90326162e-03 1.54272300e+02] [ 8.27586461e-01 5.61309280e-01 -5.70451696e-03 7.67938319e+01] [ 6.91203012e-03 -2.83655810e-05 9.99976111e-01 1.03836245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:76.81, Z:1.04 [[ 5.60671490e-01 -8.28029139e-01 -3.90199682e-03 1.54288225e+02] [ 8.28009483e-01 5.60685067e-01 -5.70538198e-03 7.68145613e+01] [ 6.91201387e-03 -3.20453533e-05 9.99976111e-01 1.03801990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.30, Y:76.84, Z:1.04 [[ 5.59901150e-01 -8.28550231e-01 -3.90077727e-03 1.54304310e+02] [ 8.28530583e-01 5.59914737e-01 -5.70621567e-03 7.68362692e+01] [ 6.91198899e-03 -3.69965449e-05 9.99976111e-01 1.04002019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:76.86, Z:1.04 [[ 5.55799255e-01 -8.31307423e-01 -3.89307373e-03 1.54323569e+02] [ 8.31287805e-01 5.55812886e-01 -5.71147931e-03 7.68573624e+01] [ 6.91181569e-03 -6.18287721e-05 9.99976111e-01 1.04118760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:76.88, Z:1.04 [[ 5.51399867e-01 -8.34231975e-01 -3.89853123e-03 1.54341271e+02] [ 8.34212455e-01 5.51413639e-01 -5.70775171e-03 7.68751784e+01] [ 6.91129227e-03 -1.04949771e-04 9.99976111e-01 1.04206272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.36, Y:76.90, Z:1.04 [[ 5.48643147e-01 -8.36047593e-01 -3.88843327e-03 1.54359046e+02] [ 8.36028070e-01 5.48656914e-01 -5.71464553e-03 7.68972781e+01] [ 6.91113143e-03 -1.15538249e-04 9.99976111e-01 1.04250450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:76.92, Z:1.04 [[ 5.46067181e-01 -8.37732326e-01 -3.89672205e-03 1.54376826e+02] [ 8.37712885e-01 5.46081064e-01 -5.70898794e-03 7.69162943e+01] [ 6.91052987e-03 -1.46843317e-04 9.99976111e-01 1.04153885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.40, Y:76.94, Z:1.04 [[ 5.42680703e-01 -8.39930045e-01 -3.89548794e-03 1.54397605e+02] [ 8.39910655e-01 5.42694656e-01 -5.70982991e-03 7.69354463e+01] [ 6.90991818e-03 -1.73247316e-04 9.99976111e-01 1.04475607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:76.95, Z:1.04 [[ 5.41528525e-01 -8.40673356e-01 -3.89426239e-03 1.54415734e+02] [ 8.40653979e-01 5.41542497e-01 -5.71066564e-03 7.69549789e+01] [ 6.90971303e-03 -1.81238828e-04 9.99976111e-01 1.04375962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:76.97, Z:1.05 [[ 5.40517037e-01 -8.41324061e-01 -3.89331808e-03 1.54437620e+02] [ 8.41304696e-01 5.40531026e-01 -5.71130937e-03 7.69726992e+01] [ 6.90952120e-03 -1.88406764e-04 9.99976111e-01 1.04581300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:76.99, Z:1.05 [[ 5.40526410e-01 -8.41318044e-01 -3.89214562e-03 1.54456021e+02] [ 8.41298674e-01 5.40540390e-01 -5.71210826e-03 7.69931096e+01] [ 6.90956166e-03 -1.86911571e-04 9.99976111e-01 1.04723781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:77.01, Z:1.05 [[ 5.41825707e-01 -8.40481864e-01 -3.89094581e-03 1.54476401e+02] [ 8.40462466e-01 5.41839649e-01 -5.71292543e-03 7.70110385e+01] [ 6.90987892e-03 -1.74784052e-04 9.99976111e-01 1.04599569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.49, Y:77.03, Z:1.05 [[ 5.42896409e-01 -8.39790664e-01 -3.88968296e-03 1.54493944e+02] [ 8.39771242e-01 5.42910318e-01 -5.71378512e-03 7.70322162e+01] [ 6.91013241e-03 -1.64450468e-04 9.99976111e-01 1.04667781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:77.05, Z:1.05 [[ 5.44137095e-01 -8.38987307e-01 -3.88848919e-03 1.54511556e+02] [ 8.38967859e-01 5.44150967e-01 -5.71459742e-03 7.70515388e+01] [ 6.91039985e-03 -1.52793010e-04 9.99976111e-01 1.04616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:77.07, Z:1.05 [[ 5.46401566e-01 -8.37514349e-01 -3.87860246e-03 1.54531281e+02] [ 8.37494816e-01 5.46415318e-01 -5.72132163e-03 7.70692475e+01] [ 6.91101676e-03 -1.22170350e-04 9.99976111e-01 1.04562347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.55, Y:77.09, Z:1.05 [[ 5.48749075e-01 -8.35978119e-01 -3.87770258e-03 1.54551234e+02] [ 8.35958543e-01 5.48762766e-01 -5.72193327e-03 7.70874527e+01] [ 6.91134981e-03 -1.01693011e-04 9.99976111e-01 1.04661675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:77.11, Z:1.05 [[ 5.48926802e-01 -8.35861460e-01 -3.87125285e-03 1.54569505e+02] [ 8.35841850e-01 5.48940445e-01 -5.72631464e-03 7.71080801e+01] [ 6.91149297e-03 -9.24275637e-05 9.99976111e-01 1.04603862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:77.13, Z:1.05 [[ 5.49659987e-01 -8.35379447e-01 -3.88313229e-03 1.54587693e+02] [ 8.35359882e-01 5.49673694e-01 -5.71824758e-03 7.71291181e+01] [ 6.91136217e-03 -1.00721035e-04 9.99976111e-01 1.04713288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:77.15, Z:1.05 [[ 5.51411757e-01 -8.34224194e-01 -3.88190939e-03 1.54607926e+02] [ 8.34204594e-01 5.51425415e-01 -5.71907764e-03 7.71481555e+01] [ 6.91157643e-03 -8.47399924e-05 9.99976111e-01 1.04590200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:77.17, Z:1.04 [[ 5.52483487e-01 -8.33514809e-01 -3.88067692e-03 1.54625410e+02] [ 8.33495186e-01 5.52497111e-01 -5.71991381e-03 7.71684865e+01] [ 6.91169566e-03 -7.43676034e-05 9.99976111e-01 1.04387474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:77.19, Z:1.04 [[ 5.55251233e-01 -8.31673625e-01 -3.87944943e-03 1.54644498e+02] [ 8.31653951e-01 5.55264783e-01 -5.72074622e-03 7.71882989e+01] [ 6.91191539e-03 -4.99080563e-05 9.99976111e-01 1.04446752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:77.21, Z:1.05 [[ 5.59076236e-01 -8.29107183e-01 -3.87821525e-03 1.54662320e+02] [ 8.29087441e-01 5.59089687e-01 -5.72158277e-03 7.72074190e+01] [ 6.91207553e-03 -1.65785979e-05 9.99976111e-01 1.04590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:77.23, Z:1.05 [[ 5.61216017e-01 -8.27660288e-01 -3.87691419e-03 1.54678857e+02] [ 8.27640505e-01 5.61229407e-01 -5.72246423e-03 7.72280235e+01] [ 6.91209465e-03 2.84736594e-06 9.99976111e-01 1.04693128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:77.25, Z:1.05 [[ 5.61024177e-01 -8.27790343e-01 -3.87562797e-03 1.54693644e+02] [ 8.27770558e-01 5.61037563e-01 -5.72333521e-03 7.72503779e+01] [ 6.91209449e-03 2.79869632e-06 9.99976111e-01 1.04711661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:77.27, Z:1.05 [[ 5.63245825e-01 -8.26280298e-01 -3.87430125e-03 1.54710362e+02] [ 8.26260470e-01 5.63259149e-01 -5.72423317e-03 7.72722818e+01] [ 6.91205671e-03 2.29684647e-05 9.99976111e-01 1.04915767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:77.29, Z:1.05 [[ 5.68011907e-01 -8.23011222e-01 -3.87308589e-03 1.54727818e+02] [ 8.22991312e-01 5.68025108e-01 -5.72505537e-03 7.72937823e+01] [ 6.91179486e-03 6.43835798e-05 9.99976111e-01 1.04975999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:77.32, Z:1.05 [[ 5.69965175e-01 -8.21659728e-01 -3.87185146e-03 1.54743578e+02] [ 8.21639781e-01 5.69978320e-01 -5.72589010e-03 7.73160808e+01] [ 6.91160469e-03 8.22907696e-05 9.99976111e-01 1.04955755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:77.34, Z:1.05 [[ 5.72824367e-01 -8.19668996e-01 -3.87059313e-03 1.54758486e+02] [ 8.19648998e-01 5.72837433e-01 -5.72674058e-03 7.73381171e+01] [ 6.91125234e-03 1.07888773e-04 9.99976111e-01 1.04778525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:77.36, Z:1.05 [[ 5.73668766e-01 -8.19078248e-01 -3.86926910e-03 1.54773516e+02] [ 8.19058230e-01 5.73681803e-01 -5.72763502e-03 7.73606452e+01] [ 6.91111053e-03 1.16608618e-04 9.99976111e-01 1.04759735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:77.38, Z:1.05 [[ 5.74062670e-01 -8.18802228e-01 -3.86805324e-03 1.54788668e+02] [ 8.18782199e-01 5.74075688e-01 -5.72845601e-03 7.73830051e+01] [ 6.91102787e-03 1.21399618e-04 9.99976111e-01 1.04827823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.80, Y:77.41, Z:1.05 [[ 5.73782387e-01 -8.18998669e-01 -3.86679363e-03 1.54803627e+02] [ 8.18978638e-01 5.73795404e-01 -5.72930614e-03 7.74051235e+01] [ 6.91104252e-03 1.20553573e-04 9.99976111e-01 1.04931803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:77.43, Z:1.05 [[ 5.72881148e-01 -8.19629336e-01 -3.86552317e-03 1.54818340e+02] [ 8.19609314e-01 5.72894177e-01 -5.73016318e-03 7.74262283e+01] [ 6.91114556e-03 1.14483671e-04 9.99976111e-01 1.04861676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:77.45, Z:1.05 [[ 5.70613361e-01 -8.21209754e-01 -3.86418766e-03 1.54833172e+02] [ 8.21189761e-01 5.70626437e-01 -5.73106365e-03 7.74492494e+01] [ 6.91141301e-03 9.69901538e-05 9.99976111e-01 1.05009507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:77.47, Z:1.05 [[ 5.68036559e-01 -8.22994256e-01 -3.86292441e-03 1.54848964e+02] [ 8.22974299e-01 5.68049689e-01 -5.73191500e-03 7.74700962e+01] [ 6.91166613e-03 7.68497676e-05 9.99976111e-01 1.04961536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:77.49, Z:1.05 [[ 5.66557379e-01 -8.24013243e-01 -3.86160139e-03 1.54863761e+02] [ 8.23993303e-01 5.66570535e-01 -5.73280618e-03 7.74903053e+01] [ 6.91177778e-03 6.60299522e-05 9.99976111e-01 1.04956791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:154.88, Y:77.51, Z:1.05 [[ 5.65455243e-01 -8.24769948e-01 -3.86018977e-03 1.54879014e+02] [ 8.24750019e-01 5.65468416e-01 -5.73375654e-03 7.75131076e+01] [ 6.91184548e-03 5.84911163e-05 9.99976111e-01 1.05120583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:77.53, Z:1.05 [[ 5.63174151e-01 -8.26329223e-01 -3.85897306e-03 1.54895623e+02] [ 8.26309325e-01 5.63187371e-01 -5.73457530e-03 7.75340873e+01] [ 6.91197204e-03 4.08591559e-05 9.99976111e-01 1.04889598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:77.56, Z:1.05 [[ 5.62139313e-01 -8.27033560e-01 -3.85772630e-03 1.54910781e+02] [ 8.27013674e-01 5.62152549e-01 -5.73541389e-03 7.75562467e+01] [ 6.91201045e-03 3.37092294e-05 9.99976111e-01 1.04881960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.92, Y:77.58, Z:1.05 [[ 5.61039085e-01 -8.27780328e-01 -3.85648758e-03 1.54924997e+02] [ 8.27760453e-01 5.61052339e-01 -5.73624668e-03 7.75775697e+01] [ 6.91204354e-03 2.60106802e-05 9.99976111e-01 1.05097749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:77.60, Z:1.05 [[ 5.60479180e-01 -8.28159541e-01 -3.85535016e-03 1.54940383e+02] [ 8.28139670e-01 5.60492439e-01 -5.73701105e-03 7.75994322e+01] [ 6.91205505e-03 2.27068353e-05 9.99976111e-01 1.05134471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:77.62, Z:1.05 [[ 5.60112092e-01 -8.28407865e-01 -3.85400719e-03 1.54955749e+02] [ 8.28387994e-01 5.60125351e-01 -5.73791309e-03 7.76205766e+01] [ 6.91205946e-03 2.12612200e-05 9.99976111e-01 1.05197440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.97, Y:77.64, Z:1.05 [[ 5.60131015e-01 -8.28395076e-01 -3.85266520e-03 1.54970253e+02] [ 8.28375198e-01 5.60144264e-01 -5.73881401e-03 7.76419811e+01] [ 6.91205358e-03 2.30354167e-05 9.99976111e-01 1.05286329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:77.66, Z:1.05 [[ 5.60415456e-01 -8.28202683e-01 -3.85130943e-03 1.54986054e+02] [ 8.28182794e-01 5.60428689e-01 -5.73972372e-03 7.76617816e+01] [ 6.91203888e-03 2.70416778e-05 9.99976111e-01 1.05065862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:77.68, Z:1.05 [[ 5.60773178e-01 -8.27960518e-01 -3.85022831e-03 1.55001409e+02] [ 8.27940618e-01 5.60786394e-01 -5.74044885e-03 7.76835476e+01] [ 6.91202065e-03 3.13293379e-05 9.99976111e-01 1.05050465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.02, Y:77.71, Z:1.05 [[ 5.62222996e-01 -8.26976716e-01 -3.84889002e-03 1.55015834e+02] [ 8.26956787e-01 5.62236168e-01 -5.74134602e-03 7.77059959e+01] [ 6.91194465e-03 4.50510367e-05 9.99976111e-01 1.05126002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:155.03, Y:77.73, Z:1.05 [[ 5.62793516e-01 -8.26588565e-01 -3.84753558e-03 1.55029993e+02] [ 8.26568620e-01 5.62806665e-01 -5.74225354e-03 7.77286812e+01] [ 6.91189978e-03 5.14508800e-05 9.99976111e-01 1.04997588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:77.75, Z:1.05 [[ 5.63073641e-01 -8.26397775e-01 -3.84618580e-03 1.55044624e+02] [ 8.26377820e-01 5.63086774e-01 -5.74315749e-03 7.77507743e+01] [ 6.91186892e-03 5.54179609e-05 9.99976111e-01 1.04803952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:77.77, Z:1.05 [[ 5.63345434e-01 -8.26212527e-01 -3.84483414e-03 1.55059432e+02] [ 8.26192561e-01 5.63358551e-01 -5.74406223e-03 7.77708955e+01] [ 6.91183636e-03 5.93178675e-05 9.99976111e-01 1.04809454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:77.79, Z:1.05 [[ 5.63369694e-01 -8.26195991e-01 -3.84342020e-03 1.55074052e+02] [ 8.26176019e-01 5.63382801e-01 -5.74500816e-03 7.77922290e+01] [ 6.91181955e-03 6.12218921e-05 9.99976111e-01 1.04814483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.09, Y:77.81, Z:1.05 [[ 5.63160663e-01 -8.26338494e-01 -3.84208752e-03 1.55087788e+02] [ 8.26318519e-01 5.63173765e-01 -5.74589928e-03 7.78148062e+01] [ 6.91182065e-03 6.10763781e-05 9.99976111e-01 1.04796433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:77.84, Z:1.05 [[ 5.62623327e-01 -8.26704446e-01 -3.84075557e-03 1.55102849e+02] [ 8.26684473e-01 5.62636434e-01 -5.74678946e-03 7.78374857e+01] [ 6.91184541e-03 5.81848181e-05 9.99976111e-01 1.04805702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:155.12, Y:77.86, Z:1.05 [[ 5.61766413e-01 -8.27286985e-01 -3.83949405e-03 1.55115996e+02] [ 8.27267021e-01 5.61779531e-01 -5.74763217e-03 7.78601716e+01] [ 6.91189046e-03 5.25399000e-05 9.99976111e-01 1.04725655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:77.88, Z:1.05 [[ 5.60895294e-01 -8.27877852e-01 -3.83817257e-03 1.55130298e+02] [ 8.27857895e-01 5.60908424e-01 -5.74851450e-03 7.78826874e+01] [ 6.91193116e-03 4.68532687e-05 9.99976111e-01 1.04735723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:77.90, Z:1.04 [[ 5.59946320e-01 -8.28520004e-01 -3.83690927e-03 1.55144676e+02] [ 8.28500056e-01 5.59959464e-01 -5.74935758e-03 7.79041767e+01] [ 6.91197142e-03 4.04520754e-05 9.99976111e-01 1.04485348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:77.93, Z:1.05 [[ 5.59719531e-01 -8.28673238e-01 -3.83558566e-03 1.55159896e+02] [ 8.28653288e-01 5.59732671e-01 -5.75024046e-03 7.79264913e+01] [ 6.91197299e-03 4.01512230e-05 9.99976111e-01 1.04673047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:77.95, Z:1.05 [[ 5.59542182e-01 -8.28793005e-01 -3.83433803e-03 1.55173636e+02] [ 8.28773052e-01 5.59555318e-01 -5.75107228e-03 7.79489903e+01] [ 6.91197271e-03 4.01715020e-05 9.99976111e-01 1.04659213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:77.97, Z:1.05 [[ 5.59918598e-01 -8.28538757e-01 -3.83302978e-03 1.55187169e+02] [ 8.28518792e-01 5.59931716e-01 -5.75194409e-03 7.79728524e+01] [ 6.91194354e-03 4.48832684e-05 9.99976111e-01 1.04749957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:77.99, Z:1.04 [[ 5.59902225e-01 -8.28549827e-01 -3.83175550e-03 1.55201208e+02] [ 8.28529856e-01 5.59915335e-01 -5.75279285e-03 7.79949921e+01] [ 6.91193418e-03 4.62776872e-05 9.99976111e-01 1.04467065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:78.02, Z:1.05 [[ 5.60430686e-01 -8.28192474e-01 -3.83041773e-03 1.55215612e+02] [ 8.28172489e-01 5.60443773e-01 -5.75368344e-03 7.80176983e+01] [ 6.91189109e-03 5.22941694e-05 9.99976111e-01 1.04718838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:78.04, Z:1.05 [[ 5.60615797e-01 -8.28067187e-01 -3.82913898e-03 1.55229473e+02] [ 8.28047193e-01 5.60628871e-01 -5.75453434e-03 7.80399557e+01] [ 6.91186692e-03 5.53750673e-05 9.99976111e-01 1.04566539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:78.06, Z:1.05 [[ 5.61043588e-01 -8.27777408e-01 -3.82814715e-03 1.55243460e+02] [ 8.27757403e-01 5.61056645e-01 -5.75519407e-03 7.80619982e+01] [ 6.91182703e-03 6.01375898e-05 9.99976111e-01 1.04675418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.26, Y:78.08, Z:1.05 [[ 5.61256158e-01 -8.27633301e-01 -3.82678823e-03 1.55257638e+02] [ 8.27613287e-01 5.61269200e-01 -5.75609751e-03 7.80835952e+01] [ 6.91179635e-03 6.35443957e-05 9.99976111e-01 1.04899070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:78.10, Z:1.05 [[ 5.61876701e-01 -8.27212149e-01 -3.82542494e-03 1.55271589e+02] [ 8.27192119e-01 5.61889719e-01 -5.75700339e-03 7.81043969e+01] [ 6.91173009e-03 7.03647137e-05 9.99976111e-01 1.04972824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:78.13, Z:1.05 [[ 5.62089995e-01 -8.27067235e-01 -3.82434154e-03 1.55285819e+02] [ 8.27047197e-01 5.62103000e-01 -5.75772300e-03 7.81272305e+01] [ 6.91169789e-03 7.34475473e-05 9.99976111e-01 1.04977429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:78.15, Z:1.05 [[ 5.62349806e-01 -8.26890609e-01 -3.82311199e-03 1.55299647e+02] [ 8.26870561e-01 5.62362796e-01 -5.75853930e-03 7.81502120e+01] [ 6.91165802e-03 7.70946987e-05 9.99976111e-01 1.05019972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:78.17, Z:1.05 [[ 5.62866556e-01 -8.26538949e-01 -3.82184317e-03 1.55312691e+02] [ 8.26518887e-01 5.62879525e-01 -5.75938127e-03 7.81725690e+01] [ 6.91159021e-03 8.29375380e-05 9.99976111e-01 1.04881590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:78.20, Z:1.05 [[ 5.63326562e-01 -8.26225507e-01 -3.82051110e-03 1.55326408e+02] [ 8.26205432e-01 5.63339511e-01 -5.76026477e-03 7.81963120e+01] [ 6.91152253e-03 8.83831327e-05 9.99976111e-01 1.04839062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:78.22, Z:1.05 [[ 5.63456742e-01 -8.26136740e-01 -3.81927043e-03 1.55340255e+02] [ 8.26116657e-01 5.63469679e-01 -5.76108726e-03 7.82193619e+01] [ 6.91148893e-03 9.09605411e-05 9.99976111e-01 1.04813148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:78.24, Z:1.05 [[ 5.63510766e-01 -8.26099897e-01 -3.81798469e-03 1.55354042e+02] [ 8.26079807e-01 5.63523692e-01 -5.76193922e-03 7.82420800e+01] [ 6.91146223e-03 9.29547292e-05 9.99976111e-01 1.04509341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:78.27, Z:1.04 [[ 5.63383364e-01 -8.26186794e-01 -3.81663546e-03 1.55366350e+02] [ 8.26166700e-01 5.63396284e-01 -5.76283280e-03 7.82657933e+01] [ 6.91145459e-03 9.35070071e-05 9.99976111e-01 1.04430330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:78.29, Z:1.04 [[ 5.62498805e-01 -8.26789295e-01 -3.81527524e-03 1.55376738e+02] [ 8.26769209e-01 5.62511737e-01 -5.76373319e-03 7.82887251e+01] [ 6.91153000e-03 8.77409321e-05 9.99976111e-01 1.04499161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.39, Y:78.31, Z:1.05 [[ 5.61863895e-01 -8.27220899e-01 -3.81418862e-03 1.55390118e+02] [ 8.27200818e-01 5.61876835e-01 -5.76445218e-03 7.83112810e+01] [ 6.91157954e-03 8.37376047e-05 9.99976111e-01 1.04769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:78.33, Z:1.05 [[ 5.59937411e-01 -8.28526136e-01 -3.81282505e-03 1.55404299e+02] [ 8.28506080e-01 5.59950388e-01 -5.76535395e-03 7.83332391e+01] [ 6.91173930e-03 6.92886256e-05 9.99976111e-01 1.05088079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:78.36, Z:1.05 [[ 5.58860563e-01 -8.29252883e-01 -3.81153595e-03 1.55418691e+02] [ 8.29232837e-01 5.58873557e-01 -5.76620606e-03 7.83564338e+01] [ 6.91180965e-03 6.18543925e-05 9.99976111e-01 1.05446450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:78.38, Z:1.06 [[ 5.57326564e-01 -8.30284639e-01 -3.81026283e-03 1.55432852e+02] [ 8.30264612e-01 5.57339587e-01 -5.76704721e-03 7.83789207e+01] [ 6.91190102e-03 5.06022146e-05 9.99976111e-01 1.05758931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.45, Y:78.40, Z:1.06 [[ 5.56503600e-01 -8.30836466e-01 -3.80906680e-03 1.55447101e+02] [ 8.30816447e-01 5.56516634e-01 -5.76783707e-03 7.84007497e+01] [ 6.91193840e-03 4.51867515e-05 9.99976111e-01 1.05746037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:78.42, Z:1.06 [[ 5.55421683e-01 -8.31560134e-01 -3.80774164e-03 1.55462045e+02] [ 8.31540125e-01 5.55434733e-01 -5.76871176e-03 7.84233099e+01] [ 6.91198268e-03 3.77776279e-05 9.99976111e-01 1.05684817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:78.45, Z:1.06 [[ 5.54125528e-01 -8.32424417e-01 -3.80650256e-03 1.55476531e+02] [ 8.32404423e-01 5.54138602e-01 -5.76952926e-03 7.84460229e+01] [ 6.91202703e-03 2.84938852e-05 9.99976111e-01 1.05641143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:78.47, Z:1.05 [[ 5.53538739e-01 -8.32814736e-01 -3.80523108e-03 1.55490706e+02] [ 8.32794746e-01 5.53551817e-01 -5.77036772e-03 7.84678777e+01] [ 6.91203985e-03 2.51456183e-05 9.99976111e-01 1.05435407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:78.49, Z:1.06 [[ 5.52836961e-01 -8.33280759e-01 -3.80424853e-03 1.55506230e+02] [ 8.33260774e-01 5.52850049e-01 -5.77101542e-03 7.84905712e+01] [ 6.91205509e-03 2.04995458e-05 9.99976111e-01 1.05590134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87264000000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.52, Y:78.51, Z:1.06 [[ 5.52582333e-01 -8.33449640e-01 -3.80297315e-03 1.55520372e+02] [ 8.33429655e-01 5.52595419e-01 -5.77185574e-03 7.85125412e+01] [ 6.91205663e-03 1.99149112e-05 9.99976111e-01 1.05535465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:78.53, Z:1.05 [[ 5.52422210e-01 -8.33555787e-01 -3.80162793e-03 1.55534929e+02] [ 8.33535797e-01 5.52435290e-01 -5.77274163e-03 7.85342097e+01] [ 6.91205562e-03 2.01977226e-05 9.99976111e-01 1.05435516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.55, Y:78.56, Z:1.05 [[ 5.53016154e-01 -8.33161864e-01 -3.80031954e-03 1.55548186e+02] [ 8.33141859e-01 5.53029211e-01 -5.77360285e-03 7.85553669e+01] [ 6.91203343e-03 2.66903560e-05 9.99976111e-01 1.05450396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:78.58, Z:1.06 [[ 5.54714955e-01 -8.32031782e-01 -3.79890268e-03 1.55562413e+02] [ 8.32011745e-01 5.54727962e-01 -5.77453496e-03 7.85778949e+01] [ 6.91195415e-03 4.24892592e-05 9.99976111e-01 1.05617080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:78.60, Z:1.06 [[ 5.55593463e-01 -8.31445417e-01 -3.79765849e-03 1.55577376e+02] [ 8.31425360e-01 5.55606439e-01 -5.77535309e-03 7.86008137e+01] [ 6.91189437e-03 5.12788453e-05 9.99976111e-01 1.05723068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:78.62, Z:1.06 [[ 5.56504607e-01 -8.30835850e-01 -3.79638046e-03 1.55591719e+02] [ 8.30815773e-01 5.56517553e-01 -5.77619307e-03 7.86231300e+01] [ 6.91182065e-03 6.03852879e-05 9.99976111e-01 1.05523472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:78.65, Z:1.06 [[ 5.56327457e-01 -8.30954486e-01 -3.79503926e-03 1.55606691e+02] [ 8.30934406e-01 5.56340398e-01 -5.77707413e-03 7.86463585e+01] [ 6.91181931e-03 6.05162640e-05 9.99976111e-01 1.05542581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:78.67, Z:1.05 [[ 5.57895129e-01 -8.29902785e-01 -3.79380736e-03 1.55620130e+02] [ 8.29882675e-01 5.57908023e-01 -5.77788300e-03 7.86694342e+01] [ 6.91167676e-03 7.50377796e-05 9.99976111e-01 1.05276223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:78.69, Z:1.05 [[ 5.58127565e-01 -8.29746490e-01 -3.79264945e-03 1.55632527e+02] [ 8.29726371e-01 5.58140445e-01 -5.77864297e-03 7.86913647e+01] [ 6.91163977e-03 7.83586645e-05 9.99976111e-01 1.05290722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:78.71, Z:1.06 [[ 5.58091039e-01 -8.29771064e-01 -3.79123081e-03 1.55645790e+02] [ 8.29750940e-01 5.58103910e-01 -5.77957355e-03 7.87148812e+01] [ 6.91162364e-03 7.97508780e-05 9.99976111e-01 1.05634147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:78.74, Z:1.06 [[ 5.57314000e-01 -8.30293166e-01 -3.78996916e-03 1.55659547e+02] [ 8.30273048e-01 5.57326882e-01 -5.78040076e-03 7.87366667e+01] [ 6.91167894e-03 7.47890322e-05 9.99976111e-01 1.05651534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.67, Y:78.76, Z:1.06 [[ 5.54855371e-01 -8.31938195e-01 -3.78899216e-03 1.55671956e+02] [ 8.31918111e-01 5.54868305e-01 -5.78104110e-03 7.87596896e+01] [ 6.91186056e-03 5.55105037e-05 9.99976111e-01 1.05780154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.69, Y:78.78, Z:1.06 [[ 5.53066451e-01 -8.33128534e-01 -3.78768594e-03 1.55685675e+02] [ 8.33108472e-01 5.53079420e-01 -5.78189680e-03 7.87834795e+01] [ 6.91195435e-03 4.22198983e-05 9.99976111e-01 1.06018174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:78.81, Z:1.06 [[ 5.51186663e-01 -8.34373373e-01 -3.78644628e-03 1.55699815e+02] [ 8.34353334e-01 5.51199668e-01 -5.78270851e-03 7.88064115e+01] [ 6.91202594e-03 2.81177256e-05 9.99976111e-01 1.06140779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:78.83, Z:1.06 [[ 5.47464170e-01 -8.36820564e-01 -3.78517972e-03 1.55713640e+02] [ 8.36800577e-01 5.47477255e-01 -5.78353745e-03 7.88284404e+01] [ 6.91208287e-03 -1.16104506e-06 9.99976111e-01 1.06072059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:78.85, Z:1.06 [[ 5.43911259e-01 -8.39134210e-01 -3.78420038e-03 1.55729516e+02] [ 8.39114275e-01 5.43924422e-01 -5.78417816e-03 7.88510341e+01] [ 6.91202078e-03 -2.92969382e-05 9.99976111e-01 1.06120980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:78.87, Z:1.06 [[ 5.42127037e-01 -8.40288025e-01 -3.78293632e-03 1.55743973e+02] [ 8.40268112e-01 5.42140234e-01 -5.78500476e-03 7.88728305e+01] [ 6.91195220e-03 -4.24732766e-05 9.99976111e-01 1.05926183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:78.90, Z:1.06 [[ 5.40514304e-01 -8.41326326e-01 -3.78160846e-03 1.55758029e+02] [ 8.41306433e-01 5.40527530e-01 -5.78587264e-03 7.88951409e+01] [ 6.91187045e-03 -5.41445967e-05 9.99976111e-01 1.05921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:78.92, Z:1.06 [[ 5.38563659e-01 -8.42576343e-01 -3.78026342e-03 1.55773551e+02] [ 8.42556475e-01 5.38576922e-01 -5.78675130e-03 7.89170304e+01] [ 6.91174239e-03 -6.85514663e-05 9.99976111e-01 1.05776708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.79, Y:78.94, Z:1.06 [[ 5.38043604e-01 -8.42908536e-01 -3.77896564e-03 1.55789033e+02] [ 8.42888669e-01 5.38056870e-01 -5.78759868e-03 7.89393239e+01] [ 6.91171475e-03 -7.12668660e-05 9.99976111e-01 1.05777709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:78.96, Z:1.06 [[ 5.37790171e-01 -8.43070259e-01 -3.77773618e-03 1.55803782e+02] [ 8.43050390e-01 5.37803434e-01 -5.78840107e-03 7.89600648e+01] [ 6.91170828e-03 -7.18767665e-05 9.99976111e-01 1.05693585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:78.98, Z:1.06 [[ 5.37800503e-01 -8.43063672e-01 -3.77664393e-03 1.55818260e+02] [ 8.43043799e-01 5.37813759e-01 -5.78911362e-03 7.89819811e+01] [ 6.91172246e-03 -7.04880268e-05 9.99976111e-01 1.05742956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:79.00, Z:1.06 [[ 5.38711954e-01 -8.42481559e-01 -3.77530906e-03 1.55834797e+02] [ 8.42461665e-01 5.38725179e-01 -5.78998401e-03 7.90035062e+01] [ 6.91180881e-03 -6.14195509e-05 9.99976111e-01 1.05859644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:79.03, Z:1.06 [[ 5.39169559e-01 -8.42188781e-01 -3.77407486e-03 1.55850100e+02] [ 8.42168874e-01 5.39182765e-01 -5.79078839e-03 7.90263949e+01] [ 6.91185313e-03 -5.61915569e-05 9.99976111e-01 1.05959923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:79.05, Z:1.06 [[ 5.40185417e-01 -8.41537570e-01 -3.77283081e-03 1.55865500e+02] [ 8.41517641e-01 5.40198590e-01 -5.79159880e-03 7.90478214e+01] [ 6.91192586e-03 -4.63664753e-05 9.99976111e-01 1.05925251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:79.07, Z:1.06 [[ 5.40705663e-01 -8.41203401e-01 -3.77153165e-03 1.55880408e+02] [ 8.41183459e-01 5.40718814e-01 -5.79244470e-03 7.90699565e+01] [ 6.91196230e-03 -4.05423914e-05 9.99976111e-01 1.06224989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:79.09, Z:1.06 [[ 5.42263084e-01 -8.40200293e-01 -3.77026836e-03 1.55895412e+02] [ 8.40180321e-01 5.42276190e-01 -5.79326685e-03 7.90914884e+01] [ 6.91203127e-03 -2.62305311e-05 9.99976111e-01 1.06104459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:79.11, Z:1.06 [[ 5.43272944e-01 -8.39547678e-01 -3.76893687e-03 1.55909174e+02] [ 8.39527684e-01 5.43286017e-01 -5.79413295e-03 7.91124963e+01] [ 6.91206157e-03 -1.63311730e-05 9.99976111e-01 1.06097272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:79.14, Z:1.06 [[ 5.44179822e-01 -8.38960145e-01 -3.76785907e-03 1.55924228e+02] [ 8.38940132e-01 5.44192866e-01 -5.79483375e-03 7.91354135e+01] [ 6.91207659e-03 -7.57659160e-06 9.99976111e-01 1.06337670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:79.16, Z:1.07 [[ 5.46539309e-01 -8.37424980e-01 -3.76660685e-03 1.55939777e+02] [ 8.37404924e-01 5.46552288e-01 -5.79564757e-03 7.91563142e+01] [ 6.91206764e-03 1.33740924e-05 9.99976111e-01 1.06536935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:79.18, Z:1.07 [[ 5.49340582e-01 -8.35590059e-01 -3.76528967e-03 1.55953372e+02] [ 8.35569955e-01 5.49353485e-01 -5.79650318e-03 7.91786000e+01] [ 6.91197544e-03 3.80915164e-05 9.99976111e-01 1.06545039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:79.20, Z:1.07 [[ 5.50722458e-01 -8.34679942e-01 -3.76398144e-03 1.55966214e+02] [ 8.34659811e-01 5.50735319e-01 -5.79735256e-03 7.92005982e+01] [ 6.91189142e-03 5.10882180e-05 9.99976111e-01 1.06514040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:79.22, Z:1.07 [[ 5.52104585e-01 -8.33766376e-01 -3.76253496e-03 1.55980591e+02] [ 8.33746217e-01 5.52117402e-01 -5.79829119e-03 7.92240080e+01] [ 6.91178126e-03 6.42638649e-05 9.99976111e-01 1.06623482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:79.25, Z:1.06 [[ 5.54871026e-01 -8.31927880e-01 -3.76125283e-03 1.55995215e+02] [ 8.31907673e-01 5.54883766e-01 -5.79912277e-03 7.92462514e+01] [ 6.91151005e-03 8.87501119e-05 9.99976111e-01 1.06319141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:79.27, Z:1.06 [[ 5.55803838e-01 -8.31304972e-01 -3.75997650e-03 1.56009193e+02] [ 8.31284745e-01 5.55816547e-01 -5.79995018e-03 7.92690016e+01] [ 6.91138458e-03 9.80234675e-05 9.99976111e-01 1.06481733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:79.29, Z:1.07 [[ 5.56847202e-01 -8.30606444e-01 -3.75869952e-03 1.56022695e+02] [ 8.30586195e-01 5.56859877e-01 -5.80077762e-03 7.92919396e+01] [ 6.91123223e-03 1.08222859e-04 9.99976111e-01 1.06684412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:79.31, Z:1.07 [[ 5.56940558e-01 -8.30543856e-01 -3.75749692e-03 1.56036861e+02] [ 8.30523600e-01 5.56953222e-01 -5.80155651e-03 7.93147904e+01] [ 6.91119713e-03 1.10432252e-04 9.99976111e-01 1.06791517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:79.34, Z:1.07 [[ 5.56983296e-01 -8.30515200e-01 -3.75623467e-03 1.56049655e+02] [ 8.30494939e-01 5.56995951e-01 -5.80237364e-03 7.93375674e+01] [ 6.91116701e-03 1.12291318e-04 9.99976111e-01 1.06734262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:79.36, Z:1.07 [[ 5.56834620e-01 -8.30614897e-01 -3.75490771e-03 1.56063235e+02] [ 8.30594632e-01 5.56847268e-01 -5.80323223e-03 7.93600809e+01] [ 6.91116124e-03 1.12634422e-04 9.99976111e-01 1.06738955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:79.38, Z:1.07 [[ 5.56255945e-01 -8.31002548e-01 -3.75353622e-03 1.56076073e+02] [ 8.30982286e-01 5.56268598e-01 -5.80411918e-03 7.93820277e+01] [ 6.91121216e-03 1.09453692e-04 9.99976111e-01 1.06592530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:79.41, Z:1.07 [[ 5.56156557e-01 -8.31069074e-01 -3.75210190e-03 1.56089974e+02] [ 8.31048807e-01 5.56169203e-01 -5.80504625e-03 7.94055310e+01] [ 6.91119794e-03 1.10334732e-04 9.99976111e-01 1.06611012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:79.43, Z:1.07 [[ 5.55882046e-01 -8.31252718e-01 -3.75085639e-03 1.56101766e+02] [ 8.31232450e-01 5.55894690e-01 -5.80585091e-03 7.94279955e+01] [ 6.91121050e-03 1.09534742e-04 9.99976111e-01 1.06587173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:79.45, Z:1.07 [[ 5.55134752e-01 -8.31751976e-01 -3.74940863e-03 1.56116180e+02] [ 8.31731712e-01 5.55147404e-01 -5.80678572e-03 7.94494043e+01] [ 6.91127996e-03 1.05046496e-04 9.99976111e-01 1.06620314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:79.47, Z:1.07 [[ 5.54177251e-01 -8.32390248e-01 -3.74830495e-03 1.56130354e+02] [ 8.32369994e-01 5.54189918e-01 -5.80749807e-03 7.94726369e+01] [ 6.91137757e-03 9.84067414e-05 9.99976111e-01 1.06720065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:79.50, Z:1.07 [[ 5.53219910e-01 -8.33026825e-01 -3.74705800e-03 1.56144341e+02] [ 8.33006580e-01 5.53232592e-01 -5.80830250e-03 7.94957360e+01] [ 6.91146640e-03 9.19446134e-05 9.99976111e-01 1.06793037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:79.52, Z:1.07 [[ 5.50862138e-01 -8.34587847e-01 -3.74580951e-03 1.56157780e+02] [ 8.34567633e-01 5.50874868e-01 -5.80910754e-03 7.95165884e+01] [ 6.91168288e-03 7.38860219e-05 9.99976111e-01 1.06772932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:79.54, Z:1.07 [[ 5.49546072e-01 -8.35455022e-01 -3.74436273e-03 1.56172439e+02] [ 8.35434822e-01 5.49558824e-01 -5.81003995e-03 7.95384609e+01] [ 6.91177463e-03 6.47136182e-05 9.99976111e-01 1.06850638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:79.56, Z:1.07 [[ 5.47252959e-01 -8.36958893e-01 -3.74299313e-03 1.56187334e+02] [ 8.36938722e-01 5.47265757e-01 -5.81092215e-03 7.95594764e+01] [ 6.91191494e-03 4.73884575e-05 9.99976111e-01 1.06785837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:79.58, Z:1.07 [[ 5.46077350e-01 -8.37726404e-01 -3.74156274e-03 1.56202365e+02] [ 8.37706245e-01 5.46090167e-01 -5.81184301e-03 7.95815133e+01] [ 6.91196496e-03 3.93853586e-05 9.99976111e-01 1.06762426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:79.60, Z:1.07 [[ 5.43974229e-01 -8.39093588e-01 -3.74020251e-03 1.56219349e+02] [ 8.39073455e-01 5.43987086e-01 -5.81271825e-03 7.96018818e+01] [ 6.91203648e-03 2.36642866e-05 9.99976111e-01 1.06637473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:79.62, Z:1.07 [[ 5.42800507e-01 -8.39853338e-01 -3.73884934e-03 1.56235211e+02] [ 8.39833217e-01 5.42813384e-01 -5.81358851e-03 7.96233699e+01] [ 6.91205917e-03 1.56089252e-05 9.99976111e-01 1.06644050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:79.64, Z:1.07 [[ 5.41595911e-01 -8.40630656e-01 -3.73750051e-03 1.56250192e+02] [ 8.40610547e-01 5.41608807e-01 -5.81445553e-03 7.96434281e+01] [ 6.91207275e-03 7.30299117e-06 9.99976111e-01 1.06545791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:79.66, Z:1.07 [[ 5.40629915e-01 -8.41252243e-01 -3.73609743e-03 1.56266837e+02] [ 8.41232143e-01 5.40642824e-01 -5.81535694e-03 7.96631717e+01] [ 6.91207633e-03 1.03068081e-06 9.99976111e-01 1.06601698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:79.68, Z:1.07 [[ 5.40651414e-01 -8.41238432e-01 -3.73470148e-03 1.56281734e+02] [ 8.41218326e-01 5.40664313e-01 -5.81625330e-03 7.96846899e+01] [ 6.91207562e-03 2.86624447e-06 9.99976111e-01 1.06689229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:79.71, Z:1.07 [[ 5.42317199e-01 -8.40165530e-01 -3.73337736e-03 1.56298388e+02] [ 8.40145392e-01 5.42330049e-01 -5.81710311e-03 7.97051957e+01] [ 6.91205224e-03 1.81352746e-05 9.99976111e-01 1.06693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:79.73, Z:1.07 [[ 5.43712593e-01 -8.39263182e-01 -3.73206447e-03 1.56313427e+02] [ 8.39243016e-01 5.43725400e-01 -5.81794530e-03 7.97262745e+01] [ 6.91200553e-03 3.11810809e-05 9.99976111e-01 1.06764643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:79.75, Z:1.07 [[ 5.47874665e-01 -8.36552110e-01 -3.73075322e-03 1.56327749e+02] [ 8.36531876e-01 5.47887363e-01 -5.81878601e-03 7.97476812e+01] [ 6.91175026e-03 6.70714445e-05 9.99976111e-01 1.06916092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.34, Y:79.77, Z:1.07 [[ 5.49902359e-01 -8.35220621e-01 -3.72970797e-03 1.56340847e+02] [ 8.35200351e-01 5.49915000e-01 -5.81945591e-03 7.97707669e+01] [ 6.91155194e-03 8.50791248e-05 9.99976111e-01 1.07122436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:79.79, Z:1.07 [[ 5.52244886e-01 -8.33673608e-01 -3.72840689e-03 1.56354857e+02] [ 8.33653298e-01 5.52257462e-01 -5.82028937e-03 7.97926832e+01] [ 6.91126216e-03 1.06026345e-04 9.99976111e-01 1.07286730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:79.82, Z:1.08 [[ 5.56310215e-01 -8.30966345e-01 -3.72536886e-03 1.56369305e+02] [ 8.30945960e-01 5.56322670e-01 -5.82223471e-03 7.98161481e+01] [ 6.91058825e-03 1.43388439e-04 9.99976111e-01 1.07590748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:79.84, Z:1.08 [[ 5.59417205e-01 -8.28877858e-01 -3.72653190e-03 1.56381000e+02] [ 8.28857432e-01 5.59429592e-01 -5.82149021e-03 7.98395510e+01] [ 6.91003655e-03 1.67878122e-04 9.99976111e-01 1.07698382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:79.86, Z:1.08 [[ 5.60306113e-01 -8.28277238e-01 -3.72519837e-03 1.56393080e+02] [ 8.28256792e-01 5.60318469e-01 -5.82234341e-03 7.98615008e+01] [ 6.90981197e-03 1.76873754e-04 9.99976111e-01 1.07636008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:79.88, Z:1.08 [[ 5.60889788e-01 -8.27882103e-01 -3.72409972e-03 1.56407027e+02] [ 8.27861645e-01 5.60902121e-01 -5.82304605e-03 7.98849954e+01] [ 6.90965104e-03 1.83047750e-04 9.99976111e-01 1.07536916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:79.91, Z:1.07 [[ 5.60112611e-01 -8.28408114e-01 -3.72286673e-03 1.56419549e+02] [ 8.28387661e-01 5.60124955e-01 -5.82383424e-03 7.99097677e+01] [ 6.90978209e-03 1.78026142e-04 9.99976111e-01 1.07284114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:79.93, Z:1.07 [[ 5.58894793e-01 -8.29230221e-01 -3.72168941e-03 1.56431551e+02] [ 8.29209782e-01 5.58907159e-01 -5.82458650e-03 7.99327085e+01] [ 6.91000200e-03 1.69269805e-04 9.99976111e-01 1.07176388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:79.96, Z:1.07 [[ 5.55654916e-01 -8.31404699e-01 -3.72038167e-03 1.56444294e+02] [ 8.31384302e-01 5.55667352e-01 -5.82542168e-03 7.99564036e+01] [ 6.91057759e-03 1.43857273e-04 9.99976111e-01 1.07049415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:79.98, Z:1.07 [[ 5.53622189e-01 -8.32759653e-01 -3.71913133e-03 1.56457915e+02] [ 8.32739282e-01 5.53634666e-01 -5.82621983e-03 7.99784829e+01] [ 6.91088083e-03 1.28457830e-04 9.99976111e-01 1.06966038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.47, Y:80.00, Z:1.07 [[ 5.49398648e-01 -8.35552095e-01 -3.71781298e-03 1.56471012e+02] [ 8.35531781e-01 5.49411219e-01 -5.82706097e-03 8.00019058e+01] [ 6.91142116e-03 9.50285213e-05 9.99976111e-01 1.06850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:80.02, Z:1.07 [[ 5.47209704e-01 -8.36987292e-01 -3.71649977e-03 1.56484899e+02] [ 8.36967006e-01 5.47222319e-01 -5.82789841e-03 8.00242657e+01] [ 6.91162854e-03 7.84948747e-05 9.99976111e-01 1.06800047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:80.05, Z:1.07 [[ 5.44110004e-01 -8.39005663e-01 -3.71511395e-03 1.56496496e+02] [ 8.38985417e-01 5.44122684e-01 -5.82878170e-03 8.00472364e+01] [ 6.91185863e-03 5.45720024e-05 9.99976111e-01 1.07047463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:80.07, Z:1.07 [[ 5.43914460e-01 -8.39132449e-01 -3.71393153e-03 1.56510651e+02] [ 8.39112201e-01 5.43927137e-01 -5.82953501e-03 8.00699953e+01] [ 6.91186013e-03 5.43631272e-05 9.99976111e-01 1.07065994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:80.09, Z:1.07 [[ 5.42999680e-01 -8.39724696e-01 -3.71257273e-03 1.56523605e+02] [ 8.39704456e-01 5.43012369e-01 -5.83040024e-03 8.00941184e+01] [ 6.91190398e-03 4.84415997e-05 9.99976111e-01 1.07413213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:80.12, Z:1.07 [[ 5.42825227e-01 -8.39837484e-01 -3.71126857e-03 1.56536761e+02] [ 8.39817241e-01 5.42837912e-01 -5.83123027e-03 8.01163192e+01] [ 6.91190303e-03 4.85515668e-05 9.99976111e-01 1.07299896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:80.14, Z:1.07 [[ 5.43012884e-01 -8.39716167e-01 -3.71025877e-03 1.56551004e+02] [ 8.39695917e-01 5.43025557e-01 -5.83187270e-03 8.01384889e+01] [ 6.91188313e-03 5.12928752e-05 9.99976111e-01 1.07199937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:80.16, Z:1.07 [[ 5.43496707e-01 -8.39403106e-01 -3.70890338e-03 1.56564781e+02] [ 8.39382843e-01 5.43509359e-01 -5.83273457e-03 8.01615286e+01] [ 6.91183921e-03 5.68821673e-05 9.99976111e-01 1.07371417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:80.19, Z:1.07 [[ 5.44888173e-01 -8.38500526e-01 -3.70762871e-03 1.56577358e+02] [ 8.38480237e-01 5.44900782e-01 -5.83354471e-03 8.01850118e+01] [ 6.91172009e-03 6.98561151e-05 9.99976111e-01 1.07395683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:80.21, Z:1.08 [[ 5.45249039e-01 -8.38265918e-01 -3.70628946e-03 1.56591400e+02] [ 8.38245617e-01 5.45261631e-01 -5.83439547e-03 8.02082885e+01] [ 6.91167230e-03 7.44176297e-05 9.99976111e-01 1.07524163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:80.23, Z:1.07 [[ 5.45926713e-01 -8.37824741e-01 -3.70500490e-03 1.56604171e+02] [ 8.37804425e-01 5.45939279e-01 -5.83521108e-03 8.02306346e+01] [ 6.91159192e-03 8.15281128e-05 9.99976111e-01 1.07139541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:80.25, Z:1.08 [[ 5.45861559e-01 -8.37867198e-01 -3.70365203e-03 1.56616006e+02] [ 8.37846877e-01 5.45874117e-01 -5.83606963e-03 8.02539284e+01] [ 6.91157909e-03 8.25927815e-05 9.99976111e-01 1.07563738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:80.28, Z:1.08 [[ 5.45256331e-01 -8.38261193e-01 -3.70226505e-03 1.56630457e+02] [ 8.38240874e-01 5.45268894e-01 -5.83694936e-03 8.02774178e+01] [ 6.91161811e-03 7.92436990e-05 9.99976111e-01 1.07621995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:80.30, Z:1.08 [[ 5.44551425e-01 -8.38719290e-01 -3.70099229e-03 1.56645159e+02] [ 8.38698977e-01 5.44563997e-01 -5.83775626e-03 8.02986967e+01] [ 6.91166594e-03 7.49400432e-05 9.99976111e-01 1.07546977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.66, Y:80.32, Z:1.08 [[ 5.43647443e-01 -8.39305529e-01 -3.69965627e-03 1.56659822e+02] [ 8.39285223e-01 5.43660027e-01 -5.83860284e-03 8.03211058e+01] [ 6.91172687e-03 6.90746618e-05 9.99976111e-01 1.07713535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.67, Y:80.34, Z:1.07 [[ 5.43131113e-01 -8.39639754e-01 -3.69836596e-03 1.56673096e+02] [ 8.39619450e-01 5.43143701e-01 -5.83942005e-03 8.03435103e+01] [ 6.91175339e-03 6.63507137e-05 9.99976111e-01 1.07421762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:80.37, Z:1.08 [[ 5.42899283e-01 -8.39789675e-01 -3.69736888e-03 1.56688467e+02] [ 8.39769371e-01 5.42911869e-01 -5.84005131e-03 8.03664558e+01] [ 6.91176024e-03 6.56225316e-05 9.99976111e-01 1.07510365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:80.39, Z:1.07 [[ 5.42604738e-01 -8.39980022e-01 -3.69607630e-03 1.56702875e+02] [ 8.39959717e-01 5.42617323e-01 -5.84086924e-03 8.03887003e+01] [ 6.91176850e-03 6.47281241e-05 9.99976111e-01 1.07484726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:80.41, Z:1.07 [[ 5.42348145e-01 -8.40145725e-01 -3.69471628e-03 1.56716949e+02] [ 8.40125417e-01 5.42360726e-01 -5.84172942e-03 8.04105620e+01] [ 6.91177300e-03 6.42260550e-05 9.99976111e-01 1.07425379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:80.43, Z:1.07 [[ 5.42359305e-01 -8.40138526e-01 -3.69336442e-03 1.56730303e+02] [ 8.40118213e-01 5.42371877e-01 -5.84258399e-03 8.04321560e+01] [ 6.91175689e-03 6.59170733e-05 9.99976111e-01 1.07455749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:80.46, Z:1.08 [[ 5.43187223e-01 -8.39603482e-01 -3.69226591e-03 1.56743707e+02] [ 8.39583152e-01 5.43199767e-01 -5.84327812e-03 8.04551106e+01] [ 6.91167464e-03 7.40297659e-05 9.99976111e-01 1.07665391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:80.48, Z:1.08 [[ 5.44600260e-01 -8.38687626e-01 -3.69088350e-03 1.56756297e+02] [ 8.38667269e-01 5.44612759e-01 -5.84415119e-03 8.04784716e+01] [ 6.91151953e-03 8.73030704e-05 9.99976111e-01 1.07780591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:80.50, Z:1.08 [[ 5.45408212e-01 -8.38162436e-01 -3.68949858e-03 1.56768873e+02] [ 8.38142061e-01 5.45420683e-01 -5.84502537e-03 8.05008945e+01] [ 6.91140954e-03 9.56008908e-05 9.99976111e-01 1.07701796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:80.52, Z:1.08 [[ 5.46332725e-01 -8.37560118e-01 -3.68804708e-03 1.56781399e+02] [ 8.37539723e-01 5.46345163e-01 -5.84594108e-03 8.05236344e+01] [ 6.91127379e-03 1.04942991e-04 9.99976111e-01 1.07609972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:80.55, Z:1.08 [[ 5.48567052e-01 -8.36098438e-01 -3.68668132e-03 1.56794247e+02] [ 8.36078004e-01 5.48579426e-01 -5.84680226e-03 8.05463139e+01] [ 6.91093976e-03 1.25009919e-04 9.99976111e-01 1.07635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:80.57, Z:1.08 [[ 5.49385157e-01 -8.35561110e-01 -3.68530306e-03 1.56806610e+02] [ 8.35540658e-01 5.49397501e-01 -5.84767087e-03 8.05688013e+01] [ 6.91078265e-03 1.33403036e-04 9.99976111e-01 1.07648536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:80.59, Z:1.08 [[ 5.50766032e-01 -8.34651549e-01 -3.68386058e-03 1.56818694e+02] [ 8.34631070e-01 5.50778332e-01 -5.84857945e-03 8.05933001e+01] [ 6.91051647e-03 1.46534396e-04 9.99976111e-01 1.07710521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:80.62, Z:1.08 [[ 5.50688732e-01 -8.34702557e-01 -3.68259209e-03 1.56831556e+02] [ 8.34682075e-01 5.50701025e-01 -5.84937804e-03 8.06165076e+01] [ 6.91049805e-03 1.47392967e-04 9.99976111e-01 1.07568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:80.64, Z:1.08 [[ 5.49604861e-01 -8.35416630e-01 -3.68126441e-03 1.56842933e+02] [ 8.35396157e-01 5.49617172e-01 -5.85021349e-03 8.06407602e+01] [ 6.91065177e-03 1.39991630e-04 9.99976111e-01 1.07677791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:80.66, Z:1.08 [[ 5.48531085e-01 -8.36122065e-01 -3.67990080e-03 1.56855394e+02] [ 8.36101602e-01 5.48543413e-01 -5.85107111e-03 8.06634202e+01] [ 6.91079500e-03 1.32723434e-04 9.99976111e-01 1.07679433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:80.69, Z:1.08 [[ 5.47162093e-01 -8.37018585e-01 -3.67852694e-03 1.56868550e+02] [ 8.36998137e-01 5.47174445e-01 -5.85193471e-03 8.06856613e+01] [ 6.91097405e-03 1.23036654e-04 9.99976111e-01 1.07713839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:80.71, Z:1.08 [[ 5.44729541e-01 -8.38603724e-01 -3.67714018e-03 1.56881314e+02] [ 8.38583306e-01 5.44741942e-01 -5.85280597e-03 8.07096866e+01] [ 6.91127737e-03 1.04607939e-04 9.99976111e-01 1.07828329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:80.73, Z:1.08 [[ 5.42928957e-01 -8.39770585e-01 -3.67584502e-03 1.56892765e+02] [ 8.39750189e-01 5.42941392e-01 -5.85361928e-03 8.07338393e+01] [ 6.91146571e-03 9.13078569e-05 9.99976111e-01 1.07623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:80.76, Z:1.08 [[ 5.41882565e-01 -8.40446180e-01 -3.67484178e-03 1.56905940e+02] [ 8.40425795e-01 5.41895019e-01 -5.85424904e-03 8.07565700e+01] [ 6.91155970e-03 8.38836654e-05 9.99976111e-01 1.07562047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:80.78, Z:1.08 [[ 5.40952225e-01 -8.41045300e-01 -3.67346026e-03 1.56919385e+02] [ 8.41024922e-01 5.40964692e-01 -5.85511580e-03 8.07794501e+01] [ 6.91162992e-03 7.78662933e-05 9.99976111e-01 1.07545022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:80.80, Z:1.08 [[ 5.39469395e-01 -8.41997202e-01 -3.67207353e-03 1.56933591e+02] [ 8.41976841e-01 5.39481888e-01 -5.85598536e-03 8.08028684e+01] [ 6.91174045e-03 6.73240101e-05 9.99976111e-01 1.07663975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:80.82, Z:1.08 [[ 5.38743132e-01 -8.42462084e-01 -3.67082074e-03 1.56946455e+02] [ 8.42441728e-01 5.38755634e-01 -5.85677057e-03 8.08245244e+01] [ 6.91178249e-03 6.28423537e-05 9.99976111e-01 1.07585671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:80.85, Z:1.08 [[ 5.37637378e-01 -8.43168182e-01 -3.66970858e-03 1.56958125e+02] [ 8.43147838e-01 5.37649899e-01 -5.85746734e-03 8.08496828e+01] [ 6.91184853e-03 5.50865324e-05 9.99976111e-01 1.07886511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:80.87, Z:1.08 [[ 5.37344701e-01 -8.43354739e-01 -3.66845135e-03 1.56970020e+02] [ 8.43334393e-01 5.37357220e-01 -5.85825462e-03 8.08715744e+01] [ 6.91185561e-03 5.41708766e-05 9.99976111e-01 1.07865758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.98, Y:80.89, Z:1.08 [[ 5.37419912e-01 -8.43306819e-01 -3.66699129e-03 1.56982232e+02] [ 8.43286467e-01 5.37432419e-01 -5.85916840e-03 8.08939867e+01] [ 6.91183667e-03 5.65096354e-05 9.99976111e-01 1.07876535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:80.92, Z:1.08 [[ 5.37295182e-01 -8.43386299e-01 -3.66590043e-03 1.56995855e+02] [ 8.43365943e-01 5.37307685e-01 -5.85985084e-03 8.09165136e+01] [ 6.91183438e-03 5.67740460e-05 9.99976111e-01 1.07973228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:80.94, Z:1.08 [[ 5.37036416e-01 -8.43551114e-01 -3.66153614e-03 1.57009425e+02] [ 8.43530743e-01 5.37048895e-01 -5.86257993e-03 8.09406888e+01] [ 6.91180977e-03 5.98006078e-05 9.99976111e-01 1.08057396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.02, Y:80.96, Z:1.08 [[ 5.36593805e-01 -8.43832722e-01 -3.66403344e-03 1.57022457e+02] [ 8.43812369e-01 5.36606312e-01 -5.86101874e-03 8.09639551e+01] [ 6.91186287e-03 5.32296133e-05 9.99976111e-01 1.07999413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:80.99, Z:1.08 [[ 5.35577772e-01 -8.44477966e-01 -3.66277522e-03 1.57035884e+02] [ 8.44457622e-01 5.35590294e-01 -5.86180494e-03 8.09860906e+01] [ 6.91191197e-03 4.63939688e-05 9.99976111e-01 1.08075683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:81.01, Z:1.08 [[ 5.34074909e-01 -8.45429232e-01 -3.66139363e-03 1.57049370e+02] [ 8.45408905e-01 5.34087458e-01 -5.86266778e-03 8.10071550e+01] [ 6.91197513e-03 3.57289788e-05 9.99976111e-01 1.08137148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:81.03, Z:1.08 [[ 5.32552268e-01 -8.46389262e-01 -3.64669542e-03 1.57063608e+02] [ 8.46368895e-01 5.32564752e-01 -5.87184200e-03 8.10310963e+01] [ 6.91196546e-03 4.06132000e-05 9.99976111e-01 1.08318783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:81.05, Z:1.08 [[ 5.30705299e-01 -8.47548522e-01 -3.65899802e-03 1.57077463e+02] [ 8.47528235e-01 5.30717912e-01 -5.86416568e-03 8.10546534e+01] [ 6.91206075e-03 1.10396625e-05 9.99976111e-01 1.08411224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:81.08, Z:1.08 [[ 5.29766087e-01 -8.48135905e-01 -3.65775850e-03 1.57091156e+02] [ 8.48115627e-01 5.29778714e-01 -5.86493873e-03 8.10768276e+01] [ 6.91206771e-03 4.84349477e-06 9.99976111e-01 1.08372238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:81.10, Z:1.08 [[ 5.28633794e-01 -8.48842119e-01 -3.65637265e-03 1.57106789e+02] [ 8.48821851e-01 5.28646438e-01 -5.86580258e-03 8.10990691e+01] [ 6.91206867e-03 -2.74752605e-06 9.99976111e-01 1.08371498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:81.12, Z:1.08 [[ 5.27860129e-01 -8.49323451e-01 -3.65508789e-03 1.57120149e+02] [ 8.49303189e-01 5.27872784e-01 -5.86660303e-03 8.11210663e+01] [ 6.91206495e-03 -7.53196543e-06 9.99976111e-01 1.08124087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:81.14, Z:1.08 [[ 5.27256134e-01 -8.49698545e-01 -3.65409358e-03 1.57133256e+02] [ 8.49678288e-01 5.27268796e-01 -5.86722229e-03 8.11437049e+01] [ 6.91205976e-03 -1.12750310e-05 9.99976111e-01 1.08024979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:81.17, Z:1.08 [[ 5.26230228e-01 -8.50334290e-01 -3.65269867e-03 1.57145518e+02] [ 8.50314043e-01 5.26242904e-01 -5.86809057e-03 8.11664589e+01] [ 6.91204539e-03 -1.79743399e-05 9.99976111e-01 1.07892977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.16, Y:81.19, Z:1.08 [[ 5.25736180e-01 -8.50639838e-01 -3.65159139e-03 1.57159289e+02] [ 8.50619593e-01 5.25748861e-01 -5.86877953e-03 8.11901078e+01] [ 6.91203768e-03 -2.06854502e-05 9.99976111e-01 1.08115445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:81.21, Z:1.08 [[ 5.25082081e-01 -8.51043761e-01 -3.65031759e-03 1.57173390e+02] [ 8.51023520e-01 5.25094769e-01 -5.86957171e-03 8.12132063e+01] [ 6.91202505e-03 -2.44991897e-05 9.99976111e-01 1.08178088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:81.24, Z:1.08 [[ 5.25189453e-01 -8.50977510e-01 -3.64902673e-03 1.57188034e+02] [ 8.50957262e-01 5.25202129e-01 -5.87037411e-03 8.12354252e+01] [ 6.91203295e-03 -2.21072242e-05 9.99976111e-01 1.08192801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:81.26, Z:1.08 [[ 5.25452079e-01 -8.50815378e-01 -3.64767503e-03 1.57202277e+02] [ 8.50795120e-01 5.25464739e-01 -5.87121390e-03 8.12578143e+01] [ 6.91204368e-03 -1.83825634e-05 9.99976111e-01 1.08138549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:81.28, Z:1.08 [[ 5.25808691e-01 -8.50595041e-01 -3.64632763e-03 1.57216287e+02] [ 8.50574772e-01 5.25821334e-01 -5.87205058e-03 8.12805276e+01] [ 6.91205397e-03 -1.38990648e-05 9.99976111e-01 1.08180345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:81.30, Z:1.08 [[ 5.25767718e-01 -8.50620374e-01 -3.64506798e-03 1.57229797e+02] [ 8.50600100e-01 5.25780353e-01 -5.87283241e-03 8.13025952e+01] [ 6.91205602e-03 -1.27494965e-05 9.99976111e-01 1.08204826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:81.33, Z:1.09 [[ 5.24866729e-01 -8.51176621e-01 -3.64374415e-03 1.57243823e+02] [ 8.51156355e-01 5.24879376e-01 -5.87365365e-03 8.13261144e+01] [ 6.91204282e-03 -1.85106095e-05 9.99976111e-01 1.08547322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:81.35, Z:1.09 [[ 5.24077523e-01 -8.51662775e-01 -3.64245166e-03 1.57258557e+02] [ 8.51642516e-01 5.24090180e-01 -5.87445505e-03 8.13494495e+01] [ 6.91202784e-03 -2.33968456e-05 9.99976111e-01 1.08627715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:81.37, Z:1.08 [[ 5.22015288e-01 -8.52928356e-01 -3.64116021e-03 1.57276690e+02] [ 8.52908122e-01 5.22027985e-01 -5.87525543e-03 8.13705355e+01] [ 6.91195948e-03 -3.86019578e-05 9.99976111e-01 1.08449600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:81.39, Z:1.08 [[ 5.20753666e-01 -8.53699227e-01 -3.63987768e-03 1.57292634e+02] [ 8.53679006e-01 5.20766384e-01 -5.87604988e-03 8.13918204e+01] [ 6.91190518e-03 -4.73126409e-05 9.99976111e-01 1.08389522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:81.41, Z:1.08 [[ 5.18185491e-01 -8.55260520e-01 -3.63853141e-03 1.57309033e+02] [ 8.55240331e-01 5.18198261e-01 -5.87688339e-03 8.14120546e+01] [ 6.91174699e-03 -6.65030990e-05 9.99976111e-01 1.08410837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:157.33, Y:81.43, Z:1.08 [[ 5.16226489e-01 -8.56444384e-01 -3.63714303e-03 1.57325811e+02] [ 8.56424218e-01 5.16239296e-01 -5.87774251e-03 8.14330060e+01] [ 6.91159573e-03 -8.06909983e-05 9.99976111e-01 1.08409535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:81.45, Z:1.08 [[ 5.15256188e-01 -8.57028496e-01 -3.63575997e-03 1.57342218e+02] [ 8.57008338e-01 5.15269008e-01 -5.87859790e-03 8.14543197e+01] [ 6.91152035e-03 -8.68926666e-05 9.99976111e-01 1.08264799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:81.47, Z:1.08 [[ 5.14710859e-01 -8.57356124e-01 -3.63438043e-03 1.57358026e+02] [ 8.57335969e-01 5.14723682e-01 -5.87945067e-03 8.14740585e+01] [ 6.91148471e-03 -8.96679632e-05 9.99976111e-01 1.08180548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:81.50, Z:1.08 [[ 5.14514399e-01 -8.57474044e-01 -3.63294146e-03 1.57371867e+02] [ 8.57453885e-01 5.14527217e-01 -5.88033968e-03 8.14970062e+01] [ 6.91148590e-03 -8.95603353e-05 9.99976111e-01 1.08199080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:81.52, Z:1.08 [[ 5.14875474e-01 -8.57257288e-01 -3.63159387e-03 1.57389896e+02] [ 8.57237118e-01 5.14888275e-01 -5.88117181e-03 8.15166371e+01] [ 6.91154250e-03 -8.50659401e-05 9.99976111e-01 1.08476151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:81.54, Z:1.09 [[ 5.17087756e-01 -8.55924690e-01 -3.63023153e-03 1.57406881e+02] [ 8.55904481e-01 5.17100495e-01 -5.88201261e-03 8.15382882e+01] [ 6.91175434e-03 -6.56147362e-05 9.99976111e-01 1.08671399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:81.56, Z:1.09 [[ 5.18783863e-01 -8.54897733e-01 -3.62896094e-03 1.57421962e+02] [ 8.54877494e-01 5.18796552e-01 -5.88279641e-03 8.15593189e+01] [ 6.91188174e-03 -5.04171945e-05 9.99976111e-01 1.08514322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.44, Y:81.58, Z:1.09 [[ 5.20368079e-01 -8.53934392e-01 -3.62157443e-03 1.57437546e+02] [ 8.53914098e-01 5.20380681e-01 -5.88735035e-03 8.15819689e+01] [ 6.91200831e-03 -2.89242695e-05 9.99976111e-01 1.08704848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:81.60, Z:1.09 [[ 5.24080457e-01 -8.51661039e-01 -3.62633570e-03 1.57454071e+02] [ 8.51640710e-01 5.24093003e-01 -5.88441616e-03 8.16027448e+01] [ 6.91206514e-03 -4.42759529e-06 9.99976111e-01 1.08582454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:157.47, Y:81.63, Z:1.09 [[ 5.25682938e-01 -8.50672856e-01 -3.62498601e-03 1.57469076e+02] [ 8.50652498e-01 5.25695437e-01 -5.88524749e-03 8.16257669e+01] [ 6.91205890e-03 1.01707888e-05 9.99976111e-01 1.08813963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:81.65, Z:1.09 [[ 5.28075293e-01 -8.49189822e-01 -3.62369939e-03 1.57485454e+02] [ 8.49169423e-01 5.28087725e-01 -5.88603959e-03 8.16454833e+01] [ 6.91199608e-03 3.11373652e-05 9.99976111e-01 1.08502330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.50, Y:81.67, Z:1.09 [[ 5.28865243e-01 -8.48698080e-01 -3.62255681e-03 1.57500292e+02] [ 8.48677665e-01 5.28877648e-01 -5.88674271e-03 8.16669349e+01] [ 6.91195656e-03 3.89105640e-05 9.99976111e-01 1.08564882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:81.69, Z:1.08 [[ 5.29851862e-01 -8.48082479e-01 -3.62115142e-03 1.57514281e+02] [ 8.48062043e-01 5.29864234e-01 -5.88760709e-03 8.16878576e+01] [ 6.91189504e-03 4.85985146e-05 9.99976111e-01 1.08454677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:81.71, Z:1.08 [[ 5.29973116e-01 -8.48006717e-01 -3.62003238e-03 1.57528680e+02] [ 8.47986275e-01 5.29985477e-01 -5.88829506e-03 8.17099293e+01] [ 6.91187835e-03 5.09003062e-05 9.99976111e-01 1.08395233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:81.73, Z:1.08 [[ 5.29343768e-01 -8.48399718e-01 -3.61864158e-03 1.57544870e+02] [ 8.48379279e-01 5.29356134e-01 -5.88914965e-03 8.17316671e+01] [ 6.91190302e-03 4.74041304e-05 9.99976111e-01 1.08404392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:81.75, Z:1.08 [[ 5.28911563e-01 -8.48669237e-01 -3.61734930e-03 1.57558651e+02] [ 8.48648799e-01 5.28923931e-01 -5.88994331e-03 8.17528897e+01] [ 6.91191630e-03 4.53999788e-05 9.99976111e-01 1.08302719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:81.77, Z:1.08 [[ 5.27273985e-01 -8.49687631e-01 -3.61584591e-03 1.57573521e+02] [ 8.49667211e-01 5.27286382e-01 -5.89086610e-03 8.17740377e+01] [ 6.91198237e-03 3.38347354e-05 9.99976111e-01 1.08436929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:81.80, Z:1.09 [[ 5.25736806e-01 -8.50639610e-01 -3.61453324e-03 1.57588253e+02] [ 8.50619207e-01 5.25749230e-01 -5.89167142e-03 8.17958230e+01] [ 6.91202715e-03 2.28771099e-05 9.99976111e-01 1.08665854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:81.82, Z:1.09 [[ 5.23976806e-01 -8.51724869e-01 -3.61311449e-03 1.57602402e+02] [ 8.51704485e-01 5.23989263e-01 -5.89254135e-03 8.18170213e+01] [ 6.91205721e-03 1.02491743e-05 9.99976111e-01 1.08652205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:81.84, Z:1.09 [[ 5.20814246e-01 -8.53662391e-01 -3.61162974e-03 1.57618184e+02] [ 8.53642047e-01 5.20826768e-01 -5.89345124e-03 8.18379849e+01] [ 6.91205112e-03 -1.36456420e-05 9.99976111e-01 1.08859490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:81.86, Z:1.09 [[ 5.19283359e-01 -8.54594500e-01 -3.61019283e-03 1.57632433e+02] [ 8.54574173e-01 5.19295908e-01 -5.89433133e-03 8.18586722e+01] [ 6.91202149e-03 -2.43493784e-05 9.99976111e-01 1.08733796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:157.65, Y:81.88, Z:1.09 [[ 5.17229074e-01 -8.55839391e-01 -3.60869497e-03 1.57648067e+02] [ 8.55819087e-01 5.17241661e-01 -5.89524822e-03 8.18797050e+01] [ 6.91195302e-03 -3.91962603e-05 9.99976111e-01 1.08726475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:81.90, Z:1.08 [[ 5.16311973e-01 -8.56392978e-01 -3.60731420e-03 1.57662792e+02] [ 8.56372683e-01 5.16324573e-01 -5.89609299e-03 8.19003667e+01] [ 6.91191760e-03 -4.49819351e-05 9.99976111e-01 1.08438966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:81.92, Z:1.09 [[ 5.15489959e-01 -8.56888031e-01 -3.60621647e-03 1.57679193e+02] [ 8.56867743e-01 5.15502570e-01 -5.89676432e-03 8.19206264e+01] [ 6.91188063e-03 -5.03277760e-05 9.99976111e-01 1.08672481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:81.94, Z:1.09 [[ 5.15138449e-01 -8.57099401e-01 -3.60483241e-03 1.57693536e+02] [ 8.57079112e-01 5.15151059e-01 -5.89761031e-03 8.19419158e+01] [ 6.91187150e-03 -5.15407337e-05 9.99976111e-01 1.08625948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:81.96, Z:1.09 [[ 5.14537430e-01 -8.57460349e-01 -3.60338513e-03 1.57708694e+02] [ 8.57440062e-01 5.14550044e-01 -5.89849445e-03 8.19639716e+01] [ 6.91184708e-03 -5.46906031e-05 9.99976111e-01 1.08679116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:81.99, Z:1.09 [[ 5.14119115e-01 -8.57711234e-01 -3.60197587e-03 1.57723203e+02] [ 8.57690948e-01 5.14131729e-01 -5.89935490e-03 8.19857822e+01] [ 6.91183306e-03 -5.64109785e-05 9.99976111e-01 1.08686189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:82.01, Z:1.09 [[ 5.13720534e-01 -8.57950027e-01 -3.60057386e-03 1.57738339e+02] [ 8.57929740e-01 5.13733149e-01 -5.90021047e-03 8.20078266e+01] [ 6.91181988e-03 -5.79801237e-05 9.99976111e-01 1.08754432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:82.03, Z:1.09 [[ 5.14851133e-01 -8.57272044e-01 -3.59916574e-03 1.57753668e+02] [ 8.57251735e-01 5.14863711e-01 -5.90106931e-03 8.20277456e+01] [ 6.91190158e-03 -4.72188534e-05 9.99976111e-01 1.08736259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:82.05, Z:1.09 [[ 5.18551527e-01 -8.55038810e-01 -3.59804720e-03 1.57768187e+02] [ 8.55018442e-01 5.18564010e-01 -5.90175124e-03 8.20496057e+01] [ 6.91204414e-03 -1.60345892e-05 9.99976111e-01 1.08860520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:82.07, Z:1.09 [[ 5.21425123e-01 -8.53289461e-01 -3.59661841e-03 1.57782273e+02] [ 8.53269046e-01 5.21437527e-01 -5.90262184e-03 8.20712291e+01] [ 6.91205682e-03 8.89216442e-06 9.99976111e-01 1.08833353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:82.09, Z:1.09 [[ 5.24652584e-01 -8.51308840e-01 -3.59512485e-03 1.57796025e+02] [ 8.51288371e-01 5.24664900e-01 -5.90353138e-03 8.20931777e+01] [ 6.91196427e-03 3.68150126e-05 9.99976111e-01 1.08933090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:82.12, Z:1.09 [[ 5.31460820e-01 -8.47075252e-01 -3.59373842e-03 1.57807664e+02] [ 8.47054679e-01 5.31472962e-01 -5.90437524e-03 8.21163054e+01] [ 6.91142495e-03 9.38511585e-05 9.99976111e-01 1.09105360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:82.14, Z:1.09 [[ 5.36844252e-01 -8.43673719e-01 -3.59232415e-03 1.57817755e+02] [ 8.43653063e-01 5.36856253e-01 -5.90523558e-03 8.21394806e+01] [ 6.91065375e-03 1.39516507e-04 9.99976111e-01 1.09149926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:82.16, Z:1.09 [[ 5.38829113e-01 -8.42407439e-01 -3.59084895e-03 1.57830610e+02] [ 8.42386749e-01 5.38841055e-01 -5.90613249e-03 8.21624905e+01] [ 6.91026677e-03 1.57512560e-04 9.99976111e-01 1.09224269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:82.19, Z:1.09 [[ 5.40318270e-01 -8.41453078e-01 -3.58944533e-03 1.57842230e+02] [ 8.41432362e-01 5.40330165e-01 -5.90698541e-03 8.21854858e+01] [ 6.90993664e-03 1.71376677e-04 9.99976111e-01 1.09192211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:82.21, Z:1.09 [[ 5.42541885e-01 -8.40021089e-01 -3.58798298e-03 1.57851121e+02] [ 8.40000335e-01 5.42553715e-01 -5.90787353e-03 8.22103442e+01] [ 6.90941185e-03 1.91361937e-04 9.99976111e-01 1.09137241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:82.23, Z:1.09 [[ 5.43074591e-01 -8.39676798e-01 -3.58659105e-03 1.57862650e+02] [ 8.39656032e-01 5.43086398e-01 -5.90871842e-03 8.22343921e+01] [ 6.90924258e-03 1.97372028e-04 9.99976111e-01 1.09172205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:82.26, Z:1.09 [[ 5.43084810e-01 -8.39670195e-01 -3.58516847e-03 1.57871457e+02] [ 8.39649422e-01 5.43096607e-01 -5.90958146e-03 8.22586007e+01] [ 6.90919225e-03 1.99119287e-04 9.99976111e-01 1.08841443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:82.28, Z:1.09 [[ 5.42459242e-01 -8.40074478e-01 -3.58368544e-03 1.57882439e+02] [ 8.40053708e-01 5.42471044e-01 -5.91048066e-03 8.22831239e+01] [ 6.90928954e-03 1.95706612e-04 9.99976111e-01 1.09113019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:82.31, Z:1.09 [[ 5.40012547e-01 -8.41649343e-01 -3.58227797e-03 1.57889377e+02] [ 8.41628602e-01 5.40024400e-01 -5.91133359e-03 8.23081558e+01] [ 6.90978755e-03 1.77246711e-04 9.99976111e-01 1.08890997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:82.33, Z:1.09 [[ 5.37889883e-01 -8.43007504e-01 -3.58080469e-03 1.57900663e+02] [ 8.42986787e-01 5.37901777e-01 -5.91222590e-03 8.23317091e+01] [ 6.91017201e-03 1.61555456e-04 9.99976111e-01 1.08987635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:82.36, Z:1.09 [[ 5.32366614e-01 -8.46506336e-01 -3.57940090e-03 1.57911023e+02] [ 8.46485692e-01 5.32378634e-01 -5.91307567e-03 8.23554656e+01] [ 6.91105258e-03 1.18012423e-04 9.99976111e-01 1.09215478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:82.38, Z:1.09 [[ 5.29029205e-01 -8.48596074e-01 -3.57818927e-03 1.57922798e+02] [ 8.48575473e-01 5.29041297e-01 -5.91380877e-03 8.23780137e+01] [ 6.91144480e-03 9.22138966e-05 9.99976111e-01 1.09271877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:82.40, Z:1.10 [[ 5.25561329e-01 -8.50748198e-01 -3.57672787e-03 1.57935968e+02] [ 8.50727640e-01 5.25573495e-01 -5.91469251e-03 8.24022927e+01] [ 6.91174736e-03 6.57124008e-05 9.99976111e-01 1.09521697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:82.43, Z:1.10 [[ 5.19189717e-01 -8.54651540e-01 -3.57541656e-03 1.57948841e+02] [ 8.54631068e-01 5.19202027e-01 -5.91548509e-03 8.24256590e+01] [ 6.91204197e-03 1.55969596e-05 9.99976111e-01 1.09726965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15264000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.96, Y:82.45, Z:1.10 [[ 5.13915579e-01 -8.57833318e-01 -3.57439890e-03 1.57962006e+02] [ 8.57812918e-01 5.13928009e-01 -5.91609994e-03 8.24471268e+01] [ 6.91201135e-03 -2.57896274e-05 9.99976111e-01 1.09768365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:82.47, Z:1.10 [[ 5.11604920e-01 -8.59213385e-01 -3.57289164e-03 1.57976378e+02] [ 8.59193012e-01 5.11617394e-01 -5.91701008e-03 8.24695898e+01] [ 6.91192776e-03 -4.26320585e-05 9.99976111e-01 1.09650432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:82.49, Z:1.10 [[ 5.09732961e-01 -8.60325260e-01 -3.57149126e-03 1.57990534e+02] [ 8.60304908e-01 5.09745470e-01 -5.91785522e-03 8.24912994e+01] [ 6.91183182e-03 -5.60455996e-05 9.99976111e-01 1.09598136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:82.51, Z:1.09 [[ 5.07441470e-01 -8.61678832e-01 -3.57008252e-03 1.58004835e+02] [ 8.61658507e-01 5.07454023e-01 -5.91870495e-03 8.25117606e+01] [ 6.91167551e-03 -7.27956281e-05 9.99976111e-01 1.09307093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:82.53, Z:1.10 [[ 5.06977751e-01 -8.61951753e-01 -3.56861007e-03 1.58018681e+02] [ 8.61931430e-01 5.06990305e-01 -5.91959262e-03 8.25337485e+01] [ 6.91165394e-03 -7.47954283e-05 9.99976111e-01 1.09556502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:82.55, Z:1.09 [[ 5.07397137e-01 -8.61704950e-01 -3.56717242e-03 1.58033733e+02] [ 8.61684614e-01 5.07409672e-01 -5.92045882e-03 8.25546605e+01] [ 6.91170646e-03 -6.97537309e-05 9.99976111e-01 1.09215770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:82.58, Z:1.09 [[ 5.08069428e-01 -8.61308738e-01 -3.56567100e-03 1.58048623e+02] [ 8.61288386e-01 5.08081936e-01 -5.92136293e-03 8.25762999e+01] [ 6.91177466e-03 -6.26075413e-05 9.99976111e-01 1.09264045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:82.60, Z:1.09 [[ 5.10531758e-01 -8.59851510e-01 -3.56423774e-03 1.58064971e+02] [ 8.59831117e-01 5.10544198e-01 -5.92222552e-03 8.25959269e+01] [ 6.91193546e-03 -4.11583093e-05 9.99976111e-01 1.09162988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.08, Y:82.62, Z:1.09 [[ 5.12207223e-01 -8.58854507e-01 -3.56309450e-03 1.58078875e+02] [ 8.58834084e-01 5.12219616e-01 -5.92291328e-03 8.26183676e+01] [ 6.91200766e-03 -2.63480356e-05 9.99976111e-01 1.09387238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:82.64, Z:1.09 [[ 5.14338643e-01 -8.57579778e-01 -3.56164827e-03 1.58092845e+02] [ 8.57559318e-01 5.14350975e-01 -5.92378281e-03 8.26396978e+01] [ 6.91205361e-03 -7.49424963e-06 9.99976111e-01 1.09199942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:82.66, Z:1.09 [[ 5.18623218e-01 -8.54995486e-01 -3.56049516e-03 1.58108150e+02] [ 8.54974960e-01 5.18635439e-01 -5.92447581e-03 8.26605979e+01] [ 6.91199904e-03 2.84365053e-05 9.99976111e-01 1.09433290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:82.68, Z:1.09 [[ 5.20622891e-01 -8.53779327e-01 -3.55899381e-03 1.58121816e+02] [ 8.53758767e-01 5.20635053e-01 -5.92537757e-03 8.26824307e+01] [ 6.91190181e-03 4.63650334e-05 9.99976111e-01 1.09315746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:82.71, Z:1.09 [[ 5.24265789e-01 -8.51547255e-01 -3.55749588e-03 1.58135993e+02] [ 8.51526636e-01 5.24277853e-01 -5.92627677e-03 8.27050928e+01] [ 6.91162102e-03 7.76416664e-05 9.99976111e-01 1.09282627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:158.15, Y:82.73, Z:1.09 [[ 5.25688409e-01 -8.50669766e-01 -3.55609305e-03 1.58149738e+02] [ 8.50649122e-01 5.25700429e-01 -5.92711843e-03 8.27274471e+01] [ 6.91146009e-03 9.08300288e-05 9.99976111e-01 1.09436240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:82.75, Z:1.09 [[ 5.26774025e-01 -8.49997936e-01 -3.55465491e-03 1.58163119e+02] [ 8.49977270e-01 5.26786009e-01 -5.92798079e-03 8.27489505e+01] [ 6.91131391e-03 1.01330425e-04 9.99976111e-01 1.09249083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:82.77, Z:1.09 [[ 5.28428457e-01 -8.48970401e-01 -3.55314990e-03 1.58175947e+02] [ 8.48949706e-01 5.28440389e-01 -5.92888274e-03 8.27713074e+01] [ 6.91107387e-03 1.16544792e-04 9.99976111e-01 1.08974103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:82.79, Z:1.09 [[ 5.29503835e-01 -8.48300109e-01 -3.55169207e-03 1.58190417e+02] [ 8.48279393e-01 5.29515731e-01 -5.92975592e-03 8.27935796e+01] [ 6.91088942e-03 1.27001301e-04 9.99976111e-01 1.09188471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:82.82, Z:1.09 [[ 5.29927253e-01 -8.48035672e-01 -3.55029526e-03 1.58204720e+02] [ 8.48014945e-01 5.29939129e-01 -5.93059211e-03 8.28166703e+01] [ 6.91079405e-03 1.32078943e-04 9.99976111e-01 1.09430574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:82.84, Z:1.09 [[ 5.30409723e-01 -8.47733997e-01 -3.54898463e-03 1.58217678e+02] [ 8.47713258e-01 5.30421578e-01 -5.93137631e-03 8.28384253e+01] [ 6.91068738e-03 1.37538340e-04 9.99976111e-01 1.09292917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:82.86, Z:1.09 [[ 5.31502946e-01 -8.47049015e-01 -3.54746361e-03 1.58229748e+02] [ 8.47028255e-01 5.31514763e-01 -5.93228587e-03 8.28621018e+01] [ 6.91046619e-03 1.48225509e-04 9.99976111e-01 1.09305611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:82.88, Z:1.09 [[ 5.32104117e-01 -8.46671503e-01 -3.54607022e-03 1.58241656e+02] [ 8.46650729e-01 5.32115910e-01 -5.93311866e-03 8.28842640e+01] [ 6.91032288e-03 1.54753930e-04 9.99976111e-01 1.09380252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:82.91, Z:1.09 [[ 5.31907035e-01 -8.46795335e-01 -3.54495868e-03 1.58255151e+02] [ 8.46774559e-01 5.31918826e-01 -5.93378272e-03 8.29074262e+01] [ 6.91032978e-03 1.54439951e-04 9.99976111e-01 1.09398782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.27, Y:82.93, Z:1.10 [[ 5.32634957e-01 -8.46337667e-01 -3.54357734e-03 1.58267488e+02] [ 8.46316875e-01 5.32646720e-01 -5.93460752e-03 8.29309840e+01] [ 6.91015673e-03 1.61990122e-04 9.99976111e-01 1.09551761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:158.28, Y:82.95, Z:1.10 [[ 5.32342526e-01 -8.46521640e-01 -3.54218964e-03 1.58280336e+02] [ 8.46500847e-01 5.32354287e-01 -5.93543569e-03 8.29541968e+01] [ 6.91017459e-03 1.61218303e-04 9.99976111e-01 1.09649589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:158.29, Y:82.98, Z:1.10 [[ 5.31420045e-01 -8.47101056e-01 -3.54079925e-03 1.58291967e+02] [ 8.47080270e-01 5.31431818e-01 -5.93626501e-03 8.29780726e+01] [ 6.91030974e-03 1.55309033e-04 9.99976111e-01 1.09801552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:83.00, Z:1.10 [[ 5.30161761e-01 -8.47889132e-01 -3.53937919e-03 1.58304692e+02] [ 8.47868358e-01 5.30173555e-01 -5.93711157e-03 8.30020678e+01] [ 6.91049762e-03 1.46701906e-04 9.99976111e-01 1.09742654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:83.03, Z:1.09 [[ 5.27662038e-01 -8.49447029e-01 -3.53807396e-03 1.58316223e+02] [ 8.49426285e-01 5.27673884e-01 -5.93788929e-03 8.30250276e+01] [ 6.91087165e-03 1.27865741e-04 9.99976111e-01 1.09487954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:83.05, Z:1.10 [[ 5.26409540e-01 -8.50223787e-01 -3.53656034e-03 1.58329291e+02] [ 8.50203054e-01 5.26421406e-01 -5.93879065e-03 8.30484217e+01] [ 6.91102215e-03 1.19441653e-04 9.99976111e-01 1.09669713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:83.07, Z:1.10 [[ 5.24595292e-01 -8.51344395e-01 -3.53563639e-03 1.58341100e+02] [ 8.51323683e-01 5.24607196e-01 -5.93934067e-03 8.30708872e+01] [ 6.91124468e-03 1.05779156e-04 9.99976111e-01 1.09610044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:83.09, Z:1.09 [[ 5.23835198e-01 -8.51812299e-01 -3.53446611e-03 1.58352890e+02] [ 8.51791594e-01 5.23847112e-01 -5.94003701e-03 8.30931216e+01] [ 6.91131645e-03 1.00971941e-04 9.99976111e-01 1.09438907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:83.12, Z:1.09 [[ 5.22655561e-01 -8.52536615e-01 -3.53330552e-03 1.58363580e+02] [ 8.52515921e-01 5.22667496e-01 -5.94072729e-03 8.31166514e+01] [ 6.91143148e-03 9.27549420e-05 9.99976111e-01 1.09460578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:83.14, Z:1.10 [[ 5.21976615e-01 -8.52952484e-01 -3.53183558e-03 1.58375656e+02] [ 8.52931794e-01 5.21988556e-01 -5.94160106e-03 8.31399676e+01] [ 6.91148113e-03 8.89619494e-05 9.99976111e-01 1.09666659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:83.16, Z:1.10 [[ 5.21079481e-01 -8.53500856e-01 -3.53038828e-03 1.58387819e+02] [ 8.53480173e-01 5.21091433e-01 -5.94246089e-03 8.31635020e+01] [ 6.91155055e-03 8.33780321e-05 9.99976111e-01 1.09717216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:83.19, Z:1.10 [[ 5.20873562e-01 -8.53626545e-01 -3.52902203e-03 1.58400401e+02] [ 8.53605859e-01 5.20885510e-01 -5.94327215e-03 8.31860433e+01] [ 6.91155131e-03 8.32994529e-05 9.99976111e-01 1.09858605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:83.21, Z:1.10 [[ 5.21660925e-01 -8.53145612e-01 -3.52753055e-03 1.58411616e+02] [ 8.53124909e-01 5.21672844e-01 -5.94415726e-03 8.32090200e+01] [ 6.91144858e-03 9.14103975e-05 9.99976111e-01 1.09879777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:83.23, Z:1.10 [[ 5.22197178e-01 -8.52817492e-01 -3.52604880e-03 1.58423149e+02] [ 8.52796776e-01 5.22209073e-01 -5.94503610e-03 8.32328463e+01] [ 6.91136545e-03 9.74780216e-05 9.99976111e-01 1.10034683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.43, Y:83.26, Z:1.10 [[ 5.24314101e-01 -8.51517645e-01 -3.52464561e-03 1.58432540e+02] [ 8.51496894e-01 5.24325935e-01 -5.94586790e-03 8.32574517e+01] [ 6.91107453e-03 1.16277596e-04 9.99976111e-01 1.10211435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:83.28, Z:1.10 [[ 5.25348744e-01 -8.50879712e-01 -3.52321982e-03 1.58443380e+02] [ 8.50858941e-01 5.25360542e-01 -5.94671262e-03 8.32805583e+01] [ 6.91089780e-03 1.26334918e-04 9.99976111e-01 1.10181280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.45, Y:83.30, Z:1.10 [[ 5.26468646e-01 -8.50187251e-01 -3.52173069e-03 1.58454000e+02] [ 8.50166459e-01 5.26480407e-01 -5.94759438e-03 8.33036899e+01] [ 6.91069112e-03 1.37164648e-04 9.99976111e-01 1.10323269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:83.33, Z:1.10 [[ 5.28980244e-01 -8.48626837e-01 -3.52025696e-03 1.58463225e+02] [ 8.48606004e-01 5.28991933e-01 -5.94846652e-03 8.33293920e+01] [ 6.91021587e-03 1.59310074e-04 9.99976111e-01 1.10469999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:83.36, Z:1.10 [[ 5.31544655e-01 -8.47022961e-01 -3.51895460e-03 1.58472430e+02] [ 8.47002088e-01 5.31556272e-01 -5.94923686e-03 8.33550131e+01] [ 6.90966261e-03 1.81723157e-04 9.99976111e-01 1.10480165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:83.38, Z:1.10 [[ 5.32389472e-01 -8.46492219e-01 -3.51763986e-03 1.58483013e+02] [ 8.46471329e-01 5.32401059e-01 -5.95001414e-03 8.33789478e+01] [ 6.90943585e-03 1.90143602e-04 9.99976111e-01 1.10299733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:83.41, Z:1.10 [[ 5.32812623e-01 -8.46225942e-01 -3.51626371e-03 1.58490764e+02] [ 8.46205041e-01 5.32824189e-01 -5.95082728e-03 8.34053883e+01] [ 6.90929479e-03 1.95195812e-04 9.99976111e-01 1.10257226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.50, Y:83.43, Z:1.10 [[ 5.32397463e-01 -8.46487204e-01 -3.51486042e-03 1.58501514e+02] [ 8.46466303e-01 5.32409030e-01 -5.95165603e-03 8.34299103e+01] [ 6.90934410e-03 1.93435669e-04 9.99976111e-01 1.10193520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:83.45, Z:1.10 [[ 5.31338751e-01 -8.47152163e-01 -3.51346123e-03 1.58509137e+02] [ 8.47131271e-01 5.31350335e-01 -5.95248190e-03 8.34546467e+01] [ 6.90953671e-03 1.86421427e-04 9.99976111e-01 1.09753883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:83.48, Z:1.10 [[ 5.30340424e-01 -8.47777505e-01 -3.51234606e-03 1.58519739e+02] [ 8.47756622e-01 5.30352024e-01 -5.95313985e-03 8.34788125e+01] [ 6.90971789e-03 1.79576077e-04 9.99976111e-01 1.10110918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:83.50, Z:1.10 [[ 5.28541612e-01 -8.48900134e-01 -3.51094021e-03 1.58527920e+02] [ 8.48879270e-01 5.28553247e-01 -5.95396885e-03 8.35048946e+01] [ 6.91004380e-03 1.66555925e-04 9.99976111e-01 1.10192197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:83.53, Z:1.10 [[ 5.27214428e-01 -8.49725032e-01 -3.50954122e-03 1.58538320e+02] [ 8.49704181e-01 5.27226085e-01 -5.95479337e-03 8.35297883e+01] [ 6.91025866e-03 1.57381135e-04 9.99976111e-01 1.10261006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.55, Y:83.55, Z:1.10 [[ 5.23660099e-01 -8.51920063e-01 -3.50810408e-03 1.58546467e+02] [ 8.51899255e-01 5.23671833e-01 -5.95563990e-03 8.35547147e+01] [ 6.91082441e-03 1.30179725e-04 9.99976111e-01 1.09879846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:83.58, Z:1.10 [[ 5.21058555e-01 -8.53513729e-01 -3.50660343e-03 1.58557994e+02] [ 8.53492951e-01 5.21070342e-01 -5.95652333e-03 8.35784210e+01] [ 6.91116149e-03 1.10836123e-04 9.99976112e-01 1.09845290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:83.60, Z:1.10 [[ 5.17976120e-01 -8.55387896e-01 -3.50521479e-03 1.58569293e+02] [ 8.55367155e-01 5.17987972e-01 -5.95734038e-03 8.36017708e+01] [ 6.91149596e-03 8.75144486e-05 9.99976112e-01 1.09920814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:83.62, Z:1.10 [[ 5.11779434e-01 -8.59109733e-01 -3.50379773e-03 1.58579171e+02] [ 8.59089073e-01 5.11791427e-01 -5.95817371e-03 8.36247485e+01] [ 6.91193866e-03 3.91964305e-05 9.99976112e-01 1.09862063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:83.65, Z:1.10 [[ 5.05108442e-01 -8.63048780e-01 -3.50232186e-03 1.58591033e+02] [ 8.63028207e-01 5.05120584e-01 -5.95904112e-03 8.36469043e+01] [ 6.91203803e-03 -1.26405775e-05 9.99976112e-01 1.09838494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:83.67, Z:1.10 [[ 5.01987541e-01 -8.64867766e-01 -3.50086082e-03 1.58604519e+02] [ 8.64847232e-01 5.01999747e-01 -5.95989934e-03 8.36690787e+01] [ 6.91195608e-03 -3.59145767e-05 9.99976112e-01 1.09951435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.62, Y:83.69, Z:1.10 [[ 4.99279468e-01 -8.66433937e-01 -3.49946695e-03 1.58618597e+02] [ 8.66413435e-01 4.99291729e-01 -5.96071767e-03 8.36904995e+01] [ 6.91182298e-03 -5.59212286e-05 9.99976112e-01 1.09980610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:83.71, Z:1.10 [[ 4.97135120e-01 -8.67666085e-01 -3.49836112e-03 1.58632915e+02] [ 8.67645608e-01 4.97147423e-01 -5.96136661e-03 8.37125239e+01] [ 6.91167684e-03 -7.17329592e-05 9.99976112e-01 1.09985564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:158.65, Y:83.73, Z:1.10 [[ 4.94966374e-01 -8.68905092e-01 -3.49698413e-03 1.58647676e+02] [ 8.68884641e-01 4.94978720e-01 -5.96217426e-03 8.37336546e+01] [ 6.91149630e-03 -8.74000196e-05 9.99976112e-01 1.10124499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:83.75, Z:1.10 [[ 4.94667591e-01 -8.69075230e-01 -3.49554262e-03 1.58663741e+02] [ 8.69054777e-01 4.94679933e-01 -5.96301927e-03 8.37547872e+01] [ 6.91148714e-03 -8.81056337e-05 9.99976112e-01 1.10112745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.68, Y:83.78, Z:1.10 [[ 4.94948295e-01 -8.68915402e-01 -3.49412827e-03 1.58678092e+02] [ 8.68894940e-01 4.94960621e-01 -5.96384792e-03 8.37753078e+01] [ 6.91153521e-03 -8.42340146e-05 9.99976112e-01 1.10019695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:83.80, Z:1.10 [[ 4.96902485e-01 -8.67799356e-01 -3.49264700e-03 1.58692682e+02] [ 8.67778859e-01 4.96914755e-01 -5.96471528e-03 8.37974695e+01] [ 6.91172391e-03 -6.69633767e-05 9.99976112e-01 1.10117342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:158.71, Y:83.82, Z:1.10 [[ 4.98307245e-01 -8.66993484e-01 -3.49123889e-03 1.58706415e+02] [ 8.66972962e-01 4.98319472e-01 -5.96553935e-03 8.38201760e+01] [ 6.91183607e-03 -5.41382390e-05 9.99976112e-01 1.10344805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:158.72, Y:83.84, Z:1.10 [[ 4.99960715e-01 -8.66041053e-01 -3.48983186e-03 1.58719667e+02] [ 8.66020501e-01 4.99972893e-01 -5.96636235e-03 8.38414127e+01] [ 6.91193606e-03 -3.93191521e-05 9.99976112e-01 1.10304483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:83.86, Z:1.10 [[ 5.04439257e-01 -8.63440136e-01 -3.48835823e-03 1.58734686e+02] [ 8.63419516e-01 5.04451318e-01 -5.96722381e-03 8.38625354e+01] [ 6.91204745e-03 -1.81463187e-06 9.99976112e-01 1.09794600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:83.89, Z:1.10 [[ 5.05985100e-01 -8.62535202e-01 -3.47920556e-03 1.58748924e+02] [ 8.62514523e-01 5.05997061e-01 -5.97257158e-03 8.38862551e+01] [ 6.91202102e-03 2.11668966e-05 9.99976111e-01 1.10190666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:83.91, Z:1.10 [[ 5.09640965e-01 -8.60380111e-01 -3.48577519e-03 1.58762865e+02] [ 8.60359409e-01 5.09652884e-01 -5.96873488e-03 8.39077592e+01] [ 6.91191616e-03 4.28923245e-05 9.99976112e-01 1.10141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:158.78, Y:83.93, Z:1.10 [[ 5.10968309e-01 -8.59592489e-01 -3.48431150e-03 1.58776625e+02] [ 8.59571762e-01 5.10980186e-01 -5.96958920e-03 8.39305657e+01] [ 6.91182818e-03 5.52551249e-05 9.99976112e-01 1.10278131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:83.95, Z:1.10 [[ 5.13160553e-01 -8.58285568e-01 -3.48292378e-03 1.58788466e+02] [ 8.58264805e-01 5.13172368e-01 -5.97039875e-03 8.39544927e+01] [ 6.91164732e-03 7.45022286e-05 9.99976112e-01 1.10176187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:83.98, Z:1.10 [[ 5.13634714e-01 -8.58001900e-01 -3.48151104e-03 1.58801056e+02] [ 8.57981125e-01 5.13646507e-01 -5.97122244e-03 8.39780668e+01] [ 6.91158619e-03 7.99563720e-05 9.99976112e-01 1.10267751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:84.00, Z:1.10 [[ 5.13729699e-01 -8.57945036e-01 -3.48020466e-03 1.58813570e+02] [ 8.57924255e-01 5.13741480e-01 -5.97198375e-03 8.39997144e+01] [ 6.91155930e-03 8.22334210e-05 9.99976112e-01 1.10196782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:84.02, Z:1.10 [[ 5.12856301e-01 -8.58467421e-01 -3.47868708e-03 1.58826783e+02] [ 8.58446646e-01 5.12868093e-01 -5.97286761e-03 8.40218714e+01] [ 6.91161986e-03 7.69555262e-05 9.99976112e-01 1.10037667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:84.04, Z:1.10 [[ 5.11342272e-01 -8.59370112e-01 -3.47728291e-03 1.58840778e+02] [ 8.59349352e-01 5.11354091e-01 -5.97368497e-03 8.40449069e+01] [ 6.91172917e-03 6.63968337e-05 9.99976112e-01 1.10291284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:84.07, Z:1.10 [[ 5.07053880e-01 -8.61907350e-01 -3.47596400e-03 1.58855480e+02] [ 8.61886644e-01 5.07065793e-01 -5.97445232e-03 8.40661504e+01] [ 6.91196681e-03 3.34822838e-05 9.99976112e-01 1.10167655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:84.09, Z:1.10 [[ 5.04382595e-01 -8.63473291e-01 -3.47457860e-03 1.58868948e+02] [ 8.63452617e-01 5.04394563e-01 -5.97525792e-03 8.40881252e+01] [ 6.91203418e-03 1.36821101e-05 9.99976112e-01 1.10367720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:84.11, Z:1.11 [[ 4.99151736e-01 -8.66507635e-01 -3.47310202e-03 1.58883212e+02] [ 8.66487028e-01 4.99163818e-01 -5.97611606e-03 8.41111658e+01] [ 6.91199706e-03 -2.64091412e-05 9.99976112e-01 1.10659153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:84.13, Z:1.11 [[ 4.96597844e-01 -8.67973806e-01 -3.47183710e-03 1.58896836e+02] [ 8.67953228e-01 4.96609978e-01 -5.97685083e-03 8.41345291e+01] [ 6.91189891e-03 -4.53009820e-05 9.99976112e-01 1.10833450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:84.16, Z:1.11 [[ 4.92519668e-01 -8.70294394e-01 -3.47052853e-03 1.58911170e+02] [ 8.70273868e-01 4.92531890e-01 -5.97761057e-03 8.41550990e+01] [ 6.91162694e-03 -7.62195116e-05 9.99976112e-01 1.10755862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:84.18, Z:1.11 [[ 4.91103107e-01 -8.71094544e-01 -3.46901322e-03 1.58925190e+02] [ 8.71074032e-01 4.91115351e-01 -5.97848983e-03 8.41767110e+01] [ 6.91151551e-03 -8.57124036e-05 9.99976112e-01 1.10651354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:84.20, Z:1.10 [[ 4.89080089e-01 -8.72231989e-01 -3.46751914e-03 1.58940336e+02] [ 8.72211500e-01 4.89092371e-01 -5.97935626e-03 8.41973444e+01] [ 6.91132296e-03 -1.00025977e-04 9.99976112e-01 1.10486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:84.22, Z:1.11 [[ 4.88583997e-01 -8.72509979e-01 -3.46605704e-03 1.58954753e+02] [ 8.72489491e-01 4.88596281e-01 -5.98020368e-03 8.42200076e+01] [ 6.91128997e-03 -1.02266523e-04 9.99976112e-01 1.10949019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.97, Y:84.24, Z:1.11 [[ 4.88649249e-01 -8.72473442e-01 -3.46474063e-03 1.58969778e+02] [ 8.72452947e-01 4.88661522e-01 -5.98096627e-03 8.42404809e+01] [ 6.91131966e-03 -1.00228499e-04 9.99976112e-01 1.10942173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:84.26, Z:1.11 [[ 4.88689063e-01 -8.72451146e-01 -3.46357748e-03 1.58983708e+02] [ 8.72430646e-01 4.88701327e-01 -5.98163978e-03 8.42623499e+01] [ 6.91134339e-03 -9.85691959e-05 9.99976112e-01 1.10985344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:159.00, Y:84.28, Z:1.11 [[ 4.89622086e-01 -8.71927879e-01 -3.46217224e-03 1.58998792e+02] [ 8.71907360e-01 4.89634319e-01 -5.98245301e-03 8.42840875e+01] [ 6.91146591e-03 -8.95523335e-05 9.99976112e-01 1.11116776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:84.31, Z:1.11 [[ 4.90227224e-01 -8.71587800e-01 -3.46075457e-03 1.59012390e+02] [ 8.71567266e-01 4.90239432e-01 -5.98327300e-03 8.43054103e+01] [ 6.91154611e-03 -8.31170908e-05 9.99976112e-01 1.10887175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:84.33, Z:1.11 [[ 4.90966986e-01 -8.71171310e-01 -3.45927278e-03 1.59026928e+02] [ 8.71150761e-01 4.90979167e-01 -5.98412959e-03 8.43274910e+01] [ 6.91163288e-03 -7.55380421e-05 9.99976112e-01 1.10922640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:84.35, Z:1.11 [[ 4.90763077e-01 -8.71286201e-01 -3.45787298e-03 1.59040092e+02] [ 8.71265649e-01 4.90775253e-01 -5.98493834e-03 8.43508342e+01] [ 6.91163268e-03 -7.55391843e-05 9.99976112e-01 1.10941172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:84.37, Z:1.11 [[ 4.92968470e-01 -8.70040310e-01 -3.45647200e-03 1.59056341e+02] [ 8.70019721e-01 4.92980584e-01 -5.98574734e-03 8.43715608e+01] [ 6.91181505e-03 -5.64140971e-05 9.99976112e-01 1.10888059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:84.39, Z:1.11 [[ 4.95455418e-01 -8.68626497e-01 -3.45507629e-03 1.59070668e+02] [ 8.68605868e-01 4.95467464e-01 -5.98655286e-03 8.43932964e+01] [ 6.91195632e-03 -3.50294872e-05 9.99976112e-01 1.10835494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:84.41, Z:1.11 [[ 4.96496969e-01 -8.68031585e-01 -3.45366890e-03 1.59083864e+02] [ 8.68010936e-01 4.96508980e-01 -5.98736467e-03 8.44146809e+01] [ 6.91199927e-03 -2.51139618e-05 9.99976112e-01 1.10723804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:84.44, Z:1.11 [[ 4.99308478e-01 -8.66417409e-01 -3.45219726e-03 1.59099002e+02] [ 8.66396715e-01 4.99320412e-01 -5.98821307e-03 8.44367819e+01] [ 6.91204461e-03 -1.00681153e-06 9.99976112e-01 1.10816813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:84.46, Z:1.11 [[ 5.00763792e-01 -8.65577100e-01 -3.45079075e-03 1.59112261e+02] [ 8.65556381e-01 5.00775681e-01 -5.98902349e-03 8.44592000e+01] [ 6.91203367e-03 1.22321579e-05 9.99976112e-01 1.11079094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:84.48, Z:1.11 [[ 5.03990192e-01 -8.63702489e-01 -3.44931907e-03 1.59125247e+02] [ 8.63681719e-01 5.04001994e-01 -5.98987097e-03 8.44810693e+01] [ 6.91193015e-03 3.97223916e-05 9.99976112e-01 1.11012929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:84.50, Z:1.11 [[ 5.05962849e-01 -8.62548380e-01 -3.44777905e-03 1.59138578e+02] [ 8.62527578e-01 5.05974593e-01 -5.99075727e-03 8.45023636e+01] [ 6.91180658e-03 5.72961048e-05 9.99976112e-01 1.10878263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:84.52, Z:1.11 [[ 5.06496765e-01 -8.62234972e-01 -3.44665370e-03 1.59151459e+02] [ 8.62214158e-01 5.06508488e-01 -5.99140465e-03 8.45244857e+01] [ 6.91175798e-03 6.28734582e-05 9.99976112e-01 1.10803736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:84.55, Z:1.11 [[ 5.06778657e-01 -8.62069327e-01 -3.44520285e-03 1.59164671e+02] [ 8.62048503e-01 5.06790363e-01 -5.99223881e-03 8.45473714e+01] [ 6.91172087e-03 6.68067773e-05 9.99976112e-01 1.11139483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:84.57, Z:1.11 [[ 5.06940536e-01 -8.61974149e-01 -3.44375216e-03 1.59177694e+02] [ 8.61953318e-01 5.06952228e-01 -5.99307240e-03 8.45707417e+01] [ 6.91169132e-03 6.97777320e-05 9.99976112e-01 1.11161592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:84.59, Z:1.11 [[ 5.07213800e-01 -8.61813386e-01 -3.44229482e-03 1.59189680e+02] [ 8.61792545e-01 5.07225475e-01 -5.99390935e-03 8.45930617e+01] [ 6.91165094e-03 7.36495261e-05 9.99976112e-01 1.11025547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:84.62, Z:1.11 [[ 5.07040197e-01 -8.61915541e-01 -3.44077057e-03 1.59201415e+02] [ 8.61894696e-01 5.07051866e-01 -5.99478421e-03 8.46170680e+01] [ 6.91164682e-03 7.40146684e-05 9.99976112e-01 1.11130680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:159.21, Y:84.64, Z:1.11 [[ 5.06476086e-01 -8.62247148e-01 -3.43935871e-03 1.59211723e+02] [ 8.62226306e-01 5.06487759e-01 -5.99559412e-03 8.46420728e+01] [ 6.91167702e-03 7.11194923e-05 9.99976112e-01 1.11298792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.22, Y:84.66, Z:1.11 [[ 5.06125605e-01 -8.62452927e-01 -3.43821535e-03 1.59223969e+02] [ 8.62432085e-01 5.06137278e-01 -5.99624972e-03 8.46642908e+01] [ 6.91169208e-03 6.96282870e-05 9.99976112e-01 1.10827506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:84.69, Z:1.11 [[ 5.05136088e-01 -8.63032886e-01 -3.43069262e-03 1.59237543e+02] [ 8.63012029e-01 5.05147733e-01 -6.00056058e-03 8.46878754e+01] [ 6.91168771e-03 7.03706969e-05 9.99976112e-01 1.10992181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:84.71, Z:1.11 [[ 5.02940338e-01 -8.64314303e-01 -3.43553938e-03 1.59249422e+02] [ 8.64293493e-01 5.02952069e-01 -5.99778435e-03 8.47107832e+01] [ 6.91188244e-03 4.72133548e-05 9.99976112e-01 1.10931777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:84.73, Z:1.11 [[ 4.99485063e-01 -8.66315693e-01 -3.43404890e-03 1.59260043e+02] [ 8.66294924e-01 4.99496867e-01 -5.99863760e-03 8.47348614e+01] [ 6.91201056e-03 2.13307459e-05 9.99976112e-01 1.11076026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:84.76, Z:1.11 [[ 4.97211591e-01 -8.67622528e-01 -3.43272600e-03 1.59272635e+02] [ 8.67601785e-01 4.97223440e-01 -5.99939454e-03 8.47579502e+01] [ 6.91204169e-03 4.72930083e-06 9.99976112e-01 1.11179192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:84.78, Z:1.11 [[ 4.94728541e-01 -8.69040791e-01 -3.43132737e-03 1.59286179e+02] [ 8.69020077e-01 4.94740440e-01 -6.00019438e-03 8.47808659e+01] [ 6.91203008e-03 -1.34249659e-05 9.99976112e-01 1.11174585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:84.80, Z:1.11 [[ 4.90069541e-01 -8.71676592e-01 -3.42992683e-03 1.59299869e+02] [ 8.71655936e-01 4.90081541e-01 -6.00099486e-03 8.48029712e+01] [ 6.91187058e-03 -4.88112880e-05 9.99976112e-01 1.11360007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.31, Y:84.82, Z:1.11 [[ 4.88014928e-01 -8.72828549e-01 -3.42845636e-03 1.59312399e+02] [ 8.72807916e-01 4.88026966e-01 -6.00183485e-03 8.48248626e+01] [ 6.91175196e-03 -6.33988453e-05 9.99976112e-01 1.11350863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:159.33, Y:84.85, Z:1.11 [[ 4.85166180e-01 -8.74415253e-01 -3.42692897e-03 1.59326259e+02] [ 8.74394653e-01 4.85178275e-01 -6.00270683e-03 8.48466942e+01] [ 6.91152990e-03 -8.41780293e-05 9.99976112e-01 1.11341186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.34, Y:84.87, Z:1.11 [[ 4.84053693e-01 -8.75031593e-01 -3.42548217e-03 1.59340147e+02] [ 8.75011002e-01 4.84065805e-01 -6.00353234e-03 8.48694416e+01] [ 6.91143925e-03 -9.13025819e-05 9.99976112e-01 1.11419201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:84.89, Z:1.11 [[ 4.83484391e-01 -8.75346286e-01 -3.42401159e-03 1.59353611e+02] [ 8.75325697e-01 4.83496506e-01 -6.00437095e-03 8.48910121e+01] [ 6.91140145e-03 -9.41057013e-05 9.99976112e-01 1.11114977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:84.91, Z:1.11 [[ 4.83731366e-01 -8.75209833e-01 -3.42247900e-03 1.59368509e+02] [ 8.75189235e-01 4.83743465e-01 -6.00524439e-03 8.49123702e+01] [ 6.91145079e-03 -9.03917054e-05 9.99976112e-01 1.10999965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:84.93, Z:1.11 [[ 4.84061216e-01 -8.75027467e-01 -3.41617632e-03 1.59382409e+02] [ 8.75006839e-01 4.84073264e-01 -6.00883400e-03 8.49346624e+01] [ 6.91157442e-03 -8.05341506e-05 9.99976112e-01 1.10840189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:84.96, Z:1.11 [[ 4.85438571e-01 -8.74264090e-01 -3.41970779e-03 1.59396916e+02] [ 8.74243458e-01 4.85450610e-01 -6.00682352e-03 8.49564800e+01] [ 6.91164933e-03 -7.37133367e-05 9.99976112e-01 1.11231185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:84.98, Z:1.11 [[ 4.86064824e-01 -8.73916073e-01 -3.41825626e-03 1.59410753e+02] [ 8.73895425e-01 4.86076839e-01 -6.00764942e-03 8.49793346e+01] [ 6.91171658e-03 -6.70914528e-05 9.99976112e-01 1.11362146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:85.00, Z:1.11 [[ 4.87145050e-01 -8.73314391e-01 -3.41691957e-03 1.59425849e+02] [ 8.73293723e-01 4.87157030e-01 -6.00840958e-03 8.50002388e+01] [ 6.91180694e-03 -5.70074322e-05 9.99976112e-01 1.11062573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:85.02, Z:1.11 [[ 4.87665249e-01 -8.73024019e-01 -3.41573122e-03 1.59440221e+02] [ 8.73003340e-01 4.87677208e-01 -6.00908507e-03 8.50220314e+01] [ 6.91184987e-03 -5.15227908e-05 9.99976112e-01 1.11062210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:85.04, Z:1.11 [[ 4.88375740e-01 -8.72626770e-01 -3.41432809e-03 1.59454494e+02] [ 8.72606075e-01 4.88387673e-01 -6.00988222e-03 8.50437799e+01] [ 6.91189985e-03 -4.42827588e-05 9.99976112e-01 1.11268053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.47, Y:85.06, Z:1.11 [[ 4.89817577e-01 -8.71818269e-01 -3.41287420e-03 1.59469807e+02] [ 8.71797549e-01 4.89829465e-01 -6.01070773e-03 8.50639853e+01] [ 6.91197116e-03 -3.11850686e-05 9.99976112e-01 1.11272046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:85.09, Z:1.12 [[ 4.91434469e-01 -8.70907874e-01 -3.41135939e-03 1.59485282e+02] [ 8.70887126e-01 4.91446308e-01 -6.01156733e-03 8.50859610e+01] [ 6.91202131e-03 -1.66175824e-05 9.99976112e-01 1.11657007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.50, Y:85.11, Z:1.12 [[ 4.91979159e-01 -8.70600299e-01 -3.40988713e-03 1.59499042e+02] [ 8.70579538e-01 4.91990975e-01 -6.01240232e-03 8.51070675e+01] [ 6.91203295e-03 -1.06013267e-05 9.99976112e-01 1.11643009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.51, Y:85.13, Z:1.12 [[ 4.92595704e-01 -8.70251605e-01 -3.40834790e-03 1.59514046e+02] [ 8.70230829e-01 4.92607496e-01 -6.01327476e-03 8.51289732e+01] [ 6.91203973e-03 -3.93610896e-06 9.99976112e-01 1.11777914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:85.15, Z:1.12 [[ 4.93879122e-01 -8.69523896e-01 -3.40687304e-03 1.59530676e+02] [ 8.69503098e-01 4.93890872e-01 -6.01411024e-03 8.51482627e+01] [ 6.91203606e-03 7.95682254e-06 9.99976112e-01 1.11692652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:85.17, Z:1.12 [[ 4.94431473e-01 -8.69209941e-01 -3.40533081e-03 1.59545643e+02] [ 8.69189129e-01 4.94443200e-01 -6.01498336e-03 8.51705825e+01] [ 6.91202599e-03 1.41205625e-05 9.99976112e-01 1.11730164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:85.19, Z:1.12 [[ 4.95496296e-01 -8.68603381e-01 -3.40386893e-03 1.59561120e+02] [ 8.68582549e-01 4.95507987e-01 -6.01581052e-03 8.51903746e+01] [ 6.91199760e-03 2.42706767e-05 9.99976112e-01 1.11518635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:85.21, Z:1.11 [[ 4.95920161e-01 -8.68361456e-01 -3.40234224e-03 1.59575064e+02] [ 8.68340612e-01 4.95931831e-01 -6.01667384e-03 8.52123624e+01] [ 6.91197747e-03 2.93979212e-05 9.99976112e-01 1.11424876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:85.23, Z:1.11 [[ 4.96844233e-01 -8.67833072e-01 -3.40094010e-03 1.59590792e+02] [ 8.67812211e-01 4.96855872e-01 -6.01746630e-03 8.52342313e+01] [ 6.91193332e-03 3.83660812e-05 9.99976112e-01 1.11445121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:85.25, Z:1.11 [[ 4.97585652e-01 -8.67408187e-01 -3.39952475e-03 1.59605050e+02] [ 8.67387310e-01 4.97597262e-01 -6.01826578e-03 8.52549572e+01] [ 6.91188722e-03 4.58980715e-05 9.99976112e-01 1.11216698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:85.28, Z:1.11 [[ 4.98135331e-01 -8.67092638e-01 -3.39833445e-03 1.59619918e+02] [ 8.67071749e-01 4.98146920e-01 -6.01893784e-03 8.52772329e+01] [ 6.91184653e-03 5.16457953e-05 9.99976112e-01 1.11321066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:85.30, Z:1.12 [[ 4.99953043e-01 -8.66045851e-01 -3.39689697e-03 1.59635583e+02] [ 8.66024932e-01 4.99964578e-01 -6.01974900e-03 8.52979335e+01] [ 6.91170680e-03 6.77943564e-05 9.99976112e-01 1.11589432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:85.32, Z:1.12 [[ 5.01951306e-01 -8.64889217e-01 -3.39553856e-03 1.59650814e+02] [ 8.64868266e-01 5.01962783e-01 -6.02051513e-03 8.53203577e+01] [ 6.91151260e-03 8.53118843e-05 9.99976112e-01 1.11890362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:85.34, Z:1.12 [[ 5.02871388e-01 -8.64354584e-01 -3.39425618e-03 1.59663462e+02] [ 8.64333616e-01 5.02882834e-01 -6.02123803e-03 8.53428696e+01] [ 6.91139786e-03 9.41386026e-05 9.99976112e-01 1.12080489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:85.37, Z:1.12 [[ 5.05491000e-01 -8.62825206e-01 -3.39308845e-03 1.59676746e+02] [ 8.62804199e-01 5.05502374e-01 -6.02189600e-03 8.53659367e+01] [ 6.91105792e-03 1.16443265e-04 9.99976112e-01 1.12172302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:159.69, Y:85.39, Z:1.12 [[ 5.06479806e-01 -8.62245153e-01 -3.39161423e-03 1.59689411e+02] [ 8.62224128e-01 5.06491146e-01 -6.02272618e-03 8.53883431e+01] [ 6.91088903e-03 1.26057565e-04 9.99976112e-01 1.12019989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:85.41, Z:1.12 [[ 5.09497141e-01 -8.60465671e-01 -3.39007441e-03 1.59702607e+02] [ 8.60444600e-01 5.09508397e-01 -6.02359279e-03 8.54110473e+01] [ 6.91036619e-03 1.52032087e-04 9.99976112e-01 1.12092365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:85.43, Z:1.12 [[ 5.10335164e-01 -8.59968917e-01 -3.38865805e-03 1.59713741e+02] [ 8.59947830e-01 5.10346389e-01 -6.02438948e-03 8.54345540e+01] [ 6.91017709e-03 1.60388651e-04 9.99976112e-01 1.12182944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.72, Y:85.46, Z:1.12 [[ 5.10981099e-01 -8.59585274e-01 -3.38721455e-03 1.59724051e+02] [ 8.59564173e-01 5.10992299e-01 -6.02520098e-03 8.54592714e+01] [ 6.91001458e-03 1.67235542e-04 9.99976112e-01 1.12191490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:85.48, Z:1.12 [[ 5.10961409e-01 -8.59596984e-01 -3.38578157e-03 1.59736266e+02] [ 8.59575878e-01 5.10972599e-01 -6.02600611e-03 8.54827537e+01] [ 6.90997829e-03 1.68720410e-04 9.99976112e-01 1.12273565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:85.51, Z:1.12 [[ 5.10446440e-01 -8.59902889e-01 -3.38431429e-03 1.59745764e+02] [ 8.59881784e-01 5.10457632e-01 -6.02683005e-03 8.55065600e+01] [ 6.91003763e-03 1.66263730e-04 9.99976112e-01 1.12325884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:85.53, Z:1.12 [[ 5.10195457e-01 -8.60051830e-01 -3.38314548e-03 1.59756582e+02] [ 8.60030724e-01 5.10206647e-01 -6.02748609e-03 8.55308421e+01] [ 6.91005375e-03 1.65586968e-04 9.99976112e-01 1.12446671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:85.56, Z:1.13 [[ 5.10065753e-01 -8.60128765e-01 -3.38172741e-03 1.59767139e+02] [ 8.60107656e-01 5.10076936e-01 -6.02828159e-03 8.55550677e+01] [ 6.91003956e-03 1.66170355e-04 9.99976112e-01 1.12548681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.78, Y:85.58, Z:1.13 [[ 5.10120633e-01 -8.60096223e-01 -3.38031197e-03 1.59775233e+02] [ 8.60075108e-01 5.10131805e-01 -6.02907519e-03 8.55804368e+01] [ 6.90998944e-03 1.68233475e-04 9.99976112e-01 1.12568628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:85.61, Z:1.13 [[ 5.09944272e-01 -8.60200804e-01 -3.37889204e-03 1.59785729e+02] [ 8.60179686e-01 5.09955438e-01 -6.02987086e-03 8.56051192e+01] [ 6.90998413e-03 1.68443813e-04 9.99976112e-01 1.12563974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:85.63, Z:1.12 [[ 5.09500428e-01 -8.60463774e-01 -3.37742954e-03 1.59792744e+02] [ 8.60442657e-01 5.09511595e-01 -6.03068991e-03 8.56300351e+01] [ 6.91002972e-03 1.66554642e-04 9.99976112e-01 1.12190686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:85.65, Z:1.12 [[ 5.08660208e-01 -8.60960738e-01 -3.37639775e-03 1.59802993e+02] [ 8.60939628e-01 5.08671388e-01 -6.03126750e-03 8.56549822e+01] [ 6.91016145e-03 1.60991158e-04 9.99976112e-01 1.12328463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.81, Y:85.68, Z:1.12 [[ 5.06487419e-01 -8.62240747e-01 -3.37478394e-03 1.59809880e+02] [ 8.62219658e-01 5.06498641e-01 -6.03217036e-03 8.56800902e+01] [ 6.91050656e-03 1.45413342e-04 9.99976112e-01 1.12049715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:85.70, Z:1.12 [[ 5.05213534e-01 -8.62987777e-01 -3.37361300e-03 1.59819861e+02] [ 8.62966701e-01 5.05224780e-01 -6.03282516e-03 8.57047017e+01] [ 6.91068726e-03 1.36549236e-04 9.99976112e-01 1.12102101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:85.73, Z:1.12 [[ 5.03771251e-01 -8.63830513e-01 -3.37213996e-03 1.59829012e+02] [ 8.63809450e-01 5.03782522e-01 -6.03364843e-03 8.57283485e+01] [ 6.91087479e-03 1.26692258e-04 9.99976112e-01 1.11877908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:159.84, Y:85.75, Z:1.12 [[ 5.00759764e-01 -8.65579747e-01 -3.37060164e-03 1.59837456e+02] [ 8.65558718e-01 5.00771097e-01 -6.03450767e-03 8.57541447e+01] [ 6.91124750e-03 1.04385003e-04 9.99976112e-01 1.11841162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:85.78, Z:1.12 [[ 4.98901147e-01 -8.66652349e-01 -3.36919582e-03 1.59848107e+02] [ 8.66631339e-01 4.98912515e-01 -6.03529246e-03 8.57778235e+01] [ 6.91143435e-03 9.11636478e-05 9.99976112e-01 1.11847363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:85.80, Z:1.12 [[ 4.98693238e-01 -8.66772007e-01 -3.36775075e-03 1.59860912e+02] [ 8.66750995e-01 4.98704601e-01 -6.03609872e-03 8.58013700e+01] [ 6.91143420e-03 9.11602972e-05 9.99976112e-01 1.11865895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:85.83, Z:1.12 [[ 4.94963504e-01 -8.68907243e-01 -3.36630257e-03 1.59869658e+02] [ 8.68886274e-01 4.94974948e-01 -6.03690625e-03 8.58264949e+01] [ 6.91174701e-03 6.31141741e-05 9.99976112e-01 1.11874220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:85.85, Z:1.12 [[ 4.92816012e-01 -8.70127035e-01 -3.36482220e-03 1.59880622e+02] [ 8.70106088e-01 4.92827496e-01 -6.03773126e-03 8.58509162e+01] [ 6.91187010e-03 4.77383551e-05 9.99976112e-01 1.11946649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:85.87, Z:1.12 [[ 4.90864366e-01 -8.71229512e-01 -3.36334047e-03 1.59891588e+02] [ 8.71208585e-01 4.90875888e-01 -6.03855655e-03 8.58743392e+01] [ 6.91195141e-03 3.39411408e-05 9.99976112e-01 1.12032484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:85.90, Z:1.12 [[ 4.86932497e-01 -8.73433135e-01 -3.36178618e-03 1.59901600e+02] [ 8.73412255e-01 4.86944102e-01 -6.03942173e-03 8.58985757e+01] [ 6.91203301e-03 4.56545909e-06 9.99976112e-01 1.12148712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:85.92, Z:1.12 [[ 4.84804848e-01 -8.74615895e-01 -3.36075688e-03 1.59913357e+02] [ 8.74595039e-01 4.84816497e-01 -6.03999446e-03 8.59225380e+01] [ 6.91202553e-03 -1.10826976e-05 9.99976112e-01 1.12263261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:85.95, Z:1.12 [[ 4.81115653e-01 -8.76650696e-01 -3.35928836e-03 1.59923357e+02] [ 8.76629884e-01 4.81127379e-01 -6.04081110e-03 8.59459046e+01] [ 6.91192686e-03 -3.85237873e-05 9.99976112e-01 1.11948656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.93, Y:85.97, Z:1.12 [[ 4.79732687e-01 -8.77408270e-01 -3.35812330e-03 1.59934995e+02] [ 8.77387471e-01 4.79744438e-01 -6.04145869e-03 8.59693683e+01] [ 6.91186679e-03 -4.80901015e-05 9.99976112e-01 1.12212838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:85.99, Z:1.12 [[ 4.78456707e-01 -8.78104727e-01 -3.35664459e-03 1.59946981e+02] [ 8.78083940e-01 4.78468478e-01 -6.04228015e-03 8.59927975e+01] [ 6.91180339e-03 -5.64462392e-05 9.99976112e-01 1.12166619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.96, Y:86.02, Z:1.12 [[ 4.77875977e-01 -8.78420909e-01 -3.35516648e-03 1.59958986e+02] [ 8.78400124e-01 4.77887751e-01 -6.04310081e-03 8.60154913e+01] [ 6.91177907e-03 -5.93259487e-05 9.99976112e-01 1.11881021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:86.04, Z:1.12 [[ 4.77701532e-01 -8.78515792e-01 -3.35398905e-03 1.59972591e+02] [ 8.78495005e-01 4.77713303e-01 -6.04375422e-03 8.60376339e+01] [ 6.91177872e-03 -5.93519745e-05 9.99976112e-01 1.12091656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.99, Y:86.06, Z:1.12 [[ 4.77832730e-01 -8.78444445e-01 -3.35256897e-03 1.59985014e+02] [ 8.78423650e-01 4.77844488e-01 -6.04454186e-03 8.60603526e+01] [ 6.91180082e-03 -5.66959321e-05 9.99976112e-01 1.12323352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:86.08, Z:1.12 [[ 4.78120007e-01 -8.78288124e-01 -3.35111287e-03 1.59996867e+02] [ 8.78267320e-01 4.78131747e-01 -6.04534902e-03 8.60835943e+01] [ 6.91183171e-03 -5.27706063e-05 9.99976112e-01 1.12409240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:86.11, Z:1.12 [[ 4.78935852e-01 -8.77843511e-01 -3.34966114e-03 1.60007331e+02] [ 8.77822690e-01 4.78947564e-01 -6.04615330e-03 8.61061791e+01] [ 6.91188848e-03 -4.46889666e-05 9.99976112e-01 1.12470149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:86.13, Z:1.13 [[ 4.78531721e-01 -8.78063882e-01 -3.34843106e-03 1.60022040e+02] [ 8.78043062e-01 4.78543433e-01 -6.04683446e-03 8.61284060e+01] [ 6.91187663e-03 -4.64645643e-05 9.99976112e-01 1.12505904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:86.15, Z:1.12 [[ 4.77644363e-01 -8.78546902e-01 -3.34700567e-03 1.60036150e+02] [ 8.78526089e-01 4.77656087e-01 -6.04762333e-03 8.61500473e+01] [ 6.91183837e-03 -5.18186054e-05 9.99976112e-01 1.12323546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:160.05, Y:86.17, Z:1.12 [[ 4.76500653e-01 -8.79167750e-01 -3.34587168e-03 1.60050256e+02] [ 8.79146947e-01 4.76512396e-01 -6.04825065e-03 8.61727246e+01] [ 6.91177625e-03 -5.95174822e-05 9.99976112e-01 1.12416298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:86.19, Z:1.12 [[ 4.75036616e-01 -8.79959674e-01 -3.34441552e-03 1.60063426e+02] [ 8.79938885e-01 4.75048384e-01 -6.04905573e-03 8.61949300e+01] [ 6.91168430e-03 -6.93582968e-05 9.99976112e-01 1.12357504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:86.22, Z:1.12 [[ 4.72743800e-01 -8.81193580e-01 -3.34286060e-03 1.60077412e+02] [ 8.81172815e-01 4.72755611e-01 -6.04991490e-03 8.62163939e+01] [ 6.91150227e-03 -8.55781267e-05 9.99976112e-01 1.12178462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:86.24, Z:1.12 [[ 4.71480880e-01 -8.81869954e-01 -3.34131753e-03 1.60091564e+02] [ 8.81849200e-01 4.71492710e-01 -6.05076701e-03 8.62389625e+01] [ 6.91139648e-03 -9.37172354e-05 9.99976112e-01 1.12165195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:86.26, Z:1.12 [[ 4.69700033e-01 -8.82819758e-01 -3.33984667e-03 1.60106315e+02] [ 8.82799023e-01 4.69711895e-01 -6.05157876e-03 8.62606498e+01] [ 6.91121901e-03 -1.05986637e-04 9.99976112e-01 1.12191607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:86.28, Z:1.12 [[ 4.68933310e-01 -8.83227268e-01 -3.33837563e-03 1.60119695e+02] [ 8.83206537e-01 4.68945180e-01 -6.05239016e-03 8.62821488e+01] [ 6.91115119e-03 -1.10307825e-04 9.99976112e-01 1.12102295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:86.30, Z:1.12 [[ 4.68269942e-01 -8.83579157e-01 -3.33684329e-03 1.60134400e+02] [ 8.83558429e-01 4.68281817e-01 -6.05323486e-03 8.63042111e+01] [ 6.91109520e-03 -1.13748082e-04 9.99976112e-01 1.12152496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:86.32, Z:1.12 [[ 4.66944287e-01 -8.84280446e-01 -3.33540626e-03 1.60150824e+02] [ 8.84259731e-01 4.66956184e-01 -6.05402658e-03 8.63239443e+01] [ 6.91094590e-03 -1.22472314e-04 9.99976112e-01 1.12163138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.17, Y:86.34, Z:1.12 [[ 4.65903931e-01 -8.84829030e-01 -3.33390075e-03 1.60166985e+02] [ 8.84808322e-01 4.65915842e-01 -6.05485554e-03 8.63448936e+01] [ 6.91082913e-03 -1.28882126e-04 9.99976112e-01 1.12465093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.18, Y:86.37, Z:1.13 [[ 4.65501009e-01 -8.85041076e-01 -3.33246180e-03 1.60181174e+02] [ 8.85020368e-01 4.65512919e-01 -6.05564740e-03 8.63655634e+01] [ 6.91080071e-03 -1.30386598e-04 9.99976112e-01 1.12569011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:86.39, Z:1.13 [[ 4.64724590e-01 -8.85449016e-01 -3.33096045e-03 1.60195889e+02] [ 8.85428313e-01 4.64736507e-01 -6.05647312e-03 8.63875384e+01] [ 6.91071709e-03 -1.34734713e-04 9.99976112e-01 1.12748232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:86.41, Z:1.13 [[ 4.64356148e-01 -8.85642299e-01 -3.32946006e-03 1.60210586e+02] [ 8.85621595e-01 4.64368064e-01 -6.05729782e-03 8.64085970e+01] [ 6.91069410e-03 -1.35898249e-04 9.99976112e-01 1.12679052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:86.43, Z:1.13 [[ 4.64386404e-01 -8.85626441e-01 -3.32788833e-03 1.60227674e+02] [ 8.85605730e-01 4.64398309e-01 -6.05816121e-03 8.64285990e+01] [ 6.91073347e-03 -1.33869269e-04 9.99976112e-01 1.12540072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:86.45, Z:1.12 [[ 4.65341576e-01 -8.85124936e-01 -3.32635906e-03 1.60244156e+02] [ 8.85104207e-01 4.65353448e-01 -6.05900077e-03 8.64480816e+01] [ 6.91090533e-03 -1.24669432e-04 9.99976112e-01 1.12492051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:86.47, Z:1.13 [[ 4.66253767e-01 -8.84644770e-01 -3.32488303e-03 1.60258269e+02] [ 8.84624023e-01 4.66265608e-01 -6.05981064e-03 8.64706437e+01] [ 6.91105840e-03 -1.15861859e-04 9.99976112e-01 1.12670006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:86.49, Z:1.13 [[ 4.67785256e-01 -8.83835907e-01 -3.32339169e-03 1.60271670e+02] [ 8.83815133e-01 4.67797050e-01 -6.06062843e-03 8.64926614e+01] [ 6.91127385e-03 -1.02191249e-04 9.99976112e-01 1.12621909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:86.51, Z:1.13 [[ 4.72518645e-01 -8.81314414e-01 -3.32183432e-03 1.60286981e+02] [ 8.81293571e-01 4.72530317e-01 -6.06148190e-03 8.65143932e+01] [ 6.91173879e-03 -6.33480174e-05 9.99976112e-01 1.12691874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:86.54, Z:1.13 [[ 4.75049176e-01 -8.79952985e-01 -3.32036553e-03 1.60300505e+02] [ 8.79932103e-01 4.75060778e-01 -6.06228637e-03 8.65373446e+01] [ 6.91190242e-03 -4.18120743e-05 9.99976112e-01 1.12716591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:86.56, Z:1.13 [[ 4.80690534e-01 -8.76884026e-01 -3.31888971e-03 1.60311979e+02] [ 8.76863065e-01 4.80701992e-01 -6.06309422e-03 8.65607771e+01] [ 6.91202737e-03 4.26020138e-06 9.99976112e-01 1.12710052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.32, Y:86.58, Z:1.13 [[ 4.82867841e-01 -8.75686954e-01 -3.31748122e-03 1.60323032e+02] [ 8.75665959e-01 4.82879237e-01 -6.06386479e-03 8.65830826e+01] [ 6.91199009e-03 2.30399272e-05 9.99976112e-01 1.12672571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:86.61, Z:1.13 [[ 4.84405535e-01 -8.74837289e-01 -3.31592395e-03 1.60334654e+02] [ 8.74816268e-01 4.84416882e-01 -6.06471624e-03 8.66057009e+01] [ 6.91192946e-03 3.69578929e-05 9.99976112e-01 1.12549310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:86.63, Z:1.12 [[ 4.85885166e-01 -8.74016372e-01 -3.31474452e-03 1.60346977e+02] [ 8.73995327e-01 4.85896470e-01 -6.06536081e-03 8.66291375e+01] [ 6.91184731e-03 4.99976233e-05 9.99976112e-01 1.12489770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:86.65, Z:1.12 [[ 4.85636160e-01 -8.74154759e-01 -3.31326353e-03 1.60359079e+02] [ 8.74133712e-01 4.85647460e-01 -6.06616970e-03 8.66523274e+01] [ 6.91184913e-03 4.97160126e-05 9.99976112e-01 1.12424958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:86.68, Z:1.12 [[ 4.84833873e-01 -8.74599993e-01 -3.31178067e-03 1.60371144e+02] [ 8.74578951e-01 4.84845182e-01 -6.06697915e-03 8.66762219e+01] [ 6.91188082e-03 4.50633288e-05 9.99976112e-01 1.12455268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:86.70, Z:1.13 [[ 4.82978276e-01 -8.75626077e-01 -3.31029404e-03 1.60382603e+02] [ 8.75605053e-01 4.82989619e-01 -6.06779019e-03 8.66994058e+01] [ 6.91195297e-03 3.21006585e-05 9.99976112e-01 1.12562841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:160.39, Y:86.72, Z:1.13 [[ 4.81624891e-01 -8.76371221e-01 -3.30879315e-03 1.60394455e+02] [ 8.76350209e-01 4.81636256e-01 -6.06860852e-03 8.67222830e+01] [ 6.91198860e-03 2.31313435e-05 9.99976112e-01 1.12554798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:86.75, Z:1.13 [[ 4.79793155e-01 -8.77375399e-01 -3.30722494e-03 1.60406557e+02] [ 8.77354405e-01 4.79804554e-01 -6.06946303e-03 8.67456467e+01] [ 6.91201913e-03 1.04784501e-05 9.99976112e-01 1.12595490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:86.77, Z:1.12 [[ 4.75928904e-01 -8.79477544e-01 -3.30574709e-03 1.60418877e+02] [ 8.79456595e-01 4.75940384e-01 -6.07026784e-03 8.67674027e+01] [ 6.91200279e-03 -1.82451596e-05 9.99976112e-01 1.12382188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:86.79, Z:1.12 [[ 4.73205767e-01 -8.80945733e-01 -3.30420200e-03 1.60431598e+02] [ 8.80924813e-01 4.73217302e-01 -6.07110875e-03 8.67904926e+01] [ 6.91192290e-03 -3.78698501e-05 9.99976112e-01 1.12410473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:86.81, Z:1.12 [[ 4.67716015e-01 -8.83872627e-01 -3.30274006e-03 1.60446029e+02] [ 8.83851775e-01 4.67727669e-01 -6.07190396e-03 8.68112689e+01] [ 6.91157261e-03 -7.92059435e-05 9.99976112e-01 1.12373487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:86.83, Z:1.13 [[ 4.64952800e-01 -8.85329315e-01 -3.30121573e-03 1.60460151e+02] [ 8.85308493e-01 4.64964509e-01 -6.07273260e-03 8.68336548e+01] [ 6.91131634e-03 -9.90602907e-05 9.99976112e-01 1.12569483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:86.86, Z:1.12 [[ 4.62727378e-01 -8.86494493e-01 -3.29972209e-03 1.60473490e+02] [ 8.86473694e-01 4.62739129e-01 -6.07354409e-03 8.68555655e+01] [ 6.91107391e-03 -1.14721695e-04 9.99976112e-01 1.12471014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:86.88, Z:1.13 [[ 4.60488727e-01 -8.87659423e-01 -3.29853098e-03 1.60487517e+02] [ 8.87638650e-01 4.60500522e-01 -6.07419091e-03 8.68772973e+01] [ 6.91078804e-03 -1.30807146e-04 9.99976112e-01 1.12650347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.50, Y:86.90, Z:1.13 [[ 4.60436993e-01 -8.87686265e-01 -3.29701467e-03 1.60501177e+02] [ 8.87665487e-01 4.60448779e-01 -6.07501383e-03 8.68994811e+01] [ 6.91081272e-03 -1.29485032e-04 9.99976112e-01 1.12848926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:86.92, Z:1.13 [[ 4.62329036e-01 -8.86702318e-01 -3.29553685e-03 1.60516482e+02] [ 8.86681509e-01 4.62340768e-01 -6.07581541e-03 8.69202586e+01] [ 6.91110065e-03 -1.13065700e-04 9.99976112e-01 1.12948488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.53, Y:86.94, Z:1.13 [[ 4.63966145e-01 -8.85846807e-01 -3.29399290e-03 1.60529492e+02] [ 8.85825970e-01 4.63977828e-01 -6.07665234e-03 8.69418433e+01] [ 6.91132275e-03 -9.85434910e-05 9.99976112e-01 1.12909678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:86.97, Z:1.13 [[ 4.65417561e-01 -8.85085111e-01 -3.29245362e-03 1.60542176e+02] [ 8.85064249e-01 4.65429199e-01 -6.07748625e-03 8.69651973e+01] [ 6.91149664e-03 -8.54641600e-05 9.99976112e-01 1.13024845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:86.99, Z:1.13 [[ 4.66775984e-01 -8.84369465e-01 -3.29098474e-03 1.60555291e+02] [ 8.84348580e-01 4.66787580e-01 -6.07828154e-03 8.69879384e+01] [ 6.91163740e-03 -7.31818331e-05 9.99976112e-01 1.12960748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:87.01, Z:1.13 [[ 4.68752641e-01 -8.83323350e-01 -3.28952321e-03 1.60569066e+02] [ 8.83302433e-01 4.68764180e-01 -6.07907241e-03 8.70092606e+01] [ 6.91179726e-03 -5.60626047e-05 9.99976112e-01 1.12972604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:87.03, Z:1.13 [[ 4.69435143e-01 -8.82960835e-01 -3.28799008e-03 1.60583258e+02] [ 8.82939903e-01 4.69446655e-01 -6.07990152e-03 8.70305394e+01] [ 6.91185087e-03 -4.89781964e-05 9.99976112e-01 1.13065239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.60, Y:87.05, Z:1.13 [[ 4.69520646e-01 -8.82915375e-01 -3.28684593e-03 1.60596988e+02] [ 8.82894438e-01 4.69532148e-01 -6.08051999e-03 8.70529541e+01] [ 6.91186442e-03 -4.70083204e-05 9.99976112e-01 1.13227008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:87.07, Z:1.13 [[ 4.69475190e-01 -8.82939552e-01 -3.28534160e-03 1.60609911e+02] [ 8.82918610e-01 4.69486683e-01 -6.08133268e-03 8.70743905e+01] [ 6.91187329e-03 -4.56544220e-05 9.99976112e-01 1.13037203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:87.09, Z:1.13 [[ 4.70385313e-01 -8.82455027e-01 -3.28377158e-03 1.60625555e+02] [ 8.82434067e-01 4.70396773e-01 -6.08218034e-03 8.70948262e+01] [ 6.91192617e-03 -3.67436130e-05 9.99976112e-01 1.12830242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:87.12, Z:1.13 [[ 4.71155594e-01 -8.82044008e-01 -3.28226773e-03 1.60638706e+02] [ 8.82023033e-01 4.71167026e-01 -6.08299179e-03 8.71173469e+01] [ 6.91196279e-03 -2.90001240e-05 9.99976112e-01 1.12715521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:87.14, Z:1.13 [[ 4.73851481e-01 -8.80598672e-01 -3.27918941e-03 1.60650650e+02] [ 8.80577650e-01 4.73862827e-01 -6.08465197e-03 8.71398609e+01] [ 6.91202240e-03 -4.35955448e-06 9.99976112e-01 1.12686998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:87.16, Z:1.13 [[ 4.75457284e-01 -8.79732696e-01 -3.27951400e-03 1.60662968e+02] [ 8.79711655e-01 4.75468594e-01 -6.08447701e-03 8.71627042e+01] [ 6.91201928e-03 7.88222463e-06 9.99976112e-01 1.12662300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:87.19, Z:1.13 [[ 4.76988521e-01 -8.78903411e-01 -3.27794656e-03 1.60675456e+02] [ 8.78882344e-01 4.76999784e-01 -6.08532134e-03 8.71854462e+01] [ 6.91198948e-03 2.16990660e-05 9.99976112e-01 1.12742616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:87.21, Z:1.13 [[ 4.76779208e-01 -8.79016980e-01 -3.27649693e-03 1.60687909e+02] [ 8.78995911e-01 4.76790466e-01 -6.08610176e-03 8.72091978e+01] [ 6.91198928e-03 2.16993771e-05 9.99976112e-01 1.12761148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:87.23, Z:1.13 [[ 4.79206006e-01 -8.77696347e-01 -3.27504738e-03 1.60699284e+02] [ 8.77675241e-01 4.79217195e-01 -6.08688168e-03 8.72316615e+01] [ 6.91189284e-03 4.24422571e-05 9.99976112e-01 1.12630083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:87.25, Z:1.13 [[ 4.79938739e-01 -8.77295897e-01 -3.27353341e-03 1.60710339e+02] [ 8.77274777e-01 4.79949900e-01 -6.08769579e-03 8.72546458e+01] [ 6.91184257e-03 4.99327445e-05 9.99976112e-01 1.12662417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:87.28, Z:1.13 [[ 4.80392007e-01 -8.77047783e-01 -3.27199945e-03 1.60721830e+02] [ 8.77026651e-01 4.80403147e-01 -6.08852015e-03 8.72782185e+01] [ 6.91180193e-03 5.52456935e-05 9.99976112e-01 1.12928866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.73, Y:87.30, Z:1.13 [[ 4.80202008e-01 -8.77151831e-01 -3.27052109e-03 1.60733806e+02] [ 8.77130696e-01 4.80213142e-01 -6.08931417e-03 8.73008400e+01] [ 6.91180028e-03 5.54264526e-05 9.99976112e-01 1.12813125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:87.32, Z:1.13 [[ 4.79541290e-01 -8.77513228e-01 -3.26897657e-03 1.60746529e+02] [ 8.77492096e-01 4.79552429e-01 -6.09014321e-03 8.73238292e+01] [ 6.91182688e-03 5.19740311e-05 9.99976112e-01 1.13022241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:87.35, Z:1.13 [[ 4.76999338e-01 -8.78897580e-01 -3.26751437e-03 1.60759403e+02] [ 8.78876474e-01 4.77010528e-01 -6.09092762e-03 8.73470270e+01] [ 6.91194029e-03 3.36269326e-05 9.99976112e-01 1.12929729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:87.37, Z:1.13 [[ 4.75104656e-01 -8.79923234e-01 -3.26605571e-03 1.60771385e+02] [ 8.79902148e-01 4.75115882e-01 -6.09170967e-03 8.73700771e+01] [ 6.91199182e-03 2.03901941e-05 9.99976112e-01 1.12930604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.78, Y:87.39, Z:1.13 [[ 4.73142289e-01 -8.80979975e-01 -3.26455911e-03 1.60783167e+02] [ 8.80958908e-01 4.73153551e-01 -6.09251160e-03 8.73929348e+01] [ 6.91201845e-03 6.68245957e-06 9.99976112e-01 1.12695796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:87.42, Z:1.13 [[ 4.71320149e-01 -8.81956159e-01 -3.26336651e-03 1.60795907e+02] [ 8.81935111e-01 4.71331447e-01 -6.09315033e-03 8.74163338e+01] [ 6.91201872e-03 -6.25298531e-06 9.99976112e-01 1.12763224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:87.44, Z:1.13 [[ 4.67409773e-01 -8.84034764e-01 -3.26186644e-03 1.60809925e+02] [ 8.84013761e-01 4.67421153e-01 -6.09395326e-03 8.74391873e+01] [ 6.91193191e-03 -3.51615159e-05 9.99976112e-01 1.12848073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.82, Y:87.46, Z:1.13 [[ 4.65583682e-01 -8.84997856e-01 -3.26036981e-03 1.60822344e+02] [ 8.84976871e-01 4.65595095e-01 -6.09475388e-03 8.74611793e+01] [ 6.91185631e-03 -4.77339264e-05 9.99976112e-01 1.12856802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:87.48, Z:1.13 [[ 4.64184440e-01 -8.85732570e-01 -3.25880546e-03 1.60835551e+02] [ 8.85711597e-01 4.64195875e-01 -6.09559021e-03 8.74838276e+01] [ 6.91178683e-03 -5.68836615e-05 9.99976112e-01 1.13150872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.85, Y:87.50, Z:1.13 [[ 4.61989188e-01 -8.86879575e-01 -3.25731929e-03 1.60850493e+02] [ 8.86858624e-01 4.62000666e-01 -6.09638427e-03 8.75044350e+01] [ 6.91164237e-03 -7.23180820e-05 9.99976112e-01 1.13369312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:87.53, Z:1.13 [[ 4.61763966e-01 -8.86996866e-01 -3.25576817e-03 1.60864139e+02] [ 8.86975912e-01 4.61775437e-01 -6.09721254e-03 8.75271005e+01] [ 6.91164218e-03 -7.23149028e-05 9.99976112e-01 1.13385835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:87.55, Z:1.13 [[ 4.61927848e-01 -8.86911536e-01 -3.25430209e-03 1.60876779e+02] [ 8.86890575e-01 4.61939306e-01 -6.09799494e-03 8.75494601e+01] [ 6.91167210e-03 -6.93761692e-05 9.99976112e-01 1.13355006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:87.57, Z:1.14 [[ 4.63600738e-01 -8.86038246e-01 -3.25313461e-03 1.60890259e+02] [ 8.86017259e-01 4.63612148e-01 -6.09861769e-03 8.75715597e+01] [ 6.91180125e-03 -5.50097465e-05 9.99976112e-01 1.13523377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:87.59, Z:1.13 [[ 4.64500087e-01 -8.85567104e-01 -3.25165574e-03 1.60902544e+02] [ 8.85546100e-01 4.64511465e-01 -6.09940610e-03 8.75937408e+01] [ 6.91186477e-03 -4.63163978e-05 9.99976112e-01 1.13409615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:87.62, Z:1.13 [[ 4.65452582e-01 -8.85066851e-01 -3.25010957e-03 1.60915362e+02] [ 8.85045829e-01 4.65463927e-01 -6.10022987e-03 8.76172842e+01] [ 6.91192001e-03 -3.71281789e-05 9.99976112e-01 1.13339796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:87.64, Z:1.13 [[ 4.67138783e-01 -8.84178038e-01 -3.24873459e-03 1.60926147e+02] [ 8.84156989e-01 4.67150079e-01 -6.10096204e-03 8.76388060e+01] [ 6.91198327e-03 -2.23954057e-05 9.99976112e-01 1.13204346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:87.66, Z:1.13 [[ 4.67546125e-01 -8.83962711e-01 -3.24739549e-03 1.60938342e+02] [ 8.83941653e-01 4.67557402e-01 -6.10167473e-03 8.76623968e+01] [ 6.91199674e-03 -1.76937610e-05 9.99976112e-01 1.13301622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:87.69, Z:1.14 [[ 4.68194069e-01 -8.83619702e-01 -3.24601656e-03 1.60951180e+02] [ 8.83598629e-01 4.68205321e-01 -6.10240820e-03 8.76854163e+01] [ 6.91201034e-03 -1.10644518e-05 9.99976112e-01 1.13577787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:87.71, Z:1.14 [[ 4.69499861e-01 -8.82926584e-01 -3.24449021e-03 1.60963510e+02] [ 8.82905490e-01 4.69511072e-01 -6.10321961e-03 8.77071261e+01] [ 6.91201893e-03 8.82538874e-07 9.99976112e-01 1.13559541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:87.73, Z:1.14 [[ 4.70421995e-01 -8.82435624e-01 -3.24292577e-03 1.60975439e+02] [ 8.82414512e-01 4.70433172e-01 -6.10405076e-03 8.77301587e+01] [ 6.91201170e-03 9.87497402e-06 9.99976112e-01 1.13915618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:87.75, Z:1.14 [[ 4.71606044e-01 -8.81803398e-01 -3.24142472e-03 1.60986509e+02] [ 8.81782266e-01 4.71617183e-01 -6.10484776e-03 8.77524516e+01] [ 6.91198709e-03 2.08522605e-05 9.99976112e-01 1.13802007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:87.78, Z:1.14 [[ 4.72998687e-01 -8.81057175e-01 -3.23985663e-03 1.60997085e+02] [ 8.81036019e-01 4.73009781e-01 -6.10567984e-03 8.77751018e+01] [ 6.91193690e-03 3.35481587e-05 9.99976112e-01 1.13631486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:87.80, Z:1.14 [[ 4.76303489e-01 -8.79274986e-01 -3.23821744e-03 1.61007485e+02] [ 8.79253783e-01 4.76314492e-01 -6.10654907e-03 8.77999425e+01] [ 6.91174575e-03 6.13556941e-05 9.99976112e-01 1.13756240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:87.82, Z:1.14 [[ 4.77583031e-01 -8.78580657e-01 -3.23681949e-03 1.61017869e+02] [ 8.78559433e-01 4.77593994e-01 -6.10728998e-03 8.78227654e+01] [ 6.91163239e-03 7.29997588e-05 9.99976112e-01 1.13715637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:87.85, Z:1.14 [[ 4.78314030e-01 -8.78182909e-01 -3.23528318e-03 1.61028752e+02] [ 8.78161670e-01 4.78324965e-01 -6.10810372e-03 8.78471490e+01] [ 6.91154900e-03 8.04900257e-05 9.99976112e-01 1.13639475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:87.87, Z:1.14 [[ 4.78441533e-01 -8.78113456e-01 -3.23383263e-03 1.61039675e+02] [ 8.78092211e-01 4.78452454e-01 -6.10887159e-03 8.78705979e+01] [ 6.91151750e-03 8.31346426e-05 9.99976112e-01 1.13773929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:87.89, Z:1.14 [[ 4.77311516e-01 -8.78728211e-01 -3.23234213e-03 1.61050974e+02] [ 8.78706974e-01 4.77322455e-01 -6.10966015e-03 8.78947466e+01] [ 6.91160021e-03 7.59295802e-05 9.99976112e-01 1.13940060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.06, Y:87.92, Z:1.14 [[ 4.75979563e-01 -8.79450406e-01 -3.23084533e-03 1.61061687e+02] [ 8.79429181e-01 4.75990524e-01 -6.11045156e-03 8.79178549e+01] [ 6.91169087e-03 6.71504086e-05 9.99976112e-01 1.13983042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:87.94, Z:1.14 [[ 4.74942030e-01 -8.80011157e-01 -3.22965479e-03 1.61072408e+02] [ 8.79989941e-01 4.74953007e-01 -6.11108075e-03 8.79412905e+01] [ 6.91175350e-03 6.03453764e-05 9.99976112e-01 1.13787901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:87.96, Z:1.14 [[ 4.73932994e-01 -8.80554992e-01 -3.22846744e-03 1.61083108e+02] [ 8.80533783e-01 4.73943988e-01 -6.11170796e-03 8.79648223e+01] [ 6.91180769e-03 5.37654080e-05 9.99976112e-01 1.13645090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.09, Y:87.99, Z:1.14 [[ 4.72808050e-01 -8.81159540e-01 -3.22702908e-03 1.61093266e+02] [ 8.81138340e-01 4.72819060e-01 -6.11246733e-03 8.79900101e+01] [ 6.91185976e-03 4.65647092e-05 9.99976112e-01 1.13608124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:88.01, Z:1.14 [[ 4.72790997e-01 -8.81168694e-01 -3.22571839e-03 1.61104479e+02] [ 8.81147490e-01 4.72801998e-01 -6.11315894e-03 8.80135097e+01] [ 6.91185039e-03 4.79128466e-05 9.99976112e-01 1.13584067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:88.04, Z:1.14 [[ 4.72747925e-01 -8.81191809e-01 -3.22425653e-03 1.61116120e+02] [ 8.81170600e-01 4.72758917e-01 -6.11392987e-03 8.80376480e+01] [ 6.91184095e-03 4.92275980e-05 9.99976112e-01 1.13665476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:88.06, Z:1.13 [[ 4.72675830e-01 -8.81230489e-01 -3.22276172e-03 1.61127790e+02] [ 8.81209275e-01 4.72686813e-01 -6.11471771e-03 8.80605471e+01] [ 6.91183264e-03 5.03517498e-05 9.99976112e-01 1.13370419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.14, Y:88.08, Z:1.13 [[ 4.73046908e-01 -8.81031354e-01 -3.22119777e-03 1.61140501e+02] [ 8.81010131e-01 4.73057872e-01 -6.11554148e-03 8.80837979e+01] [ 6.91179675e-03 5.50301169e-05 9.99976112e-01 1.13340360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:88.11, Z:1.14 [[ 4.73282174e-01 -8.80905016e-01 -3.21496037e-03 1.61150030e+02] [ 8.80883768e-01 4.73293089e-01 -6.11882467e-03 8.81091186e+01] [ 6.91172187e-03 6.39242349e-05 9.99976112e-01 1.13596825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:88.13, Z:1.13 [[ 4.73415288e-01 -8.80833473e-01 -3.21844990e-03 1.61160362e+02] [ 8.80812235e-01 4.73426224e-01 -6.11698865e-03 8.81326545e+01] [ 6.91174694e-03 6.10258929e-05 9.99976112e-01 1.13306520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:88.16, Z:1.14 [[ 4.73054623e-01 -8.81027227e-01 -3.21690183e-03 1.61171233e+02] [ 8.81005988e-01 4.73065557e-01 -6.11780267e-03 8.81561147e+01] [ 6.91175618e-03 5.99450588e-05 9.99976112e-01 1.13789997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:88.18, Z:1.14 [[ 4.72225585e-01 -8.81471870e-01 -3.21540747e-03 1.61182654e+02] [ 8.81450636e-01 4.72236528e-01 -6.11858798e-03 8.81807324e+01] [ 6.91179605e-03 5.51308257e-05 9.99976112e-01 1.13646355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:88.20, Z:1.14 [[ 4.71320077e-01 -8.81956384e-01 -3.21280811e-03 1.61193449e+02] [ 8.81935152e-01 4.71331024e-01 -6.11995334e-03 8.82044313e+01] [ 6.91182805e-03 5.09684729e-05 9.99976112e-01 1.13719744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.21, Y:88.23, Z:1.14 [[ 4.70657100e-01 -8.82310360e-01 -3.21291355e-03 1.61205040e+02] [ 8.82289136e-01 4.70668065e-01 -6.11989798e-03 8.82275612e+01] [ 6.91186519e-03 4.56547167e-05 9.99976112e-01 1.13970344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:88.25, Z:1.14 [[ 4.70811494e-01 -8.82227989e-01 -3.21141337e-03 1.61218064e+02] [ 8.82206758e-01 4.70822444e-01 -6.12068510e-03 8.82513681e+01] [ 6.91184520e-03 4.85583195e-05 9.99976112e-01 1.13740716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:88.27, Z:1.13 [[ 4.71337061e-01 -8.81947306e-01 -3.21325514e-03 1.61228975e+02] [ 8.81926075e-01 4.71348011e-01 -6.11971926e-03 8.82743907e+01] [ 6.91183133e-03 5.05970006e-05 9.99976112e-01 1.13380525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:88.30, Z:1.14 [[ 4.71314308e-01 -8.81959495e-01 -3.20491804e-03 1.61240075e+02] [ 8.81938235e-01 4.71325201e-01 -6.12408813e-03 8.82999500e+01] [ 6.91175632e-03 5.98306019e-05 9.99976112e-01 1.13746035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:88.32, Z:1.14 [[ 4.71677902e-01 -8.81765088e-01 -3.20738613e-03 1.61251616e+02] [ 8.81743832e-01 4.71688803e-01 -6.12279524e-03 8.83240486e+01] [ 6.91175521e-03 5.98942774e-05 9.99976112e-01 1.13859746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.26, Y:88.35, Z:1.14 [[ 4.72670702e-01 -8.81233300e-01 -3.20585281e-03 1.61263526e+02] [ 8.81212027e-01 4.72681569e-01 -6.12359797e-03 8.83477651e+01] [ 6.91166599e-03 6.94092992e-05 9.99976112e-01 1.13981837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.27, Y:88.37, Z:1.14 [[ 4.73142224e-01 -8.80980221e-01 -3.20712126e-03 1.61274311e+02] [ 8.80958946e-01 4.73153088e-01 -6.12293437e-03 8.83705456e+01] [ 6.91164341e-03 7.16766201e-05 9.99976112e-01 1.14117414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:88.39, Z:1.14 [[ 4.73858486e-01 -8.80595184e-01 -3.20265301e-03 1.61284432e+02] [ 8.80573885e-01 4.73869301e-01 -6.12527064e-03 8.83934960e+01] [ 6.91152277e-03 8.23388645e-05 9.99976112e-01 1.13913213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:88.42, Z:1.14 [[ 4.74842730e-01 -8.80064847e-01 -3.20108989e-03 1.61294309e+02] [ 8.80043530e-01 4.74853511e-01 -6.12608742e-03 8.84176642e+01] [ 6.91140296e-03 9.18296228e-05 9.99976112e-01 1.13602529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:88.44, Z:1.14 [[ 4.74672956e-01 -8.80156436e-01 -3.19877205e-03 1.61305883e+02] [ 8.80135113e-01 4.74683725e-01 -6.12729797e-03 8.84405772e+01] [ 6.91138578e-03 9.31110394e-05 9.99976112e-01 1.13610547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:88.46, Z:1.14 [[ 4.74601386e-01 -8.80195033e-01 -3.19829633e-03 1.61318276e+02] [ 8.80173709e-01 4.74612153e-01 -6.12754628e-03 8.84649559e+01] [ 6.91138610e-03 9.30856115e-05 9.99976112e-01 1.13946867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:88.49, Z:1.14 [[ 4.74228213e-01 -8.80396134e-01 -3.20141569e-03 1.61328550e+02] [ 8.80374826e-01 4.74239011e-01 -6.12591877e-03 8.84885537e+01] [ 6.91147141e-03 8.66377240e-05 9.99976112e-01 1.13950415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:88.51, Z:1.14 [[ 4.73917903e-01 -8.80563233e-01 -3.19603096e-03 1.61338731e+02] [ 8.80541909e-01 4.73928671e-01 -6.12872682e-03 8.85116801e+01] [ 6.91142220e-03 9.02741579e-05 9.99976112e-01 1.13823211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:88.54, Z:1.14 [[ 4.72827475e-01 -8.81149235e-01 -3.19444605e-03 1.61350257e+02] [ 8.81127919e-01 4.72838259e-01 -6.12955280e-03 8.85366867e+01] [ 6.91150707e-03 8.35053721e-05 9.99976112e-01 1.13637264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.36, Y:88.56, Z:1.14 [[ 4.72397996e-01 -8.81379539e-01 -3.20013053e-03 1.61361971e+02] [ 8.81358249e-01 4.72408829e-01 -6.12659172e-03 8.85601062e+01] [ 6.91162251e-03 7.37282106e-05 9.99976112e-01 1.14324927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:88.58, Z:1.14 [[ 4.71630605e-01 -8.81790443e-01 -3.19160486e-03 1.61374203e+02] [ 8.81769132e-01 4.71641398e-01 -6.13102990e-03 8.85844651e+01] [ 6.91157655e-03 7.73226957e-05 9.99976112e-01 1.14303367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:88.61, Z:1.15 [[ 4.69483003e-01 -8.82935742e-01 -3.19151491e-03 1.61385131e+02] [ 8.82914457e-01 4.69493847e-01 -6.13107669e-03 8.86069938e+01] [ 6.91174336e-03 6.06016462e-05 9.99976112e-01 1.14883124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:88.63, Z:1.15 [[ 4.68067593e-01 -8.83686913e-01 -3.18873800e-03 1.61398279e+02] [ 8.83665635e-01 4.68078452e-01 -6.13252061e-03 8.86312501e+01] [ 6.91180775e-03 5.26559699e-05 9.99976112e-01 1.14934565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:88.65, Z:1.15 [[ 4.66461607e-01 -8.84535688e-01 -3.19146415e-03 1.61409714e+02] [ 8.84514440e-01 4.66472523e-01 -6.13110363e-03 8.86536756e+01] [ 6.91191030e-03 3.70283243e-05 9.99976112e-01 1.14903269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:88.68, Z:1.15 [[ 4.62912239e-01 -8.86398386e-01 -3.18758628e-03 1.61421369e+02] [ 8.86377168e-01 4.62923213e-01 -6.13311813e-03 8.86770821e+01] [ 6.91199369e-03 1.36917422e-05 9.99976112e-01 1.14584465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:88.70, Z:1.15 [[ 4.62663307e-01 -8.86528331e-01 -3.19097342e-03 1.61432555e+02] [ 8.86507128e-01 4.62674310e-01 -6.13135906e-03 8.86994186e+01] [ 6.91200494e-03 7.93417728e-06 9.99976112e-01 1.14601732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:88.72, Z:1.15 [[ 4.60720180e-01 -8.87539715e-01 -3.18911979e-03 1.61445135e+02] [ 8.87518529e-01 4.60731218e-01 -6.13232103e-03 8.87229504e+01] [ 6.91200550e-03 -5.11884951e-06 9.99976112e-01 1.14518216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:88.75, Z:1.15 [[ 4.59052232e-01 -8.88403557e-01 -3.18872076e-03 1.61457117e+02] [ 8.88382391e-01 4.59063306e-01 -6.13252798e-03 8.87450129e+01] [ 6.91198437e-03 -1.76527134e-05 9.99976112e-01 1.14507274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:161.47, Y:88.77, Z:1.15 [[ 4.57552978e-01 -8.89176669e-01 -3.18168331e-03 1.61469426e+02] [ 8.89155496e-01 4.57564040e-01 -6.13617493e-03 8.87681122e+01] [ 6.91196746e-03 -2.13860876e-05 9.99976112e-01 1.14793488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:88.79, Z:1.15 [[ 4.56653321e-01 -8.89639050e-01 -3.17889691e-03 1.61480520e+02] [ 8.89617878e-01 4.56664385e-01 -6.13761811e-03 8.87905449e+01] [ 6.91195375e-03 -2.52398285e-05 9.99976112e-01 1.14551266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.49, Y:88.81, Z:1.15 [[ 4.55933312e-01 -8.90008268e-01 -3.17769549e-03 1.61493073e+02] [ 8.89987101e-01 4.55944384e-01 -6.13824007e-03 8.88116177e+01] [ 6.91193683e-03 -2.94798745e-05 9.99976112e-01 1.14561508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:161.51, Y:88.83, Z:1.15 [[ 4.55884159e-01 -8.90033452e-01 -3.17605843e-03 1.61506002e+02] [ 8.90012280e-01 4.55895221e-01 -6.13908700e-03 8.88344276e+01] [ 6.91194266e-03 -2.80184927e-05 9.99976112e-01 1.14940156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:88.86, Z:1.15 [[ 4.56480615e-01 -8.89727694e-01 -3.17453992e-03 1.61519290e+02] [ 8.89706509e-01 4.56491653e-01 -6.13987213e-03 8.88584074e+01] [ 6.91196525e-03 -2.16762266e-05 9.99976112e-01 1.15028610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:88.88, Z:1.15 [[ 4.56330064e-01 -8.89804931e-01 -3.17138950e-03 1.61531604e+02] [ 8.89783736e-01 4.56341084e-01 -6.14150024e-03 8.88815506e+01] [ 6.91197252e-03 -1.92996010e-05 9.99976112e-01 1.14685931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:88.90, Z:1.15 [[ 4.56156332e-01 -8.89894006e-01 -3.17141871e-03 1.61544241e+02] [ 8.89872814e-01 4.56167356e-01 -6.14148515e-03 8.89047284e+01] [ 6.91196852e-03 -2.06819488e-05 9.99976112e-01 1.14919614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:88.93, Z:1.15 [[ 4.55998085e-01 -8.89975109e-01 -3.17035669e-03 1.61556599e+02] [ 8.89953915e-01 4.56009106e-01 -6.14203334e-03 8.89273437e+01] [ 6.91196831e-03 -2.07159073e-05 9.99976112e-01 1.14641026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:88.95, Z:1.15 [[ 4.55739084e-01 -8.90107758e-01 -3.17271591e-03 1.61570801e+02] [ 8.90086576e-01 4.55750126e-01 -6.14081626e-03 8.89502091e+01] [ 6.91195387e-03 -2.53818624e-05 9.99976112e-01 1.15161951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:88.97, Z:1.15 [[ 4.55315709e-01 -8.90324404e-01 -3.17199727e-03 1.61583792e+02] [ 8.90303224e-01 4.55326757e-01 -6.14118675e-03 8.89725757e+01] [ 6.91194366e-03 -2.78605939e-05 9.99976112e-01 1.14940466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:88.99, Z:1.15 [[ 4.55012423e-01 -8.90479454e-01 -3.16807473e-03 1.61597132e+02] [ 8.90458264e-01 4.55023452e-01 -6.14320806e-03 8.89945584e+01] [ 6.91194886e-03 -2.58023339e-05 9.99976112e-01 1.15049690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264000000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:161.61, Y:89.02, Z:1.15 [[ 4.54536722e-01 -8.90722377e-01 -3.16489398e-03 1.61610772e+02] [ 8.90701181e-01 4.54547739e-01 -6.14484630e-03 8.90172144e+01] [ 6.91194751e-03 -2.59165109e-05 9.99976112e-01 1.15290214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.62, Y:89.04, Z:1.15 [[ 4.54595675e-01 -8.90692296e-01 -3.16335072e-03 1.61624532e+02] [ 8.90671094e-01 4.54606681e-01 -6.14564067e-03 8.90411929e+01] [ 6.91195517e-03 -2.37233712e-05 9.99976112e-01 1.15486099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.64, Y:89.06, Z:1.15 [[ 4.54823569e-01 -8.90575948e-01 -3.16252276e-03 1.61637672e+02] [ 8.90554741e-01 4.54834563e-01 -6.14606670e-03 8.90639737e+01] [ 6.91196384e-03 -2.10236489e-05 9.99976112e-01 1.14912778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:89.09, Z:1.15 [[ 4.55255604e-01 -8.90355203e-01 -3.15400523e-03 1.61651025e+02] [ 8.90333959e-01 4.55266530e-01 -6.15044624e-03 8.90874395e+01] [ 6.91199482e-03 -8.09284305e-06 9.99976112e-01 1.15238913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:89.11, Z:1.15 [[ 4.55972580e-01 -8.89988215e-01 -3.15948765e-03 1.61664606e+02] [ 8.89966983e-01 4.55983526e-01 -6.14762862e-03 8.91104009e+01] [ 6.91199135e-03 -8.68960319e-06 9.99976112e-01 1.15196446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:89.13, Z:1.15 [[ 4.56953607e-01 -8.89484923e-01 -3.15798577e-03 1.61677769e+02] [ 8.89463673e-01 4.56964519e-01 -6.14840003e-03 8.91326794e+01] [ 6.91199658e-03 6.19949719e-07 9.99976112e-01 1.14951267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:89.16, Z:1.15 [[ 4.58326613e-01 -8.88778236e-01 -3.15648871e-03 1.61690260e+02] [ 8.88756963e-01 4.58337482e-01 -6.14916850e-03 8.91557935e+01] [ 6.91198422e-03 1.29762527e-05 9.99976112e-01 1.14923192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:89.18, Z:1.15 [[ 4.61127193e-01 -8.87328448e-01 -3.15231845e-03 1.61701972e+02] [ 8.87307127e-01 4.61137966e-01 -6.15130840e-03 8.91790551e+01] [ 6.91188466e-03 3.94609554e-05 9.99976112e-01 1.15083098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:89.20, Z:1.15 [[ 4.62123029e-01 -8.86810250e-01 -3.14423666e-03 1.61714212e+02] [ 8.86788889e-01 4.62133722e-01 -6.15545236e-03 8.92025739e+01] [ 6.91177604e-03 5.63021521e-05 9.99976112e-01 1.15017619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:89.23, Z:1.15 [[ 4.62916183e-01 -8.86396452e-01 -3.15243497e-03 1.61726365e+02] [ 8.86375109e-01 4.62926914e-01 -6.15125083e-03 8.92256734e+01] [ 6.91179391e-03 5.32736672e-05 9.99976112e-01 1.15101652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:89.25, Z:1.15 [[ 4.63590402e-01 -8.86044023e-01 -3.15092144e-03 1.61738343e+02] [ 8.86022668e-01 4.63601106e-01 -6.15202603e-03 8.92492743e+01] [ 6.91173656e-03 6.02323998e-05 9.99976112e-01 1.15096731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:89.27, Z:1.15 [[ 4.63133296e-01 -8.86283042e-01 -3.14949302e-03 1.61749918e+02] [ 8.86261687e-01 4.63144001e-01 -6.15275721e-03 8.92725852e+01] [ 6.91175318e-03 5.82717335e-05 9.99976112e-01 1.15183522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:89.30, Z:1.15 [[ 4.62133645e-01 -8.86804730e-01 -3.14088744e-03 1.61761670e+02] [ 8.86783357e-01 4.62144314e-01 -6.15715919e-03 8.92958381e+01] [ 6.91174116e-03 6.01437082e-05 9.99976112e-01 1.15301145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:89.32, Z:1.16 [[ 4.59693159e-01 -8.88072262e-01 -3.13953921e-03 1.61773294e+02] [ 8.88050914e-01 4.59703877e-01 -6.15784840e-03 8.93190305e+01] [ 6.91187271e-03 4.26501208e-05 9.99976112e-01 1.15505838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:89.34, Z:1.16 [[ 4.58075589e-01 -8.88907680e-01 -3.14519405e-03 1.61784965e+02] [ 8.88886371e-01 4.58086385e-01 -6.15495877e-03 8.93426333e+01] [ 6.91196069e-03 2.37162325e-05 9.99976112e-01 1.15736668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:89.37, Z:1.15 [[ 4.56511216e-01 -8.89712104e-01 -3.14360277e-03 1.61796438e+02] [ 8.89690808e-01 4.56522039e-01 -6.15577140e-03 8.93651989e+01] [ 6.91198827e-03 1.33441972e-05 9.99976112e-01 1.15446529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:89.39, Z:1.16 [[ 4.54780655e-01 -8.90597936e-01 -3.14194538e-03 1.61808153e+02] [ 8.90576656e-01 4.54791508e-01 -6.15661722e-03 8.93886787e+01] [ 6.91200067e-03 1.76720155e-06 9.99976112e-01 1.15616119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:89.41, Z:1.16 [[ 4.52630193e-01 -8.91692798e-01 -3.14042738e-03 1.61820460e+02] [ 8.91671539e-01 4.52641087e-01 -6.15739144e-03 8.94114121e+01] [ 6.91198807e-03 -1.32084365e-05 9.99976112e-01 1.15670777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:89.43, Z:1.16 [[ 4.51336932e-01 -8.92348094e-01 -3.13889941e-03 1.61832094e+02] [ 8.92326845e-01 4.51347846e-01 -6.15817027e-03 8.94342985e+01] [ 6.91196699e-03 -2.15145368e-05 9.99976112e-01 1.15606591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:89.46, Z:1.15 [[ 4.49947875e-01 -8.93049308e-01 -3.13730357e-03 1.61843757e+02] [ 8.93028070e-01 4.49958812e-01 -6.15898317e-03 8.94570143e+01] [ 6.91193305e-03 -3.04787625e-05 9.99976112e-01 1.15462928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:89.48, Z:1.16 [[ 4.46483060e-01 -8.94786591e-01 -3.13572715e-03 1.61856127e+02] [ 8.94765391e-01 4.46494068e-01 -6.15978567e-03 8.94799817e+01] [ 6.91177719e-03 -5.55001782e-05 9.99976112e-01 1.15597327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:89.50, Z:1.16 [[ 4.43846223e-01 -8.96097506e-01 -3.12884540e-03 1.61869275e+02] [ 8.96076313e-01 4.43857246e-01 -6.16328652e-03 8.95038780e+01] [ 6.91166638e-03 -6.81328021e-05 9.99976112e-01 1.15932886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:89.53, Z:1.16 [[ 4.41160770e-01 -8.97422620e-01 -3.13295712e-03 1.61881995e+02] [ 8.97401475e-01 4.41171884e-01 -6.16119571e-03 8.95258031e+01] [ 6.91136900e-03 -9.34424998e-05 9.99976112e-01 1.15818319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:89.55, Z:1.15 [[ 4.36185416e-01 -8.99851363e-01 -3.13173394e-03 1.61896806e+02] [ 8.99830275e-01 4.36196639e-01 -6.16181739e-03 8.95466269e+01] [ 6.91077160e-03 -1.30334136e-04 9.99976112e-01 1.15495017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:89.57, Z:1.16 [[ 4.34168229e-01 -9.00826394e-01 -3.12363350e-03 1.61911193e+02] [ 9.00805302e-01 4.34179444e-01 -6.16593215e-03 8.95701978e+01] [ 6.91065188e-03 -1.36733776e-04 9.99976112e-01 1.15770948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:89.59, Z:1.16 [[ 4.32078227e-01 -9.01830711e-01 -3.12651059e-03 1.61925718e+02] [ 9.01809655e-01 4.32089510e-01 -6.16447121e-03 8.95938336e+01] [ 6.91024188e-03 -1.55983648e-04 9.99976112e-01 1.16121593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:161.94, Y:89.62, Z:1.16 [[ 4.30832220e-01 -9.02426624e-01 -3.12832116e-03 1.61940953e+02] [ 9.02405591e-01 4.30843545e-01 -6.16355225e-03 8.96171147e+01] [ 6.90997062e-03 -1.67557606e-04 9.99976112e-01 1.16151734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.96, Y:89.64, Z:1.16 [[ 4.29480927e-01 -9.03070501e-01 -3.13110234e-03 1.61957802e+02] [ 9.03049495e-01 4.29492302e-01 -6.16214115e-03 8.96381849e+01] [ 6.90963225e-03 -1.81018296e-04 9.99976112e-01 1.15980299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:89.66, Z:1.16 [[ 4.29489913e-01 -9.03066229e-01 -3.13050515e-03 1.61972204e+02] [ 9.03045221e-01 4.29501284e-01 -6.16244398e-03 8.96608643e+01] [ 6.90965102e-03 -1.80280185e-04 9.99976112e-01 1.15859337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:89.68, Z:1.16 [[ 4.30277356e-01 -9.02691335e-01 -3.12256885e-03 1.61986259e+02] [ 9.02670288e-01 4.30288655e-01 -6.16646561e-03 8.96815924e+01] [ 6.91002103e-03 -1.65359599e-04 9.99976112e-01 1.15706625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:89.70, Z:1.16 [[ 4.33641977e-01 -9.01079857e-01 -3.11883156e-03 1.62004074e+02] [ 9.01058754e-01 4.33653172e-01 -6.16835851e-03 8.97030659e+01] [ 6.91067480e-03 -1.35391303e-04 9.99976112e-01 1.15757439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.02, Y:89.73, Z:1.15 [[ 4.35734602e-01 -9.00069780e-01 -3.12209470e-03 1.62017634e+02] [ 9.00048663e-01 4.35745770e-01 -6.16670644e-03 8.97256206e+01] [ 6.91090567e-03 -1.22989779e-04 9.99976112e-01 1.15431989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:89.75, Z:1.15 [[ 4.39024719e-01 -8.98469556e-01 -3.12314712e-03 1.62031198e+02] [ 8.98448402e-01 4.39035816e-01 -6.16617394e-03 8.97463146e+01] [ 6.91129301e-03 -9.88837592e-05 9.99976112e-01 1.15297822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81264000000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:162.05, Y:89.77, Z:1.16 [[ 4.42392817e-01 -8.96815960e-01 -3.11907566e-03 1.62045129e+02] [ 8.96794750e-01 4.42403807e-01 -6.16823275e-03 8.97685550e+01] [ 6.91166052e-03 -6.83888119e-05 9.99976112e-01 1.15684163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:89.79, Z:1.16 [[ 4.51004209e-01 -8.92516377e-01 -3.11754675e-03 1.62061924e+02] [ 8.92495057e-01 4.51014984e-01 -6.16900539e-03 8.97897168e+01] [ 6.91199864e-03 -1.47666915e-07 9.99976112e-01 1.15802989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:89.81, Z:1.16 [[ 4.55817117e-01 -8.90068001e-01 -3.11610089e-03 1.62075040e+02] [ 8.90046618e-01 4.55827766e-01 -6.16973564e-03 8.98128283e+01] [ 6.91188958e-03 3.87960508e-05 9.99976112e-01 1.15912918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:89.84, Z:1.16 [[ 4.60502555e-01 -8.87652923e-01 -3.11216318e-03 1.62087135e+02] [ 8.87631470e-01 4.60513065e-01 -6.17172342e-03 8.98353634e+01] [ 6.91154013e-03 7.96404304e-05 9.99976112e-01 1.15980740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:89.86, Z:1.16 [[ 4.70188946e-01 -8.82560280e-01 -3.11569948e-03 1.62098462e+02] [ 8.82538726e-01 4.70199245e-01 -6.16993911e-03 8.98567846e+01] [ 6.91034273e-03 1.51311717e-04 9.99976112e-01 1.15738422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:89.88, Z:1.16 [[ 4.74564451e-01 -8.80215256e-01 -3.11214785e-03 1.62110023e+02] [ 8.80193639e-01 4.74574618e-01 -6.17173005e-03 8.98807482e+01] [ 6.90939732e-03 1.89590939e-04 9.99976112e-01 1.15837748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:162.12, Y:89.90, Z:1.16 [[ 4.78400667e-01 -8.78136166e-01 -3.11070805e-03 1.62121297e+02] [ 8.78114500e-01 4.78410729e-01 -6.17245566e-03 8.99048312e+01] [ 6.90845265e-03 2.21349054e-04 9.99976112e-01 1.15833984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:89.93, Z:1.16 [[ 4.85174331e-01 -8.74411929e-01 -3.10603467e-03 1.62131238e+02] [ 8.74390171e-01 4.85184192e-01 -6.17480971e-03 8.99288311e+01] [ 6.90632619e-03 2.79972982e-04 9.99976112e-01 1.15949966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:89.95, Z:1.16 [[ 4.87717301e-01 -8.72996089e-01 -3.10853134e-03 1.62140848e+02] [ 8.72974311e-01 4.87727116e-01 -6.17355258e-03 8.99523737e+01] [ 6.90560229e-03 2.97280396e-04 9.99976112e-01 1.15928611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:89.98, Z:1.16 [[ 4.89513460e-01 -8.71990205e-01 -3.10704817e-03 1.62150490e+02] [ 8.71968402e-01 4.89523221e-01 -6.17429895e-03 8.99766083e+01] [ 6.90490043e-03 3.13154619e-04 9.99976112e-01 1.15969099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:90.00, Z:1.16 [[ 4.90492297e-01 -8.71439993e-01 -3.10563670e-03 1.62159643e+02] [ 8.71418175e-01 4.90502023e-01 -6.17500883e-03 9.00007045e+01] [ 6.90447073e-03 3.22486001e-04 9.99976112e-01 1.15930740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:90.03, Z:1.16 [[ 4.90964623e-01 -8.71173980e-01 -3.10416320e-03 1.62166567e+02] [ 8.71152151e-01 4.90974327e-01 -6.17574946e-03 9.00264891e+01] [ 6.90421667e-03 3.27876055e-04 9.99976112e-01 1.16109874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:90.05, Z:1.16 [[ 4.90035322e-01 -8.71697055e-01 -3.10274345e-03 1.62175578e+02] [ 8.71675232e-01 4.90045039e-01 -6.17646267e-03 9.00512411e+01] [ 6.90448836e-03 3.22100261e-04 9.99976112e-01 1.16188973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:90.08, Z:1.16 [[ 4.86085633e-01 -8.73905681e-01 -3.10131201e-03 1.62182255e+02] [ 8.73883898e-01 4.86095438e-01 -6.17718134e-03 9.00778749e+01] [ 6.90580749e-03 2.92452473e-04 9.99976112e-01 1.16305866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:90.10, Z:1.16 [[ 4.83588132e-01 -8.75290160e-01 -3.10703565e-03 1.62190790e+02] [ 8.75268424e-01 4.83598040e-01 -6.17430891e-03 9.01020370e+01] [ 6.90686818e-03 2.66332320e-04 9.99976112e-01 1.16148150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:90.13, Z:1.16 [[ 4.80872261e-01 -8.76785164e-01 -3.10558705e-03 1.62199942e+02] [ 8.76763454e-01 4.80882226e-01 -6.17503543e-03 9.01262694e+01] [ 6.90760107e-03 2.46538018e-04 9.99976112e-01 1.16309638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:90.15, Z:1.16 [[ 4.80664022e-01 -8.76899371e-01 -3.09707995e-03 1.62211718e+02] [ 8.76877635e-01 4.80673932e-01 -6.17929921e-03 9.01503731e+01] [ 6.90730918e-03 2.54406667e-04 9.99976112e-01 1.16328125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:90.18, Z:1.16 [[ 4.77388901e-01 -8.78686665e-01 -3.09561223e-03 1.62220975e+02] [ 8.78664962e-01 4.77398882e-01 -6.18003440e-03 9.01756462e+01] [ 6.90815563e-03 2.30273830e-04 9.99976112e-01 1.16266912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:90.20, Z:1.16 [[ 4.69386473e-01 -8.82987417e-01 -3.09179650e-03 1.62227651e+02] [ 8.82965793e-01 4.69396625e-01 -6.18194476e-03 9.02012465e+01] [ 6.90985828e-03 1.71770698e-04 9.99976112e-01 1.15896851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.24, Y:90.22, Z:1.16 [[ 4.65008164e-01 -8.85300961e-01 -3.10105701e-03 1.62236879e+02] [ 8.85279418e-01 4.65018486e-01 -6.17731019e-03 9.02248369e+01] [ 6.91082749e-03 1.27197719e-04 9.99976112e-01 1.16262135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.25, Y:90.25, Z:1.16 [[ 4.59997535e-01 -8.87914817e-01 -3.08964424e-03 1.62246511e+02] [ 8.87893295e-01 4.60007900e-01 -6.18301805e-03 9.02490026e+01] [ 6.91125410e-03 1.00898657e-04 9.99976112e-01 1.16177429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:90.27, Z:1.16 [[ 4.55393814e-01 -8.90284724e-01 -3.09588626e-03 1.62256704e+02] [ 8.90263277e-01 4.55404334e-01 -6.17989784e-03 9.02722216e+01] [ 6.91174866e-03 5.81334047e-05 9.99976112e-01 1.16231392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:90.29, Z:1.16 [[ 4.47280784e-01 -8.94388258e-01 -3.08952116e-03 1.62267134e+02] [ 8.94366885e-01 4.47291454e-01 -6.18307714e-03 9.02949830e+01] [ 6.91198800e-03 2.40617711e-06 9.99976112e-01 1.16312181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:90.32, Z:1.16 [[ 4.43452434e-01 -8.96292621e-01 -3.07849494e-03 1.62279164e+02] [ 8.96271256e-01 4.43463119e-01 -6.18858192e-03 9.03198273e+01] [ 6.91197927e-03 -1.48248145e-05 9.99976112e-01 1.16211607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:90.34, Z:1.16 [[ 4.40214364e-01 -8.97887416e-01 -3.08237006e-03 1.62290005e+02] [ 8.97866103e-01 4.40225153e-01 -6.18664810e-03 9.03429755e+01] [ 6.91185031e-03 -4.41042372e-05 9.99976112e-01 1.16149822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:90.37, Z:1.16 [[ 4.34856512e-01 -9.00494475e-01 -3.08463156e-03 1.62301796e+02] [ 9.00473235e-01 4.34867443e-01 -6.18552005e-03 9.03671154e+01] [ 6.91143247e-03 -8.78144870e-05 9.99976112e-01 1.16338794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:90.39, Z:1.16 [[ 4.32804281e-01 -9.01482637e-01 -3.08374875e-03 1.62313596e+02] [ 9.01461419e-01 4.32815255e-01 -6.18596014e-03 9.03891213e+01] [ 6.91122916e-03 -1.02570490e-04 9.99976112e-01 1.16305188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:90.41, Z:1.16 [[ 4.30943361e-01 -9.02373714e-01 -3.08217683e-03 1.62325026e+02] [ 9.02352513e-01 4.30954368e-01 -6.18674325e-03 9.04105702e+01] [ 6.91103205e-03 -1.15074076e-04 9.99976112e-01 1.16382630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:90.43, Z:1.16 [[ 4.29466692e-01 -9.03077445e-01 -3.08050128e-03 1.62337540e+02] [ 9.03056255e-01 4.29477722e-01 -6.18757743e-03 9.04330569e+01] [ 6.91086828e-03 -1.24507546e-04 9.99976112e-01 1.16437221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:90.46, Z:1.16 [[ 4.27510856e-01 -9.04004971e-01 -3.07888153e-03 1.62352377e+02] [ 9.03983800e-01 4.27521921e-01 -6.18838329e-03 9.04553709e+01] [ 6.91061861e-03 -1.37657986e-04 9.99976112e-01 1.16498211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:162.37, Y:90.48, Z:1.17 [[ 4.27090879e-01 -9.04203468e-01 -3.07738696e-03 1.62365319e+02] [ 9.04182296e-01 4.27101943e-01 -6.18912643e-03 9.04774517e+01] [ 6.91058753e-03 -1.39199365e-04 9.99976112e-01 1.16604198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:162.38, Y:90.50, Z:1.17 [[ 4.27136701e-01 -9.04181828e-01 -3.07582178e-03 1.62377860e+02] [ 9.04160650e-01 4.27147754e-01 -6.18990418e-03 9.04995470e+01] [ 6.91062924e-03 -1.37101768e-04 9.99976112e-01 1.16604401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:90.52, Z:1.16 [[ 4.27887726e-01 -9.03826666e-01 -3.07422465e-03 1.62389447e+02] [ 9.03805474e-01 4.27898750e-01 -6.19069730e-03 9.05194258e+01] [ 6.91077419e-03 -1.29577677e-04 9.99976112e-01 1.16274794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264000000003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:162.40, Y:90.54, Z:1.16 [[ 4.29134327e-01 -9.03235499e-01 -3.05986273e-03 1.62404475e+02] [ 9.03214241e-01 4.29145223e-01 -6.19782278e-03 9.05414615e+01] [ 6.91121903e-03 -1.04013082e-04 9.99976112e-01 1.16408773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:90.56, Z:1.16 [[ 4.30503425e-01 -9.02583720e-01 -3.07090858e-03 1.62417073e+02] [ 9.02562484e-01 4.30514364e-01 -6.19234493e-03 9.05628285e+01] [ 6.91117997e-03 -1.05861176e-04 9.99976112e-01 1.16181426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:90.59, Z:1.16 [[ 4.33409005e-01 -9.01192127e-01 -3.06345318e-03 1.62432389e+02] [ 9.01170830e-01 4.33419825e-01 -6.19603955e-03 9.05851684e+01] [ 6.91158340e-03 -7.52753116e-05 9.99976112e-01 1.16177485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:90.61, Z:1.16 [[ 4.34887067e-01 -9.00479776e-01 -3.06790626e-03 1.62445235e+02] [ 9.00458477e-01 4.34897883e-01 -6.19383386e-03 9.06067103e+01] [ 6.91164807e-03 -6.89039573e-05 9.99976112e-01 1.16223000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:90.63, Z:1.16 [[ 4.38167282e-01 -8.98888219e-01 -3.06629158e-03 1.62458682e+02] [ 8.98866875e-01 4.38178009e-01 -6.19463312e-03 9.06269506e+01] [ 6.91186427e-03 -4.19023667e-05 9.99976112e-01 1.16097559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:90.65, Z:1.16 [[ 4.40230910e-01 -8.97879365e-01 -3.06460360e-03 1.62469846e+02] [ 8.97857990e-01 4.40241577e-01 -6.19546808e-03 9.06470224e+01] [ 6.91194887e-03 -2.41422759e-05 9.99976112e-01 1.15845916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:90.67, Z:1.16 [[ 4.41464883e-01 -8.97273348e-01 -3.04899463e-03 1.62482127e+02] [ 8.97251905e-01 4.41475412e-01 -6.20318578e-03 9.06712631e+01] [ 6.91200943e-03 2.77245128e-06 9.99976112e-01 1.16277464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:90.69, Z:1.16 [[ 4.43166142e-01 -8.96434265e-01 -3.06241429e-03 1.62494332e+02] [ 8.96412848e-01 4.43176723e-01 -6.19655362e-03 9.06947025e+01] [ 6.91199372e-03 9.15243849e-07 9.99976112e-01 1.16412164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:90.72, Z:1.16 [[ 4.46978563e-01 -8.94539432e-01 -3.06088591e-03 1.62508491e+02] [ 8.94517965e-01 4.46989042e-01 -6.19730850e-03 9.07173240e+01] [ 6.91191928e-03 3.20466100e-05 9.99976112e-01 1.16261641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:90.74, Z:1.16 [[ 4.48736312e-01 -8.93658946e-01 -3.06780376e-03 1.62519778e+02] [ 8.93637481e-01 4.48746797e-01 -6.19389274e-03 9.07384836e+01] [ 6.91189477e-03 3.79201650e-05 9.99976112e-01 1.16473445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:90.76, Z:1.17 [[ 4.50220971e-01 -8.92911955e-01 -3.05257078e-03 1.62533133e+02] [ 8.92890422e-01 4.50231315e-01 -6.20141075e-03 9.07632024e+01] [ 6.91167675e-03 6.63939605e-05 9.99976112e-01 1.16662738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:90.79, Z:1.16 [[ 4.52587433e-01 -8.91714755e-01 -3.06777156e-03 1.62544641e+02] [ 8.91693246e-01 4.52597825e-01 -6.19391168e-03 9.07860832e+01] [ 6.91166917e-03 6.77754086e-05 9.99976112e-01 1.16441447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:90.81, Z:1.16 [[ 4.53311442e-01 -8.91346930e-01 -3.06392416e-03 1.62555038e+02] [ 8.91325399e-01 4.53321790e-01 -6.19580893e-03 9.08086531e+01] [ 6.91155884e-03 7.76776580e-05 9.99976112e-01 1.16407782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:90.83, Z:1.16 [[ 4.53764024e-01 -8.91116646e-01 -3.05529366e-03 1.62566236e+02] [ 8.91095081e-01 4.53774301e-01 -6.20006190e-03 9.08326129e+01] [ 6.91139211e-03 9.08078829e-05 9.99976112e-01 1.16442350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:90.86, Z:1.16 [[ 4.54044281e-01 -8.90973886e-01 -3.05380917e-03 1.62576943e+02] [ 8.90952313e-01 4.54054541e-01 -6.20079299e-03 9.08562128e+01] [ 6.91134055e-03 9.46362521e-05 9.99976112e-01 1.16458255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:90.88, Z:1.16 [[ 4.54551829e-01 -8.90715060e-01 -3.05229230e-03 1.62588309e+02] [ 8.90693477e-01 4.54562065e-01 -6.20153957e-03 9.08791486e+01] [ 6.91126098e-03 1.00264306e-04 9.99976112e-01 1.16241629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:90.90, Z:1.16 [[ 4.54419460e-01 -8.90782604e-01 -3.05071005e-03 1.62599533e+02] [ 8.90761017e-01 4.54429689e-01 -6.20231782e-03 9.09018961e+01] [ 6.91125004e-03 1.01000333e-04 9.99976112e-01 1.16148033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:90.93, Z:1.16 [[ 4.53334311e-01 -8.91335375e-01 -3.04157264e-03 1.62610502e+02] [ 8.91313771e-01 4.53344502e-01 -6.20680909e-03 9.09252168e+01] [ 6.91122874e-03 1.02763937e-04 9.99976112e-01 1.16143413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:90.95, Z:1.16 [[ 4.52164222e-01 -8.91929498e-01 -3.04751006e-03 1.62621581e+02] [ 8.91907926e-01 4.52174483e-01 -6.20389248e-03 9.09486168e+01] [ 6.91144099e-03 8.70798404e-05 9.99976112e-01 1.16216158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:90.97, Z:1.16 [[ 4.48448847e-01 -8.93803309e-01 -3.04589858e-03 1.62633788e+02] [ 8.93781774e-01 4.48459187e-01 -6.20468356e-03 9.09721982e+01] [ 6.91172789e-03 6.01145439e-05 9.99976112e-01 1.16427018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:91.00, Z:1.17 [[ 4.46051226e-01 -8.95002254e-01 -3.04443186e-03 1.62646730e+02] [ 8.94980743e-01 4.46061614e-01 -6.20540315e-03 9.09956101e+01] [ 6.91185399e-03 4.32197969e-05 9.99976112e-01 1.16562802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:91.02, Z:1.17 [[ 4.43307981e-01 -8.96364191e-01 -3.04476317e-03 1.62658530e+02] [ 8.96342713e-01 4.43318437e-01 -6.20524070e-03 9.10184682e+01] [ 6.91195521e-03 2.16814434e-05 9.99976112e-01 1.16524085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:91.04, Z:1.16 [[ 4.38467388e-01 -8.98741954e-01 -3.04138671e-03 1.62671512e+02] [ 8.98720521e-01 4.38477936e-01 -6.20689517e-03 9.10408884e+01] [ 6.91197806e-03 -1.18355305e-05 9.99976112e-01 1.16484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.68, Y:91.06, Z:1.17 [[ 4.36224404e-01 -8.99832778e-01 -3.03974699e-03 1.62684626e+02] [ 8.99811366e-01 4.36234994e-01 -6.20769810e-03 9.10642695e+01] [ 6.91193424e-03 -2.72494921e-05 9.99976112e-01 1.16577532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:91.09, Z:1.16 [[ 4.34784508e-01 -9.00529400e-01 -3.03822131e-03 1.62698215e+02] [ 9.00508000e-01 4.34795122e-01 -6.20844472e-03 9.10858249e+01] [ 6.91189080e-03 -3.66070155e-05 9.99976112e-01 1.16484916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:91.11, Z:1.16 [[ 4.33449954e-01 -9.01172523e-01 -3.03654324e-03 1.62710499e+02] [ 9.01151133e-01 4.33460588e-01 -6.20926535e-03 9.11073732e+01] [ 6.91184114e-03 -4.49786025e-05 9.99976112e-01 1.16397619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.72, Y:91.13, Z:1.16 [[ 4.32630407e-01 -9.01566260e-01 -3.03479883e-03 1.62723289e+02] [ 9.01544873e-01 4.32641048e-01 -6.21011782e-03 9.11300564e+01] [ 6.91181125e-03 -4.93215278e-05 9.99976112e-01 1.16419117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.74, Y:91.15, Z:1.17 [[ 4.33037713e-01 -9.01370699e-01 -3.03335143e-03 1.62735312e+02] [ 9.01349303e-01 4.33048335e-01 -6.21082473e-03 9.11525079e+01] [ 6.91184322e-03 -4.45878537e-05 9.99976112e-01 1.16561808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:91.17, Z:1.17 [[ 4.34287057e-01 -9.00769427e-01 -3.03167429e-03 1.62747379e+02] [ 9.00748010e-01 4.34297637e-01 -6.21164328e-03 9.11737329e+01] [ 6.91190734e-03 -3.31383034e-05 9.99976112e-01 1.16521056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:91.20, Z:1.16 [[ 4.38024061e-01 -8.98958142e-01 -3.02992794e-03 1.62760652e+02] [ 8.98936676e-01 4.38034540e-01 -6.21249500e-03 9.11964492e+01] [ 6.91198606e-03 -2.49106299e-06 9.99976112e-01 1.16404187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:91.22, Z:1.17 [[ 4.40435438e-01 -8.97779149e-01 -3.03726339e-03 1.62771625e+02] [ 8.97757678e-01 4.40445911e-01 -6.20891955e-03 9.12180411e+01] [ 6.91198874e-03 7.90166894e-06 9.99976112e-01 1.16593583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:91.24, Z:1.17 [[ 4.42896052e-01 -8.96567859e-01 -3.02667966e-03 1.62782989e+02] [ 8.96546325e-01 4.42906392e-01 -6.21407455e-03 9.12403836e+01] [ 6.91187528e-03 3.86305593e-05 9.99976112e-01 1.16638502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:91.26, Z:1.17 [[ 4.45458262e-01 -8.95297596e-01 -3.02504736e-03 1.62793907e+02] [ 8.95276027e-01 4.45468529e-01 -6.21486906e-03 9.12631265e+01] [ 6.91172073e-03 6.02123855e-05 9.99976112e-01 1.16719297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:91.29, Z:1.17 [[ 4.50366097e-01 -8.92838864e-01 -3.02340757e-03 1.62804294e+02] [ 8.92817234e-01 4.50376234e-01 -6.21566668e-03 9.12857314e+01] [ 6.91125970e-03 9.99751567e-05 9.99976112e-01 1.16685472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:91.31, Z:1.17 [[ 4.52143155e-01 -8.91940265e-01 -3.02170806e-03 1.62815148e+02] [ 8.91918609e-01 4.52153238e-01 -6.21649278e-03 9.13098985e+01] [ 6.91101530e-03 1.15627012e-04 9.99976112e-01 1.16753528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:91.33, Z:1.17 [[ 4.53725946e-01 -8.91136154e-01 -3.02019443e-03 1.62825347e+02] [ 8.91114475e-01 4.53735979e-01 -6.21722807e-03 9.13335522e+01] [ 6.91076758e-03 1.29578714e-04 9.99976112e-01 1.16611221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:91.36, Z:1.16 [[ 4.56329374e-01 -8.89805816e-01 -3.01861195e-03 1.62834368e+02] [ 8.89784103e-01 4.56339333e-01 -6.21799630e-03 9.13577124e+01] [ 6.91032064e-03 1.51541432e-04 9.99976112e-01 1.16455853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:91.38, Z:1.17 [[ 4.57081598e-01 -8.89419648e-01 -3.01701554e-03 1.62844438e+02] [ 8.89397921e-01 4.57091527e-01 -6.21877080e-03 9.13806248e+01] [ 6.91014917e-03 1.59158343e-04 9.99976112e-01 1.16537644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.85, Y:91.40, Z:1.17 [[ 4.57346022e-01 -8.89283714e-01 -3.01540601e-03 1.62854548e+02] [ 8.89261979e-01 4.57355934e-01 -6.21955114e-03 9.14049339e+01] [ 6.91005937e-03 1.63001056e-04 9.99976112e-01 1.16681950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:91.43, Z:1.17 [[ 4.57654730e-01 -8.89124887e-01 -3.01391168e-03 1.62863370e+02] [ 8.89103144e-01 4.57664624e-01 -6.22027519e-03 9.14288208e+01] [ 6.90996223e-03 1.67060017e-04 9.99976112e-01 1.16716458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:91.45, Z:1.17 [[ 4.57210624e-01 -8.89353345e-01 -3.01235072e-03 1.62873278e+02] [ 8.89331602e-01 4.57220517e-01 -6.22103104e-03 9.14531473e+01] [ 6.91000331e-03 1.65342785e-04 9.99976112e-01 1.16946029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:91.48, Z:1.17 [[ 4.56608208e-01 -8.89662790e-01 -3.01084995e-03 1.62882665e+02] [ 8.89641049e-01 4.56618105e-01 -6.22175730e-03 9.14771788e+01] [ 6.91007455e-03 1.62329741e-04 9.99976112e-01 1.16968344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:91.50, Z:1.17 [[ 4.54606090e-01 -8.90687514e-01 -3.00928290e-03 1.62890775e+02] [ 8.90665790e-01 4.54616025e-01 -6.22251514e-03 9.15015858e+01] [ 6.91038477e-03 1.48527940e-04 9.99976112e-01 1.16888505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:91.53, Z:1.17 [[ 4.53045044e-01 -8.91482553e-01 -3.00768390e-03 1.62900461e+02] [ 8.91460841e-01 4.53055007e-01 -6.22328793e-03 9.15261462e+01] [ 6.91059886e-03 1.38197330e-04 9.99976112e-01 1.16942916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:91.55, Z:1.17 [[ 4.51405027e-01 -8.92314149e-01 -2.99342841e-03 1.62911090e+02] [ 8.92292410e-01 4.51414930e-01 -6.23017165e-03 9.15503099e+01] [ 6.91054860e-03 1.41317352e-04 9.99976112e-01 1.16884671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:162.92, Y:91.57, Z:1.17 [[ 4.47521380e-01 -8.94268185e-01 -3.00461015e-03 1.62918387e+02] [ 8.94246526e-01 4.47531455e-01 -6.22477439e-03 9.15736296e+01] [ 6.91127525e-03 9.88574354e-05 9.99976112e-01 1.16904184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:91.60, Z:1.17 [[ 4.45783958e-01 -8.95135545e-01 -3.00294888e-03 1.62928841e+02] [ 8.95113900e-01 4.45794064e-01 -6.22557571e-03 9.15974267e+01] [ 6.91143090e-03 8.72804973e-05 9.99976112e-01 1.16933676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:91.62, Z:1.17 [[ 4.45552969e-01 -8.95250548e-01 -3.00134941e-03 1.62939831e+02] [ 8.95228900e-01 4.45563069e-01 -6.22634672e-03 9.16209900e+01] [ 6.91143077e-03 8.72725399e-05 9.99976112e-01 1.16951632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.95, Y:91.65, Z:1.17 [[ 4.43208794e-01 -8.96413391e-01 -2.99974257e-03 1.62949531e+02] [ 8.96391764e-01 4.43218939e-01 -6.22712077e-03 9.16452825e+01] [ 6.91161717e-03 7.09701539e-05 9.99976112e-01 1.17140409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:91.67, Z:1.17 [[ 4.39913888e-01 -8.98034956e-01 -2.99822576e-03 1.62959594e+02] [ 8.98013362e-01 4.39924102e-01 -6.22785100e-03 9.16690423e+01] [ 6.91181967e-03 4.72713481e-05 9.99976112e-01 1.17196683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:91.69, Z:1.17 [[ 4.38271822e-01 -8.98837488e-01 -2.99664268e-03 1.62970082e+02] [ 8.98815908e-01 4.38282065e-01 -6.22861263e-03 9.16930540e+01] [ 6.91188528e-03 3.63952983e-05 9.99976112e-01 1.17226053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:91.72, Z:1.17 [[ 4.36712558e-01 -8.99596115e-01 -2.99513143e-03 1.62979950e+02] [ 8.99574548e-01 4.36722828e-01 -6.22933926e-03 9.17152204e+01] [ 6.91193167e-03 2.60866815e-05 9.99976112e-01 1.17115533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:91.74, Z:1.17 [[ 4.35233032e-01 -9.00312861e-01 -2.99339756e-03 1.62990205e+02] [ 9.00291305e-01 4.35243325e-01 -6.23017233e-03 9.17379391e+01] [ 6.91196058e-03 1.66469923e-05 9.99976112e-01 1.17006175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.00, Y:91.76, Z:1.17 [[ 4.32939139e-01 -9.01418189e-01 -2.99171296e-03 1.63000399e+02] [ 9.01396653e-01 4.32949476e-01 -6.23098116e-03 9.17618633e+01] [ 6.91198031e-03 9.15574990e-07 9.99976112e-01 1.17025046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:91.79, Z:1.17 [[ 4.32049768e-01 -9.01844808e-01 -2.99013530e-03 1.63011306e+02] [ 9.01823277e-01 4.32060115e-01 -6.23173816e-03 9.17852930e+01] [ 6.91197890e-03 -4.15259060e-06 9.99976112e-01 1.17050911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.02, Y:91.81, Z:1.17 [[ 4.30887120e-01 -9.02400885e-01 -2.98860372e-03 1.63021457e+02] [ 9.02379363e-01 4.30897484e-01 -6.23247259e-03 9.18078483e+01] [ 6.91197060e-03 -1.13621542e-05 9.99976112e-01 1.17003041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:91.83, Z:1.17 [[ 4.29865356e-01 -9.02888063e-01 -2.98685315e-03 1.63032430e+02] [ 9.02866546e-01 4.29875732e-01 -6.23331142e-03 9.18312325e+01] [ 6.91195816e-03 -1.72451622e-05 9.99976112e-01 1.17114599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:91.85, Z:1.17 [[ 4.27951979e-01 -9.03796544e-01 -2.98520225e-03 1.63043243e+02] [ 9.03775044e-01 4.27962389e-01 -6.23410195e-03 9.18529530e+01] [ 6.91191408e-03 -3.00550333e-05 9.99976112e-01 1.17139610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:91.88, Z:1.17 [[ 4.26814963e-01 -9.04334057e-01 -2.98348767e-03 1.63055021e+02] [ 9.04312564e-01 4.26825389e-01 -6.23492240e-03 9.18764570e+01] [ 6.91188095e-03 -3.68472093e-05 9.99976112e-01 1.17312924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:91.90, Z:1.17 [[ 4.24853475e-01 -9.05257219e-01 -2.98194255e-03 1.63067717e+02] [ 9.05235744e-01 4.24863937e-01 -6.23566129e-03 9.18991210e+01] [ 6.91179725e-03 -5.01186121e-05 9.99976112e-01 1.17222788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:91.92, Z:1.17 [[ 4.23736888e-01 -9.05780419e-01 -2.98038483e-03 1.63078993e+02] [ 9.05758951e-01 4.23747366e-01 -6.23640572e-03 9.19217652e+01] [ 6.91174441e-03 -5.69150875e-05 9.99976112e-01 1.17018248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:91.95, Z:1.17 [[ 4.22714677e-01 -9.06257926e-01 -2.97876019e-03 1.63090597e+02] [ 9.06236465e-01 4.22725168e-01 -6.23718162e-03 9.19450767e+01] [ 6.91169218e-03 -6.29128922e-05 9.99976112e-01 1.17126580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:91.97, Z:1.17 [[ 4.21735737e-01 -9.06713904e-01 -2.97721537e-03 1.63101733e+02] [ 9.06692449e-01 4.21746240e-01 -6.23791893e-03 9.19674549e+01] [ 6.91163721e-03 -6.86653536e-05 9.99976112e-01 1.16958894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:91.99, Z:1.17 [[ 4.20257177e-01 -9.07400161e-01 -2.97544604e-03 1.63115248e+02] [ 9.07378717e-01 4.20267703e-01 -6.23876277e-03 9.19891987e+01] [ 6.91153822e-03 -7.79715749e-05 9.99976112e-01 1.17001317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:92.01, Z:1.17 [[ 4.19339720e-01 -9.07824518e-01 -2.97377836e-03 1.63128111e+02] [ 9.07803079e-01 4.19350256e-01 -6.23955759e-03 9.20115105e+01] [ 6.91147808e-03 -8.31108175e-05 9.99976112e-01 1.17045118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:92.03, Z:1.17 [[ 4.18641325e-01 -9.08146798e-01 -2.97209641e-03 1.63141302e+02] [ 9.08125362e-01 4.18651866e-01 -6.24035865e-03 9.20342174e+01] [ 6.91143544e-03 -8.65641136e-05 9.99976112e-01 1.17162305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:92.06, Z:1.17 [[ 4.17935017e-01 -9.08472068e-01 -2.97052434e-03 1.63153557e+02] [ 9.08450634e-01 4.17945564e-01 -6.24110690e-03 9.20560627e+01] [ 6.91138876e-03 -9.01975985e-05 9.99976112e-01 1.17150604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:92.08, Z:1.17 [[ 4.17811271e-01 -9.08528991e-01 -2.96887785e-03 1.63166946e+02] [ 9.08507553e-01 4.17821809e-01 -6.24189003e-03 9.20784273e+01] [ 6.91139997e-03 -8.93159494e-05 9.99976112e-01 1.17095517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:92.10, Z:1.17 [[ 4.18221143e-01 -9.08340399e-01 -2.96550014e-03 1.63179692e+02] [ 9.08318945e-01 4.18231649e-01 -6.24349568e-03 9.21023162e+01] [ 6.91148537e-03 -8.24580568e-05 9.99976112e-01 1.17188222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:92.13, Z:1.17 [[ 4.19144267e-01 -9.07914803e-01 -2.96552839e-03 1.63191663e+02] [ 9.07893338e-01 4.19154751e-01 -6.24348226e-03 9.21253874e+01] [ 6.91156528e-03 -7.54636731e-05 9.99976112e-01 1.17216479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:92.15, Z:1.17 [[ 4.21945258e-01 -9.06616465e-01 -2.96392029e-03 1.63204041e+02] [ 9.06594963e-01 4.21955664e-01 -6.24424572e-03 9.21472312e+01] [ 6.91177893e-03 -5.23453357e-05 9.99976112e-01 1.17267527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:92.17, Z:1.17 [[ 4.23969340e-01 -9.05671696e-01 -2.96274024e-03 1.63216525e+02] [ 9.05650167e-01 4.23979690e-01 -6.24480557e-03 9.21701595e+01] [ 6.91188534e-03 -3.56001014e-05 9.99976112e-01 1.17371893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:92.19, Z:1.17 [[ 4.25824887e-01 -9.04800742e-01 -2.96371137e-03 1.63228241e+02] [ 9.04779195e-01 4.25835200e-01 -6.24434518e-03 9.21932726e+01] [ 6.91194077e-03 -2.25068061e-05 9.99976112e-01 1.17467573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:92.22, Z:1.18 [[ 4.27644845e-01 -9.03941994e-01 -2.95951172e-03 1.63239631e+02] [ 9.03920412e-01 4.27655085e-01 -6.24633497e-03 9.22158825e+01] [ 6.91197473e-03 -3.95010740e-06 9.99976112e-01 1.17539006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:92.24, Z:1.18 [[ 4.31114394e-01 -9.02292430e-01 -2.95784290e-03 1.63251871e+02] [ 9.02270804e-01 4.31124540e-01 -6.24712512e-03 9.22370692e+01] [ 6.91193236e-03 2.44502722e-05 9.99976112e-01 1.17507964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:92.26, Z:1.18 [[ 4.32260360e-01 -9.01744000e-01 -2.95610889e-03 1.63263558e+02] [ 9.01722356e-01 4.32270467e-01 -6.24794553e-03 9.22588663e+01] [ 6.91188597e-03 3.51497130e-05 9.99976112e-01 1.17562101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:92.28, Z:1.18 [[ 4.33260445e-01 -9.01263923e-01 -2.95445578e-03 1.63275100e+02] [ 9.01242261e-01 4.33270516e-01 -6.24872714e-03 9.22815684e+01] [ 6.91183091e-03 4.46458935e-05 9.99976112e-01 1.17779345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:92.30, Z:1.18 [[ 4.33945969e-01 -9.00934058e-01 -2.95282087e-03 1.63285880e+02] [ 9.00912384e-01 4.33956012e-01 -6.24949961e-03 9.23045050e+01] [ 6.91178142e-03 5.17122751e-05 9.99976112e-01 1.17866028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:92.33, Z:1.18 [[ 4.35564558e-01 -9.00152657e-01 -2.95119116e-03 1.63297076e+02] [ 9.00130960e-01 4.35574551e-01 -6.25026911e-03 9.23262857e+01] [ 6.91166012e-03 6.59371706e-05 9.99976112e-01 1.17998545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.31, Y:92.35, Z:1.18 [[ 4.36435974e-01 -8.99730482e-01 -2.94948958e-03 1.63308066e+02] [ 8.99708770e-01 4.36445934e-01 -6.25107198e-03 9.23498364e+01] [ 6.91157275e-03 7.45110491e-05 9.99976112e-01 1.18008395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:92.37, Z:1.18 [[ 4.37569992e-01 -8.99179522e-01 -2.94788468e-03 1.63318149e+02] [ 8.99157791e-01 4.37579913e-01 -6.25182873e-03 9.23732828e+01] [ 6.91145149e-03 8.49991687e-05 9.99976112e-01 1.17889410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:92.40, Z:1.18 [[ 4.40230268e-01 -8.97880076e-01 -2.94628560e-03 1.63326821e+02] [ 8.97858311e-01 4.40240114e-01 -6.25258224e-03 9.23964749e+01] [ 6.91114212e-03 1.07228941e-04 9.99976112e-01 1.17610902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:92.42, Z:1.17 [[ 4.41301131e-01 -8.97354244e-01 -2.94493439e-03 1.63336967e+02] [ 8.97332463e-01 4.41310942e-01 -6.25321858e-03 9.24185077e+01] [ 6.91098400e-03 1.16967201e-04 9.99976112e-01 1.17452369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:92.44, Z:1.18 [[ 4.42084749e-01 -8.96968456e-01 -2.94328648e-03 1.63347546e+02] [ 8.96946662e-01 4.42094529e-01 -6.25399413e-03 9.24415782e+01] [ 6.91084631e-03 1.24824437e-04 9.99976112e-01 1.17523017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:92.46, Z:1.17 [[ 4.43080841e-01 -8.96476834e-01 -2.94171310e-03 1.63356645e+02] [ 8.96455024e-01 4.43090586e-01 -6.25473412e-03 9.24639717e+01] [ 6.91066963e-03 1.34239369e-04 9.99976112e-01 1.17308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:92.49, Z:1.17 [[ 4.43022145e-01 -8.96505848e-01 -2.94007625e-03 1.63366603e+02] [ 8.96484034e-01 4.43031879e-01 -6.25550344e-03 9.24870705e+01] [ 6.91064292e-03 1.35595130e-04 9.99976112e-01 1.17183027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:92.51, Z:1.17 [[ 4.42428199e-01 -8.96799115e-01 -2.93852255e-03 1.63376061e+02] [ 8.96777303e-01 4.42437938e-01 -6.25623320e-03 9.25094509e+01] [ 6.91069826e-03 1.32733662e-04 9.99976112e-01 1.17103734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:92.53, Z:1.17 [[ 4.41752980e-01 -8.97131917e-01 -2.93720592e-03 1.63385959e+02] [ 8.97110108e-01 4.41762726e-01 -6.25685128e-03 9.25334764e+01] [ 6.91076908e-03 1.28985584e-04 9.99976112e-01 1.17147964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:92.56, Z:1.17 [[ 4.40931831e-01 -8.97535794e-01 -2.93567128e-03 1.63395698e+02] [ 8.97513989e-01 4.40941586e-01 -6.25757124e-03 9.25570198e+01] [ 6.91085372e-03 1.24356309e-04 9.99976112e-01 1.17169738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:92.58, Z:1.17 [[ 4.39942025e-01 -8.98021383e-01 -2.93414454e-03 1.63406364e+02] [ 8.97999584e-01 4.39951794e-01 -6.25828704e-03 9.25793972e+01] [ 6.91095774e-03 1.18422894e-04 9.99976112e-01 1.17472039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:92.60, Z:1.18 [[ 4.39660852e-01 -8.98159080e-01 -2.93296813e-03 1.63416226e+02] [ 8.98137280e-01 4.39670619e-01 -6.25883832e-03 9.26019566e+01] [ 6.91097238e-03 1.17558165e-04 9.99976112e-01 1.17572971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:92.63, Z:1.18 [[ 4.39344748e-01 -8.98313753e-01 -2.93138820e-03 1.63425870e+02] [ 8.98291952e-01 4.39354512e-01 -6.25957821e-03 9.26255181e+01] [ 6.91098382e-03 1.16870387e-04 9.99976112e-01 1.17529793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:92.65, Z:1.18 [[ 4.39430136e-01 -8.98271992e-01 -2.92987635e-03 1.63434803e+02] [ 8.98250185e-01 4.39439887e-01 -6.26028577e-03 9.26483940e+01] [ 6.91094390e-03 1.19196257e-04 9.99976112e-01 1.17506241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:92.67, Z:1.17 [[ 4.40003751e-01 -8.97991161e-01 -2.92830323e-03 1.63443150e+02] [ 8.97969342e-01 4.40013477e-01 -6.26102152e-03 9.26724912e+01] [ 6.91083487e-03 1.25346430e-04 9.99976112e-01 1.17373731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:92.70, Z:1.18 [[ 4.40017206e-01 -8.97984572e-01 -2.92679860e-03 1.63452767e+02] [ 8.97962749e-01 4.40026921e-01 -6.26172480e-03 9.26959285e+01] [ 6.91080245e-03 1.27110534e-04 9.99976112e-01 1.17567591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:92.72, Z:1.17 [[ 4.39706305e-01 -8.98136854e-01 -2.92521744e-03 1.63461799e+02] [ 8.98115029e-01 4.39716017e-01 -6.26246336e-03 9.27185415e+01] [ 6.91081411e-03 1.26462876e-04 9.99976112e-01 1.17466789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:92.74, Z:1.18 [[ 4.39052771e-01 -8.98456519e-01 -2.92356742e-03 1.63471476e+02] [ 8.98434697e-01 4.39062487e-01 -6.26323357e-03 9.27422406e+01] [ 6.91087181e-03 1.23255646e-04 9.99976112e-01 1.17728543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:92.77, Z:1.18 [[ 4.37485263e-01 -8.99220833e-01 -2.92199886e-03 1.63481232e+02] [ 8.99199022e-01 4.37495007e-01 -6.26396527e-03 9.27663552e+01] [ 6.91104797e-03 1.12933974e-04 9.99976112e-01 1.17819997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:92.79, Z:1.18 [[ 4.36561744e-01 -8.99669559e-01 -2.92045748e-03 1.63490379e+02] [ 8.99647753e-01 4.36571499e-01 -6.26468382e-03 9.27895012e+01] [ 6.91113383e-03 1.07538284e-04 9.99976112e-01 1.17710900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:92.81, Z:1.18 [[ 4.34937091e-01 -9.00456111e-01 -2.91877713e-03 1.63498031e+02] [ 9.00434318e-01 4.34946874e-01 -6.26546662e-03 9.28143387e+01] [ 6.91129069e-03 9.69167297e-05 9.99976112e-01 1.17965812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:92.84, Z:1.18 [[ 4.34001320e-01 -9.00907512e-01 -2.91712097e-03 1.63507124e+02] [ 9.00885724e-01 4.34011114e-01 -6.26623761e-03 9.28367483e+01] [ 6.91136345e-03 9.15627577e-05 9.99976112e-01 1.17883745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:92.86, Z:1.18 [[ 4.32769341e-01 -9.01499971e-01 -2.91538929e-03 1.63516914e+02] [ 9.01478191e-01 4.32779153e-01 -6.26704317e-03 9.28600006e+01] [ 6.91145895e-03 8.40242786e-05 9.99976112e-01 1.18024081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:92.88, Z:1.18 [[ 4.31246215e-01 -9.02229578e-01 -2.91376385e-03 1.63526668e+02] [ 9.02207810e-01 4.31256052e-01 -6.26779881e-03 9.28840556e+01] [ 6.91157177e-03 7.41440138e-05 9.99976112e-01 1.18096631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:92.91, Z:1.18 [[ 4.29727266e-01 -9.02954039e-01 -2.91209943e-03 1.63535722e+02] [ 9.02932282e-01 4.29737128e-01 -6.26857202e-03 9.29065396e+01] [ 6.91166967e-03 6.43477303e-05 9.99976112e-01 1.17554009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:163.55, Y:92.93, Z:1.18 [[ 4.25762144e-01 -9.04830440e-01 -2.91067749e-03 1.63545214e+02] [ 9.04808722e-01 4.25772091e-01 -6.26923220e-03 9.29307242e+01] [ 6.91187737e-03 3.55953581e-05 9.99976112e-01 1.17876958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:92.95, Z:1.17 [[ 4.23921275e-01 -9.05694369e-01 -2.90905814e-03 1.63556157e+02] [ 9.05672666e-01 4.23931256e-01 -6.26998352e-03 9.29530196e+01] [ 6.91192944e-03 2.33249695e-05 9.99976112e-01 1.17435868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:92.98, Z:1.18 [[ 4.21676964e-01 -9.06741465e-01 -2.90736918e-03 1.63567240e+02] [ 9.06719782e-01 4.21686987e-01 -6.27076659e-03 9.29765052e+01] [ 6.91196384e-03 8.06866718e-06 9.99976112e-01 1.18112365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.58, Y:93.00, Z:1.18 [[ 4.18477649e-01 -9.08222447e-01 -2.90589010e-03 1.63579391e+02] [ 9.08200794e-01 4.18487738e-01 -6.27145193e-03 9.29991549e+01] [ 6.91195279e-03 -1.46692334e-05 9.99976112e-01 1.18068297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:93.02, Z:1.18 [[ 4.17068064e-01 -9.08870615e-01 -2.90425478e-03 1.63590626e+02] [ 9.08848973e-01 4.17078175e-01 -6.27220913e-03 9.30204405e+01] [ 6.91192786e-03 -2.35908557e-05 9.99976112e-01 1.18097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:93.04, Z:1.18 [[ 4.16150750e-01 -9.09291002e-01 -2.90280636e-03 1.63602354e+02] [ 9.09269365e-01 4.16160873e-01 -6.27287940e-03 9.30421674e+01] [ 6.91190723e-03 -2.89694279e-05 9.99976112e-01 1.18082948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:93.07, Z:1.18 [[ 4.15912818e-01 -9.09399863e-01 -2.90106966e-03 1.63612961e+02] [ 9.09378223e-01 4.15922935e-01 -6.27368248e-03 9.30659081e+01] [ 6.91190740e-03 -2.88646113e-05 9.99976112e-01 1.18100902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.62, Y:93.09, Z:1.18 [[ 4.15383501e-01 -9.09641765e-01 -2.89942790e-03 1.63624736e+02] [ 9.09620126e-01 4.15393618e-01 -6.27444114e-03 9.30875155e+01] [ 6.91189756e-03 -3.10786475e-05 9.99976112e-01 1.17915755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:93.11, Z:1.18 [[ 4.15738024e-01 -9.09479796e-01 -2.89772060e-03 1.63635609e+02] [ 9.09458147e-01 4.15748121e-01 -6.27522952e-03 9.31109951e+01] [ 6.91191636e-03 -2.65040911e-05 9.99976112e-01 1.18264170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:93.13, Z:1.18 [[ 4.16575248e-01 -9.09096626e-01 -2.89615451e-03 1.63646727e+02] [ 9.09074963e-01 4.16585315e-01 -6.27595223e-03 9.31338929e+01] [ 6.91194243e-03 -1.84151930e-05 9.99976112e-01 1.18110764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:93.16, Z:1.18 [[ 4.17933566e-01 -9.08472980e-01 -2.89451924e-03 1.63657805e+02] [ 9.08451297e-01 4.17943590e-01 -6.27670633e-03 9.31562493e+01] [ 6.91196387e-03 -6.28349354e-06 9.99976112e-01 1.18076033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:93.18, Z:1.18 [[ 4.21890273e-01 -9.06642283e-01 -2.89280892e-03 1.63670052e+02] [ 9.06620551e-01 4.21900190e-01 -6.27749449e-03 9.31784711e+01] [ 6.91191857e-03 2.57338537e-05 9.99976112e-01 1.17842843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:93.20, Z:1.18 [[ 4.24061108e-01 -9.05628982e-01 -2.88521857e-03 1.63681060e+02] [ 9.05607202e-01 4.24070920e-01 -6.28099007e-03 9.32006800e+01] [ 6.91178393e-03 5.06488933e-05 9.99976112e-01 1.17928441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:93.22, Z:1.18 [[ 4.25375931e-01 -9.05012193e-01 -2.87188927e-03 1.63692066e+02] [ 9.04990358e-01 4.25385618e-01 -6.28712255e-03 9.32245408e+01] [ 6.91158296e-03 7.53585103e-05 9.99976112e-01 1.17785831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:93.25, Z:1.18 [[ 4.28828544e-01 -9.03381280e-01 -2.88828414e-03 1.63702325e+02] [ 9.03359459e-01 4.28838262e-01 -6.27958175e-03 9.32486286e+01] [ 6.91146336e-03 8.37050990e-05 9.99976112e-01 1.17934939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:93.27, Z:1.18 [[ 4.30410015e-01 -9.02628875e-01 -2.88674225e-03 1.63712144e+02] [ 9.02607032e-01 4.30419684e-01 -6.28029049e-03 9.32736339e+01] [ 6.91128223e-03 9.75060622e-05 9.99976112e-01 1.18068320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.72, Y:93.30, Z:1.18 [[ 4.32278610e-01 -9.01735480e-01 -2.88576269e-03 1.63721997e+02] [ 9.01713613e-01 4.32288228e-01 -6.28074046e-03 9.32967659e+01] [ 6.91104775e-03 1.12898259e-04 9.99976112e-01 1.17818895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:93.32, Z:1.18 [[ 4.33912267e-01 -9.00950515e-01 -2.88359417e-03 1.63732322e+02] [ 9.00928624e-01 4.33921829e-01 -6.28173590e-03 9.33198494e+01] [ 6.91078765e-03 1.27809739e-04 9.99976112e-01 1.18042063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:93.34, Z:1.18 [[ 4.37288803e-01 -8.99316517e-01 -2.88193827e-03 1.63742894e+02] [ 8.99294586e-01 4.37298272e-01 -6.28249551e-03 9.33440998e+01] [ 6.91021860e-03 1.55553463e-04 9.99976112e-01 1.18289800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.75, Y:93.37, Z:1.18 [[ 4.38776152e-01 -8.98591782e-01 -2.88041000e-03 1.63752192e+02] [ 8.98569831e-01 4.38785574e-01 -6.28319611e-03 9.33676454e+01] [ 6.90991075e-03 1.68667092e-04 9.99976112e-01 1.18186461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:93.39, Z:1.18 [[ 4.41367156e-01 -8.97321986e-01 -2.87881633e-03 1.63759755e+02] [ 8.97300002e-01 4.41376504e-01 -6.28392621e-03 9.33936048e+01] [ 6.90934703e-03 1.90356739e-04 9.99976112e-01 1.18213048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:93.42, Z:1.18 [[ 4.42171797e-01 -8.96925762e-01 -2.87731257e-03 1.63768229e+02] [ 8.96903766e-01 4.42181114e-01 -6.28461468e-03 9.34171738e+01] [ 6.90912609e-03 1.98206881e-04 9.99976112e-01 1.18014131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:93.44, Z:1.18 [[ 4.42859261e-01 -8.96586529e-01 -2.87574459e-03 1.63777242e+02] [ 8.96564522e-01 4.42868551e-01 -6.28533208e-03 9.34411112e+01] [ 6.90892092e-03 2.05226948e-04 9.99976112e-01 1.18021678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:93.47, Z:1.18 [[ 4.43168394e-01 -8.96433794e-01 -2.86835770e-03 1.63784601e+02] [ 8.96411761e-01 4.43177624e-01 -6.28870918e-03 9.34659437e+01] [ 6.90860338e-03 2.15727576e-04 9.99976112e-01 1.18098833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:93.49, Z:1.18 [[ 4.42762528e-01 -8.96634313e-01 -2.87256369e-03 1.63794065e+02] [ 8.96612297e-01 4.42771798e-01 -6.28678737e-03 9.34901141e+01] [ 6.90883947e-03 2.07977938e-04 9.99976112e-01 1.18280658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:93.51, Z:1.18 [[ 4.41966468e-01 -8.97026978e-01 -2.87093396e-03 1.63803536e+02] [ 8.97004965e-01 4.41975745e-01 -6.28753152e-03 9.35141962e+01] [ 6.90896858e-03 2.03636076e-04 9.99976112e-01 1.18387145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:93.54, Z:1.18 [[ 4.41063923e-01 -8.97471104e-01 -2.86944269e-03 1.63812417e+02] [ 8.97449096e-01 4.41073212e-01 -6.28821202e-03 9.35371106e+01] [ 6.90912289e-03 1.98324710e-04 9.99976112e-01 1.18249854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:93.56, Z:1.19 [[ 4.38829734e-01 -8.98565657e-01 -2.86773576e-03 1.63820123e+02] [ 8.98543668e-01 4.38839066e-01 -6.28899037e-03 9.35616032e+01] [ 6.90954525e-03 1.83010164e-04 9.99976112e-01 1.18614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:93.58, Z:1.19 [[ 4.37739823e-01 -8.99097121e-01 -2.86611276e-03 1.63827931e+02] [ 8.99075138e-01 4.37749170e-01 -6.28972994e-03 9.35847548e+01] [ 6.90971656e-03 1.76414542e-04 9.99976112e-01 1.18599909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:93.61, Z:1.18 [[ 4.35866305e-01 -9.00006865e-01 -2.86472463e-03 1.63833831e+02] [ 8.99984898e-01 4.35875688e-01 -6.29036212e-03 9.36102049e+01] [ 6.91003291e-03 1.63547990e-04 9.99976112e-01 1.18451146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.84, Y:93.63, Z:1.18 [[ 4.34743614e-01 -9.00549717e-01 -2.86309868e-03 1.63843230e+02] [ 9.00527756e-01 4.34753014e-01 -6.29110209e-03 9.36337505e+01] [ 6.91019098e-03 1.56716630e-04 9.99976112e-01 1.18373538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.85, Y:93.66, Z:1.18 [[ 4.33553653e-01 -9.01123211e-01 -2.86147432e-03 1.63853132e+02] [ 9.01101258e-01 4.33563070e-01 -6.29184084e-03 9.36569131e+01] [ 6.91035341e-03 1.49372472e-04 9.99976112e-01 1.18343703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.86, Y:93.68, Z:1.18 [[ 4.31279244e-01 -9.02213963e-01 -2.85984881e-03 1.63860235e+02] [ 9.02192028e-01 4.31288705e-01 -6.29257959e-03 9.36808803e+01] [ 6.91067366e-03 1.33726173e-04 9.99976112e-01 1.18187160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:93.71, Z:1.18 [[ 4.29676875e-01 -9.02978191e-01 -2.85815259e-03 1.63868012e+02] [ 9.02956269e-01 4.29686363e-01 -6.29334994e-03 9.37050995e+01] [ 6.91086694e-03 1.23320139e-04 9.99976112e-01 1.18384535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:93.73, Z:1.18 [[ 4.27717895e-01 -9.03907762e-01 -2.85654227e-03 1.63875833e+02] [ 9.03885855e-01 4.27727420e-01 -6.29408078e-03 9.37284674e+01] [ 6.91108992e-03 1.10102826e-04 9.99976112e-01 1.18425803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:93.75, Z:1.19 [[ 4.23868274e-01 -9.05719347e-01 -2.85486896e-03 1.63883295e+02] [ 9.05697476e-01 4.23877880e-01 -6.29483967e-03 9.37525148e+01] [ 6.91147388e-03 8.25352167e-05 9.99976112e-01 1.18534647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:93.78, Z:1.19 [[ 4.21947462e-01 -9.06615794e-01 -2.85319016e-03 1.63892343e+02] [ 9.06593938e-01 4.21957103e-01 -6.29560050e-03 9.37767543e+01] [ 6.91161471e-03 6.97277486e-05 9.99976112e-01 1.18583497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03264000000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:163.90, Y:93.80, Z:1.19 [[ 4.20166842e-01 -9.07442391e-01 -2.85155783e-03 1.63901266e+02] [ 9.07420549e-01 4.20176515e-01 -6.29633977e-03 9.38008328e+01] [ 6.91172325e-03 5.79510305e-05 9.99976112e-01 1.18674592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:93.83, Z:1.18 [[ 4.18174197e-01 -9.08362383e-01 -2.84992888e-03 1.63908625e+02] [ 9.08340557e-01 4.18183906e-01 -6.29707700e-03 9.38251936e+01] [ 6.91182226e-03 4.45691399e-05 9.99976112e-01 1.18456179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:93.85, Z:1.19 [[ 4.17147380e-01 -9.08834407e-01 -2.84328786e-03 1.63918044e+02] [ 9.08812571e-01 4.17157068e-01 -6.30008079e-03 9.38510085e+01] [ 6.91182781e-03 4.40464481e-05 9.99976112e-01 1.18902496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:93.88, Z:1.19 [[ 4.15799807e-01 -9.09451707e-01 -2.84850242e-03 1.63925160e+02] [ 9.09429902e-01 4.15809563e-01 -6.29772345e-03 9.38755551e+01] [ 6.91190989e-03 2.80789175e-05 9.99976112e-01 1.18776196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:93.90, Z:1.18 [[ 4.14986561e-01 -9.09823091e-01 -2.84565049e-03 1.63933771e+02] [ 9.09801286e-01 4.14996316e-01 -6.29901184e-03 9.38985497e+01] [ 6.91192089e-03 2.50287841e-05 9.99976112e-01 1.18385975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:93.92, Z:1.19 [[ 4.13697409e-01 -9.10410016e-01 -2.83848614e-03 1.63942926e+02] [ 9.10388202e-01 4.13707146e-01 -6.30224579e-03 9.39233981e+01] [ 6.91192969e-03 2.30984624e-05 9.99976112e-01 1.18719510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:93.95, Z:1.19 [[ 4.12417624e-01 -9.10990463e-01 -2.84251183e-03 1.63952074e+02] [ 9.10968676e-01 4.12427420e-01 -6.30042956e-03 9.39477271e+01] [ 6.91196106e-03 8.96894905e-06 9.99976112e-01 1.18751972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:93.97, Z:1.19 [[ 4.08839586e-01 -9.12601842e-01 -2.84081211e-03 1.63959891e+02] [ 9.12580088e-01 4.08849456e-01 -6.30119585e-03 9.39712826e+01] [ 6.91194743e-03 -1.62902559e-05 9.99976112e-01 1.18898606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:93.99, Z:1.19 [[ 4.06606129e-01 -9.13599143e-01 -2.83935401e-03 1.63968710e+02] [ 9.13577409e-01 4.06616041e-01 -6.30185281e-03 9.39943109e+01] [ 6.91189422e-03 -3.15976988e-05 9.99976112e-01 1.18948809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:94.02, Z:1.19 [[ 4.04371998e-01 -9.14590201e-01 -2.83759473e-03 1.63978017e+02] [ 9.14568485e-01 4.04381951e-01 -6.30264488e-03 9.40178955e+01] [ 6.91180934e-03 -4.65616145e-05 9.99976112e-01 1.19091097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:94.04, Z:1.19 [[ 4.01943320e-01 -9.15660158e-01 -2.83592668e-03 1.63987021e+02] [ 9.15638464e-01 4.01953320e-01 -6.30339534e-03 9.40406763e+01] [ 6.91167812e-03 -6.30758955e-05 9.99976112e-01 1.19086663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:94.06, Z:1.19 [[ 3.97841351e-01 -9.17449850e-01 -2.83419902e-03 1.63997243e+02] [ 9.17428195e-01 3.97851435e-01 -6.30417206e-03 9.40628925e+01] [ 6.91135185e-03 -9.21137640e-05 9.99976112e-01 1.18760323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:94.09, Z:1.19 [[ 3.95713437e-01 -9.18369691e-01 -2.82599875e-03 1.64008210e+02] [ 9.18348033e-01 3.95723516e-01 -6.30785590e-03 9.40869352e+01] [ 6.91125783e-03 -9.91470561e-05 9.99976112e-01 1.18985535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:94.11, Z:1.19 [[ 3.93777197e-01 -9.19201566e-01 -2.82843633e-03 1.64019015e+02] [ 9.19179937e-01 3.93787338e-01 -6.30676151e-03 9.41100209e+01] [ 6.91098747e-03 -1.16383056e-04 9.99976112e-01 1.19072761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:94.13, Z:1.19 [[ 3.90608786e-01 -9.20552426e-01 -2.82959471e-03 1.64030935e+02] [ 9.20530837e-01 3.90619009e-01 -6.30624175e-03 9.41313585e+01] [ 6.91051963e-03 -1.41455745e-04 9.99976112e-01 1.18993959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:94.15, Z:1.19 [[ 3.89083137e-01 -9.21198304e-01 -2.82791320e-03 1.64043229e+02] [ 9.21176726e-01 3.89093385e-01 -6.30699570e-03 9.41541661e+01] [ 6.91031606e-03 -1.51062149e-04 9.99976112e-01 1.18979344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:94.18, Z:1.19 [[ 3.87778339e-01 -9.21748324e-01 -2.82629220e-03 1.64055622e+02] [ 9.21726754e-01 3.87788606e-01 -6.30772202e-03 9.41774107e+01] [ 6.91013611e-03 -1.59071164e-04 9.99976112e-01 1.19107432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.07, Y:94.20, Z:1.19 [[ 3.86728349e-01 -9.22189354e-01 -2.82472161e-03 1.64068906e+02] [ 9.22167792e-01 3.86738629e-01 -6.30842528e-03 9.41988570e+01] [ 6.90999160e-03 -1.65220400e-04 9.99976112e-01 1.18845790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.08, Y:94.22, Z:1.19 [[ 3.86527794e-01 -9.22273442e-01 -2.82182400e-03 1.64081873e+02] [ 9.22251872e-01 3.86538059e-01 -6.30972202e-03 9.42230262e+01] [ 6.91003141e-03 -1.63549534e-04 9.99976112e-01 1.18892344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:94.25, Z:1.19 [[ 3.87103332e-01 -9.22031999e-01 -2.82891016e-03 1.64094814e+02] [ 9.22010446e-01 3.87113632e-01 -6.30655279e-03 9.42452895e+01] [ 6.90995316e-03 -1.66997124e-04 9.99976112e-01 1.18845552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:94.27, Z:1.19 [[ 3.87803544e-01 -9.21737733e-01 -2.82193901e-03 1.64107235e+02] [ 9.21716149e-01 3.87813780e-01 -6.30966801e-03 9.42666179e+01] [ 6.91024592e-03 -1.54115143e-04 9.99976112e-01 1.18826599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:94.29, Z:1.19 [[ 3.89846511e-01 -9.20875537e-01 -2.81840052e-03 1.64122054e+02] [ 9.20853919e-01 3.89856676e-01 -6.31124818e-03 9.42871391e+01] [ 6.91064632e-03 -1.34917082e-04 9.99976112e-01 1.18715638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:94.31, Z:1.19 [[ 3.91342086e-01 -9.20240967e-01 -2.81699450e-03 1.64134149e+02] [ 9.20219328e-01 3.91352205e-01 -6.31187569e-03 9.43096707e+01] [ 6.91088360e-03 -1.22150194e-04 9.99976112e-01 1.18883980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:94.33, Z:1.19 [[ 3.92898390e-01 -9.19577584e-01 -2.81476617e-03 1.64145771e+02] [ 9.19555921e-01 3.92908458e-01 -6.31286954e-03 9.43312957e+01] [ 6.91111875e-03 -1.08018617e-04 9.99976112e-01 1.19026494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.16, Y:94.35, Z:1.19 [[ 3.97499376e-01 -9.17598131e-01 -2.81361378e-03 1.64159211e+02] [ 9.17576414e-01 3.97509327e-01 -6.31338311e-03 9.43521821e+01] [ 6.91158626e-03 -7.21398025e-05 9.99976112e-01 1.19219878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:94.38, Z:1.19 [[ 4.00060601e-01 -9.16484402e-01 -2.80286029e-03 1.64171733e+02] [ 9.16462624e-01 4.00070417e-01 -6.31817213e-03 9.43754334e+01] [ 6.91184769e-03 -4.10649615e-05 9.99976112e-01 1.19116339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:94.40, Z:1.19 [[ 4.02748907e-01 -9.15306201e-01 -2.80644970e-03 1.64184327e+02] [ 9.15284406e-01 4.02758684e-01 -6.31657427e-03 9.43984512e+01] [ 6.91192158e-03 -2.47062634e-05 9.99976112e-01 1.19390903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:94.42, Z:1.19 [[ 4.08556317e-01 -9.12728797e-01 -2.80701568e-03 1.64198592e+02] [ 9.12706941e-01 4.08565959e-01 -6.31632250e-03 9.44196965e+01] [ 6.91194049e-03 1.85907568e-05 9.99976112e-01 1.19411816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:94.44, Z:1.19 [[ 4.11414466e-01 -9.11444048e-01 -2.80809857e-03 1.64209981e+02] [ 9.11422166e-01 4.11424047e-01 -6.31584107e-03 9.44422350e+01] [ 6.91185503e-03 3.90650981e-05 9.99976112e-01 1.19454706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:94.46, Z:1.19 [[ 4.15610458e-01 -9.09538388e-01 -2.80513244e-03 1.64220189e+02] [ 9.09516453e-01 4.15619917e-01 -6.31715885e-03 9.44641369e+01] [ 6.91156739e-03 7.41631799e-05 9.99976112e-01 1.19191602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:94.49, Z:1.19 [[ 4.17036617e-01 -9.08885360e-01 -2.80407352e-03 1.64230709e+02] [ 9.08863407e-01 4.17046035e-01 -6.31762893e-03 9.44869827e+01] [ 6.91142819e-03 8.61627827e-05 9.99976112e-01 1.19319923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:94.51, Z:1.19 [[ 4.18188155e-01 -9.08356104e-01 -2.80277178e-03 1.64241882e+02] [ 9.08334135e-01 4.18197537e-01 -6.31820639e-03 9.45094896e+01] [ 6.91129359e-03 9.63458013e-05 9.99976112e-01 1.19037420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.25, Y:94.53, Z:1.19 [[ 4.18149561e-01 -9.08373878e-01 -2.80035143e-03 1.64252625e+02] [ 9.08351903e-01 4.18158926e-01 -6.31927938e-03 9.45330227e+01] [ 6.91126026e-03 9.86993446e-05 9.99976112e-01 1.19427343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.26, Y:94.56, Z:1.19 [[ 4.17919855e-01 -9.08479602e-01 -2.79416486e-03 1.64262863e+02] [ 9.08457611e-01 4.17929182e-01 -6.32201980e-03 9.45569243e+01] [ 6.91118907e-03 1.03717264e-04 9.99976112e-01 1.19445254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.27, Y:94.58, Z:1.19 [[ 4.17303215e-01 -9.08763021e-01 -2.79250114e-03 1.64274602e+02] [ 9.08741031e-01 4.17312546e-01 -6.32275626e-03 9.45796948e+01] [ 6.91123284e-03 1.00846148e-04 9.99976112e-01 1.19446364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:94.60, Z:1.19 [[ 4.16567152e-01 -9.09100647e-01 -2.79648320e-03 1.64285255e+02] [ 9.09078677e-01 4.16576529e-01 -6.32099455e-03 9.46024810e+01] [ 6.91136950e-03 9.08954495e-05 9.99976112e-01 1.19429023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:94.62, Z:1.19 [[ 4.15227713e-01 -9.09713216e-01 -2.79486244e-03 1.64298103e+02] [ 9.09691254e-01 4.15237110e-01 -6.32171110e-03 9.46248599e+01] [ 6.91147473e-03 8.24877246e-05 9.99976112e-01 1.19429575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:94.65, Z:1.19 [[ 4.14696581e-01 -9.09955463e-01 -2.79324035e-03 1.64309112e+02] [ 9.09933502e-01 4.14705980e-01 -6.32242773e-03 9.46480487e+01] [ 6.91150113e-03 8.02261840e-05 9.99976112e-01 1.19469330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:94.67, Z:1.19 [[ 4.14669699e-01 -9.09967718e-01 -2.79157962e-03 1.64318888e+02] [ 9.09945752e-01 4.14679088e-01 -6.32316092e-03 9.46701396e+01] [ 6.91148200e-03 8.18372255e-05 9.99976112e-01 1.19399551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:94.69, Z:1.19 [[ 4.14790061e-01 -9.09912864e-01 -2.79018111e-03 1.64329031e+02] [ 9.09890893e-01 4.14799436e-01 -6.32377797e-03 9.46940633e+01] [ 6.91145248e-03 8.42798702e-05 9.99976112e-01 1.19418301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:94.72, Z:1.19 [[ 4.15175275e-01 -9.09737168e-01 -2.78851784e-03 1.64339442e+02] [ 9.09715188e-01 4.15184630e-01 -6.32451132e-03 9.47176812e+01] [ 6.91139276e-03 8.90236987e-05 9.99976112e-01 1.19461249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:94.74, Z:1.19 [[ 4.15679730e-01 -9.09506787e-01 -2.78685199e-03 1.64349108e+02] [ 9.09484797e-01 4.15689061e-01 -6.32524528e-03 9.47397047e+01] [ 6.91131740e-03 9.46767342e-05 9.99976112e-01 1.19458973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:94.76, Z:1.19 [[ 4.17199860e-01 -9.08810497e-01 -2.78512376e-03 1.64357516e+02] [ 9.08788487e-01 4.17209142e-01 -6.32600616e-03 9.47623712e+01] [ 6.91111990e-03 1.08120474e-04 9.99976112e-01 1.19334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:164.37, Y:94.79, Z:1.20 [[ 4.17392809e-01 -9.08721901e-01 -2.78373378e-03 1.64366780e+02] [ 9.08699885e-01 4.17402077e-01 -6.32661775e-03 9.47859815e+01] [ 6.91107238e-03 1.11106190e-04 9.99976112e-01 1.19531426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:94.81, Z:1.19 [[ 4.17582715e-01 -9.08634655e-01 -2.78204753e-03 1.64376690e+02] [ 9.08612631e-01 4.17591967e-01 -6.32735917e-03 9.48089148e+01] [ 6.91101852e-03 1.14392297e-04 9.99976112e-01 1.19426557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:94.83, Z:1.20 [[ 4.17185655e-01 -9.08817032e-01 -2.78059547e-03 1.64386518e+02] [ 9.08795008e-01 4.17194906e-01 -6.32799723e-03 9.48329330e+01] [ 6.91104192e-03 1.12958387e-04 9.99976112e-01 1.19562729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:94.86, Z:1.20 [[ 4.16369101e-01 -9.09191426e-01 -2.77896597e-03 1.64393684e+02] [ 9.09169406e-01 4.16378361e-01 -6.32871275e-03 9.48572614e+01] [ 6.91111266e-03 1.08529601e-04 9.99976112e-01 1.19834452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:94.88, Z:1.20 [[ 4.15394033e-01 -9.09637336e-01 -2.77741603e-03 1.64402401e+02] [ 9.09615321e-01 4.15403305e-01 -6.32939288e-03 9.48820492e+01] [ 6.91119988e-03 1.02811863e-04 9.99976112e-01 1.19910484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:94.90, Z:1.20 [[ 4.14017693e-01 -9.10264594e-01 -2.77833244e-03 1.64410668e+02] [ 9.10242596e-01 4.14027005e-01 -6.32899104e-03 9.49047088e+01] [ 6.91136112e-03 9.13577360e-05 9.99976112e-01 1.20024454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.42, Y:94.93, Z:1.20 [[ 4.12877196e-01 -9.10782480e-01 -2.77414637e-03 1.64420277e+02] [ 9.10760481e-01 4.12886506e-01 -6.33082533e-03 9.49285863e+01] [ 6.91141239e-03 8.72705241e-05 9.99976112e-01 1.20235705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.43, Y:94.95, Z:1.20 [[ 4.11933920e-01 -9.11209504e-01 -2.77236434e-03 1.64429934e+02] [ 9.11187509e-01 4.11943241e-01 -6.33160561e-03 9.49519572e+01] [ 6.91147596e-03 8.20593599e-05 9.99976112e-01 1.20007268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.44, Y:94.98, Z:1.20 [[ 4.10914397e-01 -9.11669722e-01 -2.77073281e-03 1.64439175e+02] [ 9.11647733e-01 4.10923731e-01 -6.33231949e-03 9.49750526e+01] [ 6.91154381e-03 7.61089593e-05 9.99976112e-01 1.19803345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:95.00, Z:1.19 [[ 4.09391017e-01 -9.12354825e-01 -2.76932299e-03 1.64448061e+02] [ 9.12332847e-01 4.09400378e-01 -6.33293599e-03 9.49986147e+01] [ 6.91164659e-03 6.61027765e-05 9.99976112e-01 1.19433340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:95.02, Z:1.20 [[ 4.08088645e-01 -9.12938143e-01 -2.75766440e-03 1.64456999e+02] [ 9.12916144e-01 4.08097957e-01 -6.33803069e-03 9.50222829e+01] [ 6.91162718e-03 6.89620049e-05 9.99976112e-01 1.19509966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.47, Y:95.05, Z:1.20 [[ 4.07009894e-01 -9.13419560e-01 -2.76659651e-03 1.64466629e+02] [ 9.13397599e-01 4.07019294e-01 -6.33412936e-03 9.50469798e+01] [ 6.91177581e-03 5.10507120e-05 9.99976112e-01 1.19633526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:95.07, Z:1.19 [[ 4.05843057e-01 -9.13938628e-01 -2.75622735e-03 1.64476316e+02] [ 9.13916649e-01 4.05852412e-01 -6.33865497e-03 9.50699625e+01] [ 6.91176315e-03 5.35370450e-05 9.99976112e-01 1.19078933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:95.09, Z:1.20 [[ 4.03896969e-01 -9.14800337e-01 -2.75360707e-03 1.64487404e+02] [ 9.14778369e-01 4.03906353e-01 -6.33979775e-03 9.50935225e+01] [ 6.91184851e-03 4.16849102e-05 9.99976112e-01 1.19501560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:95.12, Z:1.20 [[ 4.03329161e-01 -9.15050828e-01 -2.75129215e-03 1.64497477e+02] [ 9.15028860e-01 4.03338543e-01 -6.34080671e-03 9.51173875e+01] [ 6.91186260e-03 3.99205363e-05 9.99976112e-01 1.19538550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:95.14, Z:1.19 [[ 4.03584839e-01 -9.14938061e-01 -2.76076732e-03 1.64507315e+02] [ 9.14916118e-01 4.03594280e-01 -6.33667857e-03 9.51411193e+01] [ 6.91189830e-03 3.15168835e-05 9.99976112e-01 1.19394681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.52, Y:95.16, Z:1.20 [[ 4.04512620e-01 -9.14528280e-01 -2.75060358e-03 1.64516927e+02] [ 9.14506297e-01 4.04521969e-01 -6.34110354e-03 9.51649737e+01] [ 6.91179808e-03 4.96121139e-05 9.99976112e-01 1.19530734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:95.19, Z:1.20 [[ 4.05540213e-01 -9.14073068e-01 -2.74987152e-03 1.64527153e+02] [ 9.14051073e-01 4.05549532e-01 -6.34142202e-03 9.51897215e+01] [ 6.91173219e-03 5.81786319e-05 9.99976112e-01 1.19896741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:95.21, Z:1.19 [[ 4.06895183e-01 -9.13470697e-01 -2.75599327e-03 1.64536175e+02] [ 9.13448706e-01 4.06904512e-01 -6.33876038e-03 9.52128608e+01] [ 6.91169796e-03 6.17525830e-05 9.99976112e-01 1.19491500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:95.24, Z:1.20 [[ 4.09862248e-01 -9.12143278e-01 -2.75266449e-03 1.64544200e+02] [ 9.12121247e-01 4.09871482e-01 -6.34020679e-03 9.52365679e+01] [ 6.91141569e-03 8.78476371e-05 9.99976112e-01 1.19658151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:95.26, Z:1.20 [[ 4.10397746e-01 -9.11902497e-01 -2.74343733e-03 1.64553762e+02] [ 9.11880433e-01 4.10406903e-01 -6.34421381e-03 9.52614265e+01] [ 6.91123003e-03 1.01964230e-04 9.99976112e-01 1.19669322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:95.28, Z:1.20 [[ 4.10981806e-01 -9.11639395e-01 -2.75122247e-03 1.64562541e+02] [ 9.11617348e-01 4.10991003e-01 -6.34083538e-03 9.52839772e+01] [ 6.91128300e-03 9.79058415e-05 9.99976112e-01 1.19730467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:95.31, Z:1.20 [[ 4.11949810e-01 -9.11202388e-01 -2.74980535e-03 1.64571405e+02] [ 9.11180328e-01 4.11958974e-01 -6.34144987e-03 9.53102678e+01] [ 6.91115126e-03 1.06790527e-04 9.99976112e-01 1.19696750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:95.33, Z:1.20 [[ 4.11621191e-01 -9.11350892e-01 -2.74699964e-03 1.64580745e+02] [ 9.11328827e-01 4.11630343e-01 -6.34266584e-03 9.53342211e+01] [ 6.91114257e-03 1.07355708e-04 9.99976112e-01 1.19577134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:95.36, Z:1.19 [[ 4.11119467e-01 -9.11577344e-01 -2.74403712e-03 1.64590445e+02] [ 9.11555275e-01 4.11128610e-01 -6.34394885e-03 9.53573309e+01] [ 6.91115222e-03 1.06779360e-04 9.99976112e-01 1.19357120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:95.38, Z:1.20 [[ 4.10443004e-01 -9.11882135e-01 -2.74092344e-03 1.64600829e+02] [ 9.11860064e-01 4.10452142e-01 -6.34529639e-03 9.53820207e+01] [ 6.91118032e-03 1.05043882e-04 9.99976112e-01 1.19699545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:95.41, Z:1.19 [[ 4.09708641e-01 -9.12212310e-01 -2.74413188e-03 1.64610686e+02] [ 9.12190256e-01 4.09717819e-01 -6.34390855e-03 9.54056466e+01] [ 6.91131120e-03 9.59837845e-05 9.99976112e-01 1.19350176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:95.43, Z:1.20 [[ 4.09260955e-01 -9.12413259e-01 -2.74131266e-03 1.64619061e+02] [ 9.12391201e-01 4.09270125e-01 -6.34512721e-03 9.54286166e+01] [ 6.91131558e-03 9.56632765e-05 9.99976112e-01 1.19524772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:95.45, Z:1.20 [[ 4.09074440e-01 -9.12496907e-01 -2.73806579e-03 1.64628140e+02] [ 9.12474842e-01 4.09083591e-01 -6.34652983e-03 9.54530441e+01] [ 6.91128663e-03 9.77869907e-05 9.99976112e-01 1.19910495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:95.48, Z:1.20 [[ 4.09499548e-01 -9.12306208e-01 -2.73927042e-03 1.64635887e+02] [ 9.12284142e-01 4.09508697e-01 -6.34600985e-03 9.54761362e+01] [ 6.91125924e-03 9.96952012e-05 9.99976112e-01 1.19718121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:95.50, Z:1.20 [[ 4.09172418e-01 -9.12453001e-01 -2.72987253e-03 1.64644390e+02] [ 9.12430911e-01 4.09181511e-01 -6.35006320e-03 9.55002821e+01] [ 6.91114759e-03 1.07450636e-04 9.99976112e-01 1.19921092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:95.52, Z:1.20 [[ 4.08959554e-01 -9.12548409e-01 -2.73593424e-03 1.64652883e+02] [ 9.12526338e-01 4.08968694e-01 -6.34745043e-03 9.55246400e+01] [ 6.91126724e-03 9.92384451e-05 9.99976112e-01 1.19830985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:95.55, Z:1.19 [[ 4.08865391e-01 -9.12590607e-01 -2.73427267e-03 1.64658975e+02] [ 9.12568533e-01 4.08874521e-01 -6.34816610e-03 9.55480373e+01] [ 6.91125118e-03 1.00334219e-04 9.99976112e-01 1.19272280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:95.57, Z:1.19 [[ 4.08051220e-01 -9.12954999e-01 -2.71507033e-03 1.64668424e+02] [ 9.12932878e-01 4.08060236e-01 -6.35642992e-03 9.55742451e+01] [ 6.91104671e-03 1.15072014e-04 9.99976112e-01 1.19427336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:95.60, Z:1.19 [[ 4.07303575e-01 -9.13288757e-01 -2.72837457e-03 1.64677348e+02] [ 9.13266681e-01 4.07312702e-01 -6.35070674e-03 9.55981361e+01] [ 6.91133068e-03 9.49319680e-05 9.99976112e-01 1.19400354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:95.62, Z:1.20 [[ 4.05610849e-01 -9.14041786e-01 -2.73006523e-03 1.64685750e+02] [ 9.14019732e-01 4.05620029e-01 -6.34997987e-03 9.56219714e+01] [ 6.91151608e-03 8.02872442e-05 9.99976112e-01 1.19539133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:95.65, Z:1.20 [[ 4.04332632e-01 -9.14607951e-01 -2.72359663e-03 1.64695384e+02] [ 9.14585891e-01 4.04341798e-01 -6.35275904e-03 9.56466491e+01] [ 6.91154789e-03 7.76647374e-05 9.99976112e-01 1.19860539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:95.67, Z:1.20 [[ 4.03287488e-01 -9.15069267e-01 -2.72730079e-03 1.64704817e+02] [ 9.15047229e-01 4.03296704e-01 -6.35116841e-03 9.56710672e+01] [ 6.91167044e-03 6.57377203e-05 9.99976112e-01 1.19993133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.71, Y:95.70, Z:1.20 [[ 4.02058292e-01 -9.15610036e-01 -2.71897848e-03 1.64714558e+02] [ 9.15587985e-01 4.02067480e-01 -6.35473918e-03 9.56958847e+01] [ 6.91167579e-03 6.55115543e-05 9.99976112e-01 1.20149957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.72, Y:95.72, Z:1.20 [[ 4.00591863e-01 -9.16252551e-01 -2.72442302e-03 1.64723195e+02] [ 9.16230531e-01 4.00601124e-01 -6.35240412e-03 9.57200679e+01] [ 6.91181340e-03 4.85218481e-05 9.99976112e-01 1.20303474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:95.74, Z:1.20 [[ 4.00059613e-01 -9.16485075e-01 -2.72270228e-03 1.64732268e+02] [ 9.16463056e-01 4.00068875e-01 -6.35314156e-03 9.57428479e+01] [ 6.91182786e-03 4.63793082e-05 9.99976112e-01 1.20193296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:95.77, Z:1.20 [[ 3.98675888e-01 -9.17087855e-01 -2.72091079e-03 1.64740447e+02] [ 9.17065844e-01 3.98685171e-01 -6.35390872e-03 9.57656922e+01] [ 6.91187930e-03 3.78958527e-05 9.99976112e-01 1.19969314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:95.79, Z:1.20 [[ 3.97660065e-01 -9.17528789e-01 -2.71914228e-03 1.64749766e+02] [ 9.17506784e-01 3.97669360e-01 -6.35466547e-03 9.57895022e+01] [ 6.91190808e-03 3.21651955e-05 9.99976112e-01 1.19958000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:95.81, Z:1.20 [[ 3.97076702e-01 -9.17781406e-01 -2.71748118e-03 1.64759444e+02] [ 9.17759401e-01 3.97085999e-01 -6.35537573e-03 9.58134583e+01] [ 6.91191940e-03 2.95777349e-05 9.99976112e-01 1.19923672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:95.84, Z:1.20 [[ 3.97625895e-01 -9.17543608e-01 -2.71582805e-03 1.64768063e+02] [ 9.17521593e-01 3.97635168e-01 -6.35608208e-03 9.58371263e+01] [ 6.91189123e-03 3.55119434e-05 9.99976112e-01 1.20148449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:95.86, Z:1.20 [[ 3.98764586e-01 -9.17049311e-01 -2.71415203e-03 1.64776287e+02] [ 9.17027280e-01 3.98773820e-01 -6.35679769e-03 9.58608816e+01] [ 6.91182971e-03 4.59143419e-05 9.99976112e-01 1.19864233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:95.89, Z:1.20 [[ 4.00050520e-01 -9.16489121e-01 -2.69670768e-03 1.64785456e+02] [ 9.16467027e-01 4.00059602e-01 -6.36424009e-03 9.58858248e+01] [ 6.91160061e-03 7.45738878e-05 9.99976112e-01 1.20171816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:95.91, Z:1.20 [[ 4.01979996e-01 -9.15644435e-01 -2.71125242e-03 1.64794411e+02] [ 9.15622363e-01 4.01989133e-01 -6.35803779e-03 9.59099130e+01] [ 6.91159593e-03 7.33206598e-05 9.99976112e-01 1.20218317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:95.93, Z:1.20 [[ 4.06529766e-01 -9.13633519e-01 -2.70959195e-03 1.64802134e+02] [ 9.13611398e-01 4.06538781e-01 -6.35874535e-03 9.59340876e+01] [ 6.91111710e-03 1.09505173e-04 9.99976112e-01 1.20346781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:95.96, Z:1.20 [[ 4.08751698e-01 -9.12641615e-01 -2.70788166e-03 1.64810356e+02] [ 9.12619466e-01 4.08760647e-01 -6.35947360e-03 9.59593740e+01] [ 6.91079571e-03 1.28180118e-04 9.99976112e-01 1.20467439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:95.98, Z:1.20 [[ 4.11103041e-01 -9.11584865e-01 -2.70630625e-03 1.64817383e+02] [ 9.11562689e-01 4.11111922e-01 -6.36014395e-03 9.59830437e+01] [ 6.91040573e-03 1.47706711e-04 9.99976112e-01 1.20406558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:96.01, Z:1.21 [[ 4.14915079e-01 -9.09856158e-01 -2.69227747e-03 1.64822959e+02] [ 9.09833907e-01 4.14923769e-01 -6.36610727e-03 9.60085699e+01] [ 6.90933182e-03 1.91868576e-04 9.99976112e-01 1.20565108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:96.03, Z:1.21 [[ 4.16745174e-01 -9.09019337e-01 -2.70285802e-03 1.64830715e+02] [ 9.08997097e-01 4.16753894e-01 -6.36161191e-03 9.60340470e+01] [ 6.90925484e-03 1.94280975e-04 9.99976112e-01 1.20505982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:96.06, Z:1.21 [[ 4.16514029e-01 -9.09125321e-01 -2.68610852e-03 1.64840581e+02] [ 9.09103037e-01 4.16522637e-01 -6.36872260e-03 9.60579097e+01] [ 6.90879198e-03 2.10712896e-04 9.99976112e-01 1.20523754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:96.08, Z:1.20 [[ 4.17619459e-01 -9.08618062e-01 -2.68426149e-03 1.64848436e+02] [ 9.08595763e-01 4.17628027e-01 -6.36950613e-03 9.60840998e+01] [ 6.90847115e-03 2.21121090e-04 9.99976112e-01 1.20360068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:96.11, Z:1.20 [[ 4.18184532e-01 -9.08358089e-01 -2.69825859e-03 1.64855286e+02] [ 9.08335822e-01 4.18193184e-01 -6.36357113e-03 9.61085281e+01] [ 6.90879466e-03 2.10222075e-04 9.99976112e-01 1.20394668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:96.13, Z:1.20 [[ 4.18292058e-01 -9.08308583e-01 -2.69661277e-03 1.64860836e+02] [ 9.08286311e-01 4.18300696e-01 -6.36426848e-03 9.61345233e+01] [ 6.90871469e-03 2.12826497e-04 9.99976112e-01 1.20231180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:96.16, Z:1.20 [[ 4.17646096e-01 -9.08605786e-01 -2.69509316e-03 1.64868464e+02] [ 9.08583517e-01 4.17654739e-01 -6.36491193e-03 9.61579025e+01] [ 6.90881424e-03 2.09563401e-04 9.99976112e-01 1.20129812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:96.18, Z:1.20 [[ 4.16643632e-01 -9.09065909e-01 -2.69368073e-03 1.64877004e+02] [ 9.09043646e-01 4.16652290e-01 -6.36550963e-03 9.61823317e+01] [ 6.90899605e-03 2.03475699e-04 9.99976112e-01 1.20110611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:164.88, Y:96.21, Z:1.20 [[ 4.13653472e-01 -9.10430424e-01 -2.69203570e-03 1.64882738e+02] [ 9.10408185e-01 4.13662192e-01 -6.36620525e-03 9.62086073e+01] [ 6.90958034e-03 1.82551578e-04 9.99976112e-01 1.20259882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:96.23, Z:1.20 [[ 4.11920433e-01 -9.11215846e-01 -2.69050638e-03 1.64890408e+02] [ 9.11193619e-01 4.11929184e-01 -6.36685151e-03 9.62323015e+01] [ 6.90987409e-03 1.71063989e-04 9.99976112e-01 1.20143183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:96.26, Z:1.20 [[ 4.10013667e-01 -9.12075415e-01 -2.68875656e-03 1.64898043e+02] [ 9.12053201e-01 4.10022453e-01 -6.36759039e-03 9.62579249e+01] [ 6.91017320e-03 1.58510060e-04 9.99976112e-01 1.20360462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:96.28, Z:1.20 [[ 4.06437251e-01 -9.13674745e-01 -2.68720472e-03 1.64903688e+02] [ 9.13652562e-01 4.06446112e-01 -6.36824522e-03 9.62835700e+01] [ 6.91070874e-03 1.33120602e-04 9.99976112e-01 1.20404991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:96.31, Z:1.20 [[ 4.05175330e-01 -9.14235057e-01 -2.68564576e-03 1.64911549e+02] [ 9.14212881e-01 4.05184212e-01 -6.36890260e-03 9.63062151e+01] [ 6.91085529e-03 1.25270264e-04 9.99976112e-01 1.19888350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:96.33, Z:1.20 [[ 4.03293073e-01 -9.15066958e-01 -2.67571755e-03 1.64919879e+02] [ 9.15044773e-01 4.03301931e-01 -6.37308519e-03 9.63314768e+01] [ 6.91092174e-03 1.21819753e-04 9.99976112e-01 1.20293157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:96.36, Z:1.20 [[ 4.01894892e-01 -9.15681878e-01 -2.68205161e-03 1.64927957e+02] [ 9.15659724e-01 4.01903828e-01 -6.37041845e-03 9.63558346e+01] [ 6.91120354e-03 1.04391999e-04 9.99976112e-01 1.20304361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264000000003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:164.93, Y:96.38, Z:1.21 [[ 3.99615920e-01 -9.16678751e-01 -2.68040614e-03 1.64933630e+02] [ 9.16656614e-01 3.99624899e-01 -6.37111072e-03 9.63818591e+01] [ 6.91141885e-03 8.89852559e-05 9.99976112e-01 1.20566844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:96.41, Z:1.20 [[ 3.98264576e-01 -9.17266674e-01 -2.67884909e-03 1.64941008e+02] [ 9.17244547e-01 3.98273577e-01 -6.37176534e-03 9.64050921e+01] [ 6.91152281e-03 8.04886992e-05 9.99976112e-01 1.20376314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:96.43, Z:1.20 [[ 3.96860357e-01 -9.17875095e-01 -2.67706240e-03 1.64948283e+02] [ 9.17852977e-01 3.96869380e-01 -6.37251592e-03 9.64298966e+01] [ 6.91161775e-03 7.18492545e-05 9.99976112e-01 1.20478770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:96.46, Z:1.21 [[ 3.93454959e-01 -9.19340001e-01 -2.67539762e-03 1.64955190e+02] [ 9.19317911e-01 3.93464052e-01 -6.37321477e-03 9.64558644e+01] [ 6.91182407e-03 4.80320034e-05 9.99976112e-01 1.20647953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:96.48, Z:1.20 [[ 3.91835574e-01 -9.20031377e-01 -2.67383745e-03 1.64964416e+02] [ 9.20009298e-01 3.91844695e-01 -6.37386927e-03 9.64780839e+01] [ 6.91188873e-03 3.75534016e-05 9.99976112e-01 1.20372277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.97, Y:96.50, Z:1.21 [[ 3.88430437e-01 -9.21474175e-01 -2.67212345e-03 1.64973129e+02] [ 9.21452126e-01 3.88439628e-01 -6.37458775e-03 9.65021382e+01] [ 6.91197662e-03 1.38500764e-05 9.99976112e-01 1.20674362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:96.52, Z:1.20 [[ 3.83258619e-01 -9.23637213e-01 -2.67039110e-03 1.64983064e+02] [ 9.23615210e-01 3.83267921e-01 -6.37531337e-03 9.65243971e+01] [ 6.91195191e-03 -2.30200425e-05 9.99976112e-01 1.20284718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:96.55, Z:1.21 [[ 3.80683710e-01 -9.24701461e-01 -2.66860876e-03 1.64992455e+02] [ 9.24679479e-01 3.80693061e-01 -6.37605934e-03 9.65477509e+01] [ 6.91187222e-03 -4.03458315e-05 9.99976112e-01 1.20636545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:96.57, Z:1.21 [[ 3.76645202e-01 -9.26353755e-01 -2.66692901e-03 1.65003223e+02] [ 9.26331809e-01 3.76654637e-01 -6.37676185e-03 9.65708496e+01] [ 6.91164847e-03 -6.86844225e-05 9.99976112e-01 1.20666316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:96.59, Z:1.21 [[ 3.74902905e-01 -9.27060251e-01 -2.66522605e-03 1.65014399e+02] [ 9.27038318e-01 3.74912371e-01 -6.37747354e-03 9.65942219e+01] [ 6.91152844e-03 -7.98333138e-05 9.99976112e-01 1.20751163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:96.62, Z:1.21 [[ 3.73579546e-01 -9.27594323e-01 -2.66352063e-03 1.65025016e+02] [ 9.27572399e-01 3.73589030e-01 -6.37818572e-03 9.66165661e+01] [ 6.91143096e-03 -8.78484962e-05 9.99976112e-01 1.20769820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:96.64, Z:1.21 [[ 3.72685225e-01 -9.27954007e-01 -2.66174991e-03 1.65035508e+02] [ 9.27932086e-01 3.72694719e-01 -6.37892460e-03 9.66387005e+01] [ 6.91136877e-03 -9.25922030e-05 9.99976112e-01 1.20776790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:96.66, Z:1.21 [[ 3.72255587e-01 -9.28126447e-01 -2.65999713e-03 1.65048193e+02] [ 9.28104526e-01 3.72265079e-01 -6.37965542e-03 9.66623473e+01] [ 6.91135096e-03 -9.38930033e-05 9.99976112e-01 1.20917725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:96.69, Z:1.21 [[ 3.72393324e-01 -9.28071196e-01 -2.65842565e-03 1.65059583e+02] [ 9.28049268e-01 3.72402802e-01 -6.38031019e-03 9.66852683e+01] [ 6.91138727e-03 -9.11650568e-05 9.99976112e-01 1.20881993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:96.71, Z:1.21 [[ 3.72708009e-01 -9.27944869e-01 -2.65717558e-03 1.65070640e+02] [ 9.27922934e-01 3.72717471e-01 -6.38083076e-03 9.67078757e+01] [ 6.91143492e-03 -8.74674344e-05 9.99976112e-01 1.21018314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:96.73, Z:1.21 [[ 3.75124451e-01 -9.26970655e-01 -2.65545880e-03 1.65082289e+02] [ 9.26948691e-01 3.75133843e-01 -6.38154514e-03 9.67301820e+01] [ 6.91165754e-03 -6.76004424e-05 9.99976112e-01 1.20906554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:96.75, Z:1.21 [[ 3.77030352e-01 -9.26197102e-01 -2.65374683e-03 1.65092461e+02] [ 9.26175113e-01 3.77039688e-01 -6.38225698e-03 9.67521376e+01] [ 6.91179579e-03 -5.15296756e-05 9.99976112e-01 1.20757693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:96.78, Z:1.21 [[ 3.79090124e-01 -9.25355956e-01 -2.65196420e-03 1.65102391e+02] [ 9.25333942e-01 3.79099399e-01 -6.38299761e-03 9.67760412e+01] [ 6.91190289e-03 -3.42211334e-05 9.99976112e-01 1.21024417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.11, Y:96.80, Z:1.21 [[ 3.84763677e-01 -9.23011315e-01 -2.65039135e-03 1.65110684e+02] [ 9.22989240e-01 3.84772805e-01 -6.38365064e-03 9.67985828e+01] [ 6.91198028e-03 9.91419800e-06 9.99976112e-01 1.20894305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:96.82, Z:1.21 [[ 3.87452838e-01 -9.21885722e-01 -2.64850809e-03 1.65119708e+02] [ 9.21863615e-01 3.87461888e-01 -6.38443188e-03 9.68219512e+01] [ 6.91191254e-03 3.21030084e-05 9.99976112e-01 1.20933271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.13, Y:96.85, Z:1.21 [[ 3.89621760e-01 -9.20971160e-01 -2.64686573e-03 1.65129242e+02] [ 9.20949027e-01 3.89630747e-01 -6.38511270e-03 9.68456490e+01] [ 6.91180493e-03 5.01504315e-05 9.99976112e-01 1.20996139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:96.87, Z:1.21 [[ 3.93229465e-01 -9.19436562e-01 -2.64519767e-03 1.65138050e+02] [ 9.19414389e-01 3.93238354e-01 -6.38580367e-03 9.68682618e+01] [ 6.91153454e-03 7.90533655e-05 9.99976112e-01 1.21066289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:96.89, Z:1.21 [[ 3.93910866e-01 -9.19144842e-01 -2.64375809e-03 1.65147313e+02] [ 9.19122659e-01 3.93919728e-01 -6.38639960e-03 9.68932607e+01] [ 6.91145472e-03 8.57342335e-05 9.99976112e-01 1.21277078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:96.92, Z:1.21 [[ 3.94372828e-01 -9.18946729e-01 -2.64217546e-03 1.65156640e+02] [ 9.18924537e-01 3.94381669e-01 -6.38705430e-03 9.69171974e+01] [ 6.91138823e-03 9.09208117e-05 9.99976112e-01 1.21159889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:96.94, Z:1.21 [[ 3.94258592e-01 -9.18995751e-01 -2.64052965e-03 1.65165331e+02] [ 9.18973555e-01 3.94267424e-01 -6.38773464e-03 9.69411037e+01] [ 6.91137581e-03 9.18423442e-05 9.99976112e-01 1.21128046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:96.96, Z:1.21 [[ 3.93733332e-01 -9.19220920e-01 -2.63880940e-03 1.65174089e+02] [ 9.19198725e-01 3.93742164e-01 -6.38844520e-03 9.69645172e+01] [ 6.91140300e-03 8.97535738e-05 9.99976112e-01 1.20742152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:96.99, Z:1.21 [[ 3.92512235e-01 -9.19743007e-01 -2.63565750e-03 1.65183910e+02] [ 9.19720815e-01 3.92521075e-01 -6.38974629e-03 9.69883341e+01] [ 6.91147558e-03 8.39845308e-05 9.99976112e-01 1.20559978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:97.01, Z:1.21 [[ 3.89286185e-01 -9.21113093e-01 -2.63371758e-03 1.65196332e+02] [ 9.21090926e-01 3.89295089e-01 -6.39054653e-03 9.70114982e+01] [ 6.91170940e-03 6.18581069e-05 9.99976112e-01 1.20986142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:97.03, Z:1.21 [[ 3.87589446e-01 -9.21828336e-01 -2.63442297e-03 1.65206076e+02] [ 9.21806188e-01 3.87598396e-01 -6.39025573e-03 9.70337470e+01] [ 6.91181692e-03 4.83682855e-05 9.99976112e-01 1.20809509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:97.06, Z:1.21 [[ 3.85985992e-01 -9.22500885e-01 -2.63262942e-03 1.65214938e+02] [ 9.22478748e-01 3.85994968e-01 -6.39099454e-03 9.70561206e+01] [ 6.91187983e-03 3.82896724e-05 9.99976112e-01 1.20680953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:97.08, Z:1.21 [[ 3.84347899e-01 -9.23184581e-01 -2.63091776e-03 1.65224905e+02] [ 9.23162455e-01 3.84356902e-01 -6.39169908e-03 9.70799544e+01] [ 6.91192944e-03 2.78716155e-05 9.99976112e-01 1.20755195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:97.10, Z:1.21 [[ 3.81634958e-01 -9.24309388e-01 -2.62927856e-03 1.65236339e+02] [ 9.24287284e-01 3.81644015e-01 -6.39237331e-03 9.71033591e+01] [ 6.91197909e-03 9.34438489e-06 9.99976112e-01 1.21066601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:97.13, Z:1.21 [[ 3.80219511e-01 -9.24892544e-01 -2.62777129e-03 1.65246567e+02] [ 9.24870449e-01 3.80228591e-01 -6.39299286e-03 9.71272045e+01] [ 6.91198520e-03 3.92600813e-07 9.99976112e-01 1.21370526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:97.15, Z:1.21 [[ 3.78871590e-01 -9.25445526e-01 -2.62618640e-03 1.65255975e+02] [ 9.25423440e-01 3.78880692e-01 -6.39364385e-03 9.71492831e+01] [ 6.91198042e-03 -7.96443897e-06 9.99976112e-01 1.21356749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:97.17, Z:1.21 [[ 3.77588195e-01 -9.25969907e-01 -2.62429050e-03 1.65266203e+02] [ 9.25947828e-01 3.77597314e-01 -6.39442193e-03 9.71721675e+01] [ 6.91196733e-03 -1.54978501e-05 9.99976112e-01 1.21293655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:97.19, Z:1.21 [[ 3.75599564e-01 -9.26778339e-01 -2.62259540e-03 1.65279283e+02] [ 9.26756275e-01 3.75608719e-01 -6.39511708e-03 9.71931830e+01] [ 6.91192569e-03 -2.85035504e-05 9.99976112e-01 1.21264381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:97.22, Z:1.21 [[ 3.74702991e-01 -9.27141198e-01 -2.62083495e-03 1.65290366e+02] [ 9.27119137e-01 3.74712155e-01 -6.39583846e-03 9.72162088e+01] [ 6.91190404e-03 -3.32864425e-05 9.99976112e-01 1.21429718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:97.24, Z:1.21 [[ 3.73833231e-01 -9.27492240e-01 -2.61911504e-03 1.65301083e+02] [ 9.27470184e-01 3.73842404e-01 -6.39654269e-03 9.72404441e+01] [ 6.91187998e-03 -3.79108904e-05 9.99976112e-01 1.21447242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:97.26, Z:1.21 [[ 3.73426083e-01 -9.27656245e-01 -2.61752236e-03 1.65312131e+02] [ 9.27634188e-01 3.73435254e-01 -6.39719437e-03 9.72628972e+01] [ 6.91187244e-03 -3.92239941e-05 9.99976112e-01 1.21399160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:97.29, Z:1.21 [[ 3.73640422e-01 -9.27569940e-01 -2.61570006e-03 1.65323250e+02] [ 9.27547875e-01 3.73649576e-01 -6.39793939e-03 9.72851077e+01] [ 6.91189147e-03 -3.56582591e-05 9.99976112e-01 1.21354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:97.31, Z:1.21 [[ 3.73844246e-01 -9.27487815e-01 -2.61391140e-03 1.65334105e+02] [ 9.27465743e-01 3.73853383e-01 -6.39867007e-03 9.73067561e+01] [ 6.91190814e-03 -3.22072887e-05 9.99976112e-01 1.21302639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:97.33, Z:1.21 [[ 3.75565791e-01 -9.26792055e-01 -2.61217102e-03 1.65345620e+02] [ 9.26769961e-01 3.75574875e-01 -6.39938048e-03 9.73300943e+01] [ 6.91196079e-03 -1.74932397e-05 9.99976112e-01 1.21404424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.35, Y:97.35, Z:1.21 [[ 3.76519402e-01 -9.26405055e-01 -2.61052685e-03 1.65354829e+02] [ 9.26382947e-01 3.76528452e-01 -6.40005112e-03 9.73528223e+01] [ 6.91197734e-03 -8.60413222e-06 9.99976112e-01 1.21372181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:97.37, Z:1.21 [[ 3.78917856e-01 -9.25426632e-01 -2.60907914e-03 1.65366287e+02] [ 9.25404497e-01 3.78926838e-01 -6.40064125e-03 9.73743973e+01] [ 6.91197398e-03 1.08636812e-05 9.99976112e-01 1.21179611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:97.40, Z:1.21 [[ 3.79884120e-01 -9.25030409e-01 -2.60732431e-03 1.65376172e+02] [ 9.25008259e-01 3.79893067e-01 -6.40135601e-03 9.73980770e+01] [ 6.91195339e-03 1.99769741e-05 9.99976112e-01 1.21042992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:97.42, Z:1.21 [[ 3.80373223e-01 -9.24829419e-01 -2.59955041e-03 1.65385524e+02] [ 9.24807243e-01 3.80382105e-01 -6.40451995e-03 9.74229777e+01] [ 6.91191091e-03 3.20248496e-05 9.99976112e-01 1.21324757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:97.45, Z:1.21 [[ 3.80804680e-01 -9.24651834e-01 -2.60430412e-03 1.65393899e+02] [ 9.24629667e-01 3.80813584e-01 -6.40258634e-03 9.74460769e+01] [ 6.91191758e-03 3.01179855e-05 9.99976112e-01 1.21133935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:97.47, Z:1.21 [[ 3.80959238e-01 -9.24588171e-01 -2.60252827e-03 1.65403860e+02] [ 9.24565998e-01 3.80968127e-01 -6.40330810e-03 9.74695404e+01] [ 6.91190325e-03 3.31902290e-05 9.99976112e-01 1.21194672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:97.49, Z:1.21 [[ 3.80252944e-01 -9.24878875e-01 -2.60085750e-03 1.65414322e+02] [ 9.24856704e-01 3.80261838e-01 -6.40398665e-03 9.74936462e+01] [ 6.91191883e-03 2.97142821e-05 9.99976112e-01 1.21308368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:97.52, Z:1.21 [[ 3.79526076e-01 -9.25177387e-01 -2.60014034e-03 1.65423928e+02] [ 9.25155221e-01 3.79534982e-01 -6.40427769e-03 9.75167139e+01] [ 6.91193712e-03 2.50569703e-05 9.99976112e-01 1.21320520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:97.54, Z:1.21 [[ 3.77519044e-01 -9.25998178e-01 -2.59745155e-03 1.65434424e+02] [ 9.25976024e-01 3.77527979e-01 -6.40536803e-03 9.75410802e+01] [ 6.91196976e-03 1.29705568e-05 9.99976112e-01 1.21488845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:97.57, Z:1.22 [[ 3.77278848e-01 -9.26096070e-01 -2.59594585e-03 1.65443866e+02] [ 9.26073915e-01 3.77287779e-01 -6.40597820e-03 9.75652929e+01] [ 6.91196988e-03 1.28023381e-05 9.99976112e-01 1.21506800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:97.59, Z:1.22 [[ 3.76064947e-01 -9.26589675e-01 -2.59428408e-03 1.65454110e+02] [ 9.26567526e-01 3.76073895e-01 -6.40665111e-03 9.75889036e+01] [ 6.91197928e-03 5.53753448e-06 9.99976112e-01 1.21608326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:97.61, Z:1.22 [[ 3.74639939e-01 -9.27166757e-01 -2.59262414e-03 1.65464384e+02] [ 9.27144617e-01 3.74648910e-01 -6.40732278e-03 9.76117948e+01] [ 6.91198048e-03 -3.29850267e-06 9.99976112e-01 1.21796131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:97.64, Z:1.22 [[ 3.72818655e-01 -9.27900607e-01 -2.59095568e-03 1.65474774e+02] [ 9.27878481e-01 3.72827658e-01 -6.40799739e-03 9.76355845e+01] [ 6.91196461e-03 -1.50710455e-05 9.99976112e-01 1.22040722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95264000000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.49, Y:97.66, Z:1.22 [[ 3.69440946e-01 -9.29250603e-01 -2.58922604e-03 1.65485050e+02] [ 9.29228505e-01 3.69450017e-01 -6.40869619e-03 9.76575515e+01] [ 6.91187441e-03 -3.83478570e-05 9.99976112e-01 1.21895547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:97.68, Z:1.22 [[ 3.67333841e-01 -9.30085562e-01 -2.58778093e-03 1.65496468e+02] [ 9.30063480e-01 3.67342952e-01 -6.40927966e-03 9.76808872e+01] [ 6.91178156e-03 -5.24552272e-05 9.99976112e-01 1.21858681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:97.70, Z:1.22 [[ 3.65535627e-01 -9.30793757e-01 -2.58606383e-03 1.65507880e+02] [ 9.30771687e-01 3.65544769e-01 -6.40997242e-03 9.77041843e+01] [ 6.91168441e-03 -6.39617046e-05 9.99976112e-01 1.21845192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:97.73, Z:1.22 [[ 3.63188481e-01 -9.31712106e-01 -2.58432187e-03 1.65521833e+02] [ 9.31690055e-01 3.63197667e-01 -6.41067465e-03 9.77254969e+01] [ 6.91152285e-03 -7.95037962e-05 9.99976112e-01 1.21656240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:97.75, Z:1.22 [[ 3.62647585e-01 -9.31922775e-01 -2.58284656e-03 1.65533001e+02] [ 9.31900725e-01 3.62656773e-01 -6.41126899e-03 9.77479834e+01] [ 6.91149439e-03 -8.19253601e-05 9.99976112e-01 1.21586006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:97.77, Z:1.22 [[ 3.63264221e-01 -9.31682587e-01 -2.58118821e-03 1.65545500e+02] [ 9.31660526e-01 3.63273383e-01 -6.41193658e-03 9.77704825e+01] [ 6.91156663e-03 -7.55640249e-05 9.99976112e-01 1.21529084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:97.79, Z:1.21 [[ 3.65022118e-01 -9.30995274e-01 -2.57951401e-03 1.65556183e+02] [ 9.30973191e-01 3.65031227e-01 -6.41261004e-03 9.77926171e+01] [ 6.91171280e-03 -6.07138870e-05 9.99976112e-01 1.21412942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:97.82, Z:1.22 [[ 3.66353588e-01 -9.30472194e-01 -2.55815724e-03 1.65567268e+02] [ 9.30450038e-01 3.66362518e-01 -6.42119103e-03 9.78169584e+01] [ 6.91195264e-03 -2.78111313e-05 9.99976112e-01 1.21601856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:97.84, Z:1.22 [[ 3.68480635e-01 -9.29631854e-01 -2.57615016e-03 1.65578075e+02] [ 9.29609728e-01 3.68489639e-01 -6.41396423e-03 9.78405879e+01] [ 6.91191010e-03 -3.13926344e-05 9.99976112e-01 1.21626094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.59, Y:97.86, Z:1.22 [[ 3.73947147e-01 -9.27446442e-01 -2.57444223e-03 1.65587845e+02] [ 9.27424259e-01 3.73956009e-01 -6.41464969e-03 9.78627391e+01] [ 6.91197217e-03 1.11397751e-05 9.99976112e-01 1.21671059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:97.89, Z:1.22 [[ 3.76558902e-01 -9.26389105e-01 -2.57266576e-03 1.65597828e+02] [ 9.26366892e-01 3.76567689e-01 -6.41536208e-03 9.78859927e+01] [ 6.91190434e-03 3.25293155e-05 9.99976112e-01 1.21550284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:97.91, Z:1.22 [[ 3.82084290e-01 -9.24123917e-01 -2.56538630e-03 1.65608793e+02] [ 9.24101632e-01 3.82092894e-01 -6.41827844e-03 9.79094837e+01] [ 6.91150049e-03 8.16456958e-05 9.99976112e-01 1.21587060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:97.93, Z:1.21 [[ 3.84306731e-01 -9.23201893e-01 -2.56920667e-03 1.65617927e+02] [ 9.23179598e-01 3.84315308e-01 -6.41674880e-03 9.79318814e+01] [ 6.91134009e-03 9.41605727e-05 9.99976112e-01 1.21465885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:97.96, Z:1.22 [[ 3.86143189e-01 -9.22435280e-01 -2.56745505e-03 1.65627341e+02] [ 9.22412963e-01 3.86151709e-01 -6.41744958e-03 9.79558528e+01] [ 6.91110905e-03 1.09800624e-04 9.99976112e-01 1.21707582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.64, Y:97.98, Z:1.22 [[ 3.87843041e-01 -9.21721863e-01 -2.56578612e-03 1.65636625e+02] [ 9.21699526e-01 3.87851508e-01 -6.41811677e-03 9.79803750e+01] [ 6.91086256e-03 1.24338078e-04 9.99976112e-01 1.21651821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:98.00, Z:1.22 [[ 3.90078409e-01 -9.20778079e-01 -2.56219682e-03 1.65646899e+02] [ 9.20755712e-01 3.90086797e-01 -6.41955081e-03 9.80039297e+01] [ 6.91046081e-03 1.44970809e-04 9.99976112e-01 1.21773246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:98.03, Z:1.22 [[ 3.90830807e-01 -9.20458968e-01 -2.56278483e-03 1.65656356e+02] [ 9.20436596e-01 3.90839180e-01 -6.41931606e-03 9.80280209e+01] [ 6.91035376e-03 1.49985534e-04 9.99976112e-01 1.21779642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:98.05, Z:1.22 [[ 3.91401238e-01 -9.20216557e-01 -2.56110259e-03 1.65665470e+02] [ 9.20194175e-01 3.91409586e-01 -6.41998715e-03 9.80516300e+01] [ 6.91021858e-03 1.56079228e-04 9.99976112e-01 1.21837101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:98.08, Z:1.22 [[ 3.91005880e-01 -9.20384620e-01 -2.55985953e-03 1.65675433e+02] [ 9.20362239e-01 3.91014229e-01 -6.42048276e-03 9.80752285e+01] [ 6.91025509e-03 1.54448466e-04 9.99976112e-01 1.21997973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:98.10, Z:1.22 [[ 3.90344053e-01 -9.20665507e-01 -2.55819601e-03 1.65685566e+02] [ 9.20643127e-01 3.90352406e-01 -6.42114551e-03 9.80988513e+01] [ 6.91032516e-03 1.51270387e-04 9.99976112e-01 1.22058258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:98.12, Z:1.22 [[ 3.89537600e-01 -9.21007015e-01 -2.55653596e-03 1.65694718e+02] [ 9.20984639e-01 3.89545961e-01 -6.42180638e-03 9.81216095e+01] [ 6.91041699e-03 1.47004699e-04 9.99976112e-01 1.21845159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:98.15, Z:1.22 [[ 3.88040580e-01 -9.21638748e-01 -2.55480802e-03 1.65703260e+02] [ 9.21616380e-01 3.88048966e-01 -6.42249374e-03 9.81452540e+01] [ 6.91060970e-03 1.37635272e-04 9.99976112e-01 1.21915039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:98.17, Z:1.22 [[ 3.87005360e-01 -9.22073930e-01 -2.55316968e-03 1.65713173e+02] [ 9.22051568e-01 3.87013759e-01 -6.42314497e-03 9.81691687e+01] [ 6.91072632e-03 1.31637420e-04 9.99976112e-01 1.21863672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.72, Y:98.19, Z:1.22 [[ 3.86046470e-01 -9.22475806e-01 -2.55152306e-03 1.65722637e+02] [ 9.22453448e-01 3.86054881e-01 -6.42379901e-03 9.81927643e+01] [ 6.91082710e-03 1.26223684e-04 9.99976112e-01 1.21909501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.73, Y:98.22, Z:1.22 [[ 3.85372025e-01 -9.22757769e-01 -2.54987449e-03 1.65731995e+02] [ 9.22735413e-01 3.85380441e-01 -6.42445333e-03 9.82165296e+01] [ 6.91088598e-03 1.22945098e-04 9.99976112e-01 1.22067250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.74, Y:98.24, Z:1.22 [[ 3.85517905e-01 -9.22696836e-01 -2.54821623e-03 1.65740101e+02] [ 9.22674474e-01 3.85526306e-01 -6.42511100e-03 9.82395591e+01] [ 6.91083398e-03 1.25821259e-04 9.99976112e-01 1.22078869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:98.26, Z:1.22 [[ 3.85969246e-01 -9.22508133e-01 -2.54649135e-03 1.65748582e+02] [ 9.22485763e-01 3.85977625e-01 -6.42579455e-03 9.82637330e+01] [ 6.91073642e-03 1.31057062e-04 9.99976112e-01 1.22289735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.76, Y:98.29, Z:1.22 [[ 3.87750968e-01 -9.21760658e-01 -2.54483340e-03 1.65756004e+02] [ 9.21738267e-01 3.87759291e-01 -6.42645109e-03 9.82866680e+01] [ 6.91043258e-03 1.46192300e-04 9.99976112e-01 1.22076477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.76, Y:98.31, Z:1.22 [[ 3.90171481e-01 -9.20738736e-01 -2.52878583e-03 1.65761687e+02] [ 9.20716282e-01 3.90179633e-01 -6.43279901e-03 9.83129654e+01] [ 6.90960796e-03 1.81600423e-04 9.99976112e-01 1.22213601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:98.34, Z:1.22 [[ 3.91281654e-01 -9.20267466e-01 -2.54133823e-03 1.65769124e+02] [ 9.20245034e-01 3.91289867e-01 -6.42783624e-03 9.83376083e+01] [ 6.90972846e-03 1.76440508e-04 9.99976112e-01 1.22158558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:98.36, Z:1.22 [[ 3.92500020e-01 -9.19748490e-01 -2.53975735e-03 1.65775996e+02] [ 9.19726043e-01 3.92508192e-01 -6.42846081e-03 9.83598667e+01] [ 6.90944269e-03 1.87290022e-04 9.99976112e-01 1.21862073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:98.39, Z:1.22 [[ 3.92290713e-01 -9.19837819e-01 -2.52673403e-03 1.65780353e+02] [ 9.19815341e-01 3.92298799e-01 -6.43360068e-03 9.83851656e+01] [ 6.90910394e-03 1.99713072e-04 9.99976112e-01 1.21747209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.79, Y:98.41, Z:1.21 [[ 3.92167179e-01 -9.19890467e-01 -2.53633766e-03 1.65786896e+02] [ 9.19868014e-01 3.92175335e-01 -6.42981238e-03 9.84078654e+01] [ 6.90941219e-03 1.88465488e-04 9.99976112e-01 1.21147030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.79, Y:98.43, Z:1.22 [[ 3.89952750e-01 -9.20831442e-01 -2.51161356e-03 1.65793749e+02] [ 9.20808947e-01 3.89960788e-01 -6.43955309e-03 9.84335929e+01] [ 6.90917376e-03 1.98405203e-04 9.99976112e-01 1.21579299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:98.46, Z:1.22 [[ 3.86458874e-01 -9.22303164e-01 -2.53242157e-03 1.65799033e+02] [ 9.22280752e-01 3.86467142e-01 -6.43135970e-03 9.84574181e+01] [ 6.91036112e-03 1.49852351e-04 9.99976112e-01 1.21631350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:98.48, Z:1.22 [[ 3.84133066e-01 -9.23274273e-01 -2.53067413e-03 1.65805791e+02] [ 9.23251878e-01 3.84141378e-01 -6.43204722e-03 9.84809156e+01] [ 6.91068037e-03 1.34312378e-04 9.99976112e-01 1.21668095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:98.50, Z:1.22 [[ 3.81848874e-01 -9.24221316e-01 -2.52907648e-03 1.65813138e+02] [ 9.24198937e-01 3.81857231e-01 -6.43267536e-03 9.85039628e+01] [ 6.91096183e-03 1.18940054e-04 9.99976112e-01 1.21763727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:165.82, Y:98.53, Z:1.22 [[ 3.79022170e-01 -9.25384141e-01 -2.52733557e-03 1.65820688e+02] [ 9.25361783e-01 3.79030583e-01 -6.43335927e-03 9.85283925e+01] [ 6.91126611e-03 9.96860386e-05 9.99976112e-01 1.22440071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:98.55, Z:1.22 [[ 3.73445883e-01 -9.27648529e-01 -2.52561271e-03 1.65827281e+02] [ 9.27626218e-01 3.73454419e-01 -6.43403556e-03 9.85529807e+01] [ 6.91172485e-03 5.99395222e-05 9.99976112e-01 1.22309026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:98.58, Z:1.22 [[ 3.70682358e-01 -9.28756276e-01 -2.52397619e-03 1.65835263e+02] [ 9.28733986e-01 3.70690948e-01 -6.43467748e-03 9.85769216e+01] [ 6.91186222e-03 4.11189531e-05 9.99976112e-01 1.22487383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:98.60, Z:1.23 [[ 3.67961902e-01 -9.29837446e-01 -2.52225228e-03 1.65843129e+02] [ 9.29815177e-01 3.67970546e-01 -6.43535314e-03 9.86003175e+01] [ 6.91194688e-03 2.27363334e-05 9.99976112e-01 1.22551288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:98.62, Z:1.23 [[ 3.63421050e-01 -9.31621591e-01 -2.52045521e-03 1.65849705e+02] [ 9.31599359e-01 3.63429789e-01 -6.43605690e-03 9.86244445e+01] [ 6.91197808e-03 -9.05589889e-06 9.99976112e-01 1.22522984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:98.65, Z:1.23 [[ 3.61331310e-01 -9.32434095e-01 -2.51867173e-03 1.65857797e+02] [ 9.32411877e-01 3.61340088e-01 -6.43675477e-03 9.86490773e+01] [ 6.91194667e-03 -2.26383978e-05 9.99976112e-01 1.22524680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:98.67, Z:1.23 [[ 3.59175737e-01 -9.33266551e-01 -2.51698679e-03 1.65866265e+02] [ 9.33244350e-01 3.59184554e-01 -6.43741357e-03 9.86734013e+01] [ 6.91188554e-03 -3.68009397e-05 9.99976112e-01 1.22709304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:98.70, Z:1.23 [[ 3.57179343e-01 -9.34032435e-01 -2.51524596e-03 1.65875501e+02] [ 9.34010248e-01 3.57188196e-01 -6.43809368e-03 9.86976432e+01] [ 6.91180449e-03 -4.97114257e-05 9.99976112e-01 1.22760553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:98.72, Z:1.23 [[ 3.54050423e-01 -9.35222958e-01 -2.51350494e-03 1.65884545e+02] [ 9.35200795e-01 3.54059338e-01 -6.43877332e-03 9.87204498e+01] [ 6.91161853e-03 -7.09813989e-05 9.99976112e-01 1.22749942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:98.74, Z:1.23 [[ 3.52611304e-01 -9.35766508e-01 -2.51202884e-03 1.65893294e+02] [ 9.35744356e-01 3.52620242e-01 -6.43934916e-03 9.87433328e+01] [ 6.91151950e-03 -8.00295064e-05 9.99976112e-01 1.22783065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:98.77, Z:1.23 [[ 3.51148179e-01 -9.36316536e-01 -2.51024317e-03 1.65902763e+02] [ 9.36294392e-01 3.51157140e-01 -6.44004519e-03 9.87667318e+01] [ 6.91141061e-03 -8.89164574e-05 9.99976112e-01 1.23045806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:98.79, Z:1.23 [[ 3.48938230e-01 -9.37142368e-01 -2.50851908e-03 1.65913413e+02] [ 9.37120241e-01 3.48947232e-01 -6.44071669e-03 9.87890606e+01] [ 6.91120928e-03 -1.03371723e-04 9.99976112e-01 1.23019644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.92, Y:98.81, Z:1.23 [[ 3.47857221e-01 -9.37544170e-01 -2.50673046e-03 1.65922670e+02] [ 9.37522048e-01 3.47866236e-01 -6.44141274e-03 9.88114824e+01] [ 6.91111585e-03 -1.09423137e-04 9.99976112e-01 1.22745207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45264000000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.93, Y:98.83, Z:1.23 [[ 3.45674418e-01 -9.38351192e-01 -2.49738720e-03 1.65934207e+02] [ 9.38329065e-01 3.45683420e-01 -6.44504547e-03 9.88339597e+01] [ 6.91102145e-03 -1.15483657e-04 9.99976112e-01 1.22558574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:98.86, Z:1.22 [[ 3.44849968e-01 -9.38654483e-01 -2.50203541e-03 1.65945215e+02] [ 9.38632377e-01 3.44859022e-01 -6.44323914e-03 9.88569218e+01] [ 6.91082479e-03 -1.26540635e-04 9.99976112e-01 1.22449875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:98.88, Z:1.23 [[ 3.43989360e-01 -9.38970230e-01 -2.49549622e-03 1.65956107e+02] [ 9.38948114e-01 3.43998389e-01 -6.44577808e-03 9.88816529e+01] [ 6.91084041e-03 -1.25862393e-04 9.99976112e-01 1.22663124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:98.90, Z:1.23 [[ 3.44011528e-01 -9.38962095e-01 -2.50051090e-03 1.65967051e+02] [ 9.38939993e-01 3.44020591e-01 -6.44383215e-03 9.89048654e+01] [ 6.91074137e-03 -1.31077143e-04 9.99976112e-01 1.22793696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:98.93, Z:1.23 [[ 3.44475780e-01 -9.38791879e-01 -2.49880953e-03 1.65976823e+02] [ 9.38769768e-01 3.44484820e-01 -6.44449185e-03 9.89289780e+01] [ 6.91083856e-03 -1.25835480e-04 9.99976112e-01 1.22773409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.99, Y:98.95, Z:1.23 [[ 3.45145633e-01 -9.38545820e-01 -2.49714756e-03 1.65985560e+02] [ 9.38523697e-01 3.45154646e-01 -6.44513577e-03 9.89514966e+01] [ 6.91095732e-03 -1.19121690e-04 9.99976112e-01 1.22695921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:98.97, Z:1.22 [[ 3.46204075e-01 -9.38155909e-01 -2.49568966e-03 1.65995635e+02] [ 9.38133773e-01 3.46213053e-01 -6.44570025e-03 9.89742872e+01] [ 6.91111212e-03 -1.09763069e-04 9.99976112e-01 1.22458793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:99.00, Z:1.23 [[ 3.49682603e-01 -9.36864909e-01 -2.49389100e-03 1.66007337e+02] [ 9.36842734e-01 3.49691486e-01 -6.44639609e-03 9.89968347e+01] [ 6.91149474e-03 -8.21910989e-05 9.99976112e-01 1.22742634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.02, Y:99.02, Z:1.22 [[ 3.51563108e-01 -9.36160868e-01 -2.49210583e-03 1.66016883e+02] [ 9.36138670e-01 3.51571934e-01 -6.44708615e-03 9.90189652e+01] [ 6.91166423e-03 -6.63989963e-05 9.99976112e-01 1.22491317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:99.04, Z:1.23 [[ 3.51320666e-01 -9.36251883e-01 -2.49024784e-03 1.66025933e+02] [ 9.36229682e-01 3.51329486e-01 -6.44780373e-03 9.90433313e+01] [ 6.91166588e-03 -6.61972454e-05 9.99976112e-01 1.22509269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:99.07, Z:1.23 [[ 3.53212778e-01 -9.35539705e-01 -2.48857791e-03 1.66035627e+02] [ 9.35517483e-01 3.53221541e-01 -6.44844819e-03 9.90673000e+01] [ 6.91179864e-03 -5.04338396e-05 9.99976112e-01 1.22846300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:99.09, Z:1.23 [[ 3.55244326e-01 -9.34770177e-01 -2.48682551e-03 1.66044527e+02] [ 9.34747931e-01 3.55253028e-01 -6.44912393e-03 9.90900749e+01] [ 6.91190101e-03 -3.35403141e-05 9.99976112e-01 1.22575872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:99.11, Z:1.23 [[ 3.58378719e-01 -9.33573009e-01 -2.47612066e-03 1.66054080e+02] [ 9.33550705e-01 3.58387273e-01 -6.45324782e-03 9.91144920e+01] [ 6.91198811e-03 1.12250212e-06 9.99976112e-01 1.22776596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:99.14, Z:1.23 [[ 3.59466836e-01 -9.33154566e-01 -2.48003046e-03 1.66063590e+02] [ 9.33132262e-01 3.59475391e-01 -6.45174233e-03 9.91391314e+01] [ 6.91198273e-03 4.99096552e-06 9.99976112e-01 1.23034455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.07, Y:99.16, Z:1.23 [[ 3.60062394e-01 -9.32924921e-01 -2.48259149e-03 1.66072838e+02] [ 9.32902619e-01 3.60070953e-01 -6.45075671e-03 9.91624616e+01] [ 6.91198078e-03 6.65880503e-06 9.99976112e-01 1.22754253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:99.19, Z:1.23 [[ 3.60550071e-01 -9.32736559e-01 -2.48157249e-03 1.66084608e+02] [ 9.32714249e-01 3.60558611e-01 -6.45114858e-03 9.91852844e+01] [ 6.91197445e-03 1.13640582e-05 9.99976112e-01 1.23093991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:99.21, Z:1.23 [[ 3.60351040e-01 -9.32813476e-01 -2.47925597e-03 1.66094828e+02] [ 9.32791162e-01 3.60359569e-01 -6.45203872e-03 9.92084015e+01] [ 6.91197228e-03 1.23708108e-05 9.99976112e-01 1.23157745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:99.23, Z:1.23 [[ 3.59766323e-01 -9.33039151e-01 -2.47688151e-03 1.66103983e+02] [ 9.33016837e-01 3.59774849e-01 -6.45295045e-03 9.92311254e+01] [ 6.91197509e-03 1.05821032e-05 9.99976112e-01 1.23230558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:99.25, Z:1.23 [[ 3.59330640e-01 -9.33207030e-01 -2.47577091e-03 1.66112596e+02] [ 9.33184717e-01 3.59339169e-01 -6.45337652e-03 9.92542369e+01] [ 6.91197780e-03 8.54434634e-06 9.99976112e-01 1.22885804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.12, Y:99.28, Z:1.23 [[ 3.58518157e-01 -9.33519489e-01 -2.46869029e-03 1.66122074e+02] [ 9.33497164e-01 3.58526656e-01 -6.45609087e-03 9.92792661e+01] [ 6.91197792e-03 1.01104183e-05 9.99976112e-01 1.23437415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:99.30, Z:1.23 [[ 3.57103984e-01 -9.34061362e-01 -2.47325662e-03 1.66133137e+02] [ 9.34039062e-01 3.57112549e-01 -6.45434143e-03 9.93015031e+01] [ 6.91198192e-03 -5.24725208e-06 9.99976112e-01 1.23274785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:99.32, Z:1.23 [[ 3.56284755e-01 -9.34374158e-01 -2.47104894e-03 1.66142273e+02] [ 9.34351860e-01 3.56293324e-01 -6.45518653e-03 9.93240166e+01] [ 6.91197772e-03 -8.94462424e-06 9.99976112e-01 1.23303490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:99.35, Z:1.23 [[ 3.56067257e-01 -9.34457067e-01 -2.46929444e-03 1.66151849e+02] [ 9.34434766e-01 3.56075819e-01 -6.45585761e-03 9.93473614e+01] [ 6.91197781e-03 -8.67505815e-06 9.99976112e-01 1.23419260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:99.37, Z:1.23 [[ 3.55612448e-01 -9.34630267e-01 -2.45981232e-03 1.66161497e+02] [ 9.34607945e-01 3.55620955e-01 -6.45948148e-03 9.93712737e+01] [ 6.91198771e-03 -1.88811686e-06 9.99976112e-01 1.23327717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:99.40, Z:1.23 [[ 3.55830312e-01 -9.34547339e-01 -2.46153387e-03 1.66172045e+02] [ 9.34525020e-01 3.55838826e-01 -6.45882391e-03 9.93958019e+01] [ 6.91198602e-03 -2.11966438e-06 9.99976112e-01 1.23353955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.18, Y:99.42, Z:1.23 [[ 3.55902573e-01 -9.34519813e-01 -2.46514548e-03 1.66180485e+02] [ 9.34497503e-01 3.55911110e-01 -6.45744517e-03 9.94193918e+01] [ 6.91198312e-03 -5.45094778e-06 9.99976112e-01 1.23128169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:166.19, Y:99.44, Z:1.23 [[ 3.56560169e-01 -9.34269092e-01 -2.47171267e-03 1.66189603e+02] [ 9.34246793e-01 3.56568736e-01 -6.45494044e-03 9.94434330e+01] [ 6.91198681e-03 -7.61498339e-06 9.99976112e-01 1.23458726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:99.47, Z:1.23 [[ 3.57282574e-01 -9.33993096e-01 -2.46134837e-03 1.66198157e+02] [ 9.33970763e-01 3.57291052e-01 -6.45889006e-03 9.94657092e+01] [ 6.91197647e-03 8.82144536e-06 9.99976112e-01 1.23217118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:99.49, Z:1.23 [[ 3.59014734e-01 -9.33328677e-01 -2.44961865e-03 1.66206816e+02] [ 9.33306298e-01 3.59023090e-01 -6.46335592e-03 9.94892595e+01] [ 6.91190509e-03 3.41954946e-05 9.99976112e-01 1.23278991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:99.51, Z:1.23 [[ 3.60231675e-01 -9.32859635e-01 -2.45805414e-03 1.66214656e+02] [ 9.32837266e-01 3.60240060e-01 -6.46014626e-03 9.95132348e+01] [ 6.91189925e-03 3.41848085e-05 9.99976112e-01 1.23065875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:99.54, Z:1.23 [[ 3.61767165e-01 -9.32265233e-01 -2.46040934e-03 1.66222445e+02] [ 9.32242857e-01 3.61775529e-01 -6.45925062e-03 9.95379353e+01] [ 6.91185068e-03 4.30457563e-05 9.99976112e-01 1.23263437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.23, Y:99.56, Z:1.23 [[ 3.64923920e-01 -9.31034113e-01 -2.45236443e-03 1.66228336e+02] [ 9.31011688e-01 3.64932152e-01 -6.46230737e-03 9.95636060e+01] [ 6.91157523e-03 7.50705871e-05 9.99976112e-01 1.23266025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:99.59, Z:1.23 [[ 3.66028174e-01 -9.30600536e-01 -2.45321738e-03 1.66235080e+02] [ 9.30578104e-01 3.66036386e-01 -6.46198355e-03 9.95887103e+01] [ 6.91149218e-03 8.23576575e-05 9.99976112e-01 1.23462607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:99.61, Z:1.23 [[ 3.67475418e-01 -9.30030003e-01 -2.45156475e-03 1.66241709e+02] [ 9.30007554e-01 3.67483583e-01 -6.46261047e-03 9.96125418e+01] [ 6.91133143e-03 9.48767456e-05 9.99976112e-01 1.23382427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:99.64, Z:1.23 [[ 3.69991067e-01 -9.29032082e-01 -2.44979741e-03 1.66248323e+02] [ 9.29009606e-01 3.69999159e-01 -6.46328035e-03 9.96373797e+01] [ 6.91101778e-03 1.15470664e-04 9.99976112e-01 1.23422536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:99.66, Z:1.24 [[ 3.70678106e-01 -9.28758176e-01 -2.44808565e-03 1.66256719e+02] [ 9.28735690e-01 3.70686170e-01 -6.46392864e-03 9.96630075e+01] [ 6.91089806e-03 1.22412313e-04 9.99976112e-01 1.23589439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:99.69, Z:1.23 [[ 3.71107229e-01 -9.28586790e-01 -2.44902127e-03 1.66263777e+02] [ 9.28564303e-01 3.71115289e-01 -6.46357457e-03 9.96877437e+01] [ 6.91085920e-03 1.24605517e-04 9.99976112e-01 1.23121219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:99.71, Z:1.24 [[ 3.69912790e-01 -9.29063292e-01 -2.43468566e-03 1.66268975e+02] [ 9.29040779e-01 3.69920779e-01 -6.46899398e-03 9.97148513e+01] [ 6.91074566e-03 1.31041346e-04 9.99976112e-01 1.23723862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:99.74, Z:1.24 [[ 3.68421086e-01 -9.29655815e-01 -2.44305732e-03 1.66276577e+02] [ 9.29633336e-01 3.68429169e-01 -6.46583154e-03 9.97406994e+01] [ 6.91109147e-03 1.11001153e-04 9.99976112e-01 1.23769454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:99.77, Z:1.24 [[ 3.65139861e-01 -9.30949470e-01 -2.44274740e-03 1.66282604e+02] [ 9.30927019e-01 3.65148021e-01 -6.46594852e-03 9.97665482e+01] [ 6.91143573e-03 8.69559912e-05 9.99976112e-01 1.23688105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:99.79, Z:1.24 [[ 3.63239926e-01 -9.31692429e-01 -2.44413221e-03 1.66289799e+02] [ 9.31669998e-01 3.63248142e-01 -6.46542603e-03 9.97917675e+01] [ 6.91161496e-03 7.13762218e-05 9.99976112e-01 1.23700501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:99.82, Z:1.24 [[ 3.61063522e-01 -9.32538028e-01 -2.44134013e-03 1.66296735e+02] [ 9.32515609e-01 3.61071771e-01 -6.46647880e-03 9.98157086e+01] [ 6.91173639e-03 5.82218324e-05 9.99976112e-01 1.23594742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:99.84, Z:1.23 [[ 3.59001174e-01 -9.33333926e-01 -2.43700793e-03 1.66304501e+02] [ 9.33311515e-01 3.59009442e-01 -6.46811105e-03 9.98391566e+01] [ 6.91181634e-03 4.75718941e-05 9.99976112e-01 1.23480304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:99.86, Z:1.23 [[ 3.55078394e-01 -9.34833355e-01 -2.43555259e-03 1.66312425e+02] [ 9.34810975e-01 3.55086747e-01 -6.46865901e-03 9.98625134e+01] [ 6.91195065e-03 2.00997628e-05 9.99976112e-01 1.23153274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:99.89, Z:1.23 [[ 3.53175865e-01 -9.35553785e-01 -2.43380512e-03 1.66320846e+02] [ 9.35531417e-01 3.53184251e-01 -6.46931642e-03 9.98863205e+01] [ 6.91197510e-03 7.90526999e-06 9.99976112e-01 1.23272565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:99.91, Z:1.23 [[ 3.51309416e-01 -9.36256257e-01 -2.43211834e-03 1.66329414e+02] [ 9.36233902e-01 3.51317835e-01 -6.46995050e-03 9.99095941e+01] [ 6.91197819e-03 -4.07710849e-06 9.99976112e-01 1.23188979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.34, Y:99.93, Z:1.23 [[ 3.49722032e-01 -9.36850358e-01 -2.43035947e-03 1.66338097e+02] [ 9.36828013e-01 3.49730476e-01 -6.47061113e-03 9.99338998e+01] [ 6.91196513e-03 -1.39135600e-05 9.99976112e-01 1.23238740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:99.96, Z:1.23 [[ 3.47828858e-01 -9.37554898e-01 -2.42868212e-03 1.66344849e+02] [ 9.37532565e-01 3.47837336e-01 -6.47124065e-03 9.99585794e+01] [ 6.91192968e-03 -2.60843358e-05 9.99976112e-01 1.23430803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.35, Y:99.98, Z:1.23 [[ 3.47375285e-01 -9.37723051e-01 -2.42694773e-03 1.66353062e+02] [ 9.37700718e-01 3.47383762e-01 -6.47189104e-03 9.99823447e+01] [ 6.91192365e-03 -2.75756300e-05 9.99976112e-01 1.23212929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:100.01, Z:1.23 [[ 3.46920578e-01 -9.37891376e-01 -2.42466526e-03 1.66362070e+02] [ 9.37869041e-01 3.46929050e-01 -6.47274634e-03 1.00005703e+02] [ 6.91191979e-03 -2.84895816e-05 9.99976112e-01 1.23372927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:100.03, Z:1.24 [[ 3.47126431e-01 -9.37815209e-01 -2.42366892e-03 1.66371074e+02] [ 9.37792869e-01 3.47134892e-01 -6.47311939e-03 1.00029291e+02] [ 6.91192986e-03 -2.59085996e-05 9.99976112e-01 1.23692865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.38, Y:100.05, Z:1.24 [[ 3.47514099e-01 -9.37671630e-01 -2.42198941e-03 1.66379003e+02] [ 9.37649282e-01 3.47522538e-01 -6.47374774e-03 1.00053188e+02] [ 6.91194550e-03 -2.12580209e-05 9.99976112e-01 1.23889166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:100.08, Z:1.24 [[ 3.47928653e-01 -9.37517890e-01 -2.42025413e-03 1.66386969e+02] [ 9.37495534e-01 3.47937071e-01 -6.47439642e-03 1.00077609e+02] [ 6.91195860e-03 -1.63494158e-05 9.99976112e-01 1.23749653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:100.10, Z:1.23 [[ 3.50293504e-01 -9.36636862e-01 -2.41850893e-03 1.66394305e+02] [ 9.36614481e-01 3.50301853e-01 -6.47504827e-03 1.00101424e+02] [ 6.91197706e-03 2.95685584e-06 9.99976112e-01 1.23483499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.40, Y:100.13, Z:1.24 [[ 3.51999135e-01 -9.35997205e-01 -2.41669293e-03 1.66402106e+02] [ 9.35974804e-01 3.52007430e-01 -6.47572599e-03 1.00125791e+02] [ 6.91195530e-03 1.74862560e-05 9.99976112e-01 1.23885998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:100.15, Z:1.24 [[ 3.53623277e-01 -9.35384812e-01 -2.41499249e-03 1.66411036e+02] [ 9.35362392e-01 3.53631522e-01 -6.47636007e-03 1.00151894e+02] [ 6.91190632e-03 3.12985158e-05 9.99976112e-01 1.23879824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:100.18, Z:1.24 [[ 3.55225876e-01 -9.34777348e-01 -2.42617426e-03 1.66418228e+02] [ 9.34754943e-01 3.55234159e-01 -6.47219199e-03 1.00176187e+02] [ 6.91191844e-03 3.12116898e-05 9.99976112e-01 1.23920813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:100.20, Z:1.24 [[ 3.58750625e-01 -9.33430303e-01 -2.42065439e-03 1.66424025e+02] [ 9.33407852e-01 3.58758786e-01 -6.47424805e-03 1.00201309e+02] [ 6.91169034e-03 6.31827176e-05 9.99976112e-01 1.23716779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:100.23, Z:1.24 [[ 3.60571351e-01 -9.32728518e-01 -2.41083014e-03 1.66432761e+02] [ 9.32706027e-01 3.60579400e-01 -6.47790426e-03 1.00227974e+02] [ 6.91142173e-03 8.71508898e-05 9.99976112e-01 1.23898884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:100.25, Z:1.24 [[ 3.61793727e-01 -9.32255021e-01 -2.42374409e-03 1.66440019e+02] [ 9.32232551e-01 3.61801837e-01 -6.47310152e-03 1.00254509e+02] [ 6.91149646e-03 8.24343848e-05 9.99976112e-01 1.23965942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:100.28, Z:1.24 [[ 3.62964926e-01 -9.31799647e-01 -2.42499983e-03 1.66445749e+02] [ 9.31777170e-01 3.62973015e-01 -6.47263492e-03 1.00277968e+02] [ 6.91140844e-03 8.97799729e-05 9.99976112e-01 1.23597985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:100.30, Z:1.24 [[ 3.63800997e-01 -9.31473580e-01 -2.40923893e-03 1.66451065e+02] [ 9.31451057e-01 3.63808957e-01 -6.47848460e-03 1.00304759e+02] [ 6.91103994e-03 1.12791009e-04 9.99976112e-01 1.23882075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:100.33, Z:1.24 [[ 3.63306945e-01 -9.31666357e-01 -2.42145175e-03 1.66457418e+02] [ 9.31643869e-01 3.63315001e-01 -6.47395420e-03 1.00328727e+02] [ 6.91131507e-03 9.61018434e-05 9.99976112e-01 1.23838163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:100.35, Z:1.24 [[ 3.62393139e-01 -9.32022233e-01 -2.40195454e-03 1.66464478e+02] [ 9.31999705e-01 3.62401083e-01 -6.48117995e-03 1.00352681e+02] [ 6.91107474e-03 1.10114224e-04 9.99976112e-01 1.23825554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:100.38, Z:1.24 [[ 3.60837566e-01 -9.32625590e-01 -2.39979274e-03 1.66471645e+02] [ 9.32603070e-01 3.60845532e-01 -6.48198049e-03 1.00379724e+02] [ 6.91121537e-03 1.00887990e-04 9.99976112e-01 1.24146514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:100.40, Z:1.24 [[ 3.59621948e-01 -9.33094957e-01 -2.41978088e-03 1.66477239e+02] [ 9.33072497e-01 3.59630082e-01 -6.47458347e-03 1.00403273e+02] [ 6.91162718e-03 7.05713325e-05 9.99976112e-01 1.23986922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:100.43, Z:1.24 [[ 3.58710305e-01 -9.33445860e-01 -2.39641442e-03 1.66484823e+02] [ 9.33423350e-01 3.58718299e-01 -6.48322049e-03 1.00428777e+02] [ 6.91137303e-03 8.87288269e-05 9.99976112e-01 1.23984077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:100.45, Z:1.24 [[ 3.57623946e-01 -9.33862612e-01 -2.39498246e-03 1.66491911e+02] [ 9.33840107e-01 3.57631956e-01 -6.48374942e-03 1.00452642e+02] [ 6.91145343e-03 8.22133715e-05 9.99976112e-01 1.24056150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:100.48, Z:1.24 [[ 3.56015151e-01 -9.34477119e-01 -2.39316444e-03 1.66496901e+02] [ 9.34454623e-01 3.56023187e-01 -6.48442039e-03 1.00477016e+02] [ 6.91156451e-03 7.22483289e-05 9.99976112e-01 1.23788228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:100.50, Z:1.24 [[ 3.55136463e-01 -9.34811411e-01 -2.39141741e-03 1.66503695e+02] [ 9.34788918e-01 3.55144509e-01 -6.48506461e-03 1.00502111e+02] [ 6.91161116e-03 6.76124145e-05 9.99976112e-01 1.23782761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:100.53, Z:1.24 [[ 3.54275207e-01 -9.35138154e-01 -2.38973111e-03 1.66510211e+02] [ 9.35115665e-01 3.54283261e-01 -6.48568595e-03 1.00526517e+02] [ 6.91165412e-03 6.30427379e-05 9.99976112e-01 1.23911915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.52, Y:100.55, Z:1.24 [[ 3.53883002e-01 -9.35286651e-01 -2.38796359e-03 1.66517053e+02] [ 9.35264161e-01 3.53891053e-01 -6.48633667e-03 1.00550247e+02] [ 6.91166305e-03 6.20275276e-05 9.99976112e-01 1.23609136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:100.58, Z:1.23 [[ 3.52767400e-01 -9.35708004e-01 -2.38612732e-03 1.66522387e+02] [ 9.35685519e-01 3.52775465e-01 -6.48701211e-03 1.00575554e+02] [ 6.91171633e-03 5.57416211e-05 9.99976112e-01 1.23447319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:100.60, Z:1.23 [[ 3.52525417e-01 -9.35799201e-01 -2.38445057e-03 1.66531027e+02] [ 9.35776714e-01 3.52533476e-01 -6.48762838e-03 1.00600054e+02] [ 6.91171610e-03 5.57405740e-05 9.99976112e-01 1.23465274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:100.62, Z:1.24 [[ 3.52093183e-01 -9.35961919e-01 -2.38277269e-03 1.66538866e+02] [ 9.35939431e-01 3.52101241e-01 -6.48824457e-03 1.00624784e+02] [ 6.91172706e-03 5.43357610e-05 9.99976112e-01 1.23597740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:100.65, Z:1.24 [[ 3.51894478e-01 -9.36036648e-01 -2.38102270e-03 1.66545991e+02] [ 9.36014158e-01 3.51902529e-01 -6.48888671e-03 1.00649491e+02] [ 6.91172368e-03 5.47324459e-05 9.99976112e-01 1.23652308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:100.67, Z:1.24 [[ 3.51606000e-01 -9.36145053e-01 -2.37926889e-03 1.66553116e+02] [ 9.36122561e-01 3.51614046e-01 -6.48952972e-03 1.00673829e+02] [ 6.91172550e-03 5.44703013e-05 9.99976112e-01 1.23735572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:100.70, Z:1.24 [[ 3.51663189e-01 -9.36123576e-01 -2.37751761e-03 1.66559754e+02] [ 9.36101079e-01 3.51671222e-01 -6.49017125e-03 1.00697692e+02] [ 6.91170684e-03 5.67575187e-05 9.99976112e-01 1.23544463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:100.72, Z:1.24 [[ 3.51105701e-01 -9.36332835e-01 -2.36844526e-03 1.66567020e+02] [ 9.36310320e-01 3.51113683e-01 -6.49349153e-03 1.00722539e+02] [ 6.91166287e-03 6.23021575e-05 9.99976112e-01 1.23586809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:100.75, Z:1.23 [[ 3.51078791e-01 -9.36342911e-01 -2.37402510e-03 1.66575269e+02] [ 9.36320410e-01 3.51086813e-01 -6.49145089e-03 1.00747514e+02] [ 6.91171293e-03 5.61625730e-05 9.99976112e-01 1.23372809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:100.77, Z:1.24 [[ 3.50841570e-01 -9.36431838e-01 -2.36770537e-03 1.66582248e+02] [ 9.36409324e-01 3.50849554e-01 -6.49375995e-03 1.00772575e+02] [ 6.91167194e-03 6.11395545e-05 9.99976112e-01 1.23839386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:100.80, Z:1.24 [[ 3.51247255e-01 -9.36279736e-01 -2.37089211e-03 1.66590700e+02] [ 9.36257227e-01 3.51255252e-01 -6.49259626e-03 1.00798174e+02] [ 6.91167461e-03 6.07417474e-05 9.99976112e-01 1.23947865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91264000000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:166.60, Y:100.82, Z:1.24 [[ 3.51565245e-01 -9.36160346e-01 -2.38430716e-03 1.66596697e+02] [ 9.36137867e-01 3.51573327e-01 -6.48769993e-03 1.00821044e+02] [ 6.91178621e-03 4.88095984e-05 9.99976112e-01 1.24044005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:100.85, Z:1.24 [[ 3.53180465e-01 -9.35552218e-01 -2.36757708e-03 1.66601978e+02] [ 9.35529684e-01 3.53188392e-01 -6.49379955e-03 1.00846547e+02] [ 6.91148932e-03 7.85445156e-05 9.99976112e-01 1.24049001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:100.87, Z:1.24 [[ 3.54316544e-01 -9.35122553e-01 -2.36593599e-03 1.66609162e+02] [ 9.35100005e-01 3.54324432e-01 -6.49439741e-03 1.00871468e+02] [ 6.91136641e-03 8.86856859e-05 9.99976112e-01 1.24182080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:100.90, Z:1.24 [[ 3.55294606e-01 -9.34751386e-01 -2.36421599e-03 1.66616675e+02] [ 9.34728826e-01 3.55302459e-01 -6.49502349e-03 1.00896758e+02] [ 6.91124397e-03 9.77459762e-05 9.99976112e-01 1.24094640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:100.92, Z:1.24 [[ 3.57766415e-01 -9.33808107e-01 -2.36882506e-03 1.66622157e+02] [ 9.33785537e-01 3.57774240e-01 -6.49334683e-03 1.00921039e+02] [ 6.91104450e-03 1.11126839e-04 9.99976112e-01 1.24117498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:100.95, Z:1.24 [[ 3.58704584e-01 -9.33448149e-01 -2.36086168e-03 1.66628261e+02] [ 9.33425553e-01 3.58712331e-01 -6.49624088e-03 1.00947073e+02] [ 6.91077422e-03 1.26542761e-04 9.99976112e-01 1.23994716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:100.97, Z:1.24 [[ 3.59859292e-01 -9.33003602e-01 -2.35983778e-03 1.66634043e+02] [ 9.32980993e-01 3.59867004e-01 -6.49661271e-03 1.00972044e+02] [ 6.91059081e-03 1.36182653e-04 9.99976112e-01 1.23702236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:101.00, Z:1.24 [[ 3.60653680e-01 -9.32696816e-01 -2.36045439e-03 1.66636810e+02] [ 9.32674203e-01 3.60661377e-01 -6.49638897e-03 1.00997986e+02] [ 6.91048604e-03 1.41411675e-04 9.99976112e-01 1.24047287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:101.02, Z:1.24 [[ 3.60376181e-01 -9.32804083e-01 -2.35609965e-03 1.66643230e+02] [ 9.32781461e-01 3.60383854e-01 -6.49796796e-03 1.01022484e+02] [ 6.91043132e-03 1.43986800e-04 9.99976112e-01 1.23692227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:101.05, Z:1.24 [[ 3.60175734e-01 -9.32881500e-01 -2.35544374e-03 1.66649832e+02] [ 9.32858878e-01 3.60183407e-01 -6.49820559e-03 1.01047339e+02] [ 6.91044753e-03 1.43199361e-04 9.99976112e-01 1.24076546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:101.07, Z:1.24 [[ 3.58749209e-01 -9.33431020e-01 -2.35285889e-03 1.66653912e+02] [ 9.33408404e-01 3.58756899e-01 -6.49914129e-03 1.01073049e+02] [ 6.91060444e-03 1.35383534e-04 9.99976112e-01 1.24046474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:101.10, Z:1.24 [[ 3.57348614e-01 -9.33968109e-01 -2.35364217e-03 1.66660079e+02] [ 9.33945506e-01 3.57356343e-01 -6.49885797e-03 1.01097071e+02] [ 6.91081504e-03 1.24184352e-04 9.99976112e-01 1.24009008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:101.12, Z:1.24 [[ 3.55415797e-01 -9.34705350e-01 -2.34943581e-03 1.66666574e+02] [ 9.34682753e-01 3.55423544e-01 -6.50037827e-03 1.01121800e+02] [ 6.91098315e-03 1.14359991e-04 9.99976112e-01 1.24147542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:101.15, Z:1.24 [[ 3.53215372e-01 -9.35539090e-01 -2.34769432e-03 1.66673265e+02] [ 9.35516508e-01 3.53223160e-01 -6.50100717e-03 1.01147377e+02] [ 6.91120634e-03 9.99488782e-05 9.99976112e-01 1.24278339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:166.68, Y:101.17, Z:1.24 [[ 3.48127756e-01 -9.37444164e-01 -2.34608057e-03 1.66678955e+02] [ 9.37421621e-01 3.48135655e-01 -6.50158949e-03 1.01170902e+02] [ 6.91163142e-03 6.41171145e-05 9.99976112e-01 1.24007576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:101.20, Z:1.24 [[ 3.45183259e-01 -9.38532376e-01 -2.34458223e-03 1.66686572e+02] [ 9.38509853e-01 3.45191219e-01 -6.50212977e-03 1.01195596e+02] [ 6.91178850e-03 4.40128152e-05 9.99976112e-01 1.24086481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:101.22, Z:1.24 [[ 3.39423770e-01 -9.40630648e-01 -2.34282885e-03 1.66694196e+02] [ 9.40608170e-01 3.39431856e-01 -6.50276148e-03 1.01219702e+02] [ 6.91192749e-03 3.50786092e-06 9.99976112e-01 1.24052139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.70, Y:101.24, Z:1.24 [[ 3.36742118e-01 -9.41594002e-01 -2.34107787e-03 1.66701561e+02] [ 9.41571543e-01 3.36750256e-01 -6.50339180e-03 1.01243299e+02] [ 6.91191328e-03 -1.43263687e-05 9.99976112e-01 1.23992114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:101.27, Z:1.24 [[ 3.33650200e-01 -9.42694050e-01 -2.33926144e-03 1.66708912e+02] [ 9.42671613e-01 3.33658398e-01 -6.50404510e-03 1.01268679e+02] [ 6.91183884e-03 -3.50794050e-05 9.99976112e-01 1.24005385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:101.29, Z:1.24 [[ 3.31830788e-01 -9.43336006e-01 -2.34691950e-03 1.66716360e+02] [ 9.43313605e-01 3.31839082e-01 -6.50129297e-03 1.01291470e+02] [ 6.91170336e-03 -5.65519300e-05 9.99976112e-01 1.24141434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.72, Y:101.32, Z:1.24 [[ 3.29109127e-01 -9.44289006e-01 -2.33581438e-03 1.66724163e+02] [ 9.44266600e-01 3.29117409e-01 -6.50528042e-03 1.01316096e+02] [ 6.91162196e-03 -6.46843432e-05 9.99976112e-01 1.24185087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.73, Y:101.34, Z:1.24 [[ 3.28236124e-01 -9.44592822e-01 -2.33405757e-03 1.66732614e+02] [ 9.44570419e-01 3.28244415e-01 -6.50591070e-03 1.01340380e+02] [ 6.91157791e-03 -6.92068344e-05 9.99976112e-01 1.23873763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:101.36, Z:1.24 [[ 3.27293101e-01 -9.44919985e-01 -2.33397986e-03 1.66740057e+02] [ 9.44897591e-01 3.27301414e-01 -6.50593855e-03 1.01364124e+02] [ 6.91150627e-03 -7.60231430e-05 9.99976112e-01 1.24082404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.75, Y:101.39, Z:1.24 [[ 3.26668801e-01 -9.45136003e-01 -2.33050955e-03 1.66748410e+02] [ 9.45113605e-01 3.26677105e-01 -6.50718142e-03 1.01387493e+02] [ 6.91149555e-03 -7.69031274e-05 9.99976112e-01 1.24028549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:101.41, Z:1.24 [[ 3.25983598e-01 -9.45372557e-01 -2.32874376e-03 1.66755248e+02] [ 9.45350160e-01 3.25991906e-01 -6.50781329e-03 1.01412230e+02] [ 6.91145971e-03 -8.00378916e-05 9.99976112e-01 1.24177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264000000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:166.76, Y:101.44, Z:1.24 [[ 3.25325677e-01 -9.45599169e-01 -2.32703178e-03 1.66763516e+02] [ 9.45576774e-01 3.25333989e-01 -6.50842539e-03 1.01435604e+02] [ 6.91142418e-03 -8.30293053e-05 9.99976112e-01 1.24070591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:101.46, Z:1.24 [[ 3.24368703e-01 -9.45927871e-01 -2.32525121e-03 1.66771740e+02] [ 9.45905480e-01 3.24377025e-01 -6.50906147e-03 1.01458249e+02] [ 6.91136073e-03 -8.81320362e-05 9.99976112e-01 1.24050067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:101.48, Z:1.24 [[ 3.22684497e-01 -9.46503733e-01 -2.32351959e-03 1.66782283e+02] [ 9.46481352e-01 3.22692847e-01 -6.50967954e-03 1.01480995e+02] [ 6.91121914e-03 -9.85952980e-05 9.99976112e-01 1.24185478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:166.79, Y:101.50, Z:1.24 [[ 3.21458340e-01 -9.46920876e-01 -2.32182842e-03 1.66791711e+02] [ 9.46898501e-01 3.21466708e-01 -6.51028268e-03 1.01504941e+02] [ 6.91111312e-03 -1.05751183e-04 9.99976112e-01 1.24106012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:101.53, Z:1.24 [[ 3.20510950e-01 -9.47241969e-01 -2.32013316e-03 1.66800137e+02] [ 9.47219599e-01 3.20519328e-01 -6.51088678e-03 1.01527852e+02] [ 6.91103274e-03 -1.10865100e-04 9.99976112e-01 1.24072642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:101.55, Z:1.24 [[ 3.19706013e-01 -9.47513953e-01 -2.31836548e-03 1.66809818e+02] [ 9.47491585e-01 3.19714398e-01 -6.51151615e-03 1.01550430e+02] [ 6.91096723e-03 -1.14860919e-04 9.99976112e-01 1.23973068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:101.57, Z:1.24 [[ 3.19949101e-01 -9.47431901e-01 -2.31662707e-03 1.66818567e+02] [ 9.47409526e-01 3.19957468e-01 -6.51213457e-03 1.01574611e+02] [ 6.91102617e-03 -1.11242951e-04 9.99976112e-01 1.24029203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:101.60, Z:1.24 [[ 3.20813889e-01 -9.47139425e-01 -2.31495435e-03 1.66827799e+02] [ 9.47117038e-01 3.20822225e-01 -6.51272914e-03 1.01598681e+02] [ 6.91115134e-03 -1.03158740e-04 9.99976112e-01 1.24103273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.84, Y:101.62, Z:1.24 [[ 3.21846510e-01 -9.46789033e-01 -2.31325264e-03 1.66837221e+02] [ 9.46766634e-01 3.21854809e-01 -6.51333352e-03 1.01621681e+02] [ 6.91128423e-03 -9.38167509e-05 9.99976112e-01 1.24049351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:101.65, Z:1.24 [[ 3.25635934e-01 -9.45492408e-01 -2.31181626e-03 1.66846551e+02] [ 9.45469972e-01 3.25644134e-01 -6.51384330e-03 1.01646588e+02] [ 6.91161879e-03 -6.46114037e-05 9.99976112e-01 1.24445187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:101.67, Z:1.24 [[ 3.27412009e-01 -9.44878849e-01 -2.31027669e-03 1.66853635e+02] [ 9.44856393e-01 3.27420156e-01 -6.51438929e-03 1.01669625e+02] [ 6.91173981e-03 -4.99904171e-05 9.99976112e-01 1.24430035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:101.69, Z:1.24 [[ 3.29134650e-01 -9.44280177e-01 -2.30851600e-03 1.66861451e+02] [ 9.44257702e-01 3.29142744e-01 -6.51501318e-03 1.01693842e+02] [ 6.91182908e-03 -3.55174302e-05 9.99976112e-01 1.24440745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:101.72, Z:1.24 [[ 3.30485236e-01 -9.43808343e-01 -2.30681335e-03 1.66869288e+02] [ 9.43785852e-01 3.30493286e-01 -6.51561599e-03 1.01716684e+02] [ 6.91187905e-03 -2.38229229e-05 9.99976112e-01 1.24384513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:101.74, Z:1.25 [[ 3.33222575e-01 -9.42845376e-01 -2.30504244e-03 1.66876900e+02] [ 9.42822858e-01 3.33230547e-01 -6.51624243e-03 1.01740532e+02] [ 6.91191959e-03 -1.88761695e-06 9.99976112e-01 1.24548162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:101.76, Z:1.25 [[ 3.34154370e-01 -9.42515545e-01 -2.30334169e-03 1.66884351e+02] [ 9.42493015e-01 3.34162308e-01 -6.51684355e-03 1.01764670e+02] [ 6.91191632e-03 6.74829988e-06 9.99976112e-01 1.24575120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:101.79, Z:1.24 [[ 3.34761885e-01 -9.42299943e-01 -2.30159182e-03 1.66892360e+02] [ 9.42277404e-01 3.34769796e-01 -6.51746150e-03 1.01787816e+02] [ 6.91190703e-03 1.30597277e-05 9.99976112e-01 1.24389580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.90, Y:101.81, Z:1.24 [[ 3.35490248e-01 -9.42040872e-01 -2.29976771e-03 1.66901988e+02] [ 9.42018322e-01 3.35498129e-01 -6.51810510e-03 1.01810871e+02] [ 6.91188917e-03 2.03373786e-05 9.99976112e-01 1.24428287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:101.84, Z:1.24 [[ 3.35595584e-01 -9.42003356e-01 -2.29799771e-03 1.66909935e+02] [ 9.41980801e-01 3.35603451e-01 -6.51872906e-03 1.01835118e+02] [ 6.91188061e-03 2.29869631e-05 9.99976112e-01 1.24432864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:101.86, Z:1.25 [[ 3.35334365e-01 -9.42096380e-01 -2.29674190e-03 1.66917775e+02] [ 9.42073824e-01 3.35342229e-01 -6.51917149e-03 1.01859550e+02] [ 6.91188241e-03 2.24018050e-05 9.99976112e-01 1.24734978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:101.88, Z:1.25 [[ 3.34669891e-01 -9.42332636e-01 -2.29502850e-03 1.66925811e+02] [ 9.42310082e-01 3.34677759e-01 -6.51977462e-03 1.01883853e+02] [ 6.91189140e-03 1.93437651e-05 9.99976112e-01 1.24526122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:101.91, Z:1.25 [[ 3.33097962e-01 -9.42889438e-01 -2.29227838e-03 1.66935507e+02] [ 9.42866890e-01 3.33105850e-01 -6.52074199e-03 1.01907035e+02] [ 6.91191009e-03 1.07324862e-05 9.99976112e-01 1.24539472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:101.93, Z:1.25 [[ 3.32066057e-01 -9.43253353e-01 -2.29049442e-03 1.66944460e+02] [ 9.43230809e-01 3.32073957e-01 -6.52136898e-03 1.01929869e+02] [ 6.91191670e-03 5.06038315e-06 9.99976112e-01 1.24779911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:101.95, Z:1.25 [[ 3.31291087e-01 -9.43525820e-01 -2.28986796e-03 1.66953374e+02] [ 9.43503281e-01 3.31299001e-01 -6.52158894e-03 1.01953902e+02] [ 6.91191852e-03 4.63620919e-08 9.99976112e-01 1.24830748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:101.98, Z:1.25 [[ 3.30921052e-01 -9.43655669e-01 -2.28812565e-03 1.66962413e+02] [ 9.43633129e-01 3.30928962e-01 -6.52220018e-03 1.01977801e+02] [ 6.91191822e-03 -8.17818531e-07 9.99976112e-01 1.24951283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:102.00, Z:1.25 [[ 3.31772624e-01 -9.43356612e-01 -2.28638317e-03 1.66972729e+02] [ 9.43334061e-01 3.31780502e-01 -6.52281096e-03 1.02001514e+02] [ 6.91191420e-03 7.26698302e-06 9.99976112e-01 1.25047947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:102.03, Z:1.25 [[ 3.32778669e-01 -9.43002194e-01 -2.28464307e-03 1.66981399e+02] [ 9.42979630e-01 3.32786511e-01 -6.52342038e-03 1.02025376e+02] [ 6.91189812e-03 1.64832813e-05 9.99976112e-01 1.25093442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:102.05, Z:1.25 [[ 3.34426748e-01 -9.42418982e-01 -2.28288524e-03 1.66989717e+02] [ 9.42396401e-01 3.34434539e-01 -6.52403548e-03 1.02049890e+02] [ 6.91185055e-03 3.04291423e-05 9.99976112e-01 1.25162047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:102.07, Z:1.25 [[ 3.39664852e-01 -9.40543771e-01 -2.28112631e-03 1.66996946e+02] [ 9.40521142e-01 3.39672504e-01 -6.52465043e-03 1.02073696e+02] [ 6.91155520e-03 7.07468984e-05 9.99976112e-01 1.25280454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:102.10, Z:1.25 [[ 3.42662240e-01 -9.39455903e-01 -2.27929299e-03 1.67004153e+02] [ 9.39433246e-01 3.42669808e-01 -6.52529081e-03 1.02096620e+02] [ 6.91126786e-03 9.47271570e-05 9.99976112e-01 1.25225011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:102.12, Z:1.25 [[ 3.42415893e-01 -9.39545725e-01 -2.27747513e-03 1.67012391e+02] [ 9.39523066e-01 3.42423453e-01 -6.52592522e-03 1.02121247e+02] [ 6.91126604e-03 9.48400922e-05 9.99976112e-01 1.25242967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:102.15, Z:1.25 [[ 3.45256424e-01 -9.38505633e-01 -2.27576376e-03 1.67019812e+02] [ 9.38482946e-01 3.45263905e-01 -6.52652197e-03 1.02145969e+02] [ 6.91091671e-03 1.17558155e-04 9.99976112e-01 1.25298517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:102.17, Z:1.25 [[ 3.47882297e-01 -9.37535459e-01 -2.27399459e-03 1.67026268e+02] [ 9.37512748e-01 3.47889702e-01 -6.52713833e-03 1.02169837e+02] [ 6.91052293e-03 1.38776960e-04 9.99976112e-01 1.25185625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:102.20, Z:1.25 [[ 3.51421890e-01 -9.36214497e-01 -2.25180334e-03 1.67033627e+02] [ 9.36191709e-01 3.51429054e-01 -6.53485986e-03 1.02196530e+02] [ 6.90937966e-03 1.88373193e-04 9.99976112e-01 1.25030965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:102.22, Z:1.25 [[ 3.52160948e-01 -9.35936702e-01 -2.27083059e-03 1.67040645e+02] [ 9.35913950e-01 3.52168226e-01 -6.52824128e-03 1.02220985e+02] [ 6.90973500e-03 1.73689605e-04 9.99976112e-01 1.25128459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:102.25, Z:1.25 [[ 3.52507961e-01 -9.35806064e-01 -2.26907254e-03 1.67048557e+02] [ 9.35783305e-01 3.52515219e-01 -6.52885229e-03 1.02245503e+02] [ 6.90962216e-03 1.78112211e-04 9.99976112e-01 1.25110438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:102.27, Z:1.25 [[ 3.51513432e-01 -9.36180093e-01 -2.26731160e-03 1.67055841e+02] [ 9.36157338e-01 3.51520702e-01 -6.52946376e-03 1.02268622e+02] [ 6.90976096e-03 1.72633827e-04 9.99976112e-01 1.24858092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:102.29, Z:1.25 [[ 3.50329624e-01 -9.36623736e-01 -2.26548205e-03 1.67063382e+02] [ 9.36600986e-01 3.50336910e-01 -6.53009849e-03 1.02292892e+02] [ 6.90992722e-03 1.65834227e-04 9.99976112e-01 1.24753816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:102.32, Z:1.25 [[ 3.47923194e-01 -9.37520362e-01 -2.24072046e-03 1.67071370e+02] [ 9.37497577e-01 3.47930366e-01 -6.53867958e-03 1.02317843e+02] [ 6.90975994e-03 1.74288282e-04 9.99976112e-01 1.24862719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:102.34, Z:1.25 [[ 3.45692879e-01 -9.38344988e-01 -2.26217583e-03 1.67079630e+02] [ 9.38322267e-01 3.45700254e-01 -6.53124826e-03 1.02341457e+02] [ 6.91059883e-03 1.35156056e-04 9.99976112e-01 1.24549890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:102.37, Z:1.25 [[ 3.41206666e-01 -9.39985595e-01 -2.25638041e-03 1.67088454e+02] [ 9.39962897e-01 3.41214110e-01 -6.53325393e-03 1.02366422e+02] [ 6.91107342e-03 1.08275923e-04 9.99976112e-01 1.24971546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:102.39, Z:1.25 [[ 3.40088590e-01 -9.40390688e-01 -2.25938115e-03 1.67096122e+02] [ 9.40368006e-01 3.40096081e-01 -6.53221603e-03 1.02390641e+02] [ 6.91124180e-03 9.68823951e-05 9.99976112e-01 1.25165461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:102.42, Z:1.25 [[ 3.38656328e-01 -9.40907494e-01 -2.23133916e-03 1.67104988e+02] [ 9.40884759e-01 3.38663659e-01 -6.54190472e-03 1.02417534e+02] [ 6.91100066e-03 1.16024421e-04 9.99976112e-01 1.25293707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:102.44, Z:1.25 [[ 3.37986709e-01 -9.41148177e-01 -2.25702826e-03 1.67112867e+02] [ 9.41125505e-01 3.37994235e-01 -6.53302966e-03 1.02441102e+02] [ 6.91141149e-03 8.39303345e-05 9.99976112e-01 1.25360946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:102.46, Z:1.25 [[ 3.38461216e-01 -9.40977640e-01 -2.25519979e-03 1.67120711e+02] [ 9.40954961e-01 3.38468717e-01 -6.53366079e-03 1.02464252e+02] [ 6.91134329e-03 8.93493439e-05 9.99976112e-01 1.25333451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:102.49, Z:1.25 [[ 3.38765210e-01 -9.40868296e-01 -2.23233051e-03 1.67128385e+02] [ 9.40845562e-01 3.38772545e-01 -6.54154990e-03 1.02489730e+02] [ 6.91098919e-03 1.15771270e-04 9.99976112e-01 1.25443883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:102.51, Z:1.25 [[ 3.40374559e-01 -9.40287294e-01 -2.22815373e-03 1.67136547e+02] [ 9.40264538e-01 3.40381827e-01 -6.54298971e-03 1.02514620e+02] [ 6.91071313e-03 1.32013304e-04 9.99976112e-01 1.25037653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:102.54, Z:1.26 [[ 3.40750897e-01 -9.40150952e-01 -2.23902682e-03 1.67143968e+02] [ 9.40128218e-01 3.40758231e-01 -6.53924296e-03 1.02540699e+02] [ 6.91084231e-03 1.23280612e-04 9.99976112e-01 1.25522220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:102.57, Z:1.25 [[ 3.41806408e-01 -9.39767688e-01 -2.25210908e-03 1.67150603e+02] [ 9.39744975e-01 3.41813807e-01 -6.53473741e-03 1.02565262e+02] [ 6.91093704e-03 1.17206924e-04 9.99976112e-01 1.25452814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:102.59, Z:1.25 [[ 3.42578668e-01 -9.39486457e-01 -2.24780656e-03 1.67156836e+02] [ 9.39463729e-01 3.42586019e-01 -6.53621809e-03 1.02589708e+02] [ 6.91075547e-03 1.27436160e-04 9.99976112e-01 1.25357671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.16, Y:102.61, Z:1.25 [[ 3.44250077e-01 -9.38875303e-01 -2.24738590e-03 1.67162343e+02] [ 9.38852560e-01 3.44257384e-01 -6.53636272e-03 1.02614779e+02] [ 6.91050872e-03 1.40179366e-04 9.99976112e-01 1.25312133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:102.64, Z:1.25 [[ 3.45876142e-01 -9.38277492e-01 -2.24563850e-03 1.67167898e+02] [ 9.38254733e-01 3.45883398e-01 -6.53696301e-03 1.02637864e+02] [ 6.91021433e-03 1.53998600e-04 9.99976112e-01 1.25051488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:102.66, Z:1.25 [[ 3.45816665e-01 -9.38299479e-01 -2.21851083e-03 1.67174026e+02] [ 9.38276661e-01 3.45823733e-01 -6.54627009e-03 1.02663808e+02] [ 6.90957551e-03 1.82232363e-04 9.99976112e-01 1.25150381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:102.69, Z:1.25 [[ 3.46059466e-01 -9.38209900e-01 -2.24255102e-03 1.67179461e+02] [ 9.38187133e-01 3.46066696e-01 -6.53802428e-03 1.02687392e+02] [ 6.91011133e-03 1.58612685e-04 9.99976112e-01 1.25045080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:102.71, Z:1.25 [[ 3.46520013e-01 -9.38039903e-01 -2.24080862e-03 1.67182657e+02] [ 9.38017128e-01 3.46527220e-01 -6.53862140e-03 1.02712314e+02] [ 6.90998897e-03 1.63846309e-04 9.99976112e-01 1.25196207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:102.74, Z:1.25 [[ 3.46178433e-01 -9.38166069e-01 -2.21788614e-03 1.67188989e+02] [ 9.38143247e-01 3.46185488e-01 -6.54646994e-03 1.02738259e+02] [ 6.90947596e-03 1.85551802e-04 9.99976112e-01 1.25246461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:102.77, Z:1.25 [[ 3.44955198e-01 -9.38616534e-01 -2.21646493e-03 1.67195471e+02] [ 9.38593718e-01 3.44962273e-01 -6.54695617e-03 1.02765689e+02] [ 6.90967809e-03 1.78046499e-04 9.99976112e-01 1.25342532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.20, Y:102.79, Z:1.25 [[ 3.44016643e-01 -9.38960890e-01 -2.23530111e-03 1.67201017e+02] [ 9.38938122e-01 3.44023872e-01 -6.54051350e-03 1.02791248e+02] [ 6.91028332e-03 1.51236071e-04 9.99976112e-01 1.25231881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:102.82, Z:1.25 [[ 3.42751790e-01 -9.39423345e-01 -2.23365271e-03 1.67203521e+02] [ 9.39400583e-01 3.42759038e-01 -6.54107684e-03 1.02815537e+02] [ 6.91044494e-03 1.43671141e-04 9.99976112e-01 1.25102854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:102.84, Z:1.25 [[ 3.40801290e-01 -9.40132749e-01 -2.21255545e-03 1.67209017e+02] [ 9.40109955e-01 3.40808438e-01 -6.54828051e-03 1.02842340e+02] [ 6.91031053e-03 1.51617036e-04 9.99976112e-01 1.24967639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:102.87, Z:1.25 [[ 3.38998422e-01 -9.40784292e-01 -2.23270081e-03 1.67215020e+02] [ 9.40761558e-01 3.39005754e-01 -6.54140453e-03 1.02868480e+02] [ 6.91094906e-03 1.17086720e-04 9.99976112e-01 1.25242788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:102.89, Z:1.25 [[ 3.35257227e-01 -9.42123991e-01 -2.23108037e-03 1.67218169e+02] [ 9.42101282e-01 3.35264638e-01 -6.54195717e-03 1.02893211e+02] [ 6.91133715e-03 9.13347410e-05 9.99976112e-01 1.25222701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:102.92, Z:1.25 [[ 3.32958362e-01 -9.42938895e-01 -2.22922913e-03 1.67224710e+02] [ 9.42916200e-01 3.32965815e-01 -6.54258794e-03 1.02919703e+02] [ 6.91151774e-03 7.64330967e-05 9.99976112e-01 1.25082953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:102.94, Z:1.25 [[ 3.31137412e-01 -9.43579906e-01 -2.23070792e-03 1.67230135e+02] [ 9.43557228e-01 3.31144919e-01 -6.54208448e-03 1.02942159e+02] [ 6.91166705e-03 6.15283433e-05 9.99976112e-01 1.25225739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:102.97, Z:1.26 [[ 3.28343100e-01 -9.44555960e-01 -2.20166093e-03 1.67236811e+02] [ 9.44533238e-01 3.28350474e-01 -6.55196172e-03 1.02968968e+02] [ 6.91161090e-03 7.17494992e-05 9.99976112e-01 1.25505436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:103.00, Z:1.25 [[ 3.24154359e-01 -9.46001588e-01 -2.22409364e-03 1.67242080e+02] [ 9.45978952e-01 3.24161988e-01 -6.54433797e-03 1.02995874e+02] [ 6.91192073e-03 1.74299029e-05 9.99976112e-01 1.25399302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:103.02, Z:1.25 [[ 3.22158697e-01 -9.46683051e-01 -2.23047575e-03 1.67248181e+02] [ 9.46660445e-01 3.22166419e-01 -6.54217053e-03 1.03019922e+02] [ 6.91194634e-03 -3.88603003e-06 9.99976112e-01 1.25380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:103.04, Z:1.26 [[ 3.20686422e-01 -9.47182815e-01 -2.22132923e-03 1.67254609e+02] [ 9.47160200e-01 3.20694115e-01 -6.54527442e-03 1.03044418e+02] [ 6.91193866e-03 -4.97400565e-06 9.99976112e-01 1.25728383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:103.07, Z:1.26 [[ 3.18792548e-01 -9.47821917e-01 -2.21939931e-03 1.67260365e+02] [ 9.47799312e-01 3.18800273e-01 -6.54592876e-03 1.03070351e+02] [ 6.91191985e-03 -1.67518284e-05 9.99976112e-01 1.25608384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:103.10, Z:1.26 [[ 3.17839735e-01 -9.48141859e-01 -2.21779238e-03 1.67267404e+02] [ 9.48119259e-01 3.17847472e-01 -6.54647315e-03 1.03095175e+02] [ 6.91190492e-03 -2.20023786e-05 9.99976112e-01 1.25522200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.28, Y:103.12, Z:1.26 [[ 3.16287799e-01 -9.48660697e-01 -2.21611686e-03 1.67275017e+02] [ 9.48638105e-01 3.16295561e-01 -6.54704030e-03 1.03120683e+02] [ 6.91186773e-03 -3.15439365e-05 9.99976112e-01 1.25598262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:103.14, Z:1.25 [[ 3.13767323e-01 -9.49497321e-01 -2.21450752e-03 1.67282289e+02] [ 9.49474747e-01 3.13775134e-01 -6.54758460e-03 1.03144578e+02] [ 6.91177144e-03 -4.82008796e-05 9.99976112e-01 1.25473807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:103.17, Z:1.26 [[ 3.11515640e-01 -9.50238448e-01 -2.21322710e-03 1.67289580e+02] [ 9.50215889e-01 3.11523495e-01 -6.54801739e-03 1.03168610e+02] [ 6.91165012e-03 -6.32337278e-05 9.99976112e-01 1.25620276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.30, Y:103.19, Z:1.26 [[ 3.08934916e-01 -9.51080610e-01 -2.21148224e-03 1.67296592e+02] [ 9.51058068e-01 3.08942821e-01 -6.54860663e-03 1.03191730e+02] [ 6.91147435e-03 -8.01547872e-05 9.99976112e-01 1.25741228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:103.22, Z:1.26 [[ 3.07111229e-01 -9.51671062e-01 -2.20968123e-03 1.67305106e+02] [ 9.51648531e-01 3.07119164e-01 -6.54921429e-03 1.03215032e+02] [ 6.91133317e-03 -9.15026469e-05 9.99976112e-01 1.25686198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.31, Y:103.24, Z:1.26 [[ 3.03660096e-01 -9.52777871e-01 -2.20801433e-03 1.67313879e+02] [ 9.52755365e-01 3.03668101e-01 -6.54977622e-03 1.03238979e+02] [ 6.91098536e-03 -1.14791824e-04 9.99976112e-01 1.25759030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:103.26, Z:1.26 [[ 3.03202262e-01 -9.52923670e-01 -2.20631614e-03 1.67323010e+02] [ 9.52901163e-01 3.03210267e-01 -6.55034821e-03 1.03262889e+02] [ 6.91095956e-03 -1.16320823e-04 9.99976112e-01 1.25728976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:103.29, Z:1.26 [[ 3.02638253e-01 -9.53102947e-01 -2.20460048e-03 1.67332452e+02] [ 9.53080441e-01 3.02646260e-01 -6.55092558e-03 1.03286885e+02] [ 6.91092057e-03 -1.18600924e-04 9.99976112e-01 1.25693657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:103.31, Z:1.26 [[ 3.02570129e-01 -9.53124580e-01 -2.20288914e-03 1.67341402e+02] [ 9.53102070e-01 3.02578126e-01 -6.55150101e-03 1.03309613e+02] [ 6.91094271e-03 -1.17289688e-04 9.99976112e-01 1.25652920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.35, Y:103.33, Z:1.26 [[ 3.03729637e-01 -9.52755720e-01 -2.20110490e-03 1.67350380e+02] [ 9.52733197e-01 3.03737594e-01 -6.55210041e-03 1.03334243e+02] [ 6.91110945e-03 -1.06998628e-04 9.99976112e-01 1.25948746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:103.36, Z:1.26 [[ 3.04900150e-01 -9.52381783e-01 -2.19952370e-03 1.67358848e+02] [ 9.52359246e-01 3.04908068e-01 -6.55263117e-03 1.03357021e+02] [ 6.91125908e-03 -9.68385100e-05 9.99976112e-01 1.25802534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:103.38, Z:1.26 [[ 3.05611799e-01 -9.52153663e-01 -2.19771202e-03 1.67367580e+02] [ 9.52131116e-01 3.05619687e-01 -6.55323874e-03 1.03381311e+02] [ 6.91135433e-03 -8.97629201e-05 9.99976112e-01 1.25862879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:103.41, Z:1.26 [[ 3.07143368e-01 -9.51660722e-01 -2.19598405e-03 1.67377840e+02] [ 9.51638157e-01 3.07151208e-01 -6.55381773e-03 1.03405056e+02] [ 6.91151006e-03 -7.68205701e-05 9.99976112e-01 1.25996898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:103.43, Z:1.26 [[ 3.07312715e-01 -9.51606053e-01 -2.19423730e-03 1.67387438e+02] [ 9.51583483e-01 3.07320539e-01 -6.55440249e-03 1.03428130e+02] [ 6.91154328e-03 -7.37487482e-05 9.99976112e-01 1.25992681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:103.45, Z:1.26 [[ 3.07273544e-01 -9.51618707e-01 -2.19242272e-03 1.67397306e+02] [ 9.51596133e-01 3.07281357e-01 -6.55500940e-03 1.03450446e+02] [ 6.91156020e-03 -7.21200168e-05 9.99976112e-01 1.25849510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:103.47, Z:1.26 [[ 3.07267331e-01 -9.51620717e-01 -2.19062068e-03 1.67408190e+02] [ 9.51598139e-01 3.07275132e-01 -6.55561157e-03 1.03474069e+02] [ 6.91157904e-03 -7.02652887e-05 9.99976112e-01 1.25814145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.42, Y:103.50, Z:1.26 [[ 3.07589315e-01 -9.51516696e-01 -2.18893261e-03 1.67422152e+02] [ 9.51494111e-01 3.07597096e-01 -6.55617518e-03 1.03496683e+02] [ 6.91161945e-03 -6.61470583e-05 9.99976112e-01 1.25796994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:103.52, Z:1.26 [[ 3.08056967e-01 -9.51365398e-01 -2.18721577e-03 1.67432029e+02] [ 9.51342806e-01 3.08064726e-01 -6.55674789e-03 1.03518847e+02] [ 6.91166709e-03 -6.09401136e-05 9.99976112e-01 1.25807257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:103.54, Z:1.26 [[ 3.08993500e-01 -9.51061639e-01 -2.18543278e-03 1.67441690e+02] [ 9.51039034e-01 3.09001224e-01 -6.55734212e-03 1.03541523e+02] [ 6.91173795e-03 -5.22557926e-05 9.99976112e-01 1.25784402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:103.56, Z:1.26 [[ 3.12391327e-01 -9.49950993e-01 -2.18398698e-03 1.67453529e+02] [ 9.49928358e-01 3.12398960e-01 -6.55782362e-03 1.03564865e+02] [ 6.91188632e-03 -2.60239390e-05 9.99976112e-01 1.25989562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:103.59, Z:1.26 [[ 3.14334779e-01 -9.49309688e-01 -2.18227160e-03 1.67463428e+02] [ 9.49287034e-01 3.14342354e-01 -6.55839441e-03 1.03588436e+02] [ 6.91192774e-03 -1.00706740e-05 9.99976112e-01 1.26006389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:103.61, Z:1.26 [[ 3.16657098e-01 -9.48537573e-01 -2.18054420e-03 1.67473241e+02] [ 9.48514896e-01 3.16664606e-01 -6.55896868e-03 1.03611755e+02] [ 6.91192941e-03 8.66533704e-06 9.99976112e-01 1.26086688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:103.63, Z:1.26 [[ 3.19299143e-01 -9.47651471e-01 -2.17879120e-03 1.67482573e+02] [ 9.47628769e-01 3.19306576e-01 -6.55955095e-03 1.03634935e+02] [ 6.91187046e-03 2.97737745e-05 9.99976112e-01 1.26147685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:103.66, Z:1.26 [[ 3.25499654e-01 -9.45539653e-01 -2.17729317e-03 1.67491921e+02] [ 9.45516899e-01 3.25506927e-01 -6.56004815e-03 1.03658868e+02] [ 6.91150966e-03 7.66259189e-05 9.99976112e-01 1.26198872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:103.68, Z:1.26 [[ 3.25244353e-01 -9.45627505e-01 -2.17553114e-03 1.67499783e+02] [ 9.45604749e-01 3.25251620e-01 -6.56063245e-03 1.03683611e+02] [ 6.91150952e-03 7.66160803e-05 9.99976112e-01 1.26216828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:103.71, Z:1.26 [[ 3.28222897e-01 -9.44597801e-01 -2.17375962e-03 1.67507050e+02] [ 9.44575018e-01 3.28230080e-01 -6.56121936e-03 1.03707161e+02] [ 6.91120667e-03 1.00263396e-04 9.99976112e-01 1.26094661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:103.73, Z:1.26 [[ 3.30951661e-01 -9.43645209e-01 -2.17191775e-03 1.67514303e+02] [ 9.43622402e-01 3.30958765e-01 -6.56182901e-03 1.03731688e+02] [ 6.91085372e-03 1.22177965e-04 9.99976112e-01 1.26236114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.52, Y:103.76, Z:1.26 [[ 3.35372560e-01 -9.42083084e-01 -2.17015395e-03 1.67521095e+02] [ 9.42060240e-01 3.35379545e-01 -6.56241228e-03 1.03755599e+02] [ 6.91016284e-03 1.56437254e-04 9.99976112e-01 1.26190991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:103.78, Z:1.26 [[ 3.36743919e-01 -9.41593771e-01 -2.16865250e-03 1.67528831e+02] [ 9.41570914e-01 3.36750860e-01 -6.56290843e-03 1.03780094e+02] [ 6.90988929e-03 1.68079389e-04 9.99976112e-01 1.25976518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:103.80, Z:1.26 [[ 3.37292636e-01 -9.41397364e-01 -2.16325176e-03 1.67536723e+02] [ 9.41374492e-01 3.37299527e-01 -6.56469112e-03 1.03804200e+02] [ 6.90964671e-03 1.77791945e-04 9.99976112e-01 1.25931693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:103.83, Z:1.26 [[ 3.37001447e-01 -9.41501639e-01 -2.16536615e-03 1.67544252e+02] [ 9.41478773e-01 3.37008359e-01 -6.56399361e-03 1.03829596e+02] [ 6.90975723e-03 1.73429083e-04 9.99976112e-01 1.25932171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:103.85, Z:1.26 [[ 3.34768056e-01 -9.42298082e-01 -2.16177782e-03 1.67550517e+02] [ 9.42275225e-01 3.34774997e-01 -6.56517649e-03 1.03853623e+02] [ 6.91006237e-03 1.60821688e-04 9.99976112e-01 1.25836419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:103.88, Z:1.26 [[ 3.32553150e-01 -9.43082051e-01 -2.15570253e-03 1.67557544e+02] [ 9.43059198e-01 3.32560102e-01 -6.56717740e-03 1.03877851e+02] [ 6.91028778e-03 1.50980429e-04 9.99976112e-01 1.25850630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.57, Y:103.90, Z:1.26 [[ 3.30169382e-01 -9.43919247e-01 -2.15264581e-03 1.67565631e+02] [ 9.43896405e-01 3.30176371e-01 -6.56818350e-03 1.03902512e+02] [ 6.91058760e-03 1.36738443e-04 9.99976112e-01 1.26080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:103.93, Z:1.26 [[ 3.25280218e-01 -9.45615231e-01 -2.14829561e-03 1.67574194e+02] [ 9.45592415e-01 3.25287295e-01 -6.56961439e-03 1.03927021e+02] [ 6.91114069e-03 1.05553559e-04 9.99976112e-01 1.25827461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.58, Y:103.95, Z:1.26 [[ 3.22392578e-01 -9.46603608e-01 -2.15286571e-03 1.67582642e+02] [ 9.46580824e-01 3.22399756e-01 -6.56811196e-03 1.03951987e+02] [ 6.91148186e-03 7.96491467e-05 9.99976112e-01 1.25879718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:103.98, Z:1.26 [[ 3.19984618e-01 -9.47420309e-01 -2.14548752e-03 1.67591395e+02] [ 9.47397527e-01 3.19991803e-01 -6.57053518e-03 1.03976643e+02] [ 6.91159688e-03 6.98406150e-05 9.99976112e-01 1.25849211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:104.00, Z:1.26 [[ 3.17275818e-01 -9.48330853e-01 -2.15584156e-03 1.67598553e+02] [ 9.48308115e-01 3.17283140e-01 -6.56713618e-03 1.04000527e+02] [ 6.91183004e-03 3.91914547e-05 9.99976112e-01 1.25676961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:104.02, Z:1.26 [[ 3.12988884e-01 -9.49754372e-01 -2.14294024e-03 1.67607057e+02] [ 9.49731638e-01 3.12996219e-01 -6.57136729e-03 1.04024684e+02] [ 6.91191700e-03 2.15467651e-05 9.99976112e-01 1.25536890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:167.61, Y:104.05, Z:1.26 [[ 3.10787855e-01 -9.50476867e-01 -2.15290990e-03 1.67614924e+02] [ 9.50454173e-01 3.10795312e-01 -6.56809940e-03 1.04049172e+02] [ 6.91194085e-03 -4.95667527e-06 9.99976112e-01 1.25866117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:104.07, Z:1.26 [[ 3.09292485e-01 -9.50964553e-01 -2.13967454e-03 1.67623329e+02] [ 9.50941840e-01 3.09299886e-01 -6.57243442e-03 1.04073696e+02] [ 6.91195325e-03 -1.90146425e-06 9.99976112e-01 1.25794897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:104.10, Z:1.26 [[ 3.07700483e-01 -9.51480840e-01 -2.15039702e-03 1.67630468e+02] [ 9.51458164e-01 3.07707996e-01 -6.56892431e-03 1.04097494e+02] [ 6.91189998e-03 -2.47516196e-05 9.99976112e-01 1.25789122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:104.12, Z:1.26 [[ 3.06146803e-01 -9.51981890e-01 -2.14856607e-03 1.67637266e+02] [ 9.51959222e-01 3.06154340e-01 -6.56952313e-03 1.04122089e+02] [ 6.91185987e-03 -3.41087884e-05 9.99976112e-01 1.26102737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.64, Y:104.15, Z:1.26 [[ 3.05789499e-01 -9.52096725e-01 -2.14679193e-03 1.67644064e+02] [ 9.52074056e-01 3.05797032e-01 -6.57010283e-03 1.04146101e+02] [ 6.91185599e-03 -3.48364554e-05 9.99976112e-01 1.26098266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:104.17, Z:1.26 [[ 3.06239972e-01 -9.51951953e-01 -2.13510029e-03 1.67652003e+02] [ 9.51929254e-01 3.06247414e-01 -6.57391991e-03 1.04170315e+02] [ 6.91192484e-03 -1.92673802e-05 9.99976112e-01 1.26133310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:104.20, Z:1.26 [[ 3.07144360e-01 -9.51660520e-01 -2.14388454e-03 1.67659422e+02] [ 9.51637834e-01 3.07151841e-01 -6.57105395e-03 1.04196030e+02] [ 6.91191070e-03 -2.19394812e-05 9.99976112e-01 1.26165335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.67, Y:104.22, Z:1.26 [[ 3.07354912e-01 -9.51592544e-01 -2.14223872e-03 1.67666210e+02] [ 9.51569852e-01 3.07362377e-01 -6.57159046e-03 1.04220198e+02] [ 6.91192006e-03 -1.86791769e-05 9.99976112e-01 1.26072502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:104.24, Z:1.26 [[ 3.07892065e-01 -9.51418885e-01 -2.14052195e-03 1.67672824e+02] [ 9.51396185e-01 3.07899505e-01 -6.57214960e-03 1.04244669e+02] [ 6.91193290e-03 -1.29717026e-05 9.99976112e-01 1.25880882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:104.27, Z:1.26 [[ 3.09028563e-01 -9.51050379e-01 -2.12708531e-03 1.67679661e+02] [ 9.51027640e-01 3.09035883e-01 -6.57652040e-03 1.04269477e+02] [ 6.91194790e-03 9.41572764e-06 9.99976112e-01 1.25883742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:104.30, Z:1.26 [[ 3.09529769e-01 -9.50887373e-01 -2.12746185e-03 1.67687065e+02] [ 9.50864632e-01 3.09537079e-01 -6.57639802e-03 1.04295248e+02] [ 6.91194217e-03 1.26627333e-05 9.99976112e-01 1.26128741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:104.32, Z:1.26 [[ 3.10287901e-01 -9.50640237e-01 -2.13479838e-03 1.67693390e+02] [ 9.50617506e-01 3.10295245e-01 -6.57401561e-03 1.04319405e+02] [ 6.91194155e-03 1.04607872e-05 9.99976112e-01 1.25995987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:104.34, Z:1.26 [[ 3.12441000e-01 -9.49934772e-01 -2.13330434e-03 1.67698555e+02] [ 9.49912021e-01 3.12448281e-01 -6.57450040e-03 1.04343876e+02] [ 6.91189381e-03 2.76920413e-05 9.99976112e-01 1.25714844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:104.37, Z:1.26 [[ 3.13332016e-01 -9.49641255e-01 -2.12924583e-03 1.67705592e+02] [ 9.49618489e-01 3.13339248e-01 -6.57581623e-03 1.04368542e+02] [ 6.91184266e-03 3.84425490e-05 9.99976112e-01 1.25871840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:104.39, Z:1.26 [[ 3.13702687e-01 -9.49518871e-01 -2.13007787e-03 1.67712058e+02] [ 9.49496104e-01 3.13709916e-01 -6.57554669e-03 1.04392566e+02] [ 6.91183223e-03 4.02660266e-05 9.99976112e-01 1.25836968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:104.42, Z:1.26 [[ 3.13906085e-01 -9.49451652e-01 -2.12830385e-03 1.67716740e+02] [ 9.49428879e-01 3.13913297e-01 -6.57612084e-03 1.04418277e+02] [ 6.91181168e-03 4.36112092e-05 9.99976112e-01 1.26055019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:104.44, Z:1.26 [[ 3.13825974e-01 -9.49478139e-01 -2.12652146e-03 1.67722282e+02] [ 9.49455362e-01 3.13833175e-01 -6.57669716e-03 1.04442040e+02] [ 6.91180316e-03 4.49011850e-05 9.99976112e-01 1.25755019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:104.47, Z:1.26 [[ 3.13537729e-01 -9.49573379e-01 -2.11894691e-03 1.67728152e+02] [ 9.49550588e-01 3.13544885e-01 -6.57914340e-03 1.04466716e+02] [ 6.91176439e-03 5.07623914e-05 9.99976112e-01 1.25978730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:104.49, Z:1.26 [[ 3.13683069e-01 -9.49525369e-01 -2.12288805e-03 1.67733840e+02] [ 9.49502585e-01 3.13690248e-01 -6.57787147e-03 1.04491213e+02] [ 6.91178511e-03 4.76792124e-05 9.99976112e-01 1.26153219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:104.52, Z:1.26 [[ 3.14746397e-01 -9.49173433e-01 -2.12116988e-03 1.67737977e+02] [ 9.49150638e-01 3.14753539e-01 -6.57842548e-03 1.04515925e+02] [ 6.91171242e-03 5.72259732e-05 9.99976112e-01 1.26137968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:104.54, Z:1.26 [[ 3.15487531e-01 -9.48927355e-01 -2.11970575e-03 1.67743882e+02] [ 9.48904551e-01 3.15494645e-01 -6.57889722e-03 1.04540718e+02] [ 6.91165135e-03 6.41616077e-05 9.99976112e-01 1.26106313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:104.56, Z:1.26 [[ 3.16389368e-01 -9.48627051e-01 -2.11800275e-03 1.67749062e+02] [ 9.48604237e-01 3.16396449e-01 -6.57944543e-03 1.04564940e+02] [ 6.91156847e-03 7.25201977e-05 9.99976112e-01 1.26028488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:104.59, Z:1.26 [[ 3.17040378e-01 -9.48409680e-01 -2.11622927e-03 1.67754124e+02] [ 9.48386857e-01 3.17047431e-01 -6.58001581e-03 1.04590369e+02] [ 6.91149574e-03 7.91266765e-05 9.99976112e-01 1.26004287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:104.61, Z:1.26 [[ 3.17684474e-01 -9.48194128e-01 -2.11452392e-03 1.67759197e+02] [ 9.48171296e-01 3.17691500e-01 -6.58056379e-03 1.04614862e+02] [ 6.91141822e-03 8.56120637e-05 9.99976112e-01 1.25767232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:104.64, Z:1.26 [[ 3.18042211e-01 -9.48074209e-01 -2.10852814e-03 1.67762455e+02] [ 9.48051363e-01 3.18049186e-01 -6.58248822e-03 1.04641271e+02] [ 6.91130298e-03 9.45161260e-05 9.99976112e-01 1.25754116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65264000000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.77, Y:104.67, Z:1.26 [[ 3.17786259e-01 -9.48160032e-01 -2.10880072e-03 1.67766496e+02] [ 9.48137188e-01 3.17793243e-01 -6.58240081e-03 1.04665451e+02] [ 6.91133198e-03 9.23641440e-05 9.99976112e-01 1.25977597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:104.69, Z:1.26 [[ 3.16943993e-01 -9.48441941e-01 -2.09497802e-03 1.67771698e+02] [ 9.48419074e-01 3.16950901e-01 -6.58682765e-03 1.04690698e+02] [ 6.91122878e-03 1.00738340e-04 9.99976112e-01 1.25976371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:104.72, Z:1.26 [[ 3.13978202e-01 -9.49427854e-01 -2.10689067e-03 1.67775553e+02] [ 9.49405034e-01 3.13985264e-01 -6.58301502e-03 1.04716376e+02] [ 6.91163044e-03 6.66306077e-05 9.99976112e-01 1.26173010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:104.74, Z:1.26 [[ 3.11878171e-01 -9.50119768e-01 -2.10524271e-03 1.67782038e+02] [ 9.50096960e-01 3.11885272e-01 -6.58354199e-03 1.04741201e+02] [ 6.91174759e-03 5.30783344e-05 9.99976112e-01 1.26080701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:104.77, Z:1.26 [[ 3.08968259e-01 -9.51070036e-01 -2.09788849e-03 1.67788694e+02] [ 9.51047234e-01 3.08975379e-01 -6.58589123e-03 1.04765972e+02] [ 6.91183970e-03 3.96402994e-05 9.99976112e-01 1.26210418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:104.79, Z:1.26 [[ 3.05756269e-01 -9.52107497e-01 -2.10191960e-03 1.67795456e+02] [ 9.52084728e-01 3.05763494e-01 -6.58460443e-03 1.04791039e+02] [ 6.91194152e-03 1.20785305e-05 9.99976112e-01 1.26417849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:104.81, Z:1.26 [[ 2.99422508e-01 -9.54118311e-01 -2.10023228e-03 1.67802267e+02] [ 9.54095586e-01 2.99429872e-01 -6.58514257e-03 1.04814775e+02] [ 6.91187739e-03 -3.20824409e-05 9.99976112e-01 1.26359666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:104.84, Z:1.26 [[ 2.96346869e-01 -9.55078075e-01 -2.09840994e-03 1.67809544e+02] [ 9.55055371e-01 2.96354294e-01 -6.58572323e-03 1.04837705e+02] [ 6.91175266e-03 -5.24392242e-05 9.99976112e-01 1.26176258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:104.86, Z:1.26 [[ 2.93329869e-01 -9.56008991e-01 -2.09693958e-03 1.67817050e+02] [ 9.55986306e-01 2.93337355e-01 -6.58619136e-03 1.04861542e+02] [ 6.91156887e-03 -7.27188710e-05 9.99976112e-01 1.25511006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:104.89, Z:1.26 [[ 2.88984383e-01 -9.57331509e-01 -2.09948691e-03 1.67826202e+02] [ 9.57308865e-01 2.88991990e-01 -6.58538091e-03 1.04885840e+02] [ 6.91112754e-03 -1.06785195e-04 9.99976112e-01 1.26190230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:104.91, Z:1.26 [[ 2.87421759e-01 -9.57801832e-01 -2.09340084e-03 1.67834370e+02] [ 9.57779186e-01 2.87429360e-01 -6.58731502e-03 1.04908920e+02] [ 6.91104726e-03 -1.11678085e-04 9.99976112e-01 1.26125075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:104.93, Z:1.26 [[ 2.86243813e-01 -9.58154531e-01 -2.09157585e-03 1.67843091e+02] [ 9.58131890e-01 2.86251430e-01 -6.58789443e-03 1.04933352e+02] [ 6.91093747e-03 -1.18261504e-04 9.99976112e-01 1.26289146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:104.96, Z:1.26 [[ 2.85539531e-01 -9.58364653e-01 -2.08981457e-03 1.67852318e+02] [ 9.58342014e-01 2.85547153e-01 -6.58845310e-03 1.04955882e+02] [ 6.91088117e-03 -1.21493292e-04 9.99976112e-01 1.26284618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:104.98, Z:1.26 [[ 2.85662478e-01 -9.58328017e-01 -2.08799057e-03 1.67860949e+02] [ 9.58305373e-01 2.85670084e-01 -6.58903110e-03 1.04979612e+02] [ 6.91092955e-03 -1.18693631e-04 9.99976112e-01 1.26380958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:105.00, Z:1.26 [[ 2.86092897e-01 -9.58199615e-01 -2.08622863e-03 1.67869677e+02] [ 9.58176963e-01 2.86100481e-01 -6.58958892e-03 1.05002164e+02] [ 6.91101258e-03 -1.13741624e-04 9.99976112e-01 1.26248886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.88, Y:105.03, Z:1.26 [[ 2.88004660e-01 -9.57626739e-01 -2.08438947e-03 1.67879131e+02] [ 9.57604068e-01 2.88012186e-01 -6.59017063e-03 1.05025576e+02] [ 6.91125317e-03 -9.80199841e-05 9.99976112e-01 1.26294791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:105.05, Z:1.26 [[ 2.89518019e-01 -9.57170298e-01 -2.08265585e-03 1.67887771e+02] [ 9.57147611e-01 2.89525497e-01 -6.59071845e-03 1.05048398e+02] [ 6.91142191e-03 -8.52773240e-05 9.99976112e-01 1.26241086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:105.07, Z:1.26 [[ 2.90964167e-01 -9.56731688e-01 -2.08116653e-03 1.67896648e+02] [ 9.56708986e-01 2.90971600e-01 -6.59118870e-03 1.05071818e+02] [ 6.91155944e-03 -7.32709958e-05 9.99976112e-01 1.26296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:105.10, Z:1.26 [[ 2.94517603e-01 -9.55643792e-01 -2.07945111e-03 1.67905877e+02] [ 9.55621059e-01 2.94524940e-01 -6.59172985e-03 1.05095679e+02] [ 6.91179593e-03 -4.57867965e-05 9.99976112e-01 1.26370600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:105.12, Z:1.26 [[ 2.96514717e-01 -9.55026024e-01 -2.07773810e-03 1.67913498e+02] [ 9.55003271e-01 2.96521995e-01 -6.59226976e-03 1.05119257e+02] [ 6.91188422e-03 -2.95416795e-05 9.99976112e-01 1.26295497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:105.14, Z:1.26 [[ 2.98435731e-01 -9.54427475e-01 -2.07595442e-03 1.67921559e+02] [ 9.54404704e-01 2.98442951e-01 -6.59283140e-03 1.05143413e+02] [ 6.91193339e-03 -1.37641987e-05 9.99976112e-01 1.26345037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:105.17, Z:1.26 [[ 3.03402293e-01 -9.52860306e-01 -2.07020457e-03 1.67930951e+02] [ 9.52837486e-01 3.03409355e-01 -6.59463984e-03 1.05166418e+02] [ 6.91188997e-03 2.82603311e-05 9.99976112e-01 1.26443138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:105.19, Z:1.26 [[ 3.05234723e-01 -9.52274930e-01 -2.05477491e-03 1.67938880e+02] [ 9.52252063e-01 3.05241634e-01 -6.59948796e-03 1.05192928e+02] [ 6.91172979e-03 5.77292305e-05 9.99976112e-01 1.26498533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:105.22, Z:1.27 [[ 3.05045093e-01 -9.52335665e-01 -2.06699113e-03 1.67946392e+02] [ 9.52312826e-01 3.05052093e-01 -6.59565153e-03 1.05217610e+02] [ 6.91181415e-03 4.35489718e-05 9.99976112e-01 1.26516252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:105.24, Z:1.27 [[ 3.07293609e-01 -9.51612511e-01 -2.06563836e-03 1.67953454e+02] [ 9.51589652e-01 3.07300546e-01 -6.59607606e-03 1.05242725e+02] [ 6.91168029e-03 6.12919278e-05 9.99976112e-01 1.26619809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:105.27, Z:1.27 [[ 3.08945638e-01 -9.51077449e-01 -2.06848260e-03 1.67960317e+02] [ 9.51054584e-01 3.08952555e-01 -6.59518400e-03 1.05266122e+02] [ 6.91159376e-03 7.03134665e-05 9.99976112e-01 1.26628436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:105.29, Z:1.26 [[ 3.11710048e-01 -9.50175023e-01 -2.06668104e-03 1.67967779e+02] [ 9.50152135e-01 3.11716886e-01 -6.59574849e-03 1.05289653e+02] [ 6.91133486e-03 9.22996776e-05 9.99976112e-01 1.26426059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:105.32, Z:1.27 [[ 3.11792653e-01 -9.50147970e-01 -2.04392711e-03 1.67975320e+02] [ 9.50125034e-01 3.11799330e-01 -6.60286995e-03 1.05315479e+02] [ 6.91099858e-03 1.16740022e-04 9.99976112e-01 1.26578099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:105.34, Z:1.26 [[ 3.12273819e-01 -9.49989896e-01 -2.06361996e-03 1.67981442e+02] [ 9.49966998e-01 3.12280622e-01 -6.59670953e-03 1.05337533e+02] [ 6.91123593e-03 9.96088150e-05 9.99976112e-01 1.26345379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:105.36, Z:1.26 [[ 3.11585218e-01 -9.50216018e-01 -2.04233003e-03 1.67989240e+02] [ 9.50193080e-01 3.11591890e-01 -6.60335981e-03 1.05363971e+02] [ 6.91099174e-03 1.16901449e-04 9.99976112e-01 1.26461748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:105.39, Z:1.27 [[ 3.10168284e-01 -9.50679437e-01 -2.06014535e-03 1.67996812e+02] [ 9.50656546e-01 3.10175114e-01 -6.59779703e-03 1.05387954e+02] [ 6.91139578e-03 8.79367277e-05 9.99976112e-01 1.26581697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.00, Y:105.41, Z:1.26 [[ 3.08608137e-01 -9.51187038e-01 -2.05840141e-03 1.68004148e+02] [ 9.51164155e-01 3.08614991e-01 -6.59834106e-03 1.05412830e+02] [ 6.91151002e-03 7.84241061e-05 9.99976112e-01 1.26332372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.01, Y:105.44, Z:1.27 [[ 3.04391686e-01 -9.52544734e-01 -2.05712334e-03 1.68012331e+02] [ 9.52521878e-01 3.04398634e-01 -6.59873948e-03 1.05437044e+02] [ 6.91178008e-03 4.91464512e-05 9.99976112e-01 1.26788874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:105.46, Z:1.26 [[ 3.01721848e-01 -9.53393781e-01 -2.05532304e-03 1.68020904e+02] [ 9.53370942e-01 3.01728846e-01 -6.59930018e-03 1.05462231e+02] [ 6.91188200e-03 3.16677857e-05 9.99976112e-01 1.26447786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:105.49, Z:1.27 [[ 2.99386030e-01 -9.54129873e-01 -2.04719466e-03 1.68029519e+02] [ 9.54107033e-01 2.99393028e-01 -6.60182935e-03 1.05486088e+02] [ 6.91191841e-03 2.32526579e-05 9.99976112e-01 1.26592443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:105.51, Z:1.26 [[ 2.96299875e-01 -9.55092790e-01 -2.03633401e-03 1.68038039e+02] [ 9.55069950e-01 2.96306872e-01 -6.60520548e-03 1.05511185e+02] [ 6.91196390e-03 1.22801369e-05 9.99976112e-01 1.26407663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:105.54, Z:1.26 [[ 2.93363874e-01 -9.55998666e-01 -2.04662045e-03 1.68046708e+02] [ 9.55975869e-01 2.93371012e-01 -6.60200943e-03 1.05535992e+02] [ 6.91193132e-03 -1.97287001e-05 9.99976112e-01 1.26405426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:105.56, Z:1.27 [[ 2.89024251e-01 -9.57319586e-01 -2.04740761e-03 1.68057005e+02] [ 9.57296824e-01 2.89031498e-01 -6.60176510e-03 1.05559244e+02] [ 6.91176433e-03 -5.19065866e-05 9.99976112e-01 1.26606951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:105.58, Z:1.27 [[ 2.87150047e-01 -9.57883427e-01 -2.04718111e-03 1.68065375e+02] [ 9.57860678e-01 2.87157337e-01 -6.60183534e-03 1.05582231e+02] [ 6.91165173e-03 -6.51969591e-05 9.99976112e-01 1.26637489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.07, Y:105.61, Z:1.27 [[ 2.85420670e-01 -9.58400155e-01 -2.04540953e-03 1.68074155e+02] [ 9.58377416e-01 2.85427989e-01 -6.60238417e-03 1.05606301e+02] [ 6.91154314e-03 -7.58173826e-05 9.99976112e-01 1.26683498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.08, Y:105.63, Z:1.27 [[ 2.83296359e-01 -9.59030238e-01 -2.04371968e-03 1.68084915e+02] [ 9.59007511e-01 2.83303716e-01 -6.60290721e-03 1.05629195e+02] [ 6.91138105e-03 -8.93629512e-05 9.99976112e-01 1.26779246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.09, Y:105.65, Z:1.27 [[ 2.82838351e-01 -9.59165417e-01 -2.04202268e-03 1.68094199e+02] [ 9.59142690e-01 2.82845707e-01 -6.60343199e-03 1.05653191e+02] [ 6.91136094e-03 -9.08873119e-05 9.99976112e-01 1.26840832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.10, Y:105.68, Z:1.27 [[ 2.82477309e-01 -9.59271811e-01 -2.04031400e-03 1.68102914e+02] [ 9.59249083e-01 2.82484662e-01 -6.60395989e-03 1.05676702e+02] [ 6.91134997e-03 -9.17005198e-05 9.99976112e-01 1.26914070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:105.70, Z:1.27 [[ 2.82482380e-01 -9.59270321e-01 -2.03866776e-03 1.68111315e+02] [ 9.59247590e-01 2.82489722e-01 -6.60446805e-03 1.05699303e+02] [ 6.91137287e-03 -8.99412857e-05 9.99976112e-01 1.26890551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:105.72, Z:1.27 [[ 2.83715015e-01 -9.58906482e-01 -2.03686422e-03 1.68122038e+02] [ 9.58883737e-01 2.83722315e-01 -6.60502423e-03 1.05721650e+02] [ 6.91150438e-03 -7.91714234e-05 9.99976112e-01 1.26784880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:105.75, Z:1.27 [[ 2.84892797e-01 -9.58557225e-01 -2.03507512e-03 1.68131209e+02] [ 9.58534467e-01 2.84900057e-01 -6.60557542e-03 1.05745482e+02] [ 6.91161506e-03 -6.88087937e-05 9.99976112e-01 1.26625242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:105.77, Z:1.27 [[ 2.86511849e-01 -9.58074541e-01 -2.03337658e-03 1.68139727e+02] [ 9.58051767e-01 2.86519059e-01 -6.60609824e-03 1.05769435e+02] [ 6.91173568e-03 -5.53546049e-05 9.99976112e-01 1.26582898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:105.79, Z:1.27 [[ 2.88385422e-01 -9.57512256e-01 -2.03167367e-03 1.68147895e+02] [ 9.57489465e-01 2.88392576e-01 -6.60662192e-03 1.05793827e+02] [ 6.91184106e-03 -4.00526874e-05 9.99976112e-01 1.26644729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:105.82, Z:1.27 [[ 2.90517131e-01 -9.56867638e-01 -2.02990302e-03 1.68155514e+02] [ 9.56844827e-01 2.90524222e-01 -6.60716591e-03 1.05817034e+02] [ 6.91191923e-03 -2.28073229e-05 9.99976112e-01 1.26609178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:105.84, Z:1.26 [[ 2.92765322e-01 -9.56182176e-01 -2.02806030e-03 1.68163630e+02] [ 9.56159344e-01 2.92772346e-01 -6.60773148e-03 1.05841335e+02] [ 6.91195504e-03 -4.63417062e-06 9.99976112e-01 1.26488498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:105.86, Z:1.26 [[ 2.97094801e-01 -9.54845838e-01 -2.02630244e-03 1.68171760e+02] [ 9.54822971e-01 2.97101709e-01 -6.60827049e-03 1.05864060e+02] [ 6.91189749e-03 2.85226909e-05 9.99976112e-01 1.26261647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:105.89, Z:1.26 [[ 2.98909175e-01 -9.54279417e-01 -2.02447071e-03 1.68178773e+02] [ 9.54256533e-01 2.98916028e-01 -6.60883160e-03 1.05887898e+02] [ 6.91181872e-03 4.35759999e-05 9.99976112e-01 1.26220598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:105.91, Z:1.26 [[ 3.00613597e-01 -9.53743872e-01 -2.02301495e-03 1.68186087e+02] [ 9.53720973e-01 3.00620398e-01 -6.60927719e-03 1.05912499e+02] [ 6.91171718e-03 5.74468046e-05 9.99976112e-01 1.26257308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:105.94, Z:1.26 [[ 3.01475200e-01 -9.53471895e-01 -2.01228912e-03 1.68193090e+02] [ 9.53448968e-01 3.01481907e-01 -6.61255702e-03 1.05937162e+02] [ 6.91155603e-03 7.49069661e-05 9.99976112e-01 1.26275564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:105.96, Z:1.27 [[ 3.03122363e-01 -9.52949503e-01 -2.01950484e-03 1.68200613e+02] [ 9.52926579e-01 3.03129079e-01 -6.61035257e-03 1.05960823e+02] [ 6.91150284e-03 7.93058558e-05 9.99976112e-01 1.26510071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:105.98, Z:1.26 [[ 3.03083176e-01 -9.52961970e-01 -2.01785341e-03 1.68207887e+02] [ 9.52939043e-01 3.03089883e-01 -6.61085665e-03 1.05984318e+02] [ 6.91148592e-03 8.07481365e-05 9.99976112e-01 1.26482762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:106.01, Z:1.27 [[ 3.02352375e-01 -9.53194092e-01 -2.01611200e-03 1.68215250e+02] [ 9.53171166e-01 3.02359087e-01 -6.61138768e-03 1.06008960e+02] [ 6.91152546e-03 7.72689406e-05 9.99976112e-01 1.26714469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:106.03, Z:1.27 [[ 3.01417388e-01 -9.53490168e-01 -2.01433490e-03 1.68222506e+02] [ 9.53467245e-01 3.01424110e-01 -6.61192908e-03 1.06033468e+02] [ 6.91157847e-03 7.23480485e-05 9.99976112e-01 1.26681250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:106.06, Z:1.27 [[ 3.00180523e-01 -9.53880288e-01 -2.01256189e-03 1.68229478e+02] [ 9.53857370e-01 3.00187263e-01 -6.61246871e-03 1.06056743e+02] [ 6.91164900e-03 6.52373204e-05 9.99976112e-01 1.26540565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:106.08, Z:1.27 [[ 2.96996814e-01 -9.54876352e-01 -2.01104519e-03 1.68238076e+02] [ 9.54853454e-01 2.97003620e-01 -6.61292995e-03 1.06080868e+02] [ 6.91181813e-03 4.37656841e-05 9.99976112e-01 1.26534103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.25, Y:106.10, Z:1.26 [[ 2.94984934e-01 -9.55499792e-01 -2.00929795e-03 1.68246565e+02] [ 9.55476904e-01 2.94991775e-01 -6.61346079e-03 1.06104676e+02] [ 6.91188678e-03 3.10335091e-05 9.99976112e-01 1.26440542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:106.13, Z:1.26 [[ 2.92602701e-01 -9.56231996e-01 -2.00754736e-03 1.68254143e+02] [ 9.56209122e-01 2.92609587e-01 -6.61399215e-03 1.06128311e+02] [ 6.91193852e-03 1.56368698e-05 9.99976112e-01 1.26444402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:106.15, Z:1.27 [[ 2.87631128e-01 -9.57739166e-01 -2.00603911e-03 1.68263127e+02] [ 9.57716325e-01 2.87638123e-01 -6.61444957e-03 1.06151868e+02] [ 6.91193074e-03 -1.86948083e-05 9.99976112e-01 1.26630084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:106.18, Z:1.27 [[ 2.85021655e-01 -9.58518982e-01 -2.00430736e-03 1.68272066e+02] [ 9.58496157e-01 2.85028700e-01 -6.61497429e-03 1.06175609e+02] [ 6.91186354e-03 -3.57099746e-05 9.99976112e-01 1.26658344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:106.20, Z:1.27 [[ 2.82755980e-01 -9.59189786e-01 -2.00258331e-03 1.68280634e+02] [ 9.59166974e-01 2.82763067e-01 -6.61549618e-03 1.06198936e+02] [ 6.91177296e-03 -5.02406636e-05 9.99976112e-01 1.26622424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:106.22, Z:1.27 [[ 2.80808875e-01 -9.59761623e-01 -2.00078851e-03 1.68288915e+02] [ 9.59738821e-01 2.80815996e-01 -6.61603895e-03 1.06223190e+02] [ 6.91167370e-03 -6.23919506e-05 9.99976112e-01 1.26604398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.30, Y:106.25, Z:1.26 [[ 2.79123845e-01 -9.60253031e-01 -1.99909366e-03 1.68298877e+02] [ 9.60230238e-01 2.79130994e-01 -6.61655102e-03 1.06247151e+02] [ 6.91157217e-03 -7.27530166e-05 9.99976112e-01 1.26430414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:106.27, Z:1.27 [[ 2.77996675e-01 -9.60579974e-01 -1.99073963e-03 1.68307629e+02] [ 9.60557171e-01 2.78003793e-01 -6.61907257e-03 1.06271929e+02] [ 6.91158173e-03 -7.21390668e-05 9.99976112e-01 1.26635460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:106.29, Z:1.26 [[ 2.77618049e-01 -9.60689458e-01 -1.99588826e-03 1.68316203e+02] [ 9.60666670e-01 2.77625212e-01 -6.61751971e-03 1.06294318e+02] [ 6.91149033e-03 -8.02404187e-05 9.99976112e-01 1.26408694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:106.32, Z:1.27 [[ 2.76838057e-01 -9.60914545e-01 -1.98178452e-03 1.68324032e+02] [ 9.60891732e-01 2.76845142e-01 -6.62176909e-03 1.06319155e+02] [ 6.91160165e-03 -7.11226623e-05 9.99976112e-01 1.26657900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:106.34, Z:1.27 [[ 2.77024068e-01 -9.60860940e-01 -1.97973014e-03 1.68333701e+02] [ 9.60838121e-01 2.77031134e-01 -6.62238752e-03 1.06343538e+02] [ 6.91164039e-03 -6.76394590e-05 9.99976112e-01 1.26950903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:106.37, Z:1.27 [[ 2.77197185e-01 -9.60810988e-01 -1.99128578e-03 1.68342385e+02] [ 9.60788193e-01 2.77204326e-01 -6.61891103e-03 1.06367507e+02] [ 6.91151548e-03 -7.84603568e-05 9.99976112e-01 1.27123908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:106.39, Z:1.27 [[ 2.77447483e-01 -9.60738745e-01 -1.98950665e-03 1.68351417e+02] [ 9.60715944e-01 2.77454606e-01 -6.61944576e-03 1.06390781e+02] [ 6.91155579e-03 -7.48021977e-05 9.99976112e-01 1.27115938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:106.42, Z:1.27 [[ 2.77717288e-01 -9.60660792e-01 -1.98765993e-03 1.68359829e+02] [ 9.60637985e-01 2.77724392e-01 -6.62000024e-03 1.06415031e+02] [ 6.91159632e-03 -7.09331191e-05 9.99976112e-01 1.27201809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:106.44, Z:1.27 [[ 2.78261005e-01 -9.60503446e-01 -1.98589427e-03 1.68367421e+02] [ 9.60480631e-01 2.78268084e-01 -6.62052986e-03 1.06437861e+02] [ 6.91165274e-03 -6.51776891e-05 9.99976112e-01 1.27106670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:106.46, Z:1.27 [[ 2.79562844e-01 -9.60125345e-01 -1.98438308e-03 1.68375666e+02] [ 9.60102517e-01 2.79569882e-01 -6.62098279e-03 1.06459862e+02] [ 6.91174712e-03 -5.42304083e-05 9.99976112e-01 1.26938738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:106.48, Z:1.27 [[ 2.80465297e-01 -9.59862118e-01 -1.98258392e-03 1.68383970e+02] [ 9.59839280e-01 2.80472301e-01 -6.62152148e-03 1.06483971e+02] [ 6.91180751e-03 -4.58549351e-05 9.99976112e-01 1.27108918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.39, Y:106.51, Z:1.27 [[ 2.81595834e-01 -9.59531064e-01 -1.98085973e-03 1.68391708e+02] [ 9.59508214e-01 2.81602799e-01 -6.62203724e-03 1.06508053e+02] [ 6.91186608e-03 -3.59130799e-05 9.99976112e-01 1.27015371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:106.53, Z:1.27 [[ 2.82719336e-01 -9.59200636e-01 -1.97914558e-03 1.68397671e+02] [ 9.59177774e-01 2.82726262e-01 -6.62254951e-03 1.06531593e+02] [ 6.91191014e-03 -2.60296512e-05 9.99976112e-01 1.27194420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:106.56, Z:1.27 [[ 2.85488156e-01 -9.58380197e-01 -1.97736173e-03 1.68405272e+02] [ 9.58357312e-01 2.85495004e-01 -6.62308209e-03 1.06555788e+02] [ 6.91195762e-03 -4.20757268e-06 9.99976112e-01 1.27267689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:106.58, Z:1.27 [[ 2.86725333e-01 -9.58010793e-01 -1.97565935e-03 1.68412790e+02] [ 9.57987896e-01 2.86732139e-01 -6.62358987e-03 1.06579908e+02] [ 6.91195562e-03 6.49326950e-06 9.99976112e-01 1.27449399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:106.60, Z:1.28 [[ 2.87737351e-01 -9.57707325e-01 -1.97387730e-03 1.68419556e+02] [ 9.57684417e-01 2.87744121e-01 -6.62412089e-03 1.06603719e+02] [ 6.91194069e-03 1.56554674e-05 9.99976112e-01 1.27501373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:106.63, Z:1.28 [[ 2.89175871e-01 -9.57273956e-01 -1.97201895e-03 1.68425418e+02] [ 9.57251034e-01 2.89182593e-01 -6.62467408e-03 1.06628851e+02] [ 6.91190152e-03 2.79787242e-05 9.99976112e-01 1.27657566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:106.65, Z:1.27 [[ 2.89793384e-01 -9.57087202e-01 -1.97023386e-03 1.68431994e+02] [ 9.57064272e-01 2.89800079e-01 -6.62520494e-03 1.06652748e+02] [ 6.91187279e-03 3.43001283e-05 9.99976112e-01 1.27231444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:106.68, Z:1.27 [[ 2.89431411e-01 -9.57196775e-01 -1.94752335e-03 1.68439158e+02] [ 9.57173801e-01 2.89437958e-01 -6.63195269e-03 1.06677869e+02] [ 6.91177090e-03 5.53770986e-05 9.99976112e-01 1.27285993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:106.70, Z:1.27 [[ 2.88815139e-01 -9.57382906e-01 -1.94622632e-03 1.68446882e+02] [ 9.57359934e-01 2.88821692e-01 -6.63233771e-03 1.06703442e+02] [ 6.91179912e-03 5.22804320e-05 9.99976112e-01 1.27385085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:106.73, Z:1.27 [[ 2.88150610e-01 -9.57583083e-01 -1.96606292e-03 1.68453416e+02] [ 9.57560156e-01 2.88157316e-01 -6.62645221e-03 1.06728007e+02] [ 6.91191395e-03 2.67927243e-05 9.99976112e-01 1.27396047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:106.75, Z:1.27 [[ 2.87895563e-01 -9.57659797e-01 -1.96429952e-03 1.68460484e+02] [ 9.57636868e-01 2.87902262e-01 -6.62697490e-03 1.06752999e+02] [ 6.91191371e-03 2.67910223e-05 9.99976112e-01 1.27414003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:106.78, Z:1.27 [[ 2.87056492e-01 -9.57911645e-01 -1.96253435e-03 1.68466707e+02] [ 9.57888718e-01 2.87063200e-01 -6.62749760e-03 1.06777543e+02] [ 6.91192851e-03 2.25766977e-05 9.99976112e-01 1.27325699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:106.80, Z:1.27 [[ 2.85509637e-01 -9.58373832e-01 -1.96077879e-03 1.68472281e+02] [ 9.58350913e-01 2.85516369e-01 -6.62801695e-03 1.06800918e+02] [ 6.91195245e-03 1.32485714e-05 9.99976112e-01 1.27310574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:106.82, Z:1.27 [[ 2.84687802e-01 -9.58618286e-01 -1.95895262e-03 1.68478746e+02] [ 9.58595368e-01 2.84694542e-01 -6.62855664e-03 1.06824332e+02] [ 6.91195872e-03 9.22631282e-06 9.99976112e-01 1.27250150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:106.85, Z:1.27 [[ 2.83923437e-01 -9.58844957e-01 -1.95715913e-03 1.68485113e+02] [ 9.58822041e-01 2.83930182e-01 -6.62908615e-03 1.06848795e+02] [ 6.91196237e-03 5.58560811e-06 9.99976112e-01 1.27419826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.49, Y:106.87, Z:1.27 [[ 2.83491766e-01 -9.58972677e-01 -1.95537416e-03 1.68491699e+02] [ 9.58949761e-01 2.83498510e-01 -6.62961262e-03 1.06872085e+02] [ 6.91196302e-03 4.33500671e-06 9.99976112e-01 1.27239266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:106.90, Z:1.27 [[ 2.81890407e-01 -9.59444622e-01 -1.95351426e-03 1.68497006e+02] [ 9.59421713e-01 2.81897176e-01 -6.63016062e-03 1.06896572e+02] [ 6.91196210e-03 -5.26532439e-06 9.99976112e-01 1.27470263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.50, Y:106.92, Z:1.27 [[ 2.81379361e-01 -9.59594626e-01 -1.95173472e-03 1.68503834e+02] [ 9.59571717e-01 2.81386129e-01 -6.63068442e-03 1.06920935e+02] [ 6.91196022e-03 -7.09169170e-06 9.99976112e-01 1.27428365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:106.94, Z:1.27 [[ 2.80211892e-01 -9.59936192e-01 -1.94995928e-03 1.68508867e+02] [ 9.59913288e-01 2.80218677e-01 -6.63120651e-03 1.06944741e+02] [ 6.91195013e-03 -1.36489025e-05 9.99976112e-01 1.27393744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:106.97, Z:1.27 [[ 2.79106792e-01 -9.60258092e-01 -1.94811403e-03 1.68514559e+02] [ 9.60235192e-01 2.79113590e-01 -6.63174856e-03 1.06967338e+02] [ 6.91193532e-03 -1.96815885e-05 9.99976112e-01 1.27313649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:106.99, Z:1.27 [[ 2.77760573e-01 -9.60648363e-01 -1.94623939e-03 1.68521530e+02] [ 9.60625468e-01 2.77767390e-01 -6.63229867e-03 1.06992186e+02] [ 6.91190869e-03 -2.74160472e-05 9.99976112e-01 1.27478493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:107.02, Z:1.27 [[ 2.76212458e-01 -9.61094635e-01 -1.94448255e-03 1.68528402e+02] [ 9.61071748e-01 2.76219300e-01 -6.63281371e-03 1.07015534e+02] [ 6.91186528e-03 -3.67214695e-05 9.99976112e-01 1.27386187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:107.04, Z:1.27 [[ 2.72964833e-01 -9.62022051e-01 -1.94265710e-03 1.68535749e+02] [ 9.61999183e-01 2.72971740e-01 -6.63334831e-03 1.07039875e+02] [ 6.91171783e-03 -5.81637303e-05 9.99976112e-01 1.27356752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:107.06, Z:1.27 [[ 2.71555874e-01 -9.62420719e-01 -1.94088332e-03 1.68542984e+02] [ 9.62397858e-01 2.71562802e-01 -6.63386727e-03 1.07063448e+02] [ 6.91164302e-03 -6.64363255e-05 9.99976112e-01 1.27280756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:107.09, Z:1.27 [[ 2.70202619e-01 -9.62801529e-01 -1.93904111e-03 1.68550581e+02] [ 9.62778674e-01 2.70209566e-01 -6.63440569e-03 1.07087001e+02] [ 6.91156341e-03 -7.42336387e-05 9.99976112e-01 1.27214765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:107.11, Z:1.27 [[ 2.68874092e-01 -9.63173385e-01 -1.93756041e-03 1.68558643e+02] [ 9.63150536e-01 2.68881060e-01 -6.63483810e-03 1.07111064e+02] [ 6.91147277e-03 -8.22262831e-05 9.99976112e-01 1.27184285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:107.14, Z:1.27 [[ 2.68594832e-01 -9.63251301e-01 -1.93583242e-03 1.68564917e+02] [ 9.63228451e-01 2.68601795e-01 -6.63534224e-03 1.07135570e+02] [ 6.91147010e-03 -8.24302287e-05 9.99976112e-01 1.27177922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:107.16, Z:1.27 [[ 2.68672803e-01 -9.63229559e-01 -1.93410551e-03 1.68571463e+02] [ 9.63206705e-01 2.68679753e-01 -6.63584557e-03 1.07159296e+02] [ 6.91149759e-03 -8.00721626e-05 9.99976112e-01 1.27041307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.58, Y:107.18, Z:1.27 [[ 2.68927348e-01 -9.63158527e-01 -1.93230969e-03 1.68579091e+02] [ 9.63135666e-01 2.68934279e-01 -6.63636845e-03 1.07183667e+02] [ 6.91153918e-03 -7.63754136e-05 9.99976112e-01 1.27078859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:107.21, Z:1.27 [[ 2.69010903e-01 -9.63135197e-01 -1.93056073e-03 1.68585759e+02] [ 9.63112332e-01 2.69017821e-01 -6.63687720e-03 1.07206676e+02] [ 6.91156526e-03 -7.39545193e-05 9.99976112e-01 1.27186856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:107.23, Z:1.27 [[ 2.68882928e-01 -9.63170936e-01 -1.92866648e-03 1.68592790e+02] [ 9.63148068e-01 2.68889835e-01 -6.63742762e-03 1.07230898e+02] [ 6.91157618e-03 -7.29004261e-05 9.99976112e-01 1.27448315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:107.25, Z:1.27 [[ 2.68449432e-01 -9.63291851e-01 -1.92689654e-03 1.68599494e+02] [ 9.63268983e-01 2.68456337e-01 -6.63794141e-03 1.07254683e+02] [ 6.91156245e-03 -7.41680652e-05 9.99976112e-01 1.27398436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:107.28, Z:1.27 [[ 2.67952723e-01 -9.63430139e-01 -1.92505622e-03 1.68606806e+02] [ 9.63407270e-01 2.67959628e-01 -6.63847507e-03 1.07279297e+02] [ 6.91154431e-03 -7.58156845e-05 9.99976112e-01 1.27496770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:107.30, Z:1.28 [[ 2.66719939e-01 -9.63772159e-01 -1.92334956e-03 1.68614452e+02] [ 9.63749296e-01 2.66726860e-01 -6.63896950e-03 1.07303588e+02] [ 6.91146296e-03 -8.28812430e-05 9.99976112e-01 1.27538867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:107.33, Z:1.27 [[ 2.66036962e-01 -9.63960913e-01 -1.92160788e-03 1.68621727e+02] [ 9.63938052e-01 2.66043888e-01 -6.63947358e-03 1.07326842e+02] [ 6.91142505e-03 -8.59655786e-05 9.99976112e-01 1.27465378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:107.35, Z:1.27 [[ 2.65203376e-01 -9.64190585e-01 -1.91979222e-03 1.68629397e+02] [ 9.64167725e-01 2.65210310e-01 -6.63999853e-03 1.07350883e+02] [ 6.91137276e-03 -9.00516668e-05 9.99976112e-01 1.27455519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:107.37, Z:1.27 [[ 2.64407973e-01 -9.64409013e-01 -1.91801630e-03 1.68637212e+02] [ 9.64386156e-01 2.64414913e-01 -6.64051148e-03 1.07374117e+02] [ 6.91132124e-03 -9.39041852e-05 9.99976112e-01 1.27239403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:107.40, Z:1.27 [[ 2.63674930e-01 -9.64609693e-01 -1.91616428e-03 1.68646699e+02] [ 9.64586837e-01 2.63681875e-01 -6.64104585e-03 1.07396741e+02] [ 6.91127499e-03 -9.72295449e-05 9.99976112e-01 1.27036784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:107.42, Z:1.27 [[ 2.63459638e-01 -9.64668520e-01 -1.91436778e-03 1.68654348e+02] [ 9.64645662e-01 2.63466576e-01 -6.64156368e-03 1.07421158e+02] [ 6.91127933e-03 -9.69026055e-05 9.99976112e-01 1.27372130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:107.45, Z:1.27 [[ 2.63587999e-01 -9.64633458e-01 -1.91258885e-03 1.68661621e+02] [ 9.64610595e-01 2.63594921e-01 -6.64207592e-03 1.07445180e+02] [ 6.91131737e-03 -9.41319699e-05 9.99976112e-01 1.27373522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:107.47, Z:1.27 [[ 2.63843854e-01 -9.64563513e-01 -1.91079740e-03 1.68669086e+02] [ 9.64540644e-01 2.63850757e-01 -6.64259125e-03 1.07468564e+02] [ 6.91136649e-03 -9.04348824e-05 9.99976112e-01 1.27218718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:107.49, Z:1.27 [[ 2.63939097e-01 -9.64537459e-01 -1.90893213e-03 1.68676714e+02] [ 9.64514586e-01 2.63945985e-01 -6.64312724e-03 1.07491396e+02] [ 6.91140004e-03 -8.78118794e-05 9.99976112e-01 1.27152594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:107.51, Z:1.27 [[ 2.64360524e-01 -9.64422043e-01 -1.90715141e-03 1.68685761e+02] [ 9.64399163e-01 2.64367390e-01 -6.64363842e-03 1.07514526e+02] [ 6.91145998e-03 -8.29394916e-05 9.99976112e-01 1.26947819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:107.54, Z:1.27 [[ 2.64578312e-01 -9.64362321e-01 -1.90538124e-03 1.68693504e+02] [ 9.64339436e-01 2.64585161e-01 -6.64414606e-03 1.07538672e+02] [ 6.91149972e-03 -7.95373214e-05 9.99976112e-01 1.27137216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:107.56, Z:1.27 [[ 2.64939269e-01 -9.64263221e-01 -1.90361640e-03 1.68700983e+02] [ 9.64240330e-01 2.64946097e-01 -6.64465167e-03 1.07563300e+02] [ 6.91154896e-03 -7.51145530e-05 9.99976112e-01 1.27249293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:107.59, Z:1.27 [[ 2.66539089e-01 -9.63822233e-01 -1.90184653e-03 1.68708706e+02] [ 9.63799327e-01 2.66545867e-01 -6.64515821e-03 1.07586406e+02] [ 6.91168055e-03 -6.18039876e-05 9.99976112e-01 1.27336106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:107.61, Z:1.27 [[ 2.67382392e-01 -9.63588629e-01 -1.90001135e-03 1.68715506e+02] [ 9.63565713e-01 2.67389137e-01 -6.64568289e-03 1.07609445e+02] [ 6.91174686e-03 -5.38471993e-05 9.99976112e-01 1.27384541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:107.63, Z:1.27 [[ 2.68546993e-01 -9.63264713e-01 -1.89851537e-03 1.68722869e+02] [ 9.63241787e-01 2.68553700e-01 -6.64611023e-03 1.07633841e+02] [ 6.91181679e-03 -4.39364239e-05 9.99976112e-01 1.27014838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:107.66, Z:1.28 [[ 2.69316300e-01 -9.63049927e-01 -1.88917458e-03 1.68730429e+02] [ 9.63026976e-01 2.69322924e-01 -6.64877603e-03 1.07659673e+02] [ 6.91190129e-03 -2.87023230e-05 9.99976112e-01 1.27512488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:107.68, Z:1.27 [[ 2.71808919e-01 -9.62349374e-01 -1.89564142e-03 1.68737030e+02] [ 9.62326419e-01 2.71815529e-01 -6.64693175e-03 1.07682651e+02] [ 6.91193538e-03 -1.75304822e-05 9.99976112e-01 1.27252081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:107.71, Z:1.28 [[ 2.72893882e-01 -9.62042282e-01 -1.89149716e-03 1.68743868e+02] [ 9.62019311e-01 2.72900437e-01 -6.64811251e-03 1.07708563e+02] [ 6.91195573e-03 -5.42756268e-06 9.99976112e-01 1.27548797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:107.73, Z:1.28 [[ 2.73956085e-01 -9.61740341e-01 -1.89209344e-03 1.68750156e+02] [ 9.61717364e-01 2.73962619e-01 -6.64794280e-03 1.07731729e+02] [ 6.91195765e-03 1.58526504e-06 9.99976112e-01 1.27501427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:107.76, Z:1.28 [[ 2.75109559e-01 -9.61411024e-01 -1.89023802e-03 1.68756697e+02] [ 9.61388036e-01 2.75116052e-01 -6.64847032e-03 1.07756191e+02] [ 6.91194748e-03 1.18055210e-05 9.99976112e-01 1.27620486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:107.78, Z:1.28 [[ 2.76433841e-01 -9.61031095e-01 -1.88847097e-03 1.68761675e+02] [ 9.61008094e-01 2.76440291e-01 -6.64897220e-03 1.07781149e+02] [ 6.91191850e-03 2.31650437e-05 9.99976112e-01 1.27843206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:107.81, Z:1.28 [[ 2.76460627e-01 -9.61023393e-01 -1.88669630e-03 1.68767483e+02] [ 9.61000389e-01 2.76467064e-01 -6.64947574e-03 1.07806284e+02] [ 6.91191112e-03 2.52023553e-05 9.99976112e-01 1.27857016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:107.83, Z:1.28 [[ 2.75767549e-01 -9.61222506e-01 -1.88492934e-03 1.68774107e+02] [ 9.61199503e-01 2.75773990e-01 -6.64997658e-03 1.07831169e+02] [ 6.91192164e-03 2.20546031e-05 9.99976112e-01 1.27875201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:107.86, Z:1.28 [[ 2.74527926e-01 -9.61577283e-01 -1.88314780e-03 1.68781484e+02] [ 9.61554285e-01 2.74534384e-01 -6.65048104e-03 1.07855516e+02] [ 6.91194032e-03 1.49939269e-05 9.99976112e-01 1.27812955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:107.88, Z:1.28 [[ 2.72901867e-01 -9.62040036e-01 -1.88134358e-03 1.68789157e+02] [ 9.62017045e-01 2.72908352e-01 -6.65099140e-03 1.07878962e+02] [ 6.91195438e-03 5.18337780e-06 9.99976112e-01 1.27598554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:107.90, Z:1.28 [[ 2.71051488e-01 -9.62563015e-01 -1.87946329e-03 1.68796575e+02] [ 9.62540033e-01 2.71058004e-01 -6.65152270e-03 1.07903682e+02] [ 6.91195331e-03 -6.15353504e-06 9.99976112e-01 1.27525588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:107.93, Z:1.27 [[ 2.67032727e-01 -9.63685632e-01 -1.87766629e-03 1.68803482e+02] [ 9.63662674e-01 2.67039326e-01 -6.65202993e-03 1.07927533e+02] [ 6.91187641e-03 -3.31272269e-05 9.99976112e-01 1.27236897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:107.95, Z:1.27 [[ 2.64844465e-01 -9.64289319e-01 -1.87580320e-03 1.68810808e+02] [ 9.64266372e-01 2.64851104e-01 -6.65255526e-03 1.07951712e+02] [ 6.91179653e-03 -4.68815077e-05 9.99976112e-01 1.27425459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:107.98, Z:1.27 [[ 2.63108191e-01 -9.64764514e-01 -1.87401801e-03 1.68818078e+02] [ 9.64741576e-01 2.63114859e-01 -6.65305811e-03 1.07975263e+02] [ 6.91171636e-03 -5.74690081e-05 9.99976112e-01 1.27327757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:108.00, Z:1.27 [[ 2.61490085e-01 -9.65204347e-01 -1.87216020e-03 1.68825493e+02] [ 9.65181416e-01 2.61496778e-01 -6.65358086e-03 1.07999660e+02] [ 6.91162902e-03 -6.71288114e-05 9.99976112e-01 1.27347786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:108.02, Z:1.27 [[ 2.60278317e-01 -9.65531822e-01 -1.87043513e-03 1.68834708e+02] [ 9.65508896e-01 2.60285027e-01 -6.65406577e-03 1.08024638e+02] [ 6.91155850e-03 -7.40127147e-05 9.99976112e-01 1.27202805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:108.05, Z:1.27 [[ 2.60028612e-01 -9.65599102e-01 -1.86946331e-03 1.68842157e+02] [ 9.65576176e-01 2.60035322e-01 -6.65433869e-03 1.08047623e+02] [ 6.91154996e-03 -7.47907737e-05 9.99976112e-01 1.27476134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:108.07, Z:1.27 [[ 2.59893783e-01 -9.65635405e-01 -1.86698022e-03 1.68849445e+02] [ 9.65612475e-01 2.59900479e-01 -6.65503529e-03 1.08071531e+02] [ 6.91156675e-03 -7.31770951e-05 9.99976112e-01 1.27279134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:108.10, Z:1.28 [[ 2.59564892e-01 -9.65723871e-01 -1.86349349e-03 1.68856894e+02] [ 9.65700936e-01 2.59571571e-01 -6.65601264e-03 1.08096883e+02] [ 6.91158023e-03 -7.19102102e-05 9.99976112e-01 1.27610829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:108.12, Z:1.28 [[ 2.59723747e-01 -9.65681160e-01 -1.86371545e-03 1.68866033e+02] [ 9.65658224e-01 2.59730424e-01 -6.65595049e-03 1.08120161e+02] [ 6.91158959e-03 -7.10037447e-05 9.99976112e-01 1.27695105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.87, Y:108.14, Z:1.28 [[ 2.59333189e-01 -9.65786121e-01 -1.86185472e-03 1.68874913e+02] [ 9.65763184e-01 2.59339862e-01 -6.65647095e-03 1.08144378e+02] [ 6.91158040e-03 -7.18669030e-05 9.99976112e-01 1.27577278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:108.17, Z:1.28 [[ 2.59337305e-01 -9.65785019e-01 -1.86007440e-03 1.68883377e+02] [ 9.65762078e-01 2.59343966e-01 -6.65696840e-03 1.08167315e+02] [ 6.91159943e-03 -6.99890697e-05 9.99976112e-01 1.27741404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:108.19, Z:1.28 [[ 2.59339143e-01 -9.65784528e-01 -1.85854600e-03 1.68891588e+02] [ 9.65761585e-01 2.59345794e-01 -6.65739509e-03 1.08191526e+02] [ 6.91161526e-03 -6.83891965e-05 9.99976112e-01 1.27814750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:108.21, Z:1.28 [[ 2.60457930e-01 -9.65483412e-01 -1.85675320e-03 1.68900528e+02] [ 9.65460458e-01 2.60464541e-01 -6.65789506e-03 1.08214098e+02] [ 6.91170561e-03 -5.85202311e-05 9.99976112e-01 1.27562625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:108.24, Z:1.28 [[ 2.61244230e-01 -9.65270952e-01 -1.85488248e-03 1.68908838e+02] [ 9.65247989e-01 2.61250810e-01 -6.65841620e-03 1.08237987e+02] [ 6.91176530e-03 -5.09487654e-05 9.99976112e-01 1.27606091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:108.26, Z:1.28 [[ 2.60983360e-01 -9.65341521e-01 -1.85317466e-03 1.68915493e+02] [ 9.65318555e-01 2.60989934e-01 -6.65889149e-03 1.08263103e+02] [ 6.91176437e-03 -5.10440137e-05 9.99976112e-01 1.27624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:108.29, Z:1.28 [[ 2.62211433e-01 -9.65008672e-01 -1.85137495e-03 1.68923516e+02] [ 9.64985695e-01 2.62217965e-01 -6.65939183e-03 1.08287167e+02] [ 6.91183464e-03 -4.03816667e-05 9.99976112e-01 1.27638547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:108.31, Z:1.27 [[ 2.63506955e-01 -9.64655723e-01 -1.84956942e-03 1.68931343e+02] [ 9.64632733e-01 2.63513445e-01 -6.65989326e-03 1.08312649e+02] [ 6.91189055e-03 -2.92270092e-05 9.99976112e-01 1.27306865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:108.34, Z:1.28 [[ 2.65244646e-01 -9.64179353e-01 -1.85821563e-03 1.68938708e+02] [ 9.64156369e-01 2.65251153e-01 -6.65749359e-03 1.08335370e+02] [ 6.91191171e-03 -2.57459092e-05 9.99976112e-01 1.27637584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:108.36, Z:1.28 [[ 2.67069250e-01 -9.63675572e-01 -1.84575273e-03 1.68946733e+02] [ 9.63652552e-01 2.67075628e-01 -6.66094707e-03 1.08359101e+02] [ 6.91194755e-03 2.69815652e-07 9.99976112e-01 1.27660528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.96, Y:108.38, Z:1.28 [[ 2.70144344e-01 -9.62818068e-01 -1.84401950e-03 1.68955951e+02] [ 9.62795024e-01 2.70150637e-01 -6.66142686e-03 1.08383401e+02] [ 6.91190519e-03 2.41339901e-05 9.99976112e-01 1.27805178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.96, Y:108.41, Z:1.28 [[ 2.71186217e-01 -9.62525138e-01 -1.84221984e-03 1.68962330e+02] [ 9.62502084e-01 2.71192472e-01 -6.66192453e-03 1.08406789e+02] [ 6.91186598e-03 3.34816799e-05 9.99976112e-01 1.27636551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:108.43, Z:1.28 [[ 2.71868890e-01 -9.62332541e-01 -1.84035224e-03 1.68968940e+02] [ 9.62309479e-01 2.71875115e-01 -6.66244041e-03 1.08431577e+02] [ 6.91182919e-03 4.03218727e-05 9.99976112e-01 1.27638578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:108.46, Z:1.28 [[ 2.72678160e-01 -9.62103550e-01 -1.83861336e-03 1.68976808e+02] [ 9.62080479e-01 2.72684354e-01 -6.66292025e-03 1.08456041e+02] [ 6.91178032e-03 4.79388046e-05 9.99976112e-01 1.27794065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:108.48, Z:1.28 [[ 2.72445734e-01 -9.62169397e-01 -1.83683405e-03 1.68984499e+02] [ 9.62146324e-01 2.72451922e-01 -6.66341073e-03 1.08481097e+02] [ 6.91177885e-03 4.81146991e-05 9.99976112e-01 1.27674049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:108.50, Z:1.28 [[ 2.72488161e-01 -9.62157376e-01 -1.83999959e-03 1.68992083e+02] [ 9.62134309e-01 2.72494369e-01 -6.66253878e-03 1.08504252e+02] [ 6.91180036e-03 4.51361985e-05 9.99976112e-01 1.27925985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:108.53, Z:1.28 [[ 2.72073122e-01 -9.62274833e-01 -1.83367048e-03 1.68999308e+02] [ 9.62251757e-01 2.72079296e-01 -6.66428023e-03 1.08527931e+02] [ 6.91177292e-03 4.87188851e-05 9.99976112e-01 1.28110830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:108.55, Z:1.28 [[ 2.71365779e-01 -9.62474549e-01 -1.83213596e-03 1.69006126e+02] [ 9.62451475e-01 2.71371960e-01 -6.66470207e-03 1.08550244e+02] [ 6.91179645e-03 4.52301133e-05 9.99976112e-01 1.28332001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:108.57, Z:1.28 [[ 2.70780699e-01 -9.62639322e-01 -1.83017973e-03 1.69012886e+02] [ 9.62616248e-01 2.70786880e-01 -6.66523922e-03 1.08574397e+02] [ 6.91181002e-03 4.30573909e-05 9.99976112e-01 1.28362134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:108.60, Z:1.28 [[ 2.69654341e-01 -9.62955447e-01 -1.82842422e-03 1.69019347e+02] [ 9.62932377e-01 2.69660537e-01 -6.66572077e-03 1.08598937e+02] [ 6.91184598e-03 3.67916610e-05 9.99976112e-01 1.28178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:108.62, Z:1.28 [[ 2.69377181e-01 -9.63033001e-01 -1.83656214e-03 1.69026265e+02] [ 9.63009948e-01 2.69383441e-01 -6.66349057e-03 1.08622257e+02] [ 6.91190075e-03 2.63646943e-05 9.99976112e-01 1.28246204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:108.64, Z:1.28 [[ 2.68870253e-01 -9.63174677e-01 -1.82433664e-03 1.69032939e+02] [ 9.63151605e-01 2.68876440e-01 -6.66683600e-03 1.08644777e+02] [ 6.91184875e-03 3.54011203e-05 9.99976112e-01 1.28130515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:108.67, Z:1.28 [[ 2.68333606e-01 -9.63324325e-01 -1.82238329e-03 1.69039782e+02] [ 9.63301252e-01 2.68339792e-01 -6.66736990e-03 1.08669794e+02] [ 6.91185757e-03 3.35752975e-05 9.99976112e-01 1.28016817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:108.69, Z:1.28 [[ 2.68758111e-01 -9.63205976e-01 -1.82370417e-03 1.69046360e+02] [ 9.63182903e-01 2.68764296e-01 -6.66700929e-03 1.08693414e+02] [ 6.91184976e-03 3.52521416e-05 9.99976112e-01 1.28306441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:108.72, Z:1.28 [[ 2.69056187e-01 -9.63122767e-01 -1.81797934e-03 1.69053419e+02] [ 9.63099681e-01 2.69062325e-01 -6.66856999e-03 1.08718206e+02] [ 6.91180133e-03 4.33246855e-05 9.99976112e-01 1.28272029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:108.74, Z:1.28 [[ 2.69239072e-01 -9.63071660e-01 -1.81623819e-03 1.69059970e+02] [ 9.63048571e-01 2.69245194e-01 -6.66904418e-03 1.08742311e+02] [ 6.91178085e-03 4.64416774e-05 9.99976112e-01 1.28263824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:108.77, Z:1.28 [[ 2.70442506e-01 -9.62734418e-01 -1.81434291e-03 1.69064753e+02] [ 9.62711317e-01 2.70448586e-01 -6.66955976e-03 1.08766992e+02] [ 6.91170120e-03 5.70440005e-05 9.99976112e-01 1.28269666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:108.79, Z:1.28 [[ 2.70898379e-01 -9.62606245e-01 -1.81245432e-03 1.69069802e+02] [ 9.62583138e-01 2.70904435e-01 -6.67007294e-03 1.08790500e+02] [ 6.91165578e-03 6.22739770e-05 9.99976112e-01 1.28289892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:108.82, Z:1.28 [[ 2.71252418e-01 -9.62506544e-01 -1.81049788e-03 1.69076297e+02] [ 9.62483431e-01 2.71258452e-01 -6.67060395e-03 1.08815625e+02] [ 6.91161281e-03 6.68432408e-05 9.99976112e-01 1.28448951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:108.84, Z:1.28 [[ 2.71483329e-01 -9.62441443e-01 -1.80866925e-03 1.69082852e+02] [ 9.62418325e-01 2.71489345e-01 -6.67109972e-03 1.08839370e+02] [ 6.91157727e-03 7.03959302e-05 9.99976112e-01 1.28418499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:108.86, Z:1.28 [[ 2.71868243e-01 -9.62332788e-01 -1.80677120e-03 1.69089382e+02] [ 9.62309664e-01 2.71874236e-01 -6.67161375e-03 1.08864362e+02] [ 6.91152719e-03 7.51265225e-05 9.99976112e-01 1.28397545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:108.89, Z:1.28 [[ 2.72214575e-01 -9.62234882e-01 -1.80498090e-03 1.69094878e+02] [ 9.62211753e-01 2.72220547e-01 -6.67209807e-03 1.08887739e+02] [ 6.91147838e-03 7.94685018e-05 9.99976112e-01 1.28319722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:108.91, Z:1.28 [[ 2.73092778e-01 -9.61986009e-01 -1.80345053e-03 1.69100124e+02] [ 9.61962872e-01 2.73098719e-01 -6.67251170e-03 1.08912894e+02] [ 6.91138293e-03 8.73623062e-05 9.99976112e-01 1.28331666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:108.94, Z:1.28 [[ 2.73386433e-01 -9.61902600e-01 -1.80167581e-03 1.69105683e+02] [ 9.61879458e-01 2.73392355e-01 -6.67299086e-03 1.08938163e+02] [ 6.91133165e-03 9.13102174e-05 9.99976112e-01 1.28331039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:108.96, Z:1.28 [[ 2.73590360e-01 -9.61844621e-01 -1.79988906e-03 1.69110672e+02] [ 9.61821475e-01 2.73596265e-01 -6.67347277e-03 1.08962687e+02] [ 6.91128681e-03 9.46258708e-05 9.99976112e-01 1.28203241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:169.12, Y:108.99, Z:1.28 [[ 2.73526824e-01 -9.61862695e-01 -1.79802613e-03 1.69115723e+02] [ 9.61839545e-01 2.73532717e-01 -6.67397465e-03 1.08987456e+02] [ 6.91126622e-03 9.60984547e-05 9.99976112e-01 1.28144044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:109.01, Z:1.28 [[ 2.73512724e-01 -9.61866708e-01 -1.79621324e-03 1.69121111e+02] [ 9.61843555e-01 2.73518605e-01 -6.67446253e-03 1.09011341e+02] [ 6.91124104e-03 9.78742977e-05 9.99976112e-01 1.28225325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:109.04, Z:1.28 [[ 2.73313875e-01 -9.61923232e-01 -1.79465281e-03 1.69127569e+02] [ 9.61900078e-01 2.73319750e-01 -6.67488208e-03 1.09036639e+02] [ 6.91123820e-03 9.80612156e-05 9.99976112e-01 1.28046073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:109.06, Z:1.28 [[ 2.72944581e-01 -9.62028087e-01 -1.79305695e-03 1.69133196e+02] [ 9.62004933e-01 2.72950453e-01 -6.67531074e-03 1.09060592e+02] [ 6.91125213e-03 9.70602634e-05 9.99976112e-01 1.28290192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:109.08, Z:1.28 [[ 2.72594965e-01 -9.62127214e-01 -1.79115010e-03 1.69138808e+02] [ 9.62104059e-01 2.72600833e-01 -6.67582236e-03 1.09084950e+02] [ 6.91125938e-03 9.65227862e-05 9.99976112e-01 1.28499041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:109.11, Z:1.28 [[ 2.72014479e-01 -9.62291495e-01 -1.78931906e-03 1.69143987e+02] [ 9.62268340e-01 2.72020348e-01 -6.67631309e-03 1.09109335e+02] [ 6.91129050e-03 9.42487493e-05 9.99976112e-01 1.28366038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:109.13, Z:1.28 [[ 2.71910638e-01 -9.62320833e-01 -1.79416804e-03 1.69148425e+02] [ 9.62297687e-01 2.71916543e-01 -6.67501444e-03 1.09132171e+02] [ 6.91136943e-03 8.84836767e-05 9.99976112e-01 1.28435066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:109.16, Z:1.28 [[ 2.71480582e-01 -9.62442260e-01 -1.78591492e-03 1.69151463e+02] [ 9.62419102e-01 2.71486440e-01 -6.67722185e-03 1.09157212e+02] [ 6.91129217e-03 9.39374358e-05 9.99976112e-01 1.28355684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:109.18, Z:1.28 [[ 2.71317266e-01 -9.62488316e-01 -1.78403172e-03 1.69156772e+02] [ 9.62465156e-01 2.71323114e-01 -6.67772497e-03 1.09181734e+02] [ 6.91128130e-03 9.47137107e-05 9.99976112e-01 1.28416916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:109.21, Z:1.28 [[ 2.70683440e-01 -9.62666764e-01 -1.78222633e-03 1.69162083e+02] [ 9.62643604e-01 2.70689291e-01 -6.67820678e-03 1.09206095e+02] [ 6.91131729e-03 9.20312041e-05 9.99976112e-01 1.28236338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:109.23, Z:1.28 [[ 2.70269630e-01 -9.62783027e-01 -1.78034893e-03 1.69166238e+02] [ 9.62759867e-01 2.70275478e-01 -6.67870724e-03 1.09231699e+02] [ 6.91133063e-03 9.10032359e-05 9.99976112e-01 1.28053268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:109.26, Z:1.28 [[ 2.69582449e-01 -9.62975669e-01 -1.77865413e-03 1.69170233e+02] [ 9.62952510e-01 2.69588302e-01 -6.67915856e-03 1.09255623e+02] [ 6.91137153e-03 8.78244584e-05 9.99976112e-01 1.27846985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:109.28, Z:1.28 [[ 2.69174528e-01 -9.63089775e-01 -1.77712140e-03 1.69174592e+02] [ 9.63066616e-01 2.69180380e-01 -6.67956635e-03 1.09280456e+02] [ 6.91138827e-03 8.64828247e-05 9.99976112e-01 1.28315513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:109.31, Z:1.28 [[ 2.68321421e-01 -9.63327807e-01 -1.77529764e-03 1.69179074e+02] [ 9.63304649e-01 2.68327281e-01 -6.68005103e-03 1.09305265e+02] [ 6.91143970e-03 8.22483117e-05 9.99976112e-01 1.28490757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:109.33, Z:1.28 [[ 2.67456082e-01 -9.63568419e-01 -1.77356493e-03 1.69183962e+02] [ 9.63545264e-01 2.67461951e-01 -6.68051104e-03 1.09329267e+02] [ 6.91149060e-03 7.78332205e-05 9.99976112e-01 1.28350459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:109.35, Z:1.29 [[ 2.65683613e-01 -9.64058649e-01 -1.77169387e-03 1.69187961e+02] [ 9.64035501e-01 2.65689512e-01 -6.68100721e-03 1.09354971e+02] [ 6.91160327e-03 6.70583508e-05 9.99976112e-01 1.28746624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:109.38, Z:1.29 [[ 2.64611154e-01 -9.64353568e-01 -1.76995891e-03 1.69193460e+02] [ 9.64330424e-01 2.64617067e-01 -6.68146681e-03 1.09380113e+02] [ 6.91165770e-03 6.11654237e-05 9.99976112e-01 1.28848938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:109.40, Z:1.29 [[ 2.63371080e-01 -9.64692981e-01 -1.76822349e-03 1.69198763e+02] [ 9.64669841e-01 2.63377010e-01 -6.68192606e-03 1.09404624e+02] [ 6.91171658e-03 5.40742147e-05 9.99976112e-01 1.28973547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:109.43, Z:1.29 [[ 2.62103281e-01 -9.65038212e-01 -1.76643412e-03 1.69203936e+02] [ 9.65015076e-01 2.62109229e-01 -6.68239906e-03 1.09428799e+02] [ 6.91176912e-03 4.68431558e-05 9.99976112e-01 1.28968077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:109.45, Z:1.29 [[ 2.59703176e-01 -9.65686878e-01 -1.76456524e-03 1.69207343e+02] [ 9.65663754e-01 2.59709169e-01 -6.68289252e-03 1.09452833e+02] [ 6.91185539e-03 3.15917182e-05 9.99976112e-01 1.28921740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:109.48, Z:1.29 [[ 2.58003898e-01 -9.66142268e-01 -1.76272640e-03 1.69211944e+02] [ 9.66119151e-01 2.58009918e-01 -6.68337751e-03 1.09477555e+02] [ 6.91189440e-03 2.13337151e-05 9.99976112e-01 1.28734117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:109.50, Z:1.29 [[ 2.56081365e-01 -9.66653647e-01 -1.74980617e-03 1.69217633e+02] [ 9.66630519e-01 2.56087342e-01 -6.68678069e-03 1.09502738e+02] [ 6.91190415e-03 2.09438782e-05 9.99976112e-01 1.28977366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:109.53, Z:1.29 [[ 2.54185518e-01 -9.67153880e-01 -1.75940086e-03 1.69223514e+02] [ 9.67130781e-01 2.54191607e-01 -6.68425522e-03 1.09527610e+02] [ 6.91192830e-03 -2.52985013e-06 9.99976112e-01 1.29009406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:109.55, Z:1.29 [[ 2.50543216e-01 -9.68103821e-01 -1.75760609e-03 1.69230216e+02] [ 9.68080742e-01 2.50549379e-01 -6.68472712e-03 1.09550847e+02] [ 6.91187698e-03 -2.66915766e-05 9.99976112e-01 1.28680625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:109.58, Z:1.29 [[ 2.48589375e-01 -9.68607371e-01 -1.75610200e-03 1.69236839e+02] [ 9.68584302e-01 2.48595575e-01 -6.68512222e-03 1.09575974e+02] [ 6.91181784e-03 -3.90824770e-05 9.99976112e-01 1.28760687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:109.60, Z:1.29 [[ 2.46946661e-01 -9.69027486e-01 -1.75441412e-03 1.69243041e+02] [ 9.69004424e-01 2.46952888e-01 -6.68556515e-03 1.09601048e+02] [ 6.91175403e-03 -4.90570515e-05 9.99976112e-01 1.28842826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:109.63, Z:1.29 [[ 2.45638195e-01 -9.69359998e-01 -1.75264933e-03 1.69248709e+02] [ 9.69336941e-01 2.45644441e-01 -6.68602777e-03 1.09625226e+02] [ 6.91169643e-03 -5.65639474e-05 9.99976112e-01 1.28953056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.26, Y:109.65, Z:1.29 [[ 2.45223255e-01 -9.69465053e-01 -1.75082058e-03 1.69255047e+02] [ 9.69441996e-01 2.45229499e-01 -6.68650661e-03 1.09649688e+02] [ 6.91168734e-03 -5.76320805e-05 9.99976112e-01 1.29097083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:109.67, Z:1.29 [[ 2.45035365e-01 -9.69512563e-01 -1.74908194e-03 1.69262395e+02] [ 9.69489504e-01 2.45041601e-01 -6.68696138e-03 1.09673741e+02] [ 6.91169091e-03 -5.71745653e-05 9.99976112e-01 1.29292005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:109.70, Z:1.29 [[ 2.44943861e-01 -9.69535689e-01 -1.74728448e-03 1.69269400e+02] [ 9.69512627e-01 2.44950086e-01 -6.68743102e-03 1.09696008e+02] [ 6.91170053e-03 -5.59691969e-05 9.99976112e-01 1.29247752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:109.72, Z:1.29 [[ 2.45071359e-01 -9.69503472e-01 -1.74532431e-03 1.69276046e+02] [ 9.69480406e-01 2.45077568e-01 -6.68794256e-03 1.09719400e+02] [ 6.91172337e-03 -5.30345485e-05 9.99976112e-01 1.29387220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:109.74, Z:1.29 [[ 2.46074686e-01 -9.69249302e-01 -1.74345245e-03 1.69282982e+02] [ 9.69226226e-01 2.46080858e-01 -6.68843049e-03 1.09741605e+02] [ 6.91178686e-03 -4.39464107e-05 9.99976112e-01 1.29266915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:109.77, Z:1.29 [[ 2.46759259e-01 -9.69075247e-01 -1.74170245e-03 1.69290452e+02] [ 9.69052163e-01 2.46765403e-01 -6.68888617e-03 1.09765139e+02] [ 6.91182592e-03 -3.72559280e-05 9.99976112e-01 1.29293265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:109.79, Z:1.29 [[ 2.47559206e-01 -9.68871205e-01 -1.73983607e-03 1.69297760e+02] [ 9.68848113e-01 2.47565317e-01 -6.68937160e-03 1.09789083e+02] [ 6.91186259e-03 -2.96213712e-05 9.99976112e-01 1.29322954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:109.81, Z:1.29 [[ 2.47286946e-01 -9.68940734e-01 -1.73795749e-03 1.69303714e+02] [ 9.68917640e-01 2.47293051e-01 -6.68985963e-03 1.09813516e+02] [ 6.91186231e-03 -2.96227159e-05 9.99976112e-01 1.29340332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:109.84, Z:1.29 [[ 2.48260869e-01 -9.68691657e-01 -1.73607748e-03 1.69310380e+02] [ 9.68668554e-01 2.48266938e-01 -6.69034747e-03 1.09838565e+02] [ 6.91189442e-03 -2.07321855e-05 9.99976112e-01 1.29433030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:109.86, Z:1.29 [[ 2.51364246e-01 -9.67891010e-01 -1.73427266e-03 1.69316637e+02] [ 9.67867884e-01 2.51370229e-01 -6.69081529e-03 1.09862630e+02] [ 6.91192448e-03 3.28493097e-06 9.99976112e-01 1.29004760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.32, Y:109.89, Z:1.29 [[ 2.53220863e-01 -9.67406943e-01 -1.73239347e-03 1.69323909e+02] [ 9.67383802e-01 2.53226788e-01 -6.69130181e-03 1.09887220e+02] [ 6.91190027e-03 1.84878375e-05 9.99976112e-01 1.29111920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:109.91, Z:1.29 [[ 2.55114383e-01 -9.66909332e-01 -1.73060291e-03 1.69330393e+02] [ 9.66886176e-01 2.55120250e-01 -6.69176488e-03 1.09911352e+02] [ 6.91184176e-03 3.38694414e-05 9.99976112e-01 1.29475327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:109.94, Z:1.29 [[ 2.57387278e-01 -9.66306784e-01 -1.72875062e-03 1.69336518e+02] [ 9.66283611e-01 2.57393079e-01 -6.69224337e-03 1.09935483e+02] [ 6.91172861e-03 5.20349119e-05 9.99976112e-01 1.29226372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:109.96, Z:1.30 [[ 2.62350450e-01 -9.64971119e-01 -1.72682021e-03 1.69341543e+02] [ 9.64947913e-01 2.62356118e-01 -6.69274144e-03 1.09960092e+02] [ 6.91134404e-03 8.95521695e-05 9.99976112e-01 1.29555958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:109.98, Z:1.30 [[ 2.64687817e-01 -9.64332611e-01 -1.72506089e-03 1.69346759e+02] [ 9.64309388e-01 2.64693416e-01 -6.69319488e-03 1.09984666e+02] [ 6.91107835e-03 1.08114726e-04 9.99976112e-01 1.29720500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:110.01, Z:1.30 [[ 2.66889542e-01 -9.63725585e-01 -1.72324204e-03 1.69351814e+02] [ 9.63702347e-01 2.66895076e-01 -6.69366313e-03 1.10009016e+02] [ 6.91077923e-03 1.25776292e-04 9.99976112e-01 1.29665300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:110.03, Z:1.30 [[ 2.68591535e-01 -9.63252627e-01 -1.72168250e-03 1.69356745e+02] [ 9.63229377e-01 2.68597017e-01 -6.69406424e-03 1.10034153e+02] [ 6.91051374e-03 1.39593825e-04 9.99976112e-01 1.29747978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:110.06, Z:1.30 [[ 2.69896173e-01 -9.62887895e-01 -1.71990335e-03 1.69361614e+02] [ 9.62864634e-01 2.69901610e-01 -6.69452132e-03 1.10058505e+02] [ 6.91027823e-03 1.50791576e-04 9.99976112e-01 1.29599194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:110.08, Z:1.30 [[ 2.70467941e-01 -9.62727449e-01 -1.71805115e-03 1.69366477e+02] [ 9.62704182e-01 2.70473352e-01 -6.69499663e-03 1.10083105e+02] [ 6.91014408e-03 1.56806928e-04 9.99976112e-01 1.29609490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:169.37, Y:110.11, Z:1.29 [[ 2.70664681e-01 -9.62672158e-01 -1.71626845e-03 1.69370614e+02] [ 9.62648888e-01 2.70670075e-01 -6.69545359e-03 1.10107480e+02] [ 6.91006927e-03 1.60058897e-04 9.99976112e-01 1.29211372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:110.13, Z:1.29 [[ 2.69848647e-01 -9.62901225e-01 -1.71440669e-03 1.69374905e+02] [ 9.62877956e-01 2.69854047e-01 -6.69593027e-03 1.10131537e+02] [ 6.91015905e-03 1.56123317e-04 9.99976112e-01 1.29252072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:110.16, Z:1.29 [[ 2.68586914e-01 -9.63253931e-01 -1.71257560e-03 1.69379703e+02] [ 9.63230667e-01 2.68592333e-01 -6.69639857e-03 1.10156923e+02] [ 6.91031692e-03 1.48959689e-04 9.99976112e-01 1.29322021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.39, Y:110.18, Z:1.29 [[ 2.66991800e-01 -9.63697282e-01 -1.71085252e-03 1.69385120e+02] [ 9.63674023e-01 2.66997245e-01 -6.69683876e-03 1.10181517e+02] [ 6.91051823e-03 1.39296902e-04 9.99976112e-01 1.29369931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:110.21, Z:1.30 [[ 2.62633934e-01 -9.64894033e-01 -1.70911937e-03 1.69389803e+02] [ 9.64870797e-01 2.62639472e-01 -6.69728106e-03 1.10206245e+02] [ 6.91104874e-03 1.09853903e-04 9.99976112e-01 1.29564087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:110.23, Z:1.30 [[ 2.59837546e-01 -9.65650835e-01 -1.70744989e-03 1.69395389e+02] [ 9.65627611e-01 2.59843140e-01 -6.69770666e-03 1.10230001e+02] [ 6.91131517e-03 9.15549077e-05 9.99976112e-01 1.29587547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:169.40, Y:110.25, Z:1.29 [[ 2.56501131e-01 -9.66542426e-01 -1.70562091e-03 1.69401333e+02] [ 9.66519219e-01 2.56506793e-01 -6.69817239e-03 1.10253932e+02] [ 6.91157114e-03 6.95734113e-05 9.99976112e-01 1.29499976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:110.28, Z:1.30 [[ 2.49489733e-01 -9.68375945e-01 -1.70372555e-03 1.69408275e+02] [ 9.68352776e-01 2.49495550e-01 -6.69865445e-03 1.10277933e+02] [ 6.91188778e-03 2.14381487e-05 9.99976112e-01 1.29710840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:110.30, Z:1.30 [[ 2.45710714e-01 -9.69341709e-01 -1.70183329e-03 1.69415416e+02] [ 9.69318560e-01 2.45716608e-01 -6.69913516e-03 1.10302082e+02] [ 6.91191983e-03 -3.56930930e-06 9.99976112e-01 1.29800976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:110.33, Z:1.30 [[ 2.42065862e-01 -9.70258331e-01 -1.70003729e-03 1.69422493e+02] [ 9.70235201e-01 2.42071830e-01 -6.69959090e-03 1.10325467e+02] [ 6.91186502e-03 -2.76937790e-05 9.99976112e-01 1.29661292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:110.35, Z:1.30 [[ 2.38640507e-01 -9.71106495e-01 -1.69817093e-03 1.69429230e+02] [ 9.71083383e-01 2.38646544e-01 -6.70006394e-03 1.10348105e+02] [ 6.91173823e-03 -5.01589158e-05 9.99976112e-01 1.29643224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:110.37, Z:1.30 [[ 2.36020941e-01 -9.71746489e-01 -1.69620136e-03 1.69436991e+02] [ 9.71723389e-01 2.36027026e-01 -6.70056252e-03 1.10372344e+02] [ 6.91159747e-03 -6.67654639e-05 9.99976112e-01 1.29715573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:110.40, Z:1.30 [[ 2.33820211e-01 -9.72278375e-01 -1.69441056e-03 1.69444268e+02] [ 9.72255286e-01 2.33826336e-01 -6.70101534e-03 1.10395317e+02] [ 6.91145012e-03 -8.05668038e-05 9.99976112e-01 1.29603379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:110.42, Z:1.30 [[ 2.32011835e-01 -9.72711491e-01 -1.69254763e-03 1.69452805e+02] [ 9.72688410e-01 2.32017990e-01 -6.70148585e-03 1.10418507e+02] [ 6.91131379e-03 -9.14974342e-05 9.99976112e-01 1.29593720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:110.44, Z:1.30 [[ 2.32348761e-01 -9.72631068e-01 -1.69064945e-03 1.69459949e+02] [ 9.72607982e-01 2.32354895e-01 -6.70196469e-03 1.10442495e+02] [ 6.91136975e-03 -8.71459642e-05 9.99976112e-01 1.29646179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:110.47, Z:1.29 [[ 2.33352697e-01 -9.72390697e-01 -1.68886634e-03 1.69467171e+02] [ 9.72367601e-01 2.33358795e-01 -6.70241399e-03 1.10466460e+02] [ 6.91147682e-03 -7.81725301e-05 9.99976112e-01 1.29431747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:110.49, Z:1.30 [[ 2.34893112e-01 -9.72019742e-01 -1.68708368e-03 1.69474463e+02] [ 9.71996633e-01 2.34899162e-01 -6.70286268e-03 1.10491035e+02] [ 6.91160940e-03 -6.53833763e-05 9.99976112e-01 1.29526610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.48, Y:110.52, Z:1.30 [[ 2.39304521e-01 -9.70943101e-01 -1.68532331e-03 1.69482683e+02] [ 9.70919962e-01 2.39310454e-01 -6.70330527e-03 1.10515206e+02] [ 6.91184349e-03 -3.21827810e-05 9.99976112e-01 1.29706255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:110.54, Z:1.30 [[ 2.41835983e-01 -9.70315682e-01 -1.68351366e-03 1.69489520e+02] [ 9.70292524e-01 2.41841842e-01 -6.70375972e-03 1.10540048e+02] [ 6.91190724e-03 -1.22904008e-05 9.99976112e-01 1.29568395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:110.56, Z:1.30 [[ 2.43989626e-01 -9.69776388e-01 -1.67913092e-03 1.69495766e+02] [ 9.69753210e-01 2.43995404e-01 -6.70485932e-03 1.10564710e+02] [ 6.91191448e-03 7.57352213e-06 9.99976112e-01 1.29598977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:110.59, Z:1.30 [[ 2.48012374e-01 -9.68755408e-01 -1.68012094e-03 1.69501045e+02] [ 9.68732207e-01 2.48018062e-01 -6.70461123e-03 1.10588361e+02] [ 6.91182872e-03 3.52392813e-05 9.99976112e-01 1.29653003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:110.61, Z:1.30 [[ 2.49566037e-01 -9.68356328e-01 -1.67820460e-03 1.69506301e+02] [ 9.68333115e-01 2.49571674e-01 -6.70509087e-03 1.10610977e+02] [ 6.91174950e-03 4.83018668e-05 9.99976112e-01 1.29624553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:110.64, Z:1.30 [[ 2.50826830e-01 -9.68030522e-01 -1.67640052e-03 1.69512756e+02] [ 9.68007299e-01 2.50832425e-01 -6.70554189e-03 1.10635814e+02] [ 6.91166482e-03 5.91618764e-05 9.99976112e-01 1.29789581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:169.52, Y:110.66, Z:1.30 [[ 2.51750640e-01 -9.67790686e-01 -1.67461538e-03 1.69519543e+02] [ 9.67767454e-01 2.51756201e-01 -6.70598768e-03 1.10659711e+02] [ 6.91158722e-03 6.75984259e-05 9.99976112e-01 1.29593890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:110.69, Z:1.30 [[ 2.53274042e-01 -9.67393127e-01 -1.67276172e-03 1.69527360e+02] [ 9.67369883e-01 2.53279553e-01 -6.70645003e-03 1.10685063e+02] [ 6.91145000e-03 8.03903996e-05 9.99976112e-01 1.29826524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:110.71, Z:1.30 [[ 2.53229763e-01 -9.67404714e-01 -1.67537864e-03 1.69532227e+02] [ 9.67381475e-01 2.53235293e-01 -6.70579795e-03 1.10709536e+02] [ 6.91148554e-03 7.73773642e-05 9.99976112e-01 1.30136462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:110.73, Z:1.30 [[ 2.53300634e-01 -9.67386170e-01 -1.66962601e-03 1.69537415e+02] [ 9.67362921e-01 2.53306123e-01 -6.70722994e-03 1.10733099e+02] [ 6.91140797e-03 8.38113011e-05 9.99976112e-01 1.29981207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:110.76, Z:1.30 [[ 2.53342086e-01 -9.67375318e-01 -1.66769025e-03 1.69543337e+02] [ 9.67352066e-01 2.53347561e-01 -6.70771122e-03 1.10757734e+02] [ 6.91137953e-03 8.61019493e-05 9.99976112e-01 1.30107859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:110.78, Z:1.30 [[ 2.53941971e-01 -9.67218021e-01 -1.66584482e-03 1.69549403e+02] [ 9.67194763e-01 2.53947418e-01 -6.70816950e-03 1.10781294e+02] [ 6.91129941e-03 9.22894000e-05 9.99976112e-01 1.29985421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:110.81, Z:1.30 [[ 2.54210009e-01 -9.67147612e-01 -1.66393040e-03 1.69555445e+02] [ 9.67124349e-01 2.54215436e-01 -6.70864432e-03 1.10805599e+02] [ 6.91124613e-03 9.61769288e-05 9.99976112e-01 1.30063252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:110.83, Z:1.30 [[ 2.54568799e-01 -9.67053237e-01 -1.66213076e-03 1.69561272e+02] [ 9.67029970e-01 2.54574205e-01 -6.70909017e-03 1.10830767e+02] [ 6.91118299e-03 1.00594767e-04 9.99976112e-01 1.30172733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:169.57, Y:110.85, Z:1.30 [[ 2.54925231e-01 -9.66959342e-01 -1.66032874e-03 1.69566506e+02] [ 9.66936070e-01 2.54930616e-01 -6.70953610e-03 1.10854950e+02] [ 6.91111724e-03 1.04998290e-04 9.99976112e-01 1.30122486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:110.88, Z:1.30 [[ 2.56664732e-01 -9.66499077e-01 -1.65845228e-03 1.69570272e+02] [ 9.66475791e-01 2.56670062e-01 -6.70999988e-03 1.10881276e+02] [ 6.91088374e-03 1.19366338e-04 9.99976112e-01 1.30411258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.57, Y:110.91, Z:1.30 [[ 2.57196223e-01 -9.66357780e-01 -1.65682313e-03 1.69574784e+02] [ 9.66334489e-01 2.57201529e-01 -6.71040213e-03 1.10905086e+02] [ 6.91078674e-03 1.24844747e-04 9.99976112e-01 1.30325920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:110.93, Z:1.30 [[ 2.57432924e-01 -9.66294753e-01 -1.65528770e-03 1.69579498e+02] [ 9.66271459e-01 2.57438213e-01 -6.71078086e-03 1.10929802e+02] [ 6.91072664e-03 1.28118680e-04 9.99976112e-01 1.30480910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:110.95, Z:1.30 [[ 2.56885675e-01 -9.66440384e-01 -1.65352525e-03 1.69584092e+02] [ 9.66417090e-01 2.56890966e-01 -6.71121510e-03 1.10954512e+02] [ 6.91076499e-03 1.26019962e-04 9.99976112e-01 1.30446054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:110.98, Z:1.30 [[ 2.55832578e-01 -9.66719692e-01 -1.65174354e-03 1.69589479e+02] [ 9.66696401e-01 2.55837882e-01 -6.71165358e-03 1.10979627e+02] [ 6.91086625e-03 1.20325103e-04 9.99976112e-01 1.30362052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:111.00, Z:1.30 [[ 2.54364195e-01 -9.67107095e-01 -1.64995584e-03 1.69594897e+02] [ 9.67083809e-01 2.54369522e-01 -6.71209303e-03 1.11004183e+02] [ 6.91101127e-03 1.11670562e-04 9.99976112e-01 1.30288543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:111.03, Z:1.30 [[ 2.52417664e-01 -9.67616994e-01 -1.63595130e-03 1.69600290e+02] [ 9.67593696e-01 2.52422940e-01 -6.71553033e-03 1.11029303e+02] [ 6.91101290e-03 1.12182306e-04 9.99976112e-01 1.30159821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.61, Y:111.05, Z:1.30 [[ 2.50257792e-01 -9.68177838e-01 -1.64645869e-03 1.69606106e+02] [ 9.68154569e-01 2.50263193e-01 -6.71295322e-03 1.11054349e+02] [ 6.91138055e-03 8.59423508e-05 9.99976112e-01 1.30210947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:111.08, Z:1.30 [[ 2.45835025e-01 -9.69310289e-01 -1.64466197e-03 1.69611696e+02] [ 9.69287042e-01 2.45840520e-01 -6.71339339e-03 1.11078564e+02] [ 6.91168584e-03 5.62376937e-05 9.99976112e-01 1.30222185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:111.10, Z:1.30 [[ 2.43627308e-01 -9.69867535e-01 -1.64279656e-03 1.69617272e+02] [ 9.69844298e-01 2.43632843e-01 -6.71384983e-03 1.11101844e+02] [ 6.91178418e-03 4.24202845e-05 9.99976112e-01 1.30275902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:111.13, Z:1.30 [[ 2.41865450e-01 -9.70308410e-01 -1.64103767e-03 1.69623610e+02] [ 9.70285180e-01 2.41871015e-01 -6.71427972e-03 1.11126441e+02] [ 6.91184153e-03 3.16777596e-05 9.99976112e-01 1.30458804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:111.15, Z:1.30 [[ 2.40339505e-01 -9.70687506e-01 -1.63926890e-03 1.69629588e+02] [ 9.70664282e-01 2.40345095e-01 -6.71471153e-03 1.11149029e+02] [ 6.91187683e-03 2.26306790e-05 9.99976112e-01 1.30440539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:111.17, Z:1.31 [[ 2.38903613e-01 -9.71041906e-01 -1.63726525e-03 1.69636012e+02] [ 9.71018686e-01 2.38909223e-01 -6.71520005e-03 1.11172674e+02] [ 6.91189843e-03 1.44703993e-05 9.99976112e-01 1.30597103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:111.19, Z:1.30 [[ 2.38879722e-01 -9.71047787e-01 -1.63539191e-03 1.69640822e+02] [ 9.71024564e-01 2.38885320e-01 -6.71565625e-03 1.11194354e+02] [ 6.91189425e-03 1.62283811e-05 9.99976112e-01 1.30222884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:111.22, Z:1.31 [[ 2.37832615e-01 -9.71304809e-01 -1.61719761e-03 1.69646168e+02] [ 9.71281562e-01 2.37838111e-01 -6.72008128e-03 1.11220128e+02] [ 6.91187849e-03 2.75002785e-05 9.99976112e-01 1.30687167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:111.24, Z:1.31 [[ 2.37366317e-01 -9.71418843e-01 -1.63199316e-03 1.69652143e+02] [ 9.71395623e-01 2.37371927e-01 -6.71648622e-03 1.11243499e+02] [ 6.91191063e-03 8.95658618e-06 9.99976112e-01 1.30719146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:111.27, Z:1.31 [[ 2.36830058e-01 -9.71549724e-01 -1.63002094e-03 1.69658569e+02] [ 9.71526504e-01 2.36835668e-01 -6.71696482e-03 1.11267516e+02] [ 6.91191241e-03 7.17062166e-06 9.99976112e-01 1.30895357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:111.29, Z:1.31 [[ 2.35801358e-01 -9.71799912e-01 -1.62809775e-03 1.69665260e+02] [ 9.71776695e-01 2.35806978e-01 -6.71743094e-03 1.11291103e+02] [ 6.91191561e-03 1.83187982e-06 9.99976112e-01 1.30847444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:111.32, Z:1.31 [[ 2.35212972e-01 -9.71942495e-01 -1.62618394e-03 1.69671772e+02] [ 9.71919278e-01 2.35218593e-01 -6.71789421e-03 1.11315615e+02] [ 6.91191556e-03 -3.83657145e-07 9.99976112e-01 1.30937700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:111.34, Z:1.31 [[ 2.34950599e-01 -9.72005955e-01 -1.62436807e-03 1.69677565e+02] [ 9.71982737e-01 2.34956215e-01 -6.71833326e-03 1.11340945e+02] [ 6.91191531e-03 -3.81295680e-07 9.99976112e-01 1.30955655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:111.36, Z:1.31 [[ 2.34439314e-01 -9.72129403e-01 -1.62255438e-03 1.69684435e+02] [ 9.72106184e-01 2.34444929e-01 -6.71877125e-03 1.11364151e+02] [ 6.91191473e-03 -2.15101938e-06 9.99976112e-01 1.30737942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:111.39, Z:1.31 [[ 2.34050087e-01 -9.72223190e-01 -1.62066872e-03 1.69691712e+02] [ 9.72199970e-01 2.34055698e-01 -6.71922607e-03 1.11387841e+02] [ 6.91191415e-03 -2.97862980e-06 9.99976112e-01 1.30744314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:111.41, Z:1.31 [[ 2.34088781e-01 -9.72213877e-01 -1.61875824e-03 1.69698508e+02] [ 9.72190654e-01 2.34094378e-01 -6.71968630e-03 1.11410838e+02] [ 6.91191447e-03 -7.38458910e-07 9.99976112e-01 1.30648175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:169.71, Y:111.44, Z:1.31 [[ 2.35947165e-01 -9.71764540e-01 -1.61677660e-03 1.69707081e+02] [ 9.71741304e-01 2.35952704e-01 -6.72016306e-03 1.11435478e+02] [ 6.91189897e-03 1.45148163e-05 9.99976112e-01 1.30676845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:111.46, Z:1.31 [[ 2.37569249e-01 -9.71369252e-01 -1.62139426e-03 1.69712694e+02] [ 9.71346014e-01 2.37574781e-01 -6.71905306e-03 1.11459171e+02] [ 6.91188393e-03 2.13055413e-05 9.99976112e-01 1.31168173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:111.48, Z:1.31 [[ 2.42041104e-01 -9.70264655e-01 -1.61323642e-03 1.69717976e+02] [ 9.70241379e-01 2.42046472e-01 -6.72101118e-03 1.11482917e+02] [ 6.91163778e-03 6.15322404e-05 9.99976112e-01 1.31001378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:111.51, Z:1.31 [[ 2.43912885e-01 -9.69795807e-01 -1.61167364e-03 1.69722749e+02] [ 9.69772518e-01 2.43918197e-01 -6.72138591e-03 1.11505877e+02] [ 6.91148840e-03 7.64758287e-05 9.99976112e-01 1.30892462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:111.53, Z:1.31 [[ 2.45498003e-01 -9.69395760e-01 -1.60990860e-03 1.69727817e+02] [ 9.69372459e-01 2.45503265e-01 -6.72180864e-03 1.11531070e+02] [ 6.91133061e-03 8.95895357e-05 9.99976112e-01 1.31242462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:169.73, Y:111.56, Z:1.31 [[ 2.47003929e-01 -9.69013144e-01 -1.60807196e-03 1.69732820e+02] [ 9.68989832e-01 2.47009142e-01 -6.72224800e-03 1.11555501e+02] [ 6.91115514e-03 1.02216283e-04 9.99976112e-01 1.30947800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:111.58, Z:1.31 [[ 2.49036362e-01 -9.68492804e-01 -1.60615817e-03 1.69737986e+02] [ 9.68469478e-01 2.49041514e-01 -6.72270523e-03 1.11580451e+02] [ 6.91089170e-03 1.18682888e-04 9.99976112e-01 1.30926295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:111.60, Z:1.31 [[ 2.49380600e-01 -9.68404225e-01 -1.60439421e-03 1.69743798e+02] [ 9.68380895e-01 2.49385731e-01 -6.72312618e-03 1.11603858e+02] [ 6.91081682e-03 1.22952545e-04 9.99976112e-01 1.30664044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:111.63, Z:1.31 [[ 2.49133737e-01 -9.68467766e-01 -1.60256364e-03 1.69749357e+02] [ 9.68444434e-01 2.49138861e-01 -6.72356250e-03 1.11626463e+02] [ 6.91081443e-03 1.23072411e-04 9.99976112e-01 1.30560601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:111.65, Z:1.31 [[ 2.48390231e-01 -9.68658728e-01 -1.60085871e-03 1.69754660e+02] [ 9.68635397e-01 2.48395361e-01 -6.72396841e-03 1.11650355e+02] [ 6.91087656e-03 1.19519657e-04 9.99976112e-01 1.30942803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:111.67, Z:1.31 [[ 2.46486987e-01 -9.69144782e-01 -1.59895892e-03 1.69759607e+02] [ 9.69121459e-01 2.46492150e-01 -6.72442015e-03 1.11673792e+02] [ 6.91106752e-03 1.07896659e-04 9.99976112e-01 1.30730252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.77, Y:111.70, Z:1.31 [[ 2.45200911e-01 -9.69470971e-01 -1.59699631e-03 1.69765544e+02] [ 9.69447651e-01 2.45206091e-01 -6.72488622e-03 1.11697743e+02] [ 6.91117520e-03 1.00743907e-04 9.99976112e-01 1.31084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:111.72, Z:1.31 [[ 2.44053331e-01 -9.69760500e-01 -1.59508423e-03 1.69771164e+02] [ 9.69737184e-01 2.44058525e-01 -6.72533972e-03 1.11722911e+02] [ 6.91126272e-03 9.45290719e-05 9.99976112e-01 1.31159214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:111.75, Z:1.31 [[ 2.43014982e-01 -9.70021226e-01 -1.59332027e-03 1.69776828e+02] [ 9.69997913e-01 2.43020189e-01 -6.72575760e-03 1.11745561e+02] [ 6.91133663e-03 8.89425292e-05 9.99976112e-01 1.31099349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:169.78, Y:111.77, Z:1.31 [[ 2.42280629e-01 -9.70204908e-01 -1.59132647e-03 1.69783729e+02] [ 9.70181596e-01 2.42285840e-01 -6.72622930e-03 1.11770272e+02] [ 6.91137656e-03 8.57594129e-05 9.99976112e-01 1.31201939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:111.79, Z:1.31 [[ 2.41349971e-01 -9.70436842e-01 -1.58952358e-03 1.69789755e+02] [ 9.70413532e-01 2.41355192e-01 -6.72665533e-03 1.11794141e+02] [ 6.91143393e-03 8.09828769e-05 9.99976112e-01 1.31297118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:111.82, Z:1.31 [[ 2.40909471e-01 -9.70546293e-01 -1.58764098e-03 1.69795284e+02] [ 9.70522982e-01 2.40914689e-01 -6.72709964e-03 1.11817214e+02] [ 6.91144765e-03 7.97799603e-05 9.99976112e-01 1.31291838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:111.84, Z:1.31 [[ 2.40417036e-01 -9.70668396e-01 -1.58565675e-03 1.69801482e+02] [ 9.70645085e-01 2.40422252e-01 -6.72756731e-03 1.11841536e+02] [ 6.91146414e-03 7.83118663e-05 9.99976112e-01 1.31437680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:111.87, Z:1.32 [[ 2.39741796e-01 -9.70835394e-01 -1.58385518e-03 1.69807896e+02] [ 9.70812084e-01 2.39747016e-01 -6.72799142e-03 1.11865726e+02] [ 6.91149676e-03 7.53550039e-05 9.99976112e-01 1.31557947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:111.89, Z:1.32 [[ 2.38490085e-01 -9.71143644e-01 -1.58203999e-03 1.69814942e+02] [ 9.71120337e-01 2.38495323e-01 -6.72841823e-03 1.11889397e+02] [ 6.91156973e-03 6.83098309e-05 9.99976112e-01 1.31620092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:169.82, Y:111.91, Z:1.31 [[ 2.37717643e-01 -9.71333015e-01 -1.58015123e-03 1.69821617e+02] [ 9.71309710e-01 2.37722885e-01 -6.72886177e-03 1.11913440e+02] [ 6.91160370e-03 6.47529194e-05 9.99976112e-01 1.31390231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:111.94, Z:1.31 [[ 2.36734883e-01 -9.71573005e-01 -1.57828364e-03 1.69826836e+02] [ 9.71549702e-01 2.36740136e-01 -6.72929979e-03 1.11936240e+02] [ 6.91164910e-03 5.96789985e-05 9.99976112e-01 1.31366102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:169.83, Y:111.96, Z:1.31 [[ 2.36247471e-01 -9.71691642e-01 -1.57631729e-03 1.69833992e+02] [ 9.71668339e-01 2.36252723e-01 -6.72976037e-03 1.11960205e+02] [ 6.91166116e-03 5.82312610e-05 9.99976112e-01 1.31360236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:111.98, Z:1.32 [[ 2.35809799e-01 -9.71797952e-01 -1.57438675e-03 1.69842063e+02] [ 9.71774648e-01 2.35815048e-01 -6.73021198e-03 1.11984110e+02] [ 6.91167030e-03 5.71008060e-05 9.99976112e-01 1.31537069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:112.01, Z:1.31 [[ 2.35737344e-01 -9.71815534e-01 -1.57258614e-03 1.69849679e+02] [ 9.71792228e-01 2.35742582e-01 -6.73063268e-03 1.12009099e+02] [ 6.91165891e-03 5.84344779e-05 9.99976113e-01 1.31381247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:112.03, Z:1.32 [[ 2.35780345e-01 -9.71805104e-01 -1.57118764e-03 1.69857178e+02] [ 9.71781795e-01 2.35785572e-01 -6.73095908e-03 1.12032623e+02] [ 6.91164377e-03 6.01763069e-05 9.99976113e-01 1.31608030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:112.05, Z:1.32 [[ 2.36282783e-01 -9.71683068e-01 -1.56908633e-03 1.69866510e+02] [ 9.71659753e-01 2.36287984e-01 -6.73144889e-03 1.12054936e+02] [ 6.91159116e-03 6.59074446e-05 9.99976113e-01 1.31549063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:112.08, Z:1.32 [[ 2.36326515e-01 -9.71672436e-01 -1.56706521e-03 1.69874427e+02] [ 9.71649118e-01 2.36331701e-01 -6.73191937e-03 1.12078907e+02] [ 6.91156768e-03 6.82935133e-05 9.99976113e-01 1.31563487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:112.10, Z:1.32 [[ 2.36017320e-01 -9.71747588e-01 -1.56512399e-03 1.69881990e+02] [ 9.71724269e-01 2.36022500e-01 -6.73237066e-03 1.12102281e+02] [ 6.91156943e-03 6.80871157e-05 9.99976113e-01 1.31538707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:112.12, Z:1.32 [[ 2.36032818e-01 -9.71743827e-01 -1.56318917e-03 1.69889526e+02] [ 9.71720505e-01 2.36037984e-01 -6.73281988e-03 1.12124925e+02] [ 6.91154817e-03 7.01834847e-05 9.99976113e-01 1.31602238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:112.15, Z:1.31 [[ 2.36982534e-01 -9.71512656e-01 -1.56118336e-03 1.69899108e+02] [ 9.71489326e-01 2.36987663e-01 -6.73328495e-03 1.12146993e+02] [ 6.91145274e-03 7.89979517e-05 9.99976113e-01 1.31490624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:112.17, Z:1.31 [[ 2.37647928e-01 -9.71350107e-01 -1.55921017e-03 1.69906618e+02] [ 9.71326771e-01 2.37653027e-01 -6.73374184e-03 1.12171061e+02] [ 6.91137188e-03 8.57572194e-05 9.99976113e-01 1.31384098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:112.20, Z:1.31 [[ 2.38547789e-01 -9.71129511e-01 -1.55731653e-03 1.69914088e+02] [ 9.71106167e-01 2.38552853e-01 -6.73417976e-03 1.12195169e+02] [ 6.91126300e-03 9.41040083e-05 9.99976113e-01 1.31401910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:112.22, Z:1.31 [[ 2.41272594e-01 -9.70456138e-01 -1.55551712e-03 1.69922091e+02] [ 9.70432777e-01 2.41277580e-01 -6.73459538e-03 1.12219561e+02] [ 6.91094083e-03 1.15348500e-04 9.99976113e-01 1.31247836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:112.24, Z:1.31 [[ 2.42642642e-01 -9.70114495e-01 -1.55371665e-03 1.69928254e+02] [ 9.70091125e-01 2.42647583e-01 -6.73501073e-03 1.12242933e+02] [ 6.91073713e-03 1.26954066e-04 9.99976113e-01 1.31191177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.93, Y:112.27, Z:1.31 [[ 2.44103798e-01 -9.69747868e-01 -1.55184983e-03 1.69934902e+02] [ 9.69724487e-01 2.44108691e-01 -6.73544085e-03 1.12266380e+02] [ 6.91049943e-03 1.39279908e-04 9.99976113e-01 1.31103894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:112.29, Z:1.31 [[ 2.45436076e-01 -9.69411538e-01 -1.54999655e-03 1.69941182e+02] [ 9.69388148e-01 2.45440924e-01 -6.73586731e-03 1.12291534e+02] [ 6.91026007e-03 1.50676560e-04 9.99976113e-01 1.31328458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:112.32, Z:1.31 [[ 2.48071344e-01 -9.68740528e-01 -1.54820002e-03 1.69948021e+02] [ 9.68717122e-01 2.48076116e-01 -6.73628020e-03 1.12315890e+02] [ 6.90977909e-03 1.71310217e-04 9.99976113e-01 1.31309842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:112.34, Z:1.31 [[ 2.48733535e-01 -9.68570719e-01 -1.54642093e-03 1.69954006e+02] [ 9.68547307e-01 2.48738278e-01 -6.73668860e-03 1.12340271e+02] [ 6.90961340e-03 1.77858537e-04 9.99976113e-01 1.31344071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:169.96, Y:112.36, Z:1.31 [[ 2.49006462e-01 -9.68500592e-01 -1.54463483e-03 1.69960727e+02] [ 9.68477176e-01 2.49011186e-01 -6.73709810e-03 1.12364984e+02] [ 6.90951485e-03 1.81637382e-04 9.99976113e-01 1.31251415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:169.96, Y:112.39, Z:1.31 [[ 2.48065593e-01 -9.68742010e-01 -1.54285900e-03 1.69964832e+02] [ 9.68718596e-01 2.48070328e-01 -6.73750476e-03 1.12389494e+02] [ 6.90964144e-03 1.76746909e-04 9.99976113e-01 1.31305063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:112.41, Z:1.32 [[ 2.46664138e-01 -9.69099803e-01 -1.54101022e-03 1.69969331e+02] [ 9.69076394e-01 2.46668894e-01 -6.73792759e-03 1.12414187e+02] [ 6.90984358e-03 1.68648475e-04 9.99976113e-01 1.31507369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:112.44, Z:1.32 [[ 2.44785609e-01 -9.69576009e-01 -1.53912346e-03 1.69975126e+02] [ 9.69552606e-01 2.44790397e-01 -6.73835854e-03 1.12438868e+02] [ 6.91011343e-03 1.57192030e-04 9.99976113e-01 1.31658053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:112.46, Z:1.32 [[ 2.42627478e-01 -9.70118314e-01 -1.53735574e-03 1.69981395e+02] [ 9.70094920e-01 2.42632306e-01 -6.73876183e-03 1.12463856e+02] [ 6.91040843e-03 1.43627786e-04 9.99976113e-01 1.31797970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:112.49, Z:1.32 [[ 2.37789971e-01 -9.71315382e-01 -1.53557891e-03 1.69985747e+02] [ 9.71292010e-01 2.37794903e-01 -6.73916669e-03 1.12487890e+02] [ 6.91100911e-03 1.11010726e-04 9.99976113e-01 1.31864871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:112.51, Z:1.32 [[ 2.35054462e-01 -9.71980991e-01 -1.53373192e-03 1.69991637e+02] [ 9.71957630e-01 2.35059447e-01 -6.73958701e-03 1.12513093e+02] [ 6.91126864e-03 9.34475593e-05 9.99976113e-01 1.31546008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:112.54, Z:1.32 [[ 2.29604814e-01 -9.73282737e-01 -1.53099085e-03 1.69999009e+02] [ 9.73259399e-01 2.29609911e-01 -6.74021011e-03 1.12535774e+02] [ 6.91166082e-03 5.75334489e-05 9.99976113e-01 1.31861183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:112.56, Z:1.32 [[ 2.26800063e-01 -9.73940137e-01 -1.53003950e-03 1.70005502e+02] [ 9.73916813e-01 2.26805221e-01 -6.74042606e-03 1.12560577e+02] [ 6.91179243e-03 3.85978682e-05 9.99976113e-01 1.31933169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:112.58, Z:1.32 [[ 2.22368383e-01 -9.74961521e-01 -1.52824248e-03 1.70012797e+02] [ 9.74938218e-01 2.22373634e-01 -6.74083347e-03 1.12582695e+02] [ 6.91189409e-03 9.00623891e-06 9.99976113e-01 1.31868715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:112.61, Z:1.32 [[ 2.20221763e-01 -9.75448638e-01 -1.52620606e-03 1.70018988e+02] [ 9.75425343e-01 2.20227052e-01 -6.74129451e-03 1.12606318e+02] [ 6.91189841e-03 -4.12030773e-06 9.99976113e-01 1.31912106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:112.63, Z:1.32 [[ 2.18546890e-01 -9.75825258e-01 -1.52422620e-03 1.70025328e+02] [ 9.75801969e-01 2.18552204e-01 -6.74174213e-03 1.12629570e+02] [ 6.91188525e-03 -1.39561549e-05 9.99976113e-01 1.31856030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:112.65, Z:1.32 [[ 2.17130958e-01 -9.76141296e-01 -1.52236701e-03 1.70031633e+02] [ 9.76118012e-01 2.17136294e-01 -6.74216193e-03 1.12653852e+02] [ 6.91186382e-03 -2.20777749e-05 9.99976113e-01 1.31876598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.04, Y:112.68, Z:1.32 [[ 2.16072874e-01 -9.76376055e-01 -1.52040927e-03 1.70037656e+02] [ 9.76352774e-01 2.16078221e-01 -6.74260339e-03 1.12676330e+02] [ 6.91184383e-03 -2.75621187e-05 9.99976113e-01 1.31643952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.04, Y:112.70, Z:1.32 [[ 2.15531950e-01 -9.76495608e-01 -1.51837275e-03 1.70044249e+02] [ 9.76472327e-01 2.15537297e-01 -6.74306197e-03 1.12699866e+02] [ 6.91183635e-03 -2.93036707e-05 9.99976113e-01 1.31668688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:112.72, Z:1.32 [[ 2.15383859e-01 -9.76528286e-01 -1.51644815e-03 1.70050574e+02] [ 9.76505002e-01 2.15389195e-01 -6.74349476e-03 1.12723655e+02] [ 6.91183993e-03 -2.83792773e-05 9.99976113e-01 1.31744673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:112.75, Z:1.32 [[ 2.15754756e-01 -9.76446410e-01 -1.51452089e-03 1.70058307e+02] [ 9.76423121e-01 2.15760070e-01 -6.74392758e-03 1.12746279e+02] [ 6.91185700e-03 -2.37787637e-05 9.99976113e-01 1.31793926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:112.77, Z:1.32 [[ 2.16165786e-01 -9.76355502e-01 -1.51251948e-03 1.70063801e+02] [ 9.76332207e-01 2.16171076e-01 -6.74437642e-03 1.12769956e+02] [ 6.91187199e-03 -1.88180565e-05 9.99976113e-01 1.31932564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:112.79, Z:1.32 [[ 2.16925192e-01 -9.76187062e-01 -1.51054752e-03 1.70069146e+02] [ 9.76163760e-01 2.16930451e-01 -6.74481805e-03 1.12793334e+02] [ 6.91188787e-03 -1.14208015e-05 9.99976113e-01 1.31919261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:112.82, Z:1.32 [[ 2.18467501e-01 -9.75843059e-01 -1.50870355e-03 1.70076114e+02] [ 9.75819746e-01 2.18472710e-01 -6.74523049e-03 1.12816506e+02] [ 6.91189691e-03 1.39093255e-06 9.99976113e-01 1.31803175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:112.84, Z:1.32 [[ 2.19156888e-01 -9.75688469e-01 -1.50668260e-03 1.70081331e+02] [ 9.75665150e-01 2.19162067e-01 -6.74568188e-03 1.12839662e+02] [ 6.91189170e-03 8.34494495e-06 9.99976113e-01 1.31704103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:112.86, Z:1.32 [[ 2.18890651e-01 -9.75748235e-01 -1.50487881e-03 1.70086429e+02] [ 9.75724915e-01 2.18895823e-01 -6.74608426e-03 1.12864312e+02] [ 6.91189150e-03 8.30702806e-06 9.99976113e-01 1.31721481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:112.89, Z:1.32 [[ 2.19881327e-01 -9.75525470e-01 -1.50303789e-03 1.70091612e+02] [ 9.75502141e-01 2.19886464e-01 -6.74649440e-03 1.12889747e+02] [ 6.91187481e-03 1.72114584e-05 9.99976113e-01 1.31914366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:112.91, Z:1.32 [[ 2.20077036e-01 -9.75481340e-01 -1.50121564e-03 1.70096477e+02] [ 9.75458008e-01 2.20082155e-01 -6.74689986e-03 1.12913290e+02] [ 6.91186569e-03 2.04649025e-05 9.99976113e-01 1.31851233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:170.10, Y:112.94, Z:1.32 [[ 2.20019901e-01 -9.75494231e-01 -1.49963847e-03 1.70101512e+02] [ 9.75470896e-01 2.20025011e-01 -6.74725040e-03 1.12936142e+02] [ 6.91186181e-03 2.16756801e-05 9.99976113e-01 1.31734398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:112.96, Z:1.32 [[ 2.21186253e-01 -9.75230434e-01 -1.49759153e-03 1.70106456e+02] [ 9.75207090e-01 2.21191321e-01 -6.74770470e-03 1.12960380e+02] [ 6.91182123e-03 3.20376395e-05 9.99976113e-01 1.31809507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:112.99, Z:1.32 [[ 2.21719791e-01 -9.75109275e-01 -1.49564518e-03 1.70111337e+02] [ 9.75085925e-01 2.21724832e-01 -6.74813608e-03 1.12985573e+02] [ 6.91179176e-03 3.78127515e-05 9.99976113e-01 1.31813082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:113.01, Z:1.31 [[ 2.22411628e-01 -9.74951710e-01 -1.49382041e-03 1.70115200e+02] [ 9.74928354e-01 2.22416640e-01 -6.74854001e-03 1.13010035e+02] [ 6.91175113e-03 4.45859024e-05 9.99976113e-01 1.31483588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:113.03, Z:1.32 [[ 2.23467133e-01 -9.74710325e-01 -1.49120560e-03 1.70118213e+02] [ 9.74686960e-01 2.23472101e-01 -6.74911809e-03 1.13034854e+02] [ 6.91167793e-03 5.47474104e-05 9.99976113e-01 1.31792299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:113.06, Z:1.32 [[ 2.23474350e-01 -9.74708672e-01 -1.48998548e-03 1.70122401e+02] [ 9.74685305e-01 2.23479310e-01 -6.74938744e-03 1.13057958e+02] [ 6.91166739e-03 5.60480166e-05 9.99976113e-01 1.31841570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:113.08, Z:1.32 [[ 2.22983887e-01 -9.74820995e-01 -1.48794314e-03 1.70126475e+02] [ 9.74797628e-01 2.22988845e-01 -6.74983765e-03 1.13081255e+02] [ 6.91167818e-03 5.46615946e-05 9.99976113e-01 1.31913075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.13, Y:113.11, Z:1.32 [[ 2.20794728e-01 -9.75319168e-01 -1.48597216e-03 1.70130020e+02] [ 9.75295809e-01 2.20799725e-01 -6.75027154e-03 1.13106124e+02] [ 6.91177146e-03 4.11619462e-05 9.99976113e-01 1.31918337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:113.13, Z:1.32 [[ 2.18930706e-01 -9.75739281e-01 -1.48405634e-03 1.70134255e+02] [ 9.75715928e-01 2.18935733e-01 -6.75069271e-03 1.13129576e+02] [ 6.91182901e-03 2.99165053e-05 9.99976113e-01 1.31862170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.14, Y:113.15, Z:1.32 [[ 2.16599993e-01 -9.76259313e-01 -1.48225456e-03 1.70138927e+02] [ 9.76235970e-01 2.16605064e-01 -6.75108830e-03 1.13153353e+02] [ 6.91187667e-03 1.52554556e-05 9.99976113e-01 1.31782871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27264000000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:170.14, Y:113.18, Z:1.32 [[ 2.12245651e-01 -9.77215223e-01 -1.48032417e-03 1.70142616e+02] [ 9.77191900e-01 2.12250813e-01 -6.75151156e-03 1.13177655e+02] [ 6.91187988e-03 -1.35818227e-05 9.99976113e-01 1.31722100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:170.15, Y:113.20, Z:1.32 [[ 2.10477022e-01 -9.77597687e-01 -1.47836954e-03 1.70146876e+02] [ 9.77574370e-01 2.10482212e-01 -6.75193953e-03 1.13201972e+02] [ 6.91185096e-03 -2.40880545e-05 9.99976113e-01 1.31743160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:113.23, Z:1.32 [[ 2.08295164e-01 -9.78064898e-01 -1.47638368e-03 1.70151366e+02] [ 9.78041590e-01 2.08300393e-01 -6.75237373e-03 1.13227540e+02] [ 6.91179103e-03 -3.74778525e-05 9.99976113e-01 1.31918017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:113.25, Z:1.32 [[ 2.07339878e-01 -9.78267857e-01 -1.47453244e-03 1.70155902e+02] [ 9.78244551e-01 2.07345117e-01 -6.75277797e-03 1.13251392e+02] [ 6.91176274e-03 -4.23331630e-05 9.99976113e-01 1.31922628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:113.28, Z:1.32 [[ 2.06595744e-01 -9.78425281e-01 -1.47260084e-03 1.70160147e+02] [ 9.78401976e-01 2.06600987e-01 -6.75319917e-03 1.13275212e+02] [ 6.91174158e-03 -4.56133587e-05 9.99976113e-01 1.31831641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:113.30, Z:1.32 [[ 2.06286662e-01 -9.78490496e-01 -1.47061088e-03 1.70162327e+02] [ 9.78467189e-01 2.06291899e-01 -6.75363249e-03 1.13299299e+02] [ 6.91174031e-03 -4.57601921e-05 9.99976113e-01 1.31647011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:113.32, Z:1.32 [[ 2.06224115e-01 -9.78503683e-01 -1.46879383e-03 1.70165553e+02] [ 9.78480374e-01 2.06229341e-01 -6.75402764e-03 1.13323613e+02] [ 6.91174930e-03 -4.43425608e-05 9.99976113e-01 1.31717038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:113.35, Z:1.32 [[ 2.06308906e-01 -9.78485812e-01 -1.46682820e-03 1.70169624e+02] [ 9.78462500e-01 2.06314116e-01 -6.75445451e-03 1.13347422e+02] [ 6.91176526e-03 -4.17322690e-05 9.99976113e-01 1.31537915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:113.37, Z:1.32 [[ 2.06273151e-01 -9.78493353e-01 -1.46478955e-03 1.70173634e+02] [ 9.78470038e-01 2.06278348e-01 -6.75489658e-03 1.13371862e+02] [ 6.91177578e-03 -3.98988868e-05 9.99976113e-01 1.31597615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:113.40, Z:1.32 [[ 2.06347284e-01 -9.78477725e-01 -1.46290180e-03 1.70176671e+02] [ 9.78454407e-01 2.06352466e-01 -6.75530539e-03 1.13395546e+02] [ 6.91178924e-03 -3.74437937e-05 9.99976113e-01 1.31513959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:113.42, Z:1.32 [[ 2.06189207e-01 -9.78511051e-01 -1.46112581e-03 1.70180851e+02] [ 9.78487730e-01 2.06194381e-01 -6.75568950e-03 1.13420222e+02] [ 6.91179276e-03 -3.67434145e-05 9.99976113e-01 1.31518049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:170.18, Y:113.44, Z:1.31 [[ 2.05696086e-01 -9.78614833e-01 -1.45920498e-03 1.70184940e+02] [ 9.78591512e-01 2.05701259e-01 -6.75610437e-03 1.13444379e+02] [ 6.91178425e-03 -3.82613838e-05 9.99976113e-01 1.31436747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.19, Y:113.47, Z:1.31 [[ 2.05523956e-01 -9.78651000e-01 -1.45729403e-03 1.70188724e+02] [ 9.78627677e-01 2.05529119e-01 -6.75651654e-03 1.13468506e+02] [ 6.91178802e-03 -3.75222617e-05 9.99976113e-01 1.31373679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:113.49, Z:1.31 [[ 2.05092913e-01 -9.78741426e-01 -1.45538849e-03 1.70192460e+02] [ 9.78718103e-01 2.05098073e-01 -6.75692697e-03 1.13493218e+02] [ 6.91178172e-03 -3.86172233e-05 9.99976113e-01 1.31353800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:113.52, Z:1.31 [[ 2.04434234e-01 -9.78879222e-01 -1.45348851e-03 1.70196102e+02] [ 9.78855899e-01 2.04439397e-01 -6.75733566e-03 1.13517128e+02] [ 6.91176578e-03 -4.13250622e-05 9.99976113e-01 1.31158175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:113.54, Z:1.31 [[ 2.02364212e-01 -9.79309256e-01 -1.45152101e-03 1.70200527e+02] [ 9.79285941e-01 2.02369410e-01 -6.75775826e-03 1.13541448e+02] [ 6.91167867e-03 -5.39256943e-05 9.99976113e-01 1.31308386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:113.56, Z:1.31 [[ 2.01122351e-01 -9.79565056e-01 -1.44958165e-03 1.70205846e+02] [ 9.79541745e-01 2.01127565e-01 -6.75817424e-03 1.13564874e+02] [ 6.91162216e-03 -6.07058472e-05 9.99976113e-01 1.31039373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:113.59, Z:1.31 [[ 1.99608451e-01 -9.79874671e-01 -1.44757743e-03 1.70209519e+02] [ 9.79851365e-01 1.99613688e-01 -6.75860351e-03 1.13589853e+02] [ 6.91154066e-03 -6.93363412e-05 9.99976113e-01 1.31460682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:113.62, Z:1.31 [[ 1.99260314e-01 -9.79945540e-01 -1.43698701e-03 1.70213999e+02] [ 9.79922220e-01 1.99265486e-01 -6.76086859e-03 1.13615220e+02] [ 6.91162494e-03 -6.09627004e-05 9.99976113e-01 1.31406168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:113.64, Z:1.32 [[ 1.99428516e-01 -9.79911313e-01 -1.44390106e-03 1.70218315e+02] [ 9.79888002e-01 1.99433732e-01 -6.75939165e-03 1.13639589e+02] [ 6.91156693e-03 -6.68458800e-05 9.99976113e-01 1.31649165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:113.66, Z:1.32 [[ 1.99976199e-01 -9.79799694e-01 -1.44195452e-03 1.70222724e+02] [ 9.79776377e-01 1.99981389e-01 -6.75980688e-03 1.13664329e+02] [ 6.91162078e-03 -6.09924884e-05 9.99976113e-01 1.31734638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:113.69, Z:1.32 [[ 2.01430030e-01 -9.79501848e-01 -1.44001732e-03 1.70226034e+02] [ 9.79478520e-01 2.01435171e-01 -6.76021953e-03 1.13687950e+02] [ 6.91171765e-03 -4.87548074e-05 9.99976113e-01 1.31771507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:113.71, Z:1.32 [[ 2.01767787e-01 -9.79432332e-01 -1.43800111e-03 1.70230465e+02] [ 9.79408999e-01 2.01772907e-01 -6.76064838e-03 1.13710989e+02] [ 6.91174727e-03 -4.43101627e-05 9.99976113e-01 1.31640960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:113.74, Z:1.32 [[ 2.01791243e-01 -9.79427502e-01 -1.43620658e-03 1.70235638e+02] [ 9.79404167e-01 2.01796350e-01 -6.76102958e-03 1.13735154e+02] [ 6.91175956e-03 -4.23101458e-05 9.99976113e-01 1.31744316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:113.76, Z:1.32 [[ 2.01171569e-01 -9.79554972e-01 -1.43429040e-03 1.70241788e+02] [ 9.79531637e-01 2.01176677e-01 -6.76143605e-03 1.13758958e+02] [ 6.91174408e-03 -4.47241198e-05 9.99976113e-01 1.31898834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:170.25, Y:113.78, Z:1.32 [[ 2.00395677e-01 -9.79714000e-01 -1.43231672e-03 1.70247176e+02] [ 9.79690666e-01 2.00400790e-01 -6.76185413e-03 1.13782589e+02] [ 6.91172055e-03 -4.81809810e-05 9.99976113e-01 1.31801379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:113.81, Z:1.32 [[ 1.99444241e-01 -9.79908140e-01 -1.42578266e-03 1.70251511e+02] [ 9.79884801e-01 1.99449331e-01 -6.76323574e-03 1.13807141e+02] [ 6.91172115e-03 -4.82143349e-05 9.99976113e-01 1.32016282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:113.83, Z:1.32 [[ 1.98927808e-01 -9.80013106e-01 -1.42843504e-03 1.70256629e+02] [ 9.79989774e-01 1.98932929e-01 -6.76267549e-03 1.13830727e+02] [ 6.91167338e-03 -5.45675245e-05 9.99976113e-01 1.31896974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:113.85, Z:1.32 [[ 1.98210838e-01 -9.80158369e-01 -1.42657464e-03 1.70262155e+02] [ 9.80135038e-01 1.98215963e-01 -6.76306792e-03 1.13854815e+02] [ 6.91164749e-03 -5.77224340e-05 9.99976113e-01 1.31781097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:113.88, Z:1.32 [[ 1.98032877e-01 -9.80194343e-01 -1.42461125e-03 1.70270025e+02] [ 9.80171010e-01 1.98037993e-01 -6.76348147e-03 1.13877986e+02] [ 6.91165343e-03 -5.69709551e-05 9.99976113e-01 1.31841915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:113.90, Z:1.32 [[ 1.98750919e-01 -9.80049003e-01 -1.42262074e-03 1.70275846e+02] [ 9.80025663e-01 1.98756004e-01 -6.76390013e-03 1.13900996e+02] [ 6.91170799e-03 -4.98734732e-05 9.99976113e-01 1.31925576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:113.93, Z:1.32 [[ 1.99773362e-01 -9.79841102e-01 -1.42056408e-03 1.70281297e+02] [ 9.79817754e-01 1.99778408e-01 -6.76433204e-03 1.13925411e+02] [ 6.91176860e-03 -4.05605516e-05 9.99976113e-01 1.32071349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:113.95, Z:1.32 [[ 2.03059924e-01 -9.79165285e-01 -1.41863866e-03 1.70288167e+02] [ 9.79141917e-01 2.03064879e-01 -6.76473582e-03 1.13949579e+02] [ 6.91187017e-03 -1.54018389e-05 9.99976113e-01 1.32235153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:113.97, Z:1.32 [[ 2.04703393e-01 -9.78823025e-01 -1.41669197e-03 1.70293501e+02] [ 9.78799646e-01 2.04708295e-01 -6.76514348e-03 1.13972355e+02] [ 6.91188680e-03 -1.80977254e-06 9.99976113e-01 1.32198682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:114.00, Z:1.32 [[ 2.09243675e-01 -9.77862507e-01 -1.41467329e-03 1.70298450e+02] [ 9.77839103e-01 2.09248454e-01 -6.76556559e-03 1.13995644e+02] [ 6.91181113e-03 3.23289417e-05 9.99976113e-01 1.31779825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:114.02, Z:1.32 [[ 2.10621206e-01 -9.77566745e-01 -1.40265113e-03 1.70303151e+02] [ 9.77543317e-01 2.10625870e-01 -6.76807553e-03 1.14021435e+02] [ 6.91168018e-03 5.43479933e-05 9.99976113e-01 1.31863326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:114.04, Z:1.32 [[ 2.11998614e-01 -9.77268948e-01 -1.41079096e-03 1.70308192e+02] [ 9.77245525e-01 2.12003300e-01 -6.76637837e-03 1.14044835e+02] [ 6.91166382e-03 5.57736773e-05 9.99976113e-01 1.31723321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:114.07, Z:1.32 [[ 2.13045355e-01 -9.77041295e-01 -1.40875061e-03 1.70313441e+02] [ 9.77017864e-01 2.13050002e-01 -6.76680315e-03 1.14067619e+02] [ 6.91158043e-03 6.52614664e-05 9.99976113e-01 1.31598020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:114.09, Z:1.32 [[ 2.14183707e-01 -9.76792383e-01 -1.40691768e-03 1.70319010e+02] [ 9.76768945e-01 2.14188315e-01 -6.76718422e-03 1.14091690e+02] [ 6.91147933e-03 7.51871049e-05 9.99976113e-01 1.31683835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.32, Y:114.11, Z:1.31 [[ 2.14366627e-01 -9.76752259e-01 -1.40495631e-03 1.70323830e+02] [ 9.76728817e-01 2.14371217e-01 -6.76759140e-03 1.14114643e+02] [ 6.91144238e-03 7.84844285e-05 9.99976113e-01 1.31477981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:114.14, Z:1.32 [[ 2.14385574e-01 -9.76748103e-01 -1.40292867e-03 1.70328415e+02] [ 9.76724658e-01 2.14390149e-01 -6.76801170e-03 1.14139256e+02] [ 6.91141668e-03 8.06890471e-05 9.99976113e-01 1.31639587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.33, Y:114.16, Z:1.32 [[ 2.14969963e-01 -9.76619656e-01 -1.40110611e-03 1.70333202e+02] [ 9.76596205e-01 2.14974511e-01 -6.76838899e-03 1.14162878e+02] [ 6.91134382e-03 8.66854191e-05 9.99976113e-01 1.31556059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:114.19, Z:1.32 [[ 2.14976355e-01 -9.76618252e-01 -1.39904320e-03 1.70337697e+02] [ 9.76594798e-01 2.14980889e-01 -6.76881537e-03 1.14187329e+02] [ 6.91131618e-03 8.88369417e-05 9.99976113e-01 1.31556961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:114.21, Z:1.32 [[ 2.15426705e-01 -9.76519013e-01 -1.39708556e-03 1.70342594e+02] [ 9.76495555e-01 2.15431215e-01 -6.76921940e-03 1.14211433e+02] [ 6.91124729e-03 9.40227893e-05 9.99976113e-01 1.31636459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:114.23, Z:1.32 [[ 2.15367432e-01 -9.76532090e-01 -1.39513122e-03 1.70346673e+02] [ 9.76508630e-01 2.15371929e-01 -6.76962217e-03 1.14234316e+02] [ 6.91122539e-03 9.55984587e-05 9.99976113e-01 1.31628295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:114.26, Z:1.32 [[ 2.15167039e-01 -9.76576267e-01 -1.39311222e-03 1.70350880e+02] [ 9.76552805e-01 2.15171527e-01 -6.77003763e-03 1.14257162e+02] [ 6.91121616e-03 9.62413084e-05 9.99976113e-01 1.31573640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:114.28, Z:1.32 [[ 2.14735696e-01 -9.76671207e-01 -1.39113671e-03 1.70354618e+02] [ 9.76647744e-01 2.14740181e-01 -6.77044354e-03 1.14281388e+02] [ 6.91123021e-03 9.52053775e-05 9.99976113e-01 1.31703687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:114.30, Z:1.32 [[ 2.14626189e-01 -9.76695280e-01 -1.38919114e-03 1.70358012e+02] [ 9.76671815e-01 2.14630663e-01 -6.77084272e-03 1.14304677e+02] [ 6.91121314e-03 9.64163417e-05 9.99976113e-01 1.31749617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:114.33, Z:1.32 [[ 2.14488168e-01 -9.76725602e-01 -1.38717627e-03 1.70361194e+02] [ 9.76702135e-01 2.14492631e-01 -6.77125549e-03 1.14328064e+02] [ 6.91119768e-03 9.74961532e-05 9.99976113e-01 1.31767196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:114.35, Z:1.32 [[ 2.14482905e-01 -9.76726760e-01 -1.38518581e-03 1.70363393e+02] [ 9.76703291e-01 2.14487355e-01 -6.77166265e-03 1.14353228e+02] [ 6.91116896e-03 9.94903436e-05 9.99976113e-01 1.32018589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:114.38, Z:1.32 [[ 2.14204341e-01 -9.76787893e-01 -1.38326101e-03 1.70368063e+02] [ 9.76764422e-01 2.14208784e-01 -6.77205581e-03 1.14377958e+02] [ 6.91116878e-03 9.94836071e-05 9.99976113e-01 1.32035967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:114.40, Z:1.32 [[ 2.13875792e-01 -9.76859886e-01 -1.38132951e-03 1.70371948e+02] [ 9.76836415e-01 2.13880229e-01 -6.77244977e-03 1.14401663e+02] [ 6.91117358e-03 9.91300892e-05 9.99976113e-01 1.32017097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:114.43, Z:1.32 [[ 2.13043097e-01 -9.77041829e-01 -1.37932831e-03 1.70375950e+02] [ 9.77018359e-01 2.13047540e-01 -6.77285732e-03 1.14426072e+02] [ 6.91122741e-03 9.52814098e-05 9.99976113e-01 1.32202802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:114.45, Z:1.32 [[ 2.11928189e-01 -9.77284270e-01 -1.37747299e-03 1.70379461e+02] [ 9.77260803e-01 2.11932647e-01 -6.77323464e-03 1.14451047e+02] [ 6.91130717e-03 8.92889850e-05 9.99976113e-01 1.31901333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:114.48, Z:1.32 [[ 2.10755885e-01 -9.77537777e-01 -1.36083785e-03 1.70382652e+02] [ 9.77514293e-01 2.10760256e-01 -6.77661168e-03 1.14476245e+02] [ 6.91120445e-03 9.79723419e-05 9.99976113e-01 1.31959425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:114.50, Z:1.32 [[ 2.09616428e-01 -9.77782729e-01 -1.37378928e-03 1.70386107e+02] [ 9.77759267e-01 2.09620916e-01 -6.77398508e-03 1.14501731e+02] [ 6.91146059e-03 7.67033580e-05 9.99976113e-01 1.31530326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:114.53, Z:1.32 [[ 2.08861407e-01 -9.77944273e-01 -1.38253059e-03 1.70389724e+02] [ 9.77920826e-01 2.08865973e-01 -6.77221520e-03 1.14525650e+02] [ 6.91161267e-03 6.24489374e-05 9.99976113e-01 1.32034493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:114.55, Z:1.32 [[ 2.08327918e-01 -9.78058079e-01 -1.36884938e-03 1.70393043e+02] [ 9.78034616e-01 2.08332402e-01 -6.77497942e-03 1.14548989e+02] [ 6.91149903e-03 7.26352819e-05 9.99976113e-01 1.31954565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:114.57, Z:1.32 [[ 2.07429931e-01 -9.78248923e-01 -1.36681147e-03 1.70395232e+02] [ 9.78225462e-01 2.07434423e-01 -6.77539053e-03 1.14572201e+02] [ 6.91154224e-03 6.83690086e-05 9.99976113e-01 1.32033998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:114.60, Z:1.32 [[ 2.06921069e-01 -9.78356688e-01 -1.36498527e-03 1.70399211e+02] [ 9.78333226e-01 2.06925560e-01 -6.77575842e-03 1.14597111e+02] [ 6.91155890e-03 6.66367245e-05 9.99976113e-01 1.31897369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:114.62, Z:1.32 [[ 2.06413591e-01 -9.78463882e-01 -1.36396797e-03 1.70403319e+02] [ 9.78440422e-01 2.06418087e-01 -6.77596308e-03 1.14621652e+02] [ 6.91158280e-03 6.40894765e-05 9.99976113e-01 1.32336886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:114.65, Z:1.33 [[ 2.05959449e-01 -9.78559580e-01 -1.36132449e-03 1.70407906e+02] [ 9.78536119e-01 2.05963938e-01 -6.77649412e-03 1.14646923e+02] [ 6.91158700e-03 6.35778184e-05 9.99976113e-01 1.32507130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:114.67, Z:1.32 [[ 2.05430149e-01 -9.78670836e-01 -1.35950268e-03 1.70411896e+02] [ 9.78647375e-01 2.05434638e-01 -6.77685959e-03 1.14670271e+02] [ 6.91160379e-03 6.16975404e-05 9.99976113e-01 1.32344492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:114.69, Z:1.32 [[ 2.05519087e-01 -9.78652166e-01 -1.35764755e-03 1.70415434e+02] [ 9.78628701e-01 2.05523561e-01 -6.77723122e-03 1.14694232e+02] [ 6.91158057e-03 6.42175089e-05 9.99976113e-01 1.32458318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19264000000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:170.42, Y:114.72, Z:1.32 [[ 2.06026460e-01 -9.78545482e-01 -1.35570301e-03 1.70419362e+02] [ 9.78522012e-01 2.06030908e-01 -6.77762018e-03 1.14718070e+02] [ 6.91152633e-03 6.97838497e-05 9.99976113e-01 1.32343254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:114.74, Z:1.32 [[ 2.06856689e-01 -9.78370317e-01 -1.35368572e-03 1.70422768e+02] [ 9.78346842e-01 2.06861103e-01 -6.77802307e-03 1.14741764e+02] [ 6.91144150e-03 7.77052585e-05 9.99976113e-01 1.32237464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:114.77, Z:1.32 [[ 2.09119747e-01 -9.77889106e-01 -1.35189427e-03 1.70425167e+02] [ 9.77865618e-01 2.09124095e-01 -6.77838036e-03 1.14766116e+02] [ 6.91121798e-03 9.55222620e-05 9.99976113e-01 1.32060559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:114.79, Z:1.32 [[ 2.10096424e-01 -9.77679738e-01 -1.34999035e-03 1.70428513e+02] [ 9.77656243e-01 2.10100735e-01 -6.77875953e-03 1.14790529e+02] [ 6.91108980e-03 1.04366643e-04 9.99976113e-01 1.31997801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:170.43, Y:114.82, Z:1.32 [[ 2.11251695e-01 -9.77430767e-01 -1.34807261e-03 1.70431464e+02] [ 9.77407264e-01 2.11255965e-01 -6.77914088e-03 1.14816404e+02] [ 6.91092925e-03 1.14489041e-04 9.99976113e-01 1.31915711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:114.84, Z:1.32 [[ 2.11095432e-01 -9.77464529e-01 -1.34633130e-03 1.70434997e+02] [ 9.77441025e-01 2.11099694e-01 -6.77948668e-03 1.14840804e+02] [ 6.91091789e-03 1.15159220e-04 9.99976113e-01 1.31869218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:114.86, Z:1.32 [[ 2.10645934e-01 -9.77561498e-01 -1.34473826e-03 1.70438725e+02] [ 9.77537994e-01 2.10650195e-01 -6.77980265e-03 1.14863948e+02] [ 6.91094342e-03 1.13605116e-04 9.99976113e-01 1.31860109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:114.89, Z:1.32 [[ 2.09754131e-01 -9.77753242e-01 -1.34273933e-03 1.70442220e+02] [ 9.77729739e-01 2.09758400e-01 -6.78019852e-03 1.14888445e+02] [ 6.91101194e-03 1.09338469e-04 9.99976113e-01 1.32044739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:114.91, Z:1.32 [[ 2.09247653e-01 -9.77861760e-01 -1.34082674e-03 1.70445743e+02] [ 9.77838257e-01 2.09251921e-01 -6.78057673e-03 1.14911994e+02] [ 6.91103726e-03 1.07708083e-04 9.99976113e-01 1.31991000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:170.45, Y:114.94, Z:1.32 [[ 2.09075701e-01 -9.77898542e-01 -1.33884189e-03 1.70449404e+02] [ 9.77875037e-01 2.09079960e-01 -6.78096862e-03 1.14935983e+02] [ 6.91102433e-03 1.08515711e-04 9.99976113e-01 1.32361829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:114.96, Z:1.32 [[ 2.09445174e-01 -9.77819478e-01 -1.33687430e-03 1.70451426e+02] [ 9.77795970e-01 2.09449410e-01 -6.78135651e-03 1.14960213e+02] [ 6.91095001e-03 1.13132084e-04 9.99976113e-01 1.31956646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:114.98, Z:1.32 [[ 2.09789199e-01 -9.77745729e-01 -1.33491705e-03 1.70455122e+02] [ 9.77722216e-01 2.09793413e-01 -6.78174177e-03 1.14984329e+02] [ 6.91087585e-03 1.17558117e-04 9.99976113e-01 1.32232342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:115.01, Z:1.32 [[ 2.10030135e-01 -9.77694004e-01 -1.33298940e-03 1.70458389e+02] [ 9.77670488e-01 2.10034330e-01 -6.78212064e-03 1.15007468e+02] [ 6.91081222e-03 1.21225321e-04 9.99976113e-01 1.32257665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:115.03, Z:1.32 [[ 2.10172180e-01 -9.77663482e-01 -1.33099753e-03 1.70461518e+02] [ 9.77639962e-01 2.10176358e-01 -6.78251152e-03 1.15032364e+02] [ 6.91075804e-03 1.24258861e-04 9.99976113e-01 1.32266278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.46, Y:115.06, Z:1.32 [[ 2.09668189e-01 -9.77771693e-01 -1.32909530e-03 1.70464213e+02] [ 9.77748174e-01 2.09672366e-01 -6.78288426e-03 1.15056592e+02] [ 6.91078679e-03 1.22634559e-04 9.99976113e-01 1.32324278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:115.08, Z:1.32 [[ 2.08757849e-01 -9.77966461e-01 -1.32717812e-03 1.70468388e+02] [ 9.77942943e-01 2.08762034e-01 -6.78325937e-03 1.15081077e+02] [ 6.91086456e-03 1.18154160e-04 9.99976113e-01 1.32317518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:115.11, Z:1.32 [[ 2.07106541e-01 -9.78317497e-01 -1.32526122e-03 1.70472837e+02] [ 9.78293984e-01 2.07110752e-01 -6.78363386e-03 1.15105232e+02] [ 6.91102354e-03 1.08439862e-04 9.99976113e-01 1.32207020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:115.13, Z:1.32 [[ 2.05887555e-01 -9.78574761e-01 -1.32334422e-03 1.70476656e+02] [ 9.78551251e-01 2.05891783e-01 -6.78400780e-03 1.15128756e+02] [ 6.91112452e-03 1.01782642e-04 9.99976113e-01 1.32149518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:115.15, Z:1.32 [[ 2.04863101e-01 -9.78789744e-01 -1.32154942e-03 1.70480493e+02] [ 9.78766236e-01 2.04867341e-01 -6.78435742e-03 1.15153422e+02] [ 6.91120178e-03 9.63765462e-05 9.99976113e-01 1.32104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264000000003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:170.48, Y:115.18, Z:1.32 [[ 2.02747441e-01 -9.79230174e-01 -1.31964507e-03 1.70484527e+02] [ 9.79206673e-01 2.02751718e-01 -6.78472782e-03 1.15177834e+02] [ 6.91137051e-03 8.33809454e-05 9.99976113e-01 1.32030211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:115.20, Z:1.32 [[ 2.01946304e-01 -9.79395709e-01 -1.31768864e-03 1.70488648e+02] [ 9.79372208e-01 2.01950588e-01 -6.78510776e-03 1.15201971e+02] [ 6.91141342e-03 7.97198024e-05 9.99976113e-01 1.32148398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.49, Y:115.23, Z:1.32 [[ 2.00709215e-01 -9.79649978e-01 -1.31576784e-03 1.70492358e+02] [ 9.79626481e-01 2.00713515e-01 -6.78548022e-03 1.15225667e+02] [ 6.91148794e-03 7.29473867e-05 9.99976113e-01 1.32215501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:115.25, Z:1.32 [[ 1.99405748e-01 -9.79916130e-01 -1.31375819e-03 1.70497539e+02] [ 9.79892636e-01 1.99410065e-01 -6.78586930e-03 1.15250361e+02] [ 6.91155939e-03 6.57993710e-05 9.99976113e-01 1.32426558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:115.27, Z:1.33 [[ 1.98338836e-01 -9.80132636e-01 -1.31199459e-03 1.70502799e+02] [ 9.80109145e-01 1.98343166e-01 -6.78621026e-03 1.15274304e+02] [ 6.91161131e-03 6.00711446e-05 9.99976113e-01 1.32506431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:115.30, Z:1.33 [[ 1.95997640e-01 -9.80603492e-01 -1.31003594e-03 1.70509599e+02] [ 9.80580009e-01 1.96002012e-01 -6.78658834e-03 1.15299033e+02] [ 6.91172191e-03 4.55602426e-05 9.99976113e-01 1.32577030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:115.32, Z:1.32 [[ 1.94704630e-01 -9.80861048e-01 -1.30819076e-03 1.70514982e+02] [ 9.80837568e-01 1.94709021e-01 -6.78694400e-03 1.15322517e+02] [ 6.91176555e-03 3.83267782e-05 9.99976113e-01 1.32462236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:115.35, Z:1.33 [[ 1.93583845e-01 -9.81082865e-01 -1.30626343e-03 1.70520403e+02] [ 9.81059388e-01 1.93588250e-01 -6.78731493e-03 1.15347013e+02] [ 6.91179563e-03 3.23925243e-05 9.99976113e-01 1.32760872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:115.37, Z:1.32 [[ 1.91847681e-01 -9.81423846e-01 -1.30442289e-03 1.70527382e+02] [ 9.81400374e-01 1.91852115e-01 -6.78766864e-03 1.15370882e+02] [ 6.91183615e-03 2.20373832e-05 9.99976113e-01 1.32249166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:115.40, Z:1.32 [[ 1.90899986e-01 -9.81608628e-01 -1.30252813e-03 1.70533227e+02] [ 9.81585158e-01 1.90904429e-01 -6.78803222e-03 1.15395097e+02] [ 6.91184938e-03 1.72929757e-05 9.99976113e-01 1.32189520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:115.42, Z:1.32 [[ 1.89799927e-01 -9.81821927e-01 -1.30060335e-03 1.70541103e+02] [ 9.81798459e-01 1.89804383e-01 -6.78840099e-03 1.15417922e+02] [ 6.91186115e-03 1.15076519e-05 9.99976113e-01 1.32048821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09264000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.55, Y:115.44, Z:1.32 [[ 1.89395260e-01 -9.81900071e-01 -1.29878571e-03 1.70547413e+02] [ 9.81876602e-01 1.89399713e-01 -6.78874873e-03 1.15442017e+02] [ 6.91186250e-03 1.05095338e-05 9.99976113e-01 1.32354539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:115.47, Z:1.32 [[ 1.89403432e-01 -9.81898497e-01 -1.29680591e-03 1.70554061e+02] [ 9.81875026e-01 1.89407871e-01 -6.78912690e-03 1.15466010e+02] [ 6.91185874e-03 1.25826024e-05 9.99976113e-01 1.32445258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:170.56, Y:115.49, Z:1.32 [[ 1.90313604e-01 -9.81722494e-01 -1.29479657e-03 1.70562350e+02] [ 9.81699016e-01 1.90318007e-01 -6.78951009e-03 1.15489041e+02] [ 6.91183788e-03 2.10356138e-05 9.99976113e-01 1.32350637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:115.51, Z:1.33 [[ 1.91353962e-01 -9.81520244e-01 -1.29288673e-03 1.70568265e+02] [ 9.81496759e-01 1.91358327e-01 -6.78987375e-03 1.15513377e+02] [ 6.91180318e-03 3.03051117e-05 9.99976113e-01 1.32565957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:115.54, Z:1.32 [[ 1.92438959e-01 -9.81308097e-01 -1.29089903e-03 1.70573714e+02] [ 9.81284604e-01 1.92443284e-01 -6.79025163e-03 1.15536831e+02] [ 6.91175375e-03 3.99696077e-05 9.99976113e-01 1.32343949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:115.56, Z:1.33 [[ 1.95934754e-01 -9.80616087e-01 -1.28931464e-03 1.70581576e+02] [ 9.80592577e-01 1.95938985e-01 -6.79055246e-03 1.15561252e+02] [ 6.91155198e-03 6.62128572e-05 9.99976113e-01 1.32813020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:115.59, Z:1.32 [[ 1.97549465e-01 -9.80292074e-01 -1.28753805e-03 1.70587399e+02] [ 9.80268556e-01 1.97553645e-01 -6.79088929e-03 1.15585432e+02] [ 6.91141279e-03 7.94034830e-05 9.99976113e-01 1.32337433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:115.61, Z:1.33 [[ 1.99859316e-01 -9.79823755e-01 -1.28937105e-03 1.70591906e+02] [ 9.79800229e-01 1.99863453e-01 -6.79054239e-03 1.15609964e+02] [ 6.91123290e-03 9.38271084e-05 9.99976113e-01 1.32960676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:115.63, Z:1.33 [[ 2.02544157e-01 -9.79272290e-01 -1.28283330e-03 1.70594967e+02] [ 9.79248745e-01 2.02548185e-01 -6.79177725e-03 1.15633499e+02] [ 6.91083482e-03 1.19421904e-04 9.99976113e-01 1.32815494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:115.66, Z:1.33 [[ 2.08393966e-01 -9.78044127e-01 -1.28082500e-03 1.70598835e+02] [ 9.78020556e-01 2.08397838e-01 -6.79215596e-03 1.15658708e+02] [ 6.90994941e-03 1.62771139e-04 9.99976113e-01 1.32535048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:115.68, Z:1.33 [[ 2.11013329e-01 -9.77482347e-01 -1.27901184e-03 1.70602811e+02] [ 9.77458764e-01 2.11017126e-01 -6.79249738e-03 1.15683248e+02] [ 6.90943968e-03 1.83126157e-04 9.99976113e-01 1.32596932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.60, Y:115.71, Z:1.32 [[ 2.15595947e-01 -9.76481826e-01 -1.27707570e-03 1.70604105e+02] [ 9.76458223e-01 2.15599620e-01 -6.79286137e-03 1.15707025e+02] [ 6.90844271e-03 2.17502316e-04 9.99976113e-01 1.32361218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:115.73, Z:1.33 [[ 2.17252678e-01 -9.76114567e-01 -1.27507472e-03 1.70607081e+02] [ 9.76090956e-01 2.17256296e-01 -6.79323695e-03 1.15731596e+02] [ 6.90799556e-03 2.31260013e-04 9.99976113e-01 1.32535398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:115.76, Z:1.33 [[ 2.18349014e-01 -9.75869913e-01 -1.27320181e-03 1.70610137e+02] [ 9.75846296e-01 2.18352593e-01 -6.79358796e-03 1.15756773e+02] [ 6.90766501e-03 2.40923965e-04 9.99976113e-01 1.32730373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:115.78, Z:1.33 [[ 2.19251026e-01 -9.75667654e-01 -1.27137122e-03 1.70610583e+02] [ 9.75644031e-01 2.19254571e-01 -6.79393052e-03 1.15781213e+02] [ 6.90737221e-03 2.49170492e-04 9.99976113e-01 1.32511579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:115.81, Z:1.32 [[ 2.18392116e-01 -9.75860273e-01 -1.26941664e-03 1.70612521e+02] [ 9.75836651e-01 2.18395667e-01 -6.79429571e-03 1.15808139e+02] [ 6.90751836e-03 2.45077331e-04 9.99976113e-01 1.32239684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:115.83, Z:1.33 [[ 2.18056317e-01 -9.75935341e-01 -1.28558137e-03 1.70614348e+02] [ 9.75911738e-01 2.18059989e-01 -6.79128013e-03 1.15832334e+02] [ 6.90818415e-03 2.26267589e-04 9.99976113e-01 1.32925003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:115.86, Z:1.33 [[ 2.17137948e-01 -9.76140109e-01 -1.26468177e-03 1.70616487e+02] [ 9.76116487e-01 2.17141498e-01 -6.79516986e-03 1.15857075e+02] [ 6.90765274e-03 2.41012518e-04 9.99976113e-01 1.33039398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:170.62, Y:115.88, Z:1.33 [[ 2.14674147e-01 -9.76684911e-01 -1.26275379e-03 1.70616801e+02] [ 9.76661296e-01 2.14677742e-01 -6.79552812e-03 1.15882804e+02] [ 6.90817491e-03 2.25541446e-04 9.99976113e-01 1.33168063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:115.91, Z:1.33 [[ 2.13469116e-01 -9.76948999e-01 -1.26096294e-03 1.70619064e+02] [ 9.76925387e-01 2.13472728e-01 -6.79586041e-03 1.15907037e+02] [ 6.90839022e-03 2.18839607e-04 9.99976113e-01 1.33256923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:115.93, Z:1.33 [[ 2.13191440e-01 -9.77009634e-01 -1.25910155e-03 1.70623289e+02] [ 9.76986020e-01 2.13195045e-01 -6.79620526e-03 1.15931839e+02] [ 6.90839222e-03 2.18768165e-04 9.99976113e-01 1.33274300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:115.96, Z:1.33 [[ 2.11072163e-01 -9.77469673e-01 -1.25716980e-03 1.70621894e+02] [ 9.77446065e-01 2.11075806e-01 -6.79656258e-03 1.15955977e+02] [ 6.90879193e-03 2.05749492e-04 9.99976113e-01 1.33385162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:115.98, Z:1.33 [[ 2.09840799e-01 -9.77734761e-01 -1.25516830e-03 1.70623819e+02] [ 9.77711156e-01 2.09844458e-01 -6.79693219e-03 1.15982788e+02] [ 6.90898698e-03 1.99081625e-04 9.99976113e-01 1.33436007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:116.01, Z:1.34 [[ 2.08955930e-01 -9.77924246e-01 -1.26050428e-03 1.70624843e+02] [ 9.77900650e-01 2.08959648e-01 -6.79594791e-03 1.16007475e+02] [ 6.90931676e-03 1.87405665e-04 9.99976113e-01 1.33538989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:116.03, Z:1.33 [[ 2.06010758e-01 -9.78548926e-01 -1.25164224e-03 1.70622392e+02] [ 9.78525332e-01 2.06014485e-01 -6.79757968e-03 1.16032199e+02] [ 6.90962073e-03 1.75610905e-04 9.99976113e-01 1.33459864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:116.06, Z:1.34 [[ 2.03870329e-01 -9.78997101e-01 -1.25146359e-03 1.70624681e+02] [ 9.78973514e-01 2.03874107e-01 -6.79761252e-03 1.16057209e+02] [ 6.90998397e-03 1.60681786e-04 9.99976113e-01 1.33621157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:116.08, Z:1.34 [[ 1.99014563e-01 -9.79995738e-01 -1.24786598e-03 1.70624616e+02] [ 9.79972166e-01 1.99018433e-01 -6.79827288e-03 1.16082610e+02] [ 6.91062678e-03 1.30081381e-04 9.99976113e-01 1.33545906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.11, Z:1.33 [[ 1.96432910e-01 -9.80516476e-01 -1.24590884e-03 1.70626621e+02] [ 9.80492912e-01 1.96436828e-01 -6.79863154e-03 1.16108412e+02] [ 6.91091262e-03 1.13870193e-04 9.99976113e-01 1.33178905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.13, Z:1.33 [[ 1.94418549e-01 -9.80917873e-01 -1.24672748e-03 1.70628509e+02] [ 9.80894318e-01 1.94422521e-01 -6.79848177e-03 1.16132714e+02] [ 6.91114418e-03 9.88430572e-05 9.99976113e-01 1.33195312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.16, Z:1.33 [[ 1.92325839e-01 -9.81330337e-01 -1.24187737e-03 1.70629954e+02] [ 9.81306785e-01 1.92329827e-01 -6.79936763e-03 1.16157867e+02] [ 6.91127578e-03 8.90313959e-05 9.99976113e-01 1.32883278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.18, Z:1.33 [[ 1.90941100e-01 -9.81600701e-01 -1.24918187e-03 1.70628216e+02] [ 9.81577164e-01 1.90945172e-01 -6.79803526e-03 1.16182215e+02] [ 6.91148142e-03 7.18559325e-05 9.99976113e-01 1.33168271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.21, Z:1.33 [[ 1.90394822e-01 -9.81706819e-01 -1.23822823e-03 1.70629213e+02] [ 9.81683271e-01 1.90398832e-01 -6.80002983e-03 1.16206880e+02] [ 6.91139286e-03 7.91425324e-05 9.99976113e-01 1.33181629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.23, Z:1.33 [[ 1.90337134e-01 -9.81718008e-01 -1.23631215e-03 1.70627004e+02] [ 9.81694458e-01 1.90341132e-01 -6.80037817e-03 1.16230975e+02] [ 6.91137476e-03 8.06837051e-05 9.99976113e-01 1.33109218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.26, Z:1.33 [[ 1.90231570e-01 -9.81738471e-01 -1.23432151e-03 1.70628618e+02] [ 9.81714919e-01 1.90235557e-01 -6.80073947e-03 1.16256181e+02] [ 6.91135941e-03 8.19634995e-05 9.99976113e-01 1.33106238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.28, Z:1.33 [[ 1.89923858e-01 -9.81798049e-01 -1.23240485e-03 1.70630470e+02] [ 9.81774496e-01 1.89927839e-01 -6.80108678e-03 1.16281209e+02] [ 6.91136172e-03 8.17449846e-05 9.99976113e-01 1.33032586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.31, Z:1.33 [[ 1.89012741e-01 -9.81973864e-01 -1.23047503e-03 1.70629323e+02] [ 9.81950312e-01 1.89016730e-01 -6.80143591e-03 1.16306468e+02] [ 6.91141267e-03 7.72927082e-05 9.99976113e-01 1.33029515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.63, Y:116.33, Z:1.33 [[ 1.88383496e-01 -9.82094776e-01 -1.22852355e-03 1.70630112e+02] [ 9.82071225e-01 1.88387487e-01 -6.80178838e-03 1.16331143e+02] [ 6.91143930e-03 7.48470486e-05 9.99976113e-01 1.33025890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.36, Z:1.33 [[ 1.87896496e-01 -9.82188069e-01 -1.22654404e-03 1.70631138e+02] [ 9.82164517e-01 1.87900485e-01 -6.80214532e-03 1.16355054e+02] [ 6.91145420e-03 7.34312328e-05 9.99976113e-01 1.33069087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.38, Z:1.33 [[ 1.87843697e-01 -9.82198171e-01 -1.22449146e-03 1.70630352e+02] [ 9.82174617e-01 1.87847673e-01 -6.80251480e-03 1.16381548e+02] [ 6.91143546e-03 7.51451013e-05 9.99976113e-01 1.33440849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.41, Z:1.33 [[ 1.87543877e-01 -9.82255465e-01 -1.22277669e-03 1.70632231e+02] [ 9.82231911e-01 1.87547848e-01 -6.80282302e-03 1.16406817e+02] [ 6.91143923e-03 7.47775168e-05 9.99976113e-01 1.32884696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:116.43, Z:1.33 [[ 1.86811106e-01 -9.82395089e-01 -1.22472759e-03 1.70632988e+02] [ 9.82371540e-01 1.86815108e-01 -6.80247293e-03 1.16431134e+02] [ 6.91151361e-03 6.76399588e-05 9.99976113e-01 1.33269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:116.46, Z:1.34 [[ 1.86215736e-01 -9.82508124e-01 -1.21906460e-03 1.70635452e+02] [ 9.82484570e-01 1.86219713e-01 -6.80348763e-03 1.16455851e+02] [ 6.91149573e-03 6.92042910e-05 9.99976113e-01 1.33515188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:116.48, Z:1.34 [[ 1.85558353e-01 -9.82632493e-01 -1.21721527e-03 1.70638083e+02] [ 9.82608940e-01 1.85562333e-01 -6.80381848e-03 1.16482271e+02] [ 6.91152242e-03 6.64587510e-05 9.99976113e-01 1.33596376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:116.51, Z:1.33 [[ 1.83892468e-01 -9.82945615e-01 -1.21570611e-03 1.70637912e+02] [ 9.82922067e-01 1.83896478e-01 -6.80408810e-03 1.16506354e+02] [ 6.91161264e-03 5.62761982e-05 9.99976113e-01 1.33458848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:116.53, Z:1.34 [[ 1.82328702e-01 -9.83236890e-01 -1.20985228e-03 1.70640137e+02] [ 9.83213341e-01 1.82332708e-01 -6.80513152e-03 1.16530621e+02] [ 6.91165199e-03 5.12278947e-05 9.99976113e-01 1.33521410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.64, Y:116.55, Z:1.33 [[ 1.81162475e-01 -9.83452435e-01 -1.21086342e-03 1.70644167e+02] [ 9.83428892e-01 1.81166516e-01 -6.80495160e-03 1.16554763e+02] [ 6.91171413e-03 4.20037969e-05 9.99976113e-01 1.32935718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:116.58, Z:1.33 [[ 1.78161018e-01 -9.84000616e-01 -1.19990076e-03 1.70648610e+02] [ 9.83977072e-01 1.78165056e-01 -6.80689935e-03 1.16580101e+02] [ 6.91177353e-03 3.20492822e-05 9.99976113e-01 1.33127064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:116.60, Z:1.33 [[ 1.77190489e-01 -9.84175834e-01 -1.20751613e-03 1.70651226e+02] [ 9.84152304e-01 1.77194602e-01 -6.80554838e-03 1.16603381e+02] [ 6.91182160e-03 1.74986606e-05 9.99976113e-01 1.32842206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:116.63, Z:1.33 [[ 1.76596868e-01 -9.84282532e-01 -1.20177002e-03 1.70652465e+02] [ 9.84258997e-01 1.76600956e-01 -6.80656592e-03 1.16628675e+02] [ 6.91181767e-03 1.91652646e-05 9.99976113e-01 1.33049869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.65, Y:116.65, Z:1.33 [[ 1.76215593e-01 -9.84350865e-01 -1.19947263e-03 1.70654476e+02] [ 9.84327330e-01 1.76219674e-01 -6.80697218e-03 1.16653799e+02] [ 6.91181963e-03 1.88209491e-05 9.99976113e-01 1.33390299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:116.68, Z:1.34 [[ 1.76312840e-01 -9.84333449e-01 -1.20141112e-03 1.70656596e+02] [ 9.84309915e-01 1.76316933e-01 -6.80663003e-03 1.16678463e+02] [ 6.91182273e-03 1.75353969e-05 9.99976113e-01 1.33547363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:116.70, Z:1.33 [[ 1.76629850e-01 -9.84276616e-01 -1.19973546e-03 1.70659589e+02] [ 9.84253079e-01 1.76633923e-01 -6.80692536e-03 1.16701358e+02] [ 6.91181144e-03 2.14628880e-05 9.99976113e-01 1.33143068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:116.73, Z:1.33 [[ 1.76409782e-01 -9.84316093e-01 -1.19047703e-03 1.70664415e+02] [ 9.84292546e-01 1.76413797e-01 -6.80855424e-03 1.16726192e+02] [ 6.91178608e-03 2.93179076e-05 9.99976113e-01 1.33478353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:116.75, Z:1.33 [[ 1.75648059e-01 -9.84452299e-01 -1.19602862e-03 1.70667475e+02] [ 9.84428761e-01 1.75652130e-01 -6.80757887e-03 1.16749567e+02] [ 6.91182165e-03 1.83330403e-05 9.99976113e-01 1.33369605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:116.78, Z:1.33 [[ 1.74864265e-01 -9.84591826e-01 -1.19402652e-03 1.70670452e+02] [ 9.84568289e-01 1.74868341e-01 -6.80793002e-03 1.16775000e+02] [ 6.91182968e-03 1.48630346e-05 9.99976113e-01 1.33488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:170.67, Y:116.80, Z:1.34 [[ 1.72480518e-01 -9.85012209e-01 -1.19101886e-03 1.70671509e+02] [ 9.84988679e-01 1.72484630e-01 -6.80845682e-03 1.16799522e+02] [ 6.91184554e-03 1.18605849e-06 9.99976113e-01 1.33501478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:116.82, Z:1.33 [[ 1.70941068e-01 -9.85280537e-01 -1.18900098e-03 1.70674921e+02] [ 9.85257011e-01 1.70945203e-01 -6.80880965e-03 1.16823255e+02] [ 6.91184164e-03 -7.56636009e-06 9.99976113e-01 1.33444355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:116.85, Z:1.33 [[ 1.69169370e-01 -9.85586276e-01 -1.19007769e-03 1.70678328e+02] [ 9.85562759e-01 1.69173555e-01 -6.80862168e-03 1.16846738e+02] [ 6.91181376e-03 -2.10860111e-05 9.99976113e-01 1.33462289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:116.87, Z:1.34 [[ 1.68716837e-01 -9.85663849e-01 -1.18598195e-03 1.70681318e+02] [ 9.85640328e-01 1.68721004e-01 -6.80933564e-03 1.16872512e+02] [ 6.91181604e-03 -2.01020696e-05 9.99976113e-01 1.33678290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:116.90, Z:1.34 [[ 1.68783508e-01 -9.85652434e-01 -1.18599171e-03 1.70684256e+02] [ 9.85628913e-01 1.68787674e-01 -6.80933394e-03 1.16896954e+02] [ 6.91181736e-03 -1.96444475e-05 9.99976113e-01 1.33789009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:116.92, Z:1.34 [[ 1.68622232e-01 -9.85680045e-01 -1.17993866e-03 1.70688375e+02] [ 9.85656517e-01 1.68626359e-01 -6.81038516e-03 1.16922621e+02] [ 6.91182951e-03 -1.46318882e-05 9.99976113e-01 1.33813178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:116.95, Z:1.34 [[ 1.68243401e-01 -9.85744776e-01 -1.18067962e-03 1.70691021e+02] [ 9.85721251e-01 1.68247543e-01 -6.81025670e-03 1.16946796e+02] [ 6.91182142e-03 -1.80402448e-05 9.99976113e-01 1.33545857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:116.97, Z:1.34 [[ 1.68326669e-01 -9.85730554e-01 -1.18620002e-03 1.70692638e+02] [ 9.85707035e-01 1.68330847e-01 -6.80930106e-03 1.16971467e+02] [ 6.91181016e-03 -2.30587373e-05 9.99976113e-01 1.33713625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:117.00, Z:1.34 [[ 1.67934146e-01 -9.85797514e-01 -1.17685642e-03 1.70693436e+02] [ 9.85773985e-01 1.67938269e-01 -6.81091554e-03 1.16996297e+02] [ 6.91182284e-03 -1.63291560e-05 9.99976113e-01 1.33691827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:117.02, Z:1.33 [[ 1.67208932e-01 -9.85920784e-01 -1.17490459e-03 1.70697050e+02] [ 9.85897256e-01 1.67213058e-01 -6.81125222e-03 1.17020840e+02] [ 6.91181452e-03 -1.94330039e-05 9.99976113e-01 1.33227467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:117.05, Z:1.34 [[ 1.65139482e-01 -9.86269525e-01 -1.17271771e-03 1.70699184e+02] [ 9.86246003e-01 1.65143643e-01 -6.81162886e-03 1.17046202e+02] [ 6.91176883e-03 -3.17192967e-05 9.99976113e-01 1.33651724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.70, Y:117.07, Z:1.34 [[ 1.63844585e-01 -9.86485460e-01 -1.17869999e-03 1.70701270e+02] [ 9.86461951e-01 1.63848818e-01 -6.81060017e-03 1.17070870e+02] [ 6.91168664e-03 -4.68627307e-05 9.99976113e-01 1.33657883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:117.09, Z:1.34 [[ 1.62542394e-01 -9.86700861e-01 -1.17538028e-03 1.70704223e+02] [ 9.86677353e-01 1.62546635e-01 -6.81117012e-03 1.17094353e+02] [ 6.91164153e-03 -5.26172065e-05 9.99976113e-01 1.33682360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:117.12, Z:1.34 [[ 1.60888420e-01 -9.86971911e-01 -1.16743597e-03 1.70707046e+02] [ 9.86948401e-01 1.60892645e-01 -6.81253108e-03 1.17118375e+02] [ 6.91160868e-03 -5.61417042e-05 9.99976113e-01 1.33922807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:170.71, Y:117.14, Z:1.34 [[ 1.57493915e-01 -9.87519270e-01 -1.16563405e-03 1.70709973e+02] [ 9.87495772e-01 1.57498209e-01 -6.81283922e-03 1.17144072e+02] [ 6.91139529e-03 -7.80779757e-05 9.99976113e-01 1.33942252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:117.17, Z:1.34 [[ 1.55923801e-01 -9.87768402e-01 -1.16329725e-03 1.70714049e+02] [ 9.87744908e-01 1.55928116e-01 -6.81323821e-03 1.17167922e+02] [ 6.91129216e-03 -8.66949345e-05 9.99976113e-01 1.34001897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:117.19, Z:1.34 [[ 1.54107367e-01 -9.88053425e-01 -1.16141013e-03 1.70717590e+02] [ 9.88029937e-01 1.54111712e-01 -6.81355988e-03 1.17191570e+02] [ 6.91114808e-03 -9.74882084e-05 9.99976113e-01 1.33917233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:117.22, Z:1.34 [[ 1.51057086e-01 -9.88524361e-01 -1.15937989e-03 1.70721242e+02] [ 9.88500884e-01 1.51061490e-01 -6.81390532e-03 1.17215929e+02] [ 6.91084906e-03 -1.16759368e-04 9.99976113e-01 1.33764208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:117.24, Z:1.34 [[ 1.49670934e-01 -9.88735188e-01 -1.15742127e-03 1.70725854e+02] [ 9.88711714e-01 1.49675358e-01 -6.81423800e-03 1.17239431e+02] [ 6.91071433e-03 -1.24462597e-04 9.99976113e-01 1.33585184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:117.26, Z:1.34 [[ 1.47330317e-01 -9.89086677e-01 -1.15006667e-03 1.70732668e+02] [ 9.89063204e-01 1.47334745e-01 -6.81548449e-03 1.17262946e+02] [ 6.91054968e-03 -1.33361135e-04 9.99976113e-01 1.33675781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:117.29, Z:1.34 [[ 1.46775592e-01 -9.89169144e-01 -1.15349837e-03 1.70737444e+02] [ 9.89145678e-01 1.46780057e-01 -6.81490363e-03 1.17287094e+02] [ 6.91040295e-03 -1.40716410e-04 9.99976113e-01 1.33819015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:117.31, Z:1.34 [[ 1.46615769e-01 -9.89192848e-01 -1.15159987e-03 1.70742368e+02] [ 9.89169380e-01 1.46620225e-01 -6.81522443e-03 1.17311326e+02] [ 6.91041909e-03 -1.39907957e-04 9.99976113e-01 1.33946458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:117.34, Z:1.34 [[ 1.46644952e-01 -9.89188524e-01 -1.14965783e-03 1.70747835e+02] [ 9.89165054e-01 1.46649394e-01 -6.81555202e-03 1.17336153e+02] [ 6.91046246e-03 -1.37735053e-04 9.99976113e-01 1.33920810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:117.36, Z:1.34 [[ 1.46867894e-01 -9.89155450e-01 -1.14784585e-03 1.70753857e+02] [ 9.89131976e-01 1.46872318e-01 -6.81585717e-03 1.17359790e+02] [ 6.91052904e-03 -1.34340441e-04 9.99976113e-01 1.33727972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:117.38, Z:1.33 [[ 1.47518629e-01 -9.89058613e-01 -1.14627510e-03 1.70759413e+02] [ 9.89035134e-01 1.47523026e-01 -6.81612132e-03 1.17382982e+02] [ 6.91064547e-03 -1.28201482e-04 9.99976113e-01 1.33349632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:117.41, Z:1.34 [[ 1.48724667e-01 -9.88878001e-01 -1.12805058e-03 1.70766130e+02] [ 9.88854494e-01 1.48728910e-01 -6.81917978e-03 1.17407360e+02] [ 6.91111061e-03 -1.01297645e-04 9.99976113e-01 1.33669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:117.43, Z:1.34 [[ 1.49869542e-01 -9.88705120e-01 -1.14281202e-03 1.70771901e+02] [ 9.88681627e-01 1.49873860e-01 -6.81670505e-03 1.17429989e+02] [ 6.91098883e-03 -1.08260785e-04 9.99976113e-01 1.33604201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:117.45, Z:1.33 [[ 1.54057934e-01 -9.88061158e-01 -1.14100875e-03 1.70780520e+02] [ 9.88037644e-01 1.54062140e-01 -6.81700687e-03 1.17453956e+02] [ 6.91140595e-03 -7.71456012e-05 9.99976113e-01 1.33318559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:117.48, Z:1.33 [[ 1.53760881e-01 -9.88107431e-01 -1.13815004e-03 1.70784130e+02] [ 9.88083915e-01 1.53765075e-01 -6.81748465e-03 1.17477821e+02] [ 6.91141498e-03 -7.63252979e-05 9.99976113e-01 1.33335249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:117.50, Z:1.33 [[ 1.56058065e-01 -9.87747230e-01 -1.13608597e-03 1.70787606e+02] [ 9.87723701e-01 1.56062189e-01 -6.81782898e-03 1.17502551e+02] [ 6.91159175e-03 -5.81618378e-05 9.99976113e-01 1.33413367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:117.53, Z:1.34 [[ 1.59033024e-01 -9.87272609e-01 -1.13684441e-03 1.70790543e+02] [ 9.87249070e-01 1.59037082e-01 -6.81770269e-03 1.17526956e+02] [ 6.91173154e-03 -3.81087141e-05 9.99976113e-01 1.33652101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:117.55, Z:1.34 [[ 1.64654017e-01 -9.86350734e-01 -1.13350868e-03 1.70795972e+02] [ 9.86327167e-01 1.64657918e-01 -6.81825724e-03 1.17550901e+02] [ 6.91183421e-03 4.64304150e-06 9.99976113e-01 1.33637085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:117.58, Z:1.34 [[ 1.66056713e-01 -9.86115563e-01 -1.12436859e-03 1.70801256e+02] [ 9.86091981e-01 1.66060518e-01 -6.81977459e-03 1.17577174e+02] [ 6.91179909e-03 2.37385033e-05 9.99976113e-01 1.34039280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:117.60, Z:1.34 [[ 1.67294656e-01 -9.85906294e-01 -1.13045781e-03 1.70806013e+02] [ 9.85882714e-01 1.67298473e-01 -6.81876508e-03 1.17601635e+02] [ 6.91178727e-03 2.62441396e-05 9.99976113e-01 1.34073695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:117.63, Z:1.34 [[ 1.67807080e-01 -9.85819207e-01 -1.12886245e-03 1.70810271e+02] [ 9.85795624e-01 1.67810874e-01 -6.81902919e-03 1.17625255e+02] [ 6.91176534e-03 3.14537145e-05 9.99976113e-01 1.34087871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:117.65, Z:1.34 [[ 1.67385754e-01 -9.85890836e-01 -1.12682915e-03 1.70815180e+02] [ 9.85867251e-01 1.67389544e-01 -6.81936517e-03 1.17648553e+02] [ 6.91176904e-03 3.05606231e-05 9.99976113e-01 1.34069307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:117.67, Z:1.34 [[ 1.65674063e-01 -9.86179923e-01 -1.12482677e-03 1.70821620e+02] [ 9.86156342e-01 1.65677880e-01 -6.81969544e-03 1.17671932e+02] [ 6.91180563e-03 2.05915949e-05 9.99976113e-01 1.33957276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:117.70, Z:1.34 [[ 1.64413877e-01 -9.86390808e-01 -1.11840058e-03 1.70826095e+02] [ 9.86367226e-01 1.64417679e-01 -6.82075307e-03 1.17697221e+02] [ 6.91181296e-03 1.82727725e-05 9.99976113e-01 1.34169793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264000000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:170.83, Y:117.72, Z:1.34 [[ 1.63024231e-01 -9.86621429e-01 -1.12023210e-03 1.70830734e+02] [ 9.86597855e-01 1.63028080e-01 -6.82045225e-03 1.17722437e+02] [ 6.91183364e-03 6.68039939e-06 9.99976113e-01 1.34137497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:117.75, Z:1.34 [[ 1.61778316e-01 -9.86826492e-01 -1.11836993e-03 1.70837169e+02] [ 9.86802920e-01 1.61782182e-01 -6.82075758e-03 1.17747109e+02] [ 6.91183661e-03 -1.60034613e-07 9.99976113e-01 1.34305291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:117.77, Z:1.34 [[ 1.59425954e-01 -9.87209258e-01 -1.11660123e-03 1.70844829e+02] [ 9.87185693e-01 1.59429863e-01 -6.82104712e-03 1.17772112e+02] [ 6.91182044e-03 -1.48408154e-05 9.99976113e-01 1.34311638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:117.80, Z:1.35 [[ 1.58585250e-01 -9.87344664e-01 -1.11022171e-03 1.70850356e+02] [ 9.87321095e-01 1.58589136e-01 -6.82208935e-03 1.17796809e+02] [ 6.91182262e-03 -1.42625651e-05 9.99976113e-01 1.34652060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:117.82, Z:1.35 [[ 1.57769158e-01 -9.87475394e-01 -1.11313195e-03 1.70856358e+02] [ 9.87451832e-01 1.57773083e-01 -6.82161446e-03 1.17819799e+02] [ 6.91179869e-03 -2.29238104e-05 9.99976113e-01 1.34696675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:117.84, Z:1.35 [[ 1.57464651e-01 -9.87523999e-01 -1.11110611e-03 1.70861391e+02] [ 9.87500436e-01 1.57468569e-01 -6.82194442e-03 1.17844099e+02] [ 6.91179812e-03 -2.30026670e-05 9.99976113e-01 1.34600867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:117.87, Z:1.35 [[ 1.57447988e-01 -9.87526658e-01 -1.10917964e-03 1.70866615e+02] [ 9.87503093e-01 1.57451894e-01 -6.82225763e-03 1.17868277e+02] [ 6.91180371e-03 -2.11675819e-05 9.99976113e-01 1.34508016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:117.89, Z:1.34 [[ 1.58929596e-01 -9.87289298e-01 -1.10724573e-03 1.70874180e+02] [ 9.87265724e-01 1.58933453e-01 -6.82257148e-03 1.17891904e+02] [ 6.91183020e-03 -8.83723234e-06 9.99976113e-01 1.34333373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:117.92, Z:1.34 [[ 1.60650736e-01 -9.87010699e-01 -1.10529293e-03 1.70878814e+02] [ 9.86987116e-01 1.60654538e-01 -6.82288783e-03 1.17915303e+02] [ 6.91183361e-03 5.19207269e-06 9.99976113e-01 1.34161585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.88, Y:117.94, Z:1.34 [[ 1.62619221e-01 -9.86688285e-01 -1.10322838e-03 1.70882015e+02] [ 9.86664693e-01 1.62622961e-01 -6.82322164e-03 1.17940032e+02] [ 6.91180313e-03 2.10704918e-05 9.99976113e-01 1.34006034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:117.96, Z:1.34 [[ 1.66732504e-01 -9.86001551e-01 -1.10127837e-03 1.70885705e+02] [ 9.85977942e-01 1.66736133e-01 -6.82353636e-03 1.17963838e+02] [ 6.91164034e-03 5.18691190e-05 9.99976113e-01 1.33900569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.89, Y:117.99, Z:1.34 [[ 1.67657282e-01 -9.85844728e-01 -1.09925380e-03 1.70888624e+02] [ 9.85821113e-01 1.67660875e-01 -6.82386250e-03 1.17988269e+02] [ 6.91157072e-03 6.04026347e-05 9.99976113e-01 1.33693097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:118.01, Z:1.34 [[ 1.68514833e-01 -9.85698507e-01 -1.09734604e-03 1.70893017e+02] [ 9.85674887e-01 1.68518392e-01 -6.82416927e-03 1.18012225e+02] [ 6.91149646e-03 6.83473152e-05 9.99976113e-01 1.33873213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.90, Y:118.04, Z:1.34 [[ 1.69436699e-01 -9.85540463e-01 -1.09542184e-03 1.70896593e+02] [ 9.85516838e-01 1.69440223e-01 -6.82447814e-03 1.18036517e+02] [ 6.91140786e-03 7.67603815e-05 9.99976113e-01 1.33854835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:118.06, Z:1.34 [[ 1.69779647e-01 -9.85481444e-01 -1.09347009e-03 1.70900804e+02] [ 9.85457815e-01 1.69783149e-01 -6.82479084e-03 1.18060503e+02] [ 6.91135753e-03 8.11419319e-05 9.99976113e-01 1.33784131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:118.08, Z:1.34 [[ 1.70272164e-01 -9.85396479e-01 -1.08100059e-03 1.70904790e+02] [ 9.85372836e-01 1.70275568e-01 -6.82678447e-03 1.18084876e+02] [ 6.91115737e-03 9.72227521e-05 9.99976113e-01 1.33880949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:118.11, Z:1.34 [[ 1.70592071e-01 -9.85341138e-01 -1.08963531e-03 1.70907192e+02] [ 9.85317502e-01 1.70595527e-01 -6.82540598e-03 1.18108239e+02] [ 6.91124021e-03 9.07234017e-05 9.99976113e-01 1.33911776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:118.13, Z:1.34 [[ 1.71000076e-01 -9.85270415e-01 -1.08772177e-03 1.70909412e+02] [ 9.85246776e-01 1.71003509e-01 -6.82571092e-03 1.18132392e+02] [ 6.91117527e-03 9.55227141e-05 9.99976113e-01 1.34096247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:118.16, Z:1.34 [[ 1.70453281e-01 -9.85365161e-01 -1.08576652e-03 1.70912935e+02] [ 9.85341522e-01 1.70456713e-01 -6.82602193e-03 1.18157112e+02] [ 6.91120039e-03 9.36669993e-05 9.99976113e-01 1.34039585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:118.18, Z:1.34 [[ 1.69854868e-01 -9.85468492e-01 -1.08379277e-03 1.70916200e+02] [ 9.85444853e-01 1.69858301e-01 -6.82633529e-03 1.18180147e+02] [ 6.91122955e-03 9.14682783e-05 9.99976113e-01 1.33943227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:118.20, Z:1.34 [[ 1.67712989e-01 -9.85835272e-01 -1.08174466e-03 1.70920264e+02] [ 9.85811638e-01 1.67716460e-01 -6.82665983e-03 1.18204258e+02] [ 6.91138844e-03 7.85230552e-05 9.99976113e-01 1.33912824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:118.23, Z:1.34 [[ 1.65918845e-01 -9.86138819e-01 -1.07980933e-03 1.70924304e+02] [ 9.86115190e-01 1.65922344e-01 -6.82696594e-03 1.18228253e+02] [ 6.91150063e-03 6.79059143e-05 9.99976113e-01 1.34028927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:118.25, Z:1.34 [[ 1.62212788e-01 -9.86755213e-01 -1.07780060e-03 1.70928887e+02] [ 9.86731595e-01 1.62216363e-01 -6.82728305e-03 1.18252012e+02] [ 6.91169403e-03 4.39727167e-05 9.99976113e-01 1.34244465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:118.28, Z:1.34 [[ 1.60276213e-01 -9.87071618e-01 -1.07588412e-03 1.70932703e+02] [ 9.87048005e-01 1.60279820e-01 -6.82758505e-03 1.18276653e+02] [ 6.91175793e-03 3.23501964e-05 9.99976113e-01 1.34447217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:118.30, Z:1.34 [[ 1.58968188e-01 -9.87283122e-01 -1.07387938e-03 1.70936321e+02] [ 9.87259511e-01 1.58971813e-01 -6.82790035e-03 1.18300022e+02] [ 6.91178732e-03 2.52213118e-05 9.99976113e-01 1.34481896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:118.32, Z:1.34 [[ 1.57325699e-01 -9.87546189e-01 -1.07180268e-03 1.70941528e+02] [ 9.87522583e-01 1.57329350e-01 -6.82822632e-03 1.18322945e+02] [ 6.91181490e-03 1.58261330e-05 9.99976113e-01 1.34298535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:118.35, Z:1.34 [[ 1.56626419e-01 -9.87657340e-01 -1.06975775e-03 1.70946226e+02] [ 9.87633734e-01 1.56630071e-01 -6.82854668e-03 1.18346959e+02] [ 6.91182048e-03 1.30019671e-05 9.99976113e-01 1.34310736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:118.37, Z:1.34 [[ 1.56310415e-01 -9.87707403e-01 -1.06780564e-03 1.70950102e+02] [ 9.87683796e-01 1.56314061e-01 -6.82885193e-03 1.18370493e+02] [ 6.91182064e-03 1.27663438e-05 9.99976113e-01 1.34134369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:118.39, Z:1.34 [[ 1.56329191e-01 -9.87704434e-01 -1.06578374e-03 1.70953551e+02] [ 9.87680824e-01 1.56332823e-01 -6.82916747e-03 1.18394596e+02] [ 6.91181597e-03 1.49440583e-05 9.99976113e-01 1.34211345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:118.42, Z:1.34 [[ 1.56558627e-01 -9.87668094e-01 -1.06387016e-03 1.70957777e+02] [ 9.87644482e-01 1.56562241e-01 -6.82946556e-03 1.18418989e+02] [ 6.91180713e-03 1.84862615e-05 9.99976113e-01 1.34198863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:118.44, Z:1.34 [[ 1.57040371e-01 -9.87591613e-01 -1.06191601e-03 1.70961104e+02] [ 9.87567997e-01 1.57043960e-01 -6.82976940e-03 1.18442104e+02] [ 6.91179047e-03 2.38352570e-05 9.99976113e-01 1.34137800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:118.47, Z:1.34 [[ 1.57568735e-01 -9.87507453e-01 -1.05997455e-03 1.70963936e+02] [ 9.87483833e-01 1.57572297e-01 -6.83007070e-03 1.18466869e+02] [ 6.91176835e-03 2.94978694e-05 9.99976113e-01 1.34151846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:118.49, Z:1.34 [[ 1.59985695e-01 -9.87118766e-01 -1.05802240e-03 1.70964684e+02] [ 9.87095135e-01 1.59989187e-01 -6.83037309e-03 1.18490880e+02] [ 6.91166160e-03 4.83932204e-05 9.99976113e-01 1.34214374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:118.52, Z:1.34 [[ 1.61170598e-01 -9.86925997e-01 -1.05600089e-03 1.70967620e+02] [ 9.86902360e-01 1.61174047e-01 -6.83068561e-03 1.18515953e+02] [ 6.91158114e-03 5.87359179e-05 9.99976113e-01 1.34194300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:118.54, Z:1.34 [[ 1.64374195e-01 -9.86397485e-01 -1.06125746e-03 1.70969891e+02] [ 9.86373842e-01 1.64377603e-01 -6.82987417e-03 1.18539445e+02] [ 6.91141765e-03 7.58584700e-05 9.99976113e-01 1.34400764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:118.56, Z:1.34 [[ 1.65409203e-01 -9.86224462e-01 -1.05217364e-03 1.70971572e+02] [ 9.86200807e-01 1.65412524e-01 -6.83127328e-03 1.18563432e+02] [ 6.91121151e-03 9.23009722e-05 9.99976113e-01 1.34255760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:118.59, Z:1.34 [[ 1.65941705e-01 -9.86135005e-01 -1.05017454e-03 1.70973511e+02] [ 9.86111346e-01 1.65944999e-01 -6.83158059e-03 1.18589150e+02] [ 6.91113197e-03 9.80550995e-05 9.99976113e-01 1.34121606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.61, Z:1.34 [[ 1.66195811e-01 -9.86092206e-01 -1.05511509e-03 1.70975812e+02] [ 9.86068551e-01 1.66199133e-01 -6.83082227e-03 1.18613445e+02] [ 6.91117981e-03 9.48382410e-05 9.99976113e-01 1.34372341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.64, Z:1.34 [[ 1.65460780e-01 -9.86215816e-01 -1.04634923e-03 1.70977844e+02] [ 9.86192155e-01 1.65464059e-01 -6.83216476e-03 1.18638083e+02] [ 6.91112213e-03 9.85539104e-05 9.99976113e-01 1.34242932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.66, Z:1.34 [[ 1.64408124e-01 -9.86391848e-01 -1.04442961e-03 1.70979323e+02] [ 9.86368189e-01 1.64411415e-01 -6.83245820e-03 1.18662999e+02] [ 6.91119722e-03 9.31194914e-05 9.99976113e-01 1.34341117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.69, Z:1.35 [[ 1.61855800e-01 -9.86813870e-01 -1.04255158e-03 1.70979500e+02] [ 9.86790217e-01 1.61859139e-01 -6.83274475e-03 1.18688083e+02] [ 6.91139379e-03 7.71396669e-05 9.99976113e-01 1.34678283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.71, Z:1.35 [[ 1.60226128e-01 -9.87079787e-01 -1.04067202e-03 1.70981798e+02] [ 9.87056138e-01 1.60229493e-01 -6.83303101e-03 1.18712618e+02] [ 6.91149314e-03 6.76283916e-05 9.99976113e-01 1.34670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:118.74, Z:1.35 [[ 1.58511943e-01 -9.87356514e-01 -1.03868487e-03 1.70983943e+02] [ 9.87332869e-01 1.58515335e-01 -6.83333306e-03 1.18736311e+02] [ 6.91158339e-03 5.76371893e-05 9.99976113e-01 1.34519030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:118.76, Z:1.35 [[ 1.55605979e-01 -9.87818660e-01 -1.03662376e-03 1.70985096e+02] [ 9.87795023e-01 1.55609427e-01 -6.83364572e-03 1.18760829e+02] [ 6.91171119e-03 3.93843444e-05 9.99976113e-01 1.34525665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:118.79, Z:1.35 [[ 1.54114053e-01 -9.88052523e-01 -1.03468295e-03 1.70987645e+02] [ 9.88028889e-01 1.54117523e-01 -6.83393957e-03 1.18785355e+02] [ 6.91175400e-03 3.09094784e-05 9.99976113e-01 1.34693821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:118.81, Z:1.34 [[ 1.52201789e-01 -9.88348900e-01 -1.03266038e-03 1.70989166e+02] [ 9.88325272e-01 1.52205291e-01 -6.83424518e-03 1.18809437e+02] [ 6.91179508e-03 1.95799963e-05 9.99976113e-01 1.34388712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:118.84, Z:1.35 [[ 1.49017045e-01 -9.88834090e-01 -1.03109718e-03 1.70991052e+02] [ 9.88810471e-01 1.49020612e-01 -6.83448094e-03 1.18835023e+02] [ 6.91182247e-03 -1.10553001e-06 9.99976113e-01 1.34626671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:118.86, Z:1.35 [[ 1.47081163e-01 -9.89123892e-01 -1.02883411e-03 1.70994007e+02] [ 9.89100277e-01 1.47084761e-01 -6.83482162e-03 1.18859407e+02] [ 6.91181118e-03 -1.23465955e-05 9.99976113e-01 1.34877866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:118.88, Z:1.35 [[ 1.42800744e-01 -9.89750925e-01 -1.02694556e-03 1.70996862e+02] [ 9.89727324e-01 1.42804431e-01 -6.83510536e-03 1.18884986e+02] [ 6.91170423e-03 -4.03379457e-05 9.99976113e-01 1.35103680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:118.91, Z:1.35 [[ 1.40297432e-01 -9.90108873e-01 -1.02511205e-03 1.71000262e+02] [ 9.90085279e-01 1.40301166e-01 -6.83538034e-03 1.18908319e+02] [ 6.91159514e-03 -5.59620402e-05 9.99976113e-01 1.35095976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.00, Y:118.93, Z:1.35 [[ 1.37876550e-01 -9.90448893e-01 -1.02304269e-03 1.71003023e+02] [ 9.90425307e-01 1.37880327e-01 -6.83569004e-03 1.18931450e+02] [ 6.91145910e-03 -7.07660099e-05 9.99976113e-01 1.34910615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:118.96, Z:1.35 [[ 1.34223672e-01 -9.90950535e-01 -1.02103733e-03 1.71007458e+02] [ 9.90926961e-01 1.34227522e-01 -6.83598957e-03 1.18955491e+02] [ 6.91117883e-03 -9.42217940e-05 9.99976113e-01 1.35013801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:118.98, Z:1.35 [[ 1.32960441e-01 -9.91120821e-01 -1.01913089e-03 1.71011058e+02] [ 9.91097250e-01 1.32964309e-01 -6.83627377e-03 1.18979777e+02] [ 6.91108131e-03 -1.01103843e-04 9.99976113e-01 1.34913073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.01, Y:119.01, Z:1.35 [[ 1.32298019e-01 -9.91209463e-01 -1.01724023e-03 1.71014234e+02] [ 9.91185892e-01 1.32301889e-01 -6.83655509e-03 1.19005049e+02] [ 6.91104091e-03 -1.03811473e-04 9.99976113e-01 1.34883864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.02, Y:119.03, Z:1.35 [[ 1.32006262e-01 -9.91248362e-01 -1.01549005e-03 1.71017572e+02] [ 9.91224790e-01 1.32010127e-01 -6.83681505e-03 1.19029966e+02] [ 6.91103669e-03 -1.04076516e-04 9.99976113e-01 1.34901242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:119.05, Z:1.35 [[ 1.32849558e-01 -9.91135696e-01 -1.01347758e-03 1.71022203e+02] [ 9.91112118e-01 1.32853389e-01 -6.83711336e-03 1.19053004e+02] [ 6.91115104e-03 -9.61624233e-05 9.99976113e-01 1.34988003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:119.08, Z:1.35 [[ 1.33576609e-01 -9.91037974e-01 -1.01139288e-03 1.71026161e+02] [ 9.91014392e-01 1.33580408e-01 -6.83742173e-03 1.19077509e+02] [ 6.91124686e-03 -8.89852870e-05 9.99976113e-01 1.35058510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:119.10, Z:1.35 [[ 1.34424582e-01 -9.90923313e-01 -1.00938629e-03 1.71030764e+02] [ 9.90899725e-01 1.34428348e-01 -6.83771795e-03 1.19101845e+02] [ 6.91134425e-03 -8.10432140e-05 9.99976113e-01 1.34993643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:119.13, Z:1.35 [[ 1.35266904e-01 -9.90808685e-01 -1.00738480e-03 1.71034801e+02] [ 9.90785091e-01 1.35270636e-01 -6.83801281e-03 1.19126612e+02] [ 6.91143206e-03 -7.31450160e-05 9.99976113e-01 1.35021353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65264000000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:171.04, Y:119.15, Z:1.35 [[ 1.36588047e-01 -9.90627425e-01 -1.00552954e-03 1.71036777e+02] [ 9.90603824e-01 1.36591735e-01 -6.83828561e-03 1.19150819e+02] [ 6.91154029e-03 -6.20533300e-05 9.99976113e-01 1.35007232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:119.17, Z:1.35 [[ 1.36876912e-01 -9.90587555e-01 -1.00359779e-03 1.71041055e+02] [ 9.90563951e-01 1.36880579e-01 -6.83856911e-03 1.19174948e+02] [ 6.91157450e-03 -5.80855667e-05 9.99976113e-01 1.35356625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:119.20, Z:1.35 [[ 1.36508933e-01 -9.90638348e-01 -9.87122036e-04 1.71046165e+02] [ 9.90614728e-01 1.36512495e-01 -6.84097991e-03 1.19200306e+02] [ 6.91169153e-03 -4.40027623e-05 9.99976113e-01 1.35219838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:119.23, Z:1.35 [[ 1.37005615e-01 -9.90569779e-01 -9.87131997e-04 1.71052955e+02] [ 9.90546157e-01 1.37009165e-01 -6.84097845e-03 1.19225202e+02] [ 6.91171264e-03 -4.05473464e-05 9.99976113e-01 1.35245442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:119.25, Z:1.35 [[ 1.37499946e-01 -9.90501272e-01 -9.97562124e-04 1.71056461e+02] [ 9.90477659e-01 1.37503556e-01 -6.83945718e-03 1.19250593e+02] [ 6.91165937e-03 -4.76380043e-05 9.99976113e-01 1.35339489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.06, Y:119.27, Z:1.35 [[ 1.39967764e-01 -9.90155560e-01 -9.95701828e-04 1.71060350e+02] [ 9.90131937e-01 1.39971303e-01 -6.83972799e-03 1.19274960e+02] [ 6.91176438e-03 -2.85347429e-05 9.99976113e-01 1.34944857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:119.30, Z:1.35 [[ 1.41599125e-01 -9.89923583e-01 -9.93763807e-04 1.71065645e+02] [ 9.89899952e-01 1.41602611e-01 -6.84000956e-03 1.19298092e+02] [ 6.91180632e-03 -1.51873786e-05 9.99976113e-01 1.35034055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:119.32, Z:1.35 [[ 1.43083764e-01 -9.89710085e-01 -9.91778938e-04 1.71069161e+02] [ 9.89686447e-01 1.43087201e-01 -6.84029735e-03 1.19322057e+02] [ 6.91182214e-03 -2.81468019e-06 9.99976113e-01 1.35168512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:119.35, Z:1.35 [[ 1.45770631e-01 -9.89317918e-01 -9.89803296e-04 1.71070757e+02] [ 9.89294269e-01 1.45773990e-01 -6.84058322e-03 1.19345429e+02] [ 6.91179912e-03 1.79494010e-05 9.99976113e-01 1.35177754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:119.37, Z:1.35 [[ 1.46852360e-01 -9.89157929e-01 -9.87749468e-04 1.71073733e+02] [ 9.89134274e-01 1.46855679e-01 -6.84087977e-03 1.19370854e+02] [ 6.91176708e-03 2.75824827e-05 9.99976113e-01 1.35326637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:119.40, Z:1.35 [[ 1.47957529e-01 -9.88993224e-01 -9.85877561e-04 1.71077264e+02] [ 9.88969564e-01 1.47960809e-01 -6.84114953e-03 1.19396219e+02] [ 6.91172177e-03 3.71966788e-05 9.99976113e-01 1.35449458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:119.42, Z:1.35 [[ 1.50390174e-01 -9.88626232e-01 -9.83954413e-04 1.71080289e+02] [ 9.88602562e-01 1.50393382e-01 -6.84142612e-03 1.19420461e+02] [ 6.91159356e-03 5.61434088e-05 9.99976113e-01 1.35195666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:119.44, Z:1.35 [[ 1.51236874e-01 -9.88497063e-01 -9.81955716e-04 1.71083029e+02] [ 9.88473388e-01 1.51240049e-01 -6.84171298e-03 1.19444120e+02] [ 6.91152422e-03 6.40821938e-05 9.99976113e-01 1.35090285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:119.47, Z:1.35 [[ 1.51965429e-01 -9.88385324e-01 -9.79870944e-04 1.71085750e+02] [ 9.88361644e-01 1.51968572e-01 -6.84201155e-03 1.19469076e+02] [ 6.91145339e-03 7.12823656e-05 9.99976113e-01 1.35197025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.09, Y:119.49, Z:1.35 [[ 1.53051985e-01 -9.88217655e-01 -9.77861133e-04 1.71086056e+02] [ 9.88193970e-01 1.53055088e-01 -6.84229878e-03 1.19494890e+02] [ 6.91134708e-03 8.09109374e-05 9.99976113e-01 1.35332038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:119.52, Z:1.36 [[ 1.52996912e-01 -9.88226185e-01 -9.76009192e-04 1.71088781e+02] [ 9.88202499e-01 1.53000003e-01 -6.84256294e-03 1.19519182e+02] [ 6.91132928e-03 8.23962771e-05 9.99976113e-01 1.35586204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:119.54, Z:1.36 [[ 1.52492920e-01 -9.88304083e-01 -9.73988305e-04 1.71089253e+02] [ 9.88280397e-01 1.52496009e-01 -6.84285058e-03 1.19543062e+02] [ 6.91134650e-03 8.09127169e-05 9.99976113e-01 1.35573115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:119.57, Z:1.36 [[ 1.51880455e-01 -9.88398393e-01 -9.71894053e-04 1.71091418e+02] [ 9.88374706e-01 1.51883544e-01 -6.84314802e-03 1.19568056e+02] [ 6.91137122e-03 7.87449364e-05 9.99976113e-01 1.35792992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.09, Y:119.59, Z:1.36 [[ 1.51069227e-01 -9.88522710e-01 -9.69879718e-04 1.71093170e+02] [ 9.88499024e-01 1.51072322e-01 -6.84343350e-03 1.19591630e+02] [ 6.91141141e-03 7.51070566e-05 9.99976113e-01 1.35614492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:119.62, Z:1.36 [[ 1.50328974e-01 -9.88635556e-01 -9.67793094e-04 1.71096089e+02] [ 9.88611871e-01 1.50332072e-01 -6.84372858e-03 1.19616073e+02] [ 6.91144375e-03 7.20389562e-05 9.99976113e-01 1.35923507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:119.64, Z:1.36 [[ 1.49118957e-01 -9.88818792e-01 -9.65769106e-04 1.71098046e+02] [ 9.88795109e-01 1.49122070e-01 -6.84401418e-03 1.19639617e+02] [ 6.91150733e-03 6.56244876e-05 9.99976113e-01 1.35803526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:119.66, Z:1.36 [[ 1.48453074e-01 -9.88918984e-01 -9.63674946e-04 1.71101112e+02] [ 9.88895301e-01 1.48456188e-01 -6.84430904e-03 1.19663873e+02] [ 6.91153065e-03 6.30850887e-05 9.99976113e-01 1.35830878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:119.69, Z:1.36 [[ 1.47728039e-01 -9.89027553e-01 -9.61747370e-04 1.71103431e+02] [ 9.89003871e-01 1.47731158e-01 -6.84457989e-03 1.19688012e+02] [ 6.91155815e-03 5.99644954e-05 9.99976113e-01 1.35813389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:119.71, Z:1.36 [[ 1.46574981e-01 -9.89199097e-01 -9.59808725e-04 1.71103589e+02] [ 9.89175417e-01 1.46578114e-01 -6.84485173e-03 1.19711772e+02] [ 6.91160810e-03 5.38648177e-05 9.99976113e-01 1.35814769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:119.74, Z:1.36 [[ 1.45657029e-01 -9.89334682e-01 -9.57803297e-04 1.71105776e+02] [ 9.89311002e-01 1.45660169e-01 -6.84513234e-03 1.19735965e+02] [ 6.91164062e-03 4.94762968e-05 9.99976113e-01 1.35882480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.11, Y:119.76, Z:1.36 [[ 1.44110727e-01 -9.89561107e-01 -9.55797586e-04 1.71107300e+02] [ 9.89537431e-01 1.44113891e-01 -6.84541239e-03 1.19760013e+02] [ 6.91169757e-03 4.06998692e-05 9.99976113e-01 1.35582467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:119.78, Z:1.36 [[ 1.43531329e-01 -9.89645314e-01 -9.53726677e-04 1.71108869e+02] [ 9.89621638e-01 1.43534493e-01 -6.84570090e-03 1.19783161e+02] [ 6.91170850e-03 3.87439947e-05 9.99976113e-01 1.35674228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:119.81, Z:1.36 [[ 1.43580480e-01 -9.89638186e-01 -9.51669428e-04 1.71110202e+02] [ 9.89614508e-01 1.43583628e-01 -6.84598688e-03 1.19808060e+02] [ 6.91169419e-03 4.11642120e-05 9.99976113e-01 1.35649326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:119.83, Z:1.35 [[ 1.44787408e-01 -9.89462331e-01 -9.49696772e-04 1.71113339e+02] [ 9.89438647e-01 1.44790514e-01 -6.84626053e-03 1.19832324e+02] [ 6.91162398e-03 5.15856289e-05 9.99976113e-01 1.35436644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.86, Z:1.35 [[ 1.45219712e-01 -9.89398978e-01 -9.47724037e-04 1.71116380e+02] [ 9.89375290e-01 1.45222794e-01 -6.84653360e-03 1.19856227e+02] [ 6.91158448e-03 5.65968952e-05 9.99976113e-01 1.35365972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.88, Z:1.35 [[ 1.46397726e-01 -9.89225359e-01 -9.45676534e-04 1.71117155e+02] [ 9.89201667e-01 1.46400765e-01 -6.84681640e-03 1.19880467e+02] [ 6.91149218e-03 6.68935504e-05 9.99976113e-01 1.35300735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.91, Z:1.35 [[ 1.46402944e-01 -9.89224596e-01 -9.36440110e-04 1.71118245e+02] [ 9.89200895e-01 1.46405919e-01 -6.84808928e-03 1.19905938e+02] [ 6.91139873e-03 7.62530404e-05 9.99976113e-01 1.35495266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.93, Z:1.36 [[ 1.46562438e-01 -9.89200973e-01 -9.41979659e-04 1.71119860e+02] [ 9.89177276e-01 1.46565447e-01 -6.84732721e-03 1.19930426e+02] [ 6.91144441e-03 7.17760955e-05 9.99976113e-01 1.35590080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.95, Z:1.36 [[ 1.46298281e-01 -9.89240077e-01 -9.40027919e-04 1.71120168e+02] [ 9.89216379e-01 1.46301283e-01 -6.84759514e-03 1.19954722e+02] [ 6.91144284e-03 7.19003843e-05 9.99976113e-01 1.35814799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:119.98, Z:1.36 [[ 1.45863169e-01 -9.89304329e-01 -9.38122401e-04 1.71122376e+02] [ 9.89280631e-01 1.45866168e-01 -6.84785619e-03 1.19979015e+02] [ 6.91145410e-03 7.07836819e-05 9.99976113e-01 1.35903167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:120.00, Z:1.36 [[ 1.45088786e-01 -9.89418197e-01 -9.36148210e-04 1.71124620e+02] [ 9.89394499e-01 1.45091791e-01 -6.84812607e-03 1.20002321e+02] [ 6.91148796e-03 6.73664083e-05 9.99976113e-01 1.35809744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:120.03, Z:1.36 [[ 1.44426820e-01 -9.89515043e-01 -9.34112244e-04 1.71127356e+02] [ 9.89491346e-01 1.44429826e-01 -6.84840377e-03 1.20026796e+02] [ 6.91151222e-03 6.47971972e-05 9.99976113e-01 1.35878760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:120.05, Z:1.36 [[ 1.43948840e-01 -9.89584692e-01 -9.32112618e-04 1.71129423e+02] [ 9.89560995e-01 1.43951844e-01 -6.84867592e-03 1.20050262e+02] [ 6.91152418e-03 6.34766647e-05 9.99976113e-01 1.35902158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:120.07, Z:1.36 [[ 1.44339971e-01 -9.89527720e-01 -9.30043677e-04 1.71131230e+02] [ 9.89504019e-01 1.44342952e-01 -6.84895687e-03 1.20073537e+02] [ 6.91147792e-03 6.82962825e-05 9.99976113e-01 1.35752149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:120.10, Z:1.36 [[ 1.43825679e-01 -9.89602613e-01 -9.17651719e-04 1.71132704e+02] [ 9.89578904e-01 1.43828586e-01 -6.85063591e-03 1.20098166e+02] [ 6.91139175e-03 7.72085808e-05 9.99976113e-01 1.35930708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:120.12, Z:1.36 [[ 1.43583533e-01 -9.89637768e-01 -9.26082436e-04 1.71134572e+02] [ 9.89614066e-01 1.43586504e-01 -6.84949604e-03 1.20123011e+02] [ 6.91149291e-03 6.70106366e-05 9.99976113e-01 1.35982509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.14, Y:120.15, Z:1.36 [[ 1.43217155e-01 -9.89690857e-01 -9.24131451e-04 1.71137447e+02] [ 9.89667155e-01 1.43220121e-01 -6.84975925e-03 1.20147909e+02] [ 6.91149833e-03 6.64204875e-05 9.99976113e-01 1.35907089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:120.17, Z:1.36 [[ 1.42751406e-01 -9.89758145e-01 -9.22131012e-04 1.71139621e+02] [ 9.89734443e-01 1.42754369e-01 -6.85002855e-03 1.20171588e+02] [ 6.91150978e-03 6.51863837e-05 9.99976113e-01 1.35683337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:120.20, Z:1.36 [[ 1.42446529e-01 -9.89802071e-01 -9.20052946e-04 1.71141981e+02] [ 9.89778368e-01 1.42449485e-01 -6.85030765e-03 1.20195868e+02] [ 6.91150977e-03 6.51540427e-05 9.99976113e-01 1.35609671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:120.22, Z:1.36 [[ 1.41596966e-01 -9.89923965e-01 -9.18092443e-04 1.71144550e+02] [ 9.89900262e-01 1.41599930e-01 -6.85057039e-03 1.20219572e+02] [ 6.91154563e-03 6.12000344e-05 9.99976113e-01 1.35592944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:120.24, Z:1.36 [[ 1.39797398e-01 -9.90179705e-01 -9.16057180e-04 1.71147318e+02] [ 9.90156006e-01 1.39800390e-01 -6.85084253e-03 1.20244540e+02] [ 6.91163039e-03 5.06904432e-05 9.99976113e-01 1.35844163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.15, Y:120.27, Z:1.36 [[ 1.38955084e-01 -9.90298263e-01 -9.14183560e-04 1.71149497e+02] [ 9.90274565e-01 1.38958084e-01 -6.85109254e-03 1.20268580e+02] [ 6.91165824e-03 4.67014162e-05 9.99976113e-01 1.35585501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:120.29, Z:1.36 [[ 1.37356612e-01 -9.90521241e-01 -9.12240497e-04 1.71152692e+02] [ 9.90497546e-01 1.37359636e-01 -6.85135126e-03 1.20293334e+02] [ 6.91171397e-03 3.75064198e-05 9.99976113e-01 1.35661206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:120.32, Z:1.36 [[ 1.36253356e-01 -9.90673606e-01 -9.10302254e-04 1.71156316e+02] [ 9.90649913e-01 1.36256393e-01 -6.85160877e-03 1.20316878e+02] [ 6.91174247e-03 3.17638377e-05 9.99976113e-01 1.35567721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.16, Y:120.34, Z:1.35 [[ 1.34383756e-01 -9.90928948e-01 -9.08482593e-04 1.71160720e+02] [ 9.90905260e-01 1.34386825e-01 -6.85185004e-03 1.20341347e+02] [ 6.91178465e-03 2.05571643e-05 9.99976113e-01 1.35405907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:120.37, Z:1.35 [[ 1.33800644e-01 -9.91007854e-01 -9.06544994e-04 1.71163846e+02] [ 9.90984165e-01 1.33803714e-01 -6.85210639e-03 1.20365014e+02] [ 6.91179033e-03 1.84445155e-05 9.99976113e-01 1.35266507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:120.39, Z:1.35 [[ 1.33860284e-01 -9.90999801e-01 -9.04533845e-04 1.71166271e+02] [ 9.90976110e-01 1.33863339e-01 -6.85237186e-03 1.20389173e+02] [ 6.91178308e-03 2.08890160e-05 9.99976113e-01 1.35446775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:120.41, Z:1.35 [[ 1.34882301e-01 -9.90861217e-01 -9.02519536e-04 1.71169574e+02] [ 9.90837521e-01 1.34885317e-01 -6.85263716e-03 1.20412531e+02] [ 6.91174902e-03 3.00492469e-05 9.99976113e-01 1.35363455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:120.44, Z:1.35 [[ 1.35676177e-01 -9.90752827e-01 -9.00632891e-04 1.71172872e+02] [ 9.90729127e-01 1.35679162e-01 -6.85288511e-03 1.20436379e+02] [ 6.91171241e-03 3.74900186e-05 9.99976113e-01 1.35295184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:120.46, Z:1.35 [[ 1.35787665e-01 -9.90737570e-01 -8.81878012e-04 1.71176983e+02] [ 9.90713854e-01 1.35790517e-01 -6.85534353e-03 1.20462917e+02] [ 6.91159706e-03 5.71823292e-05 9.99976113e-01 1.35256639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.18, Y:120.49, Z:1.35 [[ 1.37427476e-01 -9.90511426e-01 -8.96950786e-04 1.71180184e+02] [ 9.90487718e-01 1.37430392e-01 -6.85337084e-03 1.20487942e+02] [ 6.91161042e-03 5.34227177e-05 9.99976113e-01 1.35308641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:120.51, Z:1.35 [[ 1.38005692e-01 -9.90431031e-01 -8.95088091e-04 1.71182498e+02] [ 9.90407320e-01 1.38008582e-01 -6.85361411e-03 1.20512346e+02] [ 6.91156193e-03 5.93359620e-05 9.99976113e-01 1.35203624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:120.54, Z:1.35 [[ 1.40259413e-01 -9.90114387e-01 -8.93146951e-04 1.71182226e+02] [ 9.90090667e-01 1.40262236e-01 -6.85386707e-03 1.20536982e+02] [ 6.91138718e-03 7.70229105e-05 9.99976113e-01 1.35358167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:120.56, Z:1.35 [[ 1.39966854e-01 -9.90155789e-01 -8.91127576e-04 1.71185100e+02] [ 9.90132068e-01 1.39969669e-01 -6.85412961e-03 1.20561950e+02] [ 6.91138695e-03 7.70169674e-05 9.99976113e-01 1.35375545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:120.59, Z:1.35 [[ 1.40721870e-01 -9.90048769e-01 -8.89102232e-04 1.71186558e+02] [ 9.90025045e-01 1.40724654e-01 -6.85439233e-03 1.20585252e+02] [ 6.91130129e-03 8.43294320e-05 9.99976113e-01 1.35204272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.19, Y:120.61, Z:1.35 [[ 1.40982650e-01 -9.90011669e-01 -8.87201310e-04 1.71188844e+02] [ 9.89987943e-01 1.40985414e-01 -6.85463837e-03 1.20609870e+02] [ 6.91125441e-03 8.80664796e-05 9.99976113e-01 1.35161757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:120.63, Z:1.35 [[ 1.39050142e-01 -9.90284946e-01 -8.85197586e-04 1.71192877e+02] [ 9.90261223e-01 1.39052939e-01 -6.85489711e-03 1.20633786e+02] [ 6.91139074e-03 7.65975754e-05 9.99976113e-01 1.35191227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:120.66, Z:1.35 [[ 1.37149100e-01 -9.90550021e-01 -8.83200801e-04 1.71195886e+02] [ 9.90526302e-01 1.37151928e-01 -6.85515437e-03 1.20658448e+02] [ 6.91150600e-03 6.53446276e-05 9.99976113e-01 1.35289907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:120.68, Z:1.35 [[ 1.35067679e-01 -9.90835983e-01 -8.81202922e-04 1.71198734e+02] [ 9.90812269e-01 1.35070544e-01 -6.85541118e-03 1.20682202e+02] [ 6.91161264e-03 5.28378145e-05 9.99976113e-01 1.35268683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:120.71, Z:1.35 [[ 1.32850130e-01 -9.91135748e-01 -8.79134731e-04 1.71201639e+02] [ 9.91112038e-01 1.32853033e-01 -6.85567640e-03 1.20706229e+02] [ 6.91170167e-03 3.94564884e-05 9.99976113e-01 1.35411039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:120.73, Z:1.35 [[ 1.28952581e-01 -9.91650373e-01 -8.77158291e-04 1.71203856e+02] [ 9.91626673e-01 1.28955564e-01 -6.85592927e-03 1.20729523e+02] [ 6.91179926e-03 1.42762167e-05 9.99976113e-01 1.35483802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:120.75, Z:1.36 [[ 1.26913725e-01 -9.91913374e-01 -8.75112150e-04 1.71206405e+02] [ 9.91889678e-01 1.26916742e-01 -6.85619043e-03 1.20753929e+02] [ 6.91181336e-03 2.12995943e-06 9.99976113e-01 1.35634099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:120.78, Z:1.36 [[ 1.24987542e-01 -9.92157927e-01 -8.73167682e-04 1.71209503e+02] [ 9.92134235e-01 1.24990592e-01 -6.85643806e-03 1.20777059e+02] [ 6.91180712e-03 -9.33020957e-06 9.99976113e-01 1.35701017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:120.80, Z:1.36 [[ 1.22208650e-01 -9.92504049e-01 -8.71329289e-04 1.71213848e+02] [ 9.92480364e-01 1.22211754e-01 -6.85667168e-03 1.20801098e+02] [ 6.91176108e-03 -2.68326170e-05 9.99976113e-01 1.35667093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:120.82, Z:1.35 [[ 1.21144853e-01 -9.92634459e-01 -8.69396117e-04 1.71216446e+02] [ 9.92610776e-01 1.21147968e-01 -6.85691679e-03 1.20824207e+02] [ 6.91173746e-03 -3.22917809e-05 9.99976113e-01 1.35406369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:120.85, Z:1.35 [[ 1.20414052e-01 -9.92723377e-01 -8.67402818e-04 1.71218583e+02] [ 9.92699695e-01 1.20417171e-01 -6.85716893e-03 1.20849379e+02] [ 6.91172209e-03 -3.53710179e-05 9.99976113e-01 1.35131957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:120.87, Z:1.35 [[ 1.20384042e-01 -9.92727019e-01 -8.65483459e-04 1.71221471e+02] [ 9.92703335e-01 1.20387148e-01 -6.85741118e-03 1.20873172e+02] [ 6.91173044e-03 -3.36454426e-05 9.99976113e-01 1.35004980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:120.90, Z:1.35 [[ 1.20445847e-01 -9.92719523e-01 -8.63614184e-04 1.71224901e+02] [ 9.92695838e-01 1.20448939e-01 -6.85764658e-03 1.20897489e+02] [ 6.91174106e-03 -3.13311576e-05 9.99976113e-01 1.35039360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:120.92, Z:1.35 [[ 1.21240760e-01 -9.92622756e-01 -8.61684202e-04 1.71229407e+02] [ 9.92599066e-01 1.21243820e-01 -6.85788908e-03 1.20921997e+02] [ 6.91177065e-03 -2.38512509e-05 9.99976113e-01 1.35186385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:120.95, Z:1.35 [[ 1.21620347e-01 -9.92576321e-01 -8.59759325e-04 1.71232694e+02] [ 9.92552628e-01 1.21623384e-01 -6.85813039e-03 1.20946873e+02] [ 6.91178467e-03 -1.92681802e-05 9.99976113e-01 1.35248025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:120.97, Z:1.35 [[ 1.22233939e-01 -9.92500946e-01 -8.57836871e-04 1.71235327e+02] [ 9.92477250e-01 1.22236948e-01 -6.85837085e-03 1.20970962e+02] [ 6.91179892e-03 -1.30578934e-05 9.99976113e-01 1.35244681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:121.00, Z:1.35 [[ 1.22788222e-01 -9.92432527e-01 -8.55919865e-04 1.71238078e+02] [ 9.92408827e-01 1.22791205e-01 -6.85861008e-03 1.20995125e+02] [ 6.91180717e-03 -7.26588904e-06 9.99976113e-01 1.35215503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:121.02, Z:1.35 [[ 1.24291869e-01 -9.92245334e-01 -8.53994612e-04 1.71241802e+02] [ 9.92221628e-01 1.24294803e-01 -6.85884980e-03 1.21019865e+02] [ 6.91180880e-03 5.14733605e-06 9.99976113e-01 1.35181295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:121.04, Z:1.35 [[ 1.25214840e-01 -9.92129285e-01 -8.52055999e-04 1.71243871e+02] [ 9.92105574e-01 1.25217738e-01 -6.85909062e-03 1.21043299e+02] [ 6.91179719e-03 1.35304289e-05 9.99976113e-01 1.35053026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:121.07, Z:1.35 [[ 1.27418333e-01 -9.91848701e-01 -8.50046978e-04 1.71245592e+02] [ 9.91824983e-01 1.27421164e-01 -6.85933959e-03 1.21066980e+02] [ 6.91174103e-03 3.09077854e-05 9.99976113e-01 1.34875570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:121.09, Z:1.35 [[ 1.28203971e-01 -9.91747459e-01 -8.48202289e-04 1.71248909e+02] [ 9.91723737e-01 1.28206771e-01 -6.85956769e-03 1.21091407e+02] [ 6.91170410e-03 3.82414726e-05 9.99976113e-01 1.35076857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:121.11, Z:1.35 [[ 1.29819446e-01 -9.91537289e-01 -8.46201269e-04 1.71250993e+02] [ 9.91513561e-01 1.29822194e-01 -6.85981452e-03 1.21114621e+02] [ 6.91161760e-03 5.15172909e-05 9.99976113e-01 1.35012191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:121.14, Z:1.35 [[ 1.30240731e-01 -9.91482042e-01 -8.44126451e-04 1.71252225e+02] [ 9.91458311e-01 1.30243454e-01 -6.86006983e-03 1.21138821e+02] [ 6.91157799e-03 5.65443228e-05 9.99976113e-01 1.35196051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:121.16, Z:1.35 [[ 1.30596220e-01 -9.91435282e-01 -8.42116373e-04 1.71254148e+02] [ 9.91411548e-01 1.30598920e-01 -6.86031657e-03 1.21162061e+02] [ 6.91153938e-03 6.10475131e-05 9.99976113e-01 1.34981363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:121.19, Z:1.35 [[ 1.30646422e-01 -9.91428669e-01 -8.40226788e-04 1.71256646e+02] [ 9.91404934e-01 1.30649109e-01 -6.86054799e-03 1.21186960e+02] [ 6.91151885e-03 6.33010652e-05 9.99976113e-01 1.35085114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.26, Y:121.21, Z:1.35 [[ 1.31459892e-01 -9.91321136e-01 -8.38345547e-04 1.71257153e+02] [ 9.91297397e-01 1.31462546e-01 -6.86077787e-03 1.21211100e+02] [ 6.91144515e-03 7.08673571e-05 9.99976113e-01 1.34535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:121.24, Z:1.35 [[ 1.31440307e-01 -9.91323734e-01 -8.36385790e-04 1.71258015e+02] [ 9.91299994e-01 1.31442948e-01 -6.86101677e-03 1.21235450e+02] [ 6.91142578e-03 7.27049195e-05 9.99976113e-01 1.34732864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.26, Y:121.26, Z:1.34 [[ 1.32016391e-01 -9.91247182e-01 -8.34498815e-04 1.71259796e+02] [ 9.91223439e-01 1.32019005e-01 -6.86124627e-03 1.21259078e+02] [ 6.91136074e-03 7.86221866e-05 9.99976113e-01 1.34361206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.26, Y:121.28, Z:1.35 [[ 1.32660954e-01 -9.91161126e-01 -8.32541176e-04 1.71261275e+02] [ 9.91137380e-01 1.32663539e-01 -6.86148380e-03 1.21283358e+02] [ 6.91128387e-03 8.50883096e-05 9.99976113e-01 1.35037401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:121.31, Z:1.35 [[ 1.32822315e-01 -9.91139517e-01 -8.30513665e-04 1.71262019e+02] [ 9.91115769e-01 1.32824883e-01 -6.86172921e-03 1.21307622e+02] [ 6.91124385e-03 8.82555716e-05 9.99976113e-01 1.34889998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:121.33, Z:1.35 [[ 1.32698808e-01 -9.91156077e-01 -8.11362729e-04 1.71262889e+02] [ 9.91132314e-01 1.32701245e-01 -6.86404049e-03 1.21333710e+02] [ 6.91100429e-03 1.06682172e-04 9.99976113e-01 1.34833301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.36, Z:1.35 [[ 1.32071210e-01 -9.91239886e-01 -8.26600922e-04 1.71265000e+02] [ 9.91216137e-01 1.32073768e-01 -6.86220494e-03 1.21358600e+02] [ 6.91126355e-03 8.69595356e-05 9.99976113e-01 1.34864804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.38, Z:1.35 [[ 1.31258634e-01 -9.91347815e-01 -8.24587920e-04 1.71266346e+02] [ 9.91324066e-01 1.31261198e-01 -6.86244682e-03 1.21381883e+02] [ 6.91130807e-03 8.33215485e-05 9.99976113e-01 1.34774779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.27, Y:121.41, Z:1.35 [[ 1.30686869e-01 -9.91423353e-01 -8.22499404e-04 1.71266938e+02] [ 9.91399605e-01 1.30689432e-01 -6.86269713e-03 1.21406165e+02] [ 6.91133019e-03 8.14388176e-05 9.99976113e-01 1.34855002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.43, Z:1.35 [[ 1.28940040e-01 -9.91652052e-01 -8.20486871e-04 1.71265449e+02] [ 9.91628306e-01 1.28942631e-01 -6.86293774e-03 1.21431348e+02] [ 6.91144203e-03 7.12894586e-05 9.99976113e-01 1.34503999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.46, Z:1.35 [[ 1.27576657e-01 -9.91828390e-01 -8.00760833e-04 1.71268220e+02] [ 9.91804633e-01 1.27579144e-01 -6.86528872e-03 1.21456729e+02] [ 6.91134864e-03 8.16522799e-05 9.99976113e-01 1.34728436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.48, Z:1.35 [[ 1.26348068e-01 -9.91985635e-01 -8.16373348e-04 1.71271026e+02] [ 9.91961892e-01 1.26350692e-01 -6.86343168e-03 1.21479797e+02] [ 6.91157497e-03 5.73700793e-05 9.99976113e-01 1.34798983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.50, Z:1.35 [[ 1.24155091e-01 -9.92262491e-01 -8.14303781e-04 1.71273006e+02] [ 9.92238753e-01 1.24157753e-01 -6.86367722e-03 1.21503706e+02] [ 6.91167158e-03 4.41767008e-05 9.99976113e-01 1.34731507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:121.53, Z:1.34 [[ 1.23168101e-01 -9.92385489e-01 -8.12260499e-04 1.71274889e+02] [ 9.92361752e-01 1.23170773e-01 -6.86391901e-03 1.21527528e+02] [ 6.91170038e-03 3.93596174e-05 9.99976113e-01 1.34316827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.55, Z:1.35 [[ 1.21888342e-01 -9.92543488e-01 -8.10266537e-04 1.71276030e+02] [ 9.92519753e-01 1.21891031e-01 -6.86415439e-03 1.21552168e+02] [ 6.91173596e-03 3.24548537e-05 9.99976113e-01 1.34839470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.58, Z:1.35 [[ 1.20700935e-01 -9.92688587e-01 -8.08261484e-04 1.71277516e+02] [ 9.92664854e-01 1.20703639e-01 -6.86439048e-03 1.21576720e+02] [ 6.91176218e-03 2.62055827e-05 9.99976113e-01 1.34852254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.60, Z:1.35 [[ 1.19044970e-01 -9.92888536e-01 -8.06239016e-04 1.71277983e+02] [ 9.92864806e-01 1.19047699e-01 -6.86462801e-03 1.21600602e+02] [ 6.91179136e-03 1.67130929e-05 9.99976113e-01 1.34668466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.62, Z:1.35 [[ 1.18239825e-01 -9.92984742e-01 -8.04149838e-04 1.71279793e+02] [ 9.92961012e-01 1.18242558e-01 -6.86487274e-03 1.21624731e+02] [ 6.91179862e-03 1.32119120e-05 9.99976113e-01 1.34640468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.65, Z:1.35 [[ 1.17467043e-01 -9.93076457e-01 -8.02241209e-04 1.71282132e+02] [ 9.93052728e-01 1.17469782e-01 -6.86509578e-03 1.21649624e+02] [ 6.91180409e-03 9.75468233e-06 9.99976113e-01 1.34903688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.28, Y:121.68, Z:1.35 [[ 1.16800842e-01 -9.93155035e-01 -8.00382122e-04 1.71282921e+02] [ 9.93131306e-01 1.16803584e-01 -6.86531251e-03 1.21675313e+02] [ 6.91180719e-03 6.98974064e-06 9.99976113e-01 1.35071381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:121.70, Z:1.35 [[ 1.16588560e-01 -9.93179979e-01 -7.98512043e-04 1.71283831e+02] [ 9.93156249e-01 1.16591295e-01 -6.86553002e-03 1.21699505e+02] [ 6.91180651e-03 7.39503576e-06 9.99976113e-01 1.35072710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.28, Y:121.72, Z:1.35 [[ 1.16744655e-01 -9.93161644e-01 -7.96904616e-04 1.71284753e+02] [ 9.93137912e-01 1.16747374e-01 -6.86571659e-03 1.21723332e+02] [ 6.91180290e-03 1.00995279e-05 9.99976113e-01 1.34880151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.28, Y:121.75, Z:1.35 [[ 1.17523451e-01 -9.93069789e-01 -7.94820922e-04 1.71284954e+02] [ 9.93046054e-01 1.17526137e-01 -6.86595781e-03 1.21747876e+02] [ 6.91178751e-03 1.76172746e-05 9.99976113e-01 1.34845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.77, Z:1.35 [[ 1.17549228e-01 -9.93066740e-01 -7.92888042e-04 1.71285693e+02] [ 9.93043003e-01 1.17551900e-01 -6.86618101e-03 1.21772373e+02] [ 6.91178149e-03 1.97423548e-05 9.99976113e-01 1.34849454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.80, Z:1.35 [[ 1.17549629e-01 -9.93066694e-01 -7.90955099e-04 1.71285990e+02] [ 9.93042956e-01 1.17552288e-01 -6.86640367e-03 1.21797406e+02] [ 6.91177537e-03 2.16908130e-05 9.99976113e-01 1.34894437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.82, Z:1.35 [[ 1.18119718e-01 -9.92999048e-01 -7.89028225e-04 1.71285243e+02] [ 9.92975307e-01 1.18122350e-01 -6.86662508e-03 1.21821872e+02] [ 6.91175404e-03 2.75982749e-05 9.99976113e-01 1.35148277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.85, Z:1.35 [[ 1.18402695e-01 -9.92965348e-01 -7.87059073e-04 1.71286741e+02] [ 9.92941604e-01 1.18405306e-01 -6.86685078e-03 1.21845464e+02] [ 6.91173685e-03 3.15499379e-05 9.99976113e-01 1.35082623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.87, Z:1.35 [[ 1.18650053e-01 -9.92935823e-01 -7.85015697e-04 1.71288569e+02] [ 9.92912077e-01 1.18652644e-01 -6.86708437e-03 1.21869703e+02] [ 6.91171826e-03 3.53283559e-05 9.99976113e-01 1.35117576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.89, Z:1.35 [[ 1.19784377e-01 -9.92799622e-01 -7.83064624e-04 1.71287232e+02] [ 9.92775872e-01 1.19786928e-01 -6.86730685e-03 1.21894469e+02] [ 6.91166055e-03 4.51884104e-05 9.99976113e-01 1.35140687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.92, Z:1.35 [[ 1.19675623e-01 -9.92812760e-01 -7.54572101e-04 1.71286793e+02] [ 9.92788989e-01 1.19677979e-01 -6.87054459e-03 1.21920878e+02] [ 6.91147000e-03 7.31058301e-05 9.99976113e-01 1.34859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.95, Z:1.35 [[ 1.19760836e-01 -9.92802465e-01 -7.79126117e-04 1.71286914e+02] [ 9.92778712e-01 1.19763360e-01 -6.86775901e-03 1.21945874e+02] [ 6.91163884e-03 4.89887370e-05 9.99976113e-01 1.34925452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:121.97, Z:1.35 [[ 1.19511468e-01 -9.92832516e-01 -7.77255526e-04 1.71288302e+02] [ 9.92808762e-01 1.19513986e-01 -6.86797071e-03 1.21970686e+02] [ 6.91163755e-03 4.91351685e-05 9.99976113e-01 1.34782460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.00, Z:1.35 [[ 1.18816584e-01 -9.92915930e-01 -7.58073519e-04 1.71288575e+02] [ 9.92892164e-01 1.18818985e-01 -6.87013491e-03 1.21996930e+02] [ 6.91153992e-03 6.36007043e-05 9.99976113e-01 1.34897887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.02, Z:1.35 [[ 1.18541311e-01 -9.92948820e-01 -7.73503561e-04 1.71288752e+02] [ 9.92925066e-01 1.18543826e-01 -6.86839721e-03 1.22021587e+02] [ 6.91166098e-03 4.61577382e-05 9.99976113e-01 1.34984227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.05, Z:1.35 [[ 1.17644079e-01 -9.93055525e-01 -7.71594504e-04 1.71288036e+02] [ 9.93031772e-01 1.17646602e-01 -6.86861167e-03 1.22045980e+02] [ 6.91168824e-03 4.18336372e-05 9.99976113e-01 1.34797424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.07, Z:1.35 [[ 1.17105939e-01 -9.93119130e-01 -7.69637677e-04 1.71289033e+02] [ 9.93095377e-01 1.17108461e-01 -6.86883093e-03 1.22070261e+02] [ 6.91169848e-03 4.00572736e-05 9.99976113e-01 1.34981924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.09, Z:1.35 [[ 1.16639809e-01 -9.93173986e-01 -7.67638282e-04 1.71289591e+02] [ 9.93150232e-01 1.16642329e-01 -6.86905437e-03 1.22094607e+02] [ 6.91170522e-03 3.88250527e-05 9.99976113e-01 1.34952500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.12, Z:1.35 [[ 1.16349562e-01 -9.93208031e-01 -7.65627032e-04 1.71292011e+02] [ 9.93184277e-01 1.16352074e-01 -6.86927853e-03 1.22119604e+02] [ 6.91170490e-03 3.88288161e-05 9.99976113e-01 1.34969876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.29, Y:122.14, Z:1.35 [[ 1.16061507e-01 -9.93241735e-01 -7.63619458e-04 1.71291907e+02] [ 9.93217980e-01 1.16064012e-01 -6.86950170e-03 1.22144272e+02] [ 6.91170452e-03 3.88441418e-05 9.99976113e-01 1.34949533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.17, Z:1.35 [[ 1.14930216e-01 -9.93373276e-01 -7.61621115e-04 1.71293584e+02] [ 9.93349522e-01 1.14932735e-01 -6.86972325e-03 1.22168702e+02] [ 6.91173468e-03 3.29828075e-05 9.99976113e-01 1.35022970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:122.19, Z:1.35 [[ 1.13716212e-01 -9.93512982e-01 -7.59606950e-04 1.71295030e+02] [ 9.93489230e-01 1.13718746e-01 -6.86994595e-03 1.22192654e+02] [ 6.91176204e-03 2.65629091e-05 9.99976113e-01 1.35041941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:122.22, Z:1.35 [[ 1.11856819e-01 -9.93724045e-01 -7.57526714e-04 1.71294904e+02] [ 9.93700296e-01 1.11859383e-01 -6.87017532e-03 1.22217833e+02] [ 6.91179489e-03 1.57214357e-05 9.99976113e-01 1.35014206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:122.24, Z:1.35 [[ 1.10710467e-01 -9.93852418e-01 -7.51210791e-04 1.71296074e+02] [ 9.93828667e-01 1.10713015e-01 -6.87086958e-03 1.22242397e+02] [ 6.91179915e-03 1.41023637e-05 9.99976113e-01 1.34863939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.30, Y:122.27, Z:1.35 [[ 1.10112031e-01 -9.93918897e-01 -7.53514121e-04 1.71298148e+02] [ 9.93895149e-01 1.10114609e-01 -6.87061697e-03 1.22267593e+02] [ 6.91180895e-03 7.62355790e-06 9.99976113e-01 1.34787304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:122.29, Z:1.35 [[ 1.07738591e-01 -9.94178973e-01 -7.51976948e-04 1.71300385e+02] [ 9.94155231e-01 1.07741215e-01 -6.87078515e-03 1.22292498e+02] [ 6.91180903e-03 -7.33310767e-06 9.99976113e-01 1.35134462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:122.32, Z:1.35 [[ 1.06415815e-01 -9.94321433e-01 -7.49836510e-04 1.71301950e+02] [ 9.94297693e-01 1.06418455e-01 -6.87101874e-03 1.22316278e+02] [ 6.91179764e-03 -1.43756563e-05 9.99976113e-01 1.35176920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:122.34, Z:1.35 [[ 1.04925561e-01 -9.94479797e-01 -7.47784006e-04 1.71304185e+02] [ 9.94456059e-01 1.04928223e-01 -6.87124211e-03 1.22341497e+02] [ 6.91177510e-03 -2.26694022e-05 9.99976113e-01 1.35299127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:122.36, Z:1.35 [[ 1.03011963e-01 -9.94679838e-01 -7.45955922e-04 1.71306836e+02] [ 9.94656103e-01 1.03014658e-01 -6.87144056e-03 1.22364717e+02] [ 6.91172777e-03 -3.41290325e-05 9.99976113e-01 1.35122737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:122.39, Z:1.35 [[ 9.94151010e-02 -9.95045770e-01 -7.44075111e-04 1.71311704e+02] [ 9.95022044e-01 9.94178690e-02 -6.87164422e-03 1.22388782e+02] [ 6.91157487e-03 -5.72259336e-05 9.99976113e-01 1.35252032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:122.41, Z:1.35 [[ 9.73845881e-02 -9.95246548e-01 -7.42111290e-04 1.71314356e+02] [ 9.95222826e-01 9.73873910e-02 -6.87185630e-03 1.22413345e+02] [ 6.91146354e-03 -6.93532006e-05 9.99976113e-01 1.35160405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:122.44, Z:1.35 [[ 9.55532292e-02 -9.95424047e-01 -7.40210299e-04 1.71317916e+02] [ 9.95400328e-01 9.55560626e-02 -6.87206106e-03 1.22437782e+02] [ 6.91134641e-03 -8.01579494e-05 9.99976113e-01 1.35362099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:122.46, Z:1.35 [[ 9.32055250e-02 -9.95646617e-01 -7.38277438e-04 1.71324425e+02] [ 9.95622903e-01 9.32084010e-02 -6.87226870e-03 1.22461949e+02] [ 6.91116474e-03 -9.45125136e-05 9.99976113e-01 1.34884830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.33, Y:122.49, Z:1.35 [[ 9.28466190e-02 -9.95680158e-01 -7.27562549e-04 1.71328424e+02] [ 9.95656437e-01 9.28494295e-02 -6.87341628e-03 1.22485950e+02] [ 6.91127797e-03 -8.62288727e-05 9.99976113e-01 1.34856145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:122.51, Z:1.35 [[ 9.30266133e-02 -9.95663358e-01 -7.26304859e-04 1.71331780e+02] [ 9.95639635e-01 9.30294109e-02 -6.87355086e-03 1.22510764e+02] [ 6.91131044e-03 -8.37147474e-05 9.99976113e-01 1.35355503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:122.54, Z:1.35 [[ 9.63832513e-02 -9.95344036e-01 -7.19770931e-04 1.71335324e+02] [ 9.95320299e-01 9.63859238e-02 -6.87424780e-03 1.22536678e+02] [ 6.91161734e-03 -5.38402656e-05 9.99976113e-01 1.35063381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:122.56, Z:1.35 [[ 9.90316889e-02 -9.95084011e-01 -7.31863725e-04 1.71337453e+02] [ 9.95060276e-01 9.90343817e-02 -6.87296011e-03 1.22560127e+02] [ 6.91165238e-03 -4.76076731e-05 9.99976113e-01 1.34824071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:122.58, Z:1.35 [[ 1.01616759e-01 -9.94823352e-01 -7.29823678e-04 1.71339419e+02] [ 9.94799609e-01 1.01619376e-01 -6.87317673e-03 1.22584738e+02] [ 6.91176094e-03 -2.75983685e-05 9.99976113e-01 1.34823622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:122.61, Z:1.35 [[ 1.04268006e-01 -9.94548970e-01 -7.27903868e-04 1.71342030e+02] [ 9.94525218e-01 1.04270546e-01 -6.87338004e-03 1.22610159e+02] [ 6.91181197e-03 -7.24512290e-06 9.99976113e-01 1.35065739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.35, Y:122.64, Z:1.35 [[ 1.09972123e-01 -9.93934407e-01 -7.26060856e-04 1.71345325e+02] [ 9.93910640e-01 1.09974515e-01 -6.87357472e-03 1.22635551e+02] [ 6.91173060e-03 3.42619975e-05 9.99976113e-01 1.35143987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:122.66, Z:1.35 [[ 1.11654575e-01 -9.93746827e-01 -7.07490715e-04 1.71347522e+02] [ 9.93723043e-01 1.11656798e-01 -6.87553011e-03 1.22661989e+02] [ 6.91153237e-03 6.46345655e-05 9.99976113e-01 1.35214877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:122.69, Z:1.35 [[ 1.13341956e-01 -9.93555776e-01 -7.22450794e-04 1.71348986e+02] [ 9.93531998e-01 1.13344242e-01 -6.87395781e-03 1.22686527e+02] [ 6.91154612e-03 6.13298437e-05 9.99976113e-01 1.35212859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:122.71, Z:1.35 [[ 1.15483798e-01 -9.93309103e-01 -7.20501668e-04 1.71349872e+02] [ 9.93285319e-01 1.15486019e-01 -6.87416210e-03 1.22711179e+02] [ 6.91137566e-03 7.81906208e-05 9.99976113e-01 1.35182911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:122.74, Z:1.35 [[ 1.15481027e-01 -9.93309426e-01 -7.18890766e-04 1.71351834e+02] [ 9.93285641e-01 1.15483237e-01 -6.87433057e-03 1.22735121e+02] [ 6.91135718e-03 7.97908778e-05 9.99976113e-01 1.34823303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:122.76, Z:1.35 [[ 1.14591908e-01 -9.93412392e-01 -7.16809794e-04 1.71353900e+02] [ 9.93388608e-01 1.14594125e-01 -6.87454755e-03 1.22760105e+02] [ 6.91140292e-03 7.56968397e-05 9.99976113e-01 1.35215402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:122.78, Z:1.35 [[ 1.12758972e-01 -9.93622113e-01 -7.14800265e-04 1.71356826e+02] [ 9.93598332e-01 1.12761219e-01 -6.87475649e-03 1.22784118e+02] [ 6.91151182e-03 6.49661253e-05 9.99976113e-01 1.35108237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:122.81, Z:1.35 [[ 1.11216357e-01 -9.93795966e-01 -7.06717402e-04 1.71359957e+02] [ 9.93772184e-01 1.11218584e-01 -6.87559417e-03 1.22808943e+02] [ 6.91153786e-03 6.23624371e-05 9.99976113e-01 1.35314101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:122.83, Z:1.35 [[ 1.10042599e-01 -9.93926618e-01 -7.10911483e-04 1.71362702e+02] [ 9.93902840e-01 1.10044884e-01 -6.87516049e-03 1.22832622e+02] [ 6.91163718e-03 4.99835861e-05 9.99976113e-01 1.34989792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:122.86, Z:1.35 [[ 1.08182464e-01 -9.94130802e-01 -7.08872634e-04 1.71364866e+02] [ 9.94107028e-01 1.08184779e-01 -6.87537070e-03 1.22857102e+02] [ 6.91170702e-03 3.90992764e-05 9.99976113e-01 1.35339085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:122.88, Z:1.35 [[ 1.07687807e-01 -9.94184508e-01 -7.06870735e-04 1.71367901e+02] [ 9.94160734e-01 1.07690120e-01 -6.87557652e-03 1.22881188e+02] [ 6.91171465e-03 3.76726270e-05 9.99976113e-01 1.35165657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:122.91, Z:1.36 [[ 1.06215300e-01 -9.94342914e-01 -6.92222429e-04 1.71371015e+02] [ 9.94319133e-01 1.06217547e-01 -6.87707771e-03 1.22906541e+02] [ 6.91169966e-03 4.21608632e-05 9.99976113e-01 1.35523321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:122.93, Z:1.35 [[ 1.03826921e-01 -9.94595132e-01 -7.02772779e-04 1.71374596e+02] [ 9.94571364e-01 1.03829299e-01 -6.87599939e-03 1.22930420e+02] [ 6.91180393e-03 1.49561654e-05 9.99976113e-01 1.35237990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:122.95, Z:1.35 [[ 1.02639004e-01 -9.94718424e-01 -7.00832617e-04 1.71377370e+02] [ 9.94694658e-01 1.02641396e-01 -6.87619714e-03 1.22954866e+02] [ 6.91181442e-03 8.65156283e-06 9.99976113e-01 1.35205999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:122.98, Z:1.35 [[ 1.01429958e-01 -9.94842437e-01 -6.98881519e-04 1.71380703e+02] [ 9.94818672e-01 1.01432365e-01 -6.87639544e-03 1.22979125e+02] [ 6.91181920e-03 2.21211402e-06 9.99976113e-01 1.35273030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.38, Y:123.00, Z:1.35 [[ 1.00781343e-01 -9.94908355e-01 -6.96881593e-04 1.71384789e+02] [ 9.94884590e-01 1.00783753e-01 -6.87659811e-03 1.23002841e+02] [ 6.91181926e-03 -2.83963154e-07 9.99976113e-01 1.34986589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:123.03, Z:1.35 [[ 9.96279656e-02 -9.95024515e-01 -6.95031270e-04 1.71389220e+02] [ 9.95000751e-01 9.96303898e-02 -6.87678512e-03 1.23027451e+02] [ 6.91181602e-03 -6.43652396e-06 9.99976113e-01 1.34881393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.39, Y:123.05, Z:1.35 [[ 9.97881516e-02 -9.95008465e-01 -6.93103986e-04 1.71391397e+02] [ 9.94984699e-01 9.97905586e-02 -6.87697936e-03 1.23051664e+02] [ 6.91181791e-03 -3.38680137e-06 9.99976113e-01 1.35138463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:123.08, Z:1.35 [[ 1.00455446e-01 -9.94941318e-01 -6.91129076e-04 1.71394217e+02] [ 9.94917549e-01 1.00457823e-01 -6.87717784e-03 1.23075954e+02] [ 6.91181770e-03 3.23351937e-06 9.99976113e-01 1.35469070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51264000000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:171.40, Y:123.10, Z:1.35 [[ 1.01074087e-01 -9.94878663e-01 -6.89243938e-04 1.71397879e+02] [ 9.94854892e-01 1.01076437e-01 -6.87736676e-03 1.23099003e+02] [ 6.91181177e-03 9.42586627e-06 9.99976113e-01 1.35320637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:123.12, Z:1.36 [[ 1.00810309e-01 -9.94905431e-01 -6.81716141e-04 1.71400833e+02] [ 9.94881656e-01 1.00812613e-01 -6.87811904e-03 1.23124360e+02] [ 6.91180357e-03 1.51584207e-05 9.99976113e-01 1.35912955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:123.15, Z:1.35 [[ 1.00533555e-01 -9.94933432e-01 -6.85759454e-04 1.71403177e+02] [ 9.94909660e-01 1.00535894e-01 -6.87771589e-03 1.23148316e+02] [ 6.91181291e-03 9.17252704e-06 9.99976113e-01 1.35388037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.41, Y:123.17, Z:1.35 [[ 1.00361780e-01 -9.94950775e-01 -6.83796322e-04 1.71406131e+02] [ 9.94927002e-01 1.00364109e-01 -6.87791106e-03 1.23172302e+02] [ 6.91181155e-03 9.95197184e-06 9.99976113e-01 1.35307775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:123.20, Z:1.36 [[ 9.97139880e-02 -9.95015907e-01 -6.81853513e-04 1.71408861e+02] [ 9.94992134e-01 9.97163190e-02 -6.87810366e-03 1.23196685e+02] [ 6.91181447e-03 7.40426319e-06 9.99976113e-01 1.35512759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:123.22, Z:1.35 [[ 1.00525613e-01 -9.94934239e-01 -6.79842107e-04 1.71412365e+02] [ 9.94910462e-01 1.00527911e-01 -6.87830246e-03 1.23220585e+02] [ 6.91180173e-03 1.50635467e-05 9.99976113e-01 1.35429943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:123.24, Z:1.36 [[ 1.01236079e-01 -9.94862200e-01 -6.78054092e-04 1.71415330e+02] [ 9.94838421e-01 1.01238347e-01 -6.87847872e-03 1.23244966e+02] [ 6.91178355e-03 2.17959518e-05 9.99976113e-01 1.35541401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:123.27, Z:1.35 [[ 1.01835169e-01 -9.94801056e-01 -6.76118086e-04 1.71418649e+02] [ 9.94777275e-01 1.01837410e-01 -6.87866901e-03 1.23268588e+02] [ 6.91176131e-03 2.79035141e-05 9.99976113e-01 1.35356743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:123.29, Z:1.36 [[ 1.02714731e-01 -9.94710626e-01 -6.74105968e-04 1.71421590e+02] [ 9.94686841e-01 1.02716937e-01 -6.87886619e-03 1.23293205e+02] [ 6.91172340e-03 3.60365537e-05 9.99976113e-01 1.35513164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:123.32, Z:1.35 [[ 1.04589666e-01 -9.94515234e-01 -6.72174656e-04 1.71423523e+02] [ 9.94491443e-01 1.04591814e-01 -6.87905491e-03 1.23316439e+02] [ 6.91162887e-03 5.10061144e-05 9.99976113e-01 1.35479735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:123.34, Z:1.36 [[ 1.04858227e-01 -9.94486955e-01 -6.70168215e-04 1.71425952e+02] [ 9.94463163e-01 1.04860354e-01 -6.87925037e-03 1.23340602e+02] [ 6.91159883e-03 5.48883946e-05 9.99976113e-01 1.35617581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:123.36, Z:1.35 [[ 1.04887756e-01 -9.94483842e-01 -6.68212721e-04 1.71428318e+02] [ 9.94460049e-01 1.04889869e-01 -6.87944031e-03 1.23364242e+02] [ 6.91158098e-03 5.70582024e-05 9.99976113e-01 1.35324898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:123.39, Z:1.36 [[ 1.04485702e-01 -9.94526166e-01 -6.66187291e-04 1.71430675e+02] [ 9.94502372e-01 1.04487811e-01 -6.87963645e-03 1.23388972e+02] [ 6.91158691e-03 5.62988022e-05 9.99976113e-01 1.35622283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:123.41, Z:1.36 [[ 1.03279297e-01 -9.94652173e-01 -6.64259210e-04 1.71434066e+02] [ 9.94628381e-01 1.03281421e-01 -6.87982261e-03 1.23413315e+02] [ 6.91163614e-03 4.98521806e-05 9.99976113e-01 1.35933730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:123.44, Z:1.36 [[ 1.02321786e-01 -9.94751131e-01 -6.62242091e-04 1.71436722e+02] [ 9.94727340e-01 1.02323920e-01 -6.88001677e-03 1.23436686e+02] [ 6.91166767e-03 4.52252927e-05 9.99976113e-01 1.35682768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:123.46, Z:1.36 [[ 1.02072292e-01 -9.94776765e-01 -6.60151518e-04 1.71440439e+02] [ 9.94752972e-01 1.02074417e-01 -6.88021735e-03 1.23461159e+02] [ 6.91166494e-03 4.55918734e-05 9.99976113e-01 1.35667005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:123.48, Z:1.36 [[ 1.01872137e-01 -9.94797283e-01 -6.58228037e-04 1.71443256e+02] [ 9.94773490e-01 1.01874253e-01 -6.88040137e-03 1.23484816e+02] [ 6.91166108e-03 4.61333888e-05 9.99976113e-01 1.35672470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:123.51, Z:1.35 [[ 1.01882203e-01 -9.94796254e-01 -6.56239488e-04 1.71445397e+02] [ 9.94772459e-01 1.01884305e-01 -6.88059103e-03 1.23508587e+02] [ 6.91164668e-03 4.82008021e-05 9.99976113e-01 1.35469137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:123.53, Z:1.36 [[ 1.02184282e-01 -9.94765271e-01 -6.54261764e-04 1.71447231e+02] [ 9.94741475e-01 1.02186364e-01 -6.88077908e-03 1.23534352e+02] [ 6.91161670e-03 5.22861604e-05 9.99976113e-01 1.35955096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:123.56, Z:1.36 [[ 1.01645533e-01 -9.94820466e-01 -6.52470314e-04 1.71449885e+02] [ 9.94796670e-01 1.01647614e-01 -6.88094895e-03 1.23558758e+02] [ 6.91163089e-03 5.03424261e-05 9.99976113e-01 1.36133575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:123.58, Z:1.36 [[ 1.00512719e-01 -9.94935561e-01 -6.50444261e-04 1.71452790e+02] [ 9.94911766e-01 1.00514813e-01 -6.88114046e-03 1.23582211e+02] [ 6.91167063e-03 4.45074864e-05 9.99976113e-01 1.35920808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:123.61, Z:1.36 [[ 9.83002830e-02 -9.95156588e-01 -6.48341633e-04 1.71455171e+02] [ 9.95132796e-01 9.83024161e-02 -6.88133857e-03 1.23605953e+02] [ 6.91174296e-03 3.12515071e-05 9.99976113e-01 1.35935434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:123.63, Z:1.36 [[ 9.80205870e-02 -9.95184177e-01 -6.46504198e-04 1.71457140e+02] [ 9.95160385e-01 9.80227141e-02 -6.88151119e-03 1.23630999e+02] [ 6.91174315e-03 3.11543995e-05 9.99976113e-01 1.35952810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:123.66, Z:1.36 [[ 9.65086649e-02 -9.95331936e-01 -6.44570029e-04 1.71459559e+02] [ 9.95308146e-01 9.65108147e-02 -6.88169235e-03 1.23656002e+02] [ 6.91177615e-03 2.25971412e-05 9.99976113e-01 1.36079127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:123.68, Z:1.36 [[ 9.47136898e-02 -9.95504347e-01 -6.42636834e-04 1.71462938e+02] [ 9.95480559e-01 9.47158691e-02 -6.88187288e-03 1.23679651e+02] [ 6.91180227e-03 1.20750983e-05 9.99976113e-01 1.35762383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:123.70, Z:1.36 [[ 9.15807987e-02 -9.95797443e-01 -6.40575021e-04 1.71468980e+02] [ 9.95773661e-01 9.15830387e-02 -6.88206479e-03 1.23703517e+02] [ 6.91180833e-03 -7.60274364e-06 9.99976113e-01 1.35871810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:123.73, Z:1.36 [[ 8.97753103e-02 -9.95961840e-01 -6.38574886e-04 1.71472470e+02] [ 9.95938061e-01 8.97775796e-02 -6.88225037e-03 1.23727426e+02] [ 6.91178845e-03 -1.81248707e-05 9.99976113e-01 1.36018472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:123.75, Z:1.36 [[ 8.82011366e-02 -9.96102482e-01 -6.36548878e-04 1.71476980e+02] [ 9.96078705e-01 8.82034295e-02 -6.88243776e-03 1.23751389e+02] [ 6.91175912e-03 -2.70139493e-05 9.99976113e-01 1.35939099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:123.78, Z:1.36 [[ 8.69721937e-02 -9.96210537e-01 -6.34620156e-04 1.71481103e+02] [ 9.96186762e-01 8.69745025e-02 -6.88261560e-03 1.23775553e+02] [ 6.91172996e-03 -3.36040216e-05 9.99976113e-01 1.36292474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:123.80, Z:1.36 [[ 8.69761668e-02 -9.96210192e-01 -6.32588522e-04 1.71485624e+02] [ 9.96186415e-01 8.69784615e-02 -6.88280232e-03 1.23800110e+02] [ 6.91173940e-03 -3.15363297e-05 9.99976113e-01 1.36494041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.49, Y:123.82, Z:1.36 [[ 8.74327171e-02 -9.96170228e-01 -6.30551521e-04 1.71488199e+02] [ 9.96146449e-01 8.74349868e-02 -6.88298893e-03 1.23823934e+02] [ 6.91176091e-03 -2.63232350e-05 9.99976113e-01 1.36232694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:123.85, Z:1.36 [[ 8.94613431e-02 -9.95990097e-01 -6.28643833e-04 1.71491698e+02] [ 9.95966312e-01 8.94635512e-02 -6.88316316e-03 1.23846850e+02] [ 6.91180305e-03 -1.03310588e-05 9.99976113e-01 1.36234663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:123.87, Z:1.36 [[ 9.16936650e-02 -9.95787065e-01 -6.26602618e-04 1.71494939e+02] [ 9.95763274e-01 9.16958057e-02 -6.88334898e-03 1.23871459e+02] [ 6.91180671e-03 7.21161993e-06 9.99976113e-01 1.36332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:123.90, Z:1.36 [[ 9.72591560e-02 -9.95258894e-01 -6.24609900e-04 1.71498322e+02] [ 9.95235091e-01 9.72611499e-02 -6.88352980e-03 1.23895358e+02] [ 6.91164453e-03 4.78526079e-05 9.99976113e-01 1.36196109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:123.92, Z:1.36 [[ 1.00023216e-01 -9.94984909e-01 -6.22537072e-04 1.71500436e+02] [ 9.94961099e-01 1.00025130e-01 -6.88371725e-03 1.23920266e+02] [ 6.91146414e-03 6.91313700e-05 9.99976113e-01 1.36280521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:123.94, Z:1.36 [[ 1.05324920e-01 -9.94437668e-01 -6.20559421e-04 1.71499387e+02] [ 9.94413847e-01 1.05326693e-01 -6.88389553e-03 1.23944326e+02] [ 6.91096649e-03 1.07952865e-04 9.99976113e-01 1.36258861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:123.97, Z:1.36 [[ 1.07588321e-01 -9.94195338e-01 -6.18507256e-04 1.71499885e+02] [ 9.94171512e-01 1.07590025e-01 -6.88407991e-03 1.23967779e+02] [ 6.91066537e-03 1.25744304e-04 9.99976113e-01 1.36300076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:123.99, Z:1.36 [[ 1.09293415e-01 -9.94009341e-01 -6.16463496e-04 1.71501398e+02] [ 9.93985511e-01 1.09295064e-01 -6.88426292e-03 1.23992098e+02] [ 6.91039807e-03 1.39648819e-04 9.99976113e-01 1.36424371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.02, Z:1.37 [[ 1.10452334e-01 -9.93881233e-01 -6.14503033e-04 1.71503181e+02] [ 9.93857400e-01 1.10453942e-01 -6.88443791e-03 1.24015476e+02] [ 6.91018792e-03 1.49673850e-04 9.99976113e-01 1.36507059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.04, Z:1.37 [[ 1.11900172e-01 -9.93719264e-01 -6.12478789e-04 1.71502875e+02] [ 9.93695428e-01 1.11901731e-01 -6.88461800e-03 1.24039760e+02] [ 6.90991497e-03 1.61772568e-04 9.99976113e-01 1.36523896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.50, Y:124.06, Z:1.36 [[ 1.11681523e-01 -9.93743863e-01 -6.10519203e-04 1.71503582e+02] [ 9.93720026e-01 1.11683074e-01 -6.88479177e-03 1.24063040e+02] [ 6.90990423e-03 1.62218871e-04 9.99976113e-01 1.36321072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.50, Y:124.09, Z:1.36 [[ 1.11319945e-01 -9.93784433e-01 -6.08487135e-04 1.71504356e+02] [ 9.93760596e-01 1.11321490e-01 -6.88497136e-03 1.24087228e+02] [ 6.90991505e-03 1.61744092e-04 9.99976113e-01 1.36462388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.11, Z:1.36 [[ 1.10880688e-01 -9.93833540e-01 -6.06522509e-04 1.71504597e+02] [ 9.93809703e-01 1.10882231e-01 -6.88514443e-03 1.24111188e+02] [ 6.90994003e-03 1.60661597e-04 9.99976113e-01 1.36365602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.14, Z:1.37 [[ 1.09388674e-01 -9.93998870e-01 -6.04485244e-04 1.71503722e+02] [ 9.93975034e-01 1.09390238e-01 -6.88532328e-03 1.24136130e+02] [ 6.91012835e-03 1.52333146e-04 9.99976113e-01 1.36549190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.16, Z:1.37 [[ 1.07955275e-01 -9.94155569e-01 -6.02517928e-04 1.71504796e+02] [ 9.94131735e-01 1.07956860e-01 -6.88549544e-03 1.24160859e+02] [ 6.91029958e-03 1.44343361e-04 9.99976113e-01 1.36600366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.18, Z:1.37 [[ 1.06435860e-01 -9.94319389e-01 -6.00550965e-04 1.71505545e+02] [ 9.94295556e-01 1.06437468e-01 -6.88566699e-03 1.24184099e+02] [ 6.91047332e-03 1.35756733e-04 9.99976113e-01 1.36532967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.21, Z:1.36 [[ 1.02965660e-01 -9.94684731e-01 -5.98509433e-04 1.71504170e+02] [ 9.94660903e-01 1.02967336e-01 -6.88584444e-03 1.24209376e+02] [ 6.91087125e-03 1.13691581e-04 9.99976113e-01 1.36353149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:124.23, Z:1.36 [[ 1.00819680e-01 -9.94904536e-01 -5.96604929e-04 1.71504982e+02] [ 9.94880711e-01 1.00821395e-01 -6.88600944e-03 1.24234451e+02] [ 6.91107257e-03 1.00694535e-04 9.99976113e-01 1.36420258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.51, Y:124.26, Z:1.36 [[ 9.81231014e-02 -9.95174107e-01 -5.94001175e-04 1.71505725e+02] [ 9.95150286e-01 9.81248629e-02 -6.88623437e-03 1.24258983e+02] [ 6.91128843e-03 8.45782344e-05 9.99976113e-01 1.36427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.28, Z:1.36 [[ 9.38751391e-02 -9.95583802e-01 -5.92832326e-04 1.71506519e+02] [ 9.95559987e-01 9.38769942e-02 -6.88633500e-03 1.24284833e+02] [ 6.91157690e-03 5.62555127e-05 9.99976113e-01 1.36399958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.51, Y:124.31, Z:1.37 [[ 9.15760987e-02 -9.95797904e-01 -5.94197013e-04 1.71506571e+02] [ 9.95774094e-01 9.15780181e-02 -6.88621797e-03 1.24309523e+02] [ 6.91169681e-03 3.89269843e-05 9.99976113e-01 1.36928826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.33, Z:1.37 [[ 8.96615981e-02 -9.95972114e-01 -5.87914109e-04 1.71507620e+02] [ 9.95948305e-01 8.96635199e-02 -6.88675434e-03 1.24333930e+02] [ 6.91172973e-03 3.19453397e-05 9.99976113e-01 1.36785040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.36, Z:1.37 [[ 8.60324873e-02 -9.96292160e-01 -5.85980182e-04 1.71510537e+02] [ 9.96268357e-01 8.60344824e-02 -6.88691889e-03 1.24359655e+02] [ 6.91179779e-03 8.70524864e-06 9.99976113e-01 1.36748299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.38, Z:1.37 [[ 8.46427142e-02 -9.96411194e-01 -5.85220420e-04 1.71512731e+02] [ 9.96387394e-01 8.46447373e-02 -6.88698333e-03 1.24383702e+02] [ 6.91180312e-03 -1.73286973e-07 9.99976113e-01 1.36777537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.51, Y:124.41, Z:1.37 [[ 8.26385565e-02 -9.96579415e-01 -5.82322583e-04 1.71512986e+02] [ 9.96555616e-01 8.26406074e-02 -6.88722835e-03 1.24408570e+02] [ 6.91179349e-03 -1.11662317e-05 9.99976113e-01 1.36740044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:124.43, Z:1.37 [[ 8.23990086e-02 -9.96599251e-01 -5.80382560e-04 1.71514517e+02] [ 9.96575451e-01 8.24010518e-02 -6.88739183e-03 1.24431665e+02] [ 6.91179367e-03 -1.08807538e-05 9.99976113e-01 1.36784530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:124.46, Z:1.37 [[ 8.17696103e-02 -9.96651090e-01 -5.78675039e-04 1.71515847e+02] [ 9.96627291e-01 8.17716568e-02 -6.88753529e-03 1.24456504e+02] [ 6.91178877e-03 -1.35322601e-05 9.99976113e-01 1.37038838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:124.48, Z:1.37 [[ 8.11131726e-02 -9.96704731e-01 -5.76654628e-04 1.71517522e+02] [ 9.96680932e-01 8.11152208e-02 -6.88770444e-03 1.24480896e+02] [ 6.91178307e-03 -1.60571128e-05 9.99976113e-01 1.37072877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:124.50, Z:1.37 [[ 8.04963049e-02 -9.96754742e-01 -5.74637934e-04 1.71519479e+02] [ 9.96730943e-01 8.04983539e-02 -6.88787269e-03 1.24504167e+02] [ 6.91177717e-03 -1.83111094e-05 9.99976113e-01 1.37012031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:171.52, Y:124.53, Z:1.37 [[ 8.00166373e-02 -9.96793364e-01 -5.72546923e-04 1.71521884e+02] [ 9.96769565e-01 8.00186832e-02 -6.88804650e-03 1.24529152e+02] [ 6.91177349e-03 -1.95390294e-05 9.99976113e-01 1.36987454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:124.55, Z:1.37 [[ 8.02252448e-02 -9.96776597e-01 -5.70617740e-04 1.71525597e+02] [ 9.96752797e-01 8.02272724e-02 -6.88820631e-03 1.24553410e+02] [ 6.91178195e-03 -1.61567906e-05 9.99976113e-01 1.37004914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:124.58, Z:1.37 [[ 8.01523566e-02 -9.96782462e-01 -5.68611279e-04 1.71528182e+02] [ 9.96758660e-01 8.01543722e-02 -6.88837194e-03 1.24576823e+02] [ 6.91178502e-03 -1.46489731e-05 9.99976113e-01 1.36667565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.53, Y:124.60, Z:1.37 [[ 8.08949122e-02 -9.96722475e-01 -5.66550879e-04 1.71529380e+02] [ 9.96698671e-01 8.08968958e-02 -6.88854140e-03 1.24601950e+02] [ 6.91179624e-03 -7.43255652e-06 9.99976113e-01 1.36696431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.53, Y:124.63, Z:1.37 [[ 8.20019312e-02 -9.96632011e-01 -5.64639340e-04 1.71530732e+02] [ 9.96608203e-01 8.20038751e-02 -6.88869808e-03 1.24627139e+02] [ 6.91179963e-03 2.16234702e-06 9.99976113e-01 1.36955286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:124.65, Z:1.37 [[ 8.56265393e-02 -9.96327150e-01 -5.52293825e-04 1.71532814e+02] [ 9.96303329e-01 8.56283113e-02 -6.88970652e-03 1.24652751e+02] [ 6.91169366e-03 3.96895502e-05 9.99976113e-01 1.37099425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:124.68, Z:1.37 [[ 8.74540698e-02 -9.96168395e-01 -5.60896753e-04 1.71534565e+02] [ 9.96144575e-01 8.74558576e-02 -6.88900608e-03 1.24678515e+02] [ 6.91166384e-03 4.37373609e-05 9.99976113e-01 1.37377124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.70, Z:1.37 [[ 8.90385469e-02 -9.96028024e-01 -5.59108019e-04 1.71536250e+02] [ 9.96004200e-01 8.90402843e-02 -6.88915125e-03 1.24702261e+02] [ 6.91157085e-03 5.65260812e-05 9.99976113e-01 1.37401269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.73, Z:1.37 [[ 9.16971326e-02 -9.95786787e-01 -5.57085199e-04 1.71538781e+02] [ 9.95762958e-01 9.16987924e-02 -6.88931482e-03 1.24726057e+02] [ 6.91137271e-03 7.70056084e-05 9.99976113e-01 1.36964581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.75, Z:1.37 [[ 9.28706033e-02 -9.95678032e-01 -5.55407356e-04 1.71539277e+02] [ 9.95654200e-01 9.28722235e-02 -6.88945008e-03 1.24750107e+02] [ 6.91125601e-03 8.68337190e-05 9.99976113e-01 1.36720121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.78, Z:1.37 [[ 9.35669277e-02 -9.95612844e-01 -5.42178980e-04 1.71539542e+02] [ 9.95589006e-01 9.35684397e-02 -6.89051314e-03 1.24775272e+02] [ 6.91101423e-03 1.04936713e-04 9.99976113e-01 1.36811477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.80, Z:1.37 [[ 9.33102498e-02 -9.95636935e-01 -5.38586564e-04 1.71539997e+02] [ 9.95613095e-01 9.33117431e-02 -6.89080092e-03 1.24800996e+02] [ 6.91099236e-03 1.06758520e-04 9.99976113e-01 1.36803900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.54, Y:124.83, Z:1.37 [[ 9.20010374e-02 -9.95758759e-01 -5.50726783e-04 1.71540621e+02] [ 9.95734926e-01 9.20026460e-02 -6.88983052e-03 1.24825315e+02] [ 6.91127740e-03 8.54936619e-05 9.99976113e-01 1.37033518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.85, Z:1.37 [[ 9.05441664e-02 -9.95892290e-01 -5.48697270e-04 1.71542214e+02] [ 9.95868459e-01 9.05457958e-02 -6.88999214e-03 1.24849688e+02] [ 6.91137228e-03 7.74182902e-05 9.99976113e-01 1.36702333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:124.87, Z:1.37 [[ 8.86741905e-02 -9.96060531e-01 -5.53879718e-04 1.71544381e+02] [ 9.96036705e-01 8.86759005e-02 -6.88958067e-03 1.24874257e+02] [ 6.91155516e-03 5.92434586e-05 9.99976113e-01 1.37025138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:124.90, Z:1.37 [[ 8.32029871e-02 -9.96532474e-01 -5.39247309e-04 1.71548047e+02] [ 9.96508651e-01 8.32047267e-02 -6.89073691e-03 1.24898473e+02] [ 6.91171103e-03 3.59652857e-05 9.99976113e-01 1.37070425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:124.92, Z:1.37 [[ 7.99062441e-02 -9.96802236e-01 -5.42815430e-04 1.71550262e+02] [ 9.96778420e-01 7.99080873e-02 -6.89045582e-03 1.24922464e+02] [ 6.91179711e-03 9.52373835e-06 9.99976113e-01 1.36900058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:124.95, Z:1.37 [[ 7.71141615e-02 -9.97022129e-01 -5.29544170e-04 1.71553434e+02] [ 9.96998311e-01 7.71159796e-02 -6.89149616e-03 1.24946984e+02] [ 6.91181049e-03 3.47730403e-06 9.99976113e-01 1.37205116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.56, Y:124.97, Z:1.37 [[ 7.23111326e-02 -9.97381978e-01 -5.38641878e-04 1.71557714e+02] [ 9.97358175e-01 7.23131283e-02 -6.89078500e-03 1.24970292e+02] [ 6.91169566e-03 -3.89384122e-05 9.99976113e-01 1.37245794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:125.00, Z:1.38 [[ 7.09296884e-02 -9.97481173e-01 -5.36560253e-04 1.71561762e+02] [ 9.97457372e-01 7.09317026e-02 -6.89094709e-03 1.24995104e+02] [ 6.91164912e-03 -4.64232498e-05 9.99976113e-01 1.37536589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.56, Y:125.02, Z:1.37 [[ 6.97572067e-02 -9.97563856e-01 -5.34704824e-04 1.71564448e+02] [ 9.97540055e-01 6.97592361e-02 -6.89109106e-03 1.25018584e+02] [ 6.91160397e-03 -5.26862157e-05 9.99976113e-01 1.37163061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:125.04, Z:1.37 [[ 6.95062859e-02 -9.97581371e-01 -5.32614779e-04 1.71567651e+02] [ 9.97557570e-01 6.95083069e-02 -6.89125259e-03 1.25043331e+02] [ 6.91160636e-03 -5.23285314e-05 9.99976113e-01 1.37098350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:125.07, Z:1.37 [[ 7.01478300e-02 -9.97536466e-01 -5.30614785e-04 1.71572100e+02] [ 9.97512662e-01 7.01498218e-02 -6.89140665e-03 1.25067784e+02] [ 6.91165196e-03 -4.58777453e-05 9.99976113e-01 1.37167646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.57, Y:125.09, Z:1.37 [[ 7.04400280e-02 -9.97515876e-01 -5.28897421e-04 1.71574415e+02] [ 9.97492071e-01 7.04420010e-02 -6.89153845e-03 1.25093023e+02] [ 6.91167560e-03 -4.21308220e-05 9.99976113e-01 1.37036044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:171.58, Y:125.12, Z:1.37 [[ 7.09228198e-02 -9.97481672e-01 -5.17225029e-04 1.71577509e+02] [ 9.97457859e-01 7.09247006e-02 -6.89243060e-03 1.25118032e+02] [ 6.91175723e-03 -2.70795573e-05 9.99976113e-01 1.37122725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:125.14, Z:1.37 [[ 7.14324791e-02 -9.97445299e-01 -5.25356315e-04 1.71582794e+02] [ 9.97421490e-01 7.14344039e-02 -6.89181076e-03 1.25142209e+02] [ 6.91173276e-03 -3.17025503e-05 9.99976113e-01 1.37436862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.59, Y:125.17, Z:1.37 [[ 7.13644284e-02 -9.97450171e-01 -5.23504276e-04 1.71586508e+02] [ 9.97426361e-01 7.13663420e-02 -6.89195143e-03 1.25167104e+02] [ 6.91173872e-03 -3.03167910e-05 9.99976113e-01 1.37345153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:125.19, Z:1.37 [[ 7.17965960e-02 -9.97419158e-01 -5.21622257e-04 1.71594756e+02] [ 9.97395346e-01 7.17984864e-02 -6.89209387e-03 1.25189626e+02] [ 6.91175816e-03 -2.54347320e-05 9.99976113e-01 1.36929838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:125.21, Z:1.37 [[ 7.14932353e-02 -9.97440954e-01 -5.10473402e-04 1.71596037e+02] [ 9.97417137e-01 7.14950559e-02 -6.89293400e-03 1.25212891e+02] [ 6.91179099e-03 -1.63567668e-05 9.99976113e-01 1.36945981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:125.24, Z:1.37 [[ 7.12649435e-02 -9.97457292e-01 -5.08997188e-04 1.71600270e+02] [ 9.97433474e-01 7.12667593e-02 -6.89304486e-03 1.25238538e+02] [ 6.91179244e-03 -1.64583813e-05 9.99976113e-01 1.37335295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:125.26, Z:1.37 [[ 7.16164321e-02 -9.97432113e-01 -5.15860223e-04 1.71604460e+02] [ 9.97408299e-01 7.16182870e-02 -6.89253121e-03 1.25263121e+02] [ 6.91177699e-03 -2.09047738e-05 9.99976113e-01 1.37330790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:125.29, Z:1.37 [[ 7.19314349e-02 -9.97409447e-01 -5.13886276e-04 1.71608098e+02] [ 9.97385630e-01 7.19332686e-02 -6.89267838e-03 1.25287732e+02] [ 6.91178804e-03 -1.67425411e-05 9.99976113e-01 1.37410613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:125.31, Z:1.38 [[ 7.40326666e-02 -9.97255693e-01 -4.97201244e-04 1.71615833e+02] [ 9.97231864e-01 7.40343348e-02 -6.89391607e-03 1.25313080e+02] [ 6.91180701e-03 1.45500661e-05 9.99976113e-01 1.37537784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:125.34, Z:1.37 [[ 7.48860645e-02 -9.97191966e-01 -5.10251231e-04 1.71620224e+02] [ 9.97168142e-01 7.48878024e-02 -6.89295004e-03 1.25336521e+02] [ 6.91180600e-03 7.37962890e-06 9.99976113e-01 1.37231489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.63, Y:125.36, Z:1.37 [[ 7.70503379e-02 -9.97027074e-01 -5.08127157e-04 1.71627607e+02] [ 9.97003246e-01 7.70520095e-02 -6.89310662e-03 1.25360722e+02] [ 6.91176614e-03 2.45117696e-05 9.99976113e-01 1.37063990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:125.38, Z:1.37 [[ 7.80747937e-02 -9.96947376e-01 -5.06293854e-04 1.71631831e+02] [ 9.96923545e-01 7.80764281e-02 -6.89324127e-03 1.25384979e+02] [ 6.91172841e-03 3.34521266e-05 9.99976113e-01 1.37406293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.63, Y:125.41, Z:1.37 [[ 7.92384570e-02 -9.96855563e-01 -5.04249603e-04 1.71634475e+02] [ 9.96831729e-01 7.92400494e-02 -6.89339081e-03 1.25409943e+02] [ 6.91167173e-03 4.35696477e-05 9.99976113e-01 1.37459687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:125.43, Z:1.37 [[ 8.06842396e-02 -9.96739586e-01 -5.02202632e-04 1.71637054e+02] [ 9.96715749e-01 8.06857833e-02 -6.89353993e-03 1.25433890e+02] [ 6.91158475e-03 5.56467548e-05 9.99976113e-01 1.37133741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:125.46, Z:1.38 [[ 8.43185313e-02 -9.96438726e-01 -5.00079465e-04 1.71641235e+02] [ 9.96414883e-01 8.43199734e-02 -6.89369395e-03 1.25458309e+02] [ 6.91131030e-03 8.29795277e-05 9.99976113e-01 1.37516012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:125.48, Z:1.38 [[ 8.66022178e-02 -9.96242846e-01 -4.98028963e-04 1.71644377e+02] [ 9.96218999e-01 8.66035910e-02 -6.89384208e-03 1.25482961e+02] [ 6.91107195e-03 1.00876098e-04 9.99976113e-01 1.37653158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.51, Z:1.38 [[ 8.96092336e-02 -9.95976877e-01 -4.96267410e-04 1.71646785e+02] [ 9.95953025e-01 8.96105226e-02 -6.89396889e-03 1.25506595e+02] [ 6.91070438e-03 1.23504241e-04 9.99976113e-01 1.37660736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.53, Z:1.38 [[ 9.20400985e-02 -9.95755191e-01 -4.69884765e-04 1.71648933e+02] [ 9.95731326e-01 9.20411468e-02 -6.89585764e-03 1.25532452e+02] [ 6.90983478e-03 1.66816437e-04 9.99976113e-01 1.37836092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.56, Z:1.38 [[ 9.77160266e-02 -9.95214216e-01 -4.92285473e-04 1.71649406e+02] [ 9.95190353e-01 9.77170938e-02 -6.89425812e-03 1.25556477e+02] [ 6.90936840e-03 1.83761756e-04 9.99976113e-01 1.37664195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.58, Z:1.38 [[ 9.96153130e-02 -9.95025904e-01 -4.90188642e-04 1.71649065e+02] [ 9.95002038e-01 9.96163202e-02 -6.89440720e-03 1.25581620e+02] [ 6.90894455e-03 1.99049834e-04 9.99976113e-01 1.37756312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.61, Z:1.38 [[ 1.01794581e-01 -9.94805320e-01 -4.88199243e-04 1.71647300e+02] [ 9.94781452e-01 1.01795522e-01 -6.89454807e-03 1.25605589e+02] [ 6.90842960e-03 2.16176080e-04 9.99976113e-01 1.37736441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.63, Z:1.38 [[ 1.01477673e-01 -9.94837698e-01 -4.86137422e-04 1.71646689e+02] [ 9.94813830e-01 1.01478608e-01 -6.89469345e-03 1.25630082e+02] [ 6.90843351e-03 2.16041218e-04 9.99976113e-01 1.37962436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.66, Z:1.38 [[ 1.00529765e-01 -9.94933933e-01 -4.84174324e-04 1.71646734e+02] [ 9.94910065e-01 1.00530709e-01 -6.89483130e-03 1.25655115e+02] [ 6.90857602e-03 2.11425862e-04 9.99976113e-01 1.37995068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.68, Z:1.38 [[ 9.59916861e-02 -9.95382019e-01 -4.82185214e-04 1.71650347e+02] [ 9.95358155e-01 9.59927248e-02 -6.89497041e-03 1.25678269e+02] [ 6.90941584e-03 1.81912850e-04 9.99976113e-01 1.37609225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.65, Y:125.70, Z:1.37 [[ 9.27934753e-02 -9.95685262e-01 -4.80328831e-04 1.71653128e+02] [ 9.95661400e-01 9.27945778e-02 -6.89509973e-03 1.25702306e+02] [ 6.90992109e-03 1.61575390e-04 9.99976113e-01 1.37363255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.73, Z:1.38 [[ 8.87917546e-02 -9.96050104e-01 -4.64248892e-04 1.71654374e+02] [ 9.96026241e-01 8.87928417e-02 -6.89621360e-03 1.25727052e+02] [ 6.91019624e-03 1.49922827e-04 9.99976113e-01 1.37615230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.75, Z:1.38 [[ 8.49116667e-02 -9.96388369e-01 -4.76229430e-04 1.71654433e+02] [ 9.96364516e-01 8.49129296e-02 -6.89538616e-03 1.25751945e+02] [ 6.91092061e-03 1.11000626e-04 9.99976113e-01 1.37664892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:125.78, Z:1.38 [[ 7.82523070e-02 -9.96933474e-01 -4.74274274e-04 1.71653811e+02] [ 9.96909629e-01 7.82537158e-02 -6.89552064e-03 1.25776237e+02] [ 6.91148907e-03 6.67818074e-05 9.99976113e-01 1.37809988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:125.80, Z:1.38 [[ 7.50440472e-02 -9.97180119e-01 -4.49085194e-04 1.71655616e+02] [ 9.97156268e-01 7.50453585e-02 -6.89724283e-03 1.25802491e+02] [ 6.91149519e-03 6.97889008e-05 9.99976113e-01 1.37779024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.66, Y:125.83, Z:1.37 [[ 7.01398510e-02 -9.97537057e-01 -4.70403469e-04 1.71657697e+02] [ 9.97513222e-01 7.01414269e-02 -6.89578859e-03 1.25826384e+02] [ 6.91179942e-03 1.44359036e-05 9.99976113e-01 1.37431811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.66, Y:125.85, Z:1.38 [[ 6.81024907e-02 -9.97678220e-01 -4.68489308e-04 1.71660638e+02] [ 9.97654388e-01 6.81041020e-02 -6.89591863e-03 1.25851328e+02] [ 6.91181387e-03 2.23882024e-06 9.99976113e-01 1.37552427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.66, Y:125.87, Z:1.37 [[ 6.65388977e-02 -9.97783723e-01 -4.66611691e-04 1.71662750e+02] [ 9.97759892e-01 6.65405334e-02 -6.89604568e-03 1.25874981e+02] [ 6.91181072e-03 -6.71115289e-06 9.99976113e-01 1.37372929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.66, Y:125.90, Z:1.37 [[ 6.56041926e-02 -9.97845616e-01 -4.64582799e-04 1.71664423e+02] [ 9.97821786e-01 6.56058366e-02 -6.89618236e-03 1.25898743e+02] [ 6.91180468e-03 -1.11523630e-05 9.99976113e-01 1.37351681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:125.92, Z:1.38 [[ 6.40668525e-02 -9.97945510e-01 -4.45557240e-04 1.71665200e+02] [ 9.97921673e-01 6.40684018e-02 -6.89745773e-03 1.25924580e+02] [ 6.91183311e-03 -2.73281889e-06 9.99976113e-01 1.37725162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:125.95, Z:1.38 [[ 6.33866442e-02 -9.97988938e-01 -4.60761063e-04 1.71666853e+02] [ 9.97965110e-01 6.33883148e-02 -6.89644194e-03 1.25948439e+02] [ 6.91177964e-03 -2.26811533e-05 9.99976113e-01 1.37517866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:125.97, Z:1.37 [[ 6.28513976e-02 -9.98022791e-01 -4.58688610e-04 1.71669396e+02] [ 9.97998963e-01 6.28530666e-02 -6.89657978e-03 1.25972539e+02] [ 6.91177378e-03 -2.43110795e-05 9.99976113e-01 1.37434583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:126.00, Z:1.38 [[ 6.21388698e-02 -9.98067412e-01 -4.50226436e-04 1.71673068e+02] [ 9.98043580e-01 6.21404974e-02 -6.89714058e-03 1.25996638e+02] [ 6.91178854e-03 -2.07650831e-05 9.99976113e-01 1.37584211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:126.02, Z:1.38 [[ 6.17533075e-02 -9.98091349e-01 -4.33745298e-04 1.71676027e+02] [ 9.98067510e-01 6.17548303e-02 -6.89822685e-03 1.26022152e+02] [ 6.91184641e-03 -6.91876637e-06 9.99976113e-01 1.37504777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:126.05, Z:1.37 [[ 6.18196687e-02 -9.98087232e-01 -4.53481222e-04 1.71679220e+02] [ 9.98063403e-01 6.18213264e-02 -6.89692919e-03 1.26046901e+02] [ 6.91177178e-03 -2.62371338e-05 9.99976113e-01 1.37458673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:126.07, Z:1.37 [[ 6.28637080e-02 -9.98022019e-01 -4.51546585e-04 1.71683423e+02] [ 9.97998187e-01 6.28653274e-02 -6.89705585e-03 1.26070104e+02] [ 6.91180023e-03 -1.70681682e-05 9.99976113e-01 1.37297299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:126.09, Z:1.37 [[ 6.34252903e-02 -9.97986488e-01 -4.49534912e-04 1.71684874e+02] [ 9.97962654e-01 6.34268824e-02 -6.89718696e-03 1.26093738e+02] [ 6.91181200e-03 -1.11629687e-05 9.99976113e-01 1.37483071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:126.12, Z:1.38 [[ 6.44045067e-02 -9.97923774e-01 -4.47582147e-04 1.71686815e+02] [ 9.97899938e-01 6.44060619e-02 -6.89731368e-03 1.26119368e+02] [ 6.91182031e-03 -2.42411106e-06 9.99976113e-01 1.37881805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:126.14, Z:1.38 [[ 6.76962373e-02 -9.97705879e-01 -4.45790653e-04 1.71689760e+02] [ 9.97682037e-01 6.76977015e-02 -6.89742947e-03 1.26144362e+02] [ 6.91178493e-03 2.21726958e-05 9.99976113e-01 1.38094624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.69, Y:126.17, Z:1.38 [[ 6.92339446e-02 -9.97600360e-01 -4.26361237e-04 1.71692122e+02] [ 9.97576508e-01 6.92352377e-02 -6.89867872e-03 1.26170430e+02] [ 6.91164360e-03 5.22947865e-05 9.99976113e-01 1.37915222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.69, Y:126.19, Z:1.37 [[ 7.10994688e-02 -9.97469132e-01 -4.42087902e-04 1.71694602e+02] [ 9.97445284e-01 7.11008260e-02 -6.89767077e-03 1.26192374e+02] [ 6.91164649e-03 4.94622342e-05 9.99976113e-01 1.36817827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:126.22, Z:1.37 [[ 7.43638687e-02 -9.97231087e-01 -4.16617686e-04 1.71698748e+02] [ 9.97207226e-01 7.43649717e-02 -6.89928897e-03 1.26217355e+02] [ 6.91116721e-03 9.76036528e-05 9.99976113e-01 1.37293554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:126.24, Z:1.38 [[ 7.52909113e-02 -9.97161525e-01 -4.14381986e-04 1.71700230e+02] [ 9.97137662e-01 7.52919766e-02 -6.89943045e-03 1.26244339e+02] [ 6.91104623e-03 1.06268522e-04 9.99976113e-01 1.37806348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:126.27, Z:1.38 [[ 7.68819509e-02 -9.97040108e-01 -4.35409416e-04 1.71701618e+02] [ 9.97016249e-01 7.68831236e-02 -6.89810320e-03 1.26268863e+02] [ 6.91116119e-03 9.62293681e-05 9.99976113e-01 1.37980690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:126.29, Z:1.38 [[ 7.80615940e-02 -9.96948453e-01 -4.12078293e-04 1.71703749e+02] [ 9.96924586e-01 7.80625770e-02 -6.89956618e-03 1.26294788e+02] [ 6.91067973e-03 1.27780153e-04 9.99976113e-01 1.38088734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.32, Z:1.38 [[ 7.86572651e-02 -9.96901632e-01 -4.12940780e-04 1.71705701e+02] [ 9.96877765e-01 7.86582398e-02 -6.89951237e-03 1.26319985e+02] [ 6.91061634e-03 1.31045292e-04 9.99976113e-01 1.38275642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.34, Z:1.38 [[ 8.06643211e-02 -9.96741232e-01 -4.28789250e-04 1.71706769e+02] [ 9.96717367e-01 8.06653575e-02 -6.89852729e-03 1.26344657e+02] [ 6.91063502e-03 1.29083328e-04 9.99976113e-01 1.37898080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.37, Z:1.38 [[ 8.09154437e-02 -9.96720885e-01 -4.09618700e-04 1.71707800e+02] [ 9.96697015e-01 8.09163415e-02 -6.89971233e-03 1.26370107e+02] [ 6.91023223e-03 1.50027550e-04 9.99976113e-01 1.38171829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.39, Z:1.38 [[ 8.13081371e-02 -9.96688922e-01 -4.24914260e-04 1.71708067e+02] [ 9.96665055e-01 8.13091312e-02 -6.89877024e-03 1.26393405e+02] [ 6.91047728e-03 1.37428962e-04 9.99976113e-01 1.37839938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.42, Z:1.38 [[ 8.09307291e-02 -9.96719639e-01 -4.22996153e-04 1.71708182e+02] [ 9.96695772e-01 8.09317191e-02 -6.89888785e-03 1.26416873e+02] [ 6.91049081e-03 1.36733547e-04 9.99976113e-01 1.37767099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.44, Z:1.38 [[ 8.01684075e-02 -9.96781244e-01 -4.20981333e-04 1.71708119e+02] [ 9.96757378e-01 8.01694017e-02 -6.89901079e-03 1.26441741e+02] [ 6.91055438e-03 1.33466459e-04 9.99976113e-01 1.37962453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.47, Z:1.38 [[ 7.86722674e-02 -9.96900446e-01 -4.18985937e-04 1.71706886e+02] [ 9.96876580e-01 7.86732837e-02 -6.89913197e-03 1.26465712e+02] [ 6.91071074e-03 1.25093088e-04 9.99976113e-01 1.37772939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.49, Z:1.38 [[ 7.75857031e-02 -9.96985599e-01 -4.16917944e-04 1.71706549e+02] [ 9.96961734e-01 7.75867310e-02 -6.89925694e-03 1.26488917e+02] [ 6.91080711e-03 1.19632464e-04 9.99976113e-01 1.37523016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.52, Z:1.38 [[ 7.56319519e-02 -9.97135724e-01 -3.94902123e-04 1.71707168e+02] [ 9.97111854e-01 7.56328743e-02 -6.90057983e-03 1.26515499e+02] [ 6.91068225e-03 1.28142734e-04 9.99976113e-01 1.38099154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.54, Z:1.38 [[ 7.13990335e-02 -9.97447747e-01 -4.12873287e-04 1.71707726e+02] [ 9.97423887e-01 7.14001815e-02 -6.89950442e-03 1.26538917e+02] [ 6.91137437e-03 8.08082683e-05 9.99976113e-01 1.37879476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.71, Y:126.56, Z:1.38 [[ 6.90490584e-02 -9.97613181e-01 -4.10777430e-04 1.71708496e+02] [ 9.97589324e-01 6.90502481e-02 -6.89962920e-03 1.26563372e+02] [ 6.91152532e-03 6.66257205e-05 9.99976113e-01 1.38258360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.59, Z:1.38 [[ 6.67142478e-02 -9.97772039e-01 -4.08770353e-04 1.71709362e+02] [ 9.97748184e-01 6.67154795e-02 -6.89974811e-03 1.26587639e+02] [ 6.91164705e-03 5.24616274e-05 9.99976113e-01 1.37985853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.61, Z:1.38 [[ 6.36459904e-02 -9.97972455e-01 -4.09221701e-04 1.71707479e+02] [ 9.97948604e-01 6.36472985e-02 -6.89972152e-03 1.26611153e+02] [ 6.91177788e-03 3.07573848e-05 9.99976113e-01 1.38205212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.64, Z:1.38 [[ 6.19504731e-02 -9.98079150e-01 -3.85840026e-04 1.71707658e+02] [ 9.98055292e-01 6.19516600e-02 -6.90108715e-03 1.26637077e+02] [ 6.91173463e-03 4.24359342e-05 9.99976113e-01 1.38307439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.66, Z:1.38 [[ 6.10035400e-02 -9.98137469e-01 -4.01437042e-04 1.71707670e+02] [ 9.98113618e-01 6.10048574e-02 -6.90017976e-03 1.26661833e+02] [ 6.91181757e-03 2.02556133e-05 9.99976113e-01 1.38295539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.71, Y:126.69, Z:1.39 [[ 6.01929050e-02 -9.98186689e-01 -3.86019925e-04 1.71707414e+02] [ 9.98162833e-01 6.01941353e-02 -6.90107327e-03 1.26687110e+02] [ 6.91179561e-03 3.00849058e-05 9.99976113e-01 1.38523562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.71, Z:1.39 [[ 5.80351741e-02 -9.98314464e-01 -3.86544263e-04 1.71707061e+02] [ 9.98290611e-01 5.80364595e-02 -6.90104304e-03 1.26712409e+02] [ 6.91184475e-03 1.46197254e-05 9.99976113e-01 1.38528492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.74, Z:1.39 [[ 5.77443873e-02 -9.98331322e-01 -3.96656143e-04 1.71708142e+02] [ 9.98307474e-01 5.77457496e-02 -6.90046179e-03 1.26737527e+02] [ 6.91185235e-03 2.47814622e-06 9.99976113e-01 1.38545864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.76, Z:1.38 [[ 5.67610884e-02 -9.98387712e-01 -3.94646127e-04 1.71708707e+02] [ 9.98363864e-01 5.67624603e-02 -6.90057674e-03 1.26760694e+02] [ 6.91185211e-03 -2.31618640e-06 9.99976113e-01 1.38478934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.79, Z:1.39 [[ 5.51909260e-02 -9.98475748e-01 -3.76500302e-04 1.71709979e+02] [ 9.98451896e-01 5.51922099e-02 -6.90161020e-03 1.26786565e+02] [ 6.91187029e-03 4.98881742e-06 9.99976113e-01 1.38586985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.81, Z:1.38 [[ 5.21460375e-02 -9.98639400e-01 -3.73699119e-04 1.71711719e+02] [ 9.98615550e-01 5.21473749e-02 -6.90176900e-03 1.26813438e+02] [ 6.91186588e-03 -1.32818458e-05 9.99976113e-01 1.38092833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.84, Z:1.38 [[ 5.08445564e-02 -9.98706503e-01 -3.89852129e-04 1.71712483e+02] [ 9.98682662e-01 5.08460364e-02 -6.90085646e-03 1.26837910e+02] [ 6.91175266e-03 -3.84675759e-05 9.99976113e-01 1.38223222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.86, Z:1.38 [[ 4.95870356e-02 -9.98769731e-01 -3.87838685e-04 1.71712562e+02] [ 9.98745891e-01 4.95885317e-02 -6.90096962e-03 1.26861894e+02] [ 6.91171192e-03 -4.51536662e-05 9.99976113e-01 1.38098384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.89, Z:1.38 [[ 4.82506836e-02 -9.98835183e-01 -3.85748207e-04 1.71712196e+02] [ 9.98811344e-01 4.82521972e-02 -6.90108647e-03 1.26886997e+02] [ 6.91166117e-03 -5.23075449e-05 9.99976113e-01 1.38280630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.91, Z:1.38 [[ 4.80066813e-02 -9.98846941e-01 -3.83728647e-04 1.71713089e+02] [ 9.98823101e-01 4.80081868e-02 -6.90119876e-03 1.26910637e+02] [ 6.91166339e-03 -5.19733876e-05 9.99976113e-01 1.38122004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.93, Z:1.38 [[ 4.83405024e-02 -9.98830842e-01 -3.81640034e-04 1.71713939e+02] [ 9.98807001e-01 4.83419855e-02 -6.90131426e-03 1.26933779e+02] [ 6.91169477e-03 -4.75717393e-05 9.99976113e-01 1.38020760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.96, Z:1.38 [[ 4.86305509e-02 -9.98816763e-01 -3.79534063e-04 1.71714157e+02] [ 9.98792920e-01 4.86320125e-02 -6.90143008e-03 1.26958901e+02] [ 6.91172155e-03 -4.34555886e-05 9.99976113e-01 1.38180797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:126.98, Z:1.38 [[ 4.88359441e-02 -9.98806742e-01 -3.77534890e-04 1.71713956e+02] [ 9.98782899e-01 4.88373870e-02 -6.90153944e-03 1.26982378e+02] [ 6.91174194e-03 -4.00321972e-05 9.99976113e-01 1.37749459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31264 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:171.71, Y:127.01, Z:1.38 [[ 5.02569284e-02 -9.98736252e-01 -3.75467209e-04 1.71713895e+02] [ 9.98712405e-01 5.02583231e-02 -6.90165193e-03 1.27006582e+02] [ 6.91180033e-03 -2.81279328e-05 9.99976113e-01 1.38158718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.03, Z:1.38 [[ 4.99973654e-02 -9.98749280e-01 -3.73430839e-04 1.71714091e+02] [ 9.98725433e-01 4.99987522e-02 -6.90176211e-03 1.27030586e+02] [ 6.91180101e-03 -2.78849541e-05 9.99976113e-01 1.38009838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.06, Z:1.38 [[ 4.97145580e-02 -9.98763398e-01 -3.71400899e-04 1.71713347e+02] [ 9.98739551e-01 4.97159375e-02 -6.90187134e-03 1.27055098e+02] [ 6.91180102e-03 -2.78092842e-05 9.99976113e-01 1.38016000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.08, Z:1.38 [[ 4.92606502e-02 -9.98785891e-01 -3.62970063e-04 1.71712829e+02] [ 9.98762041e-01 4.92619823e-02 -6.90232212e-03 1.27079980e+02] [ 6.91182257e-03 -2.25078452e-05 9.99976113e-01 1.38056277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.10, Z:1.38 [[ 4.84476100e-02 -9.98825658e-01 -3.67449536e-04 1.71713316e+02] [ 9.98801810e-01 4.84489924e-02 -6.90208364e-03 1.27104927e+02] [ 6.91178079e-03 -3.26198059e-05 9.99976113e-01 1.37937425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.13, Z:1.38 [[ 4.79914046e-02 -9.98847682e-01 -3.65487576e-04 1.71714950e+02] [ 9.98823835e-01 4.79927843e-02 -6.90218753e-03 1.27129876e+02] [ 6.91177478e-03 -3.38120282e-05 9.99976113e-01 1.37916303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:127.16, Z:1.38 [[ 4.75565565e-02 -9.98868481e-01 -3.63527540e-04 1.71715191e+02] [ 9.98844633e-01 4.75579331e-02 -6.90229076e-03 1.27155415e+02] [ 6.91176931e-03 -3.48583518e-05 9.99976113e-01 1.37624842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.18, Z:1.38 [[ 4.77619654e-02 -9.98858681e-01 -3.61086016e-04 1.71714327e+02] [ 9.98834832e-01 4.77633202e-02 -6.90241871e-03 1.27180025e+02] [ 6.91178751e-03 -3.09922065e-05 9.99976113e-01 1.38008014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.20, Z:1.38 [[ 4.86814759e-02 -9.98814290e-01 -3.57106983e-04 1.71712250e+02] [ 9.98790439e-01 4.86827813e-02 -6.90262613e-03 1.27204877e+02] [ 6.91182658e-03 -2.06450127e-05 9.99976113e-01 1.38154351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.23, Z:1.38 [[ 4.91180276e-02 -9.98792917e-01 -3.57650447e-04 1.71712492e+02] [ 9.98769065e-01 4.91193263e-02 -6.90259797e-03 1.27228821e+02] [ 6.91183351e-03 -1.81682047e-05 9.99976113e-01 1.38234922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.25, Z:1.38 [[ 5.03693638e-02 -9.98730595e-01 -3.55644529e-04 1.71711287e+02] [ 9.98706740e-01 5.03706188e-02 -6.90270132e-03 1.27253911e+02] [ 6.91185303e-03 -7.49991411e-06 9.99976113e-01 1.38364259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.28, Z:1.38 [[ 5.05839006e-02 -9.98719752e-01 -3.55649131e-04 1.71710066e+02] [ 9.98695897e-01 5.05851505e-02 -6.90270108e-03 1.27278309e+02] [ 6.91185448e-03 -6.01978201e-06 9.99976113e-01 1.38472756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.30, Z:1.38 [[ 5.06376922e-02 -9.98717027e-01 -3.52058108e-04 1.71709452e+02] [ 9.98693171e-01 5.06389160e-02 -6.90288423e-03 1.27304371e+02] [ 6.91185586e-03 -2.05190143e-06 9.99976113e-01 1.38143221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.33, Z:1.38 [[ 5.04466275e-02 -9.98726694e-01 -3.58016534e-04 1.71708946e+02] [ 9.98702841e-01 5.04478970e-02 -6.90258163e-03 1.27328007e+02] [ 6.91185371e-03 -9.34016523e-06 9.99976113e-01 1.38271336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.35, Z:1.38 [[ 4.95424418e-02 -9.98771959e-01 -3.47447513e-04 1.71708184e+02] [ 9.98748103e-01 4.95436599e-02 -6.90311503e-03 1.27353457e+02] [ 6.91185154e-03 -5.01536994e-06 9.99976113e-01 1.37862153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.38, Z:1.39 [[ 4.83201291e-02 -9.98831840e-01 -3.47733636e-04 1.71707499e+02] [ 9.98807985e-01 4.83213784e-02 -6.90310068e-03 1.27378564e+02] [ 6.91183972e-03 -1.37604165e-05 9.99976113e-01 1.38649976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.40, Z:1.38 [[ 4.67455190e-02 -9.98906771e-01 -3.44529182e-04 1.71707006e+02] [ 9.98882918e-01 4.67467837e-02 -6.90326061e-03 1.27403639e+02] [ 6.91181939e-03 -2.14478150e-05 9.99976113e-01 1.38389448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.43, Z:1.39 [[ 4.30042412e-02 -9.99074830e-01 -3.46363760e-04 1.71705973e+02] [ 9.99050982e-01 4.30056079e-02 -6.90316971e-03 1.27428817e+02] [ 6.91167868e-03 -4.91694793e-05 9.99976113e-01 1.38832511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.45, Z:1.39 [[ 4.09696539e-02 -9.99160333e-01 -3.42267692e-04 1.71706929e+02] [ 9.99136486e-01 4.09710409e-02 -6.90337156e-03 1.27452692e+02] [ 6.91159808e-03 -5.91433961e-05 9.99976113e-01 1.38944537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.48, Z:1.39 [[ 3.90104866e-02 -9.99238744e-01 -3.38199938e-04 1.71708438e+02] [ 9.99214898e-01 3.90118922e-02 -6.90357083e-03 1.27477230e+02] [ 6.91150927e-03 -6.86227593e-05 9.99976113e-01 1.38940703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.71, Y:127.50, Z:1.39 [[ 3.46978927e-02 -9.99397795e-01 -3.23461079e-04 1.71710350e+02] [ 9.99373949e-01 3.46992994e-02 -6.90428719e-03 1.27502184e+02] [ 6.91135326e-03 -8.36943603e-05 9.99976113e-01 1.38983853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:127.53, Z:1.39 [[ 3.26012137e-02 -9.99468383e-01 -3.34214756e-04 1.71711230e+02] [ 9.99444545e-01 3.26027447e-02 -6.90376660e-03 1.27526346e+02] [ 6.91099276e-03 -1.08957945e-04 9.99976113e-01 1.39128115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97264 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:171.71, Y:127.55, Z:1.39 [[ 3.13585847e-02 -9.99508143e-01 -3.32185816e-04 1.71712615e+02] [ 9.99484306e-01 3.13601313e-02 -6.90386423e-03 1.27550513e+02] [ 6.91088591e-03 -1.15519099e-04 9.99976113e-01 1.38852457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:127.57, Z:1.39 [[ 2.98354710e-02 -9.99554769e-01 -3.30115161e-04 1.71715355e+02] [ 9.99530933e-01 2.98370397e-02 -6.90396323e-03 1.27573851e+02] [ 6.91073903e-03 -1.23977320e-04 9.99976113e-01 1.38730361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:127.60, Z:1.39 [[ 2.92026869e-02 -9.99573457e-01 -3.28107825e-04 1.71717357e+02] [ 9.99549621e-01 2.92042568e-02 -6.90405863e-03 1.27598322e+02] [ 6.91069590e-03 -1.26342990e-04 9.99976113e-01 1.38549271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:127.62, Z:1.38 [[ 2.93608062e-02 -9.99568827e-01 -3.21520127e-04 1.71719822e+02] [ 9.99544988e-01 2.93623268e-02 -6.90436979e-03 1.27622411e+02] [ 6.91083339e-03 -1.18655969e-04 9.99976113e-01 1.38412343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:127.65, Z:1.39 [[ 3.12260880e-02 -9.99512296e-01 -3.19748573e-04 1.71723749e+02] [ 9.99488453e-01 3.12275519e-02 -6.90445293e-03 1.27647646e+02] [ 6.91107056e-03 -1.03985952e-04 9.99976113e-01 1.38903921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:127.67, Z:1.38 [[ 3.27276021e-02 -9.99464257e-01 -3.22028161e-04 1.71725216e+02] [ 9.99440413e-01 3.27290459e-02 -6.90434661e-03 1.27670471e+02] [ 6.91118732e-03 -9.58852500e-05 9.99976113e-01 1.38496648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:127.70, Z:1.39 [[ 3.35977498e-02 -9.99435389e-01 -3.07763327e-04 1.71727024e+02] [ 9.99411538e-01 3.35990744e-02 -6.90500655e-03 1.27695978e+02] [ 6.91144847e-03 -7.55895373e-05 9.99976113e-01 1.38842524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:127.72, Z:1.39 [[ 3.52623612e-02 -9.99378039e-01 -3.17408299e-04 1.71729777e+02] [ 9.99354190e-01 3.52637126e-02 -6.90456317e-03 1.27719331e+02] [ 6.91146179e-03 -7.37321130e-05 9.99976113e-01 1.38691082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:127.74, Z:1.38 [[ 4.00958099e-02 -9.99195790e-01 -3.15513017e-04 1.71733198e+02] [ 9.99171934e-01 4.00970329e-02 -6.90464977e-03 1.27743167e+02] [ 6.91174812e-03 -3.84042259e-05 9.99976113e-01 1.38204718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:127.77, Z:1.39 [[ 4.19204184e-02 -9.99120908e-01 -2.99183398e-04 1.71735206e+02] [ 9.99097045e-01 4.19214850e-02 -6.90538984e-03 1.27768160e+02] [ 6.91186158e-03 -9.43641732e-06 9.99976113e-01 1.38570309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.74, Y:127.79, Z:1.39 [[ 4.39638065e-02 -9.99033076e-01 -3.11526261e-04 1.71737633e+02] [ 9.99009214e-01 4.39649095e-02 -6.90483296e-03 1.27792507e+02] [ 6.91185274e-03 -7.65486539e-06 9.99976113e-01 1.38723156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:127.82, Z:1.39 [[ 4.75131361e-02 -9.98870568e-01 -2.99594952e-04 1.71741036e+02] [ 9.98846699e-01 4.75140718e-02 -6.90536768e-03 1.27816996e+02] [ 6.91180352e-03 2.88462455e-05 9.99976113e-01 1.38656745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:171.74, Y:127.84, Z:1.39 [[ 4.93846560e-02 -9.98779786e-01 -3.07667395e-04 1.71743313e+02] [ 9.98755918e-01 4.93856028e-02 -6.90500800e-03 1.27841869e+02] [ 6.91177675e-03 3.37168126e-05 9.99976113e-01 1.38800854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:127.87, Z:1.38 [[ 5.12148191e-02 -9.98687613e-01 -3.05673533e-04 1.71745295e+02] [ 9.98663743e-01 5.12157084e-02 -6.90509626e-03 1.27865165e+02] [ 6.91168939e-03 4.83781814e-05 9.99976113e-01 1.38333863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.75, Y:127.89, Z:1.38 [[ 5.31491398e-02 -9.98586544e-01 -2.88219422e-04 1.71747208e+02] [ 9.98562668e-01 5.31498622e-02 -6.90586268e-03 1.27889371e+02] [ 6.91142037e-03 7.92355063e-05 9.99976113e-01 1.38423693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:171.75, Y:127.92, Z:1.39 [[ 5.50382175e-02 -9.98484208e-01 -2.84557048e-04 1.71749336e+02] [ 9.98460330e-01 5.50388695e-02 -6.90602261e-03 1.27915882e+02] [ 6.91121622e-03 9.59762504e-05 9.99976113e-01 1.38835931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:127.94, Z:1.39 [[ 5.61555515e-02 -9.98421987e-01 -2.99988866e-04 1.71750928e+02] [ 9.98398111e-01 5.61562835e-02 -6.90535221e-03 1.27939063e+02] [ 6.91130173e-03 8.82655447e-05 9.99976113e-01 1.38570215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:127.97, Z:1.39 [[ 5.75455608e-02 -9.98342844e-01 -2.73344013e-04 1.71754381e+02] [ 9.98318962e-01 5.75460752e-02 -6.90650045e-03 1.27966231e+02] [ 6.91078518e-03 1.24553931e-04 9.99976112e-01 1.38919167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:127.99, Z:1.38 [[ 5.82601144e-02 -9.98301393e-01 -2.96409394e-04 1.71755425e+02] [ 9.98277515e-01 5.82607712e-02 -6.90551041e-03 1.27990182e+02] [ 6.91104970e-03 1.06416993e-04 9.99976113e-01 1.38389495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.02, Z:1.39 [[ 5.86997539e-02 -9.98275641e-01 -2.88769123e-04 1.71756624e+02] [ 9.98251761e-01 5.87003474e-02 -6.90583537e-03 1.28016245e+02] [ 6.91087808e-03 1.17106551e-04 9.99976113e-01 1.38695331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.04, Z:1.39 [[ 5.88455992e-02 -9.98267054e-01 -2.91866007e-04 1.71756094e+02] [ 9.98243174e-01 5.88462106e-02 -6.90570448e-03 1.28041019e+02] [ 6.91091248e-03 1.15017069e-04 9.99976113e-01 1.38823051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.06, Z:1.39 [[ 5.82989190e-02 -9.98299130e-01 -2.89895089e-04 1.71756831e+02] [ 9.98275250e-01 5.82995299e-02 -6.90578722e-03 1.28064727e+02] [ 6.91094212e-03 1.13204838e-04 9.99976113e-01 1.38687840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.09, Z:1.39 [[ 5.71807532e-02 -9.98363801e-01 -2.87849894e-04 1.71758348e+02] [ 9.98339922e-01 5.71813766e-02 -6.90587247e-03 1.28089108e+02] [ 6.91103274e-03 1.07510948e-04 9.99976113e-01 1.38772601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.76, Y:128.11, Z:1.39 [[ 5.53102291e-02 -9.98469179e-01 -2.76096032e-04 1.71761640e+02] [ 9.98445299e-01 5.53108160e-02 -6.90635863e-03 1.28113085e+02] [ 6.91105733e-03 1.06325492e-04 9.99976113e-01 1.38545737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.14, Z:1.39 [[ 5.34710531e-02 -9.98569363e-01 -2.72132694e-04 1.71761603e+02] [ 9.98545483e-01 5.34716566e-02 -6.90652119e-03 1.28139089e+02] [ 6.91119185e-03 9.75620894e-05 9.99976113e-01 1.38794104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.16, Z:1.38 [[ 5.23678527e-02 -9.98627823e-01 -2.81265214e-04 1.71762174e+02] [ 9.98603946e-01 5.23685457e-02 -6.90614926e-03 1.28163329e+02] [ 6.91140225e-03 8.07876540e-05 9.99976113e-01 1.38437978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:128.19, Z:1.39 [[ 5.02785663e-02 -9.98735197e-01 -2.68558245e-04 1.71763006e+02] [ 9.98711319e-01 5.02792214e-02 -6.90666218e-03 1.28187985e+02] [ 6.91142951e-03 7.90449130e-05 9.99976113e-01 1.38635689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.21, Z:1.38 [[ 4.79895339e-02 -9.98847800e-01 -2.76922345e-04 1.71765407e+02] [ 9.98823925e-01 4.79903015e-02 -6.90632680e-03 1.28209919e+02] [ 6.91165892e-03 5.48347411e-05 9.99976113e-01 1.38306583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.23, Z:1.39 [[ 4.59847835e-02 -9.98942108e-01 -2.52616196e-04 1.71765024e+02] [ 9.98918230e-01 4.59854311e-02 -6.90729973e-03 1.28234949e+02] [ 6.91160922e-03 6.52877602e-05 9.99976112e-01 1.38637763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.26, Z:1.39 [[ 4.47552978e-02 -9.98997948e-01 -2.53288761e-04 1.71765193e+02] [ 9.98974070e-01 4.47559794e-02 -6.90727303e-03 1.28261257e+02] [ 6.91168777e-03 5.61081575e-05 9.99976112e-01 1.38745872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.29, Z:1.39 [[ 4.27778245e-02 -9.99084573e-01 -2.73030424e-04 1.71765905e+02] [ 9.99060701e-01 4.27786898e-02 -6.90649260e-03 1.28285134e+02] [ 6.91185009e-03 2.26707619e-05 9.99976113e-01 1.38577510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.31, Z:1.39 [[ 4.13870287e-02 -9.99143153e-01 -2.71160032e-04 1.71768202e+02] [ 9.99119282e-01 4.13879143e-02 -6.90656603e-03 1.28309703e+02] [ 6.91187091e-03 1.49210307e-05 9.99976113e-01 1.38611314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.33, Z:1.39 [[ 4.11015015e-02 -9.99154940e-01 -2.69182085e-04 1.71768798e+02] [ 9.99131069e-01 4.11023802e-02 -6.90664312e-03 1.28334840e+02] [ 6.91187062e-03 1.49252184e-05 9.99976113e-01 1.38628690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.36, Z:1.38 [[ 4.05169522e-02 -9.99178815e-01 -2.67208302e-04 1.71771133e+02] [ 9.99154944e-01 4.05178313e-02 -6.90671948e-03 1.28356875e+02] [ 6.91187449e-03 1.28567278e-05 9.99976113e-01 1.38476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.77, Y:128.38, Z:1.39 [[ 3.83274135e-02 -9.99265204e-01 -2.46492560e-04 1.71770918e+02] [ 9.99241330e-01 3.83282017e-02 -6.90751491e-03 1.28383475e+02] [ 6.91188691e-03 1.84416271e-05 9.99976112e-01 1.39050918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.41, Z:1.39 [[ 3.76376443e-02 -9.99291418e-01 -2.63545979e-04 1.71771126e+02] [ 9.99267549e-01 3.76385668e-02 -6.90686420e-03 1.28408275e+02] [ 6.91188961e-03 -3.39484617e-06 9.99976113e-01 1.39015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.43, Z:1.39 [[ 3.70217723e-02 -9.99314425e-01 -2.61509992e-04 1.71772057e+02] [ 9.99290555e-01 3.70226955e-02 -6.90694128e-03 1.28432791e+02] [ 6.91188786e-03 -5.61725744e-06 9.99976113e-01 1.39043615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.46, Z:1.39 [[ 3.62684648e-02 -9.99342049e-01 -2.59459651e-04 1.71773062e+02] [ 9.99318180e-01 3.62693918e-02 -6.90701831e-03 1.28457419e+02] [ 6.91188427e-03 -8.77579584e-06 9.99976113e-01 1.39128656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.48, Z:1.39 [[ 3.58005475e-02 -9.99358922e-01 -2.57505884e-04 1.71773592e+02] [ 9.99335052e-01 3.58014722e-02 -6.90709114e-03 1.28480706e+02] [ 6.91188225e-03 -1.00570112e-05 9.99976113e-01 1.39148165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:128.51, Z:1.39 [[ 3.53542855e-02 -9.99374809e-01 -2.55467684e-04 1.71773506e+02] [ 9.99350940e-01 3.53552068e-02 -6.90716653e-03 1.28505875e+02] [ 6.91188034e-03 -1.11039325e-05 9.99976113e-01 1.39431199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.53, Z:1.40 [[ 3.46279726e-02 -9.99400243e-01 -2.38507461e-04 1.71775146e+02] [ 9.99376370e-01 3.46287939e-02 -6.90778744e-03 1.28531467e+02] [ 6.91190367e-03 8.43953561e-07 9.99976113e-01 1.39569306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.56, Z:1.39 [[ 3.40001242e-02 -9.99421797e-01 -2.51542592e-04 1.71775605e+02] [ 9.99397928e-01 3.40010506e-02 -6.90731274e-03 1.28556178e+02] [ 6.91187162e-03 -1.65416547e-05 9.99976113e-01 1.39277697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.58, Z:1.39 [[ 3.33765817e-02 -9.99442819e-01 -2.36241007e-04 1.71776129e+02] [ 9.99418946e-01 3.33774173e-02 -6.90786504e-03 1.28580785e+02] [ 6.91190122e-03 -5.54281657e-06 9.99976113e-01 1.39008317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.61, Z:1.39 [[ 3.25748524e-02 -9.99469270e-01 -2.38421065e-04 1.71776790e+02] [ 9.99445399e-01 3.25757222e-02 -6.90778672e-03 1.28606577e+02] [ 6.91188729e-03 -1.32687039e-05 9.99976113e-01 1.39330130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.63, Z:1.39 [[ 3.06878528e-02 -9.99528989e-01 -2.34835535e-04 1.71778043e+02] [ 9.99505118e-01 3.06887429e-02 -6.90791467e-03 1.28631739e+02] [ 6.91186777e-03 -2.27302508e-05 9.99976113e-01 1.39497511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.66, Z:1.39 [[ 3.00432558e-02 -9.99548573e-01 -2.31097345e-04 1.71779330e+02] [ 9.99524701e-01 3.00441355e-02 -6.90804720e-03 1.28655816e+02] [ 6.91187184e-03 -2.34472754e-05 9.99976112e-01 1.38984608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.68, Z:1.39 [[ 2.95883506e-02 -9.99562144e-01 -2.23877808e-04 1.71782324e+02] [ 9.99538271e-01 2.95891912e-02 -6.90830068e-03 1.28681324e+02] [ 6.91190020e-03 -1.93692146e-05 9.99976112e-01 1.39221498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:128.71, Z:1.39 [[ 2.94514575e-02 -9.99566185e-01 -2.32706307e-04 1.71784094e+02] [ 9.99542314e-01 2.94523624e-02 -6.90799244e-03 1.28706572e+02] [ 6.91184939e-03 -2.91493553e-05 9.99976112e-01 1.39339562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:128.73, Z:1.40 [[ 2.96505428e-02 -9.99560300e-01 -2.26579305e-04 1.71786390e+02] [ 9.99536428e-01 2.96514006e-02 -6.90820476e-03 1.28732509e+02] [ 6.91188562e-03 -2.16422481e-05 9.99976112e-01 1.39572391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:128.76, Z:1.39 [[ 2.99959322e-02 -9.99549995e-01 -2.26565369e-04 1.71788751e+02] [ 9.99526123e-01 2.99967817e-02 -6.90820524e-03 1.28757975e+02] [ 6.91189274e-03 -1.92399488e-05 9.99976112e-01 1.39425949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.79, Y:128.78, Z:1.40 [[ 2.98966643e-02 -9.99552967e-01 -2.35330141e-04 1.71792049e+02] [ 9.99529097e-01 2.98975767e-02 -6.90790665e-03 1.28782434e+02] [ 6.91185439e-03 -2.86959572e-05 9.99976112e-01 1.39784718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:128.81, Z:1.40 [[ 2.98718671e-02 -9.99553709e-01 -2.33253365e-04 1.71793228e+02] [ 9.99529838e-01 2.98727658e-02 -6.90797677e-03 1.28806228e+02] [ 6.91186173e-03 -2.67895333e-05 9.99976112e-01 1.39580886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:128.83, Z:1.39 [[ 2.99984654e-02 -9.99549918e-01 -2.31153799e-04 1.71794356e+02] [ 9.99526047e-01 2.99993465e-02 -6.90804703e-03 1.28830208e+02] [ 6.91187230e-03 -2.38134332e-05 9.99976112e-01 1.39249550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:128.86, Z:1.40 [[ 2.95431566e-02 -9.99563483e-01 -2.13723026e-04 1.71796705e+02] [ 9.99539608e-01 2.95439281e-02 -6.90862408e-03 1.28855213e+02] [ 6.91192256e-03 -9.52206629e-06 9.99976112e-01 1.39554987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:128.88, Z:1.40 [[ 3.01340028e-02 -9.99545842e-01 -2.27249669e-04 1.71802177e+02] [ 9.99521970e-01 3.01348537e-02 -6.90817911e-03 1.28879789e+02] [ 6.91188984e-03 -1.89699478e-05 9.99976112e-01 1.39597686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:128.90, Z:1.39 [[ 3.07204449e-02 -9.99527990e-01 -2.25258908e-04 1.71804396e+02] [ 9.99504117e-01 3.07212681e-02 -6.90824402e-03 1.28903679e+02] [ 6.91190350e-03 -1.29228760e-05 9.99976112e-01 1.39316097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:128.93, Z:1.39 [[ 3.16875233e-02 -9.99497799e-01 -2.23135236e-04 1.71805822e+02] [ 9.99473925e-01 3.16883086e-02 -6.90831262e-03 1.28927505e+02] [ 6.91191404e-03 -4.11053333e-06 9.99976112e-01 1.39144022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.81, Y:128.95, Z:1.39 [[ 3.52794482e-02 -9.99377462e-01 -2.21053503e-04 1.71806348e+02] [ 9.99353584e-01 3.52801334e-02 -6.90837923e-03 1.28950094e+02] [ 6.91187730e-03 2.28131972e-05 9.99976112e-01 1.38776653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:128.98, Z:1.39 [[ 3.66107397e-02 -9.99329583e-01 -1.94220786e-04 1.71807427e+02] [ 9.99305700e-01 3.66112076e-02 -6.90923059e-03 1.28976774e+02] [ 6.91170919e-03 5.88661041e-05 9.99976112e-01 1.39174386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.00, Z:1.39 [[ 3.83728758e-02 -9.99263467e-01 -2.12712675e-04 1.71809304e+02] [ 9.99239586e-01 3.83734293e-02 -6.90864842e-03 1.29000995e+02] [ 6.91172249e-03 5.25537824e-05 9.99976112e-01 1.39199586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.03, Z:1.39 [[ 4.13802276e-02 -9.99143450e-01 -2.06433403e-04 1.71810994e+02] [ 9.99119567e-01 4.13806659e-02 -6.90884364e-03 1.29025428e+02] [ 6.91146823e-03 7.96378702e-05 9.99976112e-01 1.39290344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.05, Z:1.39 [[ 4.23619846e-02 -9.99102306e-01 -2.12870487e-04 1.71811990e+02] [ 9.99078422e-01 4.23624439e-02 -6.90864530e-03 1.29049947e+02] [ 6.91146116e-03 7.99896160e-05 9.99976112e-01 1.39259001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.81, Y:129.08, Z:1.39 [[ 4.22670542e-02 -9.99106327e-01 -2.10916092e-04 1.71812746e+02] [ 9.99082443e-01 4.22675023e-02 -6.90870497e-03 1.29075343e+02] [ 6.91144574e-03 8.12880427e-05 9.99976112e-01 1.39360223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.10, Z:1.39 [[ 4.33603390e-02 -9.99059476e-01 -2.09027100e-04 1.71813209e+02] [ 9.99035592e-01 4.33607479e-02 -6.90876212e-03 1.29100327e+02] [ 6.91132784e-03 9.07407554e-05 9.99976112e-01 1.39306124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.81, Y:129.13, Z:1.39 [[ 4.31670253e-02 -9.99067849e-01 -2.00769546e-04 1.71812975e+02] [ 9.99043964e-01 4.31673817e-02 -6.90900913e-03 1.29125436e+02] [ 6.91123559e-03 9.76637690e-05 9.99976112e-01 1.39364964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.15, Z:1.39 [[ 4.44298481e-02 -9.99012486e-01 -2.05008805e-04 1.71812220e+02] [ 9.98988601e-01 4.44302037e-02 -6.90888334e-03 1.29148771e+02] [ 6.91116930e-03 1.02159178e-04 9.99976112e-01 1.39397133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.17, Z:1.40 [[ 4.44838546e-02 -9.99010084e-01 -1.94592881e-04 1.71812434e+02] [ 9.98986198e-01 4.44841368e-02 -6.90918990e-03 1.29174103e+02] [ 6.91100668e-03 1.12951796e-04 9.99976112e-01 1.39653597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.20, Z:1.40 [[ 4.44009138e-02 -9.99013775e-01 -1.92884498e-04 1.71813125e+02] [ 9.98989888e-01 4.44011862e-02 -6.90923972e-03 1.29199135e+02] [ 6.91098995e-03 1.14086895e-04 9.99976112e-01 1.40004501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.22, Z:1.40 [[ 4.47804082e-02 -9.98996834e-01 -1.99649110e-04 1.71814172e+02] [ 9.98972949e-01 4.47807183e-02 -6.90904424e-03 1.29223111e+02] [ 6.91105376e-03 1.09945762e-04 9.99976112e-01 1.39625474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.25, Z:1.40 [[ 4.51166872e-02 -9.98981706e-01 -1.91077300e-04 1.71811940e+02] [ 9.98957819e-01 4.51169300e-02 -6.90928933e-03 1.29247453e+02] [ 6.91087446e-03 1.20846082e-04 9.99976112e-01 1.39595336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.81, Y:129.27, Z:1.40 [[ 4.49609648e-02 -9.98988725e-01 -1.95996845e-04 1.71809552e+02] [ 9.98964839e-01 4.49612453e-02 -6.90914977e-03 1.29272410e+02] [ 6.91097498e-03 1.14848083e-04 9.99976112e-01 1.39787471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.30, Z:1.40 [[ 4.52224641e-02 -9.98976922e-01 -1.94036438e-04 1.71808228e+02] [ 9.98953036e-01 4.52227248e-02 -6.90920482e-03 1.29297752e+02] [ 6.91091103e-03 1.18617979e-04 9.99976112e-01 1.40084313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.32, Z:1.40 [[ 4.51668700e-02 -9.98979438e-01 -1.92146509e-04 1.71808006e+02] [ 9.98955551e-01 4.51671190e-02 -6.90925738e-03 1.29321306e+02] [ 6.91088476e-03 1.20123708e-04 9.99976112e-01 1.40124374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.35, Z:1.40 [[ 4.48996394e-02 -9.98991485e-01 -1.90214696e-04 1.71808621e+02] [ 9.98967598e-01 4.48998814e-02 -6.90931057e-03 1.29345082e+02] [ 6.91088304e-03 1.20207235e-04 9.99976112e-01 1.39814487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.37, Z:1.40 [[ 4.47176278e-02 -9.98999649e-01 -1.88164560e-04 1.71807788e+02] [ 9.98975762e-01 4.47178600e-02 -6.90936640e-03 1.29370439e+02] [ 6.91086892e-03 1.20998641e-04 9.99976112e-01 1.39817260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.40, Z:1.40 [[ 4.44458421e-02 -9.99011779e-01 -1.78940319e-04 1.71807279e+02] [ 9.98987892e-01 4.44460170e-02 -6.90961496e-03 1.29395904e+02] [ 6.91073992e-03 1.28344444e-04 9.99976112e-01 1.39737268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:129.42, Z:1.40 [[ 4.33670407e-02 -9.99059190e-01 -1.84845340e-04 1.71805405e+02] [ 9.99035304e-01 4.33672823e-02 -6.90945698e-03 1.29420169e+02] [ 6.91097274e-03 1.14975682e-04 9.99976112e-01 1.39654079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.45, Z:1.39 [[ 4.27004588e-02 -9.99087903e-01 -1.82840159e-04 1.71802547e+02] [ 9.99064016e-01 4.27007024e-02 -6.90951004e-03 1.29445322e+02] [ 6.91101530e-03 1.12370225e-04 9.99976112e-01 1.39273397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.47, Z:1.40 [[ 4.18441277e-02 -9.99124135e-01 -1.78906243e-04 1.71799704e+02] [ 9.99100248e-01 4.18443646e-02 -6.90961300e-03 1.29469797e+02] [ 6.91104733e-03 1.10381457e-04 9.99976112e-01 1.39698249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.49, Z:1.40 [[ 3.94650070e-02 -9.99220937e-01 -1.78660883e-04 1.71799328e+02] [ 9.99197051e-01 3.94652991e-02 -6.90961934e-03 1.29494930e+02] [ 6.91128722e-03 9.41707482e-05 9.99976112e-01 1.40106081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.52, Z:1.40 [[ 3.78290932e-02 -9.99284208e-01 -1.76754952e-04 1.71800311e+02] [ 9.99260323e-01 3.78294112e-02 -6.90966810e-03 1.29518131e+02] [ 6.91140875e-03 8.47622682e-05 9.99976112e-01 1.40071075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.54, Z:1.40 [[ 3.63911132e-02 -9.99337609e-01 -1.74652572e-04 1.71800120e+02] [ 9.99313724e-01 3.63914510e-02 -6.90972124e-03 1.29541745e+02] [ 6.91150016e-03 7.69197357e-05 9.99976112e-01 1.39830040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.57, Z:1.40 [[ 3.51776276e-02 -9.99381061e-01 -1.72564650e-04 1.71799797e+02] [ 9.99357176e-01 3.51779799e-02 -6.90977338e-03 1.29566808e+02] [ 6.91156713e-03 7.06157130e-05 9.99976112e-01 1.39775397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.59, Z:1.40 [[ 3.37685101e-02 -9.99429667e-01 -1.70629024e-04 1.71798402e+02] [ 9.99405782e-01 3.37688827e-02 -6.90982118e-03 1.29590160e+02] [ 6.91164223e-03 6.28067334e-05 9.99976112e-01 1.39512821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.61, Z:1.39 [[ 3.36562680e-02 -9.99433453e-01 -1.68735642e-04 1.71798204e+02] [ 9.99409568e-01 3.36566303e-02 -6.90986742e-03 1.29613725e+02] [ 6.91163172e-03 6.39243348e-05 9.99976112e-01 1.39456135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.64, Z:1.40 [[ 3.33387524e-02 -9.99444095e-01 -1.66714029e-04 1.71797420e+02] [ 9.99420210e-01 3.33391083e-02 -6.90991619e-03 1.29637910e+02] [ 6.91163303e-03 6.37506149e-05 9.99976112e-01 1.39795194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:129.66, Z:1.40 [[ 3.37008794e-02 -9.99431950e-01 -1.64635761e-04 1.71795279e+02] [ 9.99408065e-01 3.37012123e-02 -6.90996571e-03 1.29662463e+02] [ 6.91158893e-03 6.83336143e-05 9.99976112e-01 1.39647303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.69, Z:1.40 [[ 3.37940537e-02 -9.99428805e-01 -1.62590960e-04 1.71794377e+02] [ 9.99404919e-01 3.37943702e-02 -6.91001382e-03 1.29687016e+02] [ 6.91156151e-03 7.10231735e-05 9.99976112e-01 1.39640993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.71, Z:1.40 [[ 3.48858043e-02 -9.99391292e-01 -1.60621416e-04 1.71794997e+02] [ 9.99367406e-01 3.48860811e-02 -6.91005960e-03 1.29711681e+02] [ 6.91145685e-03 8.05431798e-05 9.99976112e-01 1.39801116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.74, Z:1.40 [[ 3.55519664e-02 -9.99367816e-01 -1.58603317e-04 1.71794171e+02] [ 9.99343930e-01 3.55522133e-02 -6.91010592e-03 1.29736370e+02] [ 6.91137617e-03 8.71685911e-05 9.99976112e-01 1.39557466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.76, Z:1.40 [[ 3.63225169e-02 -9.99340107e-01 -1.56619688e-04 1.71791279e+02] [ 9.99316221e-01 3.63227317e-02 -6.91015088e-03 1.29761448e+02] [ 6.91127978e-03 9.44814774e-05 9.99976112e-01 1.39844434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.79, Z:1.40 [[ 3.72649372e-02 -9.99305409e-01 -1.54588887e-04 1.71788329e+02] [ 9.99281522e-01 3.72651155e-02 -6.91019631e-03 1.29785898e+02] [ 6.91115733e-03 1.03030214e-04 9.99976112e-01 1.39878890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:129.81, Z:1.40 [[ 3.88679754e-02 -9.99244343e-01 -1.52552786e-04 1.71785917e+02] [ 9.99220456e-01 3.88681012e-02 -6.91024126e-03 1.29810213e+02] [ 6.91094893e-03 1.16153223e-04 9.99976112e-01 1.39539229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.78, Y:129.84, Z:1.40 [[ 3.91586498e-02 -9.99232994e-01 -1.56389634e-04 1.71785000e+02] [ 9.99209106e-01 3.91587952e-02 -6.91015767e-03 1.29836071e+02] [ 6.91098157e-03 1.14326498e-04 9.99976112e-01 1.39918567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.79, Y:129.86, Z:1.40 [[ 3.88312310e-02 -9.99245771e-01 -1.55928259e-04 1.71785147e+02] [ 9.99221884e-01 3.88313811e-02 -6.91016758e-03 1.29860209e+02] [ 6.91101064e-03 1.12523385e-04 9.99976112e-01 1.39935250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:129.88, Z:1.40 [[ 3.88819149e-02 -9.99243801e-01 -1.53753051e-04 1.71782635e+02] [ 9.99219913e-01 3.88820487e-02 -6.91021360e-03 1.29883878e+02] [ 6.91096633e-03 1.15049227e-04 9.99976112e-01 1.40075252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:129.91, Z:1.40 [[ 3.90426164e-02 -9.99237536e-01 -1.43807736e-04 1.71780106e+02] [ 9.99213649e-01 3.90426776e-02 -6.91042056e-03 1.29907523e+02] [ 6.91076625e-03 1.26106247e-04 9.99976112e-01 1.39961725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:129.93, Z:1.40 [[ 3.96903627e-02 -9.99212017e-01 -1.41764283e-04 1.71775389e+02] [ 9.99188130e-01 3.96903943e-02 -6.91046248e-03 1.29932333e+02] [ 6.91064384e-03 1.32629573e-04 9.99976112e-01 1.40138100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:129.96, Z:1.40 [[ 3.94377724e-02 -9.99222019e-01 -1.39810566e-04 1.71772916e+02] [ 9.99198131e-01 3.94377965e-02 -6.91050201e-03 1.29956825e+02] [ 6.91063959e-03 1.32836349e-04 9.99976112e-01 1.40215694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:129.98, Z:1.41 [[ 3.89703514e-02 -9.99240358e-01 -1.37862669e-04 1.71769326e+02] [ 9.99216470e-01 3.89703732e-02 -6.91054087e-03 1.29983999e+02] [ 6.91066389e-03 1.31551557e-04 9.99976112e-01 1.40628048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.77, Y:130.01, Z:1.41 [[ 3.76424422e-02 -9.99291261e-01 -1.49423681e-04 1.71766817e+02] [ 9.99267374e-01 3.76425757e-02 -6.91031270e-03 1.30010160e+02] [ 6.91103979e-03 1.10806838e-04 9.99976112e-01 1.40718155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:130.03, Z:1.40 [[ 3.71241852e-02 -9.99310648e-01 -1.51007367e-04 1.71763845e+02] [ 9.99286761e-01 3.71243420e-02 -6.91028195e-03 1.30033935e+02] [ 6.91112438e-03 1.05638924e-04 9.99976112e-01 1.40351369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:130.06, Z:1.41 [[ 3.67825619e-02 -9.99323284e-01 -1.31621316e-04 1.71761645e+02] [ 9.99299396e-01 3.67825929e-02 -6.91065118e-03 1.30060468e+02] [ 6.91081600e-03 1.22662353e-04 9.99976113e-01 1.40624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:130.08, Z:1.41 [[ 3.45546929e-02 -9.99402798e-01 -1.43266735e-04 1.71757555e+02] [ 9.99378911e-01 3.45548576e-02 -6.91043157e-03 1.30084053e+02] [ 6.91125521e-03 9.56100871e-05 9.99976112e-01 1.40544476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:130.11, Z:1.40 [[ 3.33322766e-02 -9.99444317e-01 -1.27574352e-04 1.71755859e+02] [ 9.99420430e-01 3.33323620e-02 -6.91072126e-03 1.30110145e+02] [ 6.91113344e-03 1.02849658e-04 9.99976113e-01 1.40423977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:130.14, Z:1.41 [[ 3.15152521e-02 -9.99503262e-01 -1.35062581e-04 1.71752689e+02] [ 9.99479375e-01 3.15154327e-02 -6.91058534e-03 1.30135532e+02] [ 6.91140915e-03 8.27965747e-05 9.99976113e-01 1.40607620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:130.16, Z:1.41 [[ 2.89280343e-02 -9.99581488e-01 -1.35772458e-04 1.71749395e+02] [ 9.99557601e-01 2.89282817e-02 -6.91057270e-03 1.30159022e+02] [ 6.91160820e-03 6.41968914e-05 9.99976113e-01 1.40641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:130.19, Z:1.40 [[ 2.34337103e-02 -9.99725386e-01 -1.20090481e-04 1.71748796e+02] [ 9.99701500e-01 2.34339805e-02 -6.91084521e-03 1.30185637e+02] [ 6.91176159e-03 4.18921100e-05 9.99976113e-01 1.40395503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:130.21, Z:1.40 [[ 2.00408708e-02 -9.99799153e-01 -1.28281345e-04 1.71747608e+02] [ 9.99775269e-01 2.00412787e-02 -6.91070500e-03 1.30209827e+02] [ 6.91188793e-03 1.02440298e-05 9.99976113e-01 1.40471366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:130.23, Z:1.41 [[ 1.70369015e-02 -9.99854855e-01 -1.16123682e-04 1.71745985e+02] [ 9.99830971e-01 1.70372972e-02 -6.91090928e-03 1.30234461e+02] [ 6.91188463e-03 1.63642690e-06 9.99976113e-01 1.40597649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.26, Z:1.40 [[ 1.24925256e-02 -9.99921959e-01 -1.14084173e-04 1.71743830e+02] [ 9.99898077e-01 1.24930157e-02 -6.91094295e-03 1.30258284e+02] [ 6.91182887e-03 -2.77374133e-05 9.99976113e-01 1.40421806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.28, Z:1.41 [[ 1.11174792e-02 -9.99938193e-01 -1.11978593e-04 1.71743356e+02] [ 9.99914311e-01 1.11179876e-02 -6.91097707e-03 1.30282808e+02] [ 6.91179489e-03 -3.51363533e-05 9.99976113e-01 1.40504664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.31, Z:1.40 [[ 1.04595395e-02 -9.99945292e-01 -1.09932238e-04 1.71742617e+02] [ 9.99921410e-01 1.04600494e-02 -6.91100962e-03 1.30308340e+02] [ 6.91178142e-03 -3.76376203e-05 9.99976113e-01 1.40315169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.33, Z:1.41 [[ 1.12535603e-02 -9.99936670e-01 -1.15338666e-04 1.71740309e+02] [ 9.99912789e-01 1.12540887e-02 -6.91092485e-03 1.30332479e+02] [ 6.91178522e-03 -3.75560975e-05 9.99976113e-01 1.40532654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.36, Z:1.40 [[ 1.23105545e-02 -9.99924217e-01 -1.05986542e-04 1.71739876e+02] [ 9.99900333e-01 1.23109930e-02 -6.91106828e-03 1.30355653e+02] [ 6.91184933e-03 -2.08968956e-05 9.99976113e-01 1.40418351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.38, Z:1.40 [[ 1.34047529e-02 -9.99910147e-01 -1.03910763e-04 1.71739897e+02] [ 9.99886263e-01 1.34051510e-02 -6.91109949e-03 1.30379856e+02] [ 6.91187144e-03 -1.12573633e-05 9.99976113e-01 1.40407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.40, Z:1.40 [[ 1.43592919e-02 -9.99896895e-01 -1.01906361e-04 1.71739677e+02] [ 9.99873010e-01 1.43596532e-02 -6.91112904e-03 1.30403118e+02] [ 6.91187981e-03 -2.65450075e-06 9.99976113e-01 1.40240017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.43, Z:1.40 [[ 1.61953794e-02 -9.99868841e-01 -9.98290920e-05 1.71737548e+02] [ 9.99844956e-01 1.61956825e-02 -6.91115905e-03 1.30428156e+02] [ 6.91186939e-03 1.21152285e-05 9.99976113e-01 1.40223763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.74, Y:130.45, Z:1.41 [[ 1.70295789e-02 -9.99854982e-01 -9.45657427e-05 1.71736459e+02] [ 9.99831096e-01 1.70298258e-02 -6.91123341e-03 1.30452872e+02] [ 6.91184160e-03 2.31456247e-05 9.99976113e-01 1.40607634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.48, Z:1.40 [[ 1.80905987e-02 -9.99836347e-01 -9.54271611e-05 1.71736368e+02] [ 9.99812461e-01 1.80908261e-02 -6.91122152e-03 1.30477169e+02] [ 6.91181684e-03 2.96188700e-05 9.99976113e-01 1.39607453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.74, Y:130.50, Z:1.40 [[ 1.97878224e-02 -9.99804198e-01 -9.30326513e-05 1.71736152e+02] [ 9.99780311e-01 1.97879928e-02 -6.91125390e-03 1.30502692e+02] [ 6.91174159e-03 4.37464519e-05 9.99976113e-01 1.40348780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.53, Z:1.40 [[ 2.04091335e-02 -9.99791707e-01 -9.89121526e-05 1.71736636e+02] [ 9.99767821e-01 2.04093296e-02 -6.91117572e-03 1.30526607e+02] [ 6.91175490e-03 4.21619205e-05 9.99976113e-01 1.40271052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.55, Z:1.40 [[ 2.09921647e-02 -9.99779636e-01 -9.40072811e-05 1.71737053e+02] [ 9.99755749e-01 2.09923130e-02 -6.91123951e-03 1.30550472e+02] [ 6.91168995e-03 5.10975582e-05 9.99976113e-01 1.40364150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.74, Y:130.58, Z:1.40 [[ 2.20142976e-02 -9.99757652e-01 -8.76919423e-05 1.71737385e+02] [ 9.99733765e-01 2.20143778e-02 -6.91131964e-03 1.30575354e+02] [ 6.91157518e-03 6.44792516e-05 9.99976113e-01 1.40461379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.60, Z:1.40 [[ 2.23881694e-02 -9.99749350e-01 -8.57202433e-05 1.71736598e+02] [ 9.99725463e-01 2.23882271e-02 -6.91134410e-03 1.30601087e+02] [ 6.91153089e-03 6.90356326e-05 9.99976113e-01 1.40397011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:130.63, Z:1.41 [[ 2.30454395e-02 -9.99734415e-01 -9.06501215e-05 1.71735418e+02] [ 9.99710527e-01 2.30455156e-02 -6.91128455e-03 1.30625068e+02] [ 6.91153809e-03 6.86497095e-05 9.99976113e-01 1.40698880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.73, Y:130.65, Z:1.40 [[ 2.42820775e-02 -9.99705144e-01 -7.57849025e-05 1.71733481e+02] [ 9.99681257e-01 2.42820212e-02 -6.91145829e-03 1.30650411e+02] [ 6.91126061e-03 9.20638190e-05 9.99976113e-01 1.40325158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.73, Y:130.67, Z:1.40 [[ 2.46592934e-02 -9.99695910e-01 -7.93886875e-05 1.71731778e+02] [ 9.99672023e-01 2.46592530e-02 -6.91141689e-03 1.30674347e+02] [ 6.91127287e-03 9.10680069e-05 9.99976113e-01 1.40005211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.70, Z:1.40 [[ 2.52741856e-02 -9.99680554e-01 -7.75529024e-05 1.71731295e+02] [ 9.99656667e-01 2.52741179e-02 -6.91143749e-03 1.30697988e+02] [ 6.91118974e-03 9.71546782e-05 9.99976113e-01 1.39902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.72, Z:1.40 [[ 2.59293510e-02 -9.99663775e-01 -7.55189959e-05 1.71731027e+02] [ 9.99639888e-01 2.59292535e-02 -6.91145972e-03 1.30722331e+02] [ 6.91109406e-03 1.03717864e-04 9.99976113e-01 1.40254735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.75, Z:1.40 [[ 2.60516066e-02 -9.99660597e-01 -7.35400695e-05 1.71729988e+02] [ 9.99636710e-01 2.60514925e-02 -6.91148077e-03 1.30746145e+02] [ 6.91105082e-03 1.06541825e-04 9.99976113e-01 1.40298444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.77, Z:1.40 [[ 2.60077315e-02 -9.99661739e-01 -7.14876346e-05 1.71727761e+02] [ 9.99637852e-01 2.60076043e-02 -6.91150200e-03 1.30769494e+02] [ 6.91102333e-03 1.08290743e-04 9.99976113e-01 1.40327474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.79, Z:1.41 [[ 2.58041011e-02 -9.99667016e-01 -6.94491492e-05 1.71725740e+02] [ 9.99643129e-01 2.58039647e-02 -6.91152248e-03 1.30793763e+02] [ 6.91101312e-03 1.08921260e-04 9.99976113e-01 1.40511101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.82, Z:1.41 [[ 2.54105867e-02 -9.99677097e-01 -6.74635561e-05 1.71725297e+02] [ 9.99653210e-01 2.54104460e-02 -6.91154187e-03 1.30818841e+02] [ 6.91102438e-03 1.08186174e-04 9.99976113e-01 1.40566622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:130.84, Z:1.41 [[ 2.40266680e-02 -9.99711316e-01 -6.54688367e-05 1.71726073e+02] [ 9.99687429e-01 2.40265465e-02 -6.91156076e-03 1.30842256e+02] [ 6.91113849e-03 1.00613403e-04 9.99976113e-01 1.40548055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:130.87, Z:1.41 [[ 2.30722624e-02 -9.99733798e-01 -6.34032577e-05 1.71724853e+02] [ 9.99709911e-01 2.30721494e-02 -6.91157971e-03 1.30866541e+02] [ 6.91120268e-03 9.60809153e-05 9.99976113e-01 1.40602347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:130.89, Z:1.41 [[ 2.20773477e-02 -9.99756264e-01 -6.14441206e-05 1.71723364e+02] [ 9.99732377e-01 2.20772449e-02 -6.91159713e-03 1.30890347e+02] [ 6.91126904e-03 9.11620558e-05 9.99976113e-01 1.40690296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:130.91, Z:1.41 [[ 1.97761659e-02 -9.99804431e-01 -5.94070253e-05 1.71722579e+02] [ 9.99780544e-01 1.97761041e-02 -6.91161464e-03 1.30914585e+02] [ 6.91143778e-03 7.72912498e-05 9.99976113e-01 1.40969432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:130.94, Z:1.41 [[ 1.84646806e-02 -9.99829512e-01 -5.74151851e-05 1.71722072e+02] [ 9.99805624e-01 1.84646363e-02 -6.91163118e-03 1.30939013e+02] [ 6.91151298e-03 7.02170371e-05 9.99976113e-01 1.40534720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.72, Y:130.96, Z:1.41 [[ 1.70010518e-02 -9.99855470e-01 -4.94018485e-05 1.71721697e+02] [ 9.99831583e-01 1.70009872e-02 -6.91169542e-03 1.30963749e+02] [ 6.91153635e-03 6.81125637e-05 9.99976113e-01 1.40989190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:130.99, Z:1.41 [[ 1.44612739e-02 -9.99895429e-01 -4.52768968e-05 1.71723676e+02] [ 9.99871542e-01 1.44612414e-02 -6.91172739e-03 1.30988528e+02] [ 6.91165939e-03 5.46813022e-05 9.99976113e-01 1.40923860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.72, Y:131.01, Z:1.41 [[ 1.29633000e-02 -9.99915972e-01 -5.17424412e-05 1.71724048e+02] [ 9.99892084e-01 1.29633480e-02 -6.91167899e-03 1.31014334e+02] [ 6.91176897e-03 3.78613110e-05 9.99976113e-01 1.40927539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.04, Z:1.41 [[ 1.19894571e-02 -9.99928122e-01 -5.45736381e-05 1.71724585e+02] [ 9.99904235e-01 1.19895479e-02 -6.91165864e-03 1.31039194e+02] [ 6.91181616e-03 2.82986232e-05 9.99976113e-01 1.41208158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.06, Z:1.41 [[ 1.13378384e-02 -9.99935724e-01 -4.71818906e-05 1.71724348e+02] [ 9.99911836e-01 1.13378937e-02 -6.91170910e-03 1.31062558e+02] [ 6.91179978e-03 3.11861101e-05 9.99976113e-01 1.40880126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.09, Z:1.41 [[ 1.08144338e-02 -9.99941522e-01 -4.03951642e-05 1.71723734e+02] [ 9.99917634e-01 1.08144547e-02 -6.91175296e-03 1.31088329e+02] [ 6.91178562e-03 3.43548577e-05 9.99976113e-01 1.40951463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.11, Z:1.41 [[ 1.13683278e-02 -9.99935378e-01 -4.26625978e-05 1.71723791e+02] [ 9.99911490e-01 1.13683511e-02 -6.91173906e-03 1.31112853e+02] [ 6.91177741e-03 3.59160935e-05 9.99976113e-01 1.40750716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.14, Z:1.41 [[ 1.22033550e-02 -9.99925536e-01 -2.74200428e-05 1.71724499e+02] [ 9.99901649e-01 1.22032530e-02 -6.91182731e-03 1.31137882e+02] [ 6.91164724e-03 5.69301360e-05 9.99976113e-01 1.40807150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.16, Z:1.41 [[ 1.45451649e-02 -9.99894213e-01 -1.41841375e-05 1.71722961e+02] [ 9.99870327e-01 1.45449154e-02 -6.91189940e-03 1.31163454e+02] [ 6.91137452e-03 8.63524180e-05 9.99976112e-01 1.40822547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.19, Z:1.41 [[ 1.53064746e-02 -9.99882849e-01 -3.27828754e-05 1.71722112e+02] [ 9.99858962e-01 1.53063355e-02 -6.91180106e-03 1.31187195e+02] [ 6.91149312e-03 7.30170553e-05 9.99976113e-01 1.40661396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.21, Z:1.41 [[ 1.52444041e-02 -9.99883797e-01 -3.01230560e-05 1.71722312e+02] [ 9.99859910e-01 1.52442481e-02 -6.91181439e-03 1.31212587e+02] [ 6.91147042e-03 7.52476552e-05 9.99976113e-01 1.41100760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.24, Z:1.41 [[ 1.51386551e-02 -9.99885403e-01 -3.23980358e-05 1.71722746e+02] [ 9.99861517e-01 1.51385174e-02 -6.91180372e-03 1.31236866e+02] [ 6.91150211e-03 7.22418632e-05 9.99976113e-01 1.41296314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.72, Y:131.26, Z:1.41 [[ 1.47189584e-02 -9.99891670e-01 -3.03921872e-05 1.71720912e+02] [ 9.99867783e-01 1.47188169e-02 -6.91181254e-03 1.31261902e+02] [ 6.91151112e-03 7.13465125e-05 9.99976113e-01 1.41109096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.29, Z:1.41 [[ 1.43950720e-02 -9.99896385e-01 -2.76293383e-05 1.71721422e+02] [ 9.99872498e-01 1.43949191e-02 -6.91182393e-03 1.31285364e+02] [ 6.91150549e-03 7.18703874e-05 9.99976113e-01 1.41056194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.31, Z:1.41 [[ 1.34730323e-02 -9.99909234e-01 -2.10271444e-05 1.71722129e+02] [ 9.99885348e-01 1.34728558e-02 -6.91184884e-03 1.31310573e+02] [ 6.91150478e-03 7.20988290e-05 9.99976113e-01 1.40966008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.72, Y:131.34, Z:1.41 [[ 1.24809671e-02 -9.99922109e-01 -2.52525676e-05 1.71722252e+02] [ 9.99898222e-01 1.24808435e-02 -6.91183380e-03 1.31335307e+02] [ 6.91161061e-03 6.10163730e-05 9.99976113e-01 1.41125729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.72, Y:131.36, Z:1.41 [[ 1.16820680e-02 -9.99931762e-01 -2.26640356e-05 1.71721714e+02] [ 9.99907875e-01 1.16819456e-02 -6.91184229e-03 1.31360041e+02] [ 6.91163540e-03 5.80826638e-05 9.99976113e-01 1.41364644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.38, Z:1.41 [[ 1.09790714e-02 -9.99939728e-01 -1.41099612e-05 1.71721594e+02] [ 9.99915841e-01 1.09789067e-02 -6.91186751e-03 1.31384976e+02] [ 6.91160583e-03 6.17771132e-05 9.99976113e-01 1.41360793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.41, Z:1.41 [[ 1.04335591e-02 -9.99945569e-01 -1.88411500e-05 1.71721678e+02] [ 9.99921682e-01 1.04334401e-02 -6.91185461e-03 1.31409303e+02] [ 6.91167497e-03 5.32755696e-05 9.99976113e-01 1.40977505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.72, Y:131.43, Z:1.41 [[ 1.17640594e-02 -9.99930801e-01 -2.02630729e-05 1.71721367e+02] [ 9.99906914e-01 1.17639185e-02 -6.91185118e-03 1.31433318e+02] [ 6.91161126e-03 6.10502414e-05 9.99976113e-01 1.40935261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.72, Y:131.46, Z:1.41 [[ 1.14799173e-02 -9.99934104e-01 -1.40768329e-05 1.71721030e+02] [ 9.99910217e-01 1.14797404e-02 -6.91186378e-03 1.31458441e+02] [ 6.91156991e-03 6.52720557e-05 9.99976113e-01 1.40952665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.48, Z:1.41 [[ 1.33255600e-02 -9.99911211e-01 -1.21127006e-05 1.71720624e+02] [ 9.99887325e-01 1.33253254e-02 -6.91186723e-03 1.31480439e+02] [ 6.91141493e-03 7.99931655e-05 9.99976113e-01 1.40787972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.51, Z:1.41 [[ 1.46568873e-02 -9.99892582e-01 1.96580175e-05 1.71720780e+02] [ 9.99868699e-01 1.46564013e-02 -6.91191665e-03 1.31507618e+02] [ 6.91088607e-03 1.20962619e-04 9.99976112e-01 1.41254524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.53, Z:1.42 [[ 1.88540734e-02 -9.99822246e-01 -9.89204953e-06 1.71717800e+02] [ 9.99798362e-01 1.88536914e-02 -6.91187436e-03 1.31533039e+02] [ 6.91083225e-03 1.20426932e-04 9.99976113e-01 1.41643316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.56, Z:1.41 [[ 2.08603946e-02 -9.99782398e-01 -7.94827323e-06 1.71716067e+02] [ 9.99758515e-01 2.08599512e-02 -6.91187659e-03 1.31556846e+02] [ 6.91053836e-03 1.36238119e-04 9.99976113e-01 1.41278144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:131.58, Z:1.41 [[ 2.23691094e-02 -9.99749780e-01 3.01248114e-07 1.71715294e+02] [ 9.99725899e-01 2.23685729e-02 -6.91188276e-03 1.31581179e+02] [ 6.91014653e-03 1.54913827e-04 9.99976113e-01 1.41407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.61, Z:1.41 [[ 2.31962330e-02 -9.99730931e-01 2.21918273e-06 1.71714074e+02] [ 9.99707051e-01 2.31956635e-02 -6.91188363e-03 1.31605453e+02] [ 6.90997238e-03 1.62548195e-04 9.99976113e-01 1.40951462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.63, Z:1.42 [[ 2.39953955e-02 -9.99712069e-01 1.54988191e-05 1.71712565e+02] [ 9.99688191e-01 2.39947152e-02 -6.91188427e-03 1.31630825e+02] [ 6.90952223e-03 1.81347383e-04 9.99976113e-01 1.41550384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.67, Z:1.42 [[ 2.27832746e-02 -9.99740428e-01 7.96993963e-07 1.71711232e+02] [ 9.99716546e-01 2.27827249e-02 -6.91188395e-03 1.31674435e+02] [ 6.91007166e-03 1.58272118e-04 9.99976113e-01 1.41592493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.71, Y:131.60, Z:1.42 [[ 2.42479564e-02 -9.99705975e-01 1.07655058e-05 1.71710564e+02] [ 9.99682097e-01 2.42473028e-02 -6.91188646e-03 1.31603715e+02] [ 6.90959315e-03 1.78361205e-04 9.99976113e-01 1.41813526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.63, Z:1.42 [[ 2.27328196e-02 -9.99741576e-01 -3.39459202e-06 1.71707284e+02] [ 9.99717694e-01 2.27323000e-02 -6.91187950e-03 1.31627438e+02] [ 6.91017047e-03 1.53732876e-04 9.99976113e-01 1.41561156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.65, Z:1.42 [[ 2.20772019e-02 -9.99756269e-01 -1.28763686e-06 1.71705726e+02] [ 9.99732387e-01 2.20766834e-02 -6.91187989e-03 1.31649877e+02] [ 6.91022368e-03 1.51307675e-04 9.99976113e-01 1.41713038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:131.55, Z:1.42 [[ 2.34525403e-02 -9.99724951e-01 9.67368963e-07 1.71705323e+02] [ 9.99701071e-01 2.34519734e-02 -6.91188592e-03 1.31546510e+02] [ 6.90996213e-03 1.63068363e-04 9.99976113e-01 1.41561881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.70, Y:131.57, Z:1.41 [[ 2.05351450e-02 -9.99789131e-01 -2.13710586e-05 1.71703735e+02] [ 9.99765247e-01 2.05348022e-02 -6.91181686e-03 1.31570046e+02] [ 6.91079822e-03 1.20569120e-04 9.99976113e-01 1.41364954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:131.59, Z:1.41 [[ 1.89313069e-02 -9.99820787e-01 -1.93398079e-05 1.71702018e+02] [ 9.99796902e-01 1.89309883e-02 -6.91182254e-03 1.31594678e+02] [ 6.91094997e-03 1.11513954e-04 9.99976113e-01 1.41481718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:131.62, Z:1.41 [[ 1.74409865e-02 -9.99847894e-01 -1.73352029e-05 1.71699339e+02] [ 9.99824009e-01 1.74406896e-02 -6.91182757e-03 1.31619730e+02] [ 6.91107858e-03 1.03216939e-04 9.99976113e-01 1.41395526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:131.64, Z:1.41 [[ 1.54832022e-02 -9.99880128e-01 -1.53375593e-05 1.71696376e+02] [ 9.99856242e-01 1.54829384e-02 -6.91183200e-03 1.31644639e+02] [ 6.91124094e-03 9.16819382e-05 9.99976113e-01 1.41356868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:131.67, Z:1.41 [[ 1.44885739e-02 -9.99895035e-01 -1.33190703e-05 1.71695152e+02] [ 9.99871149e-01 1.44883199e-02 -6.91183589e-03 1.31668654e+02] [ 6.91130336e-03 8.68252912e-05 9.99976113e-01 1.41066684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.69, Z:1.41 [[ 1.35286907e-02 -9.99908483e-01 -1.14248242e-05 1.71693427e+02] [ 9.99884597e-01 1.35284465e-02 -6.91183902e-03 1.31693407e+02] [ 6.91136103e-03 8.20846264e-05 9.99976113e-01 1.41046010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.72, Z:1.41 [[ 1.10309390e-02 -9.99939157e-01 -9.46207563e-06 1.71691786e+02] [ 9.99915271e-01 1.10307409e-02 -6.91184171e-03 1.31718356e+02] [ 6.91152555e-03 6.67828302e-05 9.99976113e-01 1.41264282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.74, Z:1.41 [[ 9.29434569e-03 -9.99956807e-01 -7.42993619e-06 1.71691527e+02] [ 9.99932920e-01 9.29417503e-03 -6.91184389e-03 1.31742222e+02] [ 6.91161440e-03 5.68116287e-05 9.99976113e-01 1.41179146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.69, Y:131.76, Z:1.41 [[ 8.19141778e-03 -9.99966450e-01 -5.32450542e-06 1.71690333e+02] [ 9.99942563e-01 8.19125891e-03 -6.91184551e-03 1.31764376e+02] [ 6.91165724e-03 5.12936146e-05 9.99976113e-01 1.41258594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.69, Y:131.79, Z:1.42 [[ 5.73962089e-03 -9.99983528e-01 3.31936736e-05 1.71688455e+02] [ 9.99959643e-01 5.73925437e-03 -6.91185378e-03 1.31791272e+02] [ 6.91154942e-03 7.28637544e-05 9.99976112e-01 1.41598209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.82, Z:1.42 [[ 4.17660701e-03 -9.99991278e-01 -3.10986688e-07 1.71688807e+02] [ 9.99967391e-01 4.17650939e-03 -6.91185228e-03 1.31816526e+02] [ 6.91179329e-03 2.85571141e-05 9.99976113e-01 1.41894147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.82, Z:1.42 [[ 3.68174030e-03 -9.99993222e-01 1.55434293e-06 1.71689508e+02] [ 9.99969335e-01 3.68164161e-03 -6.91185186e-03 1.31816040e+02] [ 6.91179929e-03 2.70019388e-05 9.99976113e-01 1.41770829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.84, Z:1.42 [[ 2.71684198e-03 -9.99996309e-01 -1.06587910e-06 1.71689125e+02] [ 9.99972422e-01 2.71678445e-03 -6.91185145e-03 1.31839818e+02] [ 6.91182884e-03 1.77125585e-05 9.99976113e-01 1.41675352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.83, Z:1.42 [[ 2.74145509e-03 -9.99996242e-01 9.80079424e-07 1.71689023e+02] [ 9.99972355e-01 2.74138283e-03 -6.91185116e-03 1.31829079e+02] [ 6.91182250e-03 1.99285819e-05 9.99976113e-01 1.41546688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.85, Z:1.41 [[ 3.16125928e-03 -9.99995003e-01 -1.61493738e-06 1.71689946e+02] [ 9.99971116e-01 3.16119493e-03 -6.91185056e-03 1.31852781e+02] [ 6.91182113e-03 2.02352610e-05 9.99976113e-01 1.41216734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:171.69, Y:131.75, Z:1.41 [[ 4.57814761e-03 -9.99989520e-01 -1.53307100e-07 1.71690406e+02] [ 9.99965633e-01 4.57803931e-03 -6.91185223e-03 1.31748683e+02] [ 6.91178050e-03 3.14901779e-05 9.99976113e-01 1.41176158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.77, Z:1.41 [[ 4.68725024e-03 -9.99989015e-01 -9.90742821e-06 1.71690725e+02] [ 9.99965128e-01 4.68720675e-03 -6.91183825e-03 1.31773021e+02] [ 6.91180876e-03 2.24904328e-05 9.99976113e-01 1.41295506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.80, Z:1.41 [[ 6.44922888e-03 -9.99979204e-01 -7.96786608e-06 1.71691269e+02] [ 9.99955317e-01 6.44912989e-03 -6.91184049e-03 1.31796753e+02] [ 6.91174813e-03 3.66085312e-05 9.99976113e-01 1.41241840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.82, Z:1.41 [[ 7.54253283e-03 -9.99971555e-01 -6.14275092e-06 1.71691795e+02] [ 9.99947668e-01 7.54239511e-03 -6.91184211e-03 1.31821813e+02] [ 6.91169183e-03 4.59903665e-05 9.99976113e-01 1.41207697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.85, Z:1.41 [[ 8.76422725e-03 -9.99961593e-01 -4.21771721e-06 1.71691737e+02] [ 9.99937707e-01 8.76404705e-03 -6.91184328e-03 1.31846438e+02] [ 6.91161479e-03 5.63595108e-05 9.99976113e-01 1.40973945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.87, Z:1.41 [[ 1.11557532e-02 -9.99937773e-01 3.12557655e-06 1.71690825e+02] [ 9.99913887e-01 1.11554651e-02 -6.91184515e-03 1.31871488e+02] [ 6.91138018e-03 8.02321460e-05 9.99976113e-01 1.41464084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.97, Z:1.41 [[ 1.25365476e-02 -9.99921414e-01 6.69461434e-08 1.71690703e+02] [ 9.99897529e-01 1.25362477e-02 -6.91184518e-03 1.31967511e+02] [ 6.91130117e-03 8.67176156e-05 9.99976113e-01 1.41140501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.99, Z:1.42 [[ 1.32633207e-02 -9.99912038e-01 -7.41001159e-07 1.71690592e+02] [ 9.99888153e-01 1.32630090e-02 -6.91184511e-03 1.31992331e+02] [ 6.91124696e-03 9.09331003e-05 9.99976113e-01 1.41871925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:131.99, Z:1.42 [[ 1.50232716e-02 -9.99887144e-01 1.33245818e-06 1.71691285e+02] [ 9.99863260e-01 1.50229035e-02 -6.91184471e-03 1.31985322e+02] [ 6.91104465e-03 1.05170796e-04 9.99976113e-01 1.41704151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.01, Z:1.42 [[ 1.85642300e-02 -9.99827670e-01 -1.36818075e-06 1.71689651e+02] [ 9.99803787e-01 1.85637960e-02 -6.91184417e-03 1.32010121e+02] [ 6.91067845e-03 1.26945152e-04 9.99976113e-01 1.41830099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.07, Z:1.42 [[ 2.02819551e-02 -9.99794300e-01 6.00487309e-07 1.71687866e+02] [ 9.99770418e-01 2.02814665e-02 -6.91184400e-03 1.32072228e+02] [ 6.91041006e-03 1.40786059e-04 9.99976113e-01 1.41742911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.00, Z:1.42 [[ 2.23798141e-02 -9.99749541e-01 2.13689993e-06 1.71686635e+02] [ 9.99725660e-01 2.23792648e-02 -6.91184387e-03 1.31999560e+02] [ 6.91006491e-03 1.56822095e-04 9.99976113e-01 1.41930479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.02, Z:1.42 [[ 2.34956251e-02 -9.99723940e-01 -1.26702718e-06 1.71684394e+02] [ 9.99700059e-01 2.34950726e-02 -6.91184325e-03 1.32023941e+02] [ 6.90996493e-03 1.61131430e-04 9.99976113e-01 1.41944560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.68, Y:132.02, Z:1.42 [[ 2.38922458e-02 -9.99714540e-01 5.97381088e-07 1.71682568e+02] [ 9.99690659e-01 2.38916709e-02 -6.91184309e-03 1.32020944e+02] [ 6.90985576e-03 1.65736650e-04 9.99976113e-01 1.42061848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.04, Z:1.42 [[ 2.30067238e-02 -9.99735310e-01 -1.78969516e-06 1.71682138e+02] [ 9.99711429e-01 2.30061866e-02 -6.91184247e-03 1.32044172e+02] [ 6.91005415e-03 1.57229672e-04 9.99976113e-01 1.41757919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.01, Z:1.42 [[ 2.17579234e-02 -9.99763268e-01 2.86306823e-07 1.71682607e+02] [ 9.99739387e-01 2.17574017e-02 -6.91184238e-03 1.32012471e+02] [ 6.91019990e-03 1.50673569e-04 9.99976113e-01 1.41649206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.04, Z:1.42 [[ 1.67770547e-02 -9.99859255e-01 -2.06896202e-06 1.71682855e+02] [ 9.99835371e-01 1.67766682e-02 -6.91184168e-03 1.32037815e+02] [ 6.91090358e-03 1.13891724e-04 9.99976113e-01 1.41818609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.68, Y:132.06, Z:1.42 [[ 1.38748019e-02 -9.99903740e-01 -1.73115380e-07 1.71681209e+02] [ 9.99879856e-01 1.38744717e-02 -6.91184172e-03 1.32061043e+02] [ 6.91117879e-03 9.57273400e-05 9.99976113e-01 1.41698630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.02, Z:1.42 [[ 1.16785404e-02 -9.99931804e-01 1.65756849e-06 1.71680563e+02] [ 9.99907918e-01 1.16782499e-02 -6.91184128e-03 1.32021081e+02] [ 6.91135056e-03 8.23776333e-05 9.99976113e-01 1.41537969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.05, Z:1.41 [[ 6.55179353e-03 -9.99978537e-01 -1.01992053e-06 1.71682012e+02] [ 9.99954650e-01 6.55164408e-03 -6.91184089e-03 1.32045847e+02] [ 6.91169922e-03 4.42650801e-05 9.99976113e-01 1.41431503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.04, Z:1.42 [[ 5.24269340e-03 -9.99986257e-01 8.32412094e-07 1.71682882e+02] [ 9.99962370e-01 5.24256242e-03 -6.91184067e-03 1.32037937e+02] [ 6.91174131e-03 3.70690422e-05 9.99976113e-01 1.41595782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.06, Z:1.41 [[ 4.00933389e-03 -9.99991963e-01 -1.81262002e-06 1.71683027e+02] [ 9.99968076e-01 4.00925065e-03 -6.91183997e-03 1.32061287e+02] [ 6.91179169e-03 2.58993121e-05 9.99976113e-01 1.41338096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.06, Z:1.42 [[ 3.77197682e-03 -9.99992886e-01 9.98011188e-08 1.71683522e+02] [ 9.99968999e-01 3.77188602e-03 -6.91183995e-03 1.32064016e+02] [ 6.91179040e-03 2.61710981e-05 9.99976113e-01 1.41644083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.68, Y:132.09, Z:1.41 [[ 3.52112848e-03 -9.99993801e-01 -2.52342695e-06 1.71682476e+02] [ 9.99969914e-01 3.52106181e-03 -6.91183899e-03 1.32089292e+02] [ 6.91180503e-03 2.18141221e-05 9.99976113e-01 1.41255893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.11, Z:1.42 [[ 4.18075342e-03 -9.99991261e-01 2.26283581e-06 1.71681184e+02] [ 9.99967374e-01 4.18063791e-03 -6.91183922e-03 1.32114549e+02] [ 6.91176936e-03 3.11594574e-05 9.99976113e-01 1.41888914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.11, Z:1.41 [[ 5.47463539e-03 -9.99985014e-01 1.76402507e-06 1.71680054e+02] [ 9.99961127e-01 5.47449242e-03 -6.91183935e-03 1.32105005e+02] [ 6.91172611e-03 3.96037568e-05 9.99976113e-01 1.41445431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.13, Z:1.42 [[ 6.77308936e-03 -9.99977062e-01 -8.60943432e-07 1.71679869e+02] [ 9.99953176e-01 6.77293352e-03 -6.91183902e-03 1.32130605e+02] [ 6.91168631e-03 4.59536002e-05 9.99976113e-01 1.41948058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.09, Z:1.42 [[ 7.52108797e-03 -9.99971716e-01 8.95556701e-07 1.71681376e+02] [ 9.99947830e-01 7.52090212e-03 -6.91183887e-03 1.32086809e+02] [ 6.91163664e-03 5.28800581e-05 9.99976113e-01 1.41849881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.18, Z:1.42 [[ 7.38493169e-03 -9.99972731e-01 2.58275881e-07 1.71682041e+02] [ 9.99948845e-01 7.38475350e-03 -6.91183890e-03 1.32184978e+02] [ 6.91164851e-03 5.13017208e-05 9.99976113e-01 1.41668463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.09, Z:1.42 [[ 8.05468614e-03 -9.99967561e-01 9.63520565e-07 1.71682567e+02] [ 9.99943674e-01 8.05448707e-03 -6.91183889e-03 1.32086312e+02] [ 6.91160692e-03 5.66361592e-05 9.99976113e-01 1.41590654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.68, Y:132.11, Z:1.41 [[ 8.95864267e-03 -9.99959871e-01 -3.22155749e-07 1.71681292e+02] [ 9.99935984e-01 8.95843090e-03 -6.91183883e-03 1.32110759e+02] [ 6.91156435e-03 6.15985592e-05 9.99976113e-01 1.41378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.10, Z:1.41 [[ 1.00181818e-02 -9.99949817e-01 1.43704806e-07 1.71682020e+02] [ 9.99925931e-01 1.00179415e-02 -6.91183922e-03 1.32104162e+02] [ 6.91149093e-03 6.93877562e-05 9.99976113e-01 1.41351716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.13, Z:1.41 [[ 9.72359540e-03 -9.99952725e-01 9.58495027e-07 1.71682891e+02] [ 9.99928839e-01 9.72335651e-03 -6.91183981e-03 1.32129185e+02] [ 6.91150373e-03 6.81663607e-05 9.99976113e-01 1.41241081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.15, Z:1.41 [[ 9.85615529e-03 -9.99951427e-01 -3.43800421e-06 1.71684042e+02] [ 9.99927541e-01 9.85594362e-03 -6.91183763e-03 1.32154951e+02] [ 6.91153578e-03 6.46863899e-05 9.99976113e-01 1.41102043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.18, Z:1.41 [[ 9.56549228e-03 -9.99954250e-01 -6.03398202e-06 1.71683635e+02] [ 9.99930363e-01 9.56530549e-03 -6.91183699e-03 1.32179066e+02] [ 6.91157848e-03 6.00815615e-05 9.99976113e-01 1.41118688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.00, Z:1.42 [[ 9.95572343e-03 -9.99950441e-01 6.76248428e-07 1.71684510e+02] [ 9.99926555e-01 9.95548095e-03 -6.91183430e-03 1.31998059e+02] [ 6.91148502e-03 6.94885095e-05 9.99976113e-01 1.41535393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.01, Z:1.42 [[ 1.07635189e-02 -9.99942072e-01 1.83637385e-06 1.71685362e+02] [ 9.99918186e-01 1.07632491e-02 -6.91183400e-03 1.32009839e+02] [ 6.91141384e-03 7.62318797e-05 9.99976113e-01 1.41509914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.03, Z:1.41 [[ 1.13293743e-02 -9.99935821e-01 -8.45164963e-07 1.71686114e+02] [ 9.99911935e-01 1.13291095e-02 -6.91183367e-03 1.32033023e+02] [ 6.91139964e-03 7.74616601e-05 9.99976113e-01 1.41497545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.05, Z:1.42 [[ 1.31817583e-02 -9.99913117e-01 1.22703032e-06 1.71686472e+02] [ 9.99889232e-01 1.31814349e-02 -6.91183330e-03 1.32047062e+02] [ 6.91121660e-03 9.23370101e-05 9.99976113e-01 1.41940856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.07, Z:1.42 [[ 1.41723816e-02 -9.99899567e-01 -1.13998160e-06 1.71686298e+02] [ 9.99875682e-01 1.41720510e-02 -6.91183291e-03 1.32070789e+02] [ 6.91115489e-03 9.68172938e-05 9.99976113e-01 1.41784400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.08, Z:1.42 [[ 1.57436555e-02 -9.99876061e-01 8.01731355e-07 1.71686270e+02] [ 9.99852177e-01 1.57432739e-02 -6.91183268e-03 1.32082265e+02] [ 6.91096342e-03 1.09619126e-04 9.99976113e-01 1.41832571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.11, Z:1.42 [[ 1.66597652e-02 -9.99861217e-01 -1.56159557e-06 1.71685658e+02] [ 9.99837333e-01 1.66593781e-02 -6.91183215e-03 1.32106243e+02] [ 6.91089892e-03 1.13588160e-04 9.99976113e-01 1.41685428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.11, Z:1.41 [[ 2.00394090e-02 -9.99799191e-01 5.53225281e-07 1.71684042e+02] [ 9.99775309e-01 2.00389265e-02 -6.91183198e-03 1.32107493e+02] [ 6.91043294e-03 1.39062129e-04 9.99976113e-01 1.41251934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.13, Z:1.41 [[ 2.08067962e-02 -9.99783515e-01 -2.17565764e-06 1.71683163e+02] [ 9.99759633e-01 2.08063143e-02 -6.91183112e-03 1.32132216e+02] [ 6.91038008e-03 1.41637927e-04 9.99976113e-01 1.41472284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.16, Z:1.42 [[ 2.13202887e-02 -9.99772697e-01 -2.23894160e-07 1.71681823e+02] [ 9.99748815e-01 2.13197810e-02 -6.91183118e-03 1.32157078e+02] [ 6.91026488e-03 1.47138398e-04 9.99976113e-01 1.41596204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.16, Z:1.42 [[ 2.25180680e-02 -9.99746436e-01 1.77517468e-06 1.71680416e+02] [ 9.99722556e-01 2.25175178e-02 -6.91183067e-03 1.32159590e+02] [ 6.91003811e-03 1.57415755e-04 9.99976113e-01 1.41756473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.18, Z:1.42 [[ 2.23895757e-02 -9.99749322e-01 -9.64983812e-07 1.71680346e+02] [ 9.99725441e-01 2.23890476e-02 -6.91183029e-03 1.32183257e+02] [ 6.91011925e-03 1.53788229e-04 9.99976113e-01 1.41696421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.68, Y:132.19, Z:1.42 [[ 2.25036559e-02 -9.99746761e-01 1.16732544e-06 1.71679316e+02] [ 9.99722880e-01 2.25031103e-02 -6.91182993e-03 1.32192836e+02] [ 6.91005331e-03 1.56708444e-04 9.99976113e-01 1.41799915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.22, Z:1.42 [[ 2.17874518e-02 -9.99762625e-01 -1.24628535e-06 1.71678119e+02] [ 9.99738744e-01 2.17869400e-02 -6.91182949e-03 1.32217284e+02] [ 6.91021595e-03 1.49345192e-04 9.99976113e-01 1.41643121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.23, Z:1.42 [[ 2.07842869e-02 -9.99783983e-01 7.24670260e-07 1.71676090e+02] [ 9.99760102e-01 2.07837854e-02 -6.91182929e-03 1.32226009e+02] [ 6.91032116e-03 1.44381939e-04 9.99976113e-01 1.42019481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.25, Z:1.42 [[ 1.93956993e-02 -9.99811886e-01 -2.00515298e-06 1.71674540e+02] [ 9.99788003e-01 1.93952498e-02 -6.91182850e-03 1.32251577e+02] [ 6.91056717e-03 1.32055019e-04 9.99976113e-01 1.41891327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.28, Z:1.42 [[ 1.79547434e-02 -9.99838801e-01 8.41673439e-06 1.71673056e+02] [ 9.99814919e-01 1.79542563e-02 -6.91182832e-03 1.32276961e+02] [ 6.91056302e-03 1.32515280e-04 9.99976113e-01 1.41779180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.26, Z:1.42 [[ 1.67692370e-02 -9.99859386e-01 1.86803020e-06 1.71670889e+02] [ 9.99835503e-01 1.67688236e-02 -6.91183009e-03 1.32263961e+02] [ 6.91082687e-03 1.17773840e-04 9.99976113e-01 1.41717982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.29, Z:1.42 [[ 1.19317175e-02 -9.99928815e-01 -8.36294572e-07 1.71668044e+02] [ 9.99904929e-01 1.19314382e-02 -6.91182976e-03 1.32289053e+02] [ 6.91134772e-03 8.16337849e-05 9.99976113e-01 1.41717323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.67, Y:132.29, Z:1.42 [[ 9.70360532e-03 -9.99952919e-01 1.37622802e-06 1.71666696e+02] [ 9.99929033e-01 9.70336402e-03 -6.91183106e-03 1.32287609e+02] [ 6.91149228e-03 6.84458110e-05 9.99976113e-01 1.41687484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.31, Z:1.42 [[ 4.72224584e-03 -9.99988850e-01 6.67074609e-06 1.71664417e+02] [ 9.99964964e-01 4.72208694e-03 -6.91183268e-03 1.32311650e+02] [ 6.91172411e-03 3.93098855e-05 9.99976113e-01 1.41753638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.34, Z:1.42 [[ 2.52149180e-03 -9.99996821e-01 1.43881139e-05 1.71664923e+02] [ 9.99972934e-01 2.52133212e-03 -6.91183226e-03 1.32336584e+02] [ 6.91177401e-03 3.18158528e-05 9.99976113e-01 1.41910359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.31, Z:1.42 [[-1.34820421e-03 -9.99999091e-01 1.69603732e-06 1.71664228e+02] [ 9.99975204e-01 -1.34818373e-03 -6.91183538e-03 1.32308984e+02] [ 6.91183138e-03 -7.62257031e-06 9.99976113e-01 1.41891199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.31, Z:1.42 [[-1.75200419e-03 -9.99998465e-01 1.12598899e-05 1.71665081e+02] [ 9.99974578e-01 -1.75204017e-03 -6.91183293e-03 1.32314917e+02] [ 6.91184205e-03 -8.49956557e-07 9.99976113e-01 1.41910896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.30, Z:1.42 [[-6.57545246e-03 -9.99978382e-01 7.72448451e-07 1.71662052e+02] [ 9.99954495e-01 -6.57530073e-03 -6.91183410e-03 1.32300827e+02] [ 6.91168976e-03 -4.46760233e-05 9.99976113e-01 1.42143156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.30, Z:1.42 [[-7.70562344e-03 -9.99970311e-01 1.05886029e-05 1.71661710e+02] [ 9.99946424e-01 -7.70551257e-03 -6.91183442e-03 1.32298433e+02] [ 6.91171081e-03 -4.26719578e-05 9.99976113e-01 1.42320823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.32, Z:1.42 [[-8.27117795e-03 -9.99965793e-01 1.16170096e-05 1.71661398e+02] [ 9.99941906e-01 -8.27106067e-03 -6.91183459e-03 1.32322289e+02] [ 6.91169424e-03 -4.55526792e-05 9.99976113e-01 1.42474104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.66, Y:132.31, Z:1.42 [[-6.53968813e-03 -9.99978616e-01 1.00991913e-05 1.71660980e+02] [ 9.99954729e-01 -6.53960172e-03 -6.91183382e-03 1.32308299e+02] [ 6.91175206e-03 -3.51025035e-05 9.99976113e-01 1.42330656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.33, Z:1.42 [[-7.01017255e-03 -9.99975428e-01 -4.61612641e-06 1.71659775e+02] [ 9.99951542e-01 -7.00997319e-03 -6.91182399e-03 1.32332252e+02] [ 6.91162180e-03 -5.30689815e-05 9.99976113e-01 1.42312456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.36, Z:1.42 [[-6.20187787e-03 -9.99980768e-01 2.05713969e-05 1.71660990e+02] [ 9.99956881e-01 -6.20187191e-03 -6.91183080e-03 1.32358229e+02] [ 6.91182545e-03 -2.22958206e-05 9.99976113e-01 1.42155356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.38, Z:1.42 [[-5.73479451e-03 -9.99983556e-01 -7.65039785e-07 1.71660327e+02] [ 9.99959669e-01 -5.73465224e-03 -6.91182844e-03 1.32382026e+02] [ 6.91171039e-03 -4.04029247e-05 9.99976113e-01 1.41967492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.34, Z:1.42 [[-3.35729622e-03 -9.99994364e-01 1.18084143e-06 1.71661616e+02] [ 9.99970477e-01 -3.35722418e-03 -6.91183059e-03 1.32343546e+02] [ 6.91179560e-03 -2.20242561e-05 9.99976113e-01 1.41761257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.37, Z:1.42 [[-1.80821593e-03 -9.99998365e-01 1.33722740e-05 1.71662253e+02] [ 9.99974478e-01 -1.80826517e-03 -6.91183356e-03 1.32369777e+02] [ 6.91184644e-03 8.73845133e-07 9.99976113e-01 1.42298179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.39, Z:1.42 [[-7.63360304e-04 -9.99999709e-01 -3.48492828e-07 1.71660441e+02] [ 9.99975822e-01 -7.63339663e-04 -6.91183287e-03 1.32393911e+02] [ 6.91183059e-03 -5.62470326e-06 9.99976113e-01 1.42021303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.33, Z:1.42 [[ 2.39388975e-03 -9.99997135e-01 1.85445133e-06 1.71659922e+02] [ 9.99973248e-01 2.39381975e-03 -6.91183178e-03 1.32333161e+02] [ 6.91180753e-03 1.84005650e-05 9.99976113e-01 1.42200079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.36, Z:1.42 [[ 4.02269653e-03 -9.99991909e-01 2.61881513e-06 1.71660986e+02] [ 9.99968022e-01 4.02258234e-03 -6.91183149e-03 1.32364361e+02] [ 6.91176503e-03 3.04229319e-05 9.99976113e-01 1.41811082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.66, Y:132.47, Z:1.41 [[ 4.72085311e-03 -9.99988857e-01 1.22978744e-06 1.71660039e+02] [ 9.99964970e-01 4.72073184e-03 -6.91183153e-03 1.32471446e+02] [ 6.91174870e-03 3.38594857e-05 9.99976113e-01 1.41177149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.37, Z:1.42 [[ 8.03798299e-03 -9.99967695e-01 6.89061154e-06 1.71660479e+02] [ 9.99943809e-01 8.03774336e-03 -6.91183197e-03 1.32370327e+02] [ 6.91155329e-03 6.24474121e-05 9.99976113e-01 1.41887368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.40, Z:1.42 [[ 1.17067948e-02 -9.99931473e-01 -1.41839579e-06 1.71658201e+02] [ 9.99907588e-01 1.17065250e-02 -6.91183026e-03 1.32395405e+02] [ 6.91137322e-03 7.94971138e-05 9.99976113e-01 1.41899529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.48, Z:1.42 [[ 1.21681290e-02 -9.99925966e-01 5.71328322e-07 1.71657116e+02] [ 9.99902080e-01 1.21678344e-02 -6.91183010e-03 1.32476547e+02] [ 6.91131143e-03 8.46753129e-05 9.99976113e-01 1.42014724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.40, Z:1.42 [[ 1.62514329e-02 -9.99867937e-01 1.16228479e-05 1.71657546e+02] [ 9.99844054e-01 1.62509644e-02 -6.91183110e-03 1.32397448e+02] [ 6.91072942e-03 1.23948195e-04 9.99976113e-01 1.41986000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.42, Z:1.42 [[ 1.90369337e-02 -9.99818781e-01 -1.80489465e-06 1.71652938e+02] [ 9.99794898e-01 1.90364914e-02 -6.91182759e-03 1.32421293e+02] [ 6.91060940e-03 1.29775479e-04 9.99976113e-01 1.41912631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.42, Z:1.42 [[ 2.15377296e-02 -9.99768036e-01 3.71662592e-07 1.71651966e+02] [ 9.99744155e-01 2.15372126e-02 -6.91183032e-03 1.32418430e+02] [ 6.91021902e-03 1.49236700e-04 9.99976113e-01 1.42058722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.44, Z:1.42 [[ 2.16573282e-02 -9.99765453e-01 -1.00645304e-05 1.71650926e+02] [ 9.99741570e-01 2.16568805e-02 -6.91181512e-03 1.32442602e+02] [ 6.91041194e-03 1.39629519e-04 9.99976113e-01 1.41661519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.47, Z:1.42 [[ 2.10781906e-02 -9.99777830e-01 -1.11042082e-05 1.71647910e+02] [ 9.99753947e-01 2.10777639e-02 -6.91181392e-03 1.32465947e+02] [ 6.91051238e-03 1.34587055e-04 9.99976113e-01 1.42004313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.49, Z:1.42 [[ 1.99753904e-02 -9.99800472e-01 -7.68266907e-06 1.71645136e+02] [ 9.99776589e-01 1.99749663e-02 -6.91181692e-03 1.32490776e+02] [ 6.91059128e-03 1.30385288e-04 9.99976113e-01 1.42214754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.52, Z:1.42 [[ 1.82804814e-02 -9.99832898e-01 -4.27638419e-06 1.71642276e+02] [ 9.99809015e-01 1.82800743e-02 -6.91181903e-03 1.32515299e+02] [ 6.91074222e-03 1.22075812e-04 9.99976113e-01 1.42188217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.64, Y:132.54, Z:1.42 [[ 1.38340974e-02 -9.99904304e-01 -2.33452819e-06 1.71638296e+02] [ 9.99880419e-01 1.38337831e-02 -6.91181968e-03 1.32540334e+02] [ 6.91119055e-03 9.32845378e-05 9.99976113e-01 1.42043408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.64, Y:132.57, Z:1.42 [[ 1.10689053e-02 -9.99938738e-01 -4.49755791e-07 1.71636871e+02] [ 9.99914852e-01 1.10686440e-02 -6.91181981e-03 1.32565642e+02] [ 6.91140135e-03 7.60565613e-05 9.99976113e-01 1.42353521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.56, Z:1.42 [[ 8.92437888e-03 -9.99960177e-01 2.36385415e-06 1.71635812e+02] [ 9.99936291e-01 8.92414936e-03 -6.91182187e-03 1.32558985e+02] [ 6.91152552e-03 6.40474206e-05 9.99976113e-01 1.42379153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.63, Y:132.58, Z:1.43 [[ 3.66424011e-03 -9.99993287e-01 1.10098614e-05 1.71633547e+02] [ 9.99969400e-01 3.66407648e-03 -6.91182334e-03 1.32584312e+02] [ 6.91173660e-03 3.63361047e-05 9.99976113e-01 1.42517449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.60, Z:1.43 [[-1.00013608e-04 -9.99999995e-01 5.05591980e-07 1.71631559e+02] [ 9.99976108e-01 -1.00014715e-04 -6.91182411e-03 1.32599661e+02] [ 6.91182413e-03 -1.85696580e-07 9.99976113e-01 1.42687325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.64, Z:1.43 [[-2.59404342e-03 -9.99996635e-01 1.09919195e-05 1.71629540e+02] [ 9.99972748e-01 -2.59405743e-03 -6.91182563e-03 1.32638799e+02] [ 6.91183089e-03 -6.93795583e-06 9.99976113e-01 1.42884652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.58, Z:1.43 [[-2.86483828e-03 -9.99995896e-01 1.24003245e-05 1.71629487e+02] [ 9.99972009e-01 -2.86485556e-03 -6.91182598e-03 1.32581675e+02] [ 6.91183314e-03 -7.40128622e-06 9.99976113e-01 1.42553761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.61, Z:1.43 [[-5.99317388e-03 -9.99982041e-01 -2.77553613e-06 1.71627385e+02] [ 9.99958154e-01 -5.99301154e-03 -6.91181989e-03 1.32605110e+02] [ 6.91167912e-03 -4.41991584e-05 9.99976113e-01 1.42684075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.63, Z:1.43 [[-1.25234426e-02 -9.99921578e-01 2.52514413e-05 1.71625932e+02] [ 9.99897691e-01 -1.25233180e-02 -6.91182279e-03 1.32630450e+02] [ 6.91159698e-03 -6.13109582e-05 9.99976113e-01 1.42986843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.66, Z:1.43 [[-1.58890102e-02 -9.99873761e-01 3.27670660e-05 1.71626749e+02] [ 9.99849874e-01 -1.58888572e-02 -6.91182183e-03 1.32657653e+02] [ 6.91146992e-03 -7.70598611e-05 9.99976113e-01 1.43062898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.65, Z:1.43 [[-1.84958972e-02 -9.99828936e-01 1.69138999e-06 1.71626753e+02] [ 9.99805053e-01 -1.84954670e-02 -6.91182944e-03 1.32645095e+02] [ 6.91067836e-03 -1.26149426e-04 9.99976113e-01 1.43267096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.67, Z:1.43 [[-2.36988772e-02 -9.99719142e-01 -7.60956094e-07 1.71627002e+02] [ 9.99695262e-01 -2.36983059e-02 -6.91182917e-03 1.32669754e+02] [ 6.90986989e-03 -1.64563315e-04 9.99976113e-01 1.43313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.63, Y:132.76, Z:1.43 [[-2.70419384e-02 -9.99634300e-01 1.25481517e-06 1.71626520e+02] [ 9.99610421e-01 -2.70413012e-02 -6.91182880e-03 1.32761699e+02] [ 6.90933508e-03 -1.85654923e-04 9.99976113e-01 1.43063300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.63, Y:132.67, Z:1.43 [[-2.86447766e-02 -9.99589654e-01 1.56582271e-05 1.71626777e+02] [ 9.99565774e-01 -2.86442006e-02 -6.91182597e-03 1.32674927e+02] [ 6.90943825e-03 -1.82336283e-04 9.99976113e-01 1.42826643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.67, Z:1.43 [[-2.66911673e-02 -9.99643727e-01 1.86146054e-05 1.71628332e+02] [ 9.99619845e-01 -2.66906583e-02 -6.91182537e-03 1.32672600e+02] [ 6.90985971e-03 -1.65877158e-04 9.99976113e-01 1.42980393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.71, Z:1.43 [[-2.75792064e-02 -9.99619621e-01 2.70120483e-07 1.71628977e+02] [ 9.99595743e-01 -2.75785494e-02 -6.91182608e-03 1.32712872e+02] [ 6.90920442e-03 -1.90352667e-04 9.99976113e-01 1.42830586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.74, Z:1.43 [[-2.71126544e-02 -9.99632384e-01 1.43383526e-05 1.71630521e+02] [ 9.99608504e-01 -2.71121059e-02 -6.91182723e-03 1.32742328e+02] [ 6.90967508e-03 -1.73065244e-04 9.99976113e-01 1.42876764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.74, Z:1.43 [[-2.67389647e-02 -9.99642450e-01 1.45934581e-05 1.71630448e+02] [ 9.99618569e-01 -2.67384269e-02 -6.91182729e-03 1.32744894e+02] [ 6.90974617e-03 -1.70227214e-04 9.99976113e-01 1.42878541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.67, Z:1.43 [[-2.38279672e-02 -9.99716074e-01 1.29594927e-05 1.71632875e+02] [ 9.99692191e-01 -2.38274876e-02 -6.91182644e-03 1.32668138e+02] [ 6.91017278e-03 -1.51739270e-04 9.99976113e-01 1.43109183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:132.69, Z:1.43 [[-2.33728495e-02 -9.99726818e-01 -6.15680663e-06 1.71633021e+02] [ 9.99702938e-01 -2.33722487e-02 -6.91180941e-03 1.32691261e+02] [ 6.90977733e-03 -1.67703659e-04 9.99976113e-01 1.43120772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.72, Z:1.43 [[-2.22827868e-02 -9.99751708e-01 2.40301462e-05 1.71635005e+02] [ 9.99727823e-01 -2.22824206e-02 -6.91182129e-03 1.32716844e+02] [ 6.91064059e-03 -1.29991034e-04 9.99976113e-01 1.43279145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.74, Z:1.43 [[-2.17526186e-02 -9.99763384e-01 -1.76172836e-06 1.71635302e+02] [ 9.99739503e-01 -2.17520868e-02 -6.91181472e-03 1.32739762e+02] [ 6.91014095e-03 -1.52111339e-04 9.99976113e-01 1.43032600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.77, Z:1.43 [[-2.08527012e-02 -9.99782559e-01 2.45267960e-05 1.71637855e+02] [ 9.99758674e-01 -2.08523726e-02 -6.91181101e-03 1.32765280e+02] [ 6.91081953e-03 -1.19609053e-04 9.99976113e-01 1.43181508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.64, Y:132.76, Z:1.43 [[-1.93476622e-02 -9.99812816e-01 1.85467004e-06 1.71640556e+02] [ 9.99788934e-01 -1.93472128e-02 -6.91181709e-03 1.32764951e+02] [ 6.91055920e-03 -1.31873224e-04 9.99976113e-01 1.43271853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:132.79, Z:1.43 [[-1.91985156e-02 -9.99815692e-01 -5.96151918e-07 1.71643179e+02] [ 9.99791809e-01 -1.91980529e-02 -6.91181688e-03 1.32788190e+02] [ 6.91053153e-03 -1.33292652e-04 9.99976113e-01 1.43041974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.78, Z:1.43 [[-1.82622501e-02 -9.99833231e-01 1.45866616e-06 1.71646811e+02] [ 9.99809348e-01 -1.82618239e-02 -6.91181645e-03 1.32784254e+02] [ 6.91069041e-03 -1.24766932e-04 9.99976113e-01 1.43183158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.81, Z:1.43 [[-1.65203709e-02 -9.99863529e-01 -1.03007827e-06 1.71651689e+02] [ 9.99839646e-01 -1.65199691e-02 -6.91181608e-03 1.32806952e+02] [ 6.91085580e-03 -1.15215678e-04 9.99976113e-01 1.42958427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.65, Z:1.43 [[-1.50263244e-02 -9.99887098e-01 3.13370563e-06 1.71653000e+02] [ 9.99863214e-01 -1.50259872e-02 -6.91182355e-03 1.32647337e+02] [ 6.91109028e-03 -1.00726026e-04 9.99976113e-01 1.42936274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:132.67, Z:1.43 [[-1.42681430e-02 -9.99898204e-01 2.96739489e-05 1.71654770e+02] [ 9.99874317e-01 -1.42680073e-02 -6.91182073e-03 1.32674000e+02] [ 6.91154053e-03 -6.89486272e-05 9.99976113e-01 1.42770189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.68, Z:1.43 [[-1.24543328e-02 -9.99922442e-01 1.50328168e-06 1.71656895e+02] [ 9.99898557e-01 -1.24540457e-02 -6.91182686e-03 1.32682416e+02] [ 6.91130952e-03 -8.45790628e-05 9.99976113e-01 1.42873879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:132.70, Z:1.43 [[-9.48260840e-03 -9.99955039e-01 -1.01936946e-06 1.71660480e+02] [ 9.99931153e-01 -9.48237484e-03 -6.91182649e-03 1.32704870e+02] [ 6.91150606e-03 -6.65614432e-05 9.99976113e-01 1.42799763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.66, Y:132.71, Z:1.43 [[-6.95572048e-03 -9.99975809e-01 1.26522105e-06 1.71662417e+02] [ 9.99951922e-01 -6.95556307e-03 -6.91183047e-03 1.32705886e+02] [ 6.91167206e-03 -4.68116005e-05 9.99976113e-01 1.42626104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.73, Z:1.43 [[-5.56460955e-03 -9.99984517e-01 3.74290539e-06 1.71665336e+02] [ 9.99960631e-01 -5.56450250e-03 -6.91183316e-03 1.32729965e+02] [ 6.91174698e-03 -3.47188948e-05 9.99976113e-01 1.42599269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.67, Y:132.76, Z:1.43 [[-3.50653539e-03 -9.99993852e-01 1.72736946e-05 1.71669717e+02] [ 9.99969965e-01 -3.50657102e-03 -6.91184243e-03 1.32756390e+02] [ 6.91186051e-03 -6.96344435e-06 9.99976113e-01 1.42754087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.78, Z:1.43 [[-2.19416008e-03 -9.99997593e-01 -3.62523660e-06 1.71671654e+02] [ 9.99973706e-01 -2.19408261e-03 -6.91183147e-03 1.32778850e+02] [ 6.91180688e-03 -1.87908060e-05 9.99976113e-01 1.42631249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:132.80, Z:1.43 [[-1.38062557e-03 -9.99999047e-01 2.84167821e-05 1.71673217e+02] [ 9.99975160e-01 -1.38078901e-03 -6.91183258e-03 1.32802459e+02] [ 6.91186522e-03 1.88734234e-05 9.99976113e-01 1.42588551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.77, Z:1.43 [[ 3.02863668e-03 -9.99995414e-01 1.54903023e-06 1.71677923e+02] [ 9.99971527e-01 3.02855363e-03 -6.91177778e-03 1.32774420e+02] [ 6.91174139e-03 2.24822498e-05 9.99976113e-01 1.42641655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.80, Z:1.43 [[ 3.75983548e-03 -9.99992932e-01 -1.68286993e-05 1.71679114e+02] [ 9.99969045e-01 3.75986199e-03 -6.91173303e-03 1.32798057e+02] [ 6.91174745e-03 9.15880072e-06 9.99976114e-01 1.42551539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.82, Z:1.42 [[ 4.17052081e-03 -9.99991303e-01 -1.49193957e-05 1.71679705e+02] [ 9.99967417e-01 4.17052431e-03 -6.91173715e-03 1.32822441e+02] [ 6.91173927e-03 1.39066341e-05 9.99976114e-01 1.42337955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.85, Z:1.43 [[ 4.58088077e-03 -9.99989508e-01 -6.06233964e-06 1.71681420e+02] [ 9.99965621e-01 4.58081325e-03 -6.91175337e-03 1.32847522e+02] [ 6.91170862e-03 2.55997868e-05 9.99976114e-01 1.42510370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:132.87, Z:1.42 [[ 5.79717728e-03 -9.99983196e-01 -1.10433646e-05 1.71684763e+02] [ 9.99959310e-01 5.79711513e-03 -6.91174541e-03 1.32871234e+02] [ 6.91169329e-03 2.90256982e-05 9.99976114e-01 1.42294694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.90, Z:1.43 [[ 5.23956275e-03 -9.99986273e-01 5.95077193e-06 1.71685086e+02] [ 9.99962387e-01 5.23939647e-03 -6.91176799e-03 1.32897862e+02] [ 6.91164193e-03 4.21651902e-05 9.99976113e-01 1.42623443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.92, Z:1.42 [[ 5.08866419e-03 -9.99987053e-01 -7.84380238e-06 1.71685717e+02] [ 9.99963166e-01 5.08859686e-03 -6.91175233e-03 1.32921249e+02] [ 6.91170276e-03 2.73280731e-05 9.99976114e-01 1.42414809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.95, Z:1.42 [[ 5.12581837e-03 -9.99986863e-01 -5.74903836e-06 1.71686209e+02] [ 9.99962977e-01 5.12573567e-03 -6.91175408e-03 1.32945019e+02] [ 6.91169274e-03 2.96795705e-05 9.99976114e-01 1.42357871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.97, Z:1.42 [[ 4.40526751e-03 -9.99990297e-01 1.18317544e-05 1.71686995e+02] [ 9.99966411e-01 4.40508050e-03 -6.91176271e-03 1.32968670e+02] [ 6.91164352e-03 4.22795207e-05 9.99976113e-01 1.42336416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.00, Z:1.42 [[ 2.29017366e-03 -9.99997377e-01 2.49123420e-05 1.71686908e+02] [ 9.99973491e-01 2.28994677e-03 -6.91176430e-03 1.32995368e+02] [ 6.91168912e-03 4.07408222e-05 9.99976113e-01 1.42498384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.08, Z:1.42 [[-1.45868633e-03 -9.99998936e-01 6.43533544e-07 1.71689621e+02] [ 9.99975050e-01 -1.45865594e-03 -6.91176656e-03 1.33080812e+02] [ 6.91176014e-03 -9.43858192e-06 9.99976113e-01 1.42190411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.12, Z:1.42 [[-3.09829674e-03 -9.99995200e-01 9.20516784e-06 1.71691759e+02] [ 9.99971314e-01 -3.09828635e-03 -6.91176412e-03 1.33122380e+02] [ 6.91175947e-03 -1.22097925e-05 9.99976113e-01 1.42365311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:132.98, Z:1.43 [[-4.64730577e-03 -9.99989201e-01 1.27795523e-05 1.71694239e+02] [ 9.99965315e-01 -4.64728309e-03 -6.91176341e-03 1.32982068e+02] [ 6.91174816e-03 -1.93419690e-05 9.99976113e-01 1.43135782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.12, Z:1.43 [[-5.99121675e-03 -9.99982052e-01 1.49229342e-05 1.71695219e+02] [ 9.99958166e-01 -5.99117678e-03 -6.91176322e-03 1.33121785e+02] [ 6.91172858e-03 -2.64875617e-05 9.99976113e-01 1.42732806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:132.97, Z:1.43 [[-6.11383143e-03 -9.99981310e-01 1.24664482e-05 1.71696101e+02] [ 9.99957424e-01 -6.11377155e-03 -6.91176382e-03 1.32966408e+02] [ 6.91171086e-03 -2.97914415e-05 9.99976113e-01 1.43113386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:132.99, Z:1.43 [[-7.95931027e-03 -9.99968324e-01 -1.12796782e-07 1.71700406e+02] [ 9.99944438e-01 -7.95911937e-03 -6.91176361e-03 1.32989136e+02] [ 6.91154378e-03 -5.51256617e-05 9.99976113e-01 1.42753555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.01, Z:1.43 [[-7.86990893e-03 -9.99969032e-01 4.05656038e-07 1.71702781e+02] [ 9.99945146e-01 -7.86972375e-03 -6.91176465e-03 1.33008495e+02] [ 6.91155379e-03 -5.39893246e-05 9.99976113e-01 1.42888243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.03, Z:1.43 [[-8.48205899e-03 -9.99964027e-01 2.12547327e-07 1.71705199e+02] [ 9.99940141e-01 -8.48185785e-03 -6.91176437e-03 1.33032019e+02] [ 6.91151753e-03 -5.84134585e-05 9.99976113e-01 1.42572068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.05, Z:1.42 [[-9.64809459e-03 -9.99953456e-01 1.21032206e-05 1.71709334e+02] [ 9.99929570e-01 -9.64794778e-03 -6.91177533e-03 1.33054332e+02] [ 6.91157040e-03 -5.45830940e-05 9.99976113e-01 1.42205729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.08, Z:1.43 [[-1.09202146e-02 -9.99940373e-01 1.69878893e-05 1.71710972e+02] [ 9.99916486e-01 -1.09200712e-02 -6.91177955e-03 1.33080677e+02] [ 6.91155293e-03 -5.84916456e-05 9.99976113e-01 1.42756868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.71, Y:133.10, Z:1.42 [[-1.06414752e-02 -9.99943378e-01 -4.80265855e-06 1.71712458e+02] [ 9.99919493e-01 -1.06411879e-02 -6.91176441e-03 1.33104451e+02] [ 6.91132195e-03 -7.83536418e-05 9.99976113e-01 1.42380576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.13, Z:1.43 [[-9.22834957e-03 -9.99957418e-01 -2.89938417e-06 1.71717555e+02] [ 9.99933533e-01 -9.22810910e-03 -6.91176521e-03 1.33129281e+02] [ 6.91144414e-03 -6.66833770e-05 9.99976113e-01 1.42847878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.15, Z:1.43 [[-8.05058726e-03 -9.99967594e-01 -8.63885571e-07 1.71719050e+02] [ 9.99943708e-01 -8.05038899e-03 -6.91176547e-03 1.33153173e+02] [ 6.91153453e-03 -5.65076080e-05 9.99976113e-01 1.42728241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.72, Y:133.16, Z:1.43 [[-6.14509164e-03 -9.99981119e-01 1.24107364e-06 1.71719564e+02] [ 9.99957233e-01 -6.14495343e-03 -6.91176509e-03 1.33158837e+02] [ 6.91164221e-03 -4.12324093e-05 9.99976113e-01 1.42713673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.17, Z:1.43 [[-3.80969158e-03 -9.99992743e-01 5.88547125e-07 1.71721470e+02] [ 9.99968857e-01 -3.80960465e-03 -6.91176514e-03 1.33166987e+02] [ 6.91171723e-03 -2.57431647e-05 9.99976113e-01 1.42701368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.19, Z:1.43 [[ 1.52160474e-03 -9.99998842e-01 -6.67040753e-08 1.71724056e+02] [ 9.99974956e-01 1.52156886e-03 -6.91176514e-03 1.33191358e+02] [ 6.91175724e-03 1.04502722e-05 9.99976113e-01 1.42755667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.20, Z:1.43 [[ 4.38666425e-03 -9.99990379e-01 1.95740911e-06 1.71725464e+02] [ 9.99966492e-01 4.38654594e-03 -6.91176456e-03 1.33199822e+02] [ 6.91168948e-03 3.22769340e-05 9.99976113e-01 1.42699126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.21, Z:1.43 [[ 6.61736122e-03 -9.99978105e-01 1.95740903e-06 1.71726103e+02] [ 9.99954219e-01 6.61718962e-03 -6.91176456e-03 1.33214955e+02] [ 6.91160028e-03 4.76949622e-05 9.99976113e-01 1.42571649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.73, Y:133.21, Z:1.42 [[ 9.05270156e-03 -9.99959023e-01 4.66843045e-06 1.71726180e+02] [ 9.99935138e-01 9.05245306e-03 -6.91176273e-03 1.33205444e+02] [ 6.91143725e-03 6.72382529e-05 9.99976113e-01 1.42245926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.28, Z:1.42 [[ 1.25438756e-02 -9.99921323e-01 3.98845563e-06 1.71728035e+02] [ 9.99897438e-01 1.25435484e-02 -6.91176313e-03 1.33281922e+02] [ 6.91116930e-03 9.06883436e-05 9.99976113e-01 1.42284753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.30, Z:1.42 [[ 1.38437047e-02 -9.99904171e-01 9.45309188e-06 1.71728862e+02] [ 9.99880288e-01 1.38433087e-02 -6.91175856e-03 1.33304345e+02] [ 6.91096535e-03 1.05136305e-04 9.99976113e-01 1.42128875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.29, Z:1.42 [[ 1.56914215e-02 -9.99876882e-01 1.52251631e-05 1.71729580e+02] [ 9.99853000e-01 1.56909415e-02 -6.91175210e-03 1.33286017e+02] [ 6.91066224e-03 1.23678140e-04 9.99976113e-01 1.42383474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.19, Z:1.43 [[ 1.93579531e-02 -9.99812617e-01 1.32500514e-05 1.71730233e+02] [ 9.99788737e-01 1.93573992e-02 -6.91175418e-03 1.33191169e+02] [ 6.91020255e-03 1.47044666e-04 9.99976113e-01 1.42691971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.19, Z:1.43 [[ 2.07021979e-02 -9.99785687e-01 5.38593758e-06 1.71729649e+02] [ 9.99761806e-01 2.07016662e-02 -6.91176031e-03 1.33186179e+02] [ 6.91016752e-03 1.48473284e-04 9.99976113e-01 1.42781246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.19, Z:1.43 [[ 2.18738492e-02 -9.99760739e-01 4.71850376e-06 1.71729063e+02] [ 9.99736859e-01 2.18732941e-02 -6.91176076e-03 1.33189905e+02] [ 6.91000384e-03 1.55904075e-04 9.99976113e-01 1.42727038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.18, Z:1.43 [[ 2.38255361e-02 -9.99716132e-01 4.71850400e-06 1.71728865e+02] [ 9.99692253e-01 2.38249344e-02 -6.91176076e-03 1.33181496e+02] [ 6.90968631e-03 1.69393457e-04 9.99976113e-01 1.42598078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.73, Y:133.17, Z:1.43 [[ 2.44975759e-02 -9.99699889e-01 4.05352313e-06 1.71728390e+02] [ 9.99676011e-01 2.44969627e-02 -6.91176115e-03 1.33168721e+02] [ 6.90958756e-03 1.73373603e-04 9.99976113e-01 1.42514434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:133.17, Z:1.42 [[ 2.47857000e-02 -9.99692787e-01 3.39422841e-06 1.71727597e+02] [ 9.99668909e-01 2.47850845e-02 -6.91176148e-03 1.33171944e+02] [ 6.90955397e-03 1.74705951e-04 9.99976113e-01 1.42427398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.19, Z:1.42 [[ 2.40779778e-02 -9.99710083e-01 3.06727860e-06 1.71724128e+02] [ 9.99686204e-01 2.40773815e-02 -6.91176162e-03 1.33194867e+02] [ 6.90968393e-03 1.69487559e-04 9.99976113e-01 1.42190483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.20, Z:1.42 [[ 2.35686747e-02 -9.99722220e-01 5.38334021e-06 1.71722604e+02] [ 9.99698341e-01 2.35680745e-02 -6.91175982e-03 1.33203575e+02] [ 6.90971299e-03 1.68282735e-04 9.99976113e-01 1.42311271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.21, Z:1.42 [[ 2.26388460e-02 -9.99743708e-01 4.71267487e-06 1.71721620e+02] [ 9.99719829e-01 2.26382727e-02 -6.91176027e-03 1.33205816e+02] [ 6.90988216e-03 1.61185631e-04 9.99976113e-01 1.42256505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.20, Z:1.42 [[ 2.05564195e-02 -9.99788695e-01 3.69910236e-06 1.71719499e+02] [ 9.99764814e-01 2.05559030e-02 -6.91176082e-03 1.33204451e+02] [ 6.91022428e-03 1.45779287e-04 9.99976113e-01 1.42216225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:133.22, Z:1.42 [[ 1.91814925e-02 -9.99816018e-01 3.02757397e-06 1.71717532e+02] [ 9.99792137e-01 1.91810134e-02 -6.91176111e-03 1.33223596e+02] [ 6.91043140e-03 1.35604838e-04 9.99976113e-01 1.42173798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.22, Z:1.43 [[ 1.81201125e-02 -9.99835817e-01 2.35267187e-06 1.71714973e+02] [ 9.99811935e-01 1.81196634e-02 -6.91176134e-03 1.33215674e+02] [ 6.91058392e-03 1.27594122e-04 9.99976114e-01 1.42504450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.24, Z:1.43 [[ 1.78308820e-02 -9.99841017e-01 -3.49778980e-07 1.71714602e+02] [ 9.99817134e-01 1.78304585e-02 -6.91176120e-03 1.33240804e+02] [ 6.91066859e-03 1.22893084e-04 9.99976114e-01 1.42521810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.24, Z:1.43 [[ 1.66236480e-02 -9.99861818e-01 1.64968336e-06 1.71712029e+02] [ 9.99837935e-01 1.66232395e-02 -6.91176073e-03 1.33243765e+02] [ 6.91077822e-03 1.16548094e-04 9.99976114e-01 1.42516319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.26, Z:1.43 [[ 1.34956268e-02 -9.99908930e-01 6.33469333e-07 1.71708758e+02] [ 9.99885046e-01 1.34953001e-02 -6.91176082e-03 1.33255238e+02] [ 6.91112282e-03 9.39119413e-05 9.99976114e-01 1.42521068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.28, Z:1.43 [[ 1.12381886e-02 -9.99936850e-01 -3.86563495e-07 1.71707363e+02] [ 9.99912965e-01 1.12379228e-02 -6.91176076e-03 1.33279471e+02] [ 6.91132863e-03 7.72891409e-05 9.99976114e-01 1.42537321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:133.42, Z:1.42 [[ 7.97525074e-03 -9.99968197e-01 1.60373490e-06 1.71705852e+02] [ 9.99944312e-01 7.97504915e-03 -6.91176030e-03 1.33416538e+02] [ 6.91152770e-03 5.67266670e-05 9.99976114e-01 1.42423800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.27, Z:1.43 [[ 4.48170971e-03 -9.99989957e-01 9.40669014e-06 1.71703327e+02] [ 9.99966071e-01 4.48153764e-03 -6.91175627e-03 1.33272670e+02] [ 6.91164470e-03 4.03828561e-05 9.99976113e-01 1.42813041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.27, Z:1.43 [[ 2.51380495e-03 -9.99996840e-01 1.62699636e-06 1.71701378e+02] [ 9.99972954e-01 2.51373366e-03 -6.91175810e-03 1.33271110e+02] [ 6.91173217e-03 1.90017641e-05 9.99976114e-01 1.42907625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.29, Z:1.43 [[ 2.82784693e-05 -1.00000000e+00 -1.02503631e-06 1.71699530e+02] [ 9.99976113e-01 2.82848770e-05 -6.91175771e-03 1.33294333e+02] [ 6.91175773e-03 -8.29557911e-07 9.99976114e-01 1.42857041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.30, Z:1.43 [[-1.65840766e-03 -9.99998625e-01 1.08339792e-06 1.71698595e+02] [ 9.99974738e-01 -1.65837554e-03 -6.91175738e-03 1.33300487e+02] [ 6.91174967e-03 -1.03791408e-05 9.99976114e-01 1.42869439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:133.32, Z:1.43 [[-4.54312878e-03 -9.99989680e-01 -1.55501727e-06 1.71696444e+02] [ 9.99965794e-01 -4.54300952e-03 -6.91175678e-03 1.33324490e+02] [ 6.91167839e-03 -3.29559653e-05 9.99976114e-01 1.42635932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.33, Z:1.43 [[-4.57775765e-03 -9.99989522e-01 5.40189782e-07 1.71694472e+02] [ 9.99965636e-01 -4.57765204e-03 -6.91175662e-03 1.33329749e+02] [ 6.91168667e-03 -3.11001755e-05 9.99976114e-01 1.42553553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.35, Z:1.43 [[-4.87534597e-03 -9.99988115e-01 -2.06412900e-06 1.71691741e+02] [ 9.99964229e-01 -4.87521525e-03 -6.91175584e-03 1.33353967e+02] [ 6.91166363e-03 -3.57612561e-05 9.99976114e-01 1.42615603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:133.38, Z:1.43 [[-3.33549677e-03 -9.99994437e-01 -1.28437208e-07 1.71686623e+02] [ 9.99970551e-01 -3.33541621e-03 -6.91175588e-03 1.33378826e+02] [ 6.91171700e-03 -2.31825729e-05 9.99976114e-01 1.42766753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:133.45, Z:1.42 [[-4.31427930e-03 -9.99990693e-01 1.78558105e-06 1.71682905e+02] [ 9.99966807e-01 -4.31418859e-03 -6.91175538e-03 1.33453486e+02] [ 6.91169876e-03 -2.80337214e-05 9.99976114e-01 1.42452871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:133.37, Z:1.43 [[-6.47250502e-04 -9.99999790e-01 1.71067100e-05 1.71681831e+02] [ 9.99975904e-01 -6.47353281e-04 -6.91175048e-03 1.33365130e+02] [ 6.91176011e-03 1.26326638e-05 9.99976113e-01 1.42632168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:133.57, Z:1.43 [[-6.71794041e-04 -9.99999774e-01 1.32858447e-06 1.71678306e+02] [ 9.99975888e-01 -6.71787178e-04 -6.91175352e-03 1.33565936e+02] [ 6.91175285e-03 -3.31472240e-06 9.99976114e-01 1.42523966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:133.37, Z:1.43 [[ 1.77313152e-03 -9.99998428e-01 1.58668218e-05 1.71677560e+02] [ 9.99974542e-01 1.77297949e-03 -6.91174805e-03 1.33366149e+02] [ 6.91170905e-03 2.81218562e-05 9.99976113e-01 1.42857998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:133.37, Z:1.43 [[ 2.48634517e-03 -9.99996909e-01 1.31260152e-06 1.71675085e+02] [ 9.99973023e-01 2.48627671e-03 -6.91175081e-03 1.33369345e+02] [ 6.91172618e-03 1.84975643e-05 9.99976114e-01 1.42748708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.39, Z:1.43 [[ 1.81161542e-03 -9.99998359e-01 -1.29640895e-06 1.71670152e+02] [ 9.99974473e-01 1.81158111e-03 -6.91175032e-03 1.33393666e+02] [ 6.91174133e-03 1.12250576e-05 9.99976114e-01 1.42934677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.41, Z:1.43 [[ 1.08799032e-03 -9.99999408e-01 7.62243829e-07 1.71669102e+02] [ 9.99975522e-01 1.08795906e-03 -6.91175009e-03 1.33410837e+02] [ 6.91174517e-03 8.28214237e-06 9.99976114e-01 1.42768063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.43, Z:1.43 [[-4.48428374e-04 -9.99999899e-01 -1.85793956e-06 1.71666821e+02] [ 9.99976013e-01 -4.48404822e-04 -6.91174939e-03 1.33433660e+02] [ 6.91174786e-03 -4.95731954e-06 9.99976114e-01 1.42673390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.46, Z:1.43 [[-4.33517436e-03 -9.99990603e-01 3.15739037e-05 1.71664928e+02] [ 9.99966716e-01 -4.33528905e-03 -6.91174189e-03 1.33459240e+02] [ 6.91181382e-03 1.60924655e-06 9.99976113e-01 1.42761226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.27, Z:1.43 [[-6.26758762e-03 -9.99980359e-01 1.39731506e-06 1.71664258e+02] [ 9.99956473e-01 -6.26744757e-03 -6.91168224e-03 1.33266388e+02] [ 6.91155524e-03 -4.19223198e-05 9.99976114e-01 1.42751432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.28, Z:1.43 [[-7.90357164e-03 -9.99968766e-01 -1.17481175e-07 1.71664401e+02] [ 9.99944881e-01 -7.90338204e-03 -6.91167896e-03 1.33275798e+02] [ 6.91146215e-03 -5.47444245e-05 9.99976114e-01 1.42548828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.66, Y:133.30, Z:1.43 [[-1.19243015e-02 -9.99928903e-01 2.89666801e-05 1.71663906e+02] [ 9.99905016e-01 -1.19242168e-02 -6.91168310e-03 1.33301971e+02] [ 6.91153711e-03 -5.34530641e-05 9.99976114e-01 1.42746137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.66, Y:133.33, Z:1.43 [[-1.34006150e-02 -9.99910208e-01 -5.68936641e-08 1.71663506e+02] [ 9.99886324e-01 -1.34002945e-02 -6.91168287e-03 1.33325916e+02] [ 6.91106149e-03 -9.26776885e-05 9.99976114e-01 1.42514862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.33, Z:1.42 [[-1.46202038e-02 -9.99893119e-01 2.30071434e-06 1.71664237e+02] [ 9.99869235e-01 -1.46198704e-02 -6.91168495e-03 1.33329447e+02] [ 6.91097986e-03 -9.87498288e-05 9.99976114e-01 1.42360039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.33, Z:1.42 [[-1.39379866e-02 -9.99902862e-01 7.42239630e-06 1.71664888e+02] [ 9.99878977e-01 -1.39377050e-02 -6.91169030e-03 1.33330759e+02] [ 6.91112236e-03 -8.89135488e-05 9.99976114e-01 1.42368549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.22, Z:1.43 [[-1.02048477e-02 -9.99947929e-01 4.60870522e-06 1.71666688e+02] [ 9.99924044e-01 -1.02046358e-02 -6.91168669e-03 1.33218603e+02] [ 6.91137383e-03 -6.59243547e-05 9.99976114e-01 1.42662397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.67, Y:133.24, Z:1.43 [[-8.64380716e-03 -9.99962642e-01 -9.81387121e-06 1.71666164e+02] [ 9.99938757e-01 -8.64353286e-03 -6.91166621e-03 1.33242062e+02] [ 6.91132318e-03 -6.95563801e-05 9.99976114e-01 1.42512264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.27, Z:1.43 [[-5.35089314e-03 -9.99985684e-01 1.98298488e-05 1.71667125e+02] [ 9.99961797e-01 -5.35090239e-03 -6.91169608e-03 1.33267962e+02] [ 6.91170323e-03 -1.71546558e-05 9.99976114e-01 1.42907451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.29, Z:1.43 [[-3.23170241e-03 -9.99994778e-01 -5.91288875e-06 1.71667373e+02] [ 9.99970892e-01 -3.23158435e-03 -6.91167406e-03 1.33291110e+02] [ 6.91161885e-03 -2.82491903e-05 9.99976114e-01 1.42611603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.32, Z:1.43 [[-1.96660480e-03 -9.99998066e-01 1.27680760e-05 1.71667848e+02] [ 9.99974180e-01 -1.96664607e-03 -6.91168430e-03 1.33318165e+02] [ 6.91169605e-03 -8.24805235e-07 9.99976114e-01 1.42962929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.34, Z:1.43 [[-2.90942850e-05 -1.00000000e+00 -2.41909755e-06 1.71666871e+02] [ 9.99976114e-01 -2.90768717e-05 -6.91167899e-03 1.33341914e+02] [ 6.91167892e-03 -2.62013014e-06 9.99976114e-01 1.43106652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.37, Z:1.43 [[ 3.41981867e-03 -9.99994152e-01 2.52672337e-05 1.71664668e+02] [ 9.99970267e-01 3.41956234e-03 -6.91167850e-03 1.33368138e+02] [ 6.91155168e-03 4.89031696e-05 9.99976114e-01 1.43009778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.47, Z:1.43 [[ 4.42524070e-03 -9.99990209e-01 1.36821428e-06 1.71664926e+02] [ 9.99966323e-01 4.42512554e-03 -6.91168324e-03 1.33471736e+02] [ 6.91160951e-03 3.19540301e-05 9.99976114e-01 1.42509711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.56, Z:1.43 [[ 5.56795256e-03 -9.99984499e-01 7.81413027e-06 1.71665275e+02] [ 9.99960614e-01 5.56776555e-03 -6.91168095e-03 1.33556242e+02] [ 6.91153030e-03 4.62977341e-05 9.99976114e-01 1.42780210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.38, Z:1.43 [[ 8.37038758e-03 -9.99964968e-01 1.28300419e-05 1.71665020e+02] [ 9.99941083e-01 8.37009897e-03 -6.91167944e-03 1.33383336e+02] [ 6.91132992e-03 7.06827217e-05 9.99976114e-01 1.42818046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.38, Z:1.43 [[ 1.12061221e-02 -9.99937209e-01 5.33257045e-07 1.71662390e+02] [ 9.99913325e-01 1.12058507e-02 -6.91168039e-03 1.33377511e+02] [ 6.91124043e-03 7.79863449e-05 9.99976114e-01 1.42858494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.40, Z:1.43 [[ 1.22319405e-02 -9.99925187e-01 -2.10906355e-06 1.71661077e+02] [ 9.99901303e-01 1.22316629e-02 -6.91167959e-03 1.33404037e+02] [ 6.91118830e-03 8.24343983e-05 9.99976114e-01 1.43006916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.66, Y:133.43, Z:1.43 [[ 1.32912090e-02 -9.99911668e-01 3.38170725e-07 1.71659126e+02] [ 9.99887784e-01 1.32908892e-02 -6.91167976e-03 1.33429173e+02] [ 6.91106474e-03 9.22027127e-05 9.99976114e-01 1.42691708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.44, Z:1.43 [[ 1.49132432e-02 -9.99888791e-01 1.52469818e-06 1.71658389e+02] [ 9.99864908e-01 1.49128765e-02 -6.91167949e-03 1.33435110e+02] [ 6.91088812e-03 1.04600050e-04 9.99976114e-01 1.42617450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.66, Y:133.46, Z:1.42 [[ 1.41988718e-02 -9.99899191e-01 -1.13705748e-06 1.71656718e+02] [ 9.99875307e-01 1.41985405e-02 -6.91167906e-03 1.33460949e+02] [ 6.91099844e-03 9.70011288e-05 9.99976114e-01 1.42430726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.47, Z:1.42 [[ 1.33632231e-02 -9.99910708e-01 1.04740487e-06 1.71656544e+02] [ 9.99886824e-01 1.33628967e-02 -6.91167819e-03 1.33470168e+02] [ 6.91104704e-03 9.34095843e-05 9.99976114e-01 1.42270780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:133.45, Z:1.42 [[ 1.07806751e-02 -9.99941887e-01 2.44725358e-06 1.71654111e+02] [ 9.99918002e-01 1.07804007e-02 -6.91167781e-03 1.33454295e+02] [ 6.91124977e-03 7.69596059e-05 9.99976114e-01 1.42355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:133.40, Z:1.42 [[ 8.60785421e-03 -9.99962952e-01 8.08191662e-07 1.71653189e+02] [ 9.99939067e-01 8.60764302e-03 -6.91167768e-03 1.33399868e+02] [ 6.91141466e-03 6.03028563e-05 9.99976114e-01 1.42471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:133.43, Z:1.43 [[ 5.56486385e-03 -9.99984516e-01 -2.33495545e-06 1.71653067e+02] [ 9.99960630e-01 5.56474706e-03 -6.91167662e-03 1.33426328e+02] [ 6.91158259e-03 3.61276758e-05 9.99976114e-01 1.42560440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.65, Y:133.45, Z:1.43 [[-3.88646531e-04 -9.99999925e-01 -2.21259424e-06 1.71652471e+02] [ 9.99976039e-01 -3.88621957e-04 -6.91167663e-03 1.33450917e+02] [ 6.91167525e-03 -4.89874038e-06 9.99976114e-01 1.42582910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.65, Y:133.47, Z:1.43 [[-2.43967824e-03 -9.99997024e-01 1.32883958e-06 1.71653224e+02] [ 9.99973138e-01 -2.43962916e-03 -6.91167595e-03 1.33471975e+02] [ 6.91165862e-03 -1.55334616e-05 9.99976114e-01 1.42635493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.65, Y:133.50, Z:1.43 [[-6.81160047e-03 -9.99976801e-01 -7.13435286e-06 1.71654974e+02] [ 9.99952916e-01 -6.81138846e-03 -6.91167270e-03 1.33495899e+02] [ 6.91146376e-03 -5.42135700e-05 9.99976114e-01 1.43064082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.52, Z:1.43 [[-8.44956064e-03 -9.99964302e-01 -9.16424902e-08 1.71656802e+02] [ 9.99940417e-01 -8.44935818e-03 -6.91167280e-03 1.33518968e+02] [ 6.91142529e-03 -5.84922355e-05 9.99976114e-01 1.42941338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.35, Z:1.43 [[-9.44119405e-03 -9.99955431e-01 2.39267746e-06 1.71657691e+02] [ 9.99931546e-01 -9.44098507e-03 -6.91167500e-03 1.33347134e+02] [ 6.91138954e-03 -6.28619512e-05 9.99976114e-01 1.42911207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.66, Y:133.37, Z:1.43 [[-1.09319090e-02 -9.99940245e-01 1.41480676e-05 1.71656925e+02] [ 9.99916359e-01 -1.09317457e-02 -6.91167424e-03 1.33373645e+02] [ 6.91141589e-03 -6.14109098e-05 9.99976114e-01 1.42509596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.57, Z:1.42 [[-1.28660817e-02 -9.99917229e-01 1.54240168e-06 1.71660397e+02] [ 9.99893344e-01 -1.28657851e-02 -6.91167705e-03 1.33566919e+02] [ 6.91112480e-03 -8.73839647e-05 9.99976114e-01 1.42338362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.48, Z:1.42 [[-1.20272193e-02 -9.99927670e-01 1.05429223e-05 1.71663291e+02] [ 9.99903785e-01 -1.20270049e-02 -6.91167330e-03 1.33477603e+02] [ 6.91130018e-03 -7.25863025e-05 9.99976114e-01 1.42122638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.45, Z:1.43 [[-1.11024455e-02 -9.99938366e-01 7.30660432e-06 1.71665778e+02] [ 9.99914481e-01 -1.11022308e-02 -6.91167370e-03 1.33446012e+02] [ 6.91132882e-03 -6.94305010e-05 9.99976114e-01 1.42890185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.41, Z:1.43 [[-9.89852922e-03 -9.99951008e-01 6.36047448e-06 1.71667514e+02] [ 9.99927123e-01 -9.89833674e-03 -6.91167350e-03 1.33413658e+02] [ 6.91139785e-03 -6.20553912e-05 9.99976114e-01 1.42886384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.59, Z:1.43 [[-5.72381974e-03 -9.99983619e-01 3.37408776e-06 1.71668844e+02] [ 9.99959733e-01 -5.72370634e-03 -6.91167153e-03 1.33591809e+02] [ 6.91157762e-03 -3.61872100e-05 9.99976114e-01 1.42788437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.51, Z:1.43 [[-2.96228830e-03 -9.99995612e-01 1.32109421e-06 1.71669206e+02] [ 9.99971727e-01 -2.96222667e-03 -6.91167038e-03 1.33510440e+02] [ 6.91164397e-03 -1.91533034e-05 9.99976114e-01 1.42772514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.54, Z:1.43 [[-5.62639138e-04 -9.99999842e-01 3.41247824e-06 1.71669920e+02] [ 9.99975956e-01 -5.62649286e-04 -6.91167123e-03 1.33535667e+02] [ 6.91167206e-03 -4.76380566e-07 9.99976114e-01 1.42662270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.56, Z:1.43 [[ 4.62541263e-03 -9.99989303e-01 1.47981278e-05 1.71672426e+02] [ 9.99965418e-01 4.62519987e-03 -6.91167228e-03 1.33561687e+02] [ 6.91152990e-03 4.67669523e-05 9.99976114e-01 1.42889271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.69, Z:1.43 [[ 6.69322276e-03 -9.99977600e-01 7.39412637e-07 1.71672630e+02] [ 9.99953715e-01 6.69305777e-03 -6.91167379e-03 1.33692338e+02] [ 6.91151402e-03 4.70007507e-05 9.99976114e-01 1.42600012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.68, Z:1.43 [[ 1.00650371e-02 -9.99949346e-01 8.77849110e-06 1.71672159e+02] [ 9.99925462e-01 1.00647360e-02 -6.91167121e-03 1.33678758e+02] [ 6.91123275e-03 7.83440638e-05 9.99976114e-01 1.42833144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.76, Z:1.43 [[ 1.47519310e-02 -9.99891184e-01 3.51282036e-06 1.71671978e+02] [ 9.99867301e-01 1.47515543e-02 -6.91167107e-03 1.33761552e+02] [ 6.91086716e-03 1.05472849e-04 9.99976114e-01 1.42763328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.76, Z:1.43 [[ 1.51953311e-02 -9.99884544e-01 1.68861300e-06 1.71671905e+02] [ 9.99860661e-01 1.51949565e-02 -6.91167105e-03 1.33764101e+02] [ 6.91084740e-03 1.06713508e-04 9.99976114e-01 1.42765077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.79, Z:1.43 [[ 1.67838091e-02 -9.99859142e-01 3.15276086e-06 1.71671834e+02] [ 9.99835260e-01 1.67833864e-02 -6.91167122e-03 1.33788525e+02] [ 6.91064474e-03 1.19156412e-04 9.99976114e-01 1.42801350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.71, Z:1.43 [[ 1.81607552e-02 -9.99835080e-01 5.20114513e-08 1.71671291e+02] [ 9.99811198e-01 1.81603210e-02 -6.91166858e-03 1.33706442e+02] [ 6.91052777e-03 1.25573123e-04 9.99976114e-01 1.42541566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.73, Z:1.43 [[ 1.84787290e-02 -9.99829254e-01 7.19165643e-06 1.71670559e+02] [ 9.99805373e-01 1.84782379e-02 -6.91167018e-03 1.33732284e+02] [ 6.91035714e-03 1.34909137e-04 9.99976114e-01 1.42677182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.74, Z:1.43 [[ 1.84429583e-02 -9.99829914e-01 1.51825098e-07 1.71670832e+02] [ 9.99806032e-01 1.84425167e-02 -6.91167313e-03 1.33737732e+02] [ 6.91049475e-03 1.27623495e-04 9.99976114e-01 1.43068223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.79, Z:1.42 [[ 1.85934581e-02 -9.99827127e-01 4.82666519e-06 1.71670814e+02] [ 9.99803246e-01 1.85929806e-02 -6.91167182e-03 1.33788486e+02] [ 6.91038724e-03 1.33337596e-04 9.99976114e-01 1.42425656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.67, Z:1.43 [[ 1.96742024e-02 -9.99806444e-01 5.31131934e-06 1.71670064e+02] [ 9.99782564e-01 1.96736957e-02 -6.91167172e-03 1.33665780e+02] [ 6.91022944e-03 1.41291793e-04 9.99976114e-01 1.42620049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.69, Z:1.42 [[ 1.90359754e-02 -9.99818799e-01 -9.01682709e-06 1.71668936e+02] [ 9.99794917e-01 1.90355830e-02 -6.91166349e-03 1.33688830e+02] [ 6.91058273e-03 1.22555278e-04 9.99976114e-01 1.42127053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.71, Z:1.42 [[ 1.76041838e-02 -9.99845034e-01 9.69391862e-06 1.71668974e+02] [ 9.99821153e-01 1.76036963e-02 -6.91166903e-03 1.33714729e+02] [ 6.91042731e-03 1.31366477e-04 9.99976114e-01 1.42432755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.74, Z:1.42 [[ 1.43499909e-02 -9.99897034e-01 9.12672117e-06 1.71669499e+02] [ 9.99873151e-01 1.43495850e-02 -6.91166903e-03 1.33738770e+02] [ 6.91082639e-03 1.08307951e-04 9.99976114e-01 1.42066934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.74, Z:1.43 [[ 1.28050570e-02 -9.99918012e-01 1.46298119e-06 1.71668497e+02] [ 9.99894128e-01 1.28047411e-02 -6.91166601e-03 1.33742450e+02] [ 6.91108060e-03 8.99671037e-05 9.99976114e-01 1.42831581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.62, Z:1.43 [[ 1.16495761e-02 -9.99932141e-01 9.84606612e-07 1.71667025e+02] [ 9.99908257e-01 1.16492910e-02 -6.91166581e-03 1.33618606e+02] [ 6.91118533e-03 8.15024929e-05 9.99976114e-01 1.42629626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.67, Y:133.64, Z:1.42 [[ 1.00137184e-02 -9.99949861e-01 -5.30001428e-06 1.71666399e+02] [ 9.99925976e-01 1.00135158e-02 -6.91166099e-03 1.33643034e+02] [ 6.91136752e-03 6.39118048e-05 9.99976114e-01 1.42054014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.67, Z:1.43 [[ 5.99461348e-03 -9.99982032e-01 2.17956492e-06 1.71665669e+02] [ 9.99958147e-01 5.99445523e-03 -6.91166460e-03 1.33669140e+02] [ 6.91152735e-03 4.36122315e-05 9.99976114e-01 1.42876955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:133.69, Z:1.43 [[ 4.51588903e-03 -9.99989803e-01 -1.54428022e-06 1.71665099e+02] [ 9.99965918e-01 4.51579184e-03 -6.91166377e-03 1.33692697e+02] [ 6.91160027e-03 2.96680790e-05 9.99976114e-01 1.42573636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.68, Z:1.43 [[ 4.45053840e-03 -9.99990096e-01 5.54787670e-07 1.71664745e+02] [ 9.99966211e-01 4.45042826e-03 -6.91166360e-03 1.33683501e+02] [ 6.91159268e-03 3.13153932e-05 9.99976114e-01 1.42859252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.71, Z:1.43 [[ 4.40546294e-03 -9.99990296e-01 -2.09235879e-06 1.71664527e+02] [ 9.99966410e-01 4.40537218e-03 -6.91166280e-03 1.33707933e+02] [ 6.91160494e-03 2.83567858e-05 9.99976114e-01 1.42758373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.73, Z:1.43 [[ 4.91676568e-03 -9.99987913e-01 7.74339232e-06 1.71663955e+02] [ 9.99964027e-01 4.91659472e-03 -6.91166269e-03 1.33732588e+02] [ 6.91154108e-03 4.17261397e-05 9.99976114e-01 1.42926787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.84, Z:1.42 [[ 5.57954347e-03 -9.99984434e-01 1.85132327e-06 1.71662423e+02] [ 9.99960549e-01 5.57939741e-03 -6.91166427e-03 1.33838924e+02] [ 6.91154636e-03 4.04151815e-05 9.99976114e-01 1.42333812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.86, Z:1.43 [[ 5.76482944e-03 -9.99983383e-01 -6.74100774e-06 1.71660424e+02] [ 9.99959498e-01 5.76473833e-03 -6.91166334e-03 1.33862889e+02] [ 6.91158735e-03 3.31038255e-05 9.99976114e-01 1.42660895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.91, Z:1.42 [[ 6.82938494e-03 -9.99976680e-01 1.44876184e-06 1.71659941e+02] [ 9.99952794e-01 6.82921180e-03 -6.91166470e-03 1.33909396e+02] [ 6.91149362e-03 4.86511122e-05 9.99976114e-01 1.42298456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.93, Z:1.43 [[ 6.81539359e-03 -9.99976775e-01 -1.17419185e-05 1.71659799e+02] [ 9.99952889e-01 6.81531195e-03 -6.91165238e-03 1.33933573e+02] [ 6.91157188e-03 3.53642660e-05 9.99976114e-01 1.42511466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:133.96, Z:1.42 [[ 6.71703762e-03 -9.99977440e-01 -1.32753771e-06 1.71659135e+02] [ 9.99953555e-01 6.71688635e-03 -6.91165891e-03 1.33957058e+02] [ 6.91151190e-03 4.50983968e-05 9.99976114e-01 1.42245935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.66, Y:133.98, Z:1.43 [[ 6.60722255e-03 -9.99978172e-01 4.76326640e-06 1.71657325e+02] [ 9.99954287e-01 6.60703181e-03 -6.91166136e-03 1.33983986e+02] [ 6.91147902e-03 5.04299334e-05 9.99976114e-01 1.42502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.01, Z:1.43 [[ 6.12247734e-03 -9.99981257e-01 -1.42160180e-05 1.71656610e+02] [ 9.99957372e-01 6.12242936e-03 -6.91165796e-03 1.34007083e+02] [ 6.91161546e-03 2.81010572e-05 9.99976114e-01 1.42649037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.00, Z:1.43 [[ 6.59194372e-03 -9.99978273e-01 1.47839073e-06 1.71656047e+02] [ 9.99954388e-01 6.59177605e-03 -6.91165739e-03 1.33997446e+02] [ 6.91149747e-03 4.70395798e-05 9.99976114e-01 1.42832702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.02, Z:1.43 [[ 6.52624998e-03 -9.99978704e-01 -2.34692333e-06 1.71654915e+02] [ 9.99954818e-01 6.52611031e-03 -6.91165609e-03 1.34020986e+02] [ 6.91152421e-03 4.27603781e-05 9.99976114e-01 1.42578814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.04, Z:1.42 [[ 6.15221578e-03 -9.99981075e-01 -4.09089656e-07 1.71654440e+02] [ 9.99957190e-01 6.15207165e-03 -6.91165620e-03 1.34044278e+02] [ 6.91152792e-03 4.21129282e-05 9.99976114e-01 1.42446353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.03, Z:1.42 [[ 6.07623131e-03 -9.99981540e-01 1.68326493e-06 1.71654618e+02] [ 9.99957654e-01 6.07607454e-03 -6.91165570e-03 1.34032930e+02] [ 6.91151788e-03 4.36800124e-05 9.99976114e-01 1.42069597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.06, Z:1.42 [[ 4.67054186e-03 -9.99989093e-01 -9.77586551e-07 1.71656609e+02] [ 9.99965207e-01 4.67043706e-03 -6.91165532e-03 1.34059624e+02] [ 6.91158450e-03 3.13036230e-05 9.99976114e-01 1.42371064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.00, Z:1.42 [[ 3.62178565e-03 -9.99993441e-01 7.07181261e-08 1.71657380e+02] [ 9.99969556e-01 3.62169865e-03 -6.91165451e-03 1.34000184e+02] [ 6.91160892e-03 2.51032471e-05 9.99976114e-01 1.42320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.11, Z:1.42 [[ 3.18163664e-03 -9.99994939e-01 4.68344742e-06 1.71657563e+02] [ 9.99971053e-01 3.18152827e-03 -6.91165138e-03 1.34112570e+02] [ 6.91160150e-03 2.66736751e-05 9.99976114e-01 1.42100020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.02, Z:1.43 [[ 3.58437256e-03 -9.99993576e-01 6.07855606e-06 1.71656967e+02] [ 9.99969691e-01 3.58424494e-03 -6.91165031e-03 1.34015433e+02] [ 6.91158412e-03 3.08523016e-05 9.99976114e-01 1.42632750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.04, Z:1.43 [[ 4.97091188e-03 -9.99987645e-01 5.01159701e-06 1.71656748e+02] [ 9.99963760e-01 4.97075850e-03 -6.91165108e-03 1.34039246e+02] [ 6.91154078e-03 3.93686238e-05 9.99976114e-01 1.42700358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.12, Z:1.43 [[ 7.07332407e-03 -9.99974984e-01 1.63609754e-06 1.71656861e+02] [ 9.99951099e-01 7.07314381e-03 -6.91165268e-03 1.34117942e+02] [ 6.91146820e-03 5.05243768e-05 9.99976114e-01 1.42763237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:134.14, Z:1.43 [[ 8.67814392e-03 -9.99962344e-01 -1.47916379e-05 1.71656030e+02] [ 9.99938459e-01 8.67803886e-03 -6.91164508e-03 1.34141626e+02] [ 6.91151318e-03 4.51895232e-05 9.99976114e-01 1.42967814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.17, Z:1.43 [[ 1.27348612e-02 -9.99918908e-01 -4.77595349e-07 1.71654117e+02] [ 9.99895025e-01 1.27345603e-02 -6.91164607e-03 1.34167186e+02] [ 6.91109168e-03 8.75413082e-05 9.99976114e-01 1.43203628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.17, Z:1.43 [[ 1.52242227e-02 -9.99884105e-01 1.33754498e-06 1.71652927e+02] [ 9.99860222e-01 1.52238498e-02 -6.91164572e-03 1.34170090e+02] [ 6.91082433e-03 1.06561792e-04 9.99976114e-01 1.43136677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.20, Z:1.43 [[ 1.91453006e-02 -9.99816712e-01 -1.31931220e-06 1.71649659e+02] [ 9.99792830e-01 1.91448524e-02 -6.91164521e-03 1.34195794e+02] [ 6.91040365e-03 1.31006486e-04 9.99976114e-01 1.42963006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:134.11, Z:1.43 [[ 2.10778224e-02 -9.99777838e-01 4.11283057e-07 1.71647407e+02] [ 9.99753958e-01 2.10773160e-02 -6.91164525e-03 1.34111390e+02] [ 6.91010108e-03 1.46093613e-04 9.99976114e-01 1.43170239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:134.14, Z:1.43 [[ 2.21896528e-02 -9.99753779e-01 -2.52424012e-06 1.71644910e+02] [ 9.99729899e-01 2.21891402e-02 -6.91164418e-03 1.34136195e+02] [ 6.90999840e-03 1.50843426e-04 9.99976114e-01 1.43251316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:134.16, Z:1.43 [[ 2.31550940e-02 -9.99731885e-01 -4.96806798e-07 1.71642028e+02] [ 9.99708006e-01 2.31545444e-02 -6.91164432e-03 1.34160042e+02] [ 6.90980271e-03 1.59543112e-04 9.99976114e-01 1.43151012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:134.19, Z:1.43 [[ 2.47205596e-02 -9.99694400e-01 1.41766382e-06 1.71636977e+02] [ 9.99670522e-01 2.47199593e-02 -6.91164393e-03 1.34191205e+02] [ 6.90949669e-03 1.72276902e-04 9.99976114e-01 1.43028490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:134.21, Z:1.43 [[ 2.41565108e-02 -9.99708189e-01 -1.84282027e-05 1.71634921e+02] [ 9.99684307e-01 2.41560612e-02 -6.91162432e-03 1.34214553e+02] [ 6.91005258e-03 1.48538343e-04 9.99976114e-01 1.43170688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.63, Y:134.24, Z:1.43 [[ 2.21901354e-02 -9.99753769e-01 -4.14079395e-06 1.71631952e+02] [ 9.99729888e-01 2.21896340e-02 -6.91163288e-03 1.34240778e+02] [ 6.91002290e-03 1.49230394e-04 9.99976114e-01 1.42676556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.63, Y:134.26, Z:1.43 [[ 2.05070454e-02 -9.99789708e-01 -1.67409030e-05 1.71628389e+02] [ 9.99765826e-01 2.05066713e-02 -6.91162787e-03 1.34263819e+02] [ 6.91051771e-03 1.25000084e-04 9.99976114e-01 1.42750688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.62, Y:134.29, Z:1.43 [[ 1.69596186e-02 -9.99856175e-01 7.16991017e-06 1.71624103e+02] [ 9.99832294e-01 1.69591640e-02 -6.91162727e-03 1.34288363e+02] [ 6.91051161e-03 1.24387270e-04 9.99976114e-01 1.43180429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:134.28, Z:1.43 [[ 1.55587319e-02 -9.99878956e-01 1.79277541e-06 1.71621643e+02] [ 9.99855073e-01 1.55583479e-02 -6.91162866e-03 1.34284116e+02] [ 6.91076415e-03 1.09328693e-04 9.99976114e-01 1.43303977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:134.31, Z:1.43 [[ 1.34613934e-02 -9.99909391e-01 -8.41667478e-07 1.71618447e+02] [ 9.99885508e-01 1.34610777e-02 -6.91162834e-03 1.34308828e+02] [ 6.91101342e-03 9.21985771e-05 9.99976114e-01 1.43391473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:134.31, Z:1.43 [[ 9.85613702e-03 -9.99951427e-01 1.15041886e-06 1.71613043e+02] [ 9.99927543e-01 9.85589365e-03 -6.91162801e-03 1.34314450e+02] [ 6.91128095e-03 6.92722882e-05 9.99976114e-01 1.43355651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.61, Y:134.34, Z:1.43 [[ 7.51602830e-03 -9.99971754e-01 -1.47058619e-06 1.71610710e+02] [ 9.99947869e-01 7.51585894e-03 -6.91162745e-03 1.34338587e+02] [ 6.91144328e-03 5.04774780e-05 9.99976114e-01 1.42800283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:134.34, Z:1.43 [[ 5.53422664e-03 -9.99984686e-01 5.34792453e-07 1.71608958e+02] [ 9.99960801e-01 5.53409076e-03 -6.91162730e-03 1.34342674e+02] [ 6.91151849e-03 3.87852834e-05 9.99976114e-01 1.43290296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.61, Y:134.37, Z:1.43 [[ 1.18533776e-03 -9.99999298e-01 -2.06014026e-06 1.71605356e+02] [ 9.99975412e-01 1.18532368e-03 -6.91162652e-03 1.34366405e+02] [ 6.91162411e-03 6.13252225e-06 9.99976114e-01 1.42864778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.60, Y:134.39, Z:1.43 [[-1.02204302e-03 -9.99999478e-01 -1.70173031e-07 1.71603564e+02] [ 9.99975592e-01 -1.02201743e-03 -6.91162657e-03 1.34390271e+02] [ 6.91162278e-03 -7.23414859e-06 9.99976114e-01 1.42588066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.36, Z:1.43 [[-2.70741095e-03 -9.99996335e-01 1.53598520e-06 1.71602025e+02] [ 9.99972449e-01 -2.70735690e-03 -6.91162711e-03 1.34359887e+02] [ 6.91160593e-03 -1.71766721e-05 9.99976114e-01 1.43070575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.39, Z:1.43 [[-7.02011308e-03 -9.99975359e-01 -4.44792329e-06 1.71599822e+02] [ 9.99951474e-01 -7.01991466e-03 -6.91162326e-03 1.34385291e+02] [ 6.91142172e-03 -5.29680843e-05 9.99976114e-01 1.42942779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.41, Z:1.43 [[-8.57172865e-03 -9.99963262e-01 -1.03534904e-05 1.71598949e+02] [ 9.99939378e-01 -8.57145235e-03 -6.91162080e-03 1.34409022e+02] [ 6.91127814e-03 -6.95974008e-05 9.99976114e-01 1.42662434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.43, Z:1.43 [[-9.85063346e-03 -9.99951481e-01 -1.83020100e-06 1.71598388e+02] [ 9.99927597e-01 -9.85038553e-03 -6.91162136e-03 1.34433713e+02] [ 6.91126799e-03 -6.99139171e-05 9.99976114e-01 1.43150284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.45, Z:1.43 [[-1.01850088e-02 -9.99948131e-01 1.41003157e-06 1.71598724e+02] [ 9.99924247e-01 -1.01847753e-02 -6.91162070e-03 1.34451592e+02] [ 6.91127656e-03 -6.89849930e-05 9.99976114e-01 1.43034180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.48, Z:1.43 [[-1.10847188e-02 -9.99938563e-01 -1.10458174e-06 1.71598417e+02] [ 9.99914679e-01 -1.10844464e-02 -6.91162030e-03 1.34475290e+02] [ 6.91118342e-03 -7.77178552e-05 9.99976114e-01 1.42874174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.50, Z:1.43 [[-1.05303980e-02 -9.99944554e-01 9.08938821e-07 1.71597604e+02] [ 9.99920670e-01 -1.05301528e-02 -6.91162003e-03 1.34504537e+02] [ 6.91124638e-03 -7.18732430e-05 9.99976114e-01 1.42613828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.60, Y:134.53, Z:1.43 [[-8.42288808e-03 -9.99964527e-01 5.61310957e-08 1.71595154e+02] [ 9.99940642e-01 -8.42268729e-03 -6.91161992e-03 1.34529720e+02] [ 6.91137522e-03 -5.81596733e-05 9.99976114e-01 1.42686007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:134.55, Z:1.43 [[-5.87903465e-03 -9.99982718e-01 1.13949560e-06 1.71595017e+02] [ 9.99958833e-01 -5.87890210e-03 -6.91161975e-03 1.34552523e+02] [ 6.91150700e-03 -3.94942033e-05 9.99976114e-01 1.42846428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.58, Z:1.43 [[-6.16795379e-03 -9.99980978e-01 -1.38227584e-06 1.71594672e+02] [ 9.99957093e-01 -6.16779691e-03 -6.91161924e-03 1.34577625e+02] [ 6.91147924e-03 -4.40127646e-05 9.99976114e-01 1.42863744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.60, Z:1.42 [[-3.46409745e-03 -9.99994000e-01 6.14707251e-07 1.71594431e+02] [ 9.99970115e-01 -3.46401896e-03 -6.91161906e-03 1.34598774e+02] [ 6.91157972e-03 -2.33278331e-05 9.99976114e-01 1.42409538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:171.59, Y:134.62, Z:1.43 [[-8.63046746e-04 -9.99999628e-01 -1.94149609e-06 1.71592969e+02] [ 9.99975742e-01 -8.63012715e-04 -6.91161835e-03 1.34623632e+02] [ 6.91161410e-03 -7.90649872e-06 9.99976114e-01 1.42702172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.63, Z:1.43 [[ 4.59071138e-03 -9.99989463e-01 3.96814587e-08 1.71590890e+02] [ 9.99965577e-01 4.59060145e-03 -6.91161833e-03 1.34630523e+02] [ 6.91154532e-03 3.17689250e-05 9.99976114e-01 1.42977679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.66, Z:1.43 [[ 6.71422719e-03 -9.99977459e-01 -2.17805513e-06 1.71590133e+02] [ 9.99953574e-01 6.71408187e-03 -6.91161763e-03 1.34655162e+02] [ 6.91147647e-03 4.42282170e-05 9.99976114e-01 1.43210319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.68, Z:1.43 [[ 8.52034842e-03 -9.99963701e-01 -2.25385511e-07 1.71588829e+02] [ 9.99939817e-01 8.52014646e-03 -6.91161770e-03 1.34680215e+02] [ 6.91136874e-03 5.86640190e-05 9.99976114e-01 1.43339720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:134.68, Z:1.44 [[ 1.07998227e-02 -9.99941680e-01 1.72904172e-06 1.71587107e+02] [ 9.99917796e-01 1.07995528e-02 -6.91161721e-03 1.34682672e+02] [ 6.91119545e-03 7.63731400e-05 9.99976114e-01 1.43513260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.71, Z:1.43 [[ 1.31441350e-02 -9.99913612e-01 -8.55772277e-07 1.71582743e+02] [ 9.99889729e-01 1.31438270e-02 -6.91161689e-03 1.34706284e+02] [ 6.91103106e-03 8.99915475e-05 9.99976115e-01 1.43457890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.70, Z:1.44 [[ 1.43771929e-02 -9.99896643e-01 1.15287141e-06 1.71581322e+02] [ 9.99872760e-01 1.43768415e-02 -6.91161655e-03 1.34701991e+02] [ 6.91088561e-03 1.00522369e-04 9.99976115e-01 1.43727775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.58, Y:134.73, Z:1.43 [[ 1.42671003e-02 -9.99898220e-01 -1.45396887e-06 1.71580132e+02] [ 9.99874337e-01 1.42667695e-02 -6.91161601e-03 1.34726438e+02] [ 6.91093328e-03 9.71549325e-05 9.99976115e-01 1.43418113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.79, Z:1.43 [[ 1.38744246e-02 -9.99903746e-01 5.43199235e-07 1.71579727e+02] [ 9.99879862e-01 1.38740894e-02 -6.91161585e-03 1.34786684e+02] [ 6.91094304e-03 9.64378267e-05 9.99976115e-01 1.42978678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.71, Z:1.43 [[ 1.35010870e-02 -9.99908856e-01 1.46519890e-06 1.71578482e+02] [ 9.99884973e-01 1.35007544e-02 -6.91161588e-03 1.34714818e+02] [ 6.91096615e-03 9.47793577e-05 9.99976115e-01 1.43100376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.74, Z:1.43 [[ 9.92570698e-03 -9.99950739e-01 -2.76216596e-06 1.71575886e+02] [ 9.99926854e-01 9.92548899e-03 -6.91161419e-03 1.34740661e+02] [ 6.91130114e-03 6.58406933e-05 9.99976115e-01 1.43134547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.76, Z:1.43 [[ 7.74467066e-03 -9.99970010e-01 -1.13229429e-05 1.71576250e+02] [ 9.99946124e-01 7.74456393e-03 -6.91161295e-03 1.34764147e+02] [ 6.91149336e-03 4.22058331e-05 9.99976114e-01 1.43324403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.75, Z:1.44 [[ 5.76260406e-03 -9.99983396e-01 1.77546571e-06 1.71576576e+02] [ 9.99959511e-01 5.76245414e-03 -6.91160958e-03 1.34751808e+02] [ 6.91148459e-03 4.16042632e-05 9.99976115e-01 1.43645497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.78, Z:1.44 [[ 4.06519972e-04 -9.99999917e-01 -7.79083071e-07 1.71575740e+02] [ 9.99976032e-01 4.06515645e-04 -6.91160929e-03 1.34777469e+02] [ 6.91160904e-03 2.03064280e-06 9.99976115e-01 1.43613089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.58, Y:134.76, Z:1.44 [[-2.01918217e-03 -9.99997961e-01 9.54691706e-07 1.71575709e+02] [ 9.99974076e-01 -2.01914054e-03 -6.91160766e-03 1.34762421e+02] [ 6.91159549e-03 -1.30011280e-05 9.99976115e-01 1.43625908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.76, Z:1.44 [[-2.98590710e-03 -9.99995542e-01 5.38820534e-06 1.71575932e+02] [ 9.99971657e-01 -2.98587302e-03 -6.91160420e-03 1.34756409e+02] [ 6.91158948e-03 -1.52493554e-05 9.99976115e-01 1.43836836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.58, Y:134.76, Z:1.43 [[-3.91566222e-03 -9.99992334e-01 3.01570557e-06 1.71576306e+02] [ 9.99968448e-01 -3.91558954e-03 -6.91160523e-03 1.34760974e+02] [ 6.91156406e-03 -2.40479011e-05 9.99976115e-01 1.43416873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.76, Z:1.44 [[-3.09465093e-03 -9.99995212e-01 8.10856357e-07 1.71576782e+02] [ 9.99971326e-01 -3.09458262e-03 -6.91160549e-03 1.34760891e+02] [ 6.91157491e-03 -2.05781733e-05 9.99976115e-01 1.43759884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.78, Z:1.44 [[-2.42810922e-03 -9.99997052e-01 -1.71412932e-06 1.71576574e+02] [ 9.99973167e-01 -2.42803938e-03 -6.91160487e-03 1.34784383e+02] [ 6.91158033e-03 -1.84962148e-05 9.99976115e-01 1.43540003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.80, Z:1.44 [[-7.44554382e-04 -9.99999723e-01 3.68576104e-07 1.71576725e+02] [ 9.99975837e-01 -7.44539148e-04 -6.91160476e-03 1.34796547e+02] [ 6.91160312e-03 -4.77749842e-06 9.99976115e-01 1.43826974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.82, Z:1.44 [[ 1.98584717e-03 -9.99998028e-01 -2.15120986e-06 1.71576800e+02] [ 9.99974143e-01 1.98581460e-03 -6.91160397e-03 1.34820717e+02] [ 6.91159462e-03 1.15742349e-05 9.99976115e-01 1.43995492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.84, Z:1.44 [[ 3.59371642e-03 -9.99993543e-01 -1.17237231e-07 1.71576505e+02] [ 9.99969657e-01 3.59363139e-03 -6.91160401e-03 1.34844616e+02] [ 6.91155980e-03 2.47211111e-05 9.99976115e-01 1.43953775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.85, Z:1.44 [[ 5.85711945e-03 -9.99982847e-01 1.99401549e-06 1.71575985e+02] [ 9.99958962e-01 5.85696577e-03 -6.91160340e-03 1.34851847e+02] [ 6.91147316e-03 4.24760203e-05 9.99976115e-01 1.43950681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:134.88, Z:1.44 [[ 7.57254333e-03 -9.99971328e-01 -5.50727622e-07 1.71575322e+02] [ 9.99947443e-01 7.57236626e-03 -6.91160319e-03 1.34876448e+02] [ 6.91140919e-03 5.17877160e-05 9.99976115e-01 1.43944835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:134.89, Z:1.44 [[ 1.13490657e-02 -9.99935597e-01 1.44625068e-06 1.71574115e+02] [ 9.99911714e-01 1.13487846e-02 -6.91160278e-03 1.34890967e+02] [ 6.91114124e-03 7.98863570e-05 9.99976115e-01 1.43826524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:134.92, Z:1.44 [[ 1.19833425e-02 -9.99928197e-01 -1.13395023e-06 1.71572773e+02] [ 9.99904313e-01 1.19830641e-02 -6.91160235e-03 1.34915395e+02] [ 6.91111967e-03 8.16902562e-05 9.99976115e-01 1.44085921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.57, Y:134.95, Z:1.44 [[ 1.31954901e-02 -9.99912936e-01 8.82595848e-07 1.71571198e+02] [ 9.99889052e-01 1.31951688e-02 -6.91160210e-03 1.34954219e+02] [ 6.91098870e-03 9.20844746e-05 9.99976115e-01 1.43947980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:134.98, Z:1.44 [[ 1.26996367e-02 -9.99919356e-01 -1.72423896e-06 1.71570312e+02] [ 9.99895473e-01 1.26993453e-02 -6.91160145e-03 1.34979209e+02] [ 6.91106597e-03 8.60507687e-05 9.99976115e-01 1.43960493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:134.99, Z:1.44 [[ 1.26759316e-02 -9.99919657e-01 2.85867734e-07 1.71569696e+02] [ 9.99895774e-01 1.26756268e-02 -6.91160136e-03 1.34990916e+02] [ 6.91104244e-03 8.78968237e-05 9.99976115e-01 1.43878857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.02, Z:1.44 [[ 9.89781391e-03 -9.99951015e-01 -2.33901023e-06 1.71567848e+02] [ 9.99927131e-01 9.89759366e-03 -6.91160047e-03 1.35016184e+02] [ 6.91128506e-03 6.60708955e-05 9.99976115e-01 1.43700398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.04, Z:1.43 [[ 8.24116304e-03 -9.99966041e-01 -4.17020408e-07 1.71567531e+02] [ 9.99942156e-01 8.24096908e-03 -6.91160059e-03 1.35040179e+02] [ 6.91136932e-03 5.65426310e-05 9.99976115e-01 1.43477196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.04, Z:1.43 [[ 5.61176786e-03 -9.99984254e-01 1.42900462e-06 1.71568562e+02] [ 9.99960369e-01 5.61162395e-03 -6.91160021e-03 1.35042531e+02] [ 6.91148336e-03 4.02152439e-05 9.99976115e-01 1.43487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.07, Z:1.44 [[ 4.20113082e-03 -9.99991175e-01 -1.13375863e-06 1.71568170e+02] [ 9.99967290e-01 4.20103831e-03 -6.91159979e-03 1.35067152e+02] [ 6.91154356e-03 2.79028133e-05 9.99976115e-01 1.43831329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.07, Z:1.44 [[ 3.59807961e-03 -9.99993527e-01 8.30696753e-07 1.71567108e+02] [ 9.99969642e-01 3.59798793e-03 -6.91159955e-03 1.35068792e+02] [ 6.91155182e-03 2.56991570e-05 9.99976115e-01 1.43731364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.09, Z:1.44 [[ 2.82214891e-03 -9.99996018e-01 -1.70312687e-06 1.71565578e+02] [ 9.99972132e-01 2.82209327e-03 -6.91159893e-03 1.35093395e+02] [ 6.91157621e-03 1.78024820e-05 9.99976115e-01 1.43799633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.07, Z:1.44 [[ 2.96957839e-03 -9.99995591e-01 2.29848941e-07 1.71564985e+02] [ 9.99971706e-01 2.96950587e-03 -6.91159886e-03 1.35066285e+02] [ 6.91156771e-03 2.07543770e-05 9.99976115e-01 1.43667362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.09, Z:1.43 [[ 2.77085286e-03 -9.99996161e-01 -2.00548338e-06 1.71566351e+02] [ 9.99972276e-01 2.77080054e-03 -6.91159822e-03 1.35091307e+02] [ 6.91157724e-03 1.71455939e-05 9.99976115e-01 1.43447113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.57, Y:135.12, Z:1.43 [[ 2.72335082e-03 -9.99996292e-01 -5.74305716e-08 1.71566228e+02] [ 9.99972406e-01 2.72328616e-03 -6.91159823e-03 1.35115893e+02] [ 6.91157276e-03 1.87652777e-05 9.99976115e-01 1.43448349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.11, Z:1.44 [[ 4.07811338e-03 -9.99991684e-01 1.90869454e-06 1.71565683e+02] [ 9.99967799e-01 4.07800278e-03 -6.91159769e-03 1.35106487e+02] [ 6.91153243e-03 3.00949121e-05 9.99976115e-01 1.43594850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.13, Z:1.44 [[ 6.37020462e-03 -9.99979710e-01 -3.20746865e-07 1.71563874e+02] [ 9.99955825e-01 6.37005468e-03 -6.91159758e-03 1.35131004e+02] [ 6.91145939e-03 4.37075582e-05 9.99976115e-01 1.43997153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.15, Z:1.44 [[ 8.16337063e-03 -9.99966679e-01 1.58942641e-06 1.71562917e+02] [ 9.99942795e-01 8.16316466e-03 -6.91159715e-03 1.35146384e+02] [ 6.91135387e-03 5.80112646e-05 9.99976115e-01 1.44051519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.17, Z:1.44 [[ 9.57345231e-03 -9.99954173e-01 -9.74997306e-07 1.71561748e+02] [ 9.99930289e-01 9.57323039e-03 -6.91159678e-03 1.35171108e+02] [ 6.91128938e-03 6.51929129e-05 9.99976115e-01 1.43994185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.18, Z:1.44 [[ 1.26655905e-02 -9.99919788e-01 9.86486534e-07 1.71560040e+02] [ 9.99895905e-01 1.26652811e-02 -6.91159650e-03 1.35178159e+02] [ 6.91102962e-03 8.85258345e-05 9.99976115e-01 1.43978069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.20, Z:1.44 [[ 1.33411501e-02 -9.99911003e-01 -1.60463946e-06 1.71559195e+02] [ 9.99887120e-01 1.33408425e-02 -6.91159590e-03 1.35201403e+02] [ 6.91100220e-03 9.06041799e-05 9.99976115e-01 1.43743221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.22, Z:1.44 [[ 1.45559489e-02 -9.99894057e-01 4.21500663e-07 1.71558753e+02] [ 9.99870174e-01 1.45555983e-02 -6.91159578e-03 1.35219894e+02] [ 6.91085741e-03 1.01026281e-04 9.99976115e-01 1.43947388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.24, Z:1.44 [[ 1.51042655e-02 -9.99885924e-01 -2.16792902e-06 1.71555685e+02] [ 9.99862041e-01 1.51039197e-02 -6.91159497e-03 1.35243448e+02] [ 6.91083926e-03 1.02226936e-04 9.99976115e-01 1.43948926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.27, Z:1.44 [[ 1.46885574e-02 -9.99892117e-01 -1.27163349e-07 1.71553422e+02] [ 9.99868235e-01 1.46882074e-02 -6.91159500e-03 1.35268158e+02] [ 6.91085123e-03 1.01394213e-04 9.99976115e-01 1.43934863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.28, Z:1.44 [[ 1.44735580e-02 -9.99895253e-01 1.82549963e-06 1.71552307e+02] [ 9.99871370e-01 1.44731997e-02 -6.91159449e-03 1.35282496e+02] [ 6.91084410e-03 1.01860628e-04 9.99976115e-01 1.43821022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.31, Z:1.44 [[ 1.23933360e-02 -9.99923200e-01 -7.97635443e-07 1.71552919e+02] [ 9.99899316e-01 1.23930455e-02 -6.91159419e-03 1.35305587e+02] [ 6.91107326e-03 8.48601539e-05 9.99976115e-01 1.43808189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.30, Z:1.44 [[ 1.16731668e-02 -9.99931866e-01 1.30867528e-06 1.71552679e+02] [ 9.99907983e-01 1.16728790e-02 -6.91159379e-03 1.35303998e+02] [ 6.91110760e-03 8.19887421e-05 9.99976115e-01 1.44036766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.55, Y:135.33, Z:1.44 [[ 9.81042707e-03 -9.99951877e-01 -1.29558194e-06 1.71551182e+02] [ 9.99927992e-01 9.81020169e-03 -6.91159330e-03 1.35328443e+02] [ 6.91127340e-03 6.65101933e-05 9.99976115e-01 1.43929948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.32, Z:1.44 [[ 7.63172890e-03 -9.99970878e-01 7.54376241e-07 1.71551681e+02] [ 9.99946993e-01 7.63154140e-03 -6.91159308e-03 1.35319660e+02] [ 6.91138604e-03 5.35017409e-05 9.99976115e-01 1.44117072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.34, Z:1.44 [[ 5.70317085e-03 -9.99983737e-01 -1.49351358e-06 1.71552311e+02] [ 9.99959852e-01 5.70304495e-03 -6.91159259e-03 1.35344076e+02] [ 6.91148870e-03 3.79245397e-05 9.99976115e-01 1.44234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.51, Z:1.44 [[ 3.67329827e-03 -9.99993253e-01 5.05300126e-07 1.71552698e+02] [ 9.99969368e-01 3.67320703e-03 -6.91159244e-03 1.35513032e+02] [ 6.91154396e-03 2.58936252e-05 9.99976115e-01 1.44197584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.29, Z:1.44 [[ 1.76589085e-03 -9.99998441e-01 4.33779637e-06 1.71553866e+02] [ 9.99974556e-01 1.76581868e-03 -6.91159251e-03 1.35290141e+02] [ 6.91157407e-03 1.65428039e-05 9.99976115e-01 1.44448450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.31, Z:1.44 [[ 1.53529306e-05 -1.00000000e+00 -2.30963929e-06 1.71555194e+02] [ 9.99976115e-01 1.53685255e-05 -6.91159029e-03 1.35313788e+02] [ 6.91159032e-03 -2.20347097e-06 9.99976115e-01 1.44259039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.34, Z:1.44 [[-1.40737201e-03 -9.99999010e-01 -3.04271219e-07 1.71556705e+02] [ 9.99975124e-01 -1.40733630e-03 -6.91159038e-03 1.35337691e+02] [ 6.91158310e-03 -1.00314425e-05 9.99976115e-01 1.44115279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.34, Z:1.44 [[-2.05740647e-03 -9.99997884e-01 1.74447107e-06 1.71557895e+02] [ 9.99973998e-01 -2.05736938e-03 -6.91158986e-03 1.35338682e+02] [ 6.91157882e-03 -1.24755240e-05 9.99976115e-01 1.44021504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.36, Z:1.44 [[-3.35638762e-03 -9.99994367e-01 -7.82497287e-07 1.71558644e+02] [ 9.99970482e-01 -3.35630205e-03 -6.91158957e-03 1.35363247e+02] [ 6.91154802e-03 -2.39804479e-05 9.99976115e-01 1.44124938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.35, Z:1.44 [[-3.03237555e-03 -9.99995402e-01 1.19646028e-06 1.71559730e+02] [ 9.99971517e-01 -3.03231139e-03 -6.91158923e-03 1.35354789e+02] [ 6.91156108e-03 -1.97621080e-05 9.99976115e-01 1.43811827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.38, Z:1.44 [[-2.74785396e-03 -9.99996225e-01 -1.32529983e-06 1.71561332e+02] [ 9.99972339e-01 -2.74777917e-03 -6.91158875e-03 1.35378915e+02] [ 6.91155901e-03 -2.03172997e-05 9.99976115e-01 1.44019138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.39, Z:1.44 [[-1.22617918e-03 -9.99999248e-01 6.00430106e-07 1.71563427e+02] [ 9.99975363e-01 -1.22615404e-03 -6.91158858e-03 1.35386987e+02] [ 6.91158412e-03 -7.87443069e-06 9.99976115e-01 1.44460721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.41, Z:1.44 [[-1.51658585e-03 -9.99998850e-01 -1.61534602e-06 1.71563084e+02] [ 9.99974965e-01 -1.51653846e-03 -6.91158806e-03 1.35412084e+02] [ 6.91157766e-03 -1.20973223e-05 9.99976115e-01 1.44478034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.42, Z:1.44 [[-2.45867348e-04 -9.99999970e-01 3.91875137e-07 1.71564451e+02] [ 9.99976084e-01 -2.45864185e-04 -6.91158795e-03 1.35417816e+02] [ 6.91158784e-03 -1.30746805e-06 9.99976115e-01 1.44464866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.44, Z:1.44 [[ 1.73182082e-03 -9.99998500e-01 -2.15368089e-06 1.71568581e+02] [ 9.99974615e-01 1.73179434e-03 -6.91158716e-03 1.35441308e+02] [ 6.91158052e-03 9.81600433e-06 9.99976115e-01 1.44244027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.47, Z:1.44 [[ 3.12150870e-03 -9.99995128e-01 -3.06859304e-07 1.71569733e+02] [ 9.99971243e-01 3.12143626e-03 -6.91158724e-03 1.35465432e+02] [ 6.91155452e-03 2.12677292e-05 9.99976115e-01 1.44304099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.46, Z:1.44 [[ 5.38772510e-03 -9.99985486e-01 1.67331420e-06 1.71570312e+02] [ 9.99961601e-01 5.38758485e-03 -6.91158676e-03 1.35463745e+02] [ 6.91147743e-03 3.89109794e-05 9.99976115e-01 1.44464915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.49, Z:1.45 [[ 7.37531895e-03 -9.99972802e-01 -9.03128542e-07 1.71570626e+02] [ 9.99948917e-01 7.37514903e-03 -6.91158642e-03 1.35488021e+02] [ 6.91140510e-03 5.00720719e-05 9.99976115e-01 1.44590485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.50, Z:1.45 [[ 1.24228908e-02 -9.99922833e-01 1.08894554e-06 1.71572862e+02] [ 9.99898950e-01 1.24225866e-02 -6.91158611e-03 1.35497648e+02] [ 6.91103923e-03 8.69507150e-05 9.99976115e-01 1.44506153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.52, Z:1.45 [[ 1.47885340e-02 -9.99890644e-01 -1.49754655e-06 1.71573224e+02] [ 9.99866761e-01 1.47881911e-02 -6.91158555e-03 1.35522769e+02] [ 6.91085187e-03 1.00714871e-04 9.99976115e-01 1.44521761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.55, Z:1.44 [[ 1.76549249e-02 -9.99844140e-01 3.68367373e-07 1.71572694e+02] [ 9.99820258e-01 1.76545007e-02 -6.91158545e-03 1.35546421e+02] [ 6.91050170e-03 1.22391823e-04 9.99976115e-01 1.44486105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.57, Z:1.44 [[ 2.22833756e-02 -9.99751695e-01 -2.27479988e-06 1.71571758e+02] [ 9.99727815e-01 2.22828590e-02 -6.91158458e-03 1.35570009e+02] [ 6.90991908e-03 1.51739254e-04 9.99976115e-01 1.44106568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.60, Z:1.44 [[ 2.41931315e-02 -9.99707303e-01 -2.33035074e-07 1.71571571e+02] [ 9.99683425e-01 2.41925553e-02 -6.91158465e-03 1.35595090e+02] [ 6.90956729e-03 1.66979915e-04 9.99976115e-01 1.44146034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.62, Z:1.44 [[ 2.63654454e-02 -9.99652371e-01 1.65521174e-06 1.71571648e+02] [ 9.99628495e-01 2.63648042e-02 -6.91158420e-03 1.35624386e+02] [ 6.90913789e-03 1.83881593e-04 9.99976115e-01 1.44036793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.65, Z:1.44 [[ 2.83674006e-02 -9.99597564e-01 -1.05222434e-06 1.71570293e+02] [ 9.99573688e-01 2.83667303e-02 -6.91158378e-03 1.35648380e+02] [ 6.90883216e-03 1.95011890e-04 9.99976115e-01 1.44163799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.65, Z:1.44 [[ 2.90987634e-02 -9.99576541e-01 5.17493621e-07 1.71569349e+02] [ 9.99552666e-01 2.90980648e-02 -6.91158367e-03 1.35650922e+02] [ 6.90864184e-03 2.01635800e-04 9.99976115e-01 1.44345653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.67, Z:1.44 [[ 2.87606310e-02 -9.99586328e-01 -2.22395958e-06 1.71568144e+02] [ 9.99562452e-01 2.87599594e-02 -6.91158278e-03 1.35674192e+02] [ 6.90878761e-03 1.96558495e-04 9.99976115e-01 1.44449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.70, Z:1.45 [[ 2.68576494e-02 -9.99639268e-01 -2.18405787e-07 1.71567415e+02] [ 9.99615392e-01 2.68570094e-02 -6.91158285e-03 1.35697791e+02] [ 6.90909549e-03 1.85410547e-04 9.99976115e-01 1.44524134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.70, Z:1.45 [[ 2.56550118e-02 -9.99670856e-01 1.76563479e-06 1.71567119e+02] [ 9.99646979e-01 2.56543868e-02 -6.91158234e-03 1.35700630e+02] [ 6.90926214e-03 1.79081738e-04 9.99976115e-01 1.44500091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.72, Z:1.44 [[ 2.37821725e-02 -9.99717164e-01 -9.09943373e-07 1.71566359e+02] [ 9.99693285e-01 2.37816108e-02 -6.91158199e-03 1.35724598e+02] [ 6.90964878e-03 1.63462771e-04 9.99976115e-01 1.44462663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.72, Z:1.44 [[ 2.13114840e-02 -9.99772885e-01 1.04702129e-06 1.71566729e+02] [ 9.99749005e-01 2.13109677e-02 -6.91158169e-03 1.35721027e+02] [ 6.90998965e-03 1.48342821e-04 9.99976115e-01 1.44414566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:135.74, Z:1.44 [[ 1.97849529e-02 -9.99804259e-01 -1.62632671e-06 1.71565949e+02] [ 9.99780378e-01 1.97844916e-02 -6.91158106e-03 1.35744913e+02] [ 6.91026036e-03 1.35119336e-04 9.99976115e-01 1.44479577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.74, Z:1.45 [[ 1.90201559e-02 -9.99819100e-01 3.88409086e-07 1.71564826e+02] [ 9.99795220e-01 1.90196989e-02 -6.91158095e-03 1.35735255e+02] [ 6.91032326e-03 1.31847677e-04 9.99976115e-01 1.44922681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.76, Z:1.45 [[ 1.65746894e-02 -9.99862630e-01 -2.28223175e-06 1.71563512e+02] [ 9.99838748e-01 1.65743093e-02 -6.91158007e-03 1.35759338e+02] [ 6.91066845e-03 1.12275429e-04 9.99976115e-01 1.44664881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:135.78, Z:1.45 [[ 1.50994300e-02 -9.99885997e-01 -2.00576481e-07 1.71562401e+02] [ 9.99862115e-01 1.50990707e-02 -6.91158013e-03 1.35784191e+02] [ 6.91079522e-03 1.04160371e-04 9.99976115e-01 1.44769998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.79, Z:1.45 [[ 1.48378291e-02 -9.99889913e-01 1.80952369e-06 1.71561709e+02] [ 9.99866031e-01 1.48374622e-02 -6.91157960e-03 1.35791517e+02] [ 6.91079188e-03 1.04362118e-04 9.99976115e-01 1.44572855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.82, Z:1.45 [[ 1.35906023e-02 -9.99907644e-01 -8.20114771e-07 1.71559576e+02] [ 9.99883760e-01 1.35902834e-02 -6.91157929e-03 1.35815698e+02] [ 6.91095211e-03 9.31125061e-05 9.99976115e-01 1.44819887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.56, Y:135.81, Z:1.44 [[ 1.17391040e-02 -9.99931094e-01 1.16145752e-06 1.71556826e+02] [ 9.99907211e-01 1.17388155e-02 -6.91157896e-03 1.35810056e+02] [ 6.91108908e-03 8.22970936e-05 9.99976115e-01 1.44419655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.84, Z:1.45 [[ 1.12159385e-02 -9.99937099e-01 -1.45007154e-06 1.71556985e+02] [ 9.99913216e-01 1.12156806e-02 -6.91157841e-03 1.35835068e+02] [ 6.91115993e-03 7.60698923e-05 9.99976115e-01 1.45048894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:135.83, Z:1.44 [[ 1.03530126e-02 -9.99946406e-01 5.56313156e-07 1.71555157e+02] [ 9.99922522e-01 1.03527615e-02 -6.91157825e-03 1.35828535e+02] [ 6.91120207e-03 7.21119269e-05 9.99976115e-01 1.44394185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.85, Z:1.45 [[ 9.56807636e-03 -9.99954225e-01 -2.04411561e-06 1.71553001e+02] [ 9.99930341e-01 9.56786195e-03 -6.91157748e-03 1.35853221e+02] [ 6.91128066e-03 6.40865279e-05 9.99976115e-01 1.44985162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.55, Y:135.88, Z:1.45 [[ 8.62696792e-03 -9.99962787e-01 -5.66947409e-08 1.71549555e+02] [ 9.99938903e-01 8.62676225e-03 -6.91157749e-03 1.35877546e+02] [ 6.91132078e-03 5.95692660e-05 9.99976115e-01 1.44978710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:135.90, Z:1.45 [[ 9.38729972e-03 -9.99955938e-01 1.92768526e-06 1.71548062e+02] [ 9.99932054e-01 9.38706218e-03 -6.91157694e-03 1.35896108e+02] [ 6.91125431e-03 6.68085985e-05 9.99976115e-01 1.44911150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:135.92, Z:1.45 [[ 8.76938298e-03 -9.99961548e-01 -6.44176138e-07 1.71544562e+02] [ 9.99937664e-01 8.76917797e-03 -6.91157670e-03 1.35920328e+02] [ 6.91131659e-03 5.99661271e-05 9.99976115e-01 1.44948848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:135.90, Z:1.45 [[ 8.62138981e-03 -9.99962835e-01 1.27004747e-06 1.71543538e+02] [ 9.99938951e-01 8.62117511e-03 -6.91157635e-03 1.35902846e+02] [ 6.91130853e-03 6.08573639e-05 9.99976115e-01 1.45078628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:135.93, Z:1.45 [[ 7.26701430e-03 -9.99973595e-01 -1.31267077e-06 1.71542501e+02] [ 9.99949710e-01 7.26684979e-03 -6.91157586e-03 1.35927887e+02] [ 6.91140290e-03 4.89139158e-05 9.99976115e-01 1.44921007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:135.95, Z:1.45 [[ 6.40228558e-03 -9.99979505e-01 6.45231488e-07 1.71542066e+02] [ 9.99955620e-01 6.40212820e-03 -6.91157568e-03 1.35954378e+02] [ 6.91142989e-03 4.48950841e-05 9.99976115e-01 1.44548776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:135.98, Z:1.44 [[ 3.59096726e-03 -9.99993552e-01 -1.59801140e-06 1.71541681e+02] [ 9.99969667e-01 3.59089253e-03 -6.91157516e-03 1.35979220e+02] [ 6.91153633e-03 2.32212772e-05 9.99976115e-01 1.44449724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.00, Z:1.45 [[ 2.91908226e-03 -9.99995739e-01 3.32890882e-07 1.71540841e+02] [ 9.99971854e-01 2.91901023e-03 -6.91157506e-03 1.35996648e+02] [ 6.91154465e-03 2.05083376e-05 9.99976115e-01 1.44804518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.02, Z:1.45 [[ 1.88888142e-03 -9.99998216e-01 -2.20982542e-06 1.71539181e+02] [ 9.99974331e-01 1.88885158e-03 -6.91157425e-03 1.36020675e+02] [ 6.91156610e-03 1.08453755e-05 9.99976115e-01 1.44917109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.04, Z:1.45 [[ 1.11619382e-03 -9.99999377e-01 -1.10784607e-07 1.71537771e+02] [ 9.99975492e-01 1.11616792e-03 -6.91157429e-03 1.36043799e+02] [ 6.91157010e-03 7.60387461e-06 9.99976115e-01 1.44572575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.05, Z:1.45 [[ 7.17331524e-05 -9.99999997e-01 2.04178125e-06 1.71538343e+02] [ 9.99976112e-01 7.17173254e-05 -6.91157365e-03 1.36045468e+02] [ 6.91157348e-03 2.53752143e-06 9.99976115e-01 1.45140250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.54, Y:136.07, Z:1.45 [[-1.08005540e-03 -9.99999417e-01 -9.30769150e-09 1.71537272e+02] [ 9.99975532e-01 -1.08002954e-03 -6.91157365e-03 1.36069684e+02] [ 6.91156961e-03 -7.47418994e-06 9.99976115e-01 1.45097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.07, Z:1.45 [[-3.55318491e-04 -9.99999937e-01 1.96008549e-06 1.71537936e+02] [ 9.99976052e-01 -3.55323553e-04 -6.91157309e-03 1.36070830e+02] [ 6.91157335e-03 -4.95771180e-07 9.99976115e-01 1.45249500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.10, Z:1.45 [[-3.01324797e-04 -9.99999955e-01 -5.69300817e-07 1.71537200e+02] [ 9.99976069e-01 -3.01313667e-04 -6.91157288e-03 1.36095804e+02] [ 6.91157239e-03 -2.65191550e-06 9.99976115e-01 1.45258785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.09, Z:1.45 [[ 1.58006645e-04 -9.99999988e-01 1.39888884e-06 1.71537669e+02] [ 9.99976102e-01 1.57993201e-04 -6.91157248e-03 1.36088590e+02] [ 6.91157217e-03 2.49092978e-06 9.99976115e-01 1.45264317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.54, Y:136.11, Z:1.45 [[-6.47045569e-04 -9.99999791e-01 -1.14584296e-06 1.71536445e+02] [ 9.99975905e-01 -6.47022196e-04 -6.91157206e-03 1.36113110e+02] [ 6.91156987e-03 -5.61791743e-06 9.99976115e-01 1.45262565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.09, Z:1.46 [[-9.82521503e-04 -9.99999517e-01 8.31125284e-07 1.71537503e+02] [ 9.99975632e-01 -9.82503782e-04 -6.91157182e-03 1.36089436e+02] [ 6.91156930e-03 -5.95966292e-06 9.99976115e-01 1.45598311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.11, Z:1.46 [[-2.29294197e-03 -9.99997371e-01 -1.70387755e-06 1.71538226e+02] [ 9.99973486e-01 -2.29287543e-03 -6.91157120e-03 1.36113056e+02] [ 6.91154912e-03 -1.75516641e-05 9.99976115e-01 1.45587379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.12, Z:1.46 [[-2.77451671e-03 -9.99996151e-01 3.27299181e-07 1.71539824e+02] [ 9.99972266e-01 -2.77445270e-03 -6.91157110e-03 1.36119443e+02] [ 6.91154541e-03 -1.88489794e-05 9.99976115e-01 1.45622232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.14, Z:1.46 [[-4.78927485e-03 -9.99988531e-01 -2.20046938e-06 1.71542578e+02] [ 9.99964647e-01 -4.78914526e-03 -6.91157030e-03 1.36143595e+02] [ 6.91148049e-03 -3.53018014e-05 9.99976115e-01 1.45710989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.17, Z:1.46 [[-5.82679403e-03 -9.99983024e-01 -2.57121271e-07 1.71543821e+02] [ 9.99959139e-01 -5.82665308e-03 -6.91157037e-03 1.36168511e+02] [ 6.91145154e-03 -4.05294078e-05 9.99976115e-01 1.45829643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.55, Y:136.16, Z:1.46 [[-6.55098143e-03 -9.99978542e-01 1.75195185e-06 1.71546274e+02] [ 9.99954657e-01 -6.55083707e-03 -6.91156986e-03 1.36156540e+02] [ 6.91143303e-03 -4.35256934e-05 9.99976115e-01 1.45618889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.18, Z:1.45 [[-6.55261402e-03 -9.99978531e-01 -7.69801408e-07 1.71548310e+02] [ 9.99954647e-01 -6.55245219e-03 -6.91156958e-03 1.36179872e+02] [ 6.91141615e-03 -4.60586143e-05 9.99976115e-01 1.45480980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.18, Z:1.45 [[-5.83833814e-03 -9.99982957e-01 1.27053673e-06 1.71550889e+02] [ 9.99959072e-01 -5.83820747e-03 -6.91156920e-03 1.36179369e+02] [ 6.91145883e-03 -3.90815934e-05 9.99976115e-01 1.45308454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.20, Z:1.45 [[-5.41090952e-03 -9.99985361e-01 -9.33029278e-07 1.71553277e+02] [ 9.99961476e-01 -5.41077384e-03 -6.91156891e-03 1.36204029e+02] [ 6.91146268e-03 -3.83308674e-05 9.99976115e-01 1.45194962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.56, Y:136.21, Z:1.45 [[-2.05638956e-03 -9.99997886e-01 9.81363079e-07 1.71556951e+02] [ 9.99974001e-01 -2.05634723e-03 -6.91156863e-03 1.36205643e+02] [ 6.91155604e-03 -1.32315400e-05 9.99976115e-01 1.45387966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.23, Z:1.46 [[-8.76772442e-05 -9.99999996e-01 -1.52966763e-06 1.71558692e+02] [ 9.99976111e-01 -8.76645794e-05 -6.91156808e-03 1.36230882e+02] [ 6.91156792e-03 -2.13561835e-06 9.99976115e-01 1.45543084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.23, Z:1.46 [[ 2.56899743e-03 -9.99996700e-01 3.46203591e-07 1.71560551e+02] [ 9.99972815e-01 2.56893367e-03 -6.91156798e-03 1.36228633e+02] [ 6.91154429e-03 1.81019945e-05 9.99976115e-01 1.45623989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.56, Y:136.25, Z:1.45 [[ 6.82232388e-03 -9.99976728e-01 -2.19123714e-06 1.71562637e+02] [ 9.99952843e-01 6.82217607e-03 -6.91156718e-03 1.36252708e+02] [ 6.91142128e-03 4.49618160e-05 9.99976115e-01 1.45413519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.56, Y:136.28, Z:1.45 [[ 8.88625237e-03 -9.99960517e-01 -2.73743477e-07 1.71563547e+02] [ 9.99936632e-01 8.88604201e-03 -6.91156726e-03 1.36276842e+02] [ 6.91129680e-03 6.11442048e-05 9.99976115e-01 1.45478794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:136.28, Z:1.45 [[ 1.17939074e-02 -9.99930449e-01 1.74654510e-06 1.71565503e+02] [ 9.99906566e-01 1.17936136e-02 -6.91156675e-03 1.36282679e+02] [ 6.91106544e-03 8.32607600e-05 9.99976115e-01 1.45454041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:136.31, Z:1.45 [[ 1.36494405e-02 -9.99906842e-01 -8.81341531e-07 1.71565558e+02] [ 9.99882959e-01 1.36491206e-02 -6.91156641e-03 1.36306851e+02] [ 6.91093457e-03 9.34577762e-05 9.99976115e-01 1.45480792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:136.34, Z:1.45 [[ 1.92500007e-02 -9.99814702e-01 1.12216904e-06 1.71565795e+02] [ 9.99790821e-01 1.92495331e-02 -6.91156608e-03 1.36341074e+02] [ 6.91026378e-03 1.34169586e-04 9.99976115e-01 1.45412998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.37, Z:1.46 [[ 2.15265268e-02 -9.99768278e-01 -1.53954313e-06 1.71564396e+02] [ 9.99744398e-01 2.15260232e-02 -6.91156549e-03 1.36365565e+02] [ 6.90999707e-03 1.47242850e-04 9.99976115e-01 1.45545678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.37, Z:1.46 [[ 2.19102544e-02 -9.99759942e-01 4.64985961e-07 1.71564320e+02] [ 9.99736062e-01 2.19097279e-02 -6.91156536e-03 1.36368134e+02] [ 6.90989599e-03 1.51899019e-04 9.99976115e-01 1.45547480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.39, Z:1.46 [[ 2.38425228e-02 -9.99715727e-01 -2.18786196e-06 1.71562977e+02] [ 9.99691848e-01 2.38419684e-02 -6.91156452e-03 1.36392347e+02] [ 6.90965191e-03 1.62601947e-04 9.99976115e-01 1.45637644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.42, Z:1.46 [[ 2.68028858e-02 -9.99640738e-01 -1.97210034e-07 1.71560420e+02] [ 9.99616862e-01 2.68022469e-02 -6.91156457e-03 1.36416751e+02] [ 6.90908680e-03 1.85052741e-04 9.99976115e-01 1.45945144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.41, Z:1.46 [[ 2.81095902e-02 -9.99604847e-01 1.70868181e-06 1.71559243e+02] [ 9.99580972e-01 2.81089070e-02 -6.91156410e-03 1.36411645e+02] [ 6.90878495e-03 1.95989200e-04 9.99976115e-01 1.46119341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.44, Z:1.46 [[ 2.77958780e-02 -9.99613620e-01 -1.00891231e-06 1.71557497e+02] [ 9.99589744e-01 2.77952211e-02 -6.91156371e-03 1.36436008e+02] [ 6.90892126e-03 1.91104483e-04 9.99976115e-01 1.46142126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.42, Z:1.46 [[ 2.66331880e-02 -9.99645274e-01 1.00346455e-06 1.71554504e+02] [ 9.99621397e-01 2.66325449e-02 -6.91156341e-03 1.36418869e+02] [ 6.90908498e-03 1.85080052e-04 9.99976115e-01 1.46305257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.44, Z:1.46 [[ 2.46515237e-02 -9.99696105e-01 -1.68885592e-06 1.71552561e+02] [ 9.99672227e-01 2.46509466e-02 -6.91156276e-03 1.36442176e+02] [ 6.90950400e-03 1.68692251e-04 9.99976115e-01 1.46034248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.45, Z:1.46 [[ 2.08649695e-02 -9.99782303e-01 4.68237512e-07 1.71549687e+02] [ 9.99758423e-01 2.08644679e-02 -6.91156261e-03 1.36451058e+02] [ 6.91004821e-03 1.44677667e-04 9.99976115e-01 1.45965406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.48, Z:1.46 [[ 1.85490115e-02 -9.99827952e-01 -1.86023961e-06 1.71547170e+02] [ 9.99804071e-01 1.85485813e-02 -6.91156198e-03 1.36475784e+02] [ 6.91040737e-03 1.26342768e-04 9.99976115e-01 1.46003576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.46, Z:1.46 [[ 1.71083865e-02 -9.99853641e-01 1.87775832e-07 1.71545206e+02] [ 9.99829759e-01 1.71079765e-02 -6.91156193e-03 1.36457672e+02] [ 6.91054715e-03 1.18433416e-04 9.99976115e-01 1.45744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.48, Z:1.46 [[ 1.49104973e-02 -9.99888832e-01 -2.44185564e-06 1.71542516e+02] [ 9.99864950e-01 1.49101581e-02 -6.91156100e-03 1.36482740e+02] [ 6.91082907e-03 1.00613286e-04 9.99976115e-01 1.45711761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.51, Z:1.46 [[ 1.12209683e-02 -9.99937043e-01 -4.90956409e-07 1.71536793e+02] [ 9.99913159e-01 1.12207037e-02 -6.91156114e-03 1.36506160e+02] [ 6.91113151e-03 7.70634945e-05 9.99976115e-01 1.45512850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:136.52, Z:1.45 [[ 9.83159237e-03 -9.99951669e-01 1.50295601e-06 1.71534246e+02] [ 9.99927785e-01 9.83134715e-03 -6.91156070e-03 1.36520974e+02] [ 6.91121188e-03 6.94544949e-05 9.99976115e-01 1.45392972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:136.55, Z:1.45 [[ 7.52832516e-03 -9.99971662e-01 -1.07431643e-06 1.71531746e+02] [ 9.99947777e-01 7.52815277e-03 -6.91156030e-03 1.36545142e+02] [ 6.91137253e-03 5.09582130e-05 9.99976115e-01 1.45440146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:136.56, Z:1.46 [[ 5.66530262e-03 -9.99983952e-01 8.32799503e-07 1.71529664e+02] [ 9.99960067e-01 5.66516155e-03 -6.91156007e-03 1.36560625e+02] [ 6.91144444e-03 3.99888456e-05 9.99976115e-01 1.45607497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:136.58, Z:1.46 [[-2.55839878e-04 -9.99999967e-01 -1.74906963e-06 1.71524949e+02] [ 9.99976082e-01 -2.55821680e-04 -6.91155942e-03 1.36584805e+02] [ 6.91155875e-03 -3.51728033e-06 9.99976115e-01 1.45753058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:136.56, Z:1.46 [[-3.36099591e-03 -9.99994352e-01 2.07498326e-07 1.71523855e+02] [ 9.99970467e-01 -3.36091707e-03 -6.91155936e-03 1.36560543e+02] [ 6.91152102e-03 -2.30222306e-05 9.99976115e-01 1.45755566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:136.59, Z:1.46 [[-7.16582740e-03 -9.99974325e-01 -2.31865183e-06 1.71523158e+02] [ 9.99950441e-01 -7.16564022e-03 -6.91155851e-03 1.36585434e+02] [ 6.91136445e-03 -5.18455723e-05 9.99976115e-01 1.45823013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:136.61, Z:1.46 [[-1.44912311e-02 -9.99894997e-01 -3.88178356e-07 1.71521342e+02] [ 9.99871114e-01 -1.44908823e-02 -6.91155862e-03 1.36608916e+02] [ 6.91082726e-03 -1.00545122e-04 9.99976115e-01 1.45889354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.52, Y:136.60, Z:1.46 [[-1.73491016e-02 -9.99849493e-01 1.61068249e-06 1.71520009e+02] [ 9.99825611e-01 -1.73486983e-02 -6.91155816e-03 1.36604614e+02] [ 6.91054586e-03 -1.18298923e-04 9.99976115e-01 1.46052099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:136.63, Z:1.46 [[-2.01594954e-02 -9.99796777e-01 -5.32599385e-07 1.71520497e+02] [ 9.99772897e-01 -2.01590102e-02 -6.91155799e-03 1.36629316e+02] [ 6.91014267e-03 -1.39866000e-04 9.99976115e-01 1.45965223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.52, Y:136.63, Z:1.46 [[-2.21024428e-02 -9.99755711e-01 1.33769398e-06 1.71520912e+02] [ 9.99731832e-01 -2.21019241e-02 -6.91155763e-03 1.36632282e+02] [ 6.90989878e-03 -1.51424972e-04 9.99976115e-01 1.46118385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72264 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:171.52, Y:136.66, Z:1.46 [[-2.65586726e-02 -9.99647256e-01 -1.09097120e-06 1.71523399e+02] [ 9.99623380e-01 -2.65580307e-02 -6.91155725e-03 1.36656639e+02] [ 6.90909026e-03 -1.84652347e-04 9.99976115e-01 1.46219913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:136.67, Z:1.47 [[-2.79182517e-02 -9.99610210e-01 7.26679781e-07 1.71526008e+02] [ 9.99586334e-01 -2.79175899e-02 -6.91155706e-03 1.36672391e+02] [ 6.90888328e-03 -1.92232210e-04 9.99976115e-01 1.46622532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.53, Y:136.70, Z:1.47 [[-2.97307111e-02 -9.99557945e-01 -1.68800406e-06 1.71527783e+02] [ 9.99534071e-01 -2.97299893e-02 -6.91155647e-03 1.36696487e+02] [ 6.90845099e-03 -2.07172706e-04 9.99976115e-01 1.46549900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:136.71, Z:1.47 [[-3.05346435e-02 -9.99533709e-01 2.53039641e-07 1.71532761e+02] [ 9.99509835e-01 -3.05339159e-02 -6.91155639e-03 1.36714419e+02] [ 6.90834132e-03 -2.10788995e-04 9.99976115e-01 1.46526661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.53, Y:136.74, Z:1.46 [[-3.12337227e-02 -9.99512108e-01 -2.15434703e-06 1.71534257e+02] [ 9.99488235e-01 -3.12329618e-02 -6.91155564e-03 1.36738460e+02] [ 6.90811627e-03 -2.18026857e-04 9.99976115e-01 1.46306131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:136.76, Z:1.46 [[-3.12185460e-02 -9.99512582e-01 -6.54471413e-08 1.71537366e+02] [ 9.99488709e-01 -3.12177998e-02 -6.91155566e-03 1.36763459e+02] [ 6.90818481e-03 -2.15834132e-04 9.99976115e-01 1.46248014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.54, Y:136.81, Z:1.46 [[-2.97061865e-02 -9.99558674e-01 1.88098960e-06 1.71543832e+02] [ 9.99534799e-01 -2.97054900e-02 -6.91155513e-03 1.36809918e+02] [ 6.90856076e-03 -2.03435832e-04 9.99976115e-01 1.46057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.82, Z:1.46 [[-2.78594941e-02 -9.99611849e-01 3.82114589e-06 1.71547686e+02] [ 9.99587972e-01 -2.78588551e-02 -6.91155472e-03 1.36819124e+02] [ 6.90897844e-03 -1.88732846e-04 9.99976115e-01 1.45967702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:136.79, Z:1.46 [[-2.51097444e-02 -9.99684701e-01 1.92540832e-06 1.71551018e+02] [ 9.99660823e-01 -2.51091579e-02 -6.91155453e-03 1.36787802e+02] [ 6.90942366e-03 -1.71622612e-04 9.99976115e-01 1.45867898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.81, Z:1.46 [[-2.08375261e-02 -9.99782875e-01 -2.65140505e-06 1.71557235e+02] [ 9.99758996e-01 -2.08370100e-02 -6.91155277e-03 1.36812320e+02] [ 6.90999685e-03 -1.46670427e-04 9.99976115e-01 1.45918515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:136.84, Z:1.46 [[-1.85867464e-02 -9.99827252e-01 -7.04576679e-07 1.71560457e+02] [ 9.99803371e-01 -1.85862976e-02 -6.91155297e-03 1.36837274e+02] [ 6.91034591e-03 -1.29167721e-04 9.99976115e-01 1.45964367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.56, Y:136.86, Z:1.46 [[-1.56311504e-02 -9.99877826e-01 1.27256845e-06 1.71563190e+02] [ 9.99853944e-01 -1.56307859e-02 -6.91155261e-03 1.36856251e+02] [ 6.91072808e-03 -1.06763136e-04 9.99976115e-01 1.46103560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:136.88, Z:1.46 [[-9.94235656e-03 -9.99950574e-01 -9.06983604e-07 1.71568370e+02] [ 9.99926690e-01 -9.94211282e-03 -6.91155232e-03 1.36880431e+02] [ 6.91120169e-03 -6.96240346e-05 9.99976115e-01 1.45846935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:136.92, Z:1.46 [[-6.28078511e-03 -9.99980276e-01 1.02087496e-06 1.71570696e+02] [ 9.99956391e-01 -6.28064215e-03 -6.91155203e-03 1.36920383e+02] [ 6.91142212e-03 -4.23891427e-05 9.99976115e-01 1.46069588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.57, Y:136.95, Z:1.46 [[-3.03753331e-03 -9.99995387e-01 -1.52997450e-06 1.71571847e+02] [ 9.99971502e-01 -3.03745018e-03 -6.91155147e-03 1.36945044e+02] [ 6.91151494e-03 -2.25239987e-05 9.99976115e-01 1.46228780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:136.96, Z:1.46 [[ 4.43641640e-03 -9.99990159e-01 4.24434195e-07 1.71575910e+02] [ 9.99966274e-01 4.43630750e-03 -6.91155135e-03 1.36960572e+02] [ 6.91148145e-03 3.10869396e-05 9.99976115e-01 1.46210452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:136.99, Z:1.46 [[ 7.32524947e-03 -9.99973170e-01 -1.82545022e-06 1.71576527e+02] [ 9.99949286e-01 7.32508712e-03 -6.91155076e-03 1.36985410e+02] [ 6.91137869e-03 4.88034758e-05 9.99976115e-01 1.46490784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.01, Z:1.46 [[ 1.05832828e-02 -9.99943996e-01 2.15294762e-07 1.71576232e+02] [ 9.99920112e-01 1.05830286e-02 -6.91155069e-03 1.37011456e+02] [ 6.91116134e-03 7.33621734e-05 9.99976115e-01 1.46153979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.04, Z:1.46 [[ 1.29058725e-02 -9.99916716e-01 -2.40307856e-06 1.71575173e+02] [ 9.99892833e-01 1.29055809e-02 -6.91154978e-03 1.37036604e+02] [ 6.91100517e-03 8.67967593e-05 9.99976115e-01 1.46014205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.06, Z:1.46 [[ 1.60628192e-02 -9.99870985e-01 5.74118325e-06 1.71576498e+02] [ 9.99847103e-01 1.60623958e-02 -6.91154985e-03 1.37061231e+02] [ 6.91056594e-03 1.16759281e-04 9.99976115e-01 1.45750622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.08, Z:1.46 [[ 1.74182683e-02 -9.99848290e-01 1.55746700e-06 1.71577409e+02] [ 9.99824409e-01 1.74178415e-02 -6.91155080e-03 1.37084753e+02] [ 6.91047512e-03 1.21944439e-04 9.99976115e-01 1.45605328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.11, Z:1.46 [[ 1.73402902e-02 -9.99849646e-01 -1.14305684e-06 1.71577217e+02] [ 9.99825764e-01 1.73398839e-02 -6.91155035e-03 1.37109053e+02] [ 6.91053099e-03 1.18705431e-04 9.99976115e-01 1.45738486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:137.29, Z:1.46 [[ 1.65414037e-02 -9.99863182e-01 8.46586468e-07 1.71576360e+02] [ 9.99839300e-01 1.65410028e-02 -6.91155010e-03 1.37288039e+02] [ 6.91059047e-03 1.15173191e-04 9.99976115e-01 1.45577731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.58, Y:137.10, Z:1.46 [[ 1.67974699e-02 -9.99858913e-01 4.10511465e-06 1.71575842e+02] [ 9.99835031e-01 1.67970404e-02 -6.91154946e-03 1.37101632e+02] [ 6.91050537e-03 1.20200982e-04 9.99976115e-01 1.45934466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.13, Z:1.46 [[ 1.57488575e-02 -9.99875979e-01 -7.27375653e-07 1.71574170e+02] [ 9.99852097e-01 1.57484863e-02 -6.91154895e-03 1.37126527e+02] [ 6.91070323e-03 1.08121731e-04 9.99976115e-01 1.46097262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.12, Z:1.46 [[ 1.58437491e-02 -9.99874480e-01 1.15640046e-06 1.71573249e+02] [ 9.99850598e-01 1.58433627e-02 -6.91154863e-03 1.37123403e+02] [ 6.91066277e-03 1.10661070e-04 9.99976115e-01 1.46098180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.15, Z:1.46 [[ 1.60256467e-02 -9.99871581e-01 -1.51422801e-06 1.71572809e+02] [ 9.99847699e-01 1.60252744e-02 -6.91154805e-03 1.37146561e+02] [ 6.91068474e-03 1.09248030e-04 9.99976115e-01 1.46189528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.17, Z:1.46 [[ 1.39442270e-02 -9.99902774e-01 2.51984402e-05 1.71570064e+02] [ 9.99878894e-01 1.39437198e-02 -6.91154436e-03 1.37172527e+02] [ 6.91052102e-03 1.21571532e-04 9.99976115e-01 1.46286803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.17, Z:1.46 [[ 1.31898595e-02 -9.99913010e-01 2.36471418e-06 1.71568981e+02] [ 9.99889127e-01 1.31895282e-02 -6.91155217e-03 1.37168987e+02] [ 6.91091975e-03 9.35268543e-05 9.99976115e-01 1.46289474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.19, Z:1.46 [[ 1.14288717e-02 -9.99934688e-01 -2.99681669e-07 1.71568846e+02] [ 9.99910805e-01 1.14286008e-02 -6.91155206e-03 1.37193346e+02] [ 6.91110408e-03 7.86915869e-05 9.99976115e-01 1.46332251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.17, Z:1.46 [[ 8.25036498e-03 -9.99965965e-01 1.67647249e-06 1.71567721e+02] [ 9.99942081e-01 8.25015633e-03 -6.91155158e-03 1.37168417e+02] [ 6.91130251e-03 5.86991984e-05 9.99976115e-01 1.46390460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:137.19, Z:1.46 [[ 6.17853318e-03 -9.99980913e-01 -9.71517188e-07 1.71565777e+02] [ 9.99957028e-01 6.17839231e-03 -6.91155120e-03 1.37191977e+02] [ 6.91142528e-03 4.17317730e-05 9.99976115e-01 1.46006908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.20, Z:1.46 [[ 5.11440053e-03 -9.99986921e-01 1.12991142e-06 1.71564836e+02] [ 9.99963037e-01 5.11427056e-03 -6.91155086e-03 1.37197136e+02] [ 6.91145469e-03 3.64783090e-05 9.99976115e-01 1.46162732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.22, Z:1.46 [[ 3.13809551e-03 -9.99995076e-01 -1.45741349e-06 1.71564290e+02] [ 9.99971191e-01 3.13803063e-03 -6.91155031e-03 1.37221222e+02] [ 6.91152086e-03 2.02317335e-05 9.99976115e-01 1.46004195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.20, Z:1.46 [[ 1.26074068e-03 -9.99999205e-01 5.34803978e-07 1.71562842e+02] [ 9.99975320e-01 1.26070687e-03 -6.91155016e-03 1.37201494e+02] [ 6.91154399e-03 9.24846322e-06 9.99976115e-01 1.46364518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.23, Z:1.46 [[ 3.77257130e-04 -9.99999929e-01 -2.04706143e-06 1.71561681e+02] [ 9.99976044e-01 3.77262266e-04 -6.91154940e-03 1.37225239e+02] [ 6.91154968e-03 5.60418889e-07 9.99976115e-01 1.46184932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.21, Z:1.46 [[ 1.21380706e-04 -9.99999993e-01 1.85085045e-08 1.71560865e+02] [ 9.99976108e-01 1.21377677e-04 -6.91154939e-03 1.37213740e+02] [ 6.91154934e-03 8.57436795e-07 9.99976115e-01 1.46460211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.24, Z:1.47 [[-1.34175792e-03 -9.99999100e-01 -2.57344873e-06 1.71560548e+02] [ 9.99975215e-01 -1.34170808e-03 -6.91154843e-03 1.37238469e+02] [ 6.91153875e-03 -1.18470098e-05 9.99976115e-01 1.46547918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.56, Y:137.26, Z:1.46 [[-2.49895693e-03 -9.99996878e-01 -6.10931489e-07 1.71559078e+02] [ 9.99972993e-01 -2.49889302e-03 -6.91154860e-03 1.37262178e+02] [ 6.91152549e-03 -1.78825773e-05 9.99976115e-01 1.46281589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.26, Z:1.46 [[-2.84426049e-03 -9.99995955e-01 1.28323507e-06 1.71559420e+02] [ 9.99972070e-01 -2.84420143e-03 -6.91154825e-03 1.37255756e+02] [ 6.91152394e-03 -1.83750444e-05 9.99976115e-01 1.46340617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.28, Z:1.46 [[-4.45929238e-03 -9.99990057e-01 -1.27746409e-06 1.71558345e+02] [ 9.99966173e-01 -4.45917704e-03 -6.91154777e-03 1.37281175e+02] [ 6.91147336e-03 -3.20980332e-05 9.99976115e-01 1.46495740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.27, Z:1.46 [[-4.40828456e-03 -9.99990283e-01 5.89503075e-07 1.71558004e+02] [ 9.99966399e-01 -4.40818335e-03 -6.91154761e-03 1.37267181e+02] [ 6.91148306e-03 -2.98785854e-05 9.99976115e-01 1.46437681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.29, Z:1.46 [[-4.69085190e-03 -9.99988998e-01 -1.97490210e-06 1.71557650e+02] [ 9.99965113e-01 -4.69072621e-03 -6.91154688e-03 1.37292285e+02] [ 6.91146158e-03 -3.43958760e-05 9.99976115e-01 1.46455000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.32, Z:1.47 [[-4.80214258e-03 -9.99988470e-01 -2.18577560e-08 1.71556934e+02] [ 9.99964585e-01 -4.80202773e-03 -6.91154689e-03 1.37317204e+02] [ 6.91146709e-03 -3.32120906e-05 9.99976115e-01 1.46502679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.41, Z:1.47 [[-4.35039215e-03 -9.99990537e-01 1.95030146e-06 1.71555390e+02] [ 9.99966652e-01 -4.35030173e-03 -6.91154633e-03 1.37411494e+02] [ 6.91148941e-03 -2.81177005e-05 9.99976115e-01 1.46597970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.33, Z:1.47 [[-2.15851139e-03 -9.99997670e-01 6.85803845e-06 1.71556086e+02] [ 9.99973785e-01 -2.15850724e-03 -6.91154538e-03 1.37328496e+02] [ 6.91154409e-03 -8.06079080e-06 9.99976115e-01 1.46558821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.35, Z:1.47 [[-1.26720572e-03 -9.99999197e-01 -2.29779244e-07 1.71556005e+02] [ 9.99975312e-01 -1.26717387e-03 -6.91154515e-03 1.37354399e+02] [ 6.91153931e-03 -8.98812312e-06 9.99976115e-01 1.46875687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.35, Z:1.47 [[ 1.20189844e-03 -9.99999278e-01 1.65043505e-06 1.71555575e+02] [ 9.99975393e-01 1.20185832e-03 -6.91154470e-03 1.37350820e+02] [ 6.91153772e-03 9.95736922e-06 9.99976115e-01 1.46805674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.38, Z:1.47 [[ 1.64995919e-03 -9.99998639e-01 -5.79639808e-07 1.71554366e+02] [ 9.99974754e-01 1.64992379e-03 -6.91154451e-03 1.37375420e+02] [ 6.91153606e-03 1.08241412e-05 9.99976115e-01 1.46935349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.49, Z:1.47 [[ 2.41431333e-03 -9.99997086e-01 1.40595400e-06 1.71553569e+02] [ 9.99973201e-01 2.41424594e-03 -6.91154411e-03 1.37485560e+02] [ 6.91152057e-03 1.80925494e-05 9.99976115e-01 1.46960665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.51, Z:1.47 [[ 1.98373715e-03 -9.99998032e-01 1.21922274e-06 1.71553134e+02] [ 9.99974147e-01 1.98368134e-03 -6.91154410e-03 1.37510895e+02] [ 6.91152808e-03 1.49298780e-05 9.99976115e-01 1.47019415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.57, Z:1.47 [[ 2.04947632e-03 -9.99997900e-01 1.50714947e-06 1.71553432e+02] [ 9.99974015e-01 2.04941695e-03 -6.91154404e-03 1.37570638e+02] [ 6.91152644e-03 1.56721562e-05 9.99976115e-01 1.46977991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:137.63, Z:1.47 [[ 2.43273611e-03 -9.99997041e-01 2.72843456e-06 1.71553600e+02] [ 9.99973156e-01 2.43265914e-03 -6.91154384e-03 1.37625230e+02] [ 6.91151675e-03 1.95423235e-05 9.99976115e-01 1.46864929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.54, Z:1.47 [[ 3.54428054e-03 -9.99993719e-01 4.08318519e-06 1.71554643e+02] [ 9.99969834e-01 3.54416766e-03 -6.91154370e-03 1.37535196e+02] [ 6.91148582e-03 2.85795119e-05 9.99976115e-01 1.47076358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.56, Z:1.47 [[ 4.70079807e-03 -9.99988951e-01 -1.69770939e-06 1.71553930e+02] [ 9.99965066e-01 4.70069752e-03 -6.91154228e-03 1.37560522e+02] [ 6.91147390e-03 3.07921145e-05 9.99976115e-01 1.47221947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.58, Z:1.47 [[ 5.41907198e-03 -9.99985317e-01 6.32589975e-06 1.71553496e+02] [ 9.99961432e-01 5.41889882e-03 -6.91154204e-03 1.37584987e+02] [ 6.91140627e-03 4.37797995e-05 9.99976115e-01 1.47285595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.55, Y:137.58, Z:1.47 [[ 6.15461589e-03 -9.99981060e-01 1.87300697e-06 1.71552247e+02] [ 9.99957176e-01 6.15445594e-03 -6.91154324e-03 1.37581685e+02] [ 6.91140081e-03 4.44108206e-05 9.99976115e-01 1.46939518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.61, Z:1.47 [[ 6.10429862e-03 -9.99981369e-01 -3.72225363e-07 1.71551728e+02] [ 9.99957484e-01 6.10415539e-03 -6.91154312e-03 1.37606024e+02] [ 6.91141662e-03 4.18179136e-05 9.99976115e-01 1.46725689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.79, Z:1.47 [[ 5.73951333e-03 -9.99983529e-01 1.53358802e-06 1.71550079e+02] [ 9.99959644e-01 5.73936564e-03 -6.91154270e-03 1.37787628e+02] [ 6.91142006e-03 4.12024176e-05 9.99976115e-01 1.46631623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.71, Z:1.46 [[ 4.97721882e-03 -9.99987614e-01 6.87295274e-07 1.71549411e+02] [ 9.99963729e-01 4.97709519e-03 -6.91154290e-03 1.37710942e+02] [ 6.91145387e-03 3.50875317e-05 9.99976115e-01 1.46283807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.64, Z:1.47 [[ 4.60560902e-03 -9.99989394e-01 5.95037929e-06 1.71548817e+02] [ 9.99965510e-01 4.60545789e-03 -6.91154235e-03 1.37642415e+02] [ 6.91144164e-03 3.77820358e-05 9.99976115e-01 1.46638868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.67, Z:1.47 [[ 2.42468651e-03 -9.99997060e-01 1.46193883e-06 1.71549922e+02] [ 9.99973176e-01 2.42461849e-03 -6.91154214e-03 1.37666662e+02] [ 6.91151828e-03 1.82202226e-05 9.99976115e-01 1.46672351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.76, Z:1.46 [[ 1.20141957e-03 -9.99999278e-01 1.82177475e-06 1.71549117e+02] [ 9.99975393e-01 1.20137828e-03 -6.91154205e-03 1.37759362e+02] [ 6.91153487e-03 1.01253918e-05 9.99976115e-01 1.46177336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.74, Z:1.46 [[ 1.56016329e-03 -9.99998783e-01 6.40310289e-06 1.71548263e+02] [ 9.99974898e-01 1.56008177e-03 -6.91154149e-03 1.37735416e+02] [ 6.91152309e-03 1.71860755e-05 9.99976115e-01 1.46244692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:137.68, Z:1.46 [[-9.26455637e-04 -9.99999571e-01 1.45761171e-06 1.71545727e+02] [ 9.99975686e-01 -9.26443585e-04 -6.91154065e-03 1.37678472e+02] [ 6.91153904e-03 -4.94565954e-06 9.99976115e-01 1.46499927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.55, Y:137.67, Z:1.47 [[-6.33221180e-05 -9.99999998e-01 9.83716462e-06 1.71546893e+02] [ 9.99976113e-01 -6.33885973e-05 -6.91154308e-03 1.37666655e+02] [ 6.91154369e-03 9.39927608e-06 9.99976115e-01 1.46809192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.69, Z:1.47 [[-1.49351952e-03 -9.99998885e-01 -3.04156207e-06 1.71547426e+02] [ 9.99975000e-01 -1.49346283e-03 -6.91153742e-03 1.37690612e+02] [ 6.91152516e-03 -1.33640021e-05 9.99976115e-01 1.46753068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.71, Z:1.47 [[-3.00279670e-03 -9.99995492e-01 -9.91564703e-07 1.71546911e+02] [ 9.99971607e-01 -3.00271813e-03 -6.91153771e-03 1.37714272e+02] [ 6.91150357e-03 -2.17454792e-05 9.99976115e-01 1.46681681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.72, Z:1.47 [[-4.88716711e-03 -9.99988058e-01 1.02789336e-06 1.71544814e+02] [ 9.99964173e-01 -4.88705748e-03 -6.91153741e-03 1.37715839e+02] [ 6.91145989e-03 -3.27499818e-05 9.99976115e-01 1.46774141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.74, Z:1.46 [[-6.10581856e-03 -9.99981359e-01 -1.17439258e-06 1.71544786e+02] [ 9.99957475e-01 -6.10566461e-03 -6.91153704e-03 1.37739993e+02] [ 6.91140103e-03 -4.33749338e-05 9.99976115e-01 1.46485758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.67, Z:1.47 [[-7.02895886e-03 -9.99975297e-01 1.10148408e-06 1.71547621e+02] [ 9.99951412e-01 -7.02879859e-03 -6.91153713e-03 1.37670422e+02] [ 6.91137413e-03 -4.74794796e-05 9.99976115e-01 1.46558379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.69, Z:1.46 [[-7.52229791e-03 -9.99971707e-01 -2.73276235e-06 1.71547591e+02] [ 9.99947823e-01 -7.52209935e-03 -6.91153562e-03 1.37694367e+02] [ 6.91131951e-03 -5.47232497e-05 9.99976115e-01 1.46452989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.55, Y:137.72, Z:1.46 [[-7.82056735e-03 -9.99969419e-01 -7.01595947e-07 1.71546329e+02] [ 9.99945535e-01 -7.82037571e-03 -6.91153582e-03 1.37720076e+02] [ 6.91131897e-03 -5.47536891e-05 9.99976115e-01 1.46235209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.66, Z:1.46 [[-7.41154407e-03 -9.99972534e-01 1.35890509e-06 1.71546856e+02] [ 9.99948650e-01 -7.41137644e-03 -6.91153512e-03 1.37661217e+02] [ 6.91135536e-03 -4.98663118e-05 9.99976115e-01 1.46282081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.61, Z:1.47 [[-6.56793774e-03 -9.99978431e-01 4.19372499e-06 1.71546605e+02] [ 9.99954546e-01 -6.56780985e-03 -6.91153451e-03 1.37605073e+02] [ 6.91141298e-03 -4.12009940e-05 9.99976115e-01 1.46638117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.63, Z:1.46 [[-6.43416352e-03 -9.99979301e-01 -8.71642410e-07 1.71545891e+02] [ 9.99955416e-01 -6.43400382e-03 -6.91153387e-03 1.37628348e+02] [ 6.91138520e-03 -4.53415426e-05 9.99976115e-01 1.46474690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.64, Z:1.47 [[-5.46219802e-03 -9.99985082e-01 1.19521389e-06 1.71544887e+02] [ 9.99961197e-01 -5.46207582e-03 -6.91153351e-03 1.37635821e+02] [ 6.91143694e-03 -3.65569972e-05 9.99976115e-01 1.46514568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.66, Z:1.47 [[-4.80504759e-03 -9.99988456e-01 -8.48670656e-06 1.71544030e+02] [ 9.99964571e-01 -4.80487417e-03 -6.91152867e-03 1.37660298e+02] [ 6.91140810e-03 -4.16966301e-05 9.99976115e-01 1.46797874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.68, Z:1.46 [[-5.22666035e-03 -9.99986341e-01 -1.12754005e-06 1.71542964e+02] [ 9.99962456e-01 -5.22652773e-03 -6.91152987e-03 1.37684846e+02] [ 6.91142957e-03 -3.72517169e-05 9.99976115e-01 1.46438454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.71, Z:1.47 [[-4.08121740e-03 -9.99991672e-01 7.66398065e-07 1.71543423e+02] [ 9.99967787e-01 -4.08112522e-03 -6.91153057e-03 1.37711264e+02] [ 6.91147614e-03 -2.74410854e-05 9.99976115e-01 1.46957462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.74, Z:1.47 [[-4.22107659e-03 -9.99991091e-01 2.53646927e-06 1.71543063e+02] [ 9.99967206e-01 -4.22099330e-03 -6.91153123e-03 1.37736388e+02] [ 6.91148036e-03 -2.66377166e-05 9.99976115e-01 1.46667395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.76, Z:1.47 [[-5.25232096e-03 -9.99986206e-01 -1.09132580e-06 1.71543122e+02] [ 9.99962322e-01 -5.25218797e-03 -6.91153065e-03 1.37761281e+02] [ 6.91142959e-03 -3.73928620e-05 9.99976115e-01 1.46888303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:137.81, Z:1.47 [[-6.89277376e-03 -9.99976245e-01 8.52011129e-07 1.71543707e+02] [ 9.99952360e-01 -6.89261502e-03 -6.91153041e-03 1.37805750e+02] [ 6.91137210e-03 -4.67876450e-05 9.99976115e-01 1.47011917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.76, Z:1.47 [[-8.17093981e-03 -9.99966617e-01 6.15292494e-06 1.71546323e+02] [ 9.99942733e-01 -8.17078717e-03 -6.91153024e-03 1.37757999e+02] [ 6.91134979e-03 -5.03211250e-05 9.99976115e-01 1.47217771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.78, Z:1.47 [[-1.01586248e-02 -9.99948400e-01 -1.37136134e-06 1.71546162e+02] [ 9.99924516e-01 -1.01583726e-02 -6.91152874e-03 1.37783349e+02] [ 6.91115818e-03 -7.15828848e-05 9.99976115e-01 1.47097765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.55, Y:137.78, Z:1.47 [[-1.08802029e-02 -9.99940809e-01 1.50936600e-06 1.71547674e+02] [ 9.99916925e-01 -1.08799534e-02 -6.91153082e-03 1.37775092e+02] [ 6.91113814e-03 -7.36896168e-05 9.99976115e-01 1.47049978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.80, Z:1.47 [[-1.21444980e-02 -9.99926253e-01 1.09949445e-05 1.71549546e+02] [ 9.99902369e-01 -1.21442839e-02 -6.91153265e-03 1.37800548e+02] [ 6.91115647e-03 -7.29432235e-05 9.99976115e-01 1.47213476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.82, Z:1.47 [[-1.38756686e-02 -9.99903728e-01 -2.02833804e-07 1.71552733e+02] [ 9.99879846e-01 -1.38753358e-02 -6.91153233e-03 1.37824920e+02] [ 6.91086413e-03 -9.61049418e-05 9.99976115e-01 1.47424934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:137.85, Z:1.48 [[-1.38358533e-02 -9.99904280e-01 1.74359643e-06 1.71554226e+02] [ 9.99880397e-01 -1.38355349e-02 -6.91153183e-03 1.37845922e+02] [ 6.91089439e-03 -9.38835525e-05 9.99976115e-01 1.47532796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.55, Y:137.87, Z:1.47 [[-1.42495559e-02 -9.99898470e-01 -7.31500485e-07 1.71554969e+02] [ 9.99874588e-01 -1.42492105e-02 -6.91153157e-03 1.37870073e+02] [ 6.91081942e-03 -9.92176641e-05 9.99976115e-01 1.47421901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.87, Z:1.47 [[-1.37947980e-02 -9.99904847e-01 1.21549834e-06 1.71557236e+02] [ 9.99880965e-01 -1.37944769e-02 -6.91153123e-03 1.37869988e+02] [ 6.91089035e-03 -9.41278233e-05 9.99976115e-01 1.47425162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.90, Z:1.47 [[-1.31936492e-02 -9.99912960e-01 -1.25769116e-06 1.71560298e+02] [ 9.99889077e-01 -1.31933254e-02 -6.91153078e-03 1.37895387e+02] [ 6.91091261e-03 -9.24458641e-05 9.99976115e-01 1.47418142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.56, Y:137.95, Z:1.47 [[-1.18789415e-02 -9.99929443e-01 6.81873453e-07 1.71561647e+02] [ 9.99905560e-01 -1.18786625e-02 -6.91153059e-03 1.37949171e+02] [ 6.91105103e-03 -8.14198582e-05 9.99976115e-01 1.46957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:137.97, Z:1.47 [[-1.05192689e-02 -9.99944671e-01 -4.55651088e-06 1.71563926e+02] [ 9.99920788e-01 -1.05189862e-02 -6.91152912e-03 1.37973663e+02] [ 6.91109878e-03 -7.72603836e-05 9.99976115e-01 1.47383676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:138.00, Z:1.47 [[-9.01978242e-03 -9.99959321e-01 -1.88377888e-07 1.71565282e+02] [ 9.99935437e-01 -9.01956568e-03 -6.91152924e-03 1.37997551e+02] [ 6.91124638e-03 -6.25288556e-05 9.99976115e-01 1.47430662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:138.02, Z:1.48 [[-3.99920043e-03 -9.99992003e-01 1.70957485e-06 1.71565189e+02] [ 9.99968118e-01 -3.99911673e-03 -6.91152877e-03 1.38018252e+02] [ 6.91148034e-03 -2.59310685e-05 9.99976115e-01 1.47724480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:138.04, Z:1.48 [[-1.62555681e-03 -9.99998679e-01 -4.94613715e-07 1.71565039e+02] [ 9.99974794e-01 -1.62551457e-03 -6.91152861e-03 1.38042307e+02] [ 6.91151868e-03 -1.17296837e-05 9.99976115e-01 1.47723053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.57, Y:138.07, Z:1.48 [[ 1.28046871e-03 -9.99999180e-01 1.53249450e-06 1.71566010e+02] [ 9.99975295e-01 1.28042754e-03 -6.91152816e-03 1.38067517e+02] [ 6.91152053e-03 1.03824522e-05 9.99976115e-01 1.47774021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.57, Y:138.09, Z:1.48 [[ 6.08651469e-03 -9.99981477e-01 -1.04102226e-06 1.71566189e+02] [ 9.99957593e-01 6.08637650e-03 -6.91152777e-03 1.38090911e+02] [ 6.91140609e-03 4.10261372e-05 9.99976115e-01 1.47681681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:138.08, Z:1.48 [[ 8.88307301e-03 -9.99960545e-01 1.00770186e-06 1.71565163e+02] [ 9.99936661e-01 8.88285388e-03 -6.91152748e-03 1.38082439e+02] [ 6.91124583e-03 6.24032412e-05 9.99976115e-01 1.47859719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.11, Z:1.48 [[ 1.04477775e-02 -9.99945421e-01 -1.61152973e-06 1.71563686e+02] [ 9.99921537e-01 1.04475391e-02 -6.91152687e-03 1.38105898e+02] [ 6.91116647e-03 7.05986917e-05 9.99976115e-01 1.47806888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.30, Z:1.47 [[ 1.19120546e-02 -9.99929049e-01 4.51125013e-07 1.71563287e+02] [ 9.99905166e-01 1.19117670e-02 -6.91152673e-03 1.38297609e+02] [ 6.91103098e-03 8.27815659e-05 9.99976115e-01 1.47453334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.12, Z:1.48 [[ 1.24435893e-02 -9.99922576e-01 2.51664092e-06 1.71562736e+02] [ 9.99898693e-01 1.24432747e-02 -6.91152584e-03 1.38124025e+02] [ 6.91095941e-03 8.85205748e-05 9.99976115e-01 1.47516734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.25, Z:1.47 [[ 1.21955942e-02 -9.99925631e-01 8.43676918e-08 1.71561794e+02] [ 9.99901748e-01 1.21953024e-02 -6.91152587e-03 1.38254318e+02] [ 6.91101084e-03 8.43745244e-05 9.99976115e-01 1.47224374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.28, Z:1.47 [[ 1.06498845e-02 -9.99943288e-01 -1.98912970e-06 1.71559859e+02] [ 9.99919405e-01 1.06496439e-02 -6.91152555e-03 1.38279834e+02] [ 6.91115477e-03 7.16179797e-05 9.99976115e-01 1.47120056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.28, Z:1.47 [[ 1.10576853e-02 -9.99938862e-01 8.20818562e-07 1.71559783e+02] [ 9.99914979e-01 1.10574155e-02 -6.91152514e-03 1.38282397e+02] [ 6.91109351e-03 7.72462189e-05 9.99976115e-01 1.47121859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.56, Y:138.31, Z:1.47 [[ 9.08473850e-03 -9.99958733e-01 -2.42036443e-06 1.71559004e+02] [ 9.99934849e-01 9.08453824e-03 -6.91152419e-03 1.38305887e+02] [ 6.91126096e-03 6.03691832e-05 9.99976115e-01 1.46845069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.33, Z:1.47 [[ 7.58664290e-03 -9.99971221e-01 -1.22490704e-07 1.71558454e+02] [ 9.99947337e-01 7.58646254e-03 -6.91152423e-03 1.38331388e+02] [ 6.91132625e-03 5.23127819e-05 9.99976115e-01 1.46800687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:138.36, Z:1.47 [[ 6.59926045e-03 -9.99978225e-01 2.66658790e-06 1.71557600e+02] [ 9.99954340e-01 6.59908440e-03 -6.91152152e-03 1.38357939e+02] [ 6.91135343e-03 4.82773968e-05 9.99976115e-01 1.47137193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:138.40, Z:1.47 [[ 6.46668267e-03 -9.99979091e-01 6.05271787e-06 1.71553824e+02] [ 9.99955207e-01 6.46648638e-03 -6.91151879e-03 1.38397710e+02] [ 6.91133513e-03 5.07470455e-05 9.99976115e-01 1.47464534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:138.26, Z:1.48 [[ 7.13539448e-03 -9.99974543e-01 4.83250259e-06 1.71552297e+02] [ 9.99950659e-01 7.13519065e-03 -6.91151933e-03 1.38260195e+02] [ 6.91130890e-03 5.41486810e-05 9.99976115e-01 1.47522189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:138.35, Z:1.47 [[ 6.34748835e-03 -9.99979855e-01 8.80664409e-07 1.71550476e+02] [ 9.99955970e-01 6.34733066e-03 -6.91151984e-03 1.38350340e+02] [ 6.91137501e-03 4.47514173e-05 9.99976115e-01 1.46946752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:138.34, Z:1.47 [[ 7.18186516e-03 -9.99974210e-01 9.77005235e-06 1.71549866e+02] [ 9.99950326e-01 7.18162610e-03 -6.91152032e-03 1.38343371e+02] [ 6.91127190e-03 5.94071740e-05 9.99976115e-01 1.47454564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:138.31, Z:1.47 [[ 1.00523504e-02 -9.99949474e-01 7.27123161e-06 1.71547142e+02] [ 9.99925591e-01 1.00520601e-02 -6.91151939e-03 1.38309226e+02] [ 6.91109709e-03 7.67477053e-05 9.99976115e-01 1.46947709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:138.33, Z:1.47 [[ 1.07179807e-02 -9.99942561e-01 -3.64236108e-06 1.71544559e+02] [ 9.99918677e-01 1.07177498e-02 -6.91151364e-03 1.38334477e+02] [ 6.91115569e-03 7.04354047e-05 9.99976115e-01 1.47345578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:138.36, Z:1.47 [[ 1.11252333e-02 -9.99938113e-01 -1.75490366e-06 1.71541117e+02] [ 9.99914229e-01 1.11249797e-02 -6.91151412e-03 1.38358182e+02] [ 6.91110591e-03 7.51374541e-05 9.99976115e-01 1.47330471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.54, Y:138.33, Z:1.47 [[ 1.27300246e-02 -9.99918970e-01 3.55872474e-07 1.71536267e+02] [ 9.99895087e-01 1.27297181e-02 -6.91151401e-03 1.38334017e+02] [ 6.91094944e-03 8.83395783e-05 9.99976115e-01 1.47144936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:138.36, Z:1.47 [[ 1.30193743e-02 -9.99915244e-01 -5.54667585e-06 1.71534528e+02] [ 9.99891361e-01 1.30191017e-02 -6.91151134e-03 1.38357633e+02] [ 6.91099776e-03 8.44374799e-05 9.99976115e-01 1.46938076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:138.38, Z:1.47 [[ 1.32752584e-02 -9.99911880e-01 -2.43824843e-06 1.71532081e+02] [ 9.99887997e-01 1.32749582e-02 -6.91151186e-03 1.38381320e+02] [ 6.91093519e-03 8.93141305e-05 9.99976115e-01 1.46861814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.53, Y:138.37, Z:1.47 [[ 1.37407563e-02 -9.99905591e-01 7.33572647e-07 1.71529108e+02] [ 9.99881709e-01 1.37404230e-02 -6.91151153e-03 1.38374417e+02] [ 6.91084894e-03 9.57028813e-05 9.99976115e-01 1.47259475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:138.40, Z:1.47 [[ 1.24426921e-02 -9.99922587e-01 -1.87706939e-06 1.71524309e+02] [ 9.99898704e-01 1.24424079e-02 -6.91151082e-03 1.38398598e+02] [ 6.91099913e-03 8.41209221e-05 9.99976115e-01 1.47297920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:138.40, Z:1.47 [[ 1.15283010e-02 -9.99933547e-01 7.34724328e-08 1.71522543e+02] [ 9.99909664e-01 1.15280251e-02 -6.91151080e-03 1.38398503e+02] [ 6.91105066e-03 7.97514423e-05 9.99976115e-01 1.47363017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:138.42, Z:1.47 [[ 1.00624598e-02 -9.99949372e-01 -2.51214617e-06 1.71520448e+02] [ 9.99925488e-01 1.00622368e-02 -6.91150986e-03 1.38422568e+02] [ 6.91118522e-03 6.70348313e-05 9.99976115e-01 1.47372749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.52, Y:138.45, Z:1.48 [[ 6.50053988e-03 -9.99978871e-01 -4.48043100e-07 1.71515779e+02] [ 9.99954987e-01 6.50038771e-03 -6.91150999e-03 1.38447579e+02] [ 6.91136687e-03 4.44805233e-05 9.99976115e-01 1.47644640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.47, Z:1.48 [[ 4.98022730e-03 -9.99987599e-01 1.55176032e-06 1.71514831e+02] [ 9.99963714e-01 4.98009762e-03 -6.91150954e-03 1.38474027e+02] [ 6.91141610e-03 3.59725925e-05 9.99976115e-01 1.47760761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.50, Z:1.48 [[ 3.13749626e-03 -9.99995078e-01 -1.03639570e-06 1.71513535e+02] [ 9.99971193e-01 3.13742848e-03 -6.91150915e-03 1.38497629e+02] [ 6.91147839e-03 2.06484683e-05 9.99976115e-01 1.47645478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.51, Y:138.49, Z:1.48 [[ 2.11279776e-03 -9.99997768e-01 8.87607429e-07 1.71512303e+02] [ 9.99973883e-01 2.11274116e-03 -6.91150891e-03 1.38492322e+02] [ 6.91149160e-03 1.54902048e-05 9.99976115e-01 1.47503468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.51, Y:138.52, Z:1.48 [[-1.47728461e-03 -9.99998909e-01 -1.33267114e-06 1.71508902e+02] [ 9.99975024e-01 -1.47724012e-03 -6.91150848e-03 1.38516864e+02] [ 6.91149897e-03 -1.15429030e-05 9.99976115e-01 1.47586027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.52, Z:1.48 [[-2.48626707e-03 -9.99996909e-01 6.19967554e-07 1.71508315e+02] [ 9.99973025e-01 -2.48621197e-03 -6.91150830e-03 1.38524347e+02] [ 6.91148848e-03 -1.65639047e-05 9.99976115e-01 1.47703665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.51, Y:138.55, Z:1.48 [[-3.87506670e-03 -9.99992492e-01 -1.93371910e-06 1.71507730e+02] [ 9.99968607e-01 -3.87496078e-03 -6.91150759e-03 1.38547879e+02] [ 6.91144820e-03 -2.87162113e-05 9.99976115e-01 1.47623309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.51, Y:138.55, Z:1.48 [[-4.50750620e-03 -9.99989841e-01 1.28501063e-07 1.71507478e+02] [ 9.99965957e-01 -4.50739943e-03 -6.91150755e-03 1.38550105e+02] [ 6.91143792e-03 -3.10251664e-05 9.99976115e-01 1.47777829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.51, Y:138.57, Z:1.48 [[-6.19279829e-03 -9.99980824e-01 -2.39644895e-06 1.71506596e+02] [ 9.99956940e-01 -6.19263382e-03 -6.91150667e-03 1.38573761e+02] [ 6.91135930e-03 -4.51979125e-05 9.99976115e-01 1.47635061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.60, Z:1.48 [[-7.35602796e-03 -9.99972944e-01 -3.33371308e-07 1.71505466e+02] [ 9.99949060e-01 -7.35584996e-03 -6.91150677e-03 1.38597940e+02] [ 6.91131732e-03 -5.11745914e-05 9.99976115e-01 1.47732039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.51, Y:138.58, Z:1.48 [[-6.76189804e-03 -9.99977138e-01 2.54684494e-06 1.71505407e+02] [ 9.99953254e-01 -6.76175414e-03 -6.91150838e-03 1.38579598e+02] [ 6.91136759e-03 -4.41881891e-05 9.99976115e-01 1.47900088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.60, Z:1.48 [[-7.97284105e-03 -9.99968216e-01 -5.51646403e-06 1.71503005e+02] [ 9.99944333e-01 -7.97261250e-03 -6.91150194e-03 1.38603077e+02] [ 6.91123829e-03 -6.06204634e-05 9.99976115e-01 1.47882753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.50, Y:138.63, Z:1.48 [[-8.50353108e-03 -9.99963844e-01 -3.44626429e-06 1.71503051e+02] [ 9.99939961e-01 -8.50330416e-03 -6.91150298e-03 1.38626914e+02] [ 6.91122378e-03 -6.22182377e-05 9.99976115e-01 1.47674622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.65, Z:1.48 [[-9.16151314e-03 -9.99958032e-01 -1.62337780e-06 1.71503820e+02] [ 9.99934149e-01 -9.16128311e-03 -6.91150340e-03 1.38651399e+02] [ 6.91119847e-03 -6.49431002e-05 9.99976115e-01 1.47852591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.65, Z:1.48 [[-8.79014453e-03 -9.99961366e-01 3.16478865e-07 1.71504800e+02] [ 9.99937482e-01 -8.78993677e-03 -6.91150332e-03 1.38649963e+02] [ 6.91123908e-03 -6.04366540e-05 9.99976115e-01 1.48131011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.67, Z:1.48 [[-8.19723377e-03 -9.99966402e-01 -2.17722424e-06 1.71503745e+02] [ 9.99942518e-01 -8.19702294e-03 -6.91150253e-03 1.38673839e+02] [ 6.91125247e-03 -5.88323011e-05 9.99976115e-01 1.48001117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.70, Z:1.48 [[-7.66489647e-03 -9.99970624e-01 -7.03839659e-08 1.71503065e+02] [ 9.99946740e-01 -7.66471291e-03 -6.91150255e-03 1.38697812e+02] [ 6.91129898e-03 -5.30463318e-05 9.99976115e-01 1.47880279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.71, Z:1.48 [[-6.71810837e-03 -9.99977433e-01 1.78095059e-06 1.71502635e+02] [ 9.99953549e-01 -6.71796023e-03 -6.91150207e-03 1.38707113e+02] [ 6.91135807e-03 -4.46513521e-05 9.99976115e-01 1.48158571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.73, Z:1.48 [[-6.28027420e-03 -9.99980279e-01 -7.49595140e-07 1.71501433e+02] [ 9.99956395e-01 -6.28011902e-03 -6.91150180e-03 1.38731675e+02] [ 6.91136079e-03 -4.41556889e-05 9.99976115e-01 1.48178035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.73, Z:1.48 [[-5.82061209e-03 -9.99983060e-01 1.16372578e-06 1.71502115e+02] [ 9.99959176e-01 -5.82048111e-03 -6.91150148e-03 1.38731056e+02] [ 6.91139117e-03 -3.90654908e-05 9.99976115e-01 1.48010854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.76, Z:1.48 [[-6.13346188e-03 -9.99981190e-01 -1.35164378e-06 1.71503661e+02] [ 9.99957306e-01 -6.13330605e-03 -6.91150099e-03 1.38755565e+02] [ 6.91136269e-03 -4.37430140e-05 9.99976115e-01 1.48068891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.76, Z:1.48 [[-5.72483272e-03 -9.99983613e-01 6.26700757e-07 1.71505669e+02] [ 9.99959729e-01 -5.72470031e-03 -6.91150081e-03 1.38762829e+02] [ 6.91139114e-03 -3.89405104e-05 9.99976115e-01 1.48220321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.51, Y:138.79, Z:1.48 [[-5.67780109e-03 -9.99983881e-01 -1.91272337e-06 1.71506248e+02] [ 9.99959997e-01 -5.67765226e-03 -6.91150010e-03 1.38786339e+02] [ 6.91137784e-03 -4.11547697e-05 9.99976115e-01 1.48091601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.84, Z:1.48 [[-5.72728471e-03 -9.99983599e-01 1.90644189e-07 1.71506007e+02] [ 9.99959715e-01 -5.72714923e-03 -6.91150005e-03 1.38836350e+02] [ 6.91138778e-03 -3.93934920e-05 9.99976115e-01 1.47960491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.79, Z:1.48 [[-4.49102598e-03 -9.99989915e-01 3.80505191e-06 1.71505607e+02] [ 9.99966031e-01 -4.49094502e-03 -6.91150049e-03 1.38787729e+02] [ 6.91144788e-03 -2.72348057e-05 9.99976115e-01 1.48171223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.81, Z:1.48 [[-2.51525094e-03 -9.99996837e-01 -3.00482291e-06 1.71506396e+02] [ 9.99972952e-01 -2.51517010e-03 -6.91149753e-03 1.38812327e+02] [ 6.91146811e-03 -2.03888923e-05 9.99976115e-01 1.48260382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.84, Z:1.48 [[-1.37675408e-03 -9.99999052e-01 -1.09378368e-06 1.71506251e+02] [ 9.99975168e-01 -1.37671364e-03 -6.91149784e-03 1.38836708e+02] [ 6.91148978e-03 -1.06091894e-05 9.99976115e-01 1.48271066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.86, Z:1.48 [[ 2.80781849e-04 -9.99999961e-01 8.83345695e-07 1.71505967e+02] [ 9.99976076e-01 2.80769035e-04 -6.91149758e-03 1.38856026e+02] [ 6.91149706e-03 2.82394762e-06 9.99976115e-01 1.48202310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.88, Z:1.48 [[ 1.20687431e-03 -9.99999272e-01 -1.33435227e-06 1.71505780e+02] [ 9.99975387e-01 1.20685471e-03 -6.91149716e-03 1.38879790e+02] [ 6.91149373e-03 7.00698892e-06 9.99976115e-01 1.48131255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.51, Y:138.91, Z:1.48 [[ 3.30318245e-03 -9.99994545e-01 5.29165674e-07 1.71505632e+02] [ 9.99970660e-01 3.30309990e-03 -6.91149701e-03 1.38907867e+02] [ 6.91145756e-03 2.33590858e-05 9.99976115e-01 1.48269529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.93, Z:1.48 [[ 3.30581358e-03 -9.99994536e-01 -2.03810452e-06 1.71505214e+02] [ 9.99970651e-01 3.30574871e-03 -6.91149626e-03 1.38932257e+02] [ 6.91146523e-03 2.08100735e-05 9.99976115e-01 1.48459321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.96, Z:1.49 [[ 3.04124060e-03 -9.99995375e-01 -3.40125259e-07 1.71504552e+02] [ 9.99971491e-01 3.04117031e-03 -6.91149634e-03 1.38956919e+02] [ 6.91146541e-03 2.06794077e-05 9.99976115e-01 1.48548584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.96, Z:1.49 [[ 2.94828303e-03 -9.99995654e-01 1.59454405e-06 1.71504012e+02] [ 9.99971769e-01 2.94820158e-03 -6.91149589e-03 1.38957718e+02] [ 6.91146115e-03 2.19715450e-05 9.99976115e-01 1.48575368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.98, Z:1.49 [[ 1.64471325e-03 -9.99998647e-01 -9.90224463e-07 1.71502749e+02] [ 9.99974763e-01 1.64468081e-03 -6.91149552e-03 1.38982588e+02] [ 6.91148780e-03 1.03772288e-05 9.99976115e-01 1.48691951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.87, Z:1.49 [[ 1.50232084e-03 -9.99998872e-01 1.27822670e-06 1.71503053e+02] [ 9.99974987e-01 1.50227612e-03 -6.91149574e-03 1.38871870e+02] [ 6.91148602e-03 1.16614788e-05 9.99976115e-01 1.48752349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.90, Z:1.49 [[ 2.48840833e-04 -9.99999969e-01 -3.15922746e-06 1.71503657e+02] [ 9.99976084e-01 2.48856723e-04 -6.91149371e-03 1.38896604e+02] [ 6.91149428e-03 -1.43929006e-06 9.99976115e-01 1.48675841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.92, Z:1.49 [[-2.03711483e-03 -9.99997925e-01 -1.27198789e-06 1.71503943e+02] [ 9.99974041e-01 -2.03705739e-03 -6.91149406e-03 1.38920899e+02] [ 6.91147713e-03 -1.53514619e-05 9.99976115e-01 1.49029979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.92, Z:1.49 [[-2.56381886e-03 -9.99996713e-01 7.24134154e-07 1.71503131e+02] [ 9.99972829e-01 -2.56376263e-03 -6.91149385e-03 1.38921386e+02] [ 6.91147299e-03 -1.69957038e-05 9.99976115e-01 1.48814810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.95, Z:1.49 [[-3.63031985e-03 -9.99993410e-01 -1.47813803e-06 1.71502664e+02] [ 9.99969526e-01 -3.63022292e-03 -6.91149338e-03 1.38945887e+02] [ 6.91144247e-03 -2.65690246e-05 9.99976115e-01 1.48742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.50, Y:138.89, Z:1.49 [[-5.19048875e-03 -9.99986529e-01 9.63892596e-07 1.71503602e+02] [ 9.99962645e-01 -5.19037144e-03 -6.91149393e-03 1.38885074e+02] [ 6.91140583e-03 -3.49101749e-05 9.99976115e-01 1.48568439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.91, Z:1.49 [[-6.93138882e-03 -9.99975978e-01 -3.90004958e-06 1.71503484e+02] [ 9.99952094e-01 -6.93119631e-03 -6.91149118e-03 1.38909715e+02] [ 6.91129812e-03 -5.18060954e-05 9.99976115e-01 1.48617844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.93, Z:1.49 [[-8.66080153e-03 -9.99962495e-01 -1.98284862e-06 1.71502810e+02] [ 9.99938611e-01 -8.66058097e-03 -6.91149173e-03 1.38932987e+02] [ 6.91121534e-03 -6.18417851e-05 9.99976115e-01 1.48543505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:138.93, Z:1.48 [[-1.11720163e-02 -9.99937591e-01 7.19936393e-09 1.71504980e+02] [ 9.99913708e-01 -1.11717495e-02 -6.91149173e-03 1.38927112e+02] [ 6.91106047e-03 -7.72080993e-05 9.99976115e-01 1.48485662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.51, Y:138.95, Z:1.48 [[-1.23093655e-02 -9.99924237e-01 -2.49001445e-06 1.71507082e+02] [ 9.99900354e-01 -1.23090543e-02 -6.91149083e-03 1.38951382e+02] [ 6.91093654e-03 -8.75658332e-05 9.99976115e-01 1.48437809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:138.98, Z:1.48 [[-1.30812019e-02 -9.99914437e-01 -6.05716776e-07 1.71509219e+02] [ 9.99890555e-01 -1.30808853e-02 -6.91149100e-03 1.38975606e+02] [ 6.91089171e-03 -9.10162595e-05 9.99976115e-01 1.48399106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.51, Y:138.99, Z:1.48 [[-1.25386922e-02 -9.99921388e-01 1.22863863e-06 1.71510400e+02] [ 9.99897505e-01 -1.25384013e-02 -6.91149067e-03 1.38993198e+02] [ 6.91096274e-03 -8.54325417e-05 9.99976115e-01 1.48334025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.51, Y:139.02, Z:1.48 [[-1.28064915e-02 -9.99917994e-01 -9.48389092e-07 1.71510029e+02] [ 9.99894111e-01 -1.28061791e-02 -6.91149037e-03 1.39018297e+02] [ 6.91091144e-03 -8.94602317e-05 9.99976115e-01 1.48351339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:139.02, Z:1.49 [[-1.21987415e-02 -9.99925593e-01 9.02696023e-07 1.71510479e+02] [ 9.99901710e-01 -1.21984564e-02 -6.91149013e-03 1.39015402e+02] [ 6.91098687e-03 -8.34088742e-05 9.99976115e-01 1.48715420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.51, Y:139.04, Z:1.49 [[-1.17352076e-02 -9.99931140e-01 -1.28246569e-06 1.71510963e+02] [ 9.99907257e-01 -1.17349184e-02 -6.91148972e-03 1.39039817e+02] [ 6.91099875e-03 -8.23901133e-05 9.99976115e-01 1.48906299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:139.04, Z:1.49 [[-1.06301697e-02 -9.99943498e-01 6.71925194e-07 1.71512811e+02] [ 9.99919615e-01 -1.06299205e-02 -6.91148953e-03 1.39040948e+02] [ 6.91110616e-03 -7.27984357e-05 9.99976115e-01 1.48870364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.07, Z:1.49 [[-8.61955932e-03 -9.99962851e-01 -1.49702793e-06 1.71515748e+02] [ 9.99938967e-01 -8.61934310e-03 -6.91148906e-03 1.39065527e+02] [ 6.91121940e-03 -6.10709265e-05 9.99976115e-01 1.48776388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.52, Y:139.08, Z:1.49 [[-7.16876781e-03 -9.99974304e-01 4.46864582e-07 1.71516756e+02] [ 9.99950420e-01 -7.16859967e-03 -6.91148894e-03 1.39084226e+02] [ 6.91131454e-03 -4.91000170e-05 9.99976115e-01 1.48884335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.11, Z:1.49 [[-6.41716859e-03 -9.99979410e-01 -1.76695423e-06 1.71517817e+02] [ 9.99955526e-01 -6.41700311e-03 -6.91148837e-03 1.39109534e+02] [ 6.91133472e-03 -4.61190618e-05 9.99976115e-01 1.48827751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.12, Z:1.49 [[-4.35824098e-03 -9.99990503e-01 5.27632979e-08 1.71519464e+02] [ 9.99966618e-01 -4.35813725e-03 -6.91148836e-03 1.39123235e+02] [ 6.91142295e-03 -3.00691703e-05 9.99976115e-01 1.48847364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.15, Z:1.49 [[-4.20858331e-03 -9.99991144e-01 -2.15461728e-06 1.71520079e+02] [ 9.99967260e-01 -4.20846790e-03 -6.91148767e-03 1.39146478e+02] [ 6.91141739e-03 -3.12421184e-05 9.99976115e-01 1.48563395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.17, Z:1.49 [[-4.21164799e-03 -9.99991131e-01 -3.94510200e-08 1.71521434e+02] [ 9.99967247e-01 -4.21154713e-03 -6.91148768e-03 1.39170745e+02] [ 6.91142622e-03 -2.91482030e-05 9.99976115e-01 1.48940168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:139.19, Z:1.49 [[-2.90847044e-03 -9.99995770e-01 3.34341958e-06 1.71524804e+02] [ 9.99971886e-01 -2.90842409e-03 -6.91149062e-03 1.39186231e+02] [ 6.91147111e-03 -1.67585406e-05 9.99976115e-01 1.48672616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:139.21, Z:1.49 [[-3.99288329e-03 -9.99992028e-01 -7.21377550e-06 1.71528114e+02] [ 9.99968144e-01 -3.99273806e-03 -6.91147960e-03 1.39209742e+02] [ 6.91139570e-03 -3.48102771e-05 9.99976115e-01 1.48610584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:139.23, Z:1.49 [[-4.19079405e-03 -9.99991219e-01 -5.30743391e-06 1.71531194e+02] [ 9.99967334e-01 -4.19065727e-03 -6.91148106e-03 1.39234686e+02] [ 6.91139813e-03 -3.42718542e-05 9.99976115e-01 1.49066292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:139.26, Z:1.49 [[-4.54657781e-03 -9.99989664e-01 -3.38257159e-06 1.71533367e+02] [ 9.99965780e-01 -4.54644584e-03 -6.91148200e-03 1.39259374e+02] [ 6.91139519e-03 -3.48060466e-05 9.99976115e-01 1.49201717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.28, Z:1.49 [[-4.65828757e-03 -9.99989150e-01 -1.33090552e-06 1.71535177e+02] [ 9.99965266e-01 -4.65816711e-03 -6.91148240e-03 1.39282591e+02] [ 6.91140121e-03 -3.35265318e-05 9.99976115e-01 1.49143378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.29, Z:1.49 [[-2.41707136e-03 -9.99997079e-01 7.89756728e-07 1.71537443e+02] [ 9.99973194e-01 -2.41701909e-03 -6.91148216e-03 1.39289935e+02] [ 6.91146387e-03 -1.59158101e-05 9.99976115e-01 1.48923762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.31, Z:1.49 [[-1.72356580e-03 -9.99998515e-01 -1.77091768e-06 1.71537923e+02] [ 9.99974630e-01 -1.72351240e-03 -6.91148150e-03 1.39314628e+02] [ 6.91146818e-03 -1.36832659e-05 9.99976115e-01 1.49039606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.54, Y:139.32, Z:1.49 [[ 1.24886188e-03 -9.99999220e-01 1.72803473e-06 1.71540808e+02] [ 9.99975336e-01 1.24882011e-03 -6.91148633e-03 1.39318882e+02] [ 6.91147878e-03 1.03594839e-05 9.99976115e-01 1.49177868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.34, Z:1.49 [[ 3.58307770e-03 -9.99993581e-01 -1.08116754e-05 1.71544433e+02] [ 9.99969696e-01 3.58306685e-03 -6.91146671e-03 1.39343682e+02] [ 6.91146108e-03 1.39529745e-05 9.99976115e-01 1.49148870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.37, Z:1.49 [[ 4.71305262e-03 -9.99988893e-01 -9.05596011e-06 1.71544215e+02] [ 9.99965009e-01 4.71300263e-03 -6.91146901e-03 1.39367723e+02] [ 6.91143493e-03 2.35184739e-05 9.99976115e-01 1.49135617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.39, Z:1.49 [[ 5.90995631e-03 -9.99982536e-01 -6.97963496e-06 1.71542843e+02] [ 9.99958652e-01 5.90986339e-03 -6.91147111e-03 1.39392111e+02] [ 6.91139165e-03 3.38671459e-05 9.99976115e-01 1.49026511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.42, Z:1.49 [[ 7.37899229e-03 -9.99972775e-01 1.18353660e-05 1.71543429e+02] [ 9.99948892e-01 7.37873424e-03 -6.91148360e-03 1.39417672e+02] [ 6.91120811e-03 6.28345453e-05 9.99976115e-01 1.49119636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.54, Y:139.44, Z:1.49 [[ 9.84668809e-03 -9.99951520e-01 -3.09787651e-06 1.71541242e+02] [ 9.99927637e-01 9.84647431e-03 -6.91147691e-03 1.39440920e+02] [ 6.91117235e-03 6.49575050e-05 9.99976115e-01 1.49377378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.47, Z:1.49 [[ 1.03905095e-02 -9.99946017e-01 1.95418839e-05 1.71540640e+02] [ 9.99922135e-01 1.03901263e-02 -6.91147686e-03 1.39465260e+02] [ 6.91090072e-03 9.13541282e-05 9.99976115e-01 1.49110852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.41, Z:1.49 [[ 1.19020535e-02 -9.99929168e-01 1.69895864e-06 1.71540693e+02] [ 9.99905285e-01 1.19017575e-02 -6.91145736e-03 1.39410104e+02] [ 6.91094759e-03 8.39593333e-05 9.99976116e-01 1.49285038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.44, Z:1.49 [[ 1.13122861e-02 -9.99936014e-01 -9.11664230e-06 1.71540373e+02] [ 9.99912131e-01 1.13120789e-02 -6.91144310e-03 1.39435003e+02] [ 6.91110399e-03 6.90683806e-05 9.99976116e-01 1.49360750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.46, Z:1.49 [[ 7.79001072e-03 -9.99969657e-01 -7.10844026e-06 1.71539225e+02] [ 9.99945773e-01 7.78987378e-03 -6.91144516e-03 1.39458723e+02] [ 6.91129082e-03 4.67321771e-05 9.99976116e-01 1.49122101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.48, Z:1.49 [[ 5.19006641e-03 -9.99986532e-01 -5.02873949e-06 1.71538495e+02] [ 9.99962647e-01 5.18997720e-03 -6.91144668e-03 1.39481912e+02] [ 6.91137969e-03 3.08423155e-05 9.99976116e-01 1.48974281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.51, Z:1.49 [[ 2.08982674e-03 -9.99997816e-01 -3.05222083e-06 1.71537869e+02] [ 9.99973932e-01 2.08979792e-03 -6.91144755e-03 1.39506349e+02] [ 6.91143883e-03 1.13915866e-05 9.99976116e-01 1.49151539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.53, Z:1.49 [[-1.15632486e-03 -9.99999331e-01 -1.09254945e-06 1.71537954e+02] [ 9.99975447e-01 -1.15628970e-03 -6.91144786e-03 1.39531310e+02] [ 6.91144197e-03 -9.08440164e-06 9.99976116e-01 1.49034324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.50, Z:1.49 [[-7.28014443e-03 -9.99973499e-01 8.66148184e-07 1.71540911e+02] [ 9.99949616e-01 -7.27997653e-03 -6.91144761e-03 1.39504514e+02] [ 6.91127076e-03 -4.94502323e-05 9.99976116e-01 1.48973387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:171.54, Y:139.53, Z:1.49 [[-1.03617670e-02 -9.99946315e-01 -1.39172382e-06 1.71542024e+02] [ 9.99922433e-01 -1.03615099e-02 -6.91144716e-03 1.39529076e+02] [ 6.91106170e-03 -7.30064211e-05 9.99976116e-01 1.48909553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.51, Z:1.49 [[-1.26509358e-02 -9.99919974e-01 5.11300060e-07 1.71543157e+02] [ 9.99896091e-01 -1.26506372e-02 -6.91144702e-03 1.39512195e+02] [ 6.91090039e-03 -8.69250257e-05 9.99976116e-01 1.48910360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:171.54, Y:139.54, Z:1.49 [[-1.46732621e-02 -9.99892342e-01 -1.54942044e-06 1.71543831e+02] [ 9.99868460e-01 -1.46729009e-02 -6.91144655e-03 1.39537635e+02] [ 6.91067975e-03 -1.02962683e-04 9.99976116e-01 1.48963405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.55, Y:139.42, Z:1.49 [[-1.73332487e-02 -9.99849768e-01 1.24388119e-06 1.71547194e+02] [ 9.99825887e-01 -1.73328433e-02 -6.91144852e-03 1.39420329e+02] [ 6.91043176e-03 -1.18554192e-04 9.99976116e-01 1.49375996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:139.44, Z:1.48 [[-1.86083207e-02 -9.99826850e-01 -6.48287007e-06 1.71549561e+02] [ 9.99802971e-01 -1.86078315e-02 -6.91144127e-03 1.39443165e+02] [ 6.91012393e-03 -1.35091908e-04 9.99976116e-01 1.48362469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:139.47, Z:1.49 [[-2.01858293e-02 -9.99796245e-01 1.30487225e-05 1.71551557e+02] [ 9.99772364e-01 -2.01854373e-02 -6.91144950e-03 1.39467690e+02] [ 6.91030466e-03 -1.26467587e-04 9.99976116e-01 1.48899781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:139.49, Z:1.49 [[-2.04488756e-02 -9.99790900e-01 -1.24064041e-06 1.71554897e+02] [ 9.99767021e-01 -2.04483787e-02 -6.91144694e-03 1.39492074e+02] [ 6.90997639e-03 -1.42571670e-04 9.99976116e-01 1.48994190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.49, Z:1.49 [[-1.94381786e-02 -9.99811061e-01 6.97080313e-07 1.71556897e+02] [ 9.99787181e-01 -1.94377192e-02 -6.91144674e-03 1.39486991e+02] [ 6.91015445e-03 -1.33649004e-04 9.99976116e-01 1.49028408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.51, Z:1.49 [[-1.89481842e-02 -9.99820467e-01 -1.77876072e-06 1.71558029e+02] [ 9.99796587e-01 -1.89477194e-02 -6.91144611e-03 1.39511855e+02] [ 6.91017157e-03 -1.32737753e-04 9.99976116e-01 1.49084722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.56, Y:139.52, Z:1.50 [[-1.68754657e-02 -9.99857599e-01 8.26020340e-07 1.71559293e+02] [ 9.99833718e-01 -1.68750684e-02 -6.91144700e-03 1.39520341e+02] [ 6.91047674e-03 -1.15808004e-04 9.99976116e-01 1.49501481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.55, Z:1.49 [[-1.45786690e-02 -9.99893726e-01 -3.35624257e-06 1.71561836e+02] [ 9.99869844e-01 -1.45782976e-02 -6.91144497e-03 1.39545060e+02] [ 6.91066153e-03 -1.04115474e-04 9.99976116e-01 1.49341732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.57, Z:1.49 [[-1.35874126e-02 -9.99907687e-01 -1.46252554e-06 1.71563712e+02] [ 9.99883805e-01 -1.35870780e-02 -6.91144537e-03 1.39570007e+02] [ 6.91078748e-03 -9.53710155e-05 9.99976116e-01 1.49194185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.58, Z:1.49 [[-1.18397260e-02 -9.99929908e-01 5.91710318e-07 1.71565497e+02] [ 9.99906025e-01 -1.18394473e-02 -6.91144563e-03 1.39576884e+02] [ 6.91096820e-03 -8.12379680e-05 9.99976116e-01 1.49257407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.57, Y:139.60, Z:1.49 [[-9.96862801e-03 -9.99950312e-01 -3.03628514e-06 1.71567801e+02] [ 9.99926429e-01 -9.96836893e-03 -6.91144404e-03 1.39600673e+02] [ 6.91107036e-03 -7.19336764e-05 9.99976116e-01 1.49225496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.63, Z:1.49 [[-9.22510428e-03 -9.99957448e-01 -1.05237355e-06 1.71569581e+02] [ 9.99933565e-01 -9.22487667e-03 -6.91144434e-03 1.39626270e+02] [ 6.91114054e-03 -6.48110984e-05 9.99976116e-01 1.49149259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.65, Z:1.49 [[-7.93035099e-03 -9.99968554e-01 7.58118919e-07 1.71570987e+02] [ 9.99944671e-01 -7.93016682e-03 -6.91144414e-03 1.39646815e+02] [ 6.91123282e-03 -5.40521009e-05 9.99976116e-01 1.49415438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.67, Z:1.49 [[-6.25255600e-03 -9.99980453e-01 -1.81620380e-06 1.71572762e+02] [ 9.99956569e-01 -6.25239411e-03 -6.91144347e-03 1.39669998e+02] [ 6.91129701e-03 -4.50303122e-05 9.99976116e-01 1.49436273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.70, Z:1.50 [[-5.58314304e-03 -9.99984414e-01 1.08942005e-07 1.71573475e+02] [ 9.99960530e-01 -5.58301045e-03 -6.91144344e-03 1.39699207e+02] [ 6.91133633e-03 -3.84786397e-05 9.99976116e-01 1.49512328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.72, Z:1.49 [[-5.53519836e-03 -9.99984681e-01 -2.47665136e-06 1.71574162e+02] [ 9.99960797e-01 -5.53504904e-03 -6.91144251e-03 1.39724515e+02] [ 6.91132292e-03 -4.07327596e-05 9.99976116e-01 1.49200231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.75, Z:1.49 [[-5.35344524e-03 -9.99985670e-01 2.40259905e-06 1.71574916e+02] [ 9.99961786e-01 -5.35333398e-03 -6.91144265e-03 1.39749384e+02] [ 6.91135647e-03 -3.45975225e-05 9.99976116e-01 1.49377604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:139.78, Z:1.50 [[-3.61766284e-03 -9.99993456e-01 2.11906666e-06 1.71576146e+02] [ 9.99969572e-01 -3.61759108e-03 -6.91144274e-03 1.39782319e+02] [ 6.91140517e-03 -2.28842674e-05 9.99976116e-01 1.49574366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:139.81, Z:1.49 [[-3.55734553e-03 -9.99993673e-01 -9.45810763e-06 1.71575735e+02] [ 9.99969789e-01 -3.55719520e-03 -6.91143803e-03 1.39806410e+02] [ 6.91136065e-03 -3.40441951e-05 9.99976116e-01 1.49291186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:139.83, Z:1.49 [[-3.42675558e-03 -9.99994129e-01 -8.57416941e-07 1.71575226e+02] [ 9.99970245e-01 -3.42666781e-03 -6.91143909e-03 1.39831506e+02] [ 6.91139558e-03 -2.45412039e-05 9.99976116e-01 1.49130657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.58, Y:139.81, Z:1.49 [[-2.59023554e-03 -9.99996645e-01 1.03686627e-06 1.71575769e+02] [ 9.99972761e-01 -2.59018084e-03 -6.91143881e-03 1.39813267e+02] [ 6.91141831e-03 -1.68654164e-05 9.99976116e-01 1.49139833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:139.84, Z:1.49 [[-2.18214977e-03 -9.99997619e-01 -6.51915025e-06 1.71575134e+02] [ 9.99973735e-01 -2.18205259e-03 -6.91143646e-03 1.39836784e+02] [ 6.91140578e-03 -2.16007685e-05 9.99976116e-01 1.49494198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.85, Z:1.50 [[-1.48256017e-03 -9.99998901e-01 1.74071393e-08 1.71574574e+02] [ 9.99975017e-01 -1.48252488e-03 -6.91143645e-03 1.39849435e+02] [ 6.91142888e-03 -1.02292137e-05 9.99976116e-01 1.49504239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.81, Z:1.50 [[ 2.94089541e-04 -9.99999957e-01 4.71815042e-06 1.71573503e+02] [ 9.99976073e-01 2.94049906e-04 -6.91143721e-03 1.39814691e+02] [ 6.91143552e-03 6.75061891e-06 9.99976116e-01 1.49845647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.84, Z:1.50 [[ 1.68366218e-03 -9.99998583e-01 -3.22687827e-06 1.71572658e+02] [ 9.99974698e-01 1.68364426e-03 -6.91143350e-03 1.39839251e+02] [ 6.91142913e-03 8.40972253e-06 9.99976116e-01 1.49860849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:139.86, Z:1.50 [[ 1.62160375e-03 -9.99998685e-01 -1.29148361e-06 1.71571740e+02] [ 9.99974801e-01 1.62157395e-03 -6.91143386e-03 1.39863566e+02] [ 6.91142687e-03 9.91615601e-06 9.99976116e-01 1.50183174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.95, Z:1.50 [[ 1.88961483e-03 -9.99998215e-01 7.47740513e-07 1.71571367e+02] [ 9.99974331e-01 1.88956453e-03 -6.91143364e-03 1.39949424e+02] [ 6.91141989e-03 1.38076688e-05 9.99976116e-01 1.50039973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:139.88, Z:1.50 [[ 1.39194298e-03 -9.99999031e-01 7.04469689e-08 1.71570623e+02] [ 9.99975147e-01 1.39190925e-03 -6.91143364e-03 1.39882041e+02] [ 6.91142685e-03 9.69076675e-06 9.99976116e-01 1.50078663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.91, Z:1.50 [[ 2.44344962e-04 -9.99999970e-01 -2.64709558e-06 1.71569760e+02] [ 9.99976086e-01 2.44357420e-04 -6.91143260e-03 1.39905572e+02] [ 6.91143304e-03 -9.58258548e-07 9.99976116e-01 1.49841494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.93, Z:1.50 [[-5.04908453e-05 -9.99999999e-01 -7.33021416e-07 1.71569328e+02] [ 9.99976115e-01 -5.04845750e-05 -6.91143281e-03 1.39929857e+02] [ 6.91143276e-03 -1.08196801e-06 9.99976116e-01 1.49858293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:140.01, Z:1.50 [[-1.55083229e-03 -9.99998797e-01 1.30476507e-06 1.71567033e+02] [ 9.99974913e-01 -1.55080426e-03 -6.91143242e-03 1.40006026e+02] [ 6.91142613e-03 -9.41374021e-06 9.99976116e-01 1.50001307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.93, Z:1.50 [[-1.97376388e-03 -9.99998052e-01 3.09175041e-07 1.71566729e+02] [ 9.99974168e-01 -1.97371888e-03 -6.91143252e-03 1.39928925e+02] [ 6.91141966e-03 -1.33323688e-05 9.99976116e-01 1.49927407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.95, Z:1.50 [[-2.84249638e-03 -9.99995960e-01 -2.06198235e-06 1.71567141e+02] [ 9.99972076e-01 -2.84241424e-03 -6.91143181e-03 1.39953540e+02] [ 6.91139803e-03 -2.17076447e-05 9.99976116e-01 1.50077182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:139.98, Z:1.50 [[-2.93240710e-03 -9.99995701e-01 -1.78616314e-08 1.71566421e+02] [ 9.99971816e-01 -2.93233694e-03 -6.91143182e-03 1.39976756e+02] [ 6.91140205e-03 -2.02849929e-05 9.99976116e-01 1.49956027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.08, Z:1.50 [[-2.02645361e-03 -9.99997947e-01 1.77508944e-06 1.71565541e+02] [ 9.99974063e-01 -2.02641748e-03 -6.91143242e-03 1.40081341e+02] [ 6.91142182e-03 -1.22306538e-05 9.99976116e-01 1.49914351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.96, Z:1.50 [[-5.32832621e-04 -9.99999858e-01 1.11426582e-06 1.71564498e+02] [ 9.99975974e-01 -5.32827598e-04 -6.91143227e-03 1.39960247e+02] [ 6.91143189e-03 -2.56839754e-06 9.99976116e-01 1.50029681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.98, Z:1.50 [[ 2.32283757e-05 -1.00000000e+00 -3.62365747e-06 1.71563540e+02] [ 9.99976116e-01 2.32528637e-05 -6.91142979e-03 1.39983669e+02] [ 6.91142987e-03 -3.46302965e-06 9.99976116e-01 1.49979360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.01, Z:1.50 [[ 8.66124827e-04 -9.99999625e-01 -1.62563897e-06 1.71561875e+02] [ 9.99975741e-01 8.66115374e-04 -6.91143026e-03 1.40008136e+02] [ 6.91142908e-03 4.36056180e-06 9.99976116e-01 1.50219816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.10, Z:1.50 [[ 8.20062615e-04 -9.99999664e-01 3.75156263e-07 1.71560669e+02] [ 9.99975780e-01 8.20040434e-04 -6.91143015e-03 1.40104612e+02] [ 6.91142752e-03 6.04295265e-06 9.99976116e-01 1.50157512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.00, Z:1.50 [[ 1.63405547e-03 -9.99998665e-01 1.74436913e-06 1.71560530e+02] [ 9.99974781e-01 1.63400438e-03 -6.91143017e-03 1.39995974e+02] [ 6.91141809e-03 1.30379854e-05 9.99976116e-01 1.50294735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.02, Z:1.50 [[ 1.19946766e-03 -9.99999281e-01 -2.31143556e-06 1.71560545e+02] [ 9.99975396e-01 1.19945498e-03 -6.91142882e-03 1.40020553e+02] [ 6.91142662e-03 5.97865663e-06 9.99976116e-01 1.50107311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.04, Z:1.50 [[ 6.30926041e-04 -9.99999801e-01 -3.07133939e-07 1.71560322e+02] [ 9.99975917e-01 6.30913093e-04 -6.91142890e-03 1.40043768e+02] [ 6.91142772e-03 4.05347392e-06 9.99976116e-01 1.49992588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.04, Z:1.50 [[ 5.93105266e-04 -9.99999824e-01 1.77491238e-06 1.71559535e+02] [ 9.99975940e-01 5.93078831e-04 -6.91142837e-03 1.40041600e+02] [ 6.91142610e-03 5.87407422e-06 9.99976116e-01 1.49819055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.07, Z:1.50 [[-1.11642212e-03 -9.99999377e-01 -1.17505138e-05 1.71559112e+02] [ 9.99975493e-01 -1.11631425e-03 -6.91142024e-03 1.40065963e+02] [ 6.91140282e-03 -1.94662883e-05 9.99976116e-01 1.50147423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13264 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:171.56, Y:140.09, Z:1.50 [[-2.01279982e-03 -9.99997974e-01 -1.94393391e-06 1.71558719e+02] [ 9.99974090e-01 -2.01273831e-03 -6.91142300e-03 1.40090333e+02] [ 6.91140509e-03 -1.58551945e-05 9.99976116e-01 1.50444775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:140.11, Z:1.50 [[-3.06287855e-03 -9.99995309e-01 -1.91376733e-07 1.71558538e+02] [ 9.99971425e-01 -3.06280408e-03 -6.91142305e-03 1.40113821e+02] [ 6.91139004e-03 -2.13602207e-05 9.99976116e-01 1.50374932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.56, Y:140.26, Z:1.50 [[-4.24756529e-03 -9.99990979e-01 1.85403292e-06 1.71558629e+02] [ 9.99967095e-01 -4.24747666e-03 -6.91142250e-03 1.40263741e+02] [ 6.91136803e-03 -2.75027464e-05 9.99976116e-01 1.50420142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.17, Z:1.50 [[-6.00826544e-03 -9.99981950e-01 5.24571625e-06 1.71559851e+02] [ 9.99958066e-01 -6.00815819e-03 -6.91142027e-03 1.40165176e+02] [ 6.91132704e-03 -3.62801513e-05 9.99976116e-01 1.50330986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.20, Z:1.50 [[-7.62300308e-03 -9.99970945e-01 2.34250103e-06 1.71560856e+02] [ 9.99947061e-01 -7.62283720e-03 -6.91142101e-03 1.40201780e+02] [ 6.91123805e-03 -5.03434066e-05 9.99976116e-01 1.50483875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.10, Z:1.51 [[-8.76028974e-03 -9.99961628e-01 3.52901593e-06 1.71561719e+02] [ 9.99937744e-01 -8.76010489e-03 -6.91142084e-03 1.40096784e+02] [ 6.91118655e-03 -5.70172529e-05 9.99976116e-01 1.50576471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.12, Z:1.51 [[-1.07955130e-02 -9.99941727e-01 -1.48082739e-06 1.71562021e+02] [ 9.99917844e-01 -1.07952449e-02 -6.91141977e-03 1.40121053e+02] [ 6.91100103e-03 -7.60930278e-05 9.99976116e-01 1.50600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.13, Z:1.51 [[-1.31932222e-02 -9.99912966e-01 4.43149055e-07 1.71565510e+02] [ 9.99889084e-01 -1.31929102e-02 -6.91141965e-03 1.40133302e+02] [ 6.91082396e-03 -9.07407953e-05 9.99976116e-01 1.50595598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.16, Z:1.51 [[-1.40872428e-02 -9.99900770e-01 -2.09706045e-06 1.71567194e+02] [ 9.99876888e-01 -1.40868918e-02 -6.91141888e-03 1.40156988e+02] [ 6.91070351e-03 -9.94596378e-05 9.99976116e-01 1.50770095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.18, Z:1.51 [[-1.57344259e-02 -9.99876206e-01 1.36755770e-05 1.71567597e+02] [ 9.99852324e-01 -1.57341446e-02 -6.91141768e-03 1.40181860e+02] [ 6.91077726e-03 -9.50736319e-05 9.99976116e-01 1.50762210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.21, Z:1.51 [[-1.65057478e-02 -9.99863771e-01 1.94989980e-06 1.71570140e+02] [ 9.99839890e-01 -1.65053671e-02 -6.91142099e-03 1.40209904e+02] [ 6.91051163e-03 -1.12128584e-04 9.99976116e-01 1.50691228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.18, Z:1.50 [[-1.62989477e-02 -9.99867163e-01 1.15071325e-06 1.71572274e+02] [ 9.99843282e-01 -1.62985664e-02 -6.91142112e-03 1.40181081e+02] [ 6.91052178e-03 -1.11498358e-04 9.99976116e-01 1.50355076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.57, Y:140.20, Z:1.51 [[-1.58603934e-02 -9.99874216e-01 -1.39926584e-06 1.71574286e+02] [ 9.99850335e-01 -1.58600049e-02 -6.91142060e-03 1.40204352e+02] [ 6.91052907e-03 -1.11016906e-04 9.99976116e-01 1.50642466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.25, Z:1.50 [[-1.50118260e-02 -9.99887316e-01 -2.05637834e-07 1.71576084e+02] [ 9.99863435e-01 -1.50114661e-02 -6.91142238e-03 1.40246403e+02] [ 6.91064048e-03 -1.03958680e-04 9.99976116e-01 1.50303148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.27, Z:1.51 [[-1.59363922e-02 -9.99873008e-01 3.80221147e-06 1.71579613e+02] [ 9.99849126e-01 -1.59360378e-02 -6.91142634e-03 1.40272051e+02] [ 6.91060923e-03 -1.06341563e-04 9.99976116e-01 1.50718214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:171.58, Y:140.30, Z:1.51 [[-1.62393875e-02 -9.99868132e-01 -4.87094353e-06 1.71581969e+02] [ 9.99844252e-01 -1.62389660e-02 -6.91142023e-03 1.40297428e+02] [ 6.91042973e-03 -1.17107416e-04 9.99976116e-01 1.51079091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.58, Y:140.32, Z:1.51 [[-1.69578745e-02 -9.99856205e-01 -2.91157097e-06 1.71583762e+02] [ 9.99832325e-01 -1.69574494e-02 -6.91142105e-03 1.40322186e+02] [ 6.91037785e-03 -1.20114094e-04 9.99976116e-01 1.51109228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:140.35, Z:1.51 [[-1.75118022e-02 -9.99846657e-01 -8.38818231e-07 1.71585203e+02] [ 9.99822776e-01 -1.75113781e-02 -6.91142130e-03 1.40345449e+02] [ 6.91034679e-03 -1.21870112e-04 9.99976116e-01 1.50819732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:140.35, Z:1.51 [[-1.77564809e-02 -9.99842341e-01 1.31161052e-06 1.71588869e+02] [ 9.99818461e-01 -1.77560659e-02 -6.91142089e-03 1.40346602e+02] [ 6.91035454e-03 -1.21411141e-04 9.99976116e-01 1.50812271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:140.37, Z:1.51 [[-1.87355194e-02 -9.99824475e-01 -1.24001365e-06 1.71591503e+02] [ 9.99800595e-01 -1.87350633e-02 -6.91142044e-03 1.40370722e+02] [ 6.91018408e-03 -1.30728818e-04 9.99976116e-01 1.50892011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:140.35, Z:1.51 [[-1.91328235e-02 -9.99816951e-01 8.53152456e-07 1.71595036e+02] [ 9.99793071e-01 -1.91323724e-02 -6.91142018e-03 1.40351768e+02] [ 6.91017137e-03 -1.31382006e-04 9.99976116e-01 1.50829509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.60, Y:140.38, Z:1.51 [[-2.05598089e-02 -9.99788625e-01 -1.68705731e-06 1.71600928e+02] [ 9.99764746e-01 -2.05593062e-02 -6.91141956e-03 1.40375065e+02] [ 6.90992397e-03 -1.43784125e-04 9.99976116e-01 1.50798682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:140.35, Z:1.51 [[-2.05942080e-02 -9.99787917e-01 3.79765072e-07 1.71604028e+02] [ 9.99764038e-01 -2.05937188e-02 -6.91141944e-03 1.40350401e+02] [ 6.90996147e-03 -1.41955534e-04 9.99976116e-01 1.50603628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:140.37, Z:1.51 [[-2.11405281e-02 -9.99776514e-01 -2.16491022e-06 1.71606885e+02] [ 9.99752636e-01 -2.11400082e-02 -6.91141865e-03 1.40374859e+02] [ 6.90982828e-03 -1.48275415e-04 9.99976116e-01 1.50720903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.61, Y:140.40, Z:1.51 [[-2.13179841e-02 -9.99772746e-01 -1.57738098e-07 1.71609795e+02] [ 9.99748867e-01 -2.13174738e-02 -6.91141869e-03 1.40399828e+02] [ 6.90984468e-03 -1.47495212e-04 9.99976116e-01 1.50802943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.62, Y:140.40, Z:1.51 [[-1.99620670e-02 -9.99800738e-01 1.85917534e-06 1.71615538e+02] [ 9.99776858e-01 -1.99616030e-02 -6.91141815e-03 1.40401758e+02] [ 6.91007808e-03 -1.36107431e-04 9.99976116e-01 1.50500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:140.40, Z:1.50 [[-1.92071349e-02 -9.99815526e-01 2.17728224e-06 1.71618590e+02] [ 9.99791646e-01 -1.92066912e-02 -6.91141805e-03 1.40403508e+02] [ 6.91018489e-03 -1.30571711e-04 9.99976116e-01 1.50295959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.62, Y:140.41, Z:1.51 [[-1.75514237e-02 -9.99845962e-01 4.73571649e-06 1.71622291e+02] [ 9.99822081e-01 -1.75510372e-02 -6.91141630e-03 1.40405267e+02] [ 6.91043479e-03 -1.16570322e-04 9.99976116e-01 1.50554915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.63, Y:140.44, Z:1.50 [[-1.28411411e-02 -9.99917549e-01 7.30239194e-06 1.71628446e+02] [ 9.99893666e-01 -1.28408849e-02 -6.91141359e-03 1.40435379e+02] [ 6.91093750e-03 -8.14488218e-05 9.99976116e-01 1.50355576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:140.43, Z:1.50 [[-1.05481169e-02 -9.99944367e-01 9.90343037e-06 1.71630752e+02] [ 9.99920484e-01 -1.05479334e-02 -6.91140986e-03 1.40425763e+02] [ 6.91112982e-03 -6.29997162e-05 9.99976116e-01 1.50251096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:140.43, Z:1.50 [[-7.53471762e-03 -9.99971614e-01 1.25280486e-05 1.71632804e+02] [ 9.99947730e-01 -7.53462424e-03 -6.91140510e-03 1.40433628e+02] [ 6.91130330e-03 -3.95480920e-05 9.99976116e-01 1.50231291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:140.44, Z:1.50 [[-4.35115387e-03 -9.99990534e-01 1.51552810e-05 1.71634475e+02] [ 9.99966649e-01 -4.35115470e-03 -6.91139934e-03 1.40444500e+02] [ 6.91139986e-03 -1.49177864e-05 9.99976116e-01 1.50218303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:140.46, Z:1.50 [[ 2.35525843e-03 -9.99997226e-01 1.78056832e-05 1.71639271e+02] [ 9.99973343e-01 2.35507911e-03 -6.91139251e-03 1.40457377e+02] [ 6.91133141e-03 3.40833240e-05 9.99976116e-01 1.50185866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:140.46, Z:1.50 [[ 4.93737746e-03 -9.99987811e-01 2.04846160e-05 1.71641243e+02] [ 9.99963928e-01 4.93711796e-03 -6.91138457e-03 1.40460347e+02] [ 6.91119919e-03 5.46079915e-05 9.99976116e-01 1.50253228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:140.46, Z:1.50 [[ 6.98382512e-03 -9.99975613e-01 2.31844473e-05 1.71642502e+02] [ 9.99951731e-01 6.98349809e-03 -6.91137552e-03 1.40455995e+02] [ 6.91104506e-03 7.14511661e-05 9.99976116e-01 1.50238056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:140.44, Z:1.50 [[ 8.55105482e-03 -9.99963439e-01 2.58874704e-05 1.71643209e+02] [ 9.99939558e-01 8.55067168e-03 -6.91136539e-03 1.40440775e+02] [ 6.91089135e-03 8.49853700e-05 9.99976116e-01 1.50294738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:140.42, Z:1.50 [[ 9.71426995e-03 -9.99952815e-01 2.85763444e-05 1.71644468e+02] [ 9.99928935e-01 9.71384045e-03 -6.91135427e-03 1.40417393e+02] [ 6.91075057e-03 9.57130748e-05 9.99976116e-01 1.50324055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.43, Z:1.50 [[ 1.10366739e-02 -9.99939094e-01 3.12315890e-05 1.71645850e+02] [ 9.99915214e-01 1.10361945e-02 -6.91134227e-03 1.40433558e+02] [ 6.91057665e-03 1.07507172e-04 9.99976116e-01 1.50480240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.42, Z:1.50 [[ 1.12786407e-02 -9.99936394e-01 3.35496118e-05 1.71646093e+02] [ 9.99912515e-01 1.12781395e-02 -6.91133102e-03 1.40420500e+02] [ 6.91051304e-03 1.11497096e-04 9.99976116e-01 1.50472656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.51 [[ 1.13038709e-02 -9.99936109e-01 3.62097268e-05 1.71646694e+02] [ 9.99912230e-01 1.13033506e-02 -6.91131709e-03 1.40407829e+02] [ 6.91046622e-03 1.14331184e-04 9.99976116e-01 1.50560731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.51 [[ 1.13762731e-02 -9.99935287e-01 3.88495421e-05 1.71648204e+02] [ 9.99911409e-01 1.13757330e-02 -6.91130225e-03 1.40405876e+02] [ 6.91041306e-03 1.17470963e-04 9.99976116e-01 1.50668300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.39, Z:1.50 [[ 1.11005570e-02 -9.99938386e-01 4.14797577e-05 1.71647746e+02] [ 9.99914508e-01 1.11000053e-02 -6.91128646e-03 1.40393721e+02] [ 6.91040020e-03 1.18195341e-04 9.99976116e-01 1.50487504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.40, Z:1.50 [[ 1.04669690e-02 -9.99945219e-01 4.41013114e-05 1.71646759e+02] [ 9.99921341e-01 1.04664143e-02 -6.91126973e-03 1.40399526e+02] [ 6.91042954e-03 1.16437888e-04 9.99976116e-01 1.50473058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.50 [[ 9.53470882e-03 -9.99954543e-01 4.67219894e-05 1.71645881e+02] [ 9.99930665e-01 9.53415822e-03 -6.91125202e-03 1.40408974e+02] [ 6.91049239e-03 1.12615525e-04 9.99976116e-01 1.50186714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.50 [[ 7.39684262e-03 -9.99972642e-01 4.93617785e-05 1.71645436e+02] [ 9.99948763e-01 7.39632483e-03 -6.91123316e-03 1.40409951e+02] [ 6.91067899e-03 1.00480553e-04 9.99976116e-01 1.50035321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.40, Z:1.50 [[ 5.23962093e-03 -9.99986272e-01 5.16819004e-05 1.71645388e+02] [ 9.99962393e-01 5.23913862e-03 -6.91121581e-03 1.40397454e+02] [ 6.91085016e-03 8.78921078e-05 9.99976116e-01 1.50478612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.50 [[ 2.63476877e-03 -9.99996528e-01 5.43282682e-05 1.71645110e+02] [ 9.99972647e-01 2.63433038e-03 -6.91119501e-03 1.40410304e+02] [ 6.91102789e-03 7.25361830e-05 9.99976116e-01 1.50372574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.65, Y:140.42, Z:1.51 [[-3.22609818e-04 -9.99999946e-01 5.69803642e-05 1.71645165e+02] [ 9.99976065e-01 -3.22995917e-04 -6.91117314e-03 1.40421244e+02] [ 6.91119118e-03 5.47493881e-05 9.99976116e-01 1.50687502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.42, Z:1.50 [[-6.91957998e-03 -9.99976058e-01 5.96610229e-05 1.71647138e+02] [ 9.99952175e-01 -6.91982705e-03 -6.91115000e-03 1.40416936e+02] [ 6.91139738e-03 1.18359144e-05 9.99976116e-01 1.50258924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.41, Z:1.50 [[-7.30874485e-03 -9.99973289e-01 6.23525536e-05 1.71647233e+02] [ 9.99949406e-01 -7.30900123e-03 -6.91112572e-03 1.40414425e+02] [ 6.91139685e-03 1.18377444e-05 9.99976116e-01 1.50257185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.40, Z:1.50 [[-1.07169626e-02 -9.99942570e-01 6.50422439e-05 1.71647861e+02] [ 9.99918686e-01 -1.07171562e-02 -6.91110041e-03 1.40400052e+02] [ 6.91140057e-03 -9.02904976e-06 9.99976116e-01 1.50499153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.38, Z:1.51 [[-1.36458727e-02 -9.99906888e-01 6.77210563e-05 1.71648448e+02] [ 9.99883005e-01 -1.36460149e-02 -6.91107416e-03 1.40379067e+02] [ 6.91135478e-03 -2.65945052e-05 9.99976116e-01 1.50607878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.38, Z:1.51 [[-1.62177647e-02 -9.99868481e-01 7.03695505e-05 1.71649497e+02] [ 9.99844597e-01 -1.62178637e-02 -6.91104719e-03 1.40379538e+02] [ 6.91127950e-03 -4.17231224e-05 9.99976116e-01 1.50541332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.36, Z:1.50 [[-2.04854227e-02 -9.99790149e-01 7.30035745e-05 1.71652813e+02] [ 9.99766265e-01 -2.04854380e-02 -6.91101937e-03 1.40357067e+02] [ 6.91106459e-03 -6.85886421e-05 9.99976116e-01 1.50436979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:140.36, Z:1.50 [[-2.22502647e-02 -9.99752429e-01 7.56211497e-05 1.71654223e+02] [ 9.99728545e-01 -2.22502559e-02 -6.91099072e-03 1.40361945e+02] [ 6.91096235e-03 -7.81707513e-05 9.99976116e-01 1.50458034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.35, Z:1.50 [[-2.36601738e-02 -9.99720056e-01 7.82267012e-05 1.71655173e+02] [ 9.99696172e-01 -2.36601493e-02 -6.91096123e-03 1.40349211e+02] [ 6.91087740e-03 -8.53116101e-05 9.99976116e-01 1.50467827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.36, Z:1.51 [[-2.50826077e-02 -9.99685379e-01 8.08292716e-05 1.71656727e+02] [ 9.99661495e-01 -2.50825673e-02 -6.91093079e-03 1.40361429e+02] [ 6.91078387e-03 -9.25422558e-05 9.99976116e-01 1.50643060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.36, Z:1.50 [[-2.56339067e-02 -9.99671394e-01 8.34365186e-05 1.71658013e+02] [ 9.99647510e-01 -2.56338710e-02 -6.91089931e-03 1.40364489e+02] [ 6.91076715e-03 -9.37462400e-05 9.99976116e-01 1.50441783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.47, Z:1.50 [[-2.62037374e-02 -9.99656619e-01 8.60626759e-05 1.71657632e+02] [ 9.99632735e-01 -2.62037063e-02 -6.91086661e-03 1.40472255e+02] [ 6.91074871e-03 -9.50594656e-05 9.99976116e-01 1.50440436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.37, Z:1.50 [[-2.42509917e-02 -9.99705897e-01 9.34785899e-05 1.71659513e+02] [ 9.99682013e-01 -2.42510585e-02 -6.91077183e-03 1.40370634e+02] [ 6.91100631e-03 -7.41442053e-05 9.99976116e-01 1.50358253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.66, Y:140.37, Z:1.50 [[-2.39802337e-02 -9.99712429e-01 8.60374097e-05 1.71660414e+02] [ 9.99688545e-01 -2.39802556e-02 -6.91086447e-03 1.40372521e+02] [ 6.91094031e-03 -7.97135326e-05 9.99976116e-01 1.50371509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.36, Z:1.50 [[-2.33794298e-02 -9.99726660e-01 8.86845241e-05 1.71661529e+02] [ 9.99702776e-01 -2.33794844e-02 -6.91083050e-03 1.40358794e+02] [ 6.91101489e-03 -7.29131120e-05 9.99976116e-01 1.50141501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:140.35, Z:1.50 [[-2.28063562e-02 -9.99739897e-01 9.13250275e-05 1.71662011e+02] [ 9.99716013e-01 -2.28064426e-02 -6.91079561e-03 1.40353278e+02] [ 6.91108089e-03 -6.63109739e-05 9.99976116e-01 1.50136506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.66, Y:140.35, Z:1.51 [[-2.15822605e-02 -9.99767072e-01 9.39520169e-05 1.71663004e+02] [ 9.99743188e-01 -2.15823943e-02 -6.91075990e-03 1.40354866e+02] [ 6.91117789e-03 -5.52219314e-05 9.99976116e-01 1.50534057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.66, Y:140.37, Z:1.50 [[-2.17084426e-02 -9.99764339e-01 9.62481296e-05 1.71663989e+02] [ 9.99740456e-01 -2.17085893e-02 -6.91072792e-03 1.40372076e+02] [ 6.91118874e-03 -5.37979915e-05 9.99976116e-01 1.50366962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.35, Z:1.50 [[-2.18119118e-02 -9.99762087e-01 9.88973743e-05 1.71665756e+02] [ 9.99738204e-01 -2.18120744e-02 -6.91069000e-03 1.40351779e+02] [ 6.91120302e-03 -5.18638776e-05 9.99976116e-01 1.50223334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.38, Z:1.50 [[-2.31187513e-02 -9.99732721e-01 1.01548381e-04 1.71668015e+02] [ 9.99708837e-01 -2.31189009e-02 -6.91065105e-03 1.40378821e+02] [ 6.91115166e-03 -5.82468092e-05 9.99976116e-01 1.50059704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.36, Z:1.50 [[-2.41886479e-02 -9.99707406e-01 1.04211326e-04 1.71669368e+02] [ 9.99683523e-01 -2.41887904e-02 -6.91061089e-03 1.40361123e+02] [ 6.91110964e-03 -6.29799880e-05 9.99976116e-01 1.50029613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.37, Z:1.50 [[-2.52034135e-02 -9.99682338e-01 1.06887710e-04 1.71670316e+02] [ 9.99658454e-01 -2.52035502e-02 -6.91056950e-03 1.40369193e+02] [ 6.91106822e-03 -6.73187374e-05 9.99976116e-01 1.49899401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.35, Z:1.50 [[-2.59900381e-02 -9.99662196e-01 1.09559137e-04 1.71672233e+02] [ 9.99638312e-01 -2.59901745e-02 -6.91052714e-03 1.40346133e+02] [ 6.91104020e-03 -7.00853524e-05 9.99976116e-01 1.49867609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.34, Z:1.50 [[-2.68207156e-02 -9.99640254e-01 1.12220723e-04 1.71674642e+02] [ 9.99616370e-01 -2.68208505e-02 -6.91048392e-03 1.40338541e+02] [ 6.91100775e-03 -7.31664522e-05 9.99976116e-01 1.49993267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.34, Z:1.50 [[-2.67584877e-02 -9.99641921e-01 1.14854773e-04 1.71679181e+02] [ 9.99618038e-01 -2.67586424e-02 -6.91044014e-03 1.40337443e+02] [ 6.91103902e-03 -7.01020249e-05 9.99976116e-01 1.50180256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.34, Z:1.50 [[-2.63481580e-02 -9.99652820e-01 1.17155639e-04 1.71680654e+02] [ 9.99628937e-01 -2.63483383e-02 -6.91040113e-03 1.40338913e+02] [ 6.91108884e-03 -6.49641739e-05 9.99976116e-01 1.50218162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.34, Z:1.50 [[-2.38488994e-02 -9.99715567e-01 1.19792045e-04 1.71683399e+02] [ 9.99691685e-01 -2.38491577e-02 -6.91035543e-03 1.40344643e+02] [ 6.91124684e-03 -4.50492601e-05 9.99976116e-01 1.49914588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.68, Y:140.35, Z:1.50 [[-2.22529001e-02 -9.99752366e-01 1.22441144e-04 1.71683746e+02] [ 9.99728484e-01 -2.22532149e-02 -6.91030849e-03 1.40347298e+02] [ 6.91132198e-03 -3.13665058e-05 9.99976116e-01 1.50070465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.68, Y:140.36, Z:1.50 [[-2.04464437e-02 -9.99790942e-01 1.25102643e-04 1.71683301e+02] [ 9.99767061e-01 -2.04468200e-02 -6.91026031e-03 1.40364790e+02] [ 6.91137361e-03 -1.62167472e-05 9.99976116e-01 1.49914650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.35, Z:1.50 [[-1.82644603e-02 -9.99833183e-01 1.27788822e-04 1.71683186e+02] [ 9.99809303e-01 -1.82649072e-02 -6.91021064e-03 1.40350712e+02] [ 6.91139194e-03 1.55318581e-06 9.99976116e-01 1.49905568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.34, Z:1.50 [[-1.42300301e-02 -9.99898740e-01 1.30483153e-04 1.71684559e+02] [ 9.99874862e-01 -1.42305921e-02 -6.91015976e-03 1.40340237e+02] [ 6.91131688e-03 3.21350433e-05 9.99976116e-01 1.50083828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.69, Y:140.33, Z:1.50 [[-1.27703964e-02 -9.99918446e-01 1.33158452e-04 1.71686007e+02] [ 9.99894570e-01 -1.27710116e-02 -6.91010821e-03 1.40328698e+02] [ 6.91124523e-03 4.48995930e-05 9.99976116e-01 1.50278479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:171.69, Y:140.34, Z:1.50 [[-1.20458786e-02 -9.99927437e-01 1.35817187e-04 1.71686809e+02] [ 9.99903561e-01 -1.20465296e-02 -6.91005595e-03 1.40342462e+02] [ 6.91119066e-03 5.25663941e-05 9.99976116e-01 1.50225252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.31, Z:1.50 [[-1.15208311e-02 -9.99933623e-01 1.38482592e-04 1.71687980e+02] [ 9.99909749e-01 -1.15215130e-02 -6.91000253e-03 1.40311932e+02] [ 6.91113940e-03 5.88611213e-05 9.99976116e-01 1.50036139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.32, Z:1.50 [[-1.13796866e-02 -9.99935239e-01 1.41136410e-04 1.71686710e+02] [ 9.99911366e-01 -1.13803902e-02 -6.90994833e-03 1.40319843e+02] [ 6.91110702e-03 6.24908539e-05 9.99976116e-01 1.50378973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.42, Z:1.50 [[-1.20935963e-02 -9.99926859e-01 1.43773519e-04 1.71684085e+02] [ 9.99902986e-01 -1.20943011e-02 -6.90989346e-03 1.40424283e+02] [ 6.91112690e-03 6.01941087e-05 9.99976116e-01 1.50349266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.32, Z:1.50 [[-1.15271770e-02 -9.99933548e-01 1.53607208e-04 1.71686667e+02] [ 9.99909677e-01 -1.15279632e-02 -6.90968590e-03 1.40316432e+02] [ 6.91099752e-03 7.39441616e-05 9.99976116e-01 1.50243824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.32, Z:1.50 [[-1.26373884e-02 -9.99920134e-01 1.47221587e-04 1.71687985e+02] [ 9.99896261e-01 -1.26381041e-02 -6.90982196e-03 1.40321355e+02] [ 6.91113070e-03 5.98842107e-05 9.99976116e-01 1.50153820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.30, Z:1.50 [[-1.32175094e-02 -9.99912634e-01 1.49877118e-04 1.71688694e+02] [ 9.99888761e-01 -1.32182295e-02 -6.90976436e-03 1.40303840e+02] [ 6.91114179e-03 5.85305703e-05 9.99976116e-01 1.50105341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.31, Z:1.50 [[-1.37424458e-02 -9.99905557e-01 1.52525098e-04 1.71689350e+02] [ 9.99881684e-01 -1.37431717e-02 -6.90970590e-03 1.40310585e+02] [ 6.91114951e-03 5.75507930e-05 9.99976116e-01 1.50062483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.30, Z:1.50 [[-1.40992699e-02 -9.99900588e-01 1.55166927e-04 1.71690632e+02] [ 9.99876716e-01 -1.41000055e-02 -6.90964658e-03 1.40302529e+02] [ 6.91114753e-03 5.77268258e-05 9.99976116e-01 1.49986487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.30, Z:1.50 [[-1.41921291e-02 -9.99899274e-01 1.57812679e-04 1.71690863e+02] [ 9.99875402e-01 -1.41928808e-02 -6.90958615e-03 1.40299817e+02] [ 6.91112999e-03 5.97312773e-05 9.99976116e-01 1.50183452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.32, Z:1.50 [[-1.41982185e-02 -9.99899187e-01 1.60452697e-04 1.71689692e+02] [ 9.99875316e-01 -1.41989883e-02 -6.90952484e-03 1.40320899e+02] [ 6.91110654e-03 6.23297477e-05 9.99976116e-01 1.50009123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.30, Z:1.50 [[-1.40128150e-02 -9.99901802e-01 1.63116096e-04 1.71690703e+02] [ 9.99877932e-01 -1.40136077e-02 -6.90946197e-03 1.40301845e+02] [ 6.91106932e-03 6.62751726e-05 9.99976116e-01 1.49868533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.29, Z:1.50 [[-1.40860052e-02 -9.99900774e-01 1.65786185e-04 1.71692163e+02] [ 9.99876903e-01 -1.40868146e-02 -6.90939790e-03 1.40289887e+02] [ 6.91104770e-03 6.84399624e-05 9.99976116e-01 1.49906474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.69, Y:140.29, Z:1.50 [[-1.36381093e-02 -9.99906983e-01 1.68430955e-04 1.71693636e+02] [ 9.99883113e-01 -1.36389476e-02 -6.90933343e-03 1.40285688e+02] [ 6.91098796e-03 7.41810234e-05 9.99976116e-01 1.50224961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.27, Z:1.50 [[-1.37604392e-02 -9.99905306e-01 1.70732860e-04 1.71693936e+02] [ 9.99881437e-01 -1.37612905e-02 -6.90927655e-03 1.40271654e+02] [ 6.91097178e-03 7.56379381e-05 9.99976116e-01 1.50185629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.28, Z:1.50 [[-1.39480457e-02 -9.99902706e-01 1.73351896e-04 1.71693796e+02] [ 9.99878838e-01 -1.39489106e-02 -6.90921083e-03 1.40275416e+02] [ 6.91095668e-03 7.69609039e-05 9.99976116e-01 1.50230920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.28, Z:1.50 [[-1.40034445e-02 -9.99901932e-01 1.75966175e-04 1.71693905e+02] [ 9.99878064e-01 -1.40043261e-02 -6.90914425e-03 1.40276111e+02] [ 6.91093097e-03 7.91929006e-05 9.99976116e-01 1.50044211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.28, Z:1.50 [[-1.43316407e-02 -9.99897281e-01 1.78589909e-04 1.71693826e+02] [ 9.99873414e-01 -1.43325326e-02 -6.90907643e-03 1.40284060e+02] [ 6.91092638e-03 7.95489009e-05 9.99976116e-01 1.50107873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.27, Z:1.50 [[-1.47896763e-02 -9.99890610e-01 1.81225801e-04 1.71694391e+02] [ 9.99866743e-01 -1.47905755e-02 -6.90900729e-03 1.40271315e+02] [ 6.91093195e-03 7.90196701e-05 9.99976116e-01 1.50109804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.27, Z:1.50 [[-1.50507249e-02 -9.99886715e-01 1.83861666e-04 1.71695488e+02] [ 9.99862848e-01 -1.50516361e-02 -6.90893715e-03 1.40265189e+02] [ 6.91092188e-03 7.98519360e-05 9.99976116e-01 1.50120033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.27, Z:1.50 [[-1.58763754e-02 -9.99873945e-01 1.85006452e-04 1.71696009e+02] [ 9.99850078e-01 -1.58772748e-02 -6.90890649e-03 1.40266792e+02] [ 6.91097299e-03 7.52903224e-05 9.99976116e-01 1.50144628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.27, Z:1.50 [[-1.65784156e-02 -9.99862551e-01 1.87631837e-04 1.71696504e+02] [ 9.99838684e-01 -1.65793163e-02 -6.90883519e-03 1.40273248e+02] [ 6.91099639e-03 7.30640285e-05 9.99976116e-01 1.49978624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.33, Z:1.50 [[-1.74690845e-02 -9.99847386e-01 1.90269802e-04 1.71695478e+02] [ 9.99823519e-01 -1.74699822e-02 -6.90876254e-03 1.40326190e+02] [ 6.91103217e-03 6.95464665e-05 9.99976116e-01 1.50049516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:171.69, Y:140.39, Z:1.50 [[-1.68424985e-02 -9.99858136e-01 1.94280108e-04 1.71691738e+02] [ 9.99834271e-01 -1.68434389e-02 -6.90865065e-03 1.40387230e+02] [ 6.91094291e-03 7.78889724e-05 9.99976116e-01 1.50171165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-1.70391931e-02 -9.99854803e-01 1.95716258e-04 1.71693927e+02] [ 9.99830938e-01 -1.70401387e-02 -6.90860997e-03 1.40258601e+02] [ 6.91094189e-03 7.79660310e-05 9.99976116e-01 1.49982108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-1.69321556e-02 -9.99856622e-01 1.96059991e-04 1.71694821e+02] [ 9.99832757e-01 -1.69331062e-02 -6.90860021e-03 1.40255944e+02] [ 6.91092957e-03 7.90497070e-05 9.99976116e-01 1.49890405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.25, Z:1.50 [[-1.76245089e-02 -9.99844657e-01 1.98689155e-04 1.71694830e+02] [ 9.99820792e-01 -1.76254611e-02 -6.90852460e-03 1.40253444e+02] [ 6.91095339e-03 7.68941953e-05 9.99976116e-01 1.49660010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.27, Z:1.49 [[-1.78899218e-02 -9.99839942e-01 2.01318290e-04 1.71693092e+02] [ 9.99816078e-01 -1.78908858e-02 -6.90844798e-03 1.40270415e+02] [ 6.91094399e-03 7.76896694e-05 9.99976116e-01 1.49483659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.49 [[-1.84479726e-02 -9.99829801e-01 2.03965759e-04 1.71692354e+02] [ 9.99805937e-01 -1.84489416e-02 -6.90836982e-03 1.40256261e+02] [ 6.91095697e-03 7.64807592e-05 9.99976116e-01 1.49429392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-1.98667249e-02 -9.99802616e-01 2.06620722e-04 1.71690787e+02] [ 9.99778751e-01 -1.98676784e-02 -6.90829041e-03 1.40257990e+02] [ 6.91103190e-03 6.93299028e-05 9.99976116e-01 1.49603792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-2.11964848e-02 -9.99775307e-01 2.08934898e-04 1.71690299e+02] [ 9.99751442e-01 -2.11974225e-02 -6.90822042e-03 1.40257644e+02] [ 6.91109707e-03 6.24529763e-05 9.99976116e-01 1.49728581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-2.27309450e-02 -9.99741596e-01 2.11588021e-04 1.71689988e+02] [ 9.99717730e-01 -2.27318645e-02 -6.90813916e-03 1.40255195e+02] [ 6.91116386e-03 5.44997645e-05 9.99976116e-01 1.49855192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-2.46062089e-02 -9.99697199e-01 2.13907789e-04 1.71689825e+02] [ 9.99673331e-01 -2.46070996e-02 -6.90806732e-03 1.40258300e+02] [ 6.91123920e-03 4.38565645e-05 9.99976116e-01 1.50031093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-2.49918123e-02 -9.99687632e-01 2.16566621e-04 1.71689976e+02] [ 9.99663766e-01 -2.49927122e-02 -6.90798397e-03 1.40255806e+02] [ 6.91123873e-03 4.38507651e-05 9.99976116e-01 1.50029354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.25, Z:1.50 [[-2.65965901e-02 -9.99646224e-01 2.19231214e-04 1.71690533e+02] [ 9.99622356e-01 -2.65974701e-02 -6.90789941e-03 1.40253959e+02] [ 6.91128655e-03 3.54218537e-05 9.99976116e-01 1.49840960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-2.92650210e-02 -9.99571663e-01 2.21895774e-04 1.71690847e+02] [ 9.99547794e-01 -2.92658556e-02 -6.90781381e-03 1.40261997e+02] [ 6.91134891e-03 1.96381154e-05 9.99976116e-01 1.50106160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.25, Z:1.50 [[-3.05718527e-02 -9.99532546e-01 2.24571057e-04 1.71691462e+02] [ 9.99508677e-01 -3.05726746e-02 -6.90772684e-03 1.40250164e+02] [ 6.91136354e-03 1.32787127e-05 9.99976116e-01 1.50077991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.28, Z:1.50 [[-3.20405014e-02 -9.99486546e-01 2.27248538e-04 1.71690560e+02] [ 9.99462675e-01 -3.20413067e-02 -6.90763876e-03 1.40282745e+02] [ 6.91137334e-03 5.80222261e-06 9.99976116e-01 1.50122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-3.43277887e-02 -9.99410601e-01 2.31198117e-04 1.71691744e+02] [ 9.99386730e-01 -3.43285668e-02 -6.90750735e-03 1.40257739e+02] [ 6.91137277e-03 -6.06312275e-06 9.99976116e-01 1.50269394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.26, Z:1.50 [[-3.57580079e-02 -9.99360451e-01 2.32318042e-04 1.71692019e+02] [ 9.99336579e-01 -3.57587595e-02 -6.90746968e-03 1.40257911e+02] [ 6.91135942e-03 -1.48334378e-05 9.99976116e-01 1.50293493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.23, Z:1.50 [[-3.72029672e-02 -9.99307702e-01 2.35011288e-04 1.71693875e+02] [ 9.99283830e-01 -3.72037029e-02 -6.90737805e-03 1.40233867e+02] [ 6.91133938e-03 -2.21319792e-05 9.99976116e-01 1.50213291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.24, Z:1.50 [[-3.95342605e-02 -9.99218187e-01 2.37685495e-04 1.71697987e+02] [ 9.99194314e-01 -3.95349589e-02 -6.90728603e-03 1.40241125e+02] [ 6.91128271e-03 -3.55804498e-05 9.99976116e-01 1.49875054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.29, Z:1.50 [[-4.05152917e-02 -9.99178890e-01 2.40348020e-04 1.71698426e+02] [ 9.99155016e-01 -4.05159852e-02 -6.90719338e-03 1.40293368e+02] [ 6.91125975e-03 -3.97020249e-05 9.99976116e-01 1.49772657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.23, Z:1.50 [[-4.08294356e-02 -9.99166101e-01 2.43470281e-04 1.71701890e+02] [ 9.99142228e-01 -4.08301432e-02 -6.90708352e-03 1.40233988e+02] [ 6.91126463e-03 -3.87508828e-05 9.99976116e-01 1.49765096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264000000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.70, Y:140.25, Z:1.50 [[-4.04672411e-02 -9.99180836e-01 2.45458148e-04 1.71703122e+02] [ 9.99156963e-01 -4.04679710e-02 -6.90701287e-03 1.40247793e+02] [ 6.91128809e-03 -3.42565368e-05 9.99976116e-01 1.50014138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.70, Y:140.28, Z:1.50 [[-3.95868426e-02 -9.99216103e-01 2.48140313e-04 1.71702887e+02] [ 9.99192232e-01 -3.95876121e-02 -6.90691651e-03 1.40283885e+02] [ 6.91132548e-03 -2.54831432e-05 9.99976116e-01 1.49997586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.71, Y:140.23, Z:1.50 [[-3.53537299e-02 -9.99374830e-01 2.51823283e-04 1.71706422e+02] [ 9.99350963e-01 -3.53546259e-02 -6.90678278e-03 1.40229673e+02] [ 6.91136798e-03 7.47930773e-06 9.99976116e-01 1.50139318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.28, Z:1.50 [[-3.25974761e-02 -9.99468529e-01 2.53266372e-04 1.71704207e+02] [ 9.99444665e-01 -3.25984479e-02 -6.90672986e-03 1.40280969e+02] [ 6.91131522e-03 2.79837633e-05 9.99976116e-01 1.49742900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.71, Y:140.22, Z:1.50 [[-2.99854465e-02 -9.99550304e-01 2.52119180e-04 1.71707475e+02] [ 9.99526442e-01 -2.99864728e-02 -6.90677207e-03 1.40215504e+02] [ 6.91122628e-03 4.48971427e-05 9.99976116e-01 1.49980404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.23, Z:1.50 [[-2.45218330e-02 -9.99699262e-01 2.56645878e-04 1.71706714e+02] [ 9.99675407e-01 -2.45230209e-02 -6.90660386e-03 1.40233131e+02] [ 6.91082051e-03 8.71999862e-05 9.99976116e-01 1.49698071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.21, Z:1.50 [[-2.30212870e-02 -9.99734944e-01 2.51190670e-04 1.71707587e+02] [ 9.99711089e-01 -2.30224731e-02 -6.90680756e-03 1.40210561e+02] [ 6.91075990e-03 9.21144992e-05 9.99976116e-01 1.49834121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.71, Y:140.19, Z:1.50 [[-2.13797680e-02 -9.99771393e-01 2.59968286e-04 1.71708202e+02] [ 9.99747544e-01 -2.13810539e-02 -6.90647716e-03 1.40187490e+02] [ 6.91045669e-03 1.12243776e-04 9.99976116e-01 1.49770276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.18, Z:1.50 [[-1.84239674e-02 -9.99830230e-01 2.62597508e-04 1.71707418e+02] [ 9.99806386e-01 -1.84253420e-02 -6.90637719e-03 1.40181173e+02] [ 6.91004315e-03 1.35303796e-04 9.99976116e-01 1.49577551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.71, Y:140.18, Z:1.50 [[-1.76967460e-02 -9.99843365e-01 2.65203870e-04 1.71707204e+02] [ 9.99819523e-01 -1.76981559e-02 -6.90627711e-03 1.40175778e+02] [ 6.90988896e-03 1.42937375e-04 9.99976116e-01 1.49753132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.16, Z:1.49 [[-1.71972965e-02 -9.99852080e-01 2.67803795e-04 1.71706607e+02] [ 9.99828239e-01 -1.71987363e-02 -6.90617629e-03 1.40163270e+02] [ 6.90976061e-03 1.48990235e-04 9.99976116e-01 1.49482171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.16, Z:1.50 [[-1.68265481e-02 -9.99858387e-01 2.70391430e-04 1.71706399e+02] [ 9.99834548e-01 -1.68280145e-02 -6.90607498e-03 1.40156425e+02] [ 6.90964714e-03 1.54141290e-04 9.99976116e-01 1.49567795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.16, Z:1.50 [[-1.73510909e-02 -9.99849421e-01 2.72966051e-04 1.71706079e+02] [ 9.99825583e-01 -1.73525626e-02 -6.90597321e-03 1.40162108e+02] [ 6.90966998e-03 1.53092273e-04 9.99976116e-01 1.49767507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.19, Z:1.49 [[-1.80829199e-02 -9.99836453e-01 2.75543543e-04 1.71703812e+02] [ 9.99812614e-01 -1.80843920e-02 -6.90587037e-03 1.40189378e+02] [ 6.90972397e-03 1.50613609e-04 9.99976116e-01 1.49377282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.70, Y:140.17, Z:1.50 [[-1.88625825e-02 -9.99822047e-01 2.77649724e-04 1.71703087e+02] [ 9.99798209e-01 -1.88640505e-02 -6.90578585e-03 1.40174955e+02] [ 6.90979455e-03 1.47332741e-04 9.99976116e-01 1.50132845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.14, Z:1.50 [[-2.00362454e-02 -9.99799215e-01 2.79464404e-04 1.71702028e+02] [ 9.99775376e-01 -2.00376980e-02 -6.90571241e-03 1.40144107e+02] [ 6.90992568e-03 1.41037081e-04 9.99976116e-01 1.49972098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.16, Z:1.50 [[-2.11589017e-02 -9.99776086e-01 2.82053952e-04 1.71700728e+02] [ 9.99752246e-01 -2.11603453e-02 -6.90560665e-03 1.40157056e+02] [ 6.91002874e-03 1.35869020e-04 9.99976116e-01 1.50171596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.70, Y:140.16, Z:1.50 [[-2.21628361e-02 -9.99754334e-01 2.84631306e-04 1.71699909e+02] [ 9.99730493e-01 -2.21642736e-02 -6.90550041e-03 1.40156317e+02] [ 6.91011261e-03 1.31509122e-04 9.99976116e-01 1.50442229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.17, Z:1.50 [[-2.30674546e-02 -9.99733870e-01 2.87224173e-04 1.71697421e+02] [ 9.99710029e-01 -2.30688884e-02 -6.90539256e-03 1.40167714e+02] [ 6.91018077e-03 1.27851057e-04 9.99976116e-01 1.50061914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.16, Z:1.50 [[-2.34996951e-02 -9.99723802e-01 2.89832279e-04 1.71696774e+02] [ 9.99699962e-01 -2.35011367e-02 -6.90528310e-03 1.40159309e+02] [ 6.91018726e-03 1.27473271e-04 9.99976116e-01 1.50194227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.70, Y:140.16, Z:1.50 [[-2.35720458e-02 -9.99722098e-01 2.92447651e-04 1.71695478e+02] [ 9.99698259e-01 -2.35735037e-02 -6.90517233e-03 1.40162515e+02] [ 6.91014738e-03 1.29590369e-04 9.99976116e-01 1.50074773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.16, Z:1.50 [[-2.28984033e-02 -9.99737754e-01 2.95062980e-04 1.71693198e+02] [ 9.99713917e-01 -2.28998952e-02 -6.90506057e-03 1.40161041e+02] [ 6.91000666e-03 1.36863706e-04 9.99976116e-01 1.49854254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.15, Z:1.50 [[-2.26396152e-02 -9.99743647e-01 2.97685145e-04 1.71692763e+02] [ 9.99719811e-01 -2.26411314e-02 -6.90494753e-03 1.40145330e+02] [ 6.90991735e-03 1.41276383e-04 9.99976116e-01 1.49681822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.69, Y:140.15, Z:1.50 [[-2.27252653e-02 -9.99741703e-01 3.00295668e-04 1.71690859e+02] [ 9.99717868e-01 -2.27267976e-02 -6.90483399e-03 1.40154481e+02] [ 6.90987525e-03 1.43296760e-04 9.99976116e-01 1.50107850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.15, Z:1.50 [[-2.26030538e-02 -9.99744472e-01 3.02904422e-04 1.71689220e+02] [ 9.99720639e-01 -2.26046070e-02 -6.90471955e-03 1.40149580e+02] [ 6.90980224e-03 1.46752055e-04 9.99976116e-01 1.49907066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.69, Y:140.13, Z:1.50 [[-2.31708837e-02 -9.99731472e-01 3.05522579e-04 1.71686274e+02] [ 9.99707639e-01 -2.31724414e-02 -6.90460370e-03 1.40131414e+02] [ 6.90982932e-03 1.45447487e-04 9.99976116e-01 1.50148031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.13, Z:1.50 [[-2.33675867e-02 -9.99726893e-01 3.08123580e-04 1.71685215e+02] [ 9.99703061e-01 -2.33691576e-02 -6.90448762e-03 1.40129044e+02] [ 6.90980255e-03 1.46690873e-04 9.99976116e-01 1.49896477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.14, Z:1.50 [[-2.40631899e-02 -9.99710391e-01 3.10710576e-04 1.71683817e+02] [ 9.99686559e-01 -2.40647621e-02 -6.90437120e-03 1.40139754e+02] [ 6.90984881e-03 1.44471992e-04 9.99976116e-01 1.49915015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.15, Z:1.50 [[-2.53855744e-02 -9.99677685e-01 3.13309776e-04 1.71681412e+02] [ 9.99653852e-01 -2.53871331e-02 -6.90425325e-03 1.40150093e+02] [ 6.90998195e-03 1.37932890e-04 9.99976116e-01 1.49737512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.13, Z:1.50 [[-2.63422404e-02 -9.99652933e-01 3.15933375e-04 1.71680163e+02] [ 9.99629100e-01 -2.63437943e-02 -6.90413320e-03 1.40133510e+02] [ 6.91005989e-03 1.33945859e-04 9.99976116e-01 1.49667451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.13, Z:1.50 [[-2.73622902e-02 -9.99625532e-01 3.18225198e-04 1.71678295e+02] [ 9.99601698e-01 -2.73638357e-02 -6.90402756e-03 1.40131323e+02] [ 6.91015009e-03 1.29188443e-04 9.99976116e-01 1.49872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.14, Z:1.50 [[-2.82894551e-02 -9.99599722e-01 3.20833646e-04 1.71675753e+02] [ 9.99575888e-01 -2.82909964e-02 -6.90390634e-03 1.40144392e+02] [ 6.91021956e-03 1.25389828e-04 9.99976116e-01 1.49993811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.14, Z:1.50 [[-3.01085640e-02 -9.99546582e-01 3.23457111e-04 1.71673673e+02] [ 9.99522747e-01 -3.01100801e-02 -6.90378343e-03 1.40141466e+02] [ 6.91039245e-03 1.15439735e-04 9.99976116e-01 1.49809358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.15, Z:1.50 [[-3.13144839e-02 -9.99509528e-01 3.26094888e-04 1.71673393e+02] [ 9.99485692e-01 -3.13159894e-02 -6.90365883e-03 1.40146672e+02] [ 6.91048477e-03 1.09742661e-04 9.99976116e-01 1.49812474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:171.67, Y:140.13, Z:1.50 [[-3.28304710e-02 -9.99460881e-01 3.28740502e-04 1.71673258e+02] [ 9.99437043e-01 -3.28319587e-02 -6.90353285e-03 1.40131567e+02] [ 6.91060422e-03 1.01909200e-04 9.99976116e-01 1.49851719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.18, Z:1.49 [[-3.41444809e-02 -9.99416852e-01 3.31381236e-04 1.71668394e+02] [ 9.99393014e-01 -3.41459555e-02 -6.90340609e-03 1.40181925e+02] [ 6.91069571e-03 9.54668748e-05 9.99976116e-01 1.49383387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.14, Z:1.50 [[-3.58750957e-02 -9.99356228e-01 3.28579105e-04 1.71669914e+02] [ 9.99332386e-01 -3.58765096e-02 -6.90354102e-03 1.40136738e+02] [ 6.91088498e-03 8.06945459e-05 9.99976116e-01 1.49529964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.15, Z:1.50 [[-3.77646823e-02 -9.99286604e-01 3.34408495e-04 1.71668618e+02] [ 9.99262762e-01 -3.77660915e-02 -6.90325863e-03 1.40152483e+02] [ 6.91096317e-03 7.34625876e-05 9.99976116e-01 1.49682875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.15, Z:1.50 [[-4.20267208e-02 -9.99116430e-01 3.37071248e-04 1.71668142e+02] [ 9.99092583e-01 -4.20280466e-02 -6.90312861e-03 1.40149930e+02] [ 6.91119566e-03 4.66495255e-05 9.99976116e-01 1.49677802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.15, Z:1.50 [[-4.50610875e-02 -9.98984176e-01 3.39751891e-04 1.71669110e+02] [ 9.98960326e-01 -4.50623594e-02 -6.90299667e-03 1.40150313e+02] [ 6.91129446e-03 2.83421226e-05 9.99976116e-01 1.49680945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.67, Y:140.14, Z:1.50 [[-4.82676826e-02 -9.98834377e-01 3.42435214e-04 1.71671444e+02] [ 9.98810525e-01 -4.82688965e-02 -6.90286356e-03 1.40139657e+02] [ 6.91134640e-03 8.84266894e-06 9.99976116e-01 1.49916674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.13, Z:1.50 [[-5.09235673e-02 -9.98702494e-01 3.45113515e-04 1.71674002e+02] [ 9.98678639e-01 -5.09247362e-02 -6.90272965e-03 1.40127712e+02] [ 6.91134813e-03 -6.85412273e-06 9.99976116e-01 1.49675426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.14, Z:1.50 [[-5.35137674e-02 -9.98567051e-01 3.47774268e-04 1.71674914e+02] [ 9.98543194e-01 -5.35148929e-02 -6.90259560e-03 1.40139277e+02] [ 6.91131563e-03 -2.21162674e-05 9.99976116e-01 1.49681144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.12, Z:1.50 [[-5.70355356e-02 -9.98372087e-01 3.50438975e-04 1.71678338e+02] [ 9.98348227e-01 -5.70365953e-02 -6.90246031e-03 1.40118672e+02] [ 6.91121155e-03 -4.38253909e-05 9.99976116e-01 1.49796404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.11, Z:1.50 [[-5.81925466e-02 -9.98305315e-01 3.53099623e-04 1.71680058e+02] [ 9.98281455e-01 -5.81935971e-02 -6.90232420e-03 1.40114075e+02] [ 6.91117507e-03 -4.91710168e-05 9.99976116e-01 1.49791740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.11, Z:1.50 [[-5.89645967e-02 -9.98260011e-01 3.55740774e-04 1.71681834e+02] [ 9.98236151e-01 -5.89656470e-02 -6.90218807e-03 1.40114912e+02] [ 6.91115483e-03 -5.18714348e-05 9.99976116e-01 1.49745672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264000000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:171.68, Y:140.11, Z:1.50 [[-5.95042490e-02 -9.98227988e-01 3.58382756e-04 1.71684114e+02] [ 9.98204128e-01 -5.95053046e-02 -6.90205089e-03 1.40108572e+02] [ 6.91114605e-03 -5.29622081e-05 9.99976116e-01 1.49781922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.12, Z:1.50 [[-5.87472333e-02 -9.98272825e-01 3.61023802e-04 1.71687984e+02] [ 9.98248966e-01 -5.87483253e-02 -6.90191274e-03 1.40116958e+02] [ 6.91120147e-03 -4.50766413e-05 9.99976116e-01 1.49629135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.69, Y:140.12, Z:1.50 [[-5.85645153e-02 -9.98283560e-01 3.63671403e-04 1.71689439e+02] [ 9.98259702e-01 -5.85656300e-02 -6.90177324e-03 1.40118544e+02] [ 6.91122540e-03 -4.11604983e-05 9.99976116e-01 1.49799542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.11, Z:1.49 [[-5.78369857e-02 -9.98325973e-01 3.66332681e-04 1.71691908e+02] [ 9.98302117e-01 -5.78381362e-02 -6.90163198e-03 1.40112677e+02] [ 6.91126646e-03 -3.34588992e-05 9.99976116e-01 1.49428464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.13, Z:1.50 [[-5.58105778e-02 -9.98441307e-01 3.68994801e-04 1.71695008e+02] [ 9.98417454e-01 -5.58117951e-02 -6.90148964e-03 1.40128695e+02] [ 6.91132660e-03 -1.67652745e-05 9.99976116e-01 1.49679988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.12, Z:1.50 [[-5.43865597e-02 -9.98519887e-01 3.71671657e-04 1.71697483e+02] [ 9.98496037e-01 -5.43878295e-02 -6.90134548e-03 1.40117347e+02] [ 6.91134512e-03 -4.22776171e-06 9.99976116e-01 1.49731828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.11, Z:1.50 [[-5.47738467e-02 -9.98498716e-01 3.74357494e-04 1.71697691e+02] [ 9.98474867e-01 -5.47751258e-02 -6.90119979e-03 1.40114856e+02] [ 6.91134461e-03 -4.21871056e-06 9.99976116e-01 1.49730090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.14, Z:1.50 [[-5.30636494e-02 -9.98591061e-01 3.77034236e-04 1.71698593e+02] [ 9.98567215e-01 -5.30649879e-02 -6.90105355e-03 1.40137508e+02] [ 6.91133770e-03 1.02989405e-05 9.99976116e-01 1.49895619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.13, Z:1.50 [[-5.11066180e-02 -9.98693131e-01 3.79735939e-04 1.71701167e+02] [ 9.98669288e-01 -5.11080219e-02 -6.90090488e-03 1.40126104e+02] [ 6.91129385e-03 2.65487098e-05 9.99976116e-01 1.49938858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.09, Z:1.50 [[-4.58591357e-02 -9.98947843e-01 3.82453754e-04 1.71706900e+02] [ 9.98924010e-01 -4.58606836e-02 -6.90075425e-03 1.40086910e+02] [ 6.91103317e-03 6.55796113e-05 9.99976116e-01 1.49566233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.08, Z:1.50 [[-4.35445664e-02 -9.99051411e-01 3.85125374e-04 1.71708573e+02] [ 9.99027583e-01 -4.35461880e-02 -6.90060515e-03 1.40083583e+02] [ 6.91083006e-03 8.42670122e-05 9.99976116e-01 1.49552121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.06, Z:1.49 [[-4.11404182e-02 -9.99153299e-01 3.87760167e-04 1.71711243e+02] [ 9.99129476e-01 -4.11421153e-02 -6.90045709e-03 1.40062974e+02] [ 6.91056774e-03 1.03534922e-04 9.99976116e-01 1.49497390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.07, Z:1.50 [[-3.90193981e-02 -9.99238377e-01 3.90376696e-04 1.71711979e+02] [ 9.99214559e-01 -3.90211638e-02 -6.90030906e-03 1.40069732e+02] [ 6.91028658e-03 1.20824171e-04 9.99976116e-01 1.49693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.04, Z:1.49 [[-3.49517183e-02 -9.99388925e-01 3.92984589e-04 1.71714880e+02] [ 9.99365115e-01 -3.49535989e-02 -6.90016054e-03 1.40035973e+02] [ 6.90968025e-03 1.51562622e-04 9.99976116e-01 1.49451797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.71, Y:140.03, Z:1.50 [[-3.37024665e-02 -9.99431832e-01 3.95572039e-04 1.71714676e+02] [ 9.99408027e-01 -3.37043947e-02 -6.90001220e-03 1.40034131e+02] [ 6.90942435e-03 1.62790441e-04 9.99976116e-01 1.49867216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.03, Z:1.50 [[-3.22871497e-02 -9.99478555e-01 3.98130719e-04 1.71714615e+02] [ 9.99454753e-01 -3.22891293e-02 -6.89986456e-03 1.40027044e+02] [ 6.90912195e-03 1.75136680e-04 9.99976116e-01 1.49757779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.08, Z:1.50 [[-3.04732526e-02 -9.99535502e-01 4.00686031e-04 1.71710929e+02] [ 9.99511706e-01 -3.04752930e-02 -6.89971617e-03 1.40077700e+02] [ 6.90872229e-03 1.90233585e-04 9.99976116e-01 1.49613299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.01, Z:1.49 [[-2.74917601e-02 -9.99621950e-01 3.99423267e-04 1.71713345e+02] [ 9.99598159e-01 -2.74938628e-02 -6.89978965e-03 1.40013868e+02] [ 6.90816288e-03 2.09575400e-04 9.99976116e-01 1.49350069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.01, Z:1.50 [[-2.61326657e-02 -9.99658402e-01 4.03587856e-04 1.71712495e+02] [ 9.99634617e-01 -2.61348294e-02 -6.89954605e-03 1.40011330e+02] [ 6.90773688e-03 2.23136861e-04 9.99976116e-01 1.49700974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.00, Z:1.50 [[-2.50931073e-02 -9.99685036e-01 4.04807707e-04 1.71711546e+02] [ 9.99661254e-01 -2.50953042e-02 -6.89947447e-03 1.39999954e+02] [ 6.90746016e-03 2.31541326e-04 9.99976116e-01 1.49674036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:140.00, Z:1.50 [[-2.33840062e-02 -9.99726474e-01 4.07330452e-04 1.71706578e+02] [ 9.99702697e-01 -2.33862612e-02 -6.89932553e-03 1.39997376e+02] [ 6.90696432e-03 2.45875480e-04 9.99976116e-01 1.49919760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:139.98, Z:1.49 [[-2.30579863e-02 -9.99734045e-01 4.09845535e-04 1.71704871e+02] [ 9.99710271e-01 -2.30602663e-02 -6.89917613e-03 1.39979686e+02] [ 6.90679240e-03 2.50645682e-04 9.99976116e-01 1.49360016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:140.00, Z:1.50 [[-2.30766595e-02 -9.99733613e-01 4.12345865e-04 1.71700535e+02] [ 9.99709841e-01 -2.30789563e-02 -6.89902668e-03 1.40003591e+02] [ 6.90670539e-03 2.53019729e-04 9.99976116e-01 1.49810103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.00, Z:1.50 [[-2.35729169e-02 -9.99722034e-01 4.14858067e-04 1.71694836e+02] [ 9.99698262e-01 -2.35752192e-02 -6.89887561e-03 1.39999340e+02] [ 6.90673833e-03 2.52106267e-04 9.99976116e-01 1.49833247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.99, Z:1.49 [[-2.49345841e-02 -9.99688998e-01 4.17072580e-04 1.71692218e+02] [ 9.99665224e-01 -2.49368692e-02 -6.89874173e-03 1.39994341e+02] [ 6.90699669e-03 2.44915699e-04 9.99976116e-01 1.49483310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.99, Z:1.50 [[-2.69868019e-02 -9.99635702e-01 4.19602272e-04 1.71689619e+02] [ 9.99611925e-01 -2.69890558e-02 -6.89858787e-03 1.39994458e+02] [ 6.90739939e-03 2.33268610e-04 9.99976116e-01 1.49552864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.01, Z:1.50 [[-2.96452214e-02 -9.99560395e-01 4.22131907e-04 1.71686501e+02] [ 9.99536613e-01 -2.96474294e-02 -6.89843307e-03 1.40008862e+02] [ 6.90791561e-03 2.17430721e-04 9.99976116e-01 1.49766907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-3.65828731e-02 -9.99330532e-01 4.24679325e-04 1.71682333e+02] [ 9.99306738e-01 -3.65849336e-02 -6.89827624e-03 1.40016919e+02] [ 6.90919494e-03 1.72026147e-04 9.99976116e-01 1.49702445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-4.10793011e-02 -9.99155798e-01 4.26927100e-04 1.71680566e+02] [ 9.99131996e-01 -4.10812700e-02 -6.89813713e-03 1.40020883e+02] [ 6.90985242e-03 1.43185873e-04 9.99976116e-01 1.49778862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-4.57622331e-02 -9.98952268e-01 4.29514634e-04 1.71679075e+02] [ 9.98928458e-01 -4.57641082e-02 -6.89797601e-03 1.40024099e+02] [ 6.91040514e-03 1.13387605e-04 9.99976116e-01 1.49917968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.04, Z:1.50 [[-5.05378753e-02 -9.98722052e-01 4.32113120e-04 1.71677295e+02] [ 9.98698234e-01 -5.05396545e-02 -6.89781323e-03 1.40037367e+02] [ 6.91083703e-03 8.29497853e-05 9.99976116e-01 1.49751104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.05, Z:1.50 [[-5.88952644e-02 -9.98264073e-01 4.34732514e-04 1.71674691e+02] [ 9.98240243e-01 -5.88968624e-02 -6.89764814e-03 1.40048176e+02] [ 6.91127871e-03 2.77286793e-05 9.99976116e-01 1.49855662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.67, Y:140.05, Z:1.50 [[-6.26510190e-02 -9.98035399e-01 4.37379356e-04 1.71673779e+02] [ 9.98011565e-01 -6.26525455e-02 -6.89748030e-03 1.40051843e+02] [ 6.91133244e-03 4.37548591e-06 9.99976116e-01 1.49746573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.04, Z:1.50 [[-6.55726935e-02 -9.97847698e-01 4.40045674e-04 1.71675079e+02] [ 9.97823860e-01 -6.55741687e-02 -6.89731019e-03 1.40037459e+02] [ 6.91132072e-03 -1.31871344e-05 9.99976116e-01 1.49709149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:140.04, Z:1.50 [[-6.99970023e-02 -9.97547104e-01 4.42706116e-04 1.71674938e+02] [ 9.97523260e-01 -6.99983901e-02 -6.89713942e-03 1.40036843e+02] [ 6.91121017e-03 -4.11694355e-05 9.99976116e-01 1.49666398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.01, Z:1.49 [[-7.14380239e-02 -9.97444941e-01 4.45356729e-04 1.71676416e+02] [ 9.97421097e-01 -7.14393957e-02 -6.89696827e-03 1.40014669e+02] [ 6.91116212e-03 -4.84975869e-05 9.99976116e-01 1.49494976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.49 [[-7.22891814e-02 -9.97383614e-01 4.47990125e-04 1.71676550e+02] [ 9.97359770e-01 -7.22905510e-02 -6.89679721e-03 1.40020530e+02] [ 6.91113798e-03 -5.17564968e-05 9.99976116e-01 1.49406825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31264 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:171.68, Y:140.04, Z:1.50 [[-7.25853353e-02 -9.97362104e-01 4.50612613e-04 1.71676542e+02] [ 9.97338260e-01 -7.25867160e-02 -6.89662586e-03 1.40035392e+02] [ 6.91114177e-03 -5.11807016e-05 9.99976116e-01 1.49818503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.05, Z:1.50 [[-7.04666817e-02 -9.97514031e-01 4.53260359e-04 1.71676888e+02] [ 9.97490191e-01 -7.04681313e-02 -6.89645184e-03 1.40045465e+02] [ 6.91124789e-03 -3.38473150e-05 9.99976116e-01 1.49547698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-6.94626412e-02 -9.97584451e-01 4.51945784e-04 1.71679066e+02] [ 9.97560613e-01 -6.94641057e-02 -6.89653840e-03 1.40016946e+02] [ 6.91127349e-03 -2.82084595e-05 9.99976116e-01 1.49790300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.03, Z:1.50 [[-6.81766245e-02 -9.97673163e-01 4.56570725e-04 1.71678395e+02] [ 9.97649328e-01 -6.81781518e-02 -6.89623221e-03 1.40032940e+02] [ 6.91131394e-03 -1.46643570e-05 9.99976116e-01 1.49678887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-6.69023904e-02 -9.97759420e-01 4.59224966e-04 1.71679650e+02] [ 9.97735588e-01 -6.69039664e-02 -6.89605545e-03 1.40023794e+02] [ 6.91132826e-03 -3.17750296e-06 9.99976116e-01 1.49545400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.03, Z:1.50 [[-6.36798752e-02 -9.97970270e-01 4.61890730e-04 1.71681473e+02] [ 9.97946445e-01 -6.36815466e-02 -6.89587690e-03 1.40030878e+02] [ 6.91129405e-03 2.18136316e-05 9.99976116e-01 1.49555892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.03, Z:1.50 [[-6.21599731e-02 -9.98066091e-01 4.64558644e-04 1.71682214e+02] [ 9.98042270e-01 -6.21616992e-02 -6.89569716e-03 1.40031314e+02] [ 6.91123927e-03 3.50128136e-05 9.99976116e-01 1.49612429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52264 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:171.68, Y:140.02, Z:1.50 [[-6.05363012e-02 -9.98165887e-01 4.67239111e-04 1.71683212e+02] [ 9.98142070e-01 -6.05380845e-02 -6.89551553e-03 1.40021796e+02] [ 6.91115414e-03 4.89420089e-05 9.99976117e-01 1.49978460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:140.01, Z:1.50 [[-5.84854079e-02 -9.98288153e-01 4.69577455e-04 1.71684650e+02] [ 9.98264341e-01 -5.84872563e-02 -6.89535629e-03 1.40011121e+02] [ 6.91101679e-03 6.54847032e-05 9.99976117e-01 1.49909149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.02, Z:1.50 [[-5.46383477e-02 -9.98506098e-01 4.72237139e-04 1.71685542e+02] [ 9.98482295e-01 -5.46403062e-02 -6.89517414e-03 1.40015925e+02] [ 6.91067660e-03 9.47795005e-05 9.99976117e-01 1.49996887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:140.00, Z:1.50 [[-5.28243230e-02 -9.98603708e-01 4.74895856e-04 1.71687099e+02] [ 9.98579910e-01 -5.28263431e-02 -6.89499102e-03 1.39998139e+02] [ 6.91045061e-03 1.09998229e-04 9.99976117e-01 1.49966985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.99, Z:1.50 [[-5.08684104e-02 -9.98705250e-01 4.77545638e-04 1.71688158e+02] [ 9.98681458e-01 -5.08704954e-02 -6.89480749e-03 1.39986918e+02] [ 6.91017342e-03 1.26188078e-04 9.99976117e-01 1.49759091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.99, Z:1.50 [[-4.89186876e-02 -9.98802649e-01 4.80172135e-04 1.71688234e+02] [ 9.98778862e-01 -4.89208372e-02 -6.89462457e-03 1.39986487e+02] [ 6.90985970e-03 1.42309793e-04 9.99976117e-01 1.50037048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.96, Z:1.50 [[-4.45718597e-02 -9.99006064e-01 4.82792921e-04 1.71689835e+02] [ 9.98982289e-01 -4.45741309e-02 -6.89444104e-03 1.39962444e+02] [ 6.90910848e-03 1.75003518e-04 9.99976117e-01 1.49973719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.69, Y:139.95, Z:1.50 [[-4.26563259e-02 -9.99089687e-01 4.85394747e-04 1.71689957e+02] [ 9.99065918e-01 -4.26586606e-02 -6.89425786e-03 1.39947731e+02] [ 6.90868821e-03 1.90857638e-04 9.99976117e-01 1.50042998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.95, Z:1.50 [[-4.05921686e-02 -9.99175679e-01 4.87964934e-04 1.71687944e+02] [ 9.99151917e-01 -4.05945701e-02 -6.89407594e-03 1.39952053e+02] [ 6.90820174e-03 2.07705606e-04 9.99976117e-01 1.49828162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:139.94, Z:1.50 [[-3.87026388e-02 -9.99250652e-01 4.90530485e-04 1.71686681e+02] [ 9.99226896e-01 -3.87051029e-02 -6.89389339e-03 1.39943111e+02] [ 6.90771350e-03 2.23339388e-04 9.99976117e-01 1.49885823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.68, Y:139.92, Z:1.50 [[-3.52831569e-02 -9.99377234e-01 4.93097189e-04 1.71684659e+02] [ 9.99353488e-01 -3.52857200e-02 -6.89370980e-03 1.39921951e+02] [ 6.90681592e-03 2.49546551e-04 9.99976117e-01 1.50070966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:139.92, Z:1.50 [[-3.41541575e-02 -9.99416454e-01 4.95319756e-04 1.71683296e+02] [ 9.99392713e-01 -3.41567627e-02 -6.89355010e-03 1.39915263e+02] [ 6.90644591e-03 2.59575558e-04 9.99976117e-01 1.50056972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:139.93, Z:1.50 [[-3.34638479e-02 -9.99439805e-01 4.97842307e-04 1.71679584e+02] [ 9.99416067e-01 -3.34664868e-02 -6.89336792e-03 1.39932435e+02] [ 6.90616732e-03 2.66872986e-04 9.99976117e-01 1.50222642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.68, Y:139.92, Z:1.50 [[-3.32785853e-02 -9.99445989e-01 5.00378900e-04 1.71678311e+02] [ 9.99422254e-01 -3.32812461e-02 -6.89318379e-03 1.39917688e+02] [ 6.90601812e-03 2.70694404e-04 9.99976117e-01 1.50228563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:139.90, Z:1.50 [[-3.33718687e-02 -9.99442878e-01 5.02921528e-04 1.71674100e+02] [ 9.99419144e-01 -3.33745448e-02 -6.89299827e-03 1.39903181e+02] [ 6.90594281e-03 2.72597170e-04 9.99976117e-01 1.49801392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:139.91, Z:1.50 [[-3.46685907e-02 -9.99398736e-01 5.05442358e-04 1.71670500e+02] [ 9.99375001e-01 -3.46712534e-02 -6.89281343e-03 1.39907267e+02] [ 6.90619334e-03 2.66162329e-04 9.99976117e-01 1.49915365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:139.92, Z:1.50 [[-3.63916190e-02 -9.99337477e-01 5.07960239e-04 1.71666493e+02] [ 9.99313739e-01 -3.63942581e-02 -6.89262787e-03 1.39915850e+02] [ 6.90654818e-03 2.56777759e-04 9.99976117e-01 1.49961283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:139.93, Z:1.50 [[-3.82149742e-02 -9.99269411e-01 5.10493737e-04 1.71662929e+02] [ 9.99245671e-01 -3.82175875e-02 -6.89244022e-03 1.39925666e+02] [ 6.90691452e-03 2.46714231e-04 9.99976117e-01 1.50021839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:139.91, Z:1.50 [[-4.24886839e-02 -9.99096816e-01 5.13048765e-04 1.71658058e+02] [ 9.99073067e-01 -4.24912132e-02 -6.89225003e-03 1.39914452e+02] [ 6.90782513e-03 2.19730570e-04 9.99976117e-01 1.50224917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:139.94, Z:1.50 [[-4.48689964e-02 -9.98992746e-01 5.15607422e-04 1.71653508e+02] [ 9.98968993e-01 -4.48714867e-02 -6.89205861e-03 1.39939852e+02] [ 6.90825263e-03 2.05836075e-04 9.99976117e-01 1.50103633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:139.94, Z:1.50 [[-4.74682112e-02 -9.98872615e-01 5.18184279e-04 1.71651429e+02] [ 9.98848857e-01 -4.74706575e-02 -6.89186486e-03 1.39937875e+02] [ 6.90869362e-03 1.90443278e-04 9.99976117e-01 1.50277470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:139.94, Z:1.50 [[-5.21893418e-02 -9.98637072e-01 5.20459642e-04 1.71647480e+02] [ 9.98613305e-01 -5.21916915e-02 -6.89169303e-03 1.39941184e+02] [ 6.90946382e-03 1.60065000e-04 9.99976117e-01 1.50220970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:139.96, Z:1.50 [[-5.43366734e-02 -9.98522536e-01 5.20784483e-04 1.71644002e+02] [ 9.98498764e-01 -5.43389742e-02 -6.89166848e-03 1.39961146e+02] [ 6.90978518e-03 1.45532323e-04 9.99976117e-01 1.50160851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:139.95, Z:1.50 [[-5.56982396e-02 -9.98447511e-01 5.23417602e-04 1.71642054e+02] [ 9.98423737e-01 -5.57005261e-02 -6.89146849e-03 1.39951992e+02] [ 6.90992420e-03 1.38749895e-04 9.99976117e-01 1.50137510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:139.96, Z:1.50 [[-5.74458408e-02 -9.98348488e-01 5.22420590e-04 1.71636280e+02] [ 9.98324709e-01 -5.74480788e-02 -6.89154407e-03 1.39956023e+02] [ 6.91017466e-03 1.25654840e-04 9.99976117e-01 1.50287398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:139.96, Z:1.50 [[-5.77113396e-02 -9.98333175e-01 5.21760913e-04 1.71633425e+02] [ 9.98309396e-01 -5.77135667e-02 -6.89159401e-03 1.39957945e+02] [ 6.91021962e-03 1.23155699e-04 9.99976117e-01 1.50334478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:139.96, Z:1.50 [[-5.75673382e-02 -9.98341490e-01 5.20766271e-04 1.71633271e+02] [ 9.98317710e-01 -5.75695619e-02 -6.89166917e-03 1.39960452e+02] [ 6.91021956e-03 1.23155141e-04 9.99976117e-01 1.50336211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:139.97, Z:1.50 [[-5.73541197e-02 -9.98353762e-01 5.19772175e-04 1.71629827e+02] [ 9.98329983e-01 -5.73563417e-02 -6.89174415e-03 1.39974999e+02] [ 6.91021093e-03 1.23634227e-04 9.99976117e-01 1.50164409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.63, Y:139.99, Z:1.50 [[-5.72633505e-02 -9.98358973e-01 5.19108841e-04 1.71626014e+02] [ 9.98335193e-01 -5.72655700e-02 -6.89179411e-03 1.39988537e+02] [ 6.91021156e-03 1.23597402e-04 9.99976117e-01 1.50225191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:139.97, Z:1.50 [[-5.62460710e-02 -9.98416802e-01 5.18439627e-04 1.71621673e+02] [ 9.98393024e-01 -5.62483101e-02 -6.89184445e-03 1.39972325e+02] [ 6.91009465e-03 1.29967335e-04 9.99976117e-01 1.49715543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:139.98, Z:1.50 [[-5.55339329e-02 -9.98456667e-01 5.15773836e-04 1.71618425e+02] [ 9.98432889e-01 -5.55361705e-02 -6.89204395e-03 1.39980482e+02] [ 6.91005134e-03 1.32223255e-04 9.99976117e-01 1.49590359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:139.99, Z:1.50 [[-5.49992713e-02 -9.98486263e-01 5.13119566e-04 1.71614768e+02] [ 9.98462484e-01 -5.50015034e-02 -6.89224156e-03 1.39987062e+02] [ 6.91003086e-03 1.33262373e-04 9.99976117e-01 1.49637631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:140.02, Z:1.50 [[-5.48265372e-02 -9.98495764e-01 5.10455422e-04 1.71609218e+02] [ 9.98471984e-01 -5.48287550e-02 -6.89243887e-03 1.40019247e+02] [ 6.91005865e-03 1.31786882e-04 9.99976117e-01 1.49600756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:140.00, Z:1.50 [[-5.55244190e-02 -9.98457200e-01 5.08678753e-04 1.71606484e+02] [ 9.98433417e-01 -5.55266080e-02 -6.89257020e-03 1.39995623e+02] [ 6.91018155e-03 1.25175910e-04 9.99976117e-01 1.49669937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.60, Y:140.00, Z:1.50 [[-5.61244009e-02 -9.98423655e-01 5.06738530e-04 1.71604955e+02] [ 9.98399870e-01 -5.61265622e-02 -6.89271284e-03 1.40000755e+02] [ 6.91028904e-03 1.19078303e-04 9.99976117e-01 1.49634031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:139.99, Z:1.50 [[-5.81362996e-02 -9.98308528e-01 5.04059370e-04 1.71601959e+02] [ 9.98284736e-01 -5.81383945e-02 -6.89290876e-03 1.39991859e+02] [ 6.91055480e-03 1.02466566e-04 9.99976117e-01 1.49666223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.60, Y:140.00, Z:1.50 [[-5.87946849e-02 -9.98269970e-01 5.01389140e-04 1.71598348e+02] [ 9.98246176e-01 -5.87967456e-02 -6.89310299e-03 1.40003468e+02] [ 6.91065777e-03 9.52319730e-05 9.99976117e-01 1.49839590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:139.99, Z:1.50 [[-5.96278159e-02 -9.98220554e-01 4.98719738e-04 1.71596307e+02] [ 9.98196757e-01 -5.96298383e-02 -6.89329612e-03 1.39988553e+02] [ 6.91076845e-03 8.67882329e-05 9.99976117e-01 1.49751936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:140.01, Z:1.50 [[-5.99286414e-02 -9.98202541e-01 4.96058303e-04 1.71592126e+02] [ 9.98178741e-01 -5.99306383e-02 -6.89348764e-03 1.40006385e+02] [ 6.91082596e-03 8.20375038e-05 9.99976117e-01 1.49799814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.59, Y:139.98, Z:1.50 [[-6.00873327e-02 -9.98193002e-01 4.93398589e-04 1.71590553e+02] [ 9.98169200e-01 -6.00893074e-02 -6.89367800e-03 1.39983777e+02] [ 6.91086912e-03 7.82725518e-05 9.99976117e-01 1.49827863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:139.97, Z:1.50 [[-6.01919997e-02 -9.98186697e-01 4.90748566e-04 1.71586288e+02] [ 9.98162894e-01 -6.01939536e-02 -6.89386664e-03 1.39973335e+02] [ 6.91090607e-03 7.48913903e-05 9.99976117e-01 1.49799187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:139.99, Z:1.50 [[-5.97155284e-02 -9.98215316e-01 4.88134226e-04 1.71582319e+02] [ 9.98191512e-01 -5.97174756e-02 -6.89405175e-03 1.39990196e+02] [ 6.91089819e-03 7.55694984e-05 9.99976117e-01 1.49759795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.00, Z:1.50 [[-5.92777405e-02 -9.98241411e-01 4.85517679e-04 1.71578985e+02] [ 9.98217606e-01 -5.92796801e-02 -6.89423602e-03 1.39996170e+02] [ 6.91089322e-03 7.59775614e-05 9.99976117e-01 1.49746014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.00, Z:1.50 [[-5.88231346e-02 -9.98268303e-01 4.82884125e-04 1.71573511e+02] [ 9.98244498e-01 -5.88250669e-02 -6.89442047e-03 1.39999477e+02] [ 6.91088712e-03 7.64849979e-05 9.99976117e-01 1.49653207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.00, Z:1.50 [[-5.85111042e-02 -9.98286642e-01 4.80245689e-04 1.71571101e+02] [ 9.98262836e-01 -5.85130257e-02 -6.89460425e-03 1.39998296e+02] [ 6.91089196e-03 7.60005155e-05 9.99976117e-01 1.49686659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.00, Z:1.50 [[-5.82760736e-02 -9.98300391e-01 4.77609826e-04 1.71568533e+02] [ 9.98276584e-01 -5.82779825e-02 -6.89478684e-03 1.40002387e+02] [ 6.91090254e-03 7.49856003e-05 9.99976117e-01 1.49843865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.57, Y:139.99, Z:1.50 [[-5.85191560e-02 -9.98286173e-01 4.74976063e-04 1.71566482e+02] [ 9.98262364e-01 -5.85210409e-02 -6.89496828e-03 1.39994888e+02] [ 6.91094759e-03 7.06630036e-05 9.99976117e-01 1.49866913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.01, Z:1.50 [[-6.01600353e-02 -9.98188633e-01 4.72349651e-04 1.71561045e+02] [ 9.98164820e-01 -6.01618629e-02 -6.89514820e-03 1.40013931e+02] [ 6.91107599e-03 5.66704447e-05 9.99976117e-01 1.49996712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.98, Z:1.50 [[-6.12809898e-02 -9.98120443e-01 4.69716629e-04 1.71561437e+02] [ 9.98096627e-01 -6.12827725e-02 -6.89532756e-03 1.39982146e+02] [ 6.91115294e-03 4.62700847e-05 9.99976117e-01 1.50002727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.98, Z:1.50 [[-6.24827540e-02 -9.98045934e-01 4.67099600e-04 1.71559761e+02] [ 9.98022114e-01 -6.24844899e-02 -6.89550484e-03 1.39983508e+02] [ 6.91121705e-03 3.53255981e-05 9.99976117e-01 1.49873067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.98, Z:1.50 [[-6.38943541e-02 -9.97956560e-01 4.64516133e-04 1.71558749e+02] [ 9.97932736e-01 -6.38960385e-02 -6.89567887e-03 1.39977973e+02] [ 6.91126871e-03 2.29609085e-05 9.99976117e-01 1.49824466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.97, Z:1.50 [[-6.63333640e-02 -9.97797410e-01 4.61940973e-04 1.71557077e+02] [ 9.97773581e-01 -6.63349723e-02 -6.89585138e-03 1.39967244e+02] [ 6.91130548e-03 3.48747916e-06 9.99976117e-01 1.49864557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:139.98, Z:1.50 [[-6.66134734e-02 -9.97778750e-01 4.59384814e-04 1.71555330e+02] [ 9.97754919e-01 -6.66150574e-02 -6.89602166e-03 1.39984838e+02] [ 6.91130582e-03 -1.01449725e-06 9.99976117e-01 1.49678883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.00, Z:1.50 [[-6.67360207e-02 -9.97770562e-01 4.56826935e-04 1.71553789e+02] [ 9.97746730e-01 -6.67375841e-02 -6.89619110e-03 1.40000960e+02] [ 6.91130400e-03 -4.42677129e-06 9.99976117e-01 1.49700465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:139.97, Z:1.50 [[-6.64272674e-02 -9.97791166e-01 4.54242367e-04 1.71555311e+02] [ 9.97767334e-01 -6.64288203e-02 -6.89636134e-03 1.39967439e+02] [ 6.91130321e-03 -4.87824316e-06 9.99976117e-01 1.49622775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:139.99, Z:1.49 [[-6.55463305e-02 -9.97849425e-01 4.51678993e-04 1.71552724e+02] [ 9.97825592e-01 -6.55478867e-02 -6.89652922e-03 1.39990238e+02] [ 6.91130432e-03 -1.34532557e-06 9.99976117e-01 1.49431196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:139.99, Z:1.49 [[-6.34435846e-02 -9.97985326e-01 4.49129956e-04 1.71550200e+02] [ 9.97961495e-01 -6.34451734e-02 -6.89669522e-03 1.39993533e+02] [ 6.91129575e-03 1.06633354e-05 9.99976117e-01 1.49462106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.01, Z:1.49 [[-6.20831065e-02 -9.98070883e-01 4.48326790e-04 1.71548684e+02] [ 9.98047054e-01 -6.20847222e-02 -6.89674743e-03 1.40010130e+02] [ 6.91127704e-03 1.92797267e-05 9.99976117e-01 1.49469737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.00, Z:1.50 [[-6.06931232e-02 -9.98156374e-01 4.45744944e-04 1.71548769e+02] [ 9.98132546e-01 -6.06947543e-02 -6.89691430e-03 1.39999364e+02] [ 6.91125334e-03 2.63172666e-05 9.99976117e-01 1.49508198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.00, Z:1.50 [[-5.90279722e-02 -9.98256231e-01 4.43162191e-04 1.71545116e+02] [ 9.98232405e-01 -5.90296252e-02 -6.89708025e-03 1.40003931e+02] [ 6.91121303e-03 3.52581983e-05 9.99976117e-01 1.49607486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.03, Z:1.49 [[-5.81260647e-02 -9.98309154e-01 4.40589419e-04 1.71542778e+02] [ 9.98285328e-01 -5.81277214e-02 -6.89724459e-03 1.40025990e+02] [ 6.91119287e-03 3.89242669e-05 9.99976117e-01 1.49485225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.04, Z:1.50 [[-5.77207906e-02 -9.98332669e-01 4.37996025e-04 1.71541072e+02] [ 9.98308843e-01 -5.77224391e-02 -6.89740928e-03 1.40041611e+02] [ 6.91119121e-03 3.91313888e-05 9.99976117e-01 1.49541939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.03, Z:1.49 [[-5.74488045e-02 -9.98348359e-01 4.35371715e-04 1.71541426e+02] [ 9.98324532e-01 -5.74504413e-02 -6.89757492e-03 1.40026510e+02] [ 6.91119490e-03 3.83848305e-05 9.99976117e-01 1.49474460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.49 [[-5.83867675e-02 -9.98293944e-01 4.32752101e-04 1.71541216e+02] [ 9.98270114e-01 -5.83883639e-02 -6.89773927e-03 1.40013350e+02] [ 6.91123903e-03 2.92667899e-05 9.99976117e-01 1.49432313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.49 [[-5.89870659e-02 -9.98258654e-01 4.30163171e-04 1.71541049e+02] [ 9.98234822e-01 -5.89886300e-02 -6.89790072e-03 1.40019524e+02] [ 6.91126383e-03 2.25169322e-05 9.99976117e-01 1.49421657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-5.97388153e-02 -9.98213951e-01 4.27585503e-04 1.71543187e+02] [ 9.98190116e-01 -5.97403437e-02 -6.89806050e-03 1.39996143e+02] [ 6.91128433e-03 1.47296608e-05 9.99976117e-01 1.49563391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.05403201e-02 -9.98165662e-01 4.25028530e-04 1.71543238e+02] [ 9.98141825e-01 -6.05418117e-02 -6.89821805e-03 1.40001304e+02] [ 6.91129638e-03 6.61842415e-06 9.99976117e-01 1.49554000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.27682619e-02 -9.98028039e-01 4.22492301e-04 1.71540800e+02] [ 9.98004198e-01 -6.27696828e-02 -6.89837338e-03 1.40017581e+02] [ 6.91128977e-03 -1.13498175e-05 9.99976117e-01 1.49534028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.36075634e-02 -9.97974900e-01 4.19941763e-04 1.71540733e+02] [ 9.97951057e-01 -6.36089466e-02 -6.89852864e-03 1.40001310e+02] [ 6.91127049e-03 -1.97172721e-05 9.99976117e-01 1.49608646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.43988395e-02 -9.97924153e-01 4.17395663e-04 1.71539935e+02] [ 9.97900308e-01 -6.44001861e-02 -6.89868269e-03 1.40003006e+02] [ 6.91124244e-03 -2.77478990e-05 9.99976117e-01 1.49623276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:139.99, Z:1.50 [[-6.60905515e-02 -9.97813543e-01 4.14866518e-04 1.71542562e+02] [ 9.97789695e-01 -6.60918403e-02 -6.89883478e-03 1.39990831e+02] [ 6.91117007e-03 -4.19982591e-05 9.99976117e-01 1.49755413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.65673192e-02 -9.97781851e-01 4.12351333e-04 1.71543142e+02] [ 9.97758001e-01 -6.65685791e-02 -6.89898511e-03 1.40007064e+02] [ 6.91113178e-03 -4.78201024e-05 9.99976117e-01 1.49607395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.69704660e-02 -9.97754874e-01 4.09836894e-04 1.71543229e+02] [ 9.97731023e-01 -6.69716990e-02 -6.89913448e-03 1.40020627e+02] [ 6.91109253e-03 -5.31312678e-05 9.99976117e-01 1.49828594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.70021613e-02 -9.97752747e-01 4.07301145e-04 1.71544300e+02] [ 9.97728895e-01 -6.70033760e-02 -6.89928418e-03 1.40006843e+02] [ 6.91107030e-03 -5.58908310e-05 9.99976117e-01 1.50014631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.66771376e-02 -9.97774521e-01 4.04769783e-04 1.71543176e+02] [ 9.97750669e-01 -6.66783426e-02 -6.89943269e-03 1.40000757e+02] [ 6.91106753e-03 -5.61751015e-05 9.99976117e-01 1.50089105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.62082317e-02 -9.97805747e-01 4.02260348e-04 1.71541479e+02] [ 9.97781894e-01 -6.62094305e-02 -6.89957899e-03 1.40005215e+02] [ 6.91107300e-03 -5.54408328e-05 9.99976117e-01 1.50034193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.48330743e-02 -9.97896043e-01 3.99757168e-04 1.71541181e+02] [ 9.97872191e-01 -6.48342887e-02 -6.89972402e-03 1.40009043e+02] [ 6.91112527e-03 -4.84237592e-05 9.99976117e-01 1.49948236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.35536617e-02 -9.97978344e-01 3.97250388e-04 1.71541047e+02] [ 9.97954492e-01 -6.35548893e-02 -6.89986835e-03 1.40012504e+02] [ 6.91116639e-03 -4.20740895e-05 9.99976117e-01 1.49841142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.03, Z:1.49 [[-6.14535914e-02 -9.98109864e-01 3.94741593e-04 1.71539038e+02] [ 9.98086014e-01 -6.14548518e-02 -6.90001187e-03 1.40034310e+02] [ 6.91122870e-03 -3.00444468e-05 9.99976117e-01 1.49204593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.49 [[-6.00543865e-02 -9.98195029e-01 3.92534629e-04 1.71538828e+02] [ 9.98171180e-01 -6.00556651e-02 -6.90013742e-03 1.40021386e+02] [ 6.91125681e-03 -2.25667660e-05 9.99976117e-01 1.49240956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.49 [[-5.90998246e-02 -9.98252002e-01 3.90002956e-04 1.71537499e+02] [ 9.98228153e-01 -5.91011085e-02 -6.90028051e-03 1.40023756e+02] [ 6.91126844e-03 -1.84934376e-05 9.99976117e-01 1.49189304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.49 [[-5.83895304e-02 -9.98293801e-01 3.87485270e-04 1.71536202e+02] [ 9.98269952e-01 -5.83908139e-02 -6.90042189e-03 1.40016928e+02] [ 6.91127398e-03 -1.60974924e-05 9.99976117e-01 1.49253344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.53, Y:140.03, Z:1.50 [[-5.88830787e-02 -9.98264812e-01 3.84975478e-04 1.71533445e+02] [ 9.98240962e-01 -5.88843331e-02 -6.90056191e-03 1.40034917e+02] [ 6.91125716e-03 -2.20280392e-05 9.99976117e-01 1.49516578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:140.02, Z:1.50 [[-5.98479212e-02 -9.98207433e-01 3.82460468e-04 1.71534572e+02] [ 9.98183581e-01 -5.98491351e-02 -6.90070130e-03 1.40022921e+02] [ 6.91122126e-03 -3.12268684e-05 9.99976117e-01 1.49611823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.10508427e-02 -9.98134585e-01 3.80262884e-04 1.71535402e+02] [ 9.98110731e-01 -6.10520126e-02 -6.90082240e-03 1.40022174e+02] [ 6.91116531e-03 -4.17565574e-05 9.99976117e-01 1.49751922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.23691572e-02 -9.98053077e-01 3.77915280e-04 1.71535839e+02] [ 9.98029221e-01 -6.23702795e-02 -6.90095096e-03 1.40021509e+02] [ 6.91108602e-03 -5.32360033e-05 9.99976117e-01 1.49851709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.01, Z:1.50 [[-6.37032228e-02 -9.97968816e-01 3.75417516e-04 1.71536459e+02] [ 9.97944957e-01 -6.37042958e-02 -6.90108684e-03 1.40012680e+02] [ 6.91098517e-03 -6.49754551e-05 9.99976117e-01 1.49826773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.64292193e-02 -9.97791070e-01 3.72932587e-04 1.71538406e+02] [ 9.97767208e-01 -6.64302100e-02 -6.90122112e-03 1.40004197e+02] [ 6.91075079e-03 -8.63428252e-05 9.99976117e-01 1.49846981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.71982944e-02 -9.97739571e-01 3.70466124e-04 1.71539639e+02] [ 9.97715707e-01 -6.71992497e-02 -6.90135352e-03 1.40000980e+02] [ 6.91064855e-03 -9.41393147e-05 9.99976117e-01 1.49901707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.68445159e-02 -9.97763336e-01 3.68014054e-04 1.71539430e+02] [ 9.97739472e-01 -6.68454626e-02 -6.90148427e-03 1.40003534e+02] [ 6.91064804e-03 -9.41442267e-05 9.99976117e-01 1.49903448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.72886475e-02 -9.97733484e-01 3.65566850e-04 1.71539901e+02] [ 9.97709618e-01 -6.72895667e-02 -6.90161390e-03 1.40018341e+02] [ 6.91057011e-03 -9.96707023e-05 9.99976117e-01 1.49548130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.00, Z:1.50 [[-6.83402632e-02 -9.97662005e-01 3.63109758e-04 1.71542754e+02] [ 9.97638138e-01 -6.83411403e-02 -6.90174317e-03 1.40003120e+02] [ 6.91042226e-03 -1.09414802e-04 9.99976117e-01 1.49553003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.54, Y:140.02, Z:1.50 [[-6.82376895e-02 -9.97669027e-01 3.60967682e-04 1.71543615e+02] [ 9.97645159e-01 -6.82385542e-02 -6.90185520e-03 1.40015176e+02] [ 6.91039907e-03 -1.10848991e-04 9.99976117e-01 1.49696178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.03, Z:1.50 [[-6.77689584e-02 -9.97700977e-01 3.58520348e-04 1.71544774e+02] [ 9.97677109e-01 -6.77698174e-02 -6.90198232e-03 1.40028090e+02] [ 6.91041137e-03 -1.10052609e-04 9.99976117e-01 1.49926388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.04, Z:1.50 [[-6.71423895e-02 -9.97743340e-01 3.56057049e-04 1.71545284e+02] [ 9.97719472e-01 -6.71432464e-02 -6.90210940e-03 1.40040944e+02] [ 6.91044051e-03 -1.08179066e-04 9.99976117e-01 1.49879063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.04, Z:1.50 [[-6.53756667e-02 -9.97860660e-01 3.53576020e-04 1.71547936e+02] [ 9.97836793e-01 -6.53765487e-02 -6.90223649e-03 1.40040551e+02] [ 6.91058584e-03 -9.84271503e-05 9.99976117e-01 1.49908797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.05, Z:1.50 [[-6.40668678e-02 -9.97945546e-01 3.51089114e-04 1.71549704e+02] [ 9.97921680e-01 -6.40677640e-02 -6.90236299e-03 1.40048275e+02] [ 6.91067590e-03 -9.18533384e-05 9.99976117e-01 1.49725149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.55, Y:140.04, Z:1.50 [[-6.28966702e-02 -9.98019983e-01 3.48600232e-04 1.71552088e+02] [ 9.97996117e-01 -6.28975772e-02 -6.90248868e-03 1.40043942e+02] [ 6.91074775e-03 -8.62418761e-05 9.99976117e-01 1.49674762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.55, Y:140.06, Z:1.50 [[-6.14664619e-02 -9.98109089e-01 3.46113237e-04 1.71553324e+02] [ 9.98085224e-01 -6.14673858e-02 -6.90261339e-03 1.40059737e+02] [ 6.91083584e-03 -7.88287152e-05 9.99976117e-01 1.49865012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:140.05, Z:1.50 [[-5.88918595e-02 -9.98264309e-01 3.43620760e-04 1.71557599e+02] [ 9.98240446e-01 -5.88928278e-02 -6.90273747e-03 1.40047448e+02] [ 6.91099324e-03 -6.34989051e-05 9.99976117e-01 1.49898178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.09, Z:1.50 [[-5.70605561e-02 -9.98370661e-01 3.41130175e-04 1.71558230e+02] [ 9.98346798e-01 -5.70615508e-02 -6.90286055e-03 1.40088549e+02] [ 6.91107886e-03 -5.33148435e-05 9.99976117e-01 1.49728332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.56, Y:140.10, Z:1.50 [[-5.50723920e-02 -9.98482307e-01 3.38618703e-04 1.71559183e+02] [ 9.98458446e-01 -5.50734170e-02 -6.90298374e-03 1.40102522e+02] [ 6.91115602e-03 -4.20671230e-05 9.99976117e-01 1.49755270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.10, Z:1.50 [[-5.01577340e-02 -9.98741252e-01 3.36062786e-04 1.71562122e+02] [ 9.98717395e-01 -5.01588587e-02 -6.90310817e-03 1.40099036e+02] [ 6.91127543e-03 -1.06125138e-05 9.99976117e-01 1.49747232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.11, Z:1.50 [[-4.72694443e-02 -9.98882119e-01 3.33502296e-04 1.71562678e+02] [ 9.98858265e-01 -4.72706202e-02 -6.90323187e-03 1.40110686e+02] [ 6.91127974e-03 6.80959030e-06 9.99976117e-01 1.49672186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.13, Z:1.50 [[-4.43653129e-02 -9.99015320e-01 3.30938882e-04 1.71563182e+02] [ 9.98991468e-01 -4.43665405e-02 -6.90335476e-03 1.40128871e+02] [ 6.91123978e-03 2.43356255e-05 9.99976117e-01 1.49716085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.15, Z:1.50 [[-4.15502250e-02 -9.99136363e-01 3.28353733e-04 1.71563525e+02] [ 9.99112514e-01 -4.15515019e-02 -6.90347772e-03 1.40149140e+02] [ 6.91115921e-03 4.12212712e-05 9.99976117e-01 1.49744094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.15, Z:1.50 [[-3.88256282e-02 -9.99245948e-01 3.25736639e-04 1.71564551e+02] [ 9.99222101e-01 -3.88269521e-02 -6.90360120e-03 1.40146560e+02] [ 6.91104289e-03 5.74465952e-05 9.99976117e-01 1.49801230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.17, Z:1.50 [[-3.43168944e-02 -9.99410950e-01 3.23107834e-04 1.71563957e+02] [ 9.99387108e-01 -3.43183077e-02 -6.90372424e-03 1.40166814e+02] [ 6.91074611e-03 8.59954288e-05 9.99976117e-01 1.49928245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.18, Z:1.50 [[-3.22102927e-02 -9.99481063e-01 3.20466744e-04 1.71564767e+02] [ 9.99457223e-01 -3.22117380e-02 -6.90384683e-03 1.40176117e+02] [ 6.91058696e-03 9.79178749e-05 9.99976117e-01 1.49804897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.19, Z:1.50 [[-3.05336632e-02 -9.99533689e-01 3.17802161e-04 1.71565252e+02] [ 9.99509850e-01 -3.05351301e-02 -6.90396949e-03 1.40191179e+02] [ 6.91045422e-03 1.06842911e-04 9.99976117e-01 1.49871913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.19, Z:1.50 [[-2.89660075e-02 -9.99580348e-01 3.15118655e-04 1.71565492e+02] [ 9.99556511e-01 -2.89674933e-02 -6.90409197e-03 1.40189732e+02] [ 6.91032285e-03 1.14994924e-04 9.99976117e-01 1.49823205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.19, Z:1.50 [[-2.75501661e-02 -9.99620373e-01 3.12426021e-04 1.71565355e+02] [ 9.99596537e-01 -2.75516671e-02 -6.90421381e-03 1.40188221e+02] [ 6.91020065e-03 1.22087731e-04 9.99976117e-01 1.49815112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:140.20, Z:1.50 [[-2.54853653e-02 -9.99675147e-01 3.09741509e-04 1.71565174e+02] [ 9.99651313e-01 -2.54868969e-02 -6.90433425e-03 1.40200235e+02] [ 6.90998571e-03 1.33674026e-04 9.99976117e-01 1.49929053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.20, Z:1.50 [[-2.42058738e-02 -9.99706948e-01 3.07051958e-04 1.71565430e+02] [ 9.99683115e-01 -2.42074174e-02 -6.90445386e-03 1.40202689e+02] [ 6.90986343e-03 1.39826319e-04 9.99976117e-01 1.49864146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.19, Z:1.50 [[-2.28100981e-02 -9.99739770e-01 3.04353239e-04 1.71565903e+02] [ 9.99715937e-01 -2.28116563e-02 -6.90457282e-03 1.40194118e+02] [ 6.90971884e-03 1.46772801e-04 9.99976117e-01 1.49984244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.22, Z:1.50 [[-2.02221310e-02 -9.99795466e-01 3.01665425e-04 1.71562906e+02] [ 9.99771637e-01 -2.02237323e-02 -6.90469025e-03 1.40215596e+02] [ 6.90937880e-03 1.61968985e-04 9.99976117e-01 1.49981055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.22, Z:1.50 [[-1.86290196e-02 -9.99826420e-01 2.98969805e-04 1.71561407e+02] [ 9.99802592e-01 -1.86306403e-02 -6.90480696e-03 1.40217371e+02] [ 6.90917843e-03 1.70281002e-04 9.99976117e-01 1.50002888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.21, Z:1.50 [[-1.70445161e-02 -9.99854688e-01 2.96255754e-04 1.71560553e+02] [ 9.99830861e-01 -1.70461558e-02 -6.90492341e-03 1.40206142e+02] [ 6.90897006e-03 1.78514568e-04 9.99976117e-01 1.49990009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.21, Z:1.50 [[-1.60502549e-02 -9.99871143e-01 2.93555932e-04 1.71558888e+02] [ 9.99847317e-01 -1.60518997e-02 -6.90503819e-03 1.40212683e+02] [ 6.90886056e-03 1.82683488e-04 9.99976117e-01 1.49898079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.20, Z:1.50 [[-1.61026936e-02 -9.99870301e-01 2.90866108e-04 1.71556076e+02] [ 9.99846473e-01 -1.61043186e-02 -6.90515149e-03 1.40204044e+02] [ 6.90894010e-03 1.79629914e-04 9.99976117e-01 1.49977460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.21, Z:1.50 [[-1.66880611e-02 -9.99860703e-01 2.88183058e-04 1.71554358e+02] [ 9.99836873e-01 -1.66896536e-02 -6.90526347e-03 1.40212506e+02] [ 6.90911126e-03 1.72900588e-04 9.99976117e-01 1.49711873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.22, Z:1.50 [[-1.78780211e-02 -9.99840135e-01 2.85504933e-04 1.71553381e+02] [ 9.99816302e-01 -1.78795668e-02 -6.90537419e-03 1.40223321e+02] [ 6.90937497e-03 1.61998060e-04 9.99976117e-01 1.49652268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.21, Z:1.50 [[-2.17251672e-02 -9.99763941e-01 2.82813148e-04 1.71552476e+02] [ 9.99740101e-01 -2.17266025e-02 -6.90548443e-03 1.40208573e+02] [ 6.90999890e-03 1.32716841e-04 9.99976117e-01 1.49864400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.21, Z:1.50 [[-2.36973229e-02 -9.99719140e-01 2.80129969e-04 1.71550204e+02] [ 9.99695296e-01 -2.36986927e-02 -6.90559328e-03 1.40212106e+02] [ 6.91029249e-03 1.16400539e-04 9.99976117e-01 1.49978948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.21, Z:1.50 [[-2.59489959e-02 -9.99663230e-01 2.77462920e-04 1.71548156e+02] [ 9.99639382e-01 -2.59502936e-02 -6.90570044e-03 1.40209532e+02] [ 6.91057505e-03 9.81668694e-05 9.99976117e-01 1.49908052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.18, Z:1.50 [[-2.83621615e-02 -9.99597675e-01 2.74799424e-04 1.71547521e+02] [ 9.99573823e-01 -2.83633832e-02 -6.90580643e-03 1.40178689e+02] [ 6.91082229e-03 7.88187141e-05 9.99976117e-01 1.49990550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.17, Z:1.50 [[-3.06070937e-02 -9.99531456e-01 2.72172816e-04 1.71546864e+02] [ 9.99507601e-01 -3.06082437e-02 -6.90590994e-03 1.40173911e+02] [ 6.91100495e-03 6.06689656e-05 9.99976117e-01 1.49936585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.17, Z:1.50 [[-3.27133194e-02 -9.99464740e-01 2.69584631e-04 1.71547018e+02] [ 9.99440881e-01 -3.27144013e-02 -6.90601098e-03 1.40165760e+02] [ 6.91113376e-03 4.35153585e-05 9.99976117e-01 1.50049858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.19, Z:1.50 [[-3.70971905e-02 -9.99311627e-01 2.67013132e-04 1.71546456e+02] [ 9.99287763e-01 -3.70981499e-02 -6.90611040e-03 1.40192889e+02] [ 6.91126211e-03 1.06256619e-05 9.99976117e-01 1.50130909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.20, Z:1.50 [[-3.86823897e-02 -9.99251521e-01 2.64428651e-04 1.71546442e+02] [ 9.99227655e-01 -3.86832934e-02 -6.90620936e-03 1.40198109e+02] [ 6.91126918e-03 -2.92426008e-06 9.99976117e-01 1.49937947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.18, Z:1.50 [[-3.97123452e-02 -9.99211119e-01 2.61819114e-04 1.71547004e+02] [ 9.99187252e-01 -3.97132063e-02 -6.90630828e-03 1.40179188e+02] [ 6.91125771e-03 -1.26593780e-05 9.99976117e-01 1.49799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.55, Y:140.17, Z:1.50 [[-4.10165278e-02 -9.99158435e-01 2.59226991e-04 1.71545923e+02] [ 9.99134565e-01 -4.10173398e-02 -6.90640558e-03 1.40174310e+02] [ 6.91122619e-03 -2.42741294e-05 9.99976117e-01 1.50027398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.17, Z:1.50 [[-4.13706395e-02 -9.99143836e-01 2.56660744e-04 1.71545800e+02] [ 9.99119965e-01 -4.13714253e-02 -6.90650095e-03 1.40171908e+02] [ 6.91120627e-03 -2.92914873e-05 9.99976117e-01 1.50036660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.16, Z:1.50 [[-4.17127422e-02 -9.99129613e-01 2.54106399e-04 1.71546676e+02] [ 9.99105742e-01 -4.17135021e-02 -6.90659492e-03 1.40163022e+02] [ 6.91118318e-03 -3.42138517e-05 9.99976117e-01 1.49765417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:140.19, Z:1.50 [[-4.26913504e-02 -9.99088277e-01 2.51566297e-04 1.71548915e+02] [ 9.99064405e-01 -4.26920695e-02 -6.90668744e-03 1.40192526e+02] [ 6.91113034e-03 -4.35248818e-05 9.99976117e-01 1.49677635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.16, Z:1.50 [[-4.29309708e-02 -9.99078010e-01 2.49012708e-04 1.71552305e+02] [ 9.99054137e-01 -4.29316664e-02 -6.90677951e-03 1.40156487e+02] [ 6.91110206e-03 -4.77375731e-05 9.99976117e-01 1.49741448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.18, Z:1.50 [[-4.31811164e-02 -9.99067230e-01 2.46469707e-04 1.71552116e+02] [ 9.99043357e-01 -4.31817885e-02 -6.90687026e-03 1.40181916e+02] [ 6.91107074e-03 -5.20124448e-05 9.99976117e-01 1.49917655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.20, Z:1.50 [[-4.27135184e-02 -9.99087331e-01 2.43940825e-04 1.71551450e+02] [ 9.99063458e-01 -4.27141842e-02 -6.90695957e-03 1.40201190e+02] [ 6.91107554e-03 -5.13081806e-05 9.99976117e-01 1.49806402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.22, Z:1.50 [[-4.22175410e-02 -9.99108413e-01 2.41376039e-04 1.71550704e+02] [ 9.99084539e-01 -4.22182009e-02 -6.90704920e-03 1.40221798e+02] [ 6.91108143e-03 -5.04435646e-05 9.99976117e-01 1.50155674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.21, Z:1.50 [[-4.10475793e-02 -9.99157164e-01 2.38627415e-04 1.71554485e+02] [ 9.99133291e-01 -4.10482481e-02 -6.90714423e-03 1.40212089e+02] [ 6.91111788e-03 -4.51009555e-05 9.99976117e-01 1.49860431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.20, Z:1.50 [[-4.00320954e-02 -9.99198367e-01 2.36177093e-04 1.71556743e+02] [ 9.99174493e-01 -4.00327716e-02 -6.90722801e-03 1.40197449e+02] [ 6.91114577e-03 -4.05286837e-05 9.99976117e-01 1.50028953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.21, Z:1.50 [[-3.86648626e-02 -9.99252207e-01 2.33602242e-04 1.71557703e+02] [ 9.99228334e-01 -3.86655536e-02 -6.90731509e-03 1.40210881e+02] [ 6.91118221e-03 -3.36484096e-05 9.99976117e-01 1.49985971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.23, Z:1.50 [[-3.73288967e-02 -9.99303007e-01 2.31032770e-04 1.71558370e+02] [ 9.99279135e-01 -3.73296019e-02 -6.90740103e-03 1.40225367e+02] [ 6.91121098e-03 -2.69794332e-05 9.99976117e-01 1.49946755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.22, Z:1.50 [[-3.42272212e-02 -9.99414051e-01 2.28443184e-04 1.71559147e+02] [ 9.99390180e-01 -3.42279826e-02 -6.90748667e-03 1.40217538e+02] [ 6.91125839e-03 -8.12019937e-06 9.99976117e-01 1.50110512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.22, Z:1.50 [[-3.23506248e-02 -9.99476556e-01 2.25851870e-04 1.71558928e+02] [ 9.99452686e-01 -3.23514131e-02 -6.90757140e-03 1.40216862e+02] [ 6.91126230e-03 2.26400669e-06 9.99976117e-01 1.50031597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.24, Z:1.50 [[-3.05799599e-02 -9.99532299e-01 2.23273142e-04 1.71558624e+02] [ 9.99508430e-01 -3.05807727e-02 -6.90765475e-03 1.40239216e+02] [ 6.91125190e-03 1.19275821e-05 9.99976117e-01 1.50088286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.28, Z:1.50 [[-2.89119020e-02 -9.99581939e-01 2.20678819e-04 1.71558487e+02] [ 9.99558071e-01 -2.89127366e-02 -6.90773763e-03 1.40275500e+02] [ 6.91123021e-03 2.08654609e-05 9.99976117e-01 1.50135294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.23, Z:1.50 [[-2.71860770e-02 -9.99630367e-01 2.18034028e-04 1.71561372e+02] [ 9.99606499e-01 -2.71869346e-02 -6.90782111e-03 1.40229041e+02] [ 6.91119543e-03 3.01516749e-05 9.99976117e-01 1.50152423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.26, Z:1.50 [[-2.48490569e-02 -9.99691191e-01 2.15403633e-04 1.71562382e+02] [ 9.99667325e-01 -2.48499521e-02 -6.90790313e-03 1.40257373e+02] [ 6.91112268e-03 4.36770952e-05 9.99976117e-01 1.50133074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.27, Z:1.50 [[-2.37829610e-02 -9.99717123e-01 2.12795184e-04 1.71562601e+02] [ 9.99693257e-01 -2.37838637e-02 -6.90798348e-03 1.40267989e+02] [ 6.91109046e-03 4.84376083e-05 9.99976117e-01 1.50120648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:140.28, Z:1.50 [[-2.24644393e-02 -9.99747621e-01 2.10155127e-04 1.71561192e+02] [ 9.99723755e-01 -2.24653551e-02 -6.90806380e-03 1.40279360e+02] [ 6.91104155e-03 5.49112929e-05 9.99976117e-01 1.50355550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.27, Z:1.50 [[-2.14832126e-02 -9.99769188e-01 2.07498724e-04 1.71561794e+02] [ 9.99745322e-01 -2.14841336e-02 -6.90814359e-03 1.40268622e+02] [ 6.91100703e-03 5.90367612e-05 9.99976117e-01 1.50206531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.30, Z:1.50 [[-2.09459982e-02 -9.99780588e-01 2.04846270e-04 1.71561713e+02] [ 9.99756722e-01 -2.09469137e-02 -6.90822224e-03 1.40303345e+02] [ 6.91099739e-03 6.00968242e-05 9.99976117e-01 1.50213172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.31, Z:1.50 [[-2.05542992e-02 -9.99788717e-01 2.03203331e-04 1.71561565e+02] [ 9.99764852e-01 -2.05552126e-02 -6.90827038e-03 1.40305892e+02] [ 6.91098767e-03 6.11608916e-05 9.99976117e-01 1.50214922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.28, Z:1.50 [[-1.96879749e-02 -9.99806153e-01 2.00513567e-04 1.71563932e+02] [ 9.99782287e-01 -1.96888905e-02 -6.90834815e-03 1.40281381e+02] [ 6.91095688e-03 6.44585278e-05 9.99976117e-01 1.49926980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.29, Z:1.50 [[-1.87212842e-02 -9.99824722e-01 1.97126399e-04 1.71565094e+02] [ 9.99800857e-01 -1.87221994e-02 -6.90844480e-03 1.40285968e+02] [ 6.91092454e-03 6.77521841e-05 9.99976117e-01 1.49946468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.31, Z:1.50 [[-1.72808791e-02 -9.99850656e-01 1.94473830e-04 1.71566464e+02] [ 9.99826791e-01 -1.72818103e-02 -6.90851947e-03 1.40307001e+02] [ 6.91084858e-03 7.50548562e-05 9.99976117e-01 1.50025534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.29, Z:1.50 [[-1.64738673e-02 -9.99864278e-01 1.91800735e-04 1.71567241e+02] [ 9.99840413e-01 -1.64747993e-02 -6.90859368e-03 1.40285181e+02] [ 6.91081591e-03 7.79588705e-05 9.99976117e-01 1.50158433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.30, Z:1.50 [[-1.52334677e-02 -9.99883946e-01 1.89133440e-04 1.71566350e+02] [ 9.99860082e-01 -1.52344109e-02 -6.90866670e-03 1.40295738e+02] [ 6.91074626e-03 8.38640257e-05 9.99976117e-01 1.50436375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.30, Z:1.50 [[-1.27424842e-02 -9.99918794e-01 1.86482566e-04 1.71566338e+02] [ 9.99894931e-01 -1.27434686e-02 -6.90873826e-03 1.40297836e+02] [ 6.91055366e-03 9.84284841e-05 9.99976117e-01 1.50282380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.30, Z:1.50 [[-1.13664285e-02 -9.99935383e-01 1.84159997e-04 1.71567795e+02] [ 9.99911521e-01 -1.13674297e-02 -6.90880017e-03 1.40301326e+02] [ 6.91044717e-03 1.05615319e-04 9.99976117e-01 1.50438490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.32, Z:1.51 [[-9.83726023e-03 -9.99951597e-01 1.81499323e-04 1.71568511e+02] [ 9.99927735e-01 -9.83827951e-03 -6.90887006e-03 1.40315842e+02] [ 6.91032129e-03 1.13521854e-04 9.99976117e-01 1.50595262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.31, Z:1.51 [[-8.12898737e-03 -9.99966943e-01 1.78826093e-04 1.71568787e+02] [ 9.99943083e-01 -8.13002894e-03 -6.90893925e-03 1.40312743e+02] [ 6.91016473e-03 1.22653235e-04 9.99976117e-01 1.50500761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.33, Z:1.51 [[-5.29749588e-03 -9.99985953e-01 1.76146559e-04 1.71568071e+02] [ 9.99962095e-01 -5.29858650e-03 -6.90900757e-03 1.40327949e+02] [ 6.90984384e-03 1.39539443e-04 9.99976117e-01 1.50649229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.57, Y:140.33, Z:1.51 [[-3.95137789e-03 -9.99992178e-01 1.73460204e-04 1.71567679e+02] [ 9.99968321e-01 -3.95248208e-03 -6.90907501e-03 1.40330751e+02] [ 6.90970657e-03 1.46154343e-04 9.99976117e-01 1.50810015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.32, Z:1.50 [[-1.89700003e-03 -9.99998186e-01 1.70760621e-04 1.71568435e+02] [ 9.99974330e-01 -1.89813459e-03 -6.90914173e-03 1.40323126e+02] [ 6.90945333e-03 1.57649596e-04 9.99976117e-01 1.50472820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.34, Z:1.50 [[-3.46286582e-05 -9.99999985e-01 1.68071048e-04 1.71567399e+02] [ 9.99976131e-01 -3.57890718e-05 -6.90920716e-03 1.40339265e+02] [ 6.90921307e-03 1.67827780e-04 9.99976117e-01 1.50462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.32, Z:1.50 [[ 3.15279628e-03 -9.99995016e-01 1.65377787e-04 1.71567581e+02] [ 9.99971164e-01 3.15157843e-03 -6.90927163e-03 1.40321358e+02] [ 6.90871599e-03 1.87156544e-04 9.99976117e-01 1.50294514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.33, Z:1.50 [[ 4.81183069e-03 -9.99988410e-01 1.62691331e-04 1.71567466e+02] [ 9.99964559e-01 4.81059182e-03 -6.90933488e-03 1.40328991e+02] [ 6.90847216e-03 1.95932115e-04 9.99976117e-01 1.50078641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.31, Z:1.50 [[ 6.26042610e-03 -9.99980391e-01 1.60019731e-04 1.71567538e+02] [ 9.99956541e-01 6.25917113e-03 -6.90939676e-03 1.40310553e+02] [ 6.90825968e-03 2.03268544e-04 9.99976117e-01 1.50209557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.32, Z:1.50 [[ 7.55052005e-03 -9.99971482e-01 1.57363715e-04 1.71565839e+02] [ 9.99947633e-01 7.54925263e-03 -6.90945725e-03 1.40315027e+02] [ 6.90807222e-03 2.09525469e-04 9.99976117e-01 1.50143168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.32, Z:1.50 [[ 8.35183850e-03 -9.99965111e-01 1.56539433e-04 1.71564789e+02] [ 9.99941262e-01 8.35055767e-03 -6.90947592e-03 1.40320146e+02] [ 6.90792766e-03 2.14237065e-04 9.99976117e-01 1.50154848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.34, Z:1.50 [[ 8.63531723e-03 -9.99962703e-01 1.53897932e-04 1.71563045e+02] [ 9.99938854e-01 8.63404787e-03 -6.90953476e-03 1.40338334e+02] [ 6.90794829e-03 2.13554546e-04 9.99976117e-01 1.50008226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.36, Z:1.50 [[ 8.40083868e-03 -9.99964701e-01 1.51239185e-04 1.71561659e+02] [ 9.99940850e-01 8.39959327e-03 -6.90959295e-03 1.40356742e+02] [ 6.90807870e-03 2.09276615e-04 9.99976117e-01 1.50100593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.34, Z:1.50 [[ 6.07304381e-03 -9.99981548e-01 1.48548525e-04 1.71562926e+02] [ 9.99957694e-01 6.07187250e-03 -6.90965080e-03 1.40335801e+02] [ 6.90862133e-03 1.90504852e-04 9.99976117e-01 1.49908787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.35, Z:1.50 [[ 4.04027972e-03 -9.99991827e-01 1.45865993e-04 1.71564000e+02] [ 9.99967970e-01 4.03917543e-03 -6.90970743e-03 1.40347294e+02] [ 6.90906178e-03 1.73778472e-04 9.99976117e-01 1.50114945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.56, Y:140.36, Z:1.50 [[ 1.62641271e-03 -9.99998667e-01 1.43197375e-04 1.71564612e+02] [ 9.99974806e-01 1.62538444e-03 -6.90976273e-03 1.40358272e+02] [ 6.90952077e-03 1.54431894e-04 9.99976117e-01 1.50176825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.38, Z:1.50 [[-3.80982518e-03 -9.99992733e-01 1.39078234e-04 1.71566959e+02] [ 9.99968866e-01 -3.81069527e-03 -6.90984659e-03 1.40379756e+02] [ 6.91032636e-03 1.12748597e-04 9.99976117e-01 1.50154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.34, Z:1.50 [[-6.09470047e-03 -9.99981418e-01 1.36672702e-04 1.71568467e+02] [ 9.99957548e-01 -6.09549940e-03 -6.90989461e-03 1.40339258e+02] [ 6.91059929e-03 9.45531618e-05 9.99976117e-01 1.50213135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.34, Z:1.50 [[-7.76728193e-03 -9.99969825e-01 1.35121333e-04 1.71568822e+02] [ 9.99945954e-01 -7.76803021e-03 -6.90992494e-03 1.40344505e+02] [ 6.91076606e-03 8.14426950e-05 9.99976117e-01 1.50328624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.36, Z:1.50 [[-9.90768794e-03 -9.99950909e-01 1.32472174e-04 1.71571755e+02] [ 9.99927036e-01 -9.90836683e-03 -6.90997573e-03 1.40356605e+02] [ 6.91094910e-03 6.40006248e-05 9.99976117e-01 1.50294751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.35, Z:1.50 [[-9.91062188e-03 -9.99950880e-01 1.29811055e-04 1.71573929e+02] [ 9.99927006e-01 -9.91128231e-03 -6.91002572e-03 1.40350115e+02] [ 6.91097290e-03 6.13189273e-05 9.99976117e-01 1.50162495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.35, Z:1.50 [[-9.18460810e-03 -9.99957813e-01 1.27149917e-04 1.71575762e+02] [ 9.99933939e-01 -9.18526747e-03 -6.91007469e-03 1.40350420e+02] [ 6.91095108e-03 6.36751894e-05 9.99976117e-01 1.50117397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.36, Z:1.50 [[-7.59376182e-03 -9.99971159e-01 1.24499400e-04 1.71576239e+02] [ 9.99947286e-01 -7.59444086e-03 -6.91012244e-03 1.40356605e+02] [ 6.91086865e-03 7.20190133e-05 9.99976117e-01 1.50034423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.37, Z:1.50 [[-3.51909997e-03 -9.99993801e-01 1.21847977e-04 1.71575646e+02] [ 9.99969930e-01 -3.51985796e-03 -6.91016920e-03 1.40365559e+02] [ 6.91055525e-03 9.75267366e-05 9.99976117e-01 1.49698454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.38, Z:1.50 [[-1.21778723e-03 -9.99999251e-01 1.19523521e-04 1.71574954e+02] [ 9.99975382e-01 -1.21858409e-03 -6.91020940e-03 1.40378435e+02] [ 6.91034988e-03 1.11105414e-04 9.99976117e-01 1.49713820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.38, Z:1.50 [[ 8.87600671e-04 -9.99999599e-01 1.16843503e-04 1.71574828e+02] [ 9.99975731e-01 8.86772064e-04 -6.91025472e-03 1.40383007e+02] [ 6.91014834e-03 1.22974214e-04 9.99976117e-01 1.49649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.38, Z:1.50 [[ 2.51555004e-03 -9.99996830e-01 1.14151674e-04 1.71575451e+02] [ 9.99972962e-01 2.51470117e-03 -6.91029918e-03 1.40376821e+02] [ 6.90999022e-03 1.31531791e-04 9.99976117e-01 1.49553091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.58, Y:140.38, Z:1.49 [[ 4.43028785e-03 -9.99990180e-01 1.11466650e-04 1.71576989e+02] [ 9.99966313e-01 4.42941183e-03 -6.91034249e-03 1.40378600e+02] [ 6.90978090e-03 1.42077702e-04 9.99976117e-01 1.49470870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.39, Z:1.50 [[ 5.16378470e-03 -9.99986662e-01 1.08790631e-04 1.71577248e+02] [ 9.99962795e-01 5.16290966e-03 -6.91038462e-03 1.40389578e+02] [ 6.90973077e-03 1.44470322e-04 9.99976117e-01 1.49526400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.40, Z:1.49 [[ 5.83233903e-03 -9.99982986e-01 1.06107820e-04 1.71576688e+02] [ 9.99959119e-01 5.83146657e-03 -6.91042582e-03 1.40398821e+02] [ 6.90968948e-03 1.46407429e-04 9.99976117e-01 1.49410873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.39, Z:1.49 [[ 6.31568805e-03 -9.99980051e-01 1.03409071e-04 1.71576372e+02] [ 9.99956183e-01 6.31482269e-03 -6.91046620e-03 1.40393446e+02] [ 6.90967533e-03 1.47048889e-04 9.99976117e-01 1.49315364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.39, Z:1.50 [[ 6.64960601e-03 -9.99977886e-01 1.00712146e-04 1.71576519e+02] [ 9.99954018e-01 6.64875131e-03 -6.91050551e-03 1.40386975e+02] [ 6.90968308e-03 1.46659654e-04 9.99976117e-01 1.49663169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.39, Z:1.50 [[ 6.62429461e-03 -9.99978054e-01 9.83711016e-05 1.71576277e+02] [ 9.99954186e-01 6.62345668e-03 -6.91053883e-03 1.40391715e+02] [ 6.90973562e-03 1.44144040e-04 9.99976117e-01 1.49712067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.41, Z:1.50 [[ 6.26421516e-03 -9.99980375e-01 9.56959132e-05 1.71576048e+02] [ 9.99956506e-01 6.26340431e-03 -6.91057588e-03 1.40409066e+02] [ 6.90984087e-03 1.38981085e-04 9.99976117e-01 1.49911241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.58, Y:140.40, Z:1.50 [[ 5.95904892e-03 -9.99982240e-01 9.30039629e-05 1.71576232e+02] [ 9.99958370e-01 5.95826395e-03 -6.91061211e-03 1.40403409e+02] [ 6.90993523e-03 1.34180767e-04 9.99976117e-01 1.49999086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.41, Z:1.50 [[ 4.13401246e-03 -9.99991451e-01 9.03051427e-05 1.71577286e+02] [ 9.99967579e-01 4.13328970e-03 -6.91064737e-03 1.40405857e+02] [ 6.91021503e-03 1.18870917e-04 9.99976117e-01 1.50216483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.41, Z:1.50 [[ 2.99081578e-03 -9.99995524e-01 8.76140808e-05 1.71576620e+02] [ 9.99971650e-01 2.99013890e-03 -6.91068149e-03 1.40411574e+02] [ 6.91038858e-03 1.08280172e-04 9.99976117e-01 1.50215787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.58, Y:140.41, Z:1.51 [[ 2.28856058e-03 -9.99997378e-01 8.49202574e-05 1.71575335e+02] [ 9.99973503e-01 2.28791908e-03 -6.91071459e-03 1.40407836e+02] [ 6.91050218e-03 1.00733596e-04 9.99976117e-01 1.50514190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:140.40, Z:1.51 [[ 1.70001001e-03 -9.99998552e-01 8.22291705e-05 1.71574435e+02] [ 9.99974677e-01 1.69940116e-03 -6.91074661e-03 1.40395349e+02] [ 6.91059686e-03 9.39754266e-05 9.99976117e-01 1.50600278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.40, Z:1.51 [[ 1.58813605e-03 -9.99998736e-01 7.95601605e-05 1.71574700e+02] [ 9.99974860e-01 1.58754830e-03 -6.91077734e-03 1.40395475e+02] [ 6.91064230e-03 9.05334150e-05 9.99976117e-01 1.50654088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:140.41, Z:1.51 [[ 2.32314170e-03 -9.99997299e-01 7.69076037e-05 1.71575063e+02] [ 9.99973423e-01 2.32255473e-03 -6.91080686e-03 1.40408003e+02] [ 6.91060957e-03 9.29603433e-05 9.99976117e-01 1.50699183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.42, Z:1.51 [[ 2.82983762e-03 -9.99995993e-01 7.42470678e-05 1.71574564e+02] [ 9.99972117e-01 2.82925694e-03 -6.91083544e-03 1.40420132e+02] [ 6.91059769e-03 9.38015398e-05 9.99976117e-01 1.50688846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.41, Z:1.51 [[ 4.13564777e-03 -9.99991446e-01 7.15681447e-05 1.71572395e+02] [ 9.99967570e-01 4.13505443e-03 -6.91086318e-03 1.40407708e+02] [ 6.91050813e-03 1.00146720e-04 9.99976117e-01 1.50598683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:140.41, Z:1.51 [[ 4.94618093e-03 -9.99987765e-01 6.88941607e-05 1.71570676e+02] [ 9.99963890e-01 4.94558671e-03 -6.91088984e-03 1.40414631e+02] [ 6.91046457e-03 1.03074184e-04 9.99976117e-01 1.50666280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.41, Z:1.51 [[ 5.56773547e-03 -9.99984498e-01 6.62309074e-05 1.71569244e+02] [ 9.99960622e-01 5.56714481e-03 -6.91091537e-03 1.40412672e+02] [ 6.91043951e-03 1.04706448e-04 9.99976117e-01 1.50630186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:140.43, Z:1.51 [[ 6.35764390e-03 -9.99979788e-01 6.35676444e-05 1.71567457e+02] [ 9.99955912e-01 6.35705278e-03 -6.91093986e-03 1.40432573e+02] [ 6.91039608e-03 1.07502137e-04 9.99976117e-01 1.50667180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.56, Y:140.42, Z:1.51 [[ 7.98980960e-03 -9.99968079e-01 6.08914012e-05 1.71563669e+02] [ 9.99944204e-01 7.98919800e-03 -6.91096344e-03 1.40422837e+02] [ 6.91025636e-03 1.16105286e-04 9.99976117e-01 1.50775629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.42, Z:1.51 [[ 8.89452527e-03 -9.99960441e-01 5.82101914e-05 1.71561517e+02] [ 9.99936566e-01 8.89391060e-03 -6.91098603e-03 1.40422140e+02] [ 6.91019492e-03 1.19676439e-04 9.99976117e-01 1.50746034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:140.42, Z:1.51 [[ 1.03821697e-02 -9.99946102e-01 5.55437913e-05 1.71559353e+02] [ 9.99922228e-01 1.03815379e-02 -6.91100746e-03 1.40422530e+02] [ 6.91005834e-03 1.27290723e-04 9.99976117e-01 1.50799274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.56, Y:140.45, Z:1.51 [[ 1.22938009e-02 -9.99924427e-01 5.28831816e-05 1.71556685e+02] [ 9.99900553e-01 1.22931419e-02 -6.91102781e-03 1.40448048e+02] [ 6.90985543e-03 1.37840722e-04 9.99976117e-01 1.50997603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.46, Z:1.51 [[ 1.56286676e-02 -9.99877864e-01 5.02019479e-05 1.71550721e+02] [ 9.99853992e-01 1.56279475e-02 -6.91104729e-03 1.40458911e+02] [ 6.90941865e-03 1.58205079e-04 9.99976117e-01 1.50874139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:140.44, Z:1.51 [[ 1.77604379e-02 -9.99842270e-01 4.74887118e-05 1.71547116e+02] [ 9.99818399e-01 1.77596856e-02 -6.91106593e-03 1.40438612e+02] [ 6.90913247e-03 1.70223645e-04 9.99976117e-01 1.50873415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.54, Y:140.45, Z:1.51 [[ 1.97117343e-02 -9.99805704e-01 4.47906414e-05 1.71543455e+02] [ 9.99781834e-01 1.97109540e-02 -6.91108342e-03 1.40448439e+02] [ 6.90885776e-03 1.81010309e-04 9.99976117e-01 1.50817679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:140.44, Z:1.51 [[ 2.17099763e-02 -9.99764310e-01 4.21075691e-05 1.71538427e+02] [ 9.99740441e-01 2.17091669e-02 -6.91109977e-03 1.40439414e+02] [ 6.90855677e-03 1.92136452e-04 9.99976117e-01 1.50745089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:140.46, Z:1.51 [[ 2.23518124e-02 -9.99750166e-01 3.94294552e-05 1.71534993e+02] [ 9.99726297e-01 2.23510062e-02 -6.91111505e-03 1.40459829e+02] [ 6.90850713e-03 1.93894610e-04 9.99976117e-01 1.50503622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:140.46, Z:1.51 [[ 2.27426967e-02 -9.99741351e-01 3.67441252e-05 1.71534906e+02] [ 9.99717481e-01 2.27418997e-02 -6.91112932e-03 1.40462386e+02] [ 6.90850613e-03 1.93911462e-04 9.99976117e-01 1.50505363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:140.47, Z:1.51 [[ 2.28369385e-02 -9.99739203e-01 3.40419164e-05 1.71531277e+02] [ 9.99715332e-01 2.28361579e-02 -6.91114263e-03 1.40472932e+02] [ 6.90856284e-03 1.91861565e-04 9.99976117e-01 1.50661608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:140.45, Z:1.50 [[ 2.15961489e-02 -9.99766776e-01 3.13314331e-05 1.71525582e+02] [ 9.99742904e-01 2.15954166e-02 -6.91115492e-03 1.40454368e+02] [ 6.90886646e-03 1.80577709e-04 9.99976117e-01 1.50495699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:140.45, Z:1.50 [[ 2.11367304e-02 -9.99776594e-01 2.86342505e-05 1.71523149e+02] [ 9.99752722e-01 2.11360278e-02 -6.91116610e-03 1.40449683e+02] [ 6.90901689e-03 1.74706625e-04 9.99976117e-01 1.50303999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:140.47, Z:1.50 [[ 2.05245813e-02 -9.99789348e-01 2.59650868e-05 1.71520302e+02] [ 9.99765475e-01 2.05239117e-02 -6.91117613e-03 1.40466746e+02] [ 6.90918737e-03 1.67807993e-04 9.99976117e-01 1.50402269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:140.45, Z:1.50 [[ 1.99621023e-02 -9.99800737e-01 2.32887575e-05 1.71517377e+02] [ 9.99776863e-01 1.99614646e-02 -6.91118514e-03 1.40453847e+02] [ 6.90934312e-03 1.61245346e-04 9.99976117e-01 1.50366832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:140.45, Z:1.50 [[ 1.92422867e-02 -9.99814850e-01 2.06133301e-05 1.71514231e+02] [ 9.99790975e-01 1.92416847e-02 -6.91119312e-03 1.40445335e+02] [ 6.90951688e-03 1.53596181e-04 9.99976117e-01 1.50492014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:140.45, Z:1.51 [[ 1.74461981e-02 -9.99847803e-01 1.79637013e-05 1.71506866e+02] [ 9.99823927e-01 1.74456573e-02 -6.91120001e-03 1.40446414e+02] [ 6.90983476e-03 1.38534703e-04 9.99976117e-01 1.50553814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:140.44, Z:1.50 [[ 1.66405800e-02 -9.99861536e-01 1.53263757e-05 1.71503490e+02] [ 9.99837658e-01 1.66400767e-02 -6.91120586e-03 1.40442157e+02] [ 6.90999387e-03 1.30330362e-04 9.99976117e-01 1.50361119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:140.44, Z:1.50 [[ 1.56567789e-02 -9.99877425e-01 1.26968776e-05 1.71500621e+02] [ 9.99853547e-01 1.56563173e-02 -6.91121069e-03 1.40435551e+02] [ 6.91016476e-03 1.20902316e-04 9.99976117e-01 1.50396946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:140.45, Z:1.51 [[ 1.30772952e-02 -9.99914488e-01 1.00824953e-05 1.71496983e+02] [ 9.99890609e-01 1.30769132e-02 -6.91121450e-03 1.40446194e+02] [ 6.91049167e-03 1.00461385e-04 9.99976117e-01 1.50595729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:140.45, Z:1.51 [[ 1.14712969e-02 -9.99934203e-01 7.46897526e-06 1.71495588e+02] [ 9.99910322e-01 1.14709714e-02 -6.91121733e-03 1.40449323e+02] [ 6.91067691e-03 8.67489317e-05 9.99976117e-01 1.50686759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.41, Z:1.51 [[ 9.56007011e-03 -9.99954302e-01 4.84685186e-06 1.71494161e+02] [ 9.99930420e-01 9.55980829e-03 -6.91121917e-03 1.40411880e+02] [ 6.91085700e-03 7.09182544e-05 9.99976117e-01 1.50656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.42, Z:1.51 [[ 7.75224242e-03 -9.99969951e-01 2.26218620e-06 1.71492868e+02] [ 9.99946069e-01 7.75204164e-03 -6.91122001e-03 1.40423316e+02] [ 6.91099480e-03 5.58395171e-05 9.99976117e-01 1.50671239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.45, Z:1.51 [[ 3.10536228e-03 -9.99995178e-01 -2.93869476e-07 1.71490144e+02] [ 9.99971296e-01 3.10529014e-03 -6.91121990e-03 1.40446997e+02] [ 6.91118749e-03 2.11679805e-05 9.99976117e-01 1.50531609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.44, Z:1.51 [[ 1.26871091e-03 -9.99999195e-01 1.77289295e-06 1.71488998e+02] [ 9.99975312e-01 1.26866835e-03 -6.91121937e-03 1.40435123e+02] [ 6.91121156e-03 1.05411886e-05 9.99976117e-01 1.50583848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.46, Z:1.50 [[-1.21669145e-03 -9.99999260e-01 -7.44347112e-07 1.71487725e+02] [ 9.99975377e-01 -1.21665725e-03 -6.91121910e-03 1.40458858e+02] [ 6.91121308e-03 -9.15315001e-06 9.99976117e-01 1.50475902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.49, Y:140.45, Z:1.51 [[-3.16665823e-03 -9.99994986e-01 1.33763605e-06 1.71487011e+02] [ 9.99971103e-01 -3.16659185e-03 -6.91121870e-03 1.40445969e+02] [ 6.91118828e-03 -2.05478702e-05 9.99976117e-01 1.50562198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.47, Z:1.51 [[-8.70935459e-03 -9.99962073e-01 -1.16812505e-06 1.71487306e+02] [ 9.99938191e-01 -8.70913852e-03 -6.91121828e-03 1.40469573e+02] [ 6.91094598e-03 -6.13603035e-05 9.99976117e-01 1.50612774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.49, Y:140.47, Z:1.51 [[-1.04341056e-02 -9.99945563e-01 8.76218523e-07 1.71487642e+02] [ 9.99921682e-01 -1.04338625e-02 -6.91121802e-03 1.40474101e+02] [ 6.91085094e-03 -7.12362290e-05 9.99976117e-01 1.50565214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.49, Y:140.50, Z:1.51 [[-1.33613389e-02 -9.99910733e-01 -1.59608593e-06 1.71487433e+02] [ 9.99886853e-01 -1.33610088e-02 -6.91121745e-03 1.40498798e+02] [ 6.91057918e-03 -9.39390240e-05 9.99976117e-01 1.50718023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.50, Z:1.51 [[-1.35224558e-02 -9.99908567e-01 3.41182045e-07 1.71487426e+02] [ 9.99884687e-01 -1.35221352e-02 -6.91121735e-03 1.40500573e+02] [ 6.91059005e-03 -9.31154884e-05 9.99976117e-01 1.50818493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.49, Y:140.53, Z:1.51 [[-1.35185094e-02 -9.99908621e-01 -2.12690642e-06 1.71487818e+02] [ 9.99884740e-01 -1.35181719e-02 -6.91121659e-03 1.40525451e+02] [ 6.91055630e-03 -9.55560081e-05 9.99976117e-01 1.50793842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.55, Z:1.51 [[-1.33150391e-02 -9.99911351e-01 -1.88861487e-07 1.71488594e+02] [ 9.99887470e-01 -1.33147198e-02 -6.91121665e-03 1.40550139e+02] [ 6.91060146e-03 -9.22119602e-05 9.99976117e-01 1.50788857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.57, Z:1.51 [[-1.06713348e-02 -9.99943060e-01 1.81311518e-06 1.71488616e+02] [ 9.99919178e-01 -1.06710925e-02 -6.91121612e-03 1.40572447e+02] [ 6.91084194e-03 -7.19389325e-05 9.99976117e-01 1.50640395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.60, Z:1.51 [[-9.49924253e-03 -9.99954881e-01 -6.69582130e-07 1.71487749e+02] [ 9.99931000e-01 -9.49901104e-03 -6.91121588e-03 1.40598343e+02] [ 6.91089769e-03 -6.63208518e-05 9.99976117e-01 1.50710832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.59, Z:1.51 [[-7.27191753e-03 -9.99973559e-01 1.21154783e-06 1.71487345e+02] [ 9.99949677e-01 -7.27175224e-03 -6.91121555e-03 1.40585704e+02] [ 6.91104162e-03 -4.90463027e-05 9.99976117e-01 1.50540448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.61, Z:1.50 [[-5.66957695e-03 -9.99983928e-01 -1.28048042e-06 1.71486944e+02] [ 9.99960046e-01 -5.66943269e-03 -6.91121509e-03 1.40609142e+02] [ 6.91109675e-03 -4.04640950e-05 9.99976117e-01 1.50452487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.63, Z:1.51 [[-1.91459924e-03 -9.99998167e-01 7.50175851e-07 1.71485745e+02] [ 9.99974284e-01 -1.91455870e-03 -6.91121487e-03 1.40628090e+02] [ 6.91120364e-03 -1.24820502e-05 9.99976117e-01 1.50531358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.65, Z:1.51 [[-8.92783606e-04 -9.99999601e-01 -1.75204475e-06 1.71485492e+02] [ 9.99975719e-01 -8.92750177e-04 -6.91121423e-03 1.40652708e+02] [ 6.91120991e-03 -7.92222099e-06 9.99976117e-01 1.50506997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:140.67, Z:1.50 [[ 7.10056462e-04 -9.99999748e-01 2.05396485e-07 1.71485889e+02] [ 9.99975865e-01 7.10038083e-04 -6.91121417e-03 1.40670060e+02] [ 6.91121229e-03 5.11274380e-06 9.99976117e-01 1.50474817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.49, Y:140.69, Z:1.51 [[ 1.63710558e-03 -9.99998660e-01 -2.32304975e-06 1.71485747e+02] [ 9.99974777e-01 1.63708253e-03 -6.91121333e-03 1.40694288e+02] [ 6.91120787e-03 8.99139470e-06 9.99976117e-01 1.50508663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.72, Z:1.51 [[ 3.33315285e-03 -9.99994445e-01 -3.65608745e-07 1.71483892e+02] [ 9.99970562e-01 3.33307577e-03 -6.91121343e-03 1.40717924e+02] [ 6.91117626e-03 2.26705328e-05 9.99976117e-01 1.50513712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.75, Z:1.51 [[ 4.67407764e-03 -9.99989076e-01 1.66182134e-06 1.71482908e+02] [ 9.99965194e-01 4.67395453e-03 -6.91121294e-03 1.40751665e+02] [ 6.91112968e-03 3.39653094e-05 9.99976117e-01 1.50666714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.48, Y:140.78, Z:1.51 [[ 5.38472045e-03 -9.99985502e-01 -9.03291325e-07 1.71481967e+02] [ 9.99961620e-01 5.38459809e-03 -6.91121261e-03 1.40775960e+02] [ 6.91111727e-03 3.63116912e-05 9.99976117e-01 1.50760949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.77, Z:1.51 [[ 6.37211074e-03 -9.99979698e-01 1.08279918e-06 1.71481499e+02] [ 9.99955816e-01 6.37195107e-03 -6.91121229e-03 1.40767833e+02] [ 6.91106508e-03 4.51217614e-05 9.99976117e-01 1.50715565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.79, Z:1.51 [[ 6.99761614e-03 -9.99975516e-01 -1.48519877e-06 1.71480670e+02] [ 9.99951634e-01 6.99745928e-03 -6.91121174e-03 1.40791032e+02] [ 6.91105292e-03 4.68768799e-05 9.99976117e-01 1.50540905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.79, Z:1.50 [[ 7.61762721e-03 -9.99970985e-01 5.70881495e-07 1.71480897e+02] [ 9.99947103e-01 7.61744134e-03 -6.91121157e-03 1.40794687e+02] [ 6.91100670e-03 5.32178846e-05 9.99976117e-01 1.50425061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.82, Z:1.50 [[ 7.46419155e-03 -9.99972143e-01 -1.98886420e-06 1.71481343e+02] [ 9.99948260e-01 7.46402703e-03 -6.91121084e-03 1.40818606e+02] [ 6.91103315e-03 4.95978402e-05 9.99976117e-01 1.50245782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.82, Z:1.50 [[ 7.67292436e-03 -9.99970563e-01 4.58614417e-08 1.71481594e+02] [ 9.99946681e-01 7.67274079e-03 -6.91121082e-03 1.40817962e+02] [ 6.91100702e-03 5.30750568e-05 9.99976117e-01 1.50280924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.84, Z:1.50 [[ 7.02709426e-03 -9.99975310e-01 -2.52380405e-06 1.71481565e+02] [ 9.99951427e-01 7.02694388e-03 -6.91120988e-03 1.40842192e+02] [ 6.91105698e-03 4.60420419e-05 9.99976117e-01 1.50298106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.87, Z:1.50 [[ 5.61253619e-03 -9.99984250e-01 -5.69096739e-07 1.71481477e+02] [ 9.99960367e-01 5.61240608e-03 -6.91121005e-03 1.40866078e+02] [ 6.91110439e-03 3.82203423e-05 9.99976117e-01 1.50112581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.86, Z:1.50 [[ 5.40217361e-03 -9.99985408e-01 1.45610296e-06 1.71482084e+02] [ 9.99961526e-01 5.40203452e-03 -6.91120962e-03 1.40859758e+02] [ 6.91110091e-03 3.87916011e-05 9.99976117e-01 1.50401164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.88, Z:1.50 [[ 4.78786594e-03 -9.99988538e-01 -1.08484545e-06 1.71482930e+02] [ 9.99964656e-01 4.78775908e-03 -6.91120922e-03 1.40884399e+02] [ 6.91113520e-03 3.20051361e-05 9.99976117e-01 1.50466015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.89, Z:1.51 [[ 6.06148664e-03 -9.99981629e-01 8.81457955e-07 1.71484568e+02] [ 9.99957747e-01 6.06133578e-03 -6.91120897e-03 1.40888357e+02] [ 6.91107666e-03 4.27736215e-05 9.99976117e-01 1.50642810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.48, Y:140.91, Z:1.51 [[ 7.34557804e-03 -9.99973021e-01 -1.67459355e-06 1.71484459e+02] [ 9.99949139e-01 7.34541418e-03 -6.91120835e-03 1.40912569e+02] [ 6.91103419e-03 4.90923119e-05 9.99976117e-01 1.50687703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.90, Z:1.51 [[ 9.82535169e-03 -9.99951730e-01 3.09680661e-07 1.71484191e+02] [ 9.99927849e-01 9.82511490e-03 -6.91120826e-03 1.40900096e+02] [ 6.91087161e-03 6.82147101e-05 9.99976117e-01 1.50588972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.92, Z:1.51 [[ 1.20624979e-02 -9.99927245e-01 -2.27289992e-06 1.71483375e+02] [ 9.99903364e-01 1.20622255e-02 -6.91120741e-03 1.40924447e+02] [ 6.91073201e-03 8.10937447e-05 9.99976117e-01 1.50686248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.95, Z:1.51 [[ 1.72721599e-02 -9.99850825e-01 -2.96844253e-07 1.71482854e+02] [ 9.99826946e-01 1.72717494e-02 -6.91120750e-03 1.40948331e+02] [ 6.91018165e-03 1.19074688e-04 9.99976117e-01 1.50504778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:140.98, Z:1.51 [[ 2.01205235e-02 -9.99797562e-01 1.75449023e-06 1.71482718e+02] [ 9.99773684e-01 2.01200309e-02 -6.91120698e-03 1.40978316e+02] [ 6.90977258e-03 1.40811196e-04 9.99976117e-01 1.50506487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:141.00, Z:1.51 [[ 2.20471455e-02 -9.99756932e-01 -9.07978917e-07 1.71481486e+02] [ 9.99733055e-01 2.20466252e-02 -6.91120663e-03 1.41003006e+02] [ 6.90954675e-03 1.51464642e-04 9.99976117e-01 1.50529285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:141.01, Z:1.51 [[ 2.45850267e-02 -9.99697743e-01 1.05912444e-06 1.71480598e+02] [ 9.99673867e-01 2.45844322e-02 -6.91120632e-03 1.41006470e+02] [ 6.90909132e-03 1.70970971e-04 9.99976117e-01 1.50503944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:141.03, Z:1.50 [[ 2.69999156e-02 -9.99635436e-01 -1.59934910e-06 1.71478105e+02] [ 9.99611562e-01 2.69992818e-02 -6.91120571e-03 1.41030686e+02] [ 6.90872931e-03 1.85003243e-04 9.99976117e-01 1.50481951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:141.04, Z:1.50 [[ 2.79584995e-02 -9.99609085e-01 3.55752517e-07 1.71476487e+02] [ 9.99585212e-01 2.79578293e-02 -6.91120561e-03 1.41036348e+02] [ 6.90849397e-03 1.93582544e-04 9.99976117e-01 1.50484265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:141.06, Z:1.50 [[ 2.80127073e-02 -9.99607567e-01 -2.29695711e-06 1.71474114e+02] [ 9.99583693e-01 2.80120541e-02 -6.91120473e-03 1.41060035e+02] [ 6.90855689e-03 1.91305554e-04 9.99976117e-01 1.50392172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:141.09, Z:1.50 [[ 2.80886547e-02 -9.99605436e-01 -2.82990864e-07 1.71470895e+02] [ 9.99581563e-01 2.80879858e-02 -6.91120481e-03 1.41085393e+02] [ 6.90848585e-03 1.93843573e-04 9.99976117e-01 1.50292752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:141.05, Z:1.50 [[ 2.82465304e-02 -9.99600987e-01 1.74590679e-06 1.71469427e+02] [ 9.99577114e-01 2.82458438e-02 -6.91120411e-03 1.41054287e+02] [ 6.90839714e-03 1.96962706e-04 9.99976117e-01 1.50138488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:141.08, Z:1.50 [[ 2.75163093e-02 -9.99621355e-01 -3.89801246e-07 1.71467374e+02] [ 9.99597481e-01 2.75156549e-02 -6.91120399e-03 1.41078393e+02] [ 6.90859782e-03 1.89781183e-04 9.99976117e-01 1.50374702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.47, Y:141.09, Z:1.50 [[ 2.71983267e-02 -9.99630057e-01 1.60949985e-06 1.71465045e+02] [ 9.99606184e-01 2.71976660e-02 -6.91120353e-03 1.41089407e+02] [ 6.90860300e-03 1.89582037e-04 9.99976117e-01 1.50343674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:141.11, Z:1.50 [[ 2.59119975e-02 -9.99664228e-01 -1.09273269e-06 1.71462558e+02] [ 9.99640353e-01 2.59113862e-02 -6.91120310e-03 1.41113116e+02] [ 6.90891083e-03 1.77990738e-04 9.99976117e-01 1.50318402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:141.08, Z:1.51 [[ 2.34953551e-02 -9.99723946e-01 9.34694294e-07 1.71457606e+02] [ 9.99700070e-01 2.34947875e-02 -6.91120283e-03 1.41083428e+02] [ 6.90927300e-03 1.63315578e-04 9.99976117e-01 1.50659365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.45, Y:141.11, Z:1.51 [[ 2.14283943e-02 -9.99770386e-01 -1.73760415e-06 1.71454727e+02] [ 9.99746508e-01 2.14278945e-02 -6.91120215e-03 1.41106791e+02] [ 6.90965248e-03 1.46358801e-04 9.99976117e-01 1.50616805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.11, Z:1.51 [[ 2.00274427e-02 -9.99799431e-01 2.89822655e-07 1.71453090e+02] [ 9.99775553e-01 2.00269624e-02 -6.91120207e-03 1.41109672e+02] [ 6.90981009e-03 1.38703461e-04 9.99976117e-01 1.50636822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.45, Y:141.14, Z:1.51 [[ 1.74158250e-02 -9.99848333e-01 -2.32070222e-06 1.71449966e+02] [ 9.99824454e-01 1.74154251e-02 -6.91120119e-03 1.41135245e+02] [ 6.91019341e-03 1.18043975e-04 9.99976117e-01 1.50630132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.45, Y:141.16, Z:1.51 [[ 1.71256429e-02 -9.99853345e-01 -3.21220233e-06 1.71449589e+02] [ 9.99829466e-01 1.71252561e-02 -6.91120116e-03 1.41160337e+02] [ 6.91024261e-03 1.15147109e-04 9.99976117e-01 1.50647459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.45, Y:141.12, Z:1.51 [[ 1.26156601e-02 -9.99920419e-01 1.87793044e-06 1.71445682e+02] [ 9.99896539e-01 1.26153458e-02 -6.91119867e-03 1.41116893e+02] [ 6.91062498e-03 8.90670690e-05 9.99976117e-01 1.50544394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.12, Z:1.51 [[ 1.02616208e-02 -9.99947348e-01 6.53188070e-07 1.71444363e+02] [ 9.99923467e-01 1.02613712e-02 -6.91119878e-03 1.41123814e+02] [ 6.91082819e-03 7.15732395e-05 9.99976117e-01 1.50519179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.15, Z:1.51 [[ 7.02409920e-03 -9.99975331e-01 -1.91108763e-06 1.71442796e+02] [ 9.99951449e-01 7.02394465e-03 -6.91119807e-03 1.41148235e+02] [ 6.91104100e-03 4.66339460e-05 9.99976117e-01 1.50543845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.12, Z:1.51 [[ 4.55106717e-03 -9.99989644e-01 4.81153998e-08 1.71442117e+02] [ 9.99965761e-01 4.55095814e-03 -6.91119806e-03 1.41122351e+02] [ 6.91112627e-03 3.15014403e-05 9.99976117e-01 1.50592175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.44, Y:141.15, Z:1.51 [[-1.14448119e-03 -9.99999345e-01 -2.49364515e-06 1.71439320e+02] [ 9.99975463e-01 -1.14443662e-03 -6.91119714e-03 1.41146680e+02] [ 6.91118976e-03 -1.04033191e-05 9.99976117e-01 1.50769721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.17, Z:1.51 [[-3.61289420e-03 -9.99993474e-01 -5.29303939e-07 1.71438893e+02] [ 9.99969591e-01 -3.61280426e-03 -6.91119729e-03 1.41170726e+02] [ 6.91115027e-03 -2.54987125e-05 9.99976117e-01 1.50639980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.18, Z:1.51 [[-5.27329741e-03 -9.99986096e-01 1.32828989e-06 1.71439569e+02] [ 9.99962214e-01 -5.27318065e-03 -6.91119693e-03 1.41176071e+02] [ 6.91110785e-03 -3.51165572e-05 9.99976117e-01 1.50703129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.20, Z:1.51 [[-7.10159623e-03 -9.99974783e-01 -1.15248160e-06 1.71440121e+02] [ 9.99950901e-01 -7.10141866e-03 -6.91119652e-03 1.41200102e+02] [ 6.91101406e-03 -5.02329522e-05 9.99976117e-01 1.50662092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.18, Z:1.51 [[-8.89017482e-03 -9.99960482e-01 8.83654031e-07 1.71439641e+02] [ 9.99936600e-01 -8.88996860e-03 -6.91119626e-03 1.41182978e+02] [ 6.91093100e-03 -6.05581449e-05 9.99976117e-01 1.50604746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.21, Z:1.51 [[-1.00241147e-02 -9.99949757e-01 -1.59287245e-06 1.71438743e+02] [ 9.99925876e-01 -1.00238643e-02 -6.91119569e-03 1.41207838e+02] [ 6.91083249e-03 -7.08713727e-05 9.99976117e-01 1.50630202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.44, Y:141.21, Z:1.50 [[-1.04739283e-02 -9.99945147e-01 3.28191591e-07 1.71438053e+02] [ 9.99921266e-01 -1.04736804e-02 -6.91119560e-03 1.41214622e+02] [ 6.91081994e-03 -7.20592011e-05 9.99976117e-01 1.50498500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.24, Z:1.50 [[-1.10113626e-02 -9.99939373e-01 -2.14178833e-06 1.71438728e+02] [ 9.99915492e-01 -1.10110848e-02 -6.91119483e-03 1.41239351e+02] [ 6.91075225e-03 -7.82432796e-05 9.99976117e-01 1.50398935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.26, Z:1.50 [[-1.17959230e-02 -9.99930426e-01 -1.89632832e-07 1.71438776e+02] [ 9.99906545e-01 -1.17956400e-02 -6.91119489e-03 1.41263281e+02] [ 6.91071181e-03 -8.17135378e-05 9.99976117e-01 1.50206022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.27, Z:1.50 [[-1.18370842e-02 -9.99929939e-01 1.82874504e-06 1.71439413e+02] [ 9.99906058e-01 -1.18368141e-02 -6.91119435e-03 1.41267494e+02] [ 6.91073180e-03 -7.99798163e-05 9.99976117e-01 1.49924600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.44, Y:141.29, Z:1.50 [[-1.29525952e-02 -9.99916112e-01 -6.47005832e-07 1.71440414e+02] [ 9.99892231e-01 -1.29522814e-02 -6.91119412e-03 1.41292455e+02] [ 6.91060597e-03 -9.01648359e-05 9.99976117e-01 1.49991720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:141.30, Z:1.50 [[-1.21315800e-02 -9.99926410e-01 1.30593862e-06 1.71442407e+02] [ 9.99902529e-01 -1.21312993e-02 -6.91119375e-03 1.41298866e+02] [ 6.91070100e-03 -8.25378883e-05 9.99976117e-01 1.50086147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.44, Y:141.32, Z:1.50 [[-1.09236813e-02 -9.99940335e-01 -1.16060192e-06 1.71444142e+02] [ 9.99916454e-01 -1.09234124e-02 -6.91119334e-03 1.41323396e+02] [ 6.91076830e-03 -7.66561782e-05 9.99976117e-01 1.50284798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.35, Z:1.50 [[-9.00368198e-03 -9.99959466e-01 7.36881318e-07 1.71445368e+02] [ 9.99935584e-01 -9.00347204e-03 -6.91119314e-03 1.41349292e+02] [ 6.91091963e-03 -6.14893512e-05 9.99976117e-01 1.50234884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.44, Y:141.37, Z:1.50 [[-8.01494355e-03 -9.99967880e-01 -1.73886879e-06 1.71444117e+02] [ 9.99943998e-01 -8.01474012e-03 -6.91119251e-03 1.41372497e+02] [ 6.91095659e-03 -5.71315893e-05 9.99976117e-01 1.50216262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.39, Z:1.50 [[-5.64066674e-03 -9.99984091e-01 2.80899984e-07 1.71445167e+02] [ 9.99960209e-01 -5.64053397e-03 -6.91119243e-03 1.41390611e+02] [ 6.91108407e-03 -3.87028445e-05 9.99976117e-01 1.50124277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.41, Z:1.50 [[-4.62492596e-03 -9.99989305e-01 -1.89603367e-06 1.71445571e+02] [ 9.99965423e-01 -4.62480240e-03 -6.91119183e-03 1.41414107e+02] [ 6.91110915e-03 -3.38597186e-05 9.99976117e-01 1.49945703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.44, Z:1.50 [[-1.69865095e-03 -9.99998557e-01 1.73640844e-07 1.71446717e+02] [ 9.99974675e-01 -1.69861158e-03 -6.91119178e-03 1.41435179e+02] [ 6.91118211e-03 -1.15660661e-05 9.99976117e-01 1.49910905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.46, Z:1.50 [[-8.99987484e-04 -9.99999595e-01 -2.34958293e-06 1.71446289e+02] [ 9.99975712e-01 -8.99949753e-04 -6.91119092e-03 1.41459276e+02] [ 6.91118601e-03 -8.56951121e-06 9.99976117e-01 1.50113727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.48, Z:1.50 [[-5.69125225e-04 -9.99999838e-01 -2.91210900e-07 1.71446405e+02] [ 9.99975956e-01 -5.69109622e-04 -6.91119101e-03 1.41484287e+02] [ 6.91118973e-03 -4.22453705e-06 9.99976117e-01 1.50274097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.49, Z:1.50 [[-2.40886602e-05 -1.00000000e+00 1.68524391e-06 1.71448002e+02] [ 9.99976117e-01 -2.40997339e-05 -6.91119053e-03 1.41486430e+02] [ 6.91119057e-03 1.51872233e-06 9.99976117e-01 1.50283410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:141.51, Z:1.51 [[-1.20792976e-03 -9.99999270e-01 -8.36370994e-07 1.71450716e+02] [ 9.99975388e-01 -1.20789514e-03 -6.91119022e-03 1.41512194e+02] [ 6.91118417e-03 -9.18458279e-06 9.99976117e-01 1.50528916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.45, Y:141.51, Z:1.51 [[-1.82229836e-03 -9.99998340e-01 9.51848569e-07 1.71451568e+02] [ 9.99974457e-01 -1.82226142e-03 -6.91118998e-03 1.41511601e+02] [ 6.91118024e-03 -1.16424259e-05 9.99976117e-01 1.50605526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264000000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.45, Y:141.54, Z:1.51 [[-3.58096587e-03 -9.99993588e-01 -1.55231553e-06 1.71451846e+02] [ 9.99969706e-01 -3.58086962e-03 -6.91118941e-03 1.41535394e+02] [ 6.91113954e-03 -2.63010019e-05 9.99976117e-01 1.50515723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79264 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:171.45, Y:141.52, Z:1.51 [[-4.79933418e-03 -9.99988483e-01 4.63850854e-07 1.71453086e+02] [ 9.99964601e-01 -4.79922277e-03 -6.91118928e-03 1.41515590e+02] [ 6.91111191e-03 -3.27052725e-05 9.99976117e-01 1.50625245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264000000004 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:171.46, Y:141.54, Z:1.50 [[-6.80378876e-03 -9.99976854e-01 -2.04348807e-06 1.71455303e+02] [ 9.99952972e-01 -6.80361214e-03 -6.91118854e-03 1.41539469e+02] [ 6.91101467e-03 -4.90656589e-05 9.99976117e-01 1.50302997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85264 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:171.46, Y:141.56, Z:1.50 [[-9.88450978e-03 -9.99951147e-01 -4.60967347e-08 1.71460321e+02] [ 9.99927266e-01 -9.88427339e-03 -6.91118855e-03 1.41564647e+02] [ 6.91085046e-03 -6.83598042e-05 9.99976117e-01 1.50211712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:171.46, Y:141.55, Z:1.50 [[-1.04200990e-02 -9.99945709e-01 1.77121718e-06 1.71461250e+02] [ 9.99921828e-01 -1.04198624e-02 -6.91118809e-03 1.41549171e+02] [ 6.91083133e-03 -7.02441853e-05 9.99976117e-01 1.50247263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91264 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.46, Y:141.57, Z:1.50 [[-1.21463747e-02 -9.99926230e-01 -7.10329541e-07 1.71461171e+02] [ 9.99902349e-01 -1.21460797e-02 -6.91118783e-03 1.41574356e+02] [ 6.91066936e-03 -8.46561370e-05 9.99976117e-01 1.49966252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:171.46, Y:141.48, Z:1.50 [[-1.13747692e-02 -9.99935305e-01 1.68927834e-06 1.71463727e+02] [ 9.99911424e-01 -1.13745092e-02 -6.91118802e-03 1.41477008e+02] [ 6.91076011e-03 -7.69240399e-05 9.99976117e-01 1.50033464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97264 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:171.47, Y:141.50, Z:1.50 [[-1.22542886e-02 -9.99924913e-01 -2.59769835e-06 1.71466475e+02] [ 9.99901033e-01 -1.22539780e-02 -6.91118641e-03 1.41502407e+02] [ 6.91063564e-03 -8.72891141e-05 9.99976117e-01 1.50235674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:171.47, Y:141.53, Z:1.51 [[-1.16424903e-02 -9.99932224e-01 5.36643537e-06 1.71469120e+02] [ 9.99908343e-01 -1.16422493e-02 -6.91118676e-03 1.41528486e+02] [ 6.91078083e-03 -7.50974812e-05 9.99976117e-01 1.50643148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.47, Y:141.85, Z:1.50 [[-1.38900847e-02 -9.99903528e-01 1.15158922e-06 1.71469035e+02] [ 9.99879648e-01 -1.38897610e-02 -6.91118746e-03 1.41849484e+02] [ 6.91053672e-03 -9.48455288e-05 9.99976117e-01 1.50142193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:171.47, Y:141.55, Z:1.50 [[-8.75953128e-03 -9.99961634e-01 1.72307338e-05 1.71474772e+02] [ 9.99937752e-01 -8.75944117e-03 -6.91118299e-03 1.41554239e+02] [ 6.91106877e-03 -4.33090624e-05 9.99976117e-01 1.50045220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09264 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:171.48, Y:141.58, Z:1.50 [[-7.29683961e-03 -9.99973378e-01 -1.32464544e-06 1.71475733e+02] [ 9.99949496e-01 -7.29665619e-03 -6.91117944e-03 1.41578914e+02] [ 6.91098578e-03 -5.17543464e-05 9.99976118e-01 1.50041990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:171.48, Y:141.58, Z:1.50 [[-6.22029026e-03 -9.99980654e-01 5.17398504e-07 1.71475844e+02] [ 9.99956772e-01 -6.22014528e-03 -6.91117930e-03 1.41580108e+02] [ 6.91104881e-03 -4.24721651e-05 9.99976118e-01 1.50000508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15264 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:171.48, Y:141.61, Z:1.50 [[-5.15304688e-03 -9.99986723e-01 -1.69245836e-06 1.71476890e+02] [ 9.99962841e-01 -5.15291211e-03 -6.91117876e-03 1.41605173e+02] [ 6.91107827e-03 -3.73060236e-05 9.99976118e-01 1.49986794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:171.48, Y:141.64, Z:1.50 [[-3.44649998e-03 -9.99994061e-01 1.97948063e-07 1.71478856e+02] [ 9.99970178e-01 -3.44641904e-03 -6.91117870e-03 1.41642610e+02] [ 6.91113834e-03 -2.36214351e-05 9.99976118e-01 1.50031220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21264 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:171.48, Y:141.67, Z:1.50 [[-2.37532198e-03 -9.99997179e-01 -2.34663836e-06 1.71479533e+02] [ 9.99973297e-01 -2.37524903e-03 -6.91117784e-03 1.41667709e+02] [ 6.91115277e-03 -1.87628483e-05 9.99976118e-01 1.50049972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:171.48, Y:141.69, Z:1.50 [[ 6.50764527e-05 -9.99999998e-01 -5.09128572e-07 1.71478039e+02] [ 9.99976115e-01 6.50784152e-05 -6.91117797e-03 1.41690774e+02] [ 6.91117799e-03 -5.93614801e-08 9.99976118e-01 1.49881303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27264 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:171.48, Y:141.68, Z:1.50 [[ 4.59012209e-04 -9.99999895e-01 7.36548979e-08 1.71477616e+02] [ 9.99976012e-01 4.59000736e-04 -6.91117916e-03 1.41683387e+02] [ 6.91117840e-03 3.24596873e-06 9.99976118e-01 1.49763119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:171.48, Y:141.51, Z:1.50 [[ 5.67888734e-03 -9.99983875e-01 4.86220417e-06 1.71481073e+02] [ 9.99959993e-01 5.67871811e-03 -6.91118853e-03 1.41513058e+02] [ 6.91104948e-03 4.41098707e-05 9.99976117e-01 1.50346689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33264 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:171.48, Y:141.54, Z:1.50 [[ 6.46603383e-03 -9.99979095e-01 -1.62164774e-05 1.71478536e+02] [ 9.99955213e-01 6.46599148e-03 -6.91113907e-03 1.41535797e+02] [ 6.91109945e-03 2.84719080e-05 9.99976118e-01 1.50277731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:171.48, Y:141.56, Z:1.50 [[ 7.14543446e-03 -9.99974471e-01 1.88547626e-05 1.71477542e+02] [ 9.99950590e-01 7.14513350e-03 -6.91120763e-03 1.41560057e+02] [ 6.91089647e-03 6.82374121e-05 9.99976117e-01 1.50380366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.48, Y:141.59, Z:1.50 [[ 7.59901833e-03 -9.99971127e-01 2.63852326e-05 1.71477427e+02] [ 9.99947246e-01 7.59865450e-03 -6.91122023e-03 1.41586674e+02] [ 6.91082018e-03 7.89023299e-05 9.99976117e-01 1.50299351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.48, Y:141.61, Z:1.50 [[ 7.47809556e-03 -9.99972039e-01 9.31950862e-06 1.71475954e+02] [ 9.99948157e-01 7.47785256e-03 -6.91119372e-03 1.41611364e+02] [ 6.91093079e-03 6.10015926e-05 9.99976117e-01 1.50436476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45264000000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.47, Y:141.64, Z:1.50 [[ 6.33951644e-03 -9.99979905e-01 2.99255168e-05 1.71472882e+02] [ 9.99956024e-01 6.33915822e-03 -6.91122189e-03 1.41637001e+02] [ 6.91089330e-03 7.37380055e-05 9.99976117e-01 1.50496769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.47, Y:141.66, Z:1.50 [[ 4.79584665e-03 -9.99988499e-01 3.36847000e-05 1.71472789e+02] [ 9.99964618e-01 4.79549931e-03 -6.91122615e-03 1.41661289e+02] [ 6.91098513e-03 6.68286889e-05 9.99976117e-01 1.50429318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:171.47, Y:141.69, Z:1.50 [[ 2.30545540e-03 -9.99997342e-01 4.30533772e-05 1.71474443e+02] [ 9.99973460e-01 2.30510278e-03 -6.91123435e-03 1.41687272e+02] [ 6.91111673e-03 5.89857771e-05 9.99976116e-01 1.50265544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54264 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.48, Y:141.71, Z:1.50 [[-6.57163292e-04 -9.99999784e-01 2.55257370e-05 1.71475922e+02] [ 9.99975901e-01 -6.57324013e-04 -6.91122183e-03 1.41711347e+02] [ 6.91123712e-03 2.09833205e-05 9.99976117e-01 1.50301167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57264000000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.48, Y:141.74, Z:1.50 [[-6.72664335e-03 -9.99977375e-01 4.08430590e-05 1.71477188e+02] [ 9.99953492e-01 -6.72676497e-03 -6.91122627e-03 1.41735336e+02] [ 6.91134465e-03 -5.64819478e-06 9.99976116e-01 1.50296569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.48, Y:141.76, Z:1.50 [[-9.43909276e-03 -9.99955450e-01 4.56393749e-05 1.71477417e+02] [ 9.99931566e-01 -9.43918275e-03 -6.91122570e-03 1.41760917e+02] [ 6.91134860e-03 -1.95994489e-05 9.99976116e-01 1.50333014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63264000000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.48, Y:141.62, Z:1.50 [[-1.28915867e-02 -9.99916900e-01 1.65740418e-06 1.71476377e+02] [ 9.99893020e-01 -1.28912903e-02 -6.91113487e-03 1.41616893e+02] [ 6.91058192e-03 -8.74382677e-05 9.99976118e-01 1.50431071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.48, Y:141.75, Z:1.50 [[-1.42552104e-02 -9.99898389e-01 5.54783795e-06 1.71477578e+02] [ 9.99874509e-01 -1.42549083e-02 -6.91114329e-03 1.41753612e+02] [ 6.91052013e-03 -9.29726597e-05 9.99976118e-01 1.50291575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69264 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:171.48, Y:141.65, Z:1.50 [[-1.46408135e-02 -9.99892818e-01 5.34447720e-06 1.71479039e+02] [ 9.99868937e-01 -1.46405008e-02 -6.91114282e-03 1.41646450e+02] [ 6.91048031e-03 -9.58409765e-05 9.99976118e-01 1.50352733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72264 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:171.48, Y:141.67, Z:1.51 [[-1.77195249e-02 -9.99842997e-01 2.31085956e-05 1.71481868e+02] [ 9.99819116e-01 -1.77192614e-02 -6.91115164e-03 1.41669724e+02] [ 6.91047603e-03 -9.93579079e-05 9.99976117e-01 1.50711002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75264 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:171.48, Y:141.69, Z:1.51 [[-1.90013077e-02 -9.99819458e-01 5.25573343e-05 1.71482999e+02] [ 9.99795574e-01 -1.90012171e-02 -6.91115247e-03 1.41694859e+02] [ 6.91090336e-03 -7.87743441e-05 9.99976116e-01 1.50641899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.48, Y:141.72, Z:1.51 [[-1.94959837e-02 -9.99809934e-01 5.10507415e-05 1.71483979e+02] [ 9.99786051e-01 -1.94958709e-02 -6.91115283e-03 1.41718661e+02] [ 6.91083453e-03 -8.36999041e-05 9.99976116e-01 1.50741369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:171.48, Y:141.72, Z:1.51 [[-1.91005948e-02 -9.99817567e-01 2.71048698e-06 1.71483945e+02] [ 9.99793690e-01 -1.91001574e-02 -6.91098446e-03 1.41721228e+02] [ 6.90977544e-03 -1.29293986e-04 9.99976119e-01 1.50742538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.48, Y:141.75, Z:1.51 [[-1.93742358e-02 -9.99812301e-01 4.94413458e-05 1.71484505e+02] [ 9.99788419e-01 -1.93741147e-02 -6.91098858e-03 1.41745469e+02] [ 6.91064928e-03 -8.44642373e-05 9.99976118e-01 1.50839979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.49, Y:141.77, Z:1.51 [[-1.84358119e-02 -9.99830044e-01 5.69632611e-05 1.71486286e+02] [ 9.99806162e-01 -1.84357653e-02 -6.91098648e-03 1.41769695e+02] [ 6.91086208e-03 -7.04574274e-05 9.99976117e-01 1.50546194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:171.49, Y:141.82, Z:1.51 [[-1.82266931e-02 -9.99833880e-01 3.94775179e-06 1.71487316e+02] [ 9.99810004e-01 -1.82262851e-02 -6.91082076e-03 1.41821609e+02] [ 6.90974469e-03 -1.22014407e-04 9.99976120e-01 1.51005264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.49, Y:141.81, Z:1.51 [[-1.60636397e-02 -9.99870971e-01 1.22107282e-05 1.71488190e+02] [ 9.99847093e-01 -1.60633405e-02 -6.91084883e-03 1.41811555e+02] [ 6.91015328e-03 -9.88045248e-05 9.99976120e-01 1.50815891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.49, Y:141.84, Z:1.51 [[-1.43378868e-02 -9.99897206e-01 5.15992424e-05 1.71492284e+02] [ 9.99873324e-01 -1.43379010e-02 -6.91084171e-03 1.41839753e+02] [ 6.91087115e-03 -4.74941601e-05 9.99976119e-01 1.51249108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99264 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:171.49, Y:142.08, Z:1.51 [[-1.62628209e-02 -9.99867752e-01 1.13192215e-06 1.71493313e+02] [ 9.99843874e-01 -1.62624403e-02 -6.91084999e-03 1.42077255e+02] [ 6.90995445e-03 -1.11258170e-04 9.99976120e-01 1.50726534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.50, Y:141.84, Z:1.51 [[-1.27957865e-02 -9.99918130e-01 2.63598494e-05 1.71495380e+02] [ 9.99894250e-01 -1.27956631e-02 -6.91083900e-03 1.41842966e+02] [ 6.91061050e-03 -6.20725586e-05 9.99976120e-01 1.51041218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05264 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.50, Y:142.00, Z:1.51 [[-1.47574409e-02 -9.99891103e-01 5.73214363e-06 1.71495726e+02] [ 9.99867225e-01 -1.47571281e-02 -6.91084059e-03 1.41998680e+02] [ 6.91017261e-03 -9.62549389e-05 9.99976120e-01 1.51296339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.50, Y:141.91, Z:1.52 [[-1.54016572e-02 -9.99881387e-01 2.65563721e-05 1.71497474e+02] [ 9.99857507e-01 -1.54014730e-02 -6.91083437e-03 1.41910659e+02] [ 6.91042366e-03 -7.98857142e-05 9.99976120e-01 1.51557353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.50, Y:141.88, Z:1.52 [[-1.15539734e-02 -9.99933250e-01 3.54855321e-05 1.71499480e+02] [ 9.99909369e-01 -1.15539427e-02 -6.91083075e-03 1.41875011e+02] [ 6.91077945e-03 -4.43652386e-05 9.99976119e-01 1.51665297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.50, Y:141.90, Z:1.51 [[-1.15490568e-02 -9.99933307e-01 -8.23159506e-08 1.71501071e+02] [ 9.99909429e-01 -1.15487804e-02 -6.91083033e-03 1.41895556e+02] [ 6.91036848e-03 -7.98958803e-05 9.99976120e-01 1.51405837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.50, Y:141.82, Z:1.51 [[-8.38042304e-03 -9.99964884e-01 5.89738347e-06 1.71504022e+02] [ 9.99941004e-01 -8.38026367e-03 -6.91085222e-03 1.41824952e+02] [ 6.91065896e-03 -5.20188297e-05 9.99976120e-01 1.51370266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:171.51, Y:141.85, Z:1.51 [[-8.11205629e-03 -9.99967096e-01 -2.71838878e-05 1.71507662e+02] [ 9.99943220e-01 -8.11167473e-03 -6.91072210e-03 1.41845653e+02] [ 6.91027420e-03 -8.32425110e-05 9.99976120e-01 1.51333691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.51, Y:141.87, Z:1.51 [[-8.19550456e-03 -9.99966416e-01 3.42672153e-05 1.71508700e+02] [ 9.99942535e-01 -8.19554566e-03 -6.91091534e-03 1.41868752e+02] [ 6.91096408e-03 -2.23731921e-05 9.99976119e-01 1.51122038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.51, Y:141.89, Z:1.51 [[-7.76943903e-03 -9.99969817e-01 3.92448130e-05 1.71510584e+02] [ 9.99945935e-01 -7.76952471e-03 -6.91092968e-03 1.41893467e+02] [ 6.91102600e-03 -1.44513556e-05 9.99976118e-01 1.51394847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:171.51, Y:141.92, Z:1.51 [[-6.39593771e-03 -9.99979545e-01 4.55054926e-05 1.71513072e+02] [ 9.99955663e-01 -6.39609946e-03 -6.91094685e-03 1.41918051e+02] [ 6.91109655e-03 1.30148942e-06 9.99976118e-01 1.50916991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264000000004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:171.51, Y:141.94, Z:1.51 [[-5.41747760e-03 -9.99985324e-01 4.92208044e-05 1.71513858e+02] [ 9.99961443e-01 -5.41768839e-03 -6.91095455e-03 1.41942894e+02] [ 6.91111978e-03 1.17789652e-05 9.99976118e-01 1.50976427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35264 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.51, Y:141.97, Z:1.51 [[-4.26575577e-03 -9.99990901e-01 4.61143506e-05 1.71514592e+02] [ 9.99967020e-01 -4.26597260e-03 -6.91094785e-03 1.41967461e+02] [ 6.91108169e-03 1.66324140e-05 9.99976118e-01 1.51236144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.52, Y:141.99, Z:1.51 [[-3.09175489e-03 -9.99995220e-01 4.25619301e-05 1.71516280e+02] [ 9.99971339e-01 -3.09197520e-03 -6.91093976e-03 1.41991623e+02] [ 6.91103832e-03 2.11937784e-05 9.99976118e-01 1.51423282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.52, Y:142.02, Z:1.52 [[-2.02497044e-03 -9.99997948e-01 5.20681548e-05 1.71517928e+02] [ 9.99974068e-01 -2.02528193e-03 -6.91095809e-03 1.42015793e+02] [ 6.91104936e-03 3.80723187e-05 9.99976118e-01 1.51537250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.52, Y:142.05, Z:1.52 [[-2.42570426e-03 -9.99997057e-01 5.29473554e-05 1.71519478e+02] [ 9.99973176e-01 -2.42601225e-03 -6.91095957e-03 1.42045212e+02] [ 6.91106768e-03 3.61819911e-05 9.99976118e-01 1.51740107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.52, Y:142.07, Z:1.51 [[ 5.09923620e-05 -9.99999999e-01 -1.17143771e-05 1.71521993e+02] [ 9.99976119e-01 5.10720986e-05 -6.91084998e-03 1.42065564e+02] [ 6.91085057e-03 -1.13616968e-05 9.99976120e-01 1.51425022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.52, Y:142.09, Z:1.52 [[-8.62785851e-04 -9.99999627e-01 5.10707434e-05 1.71522437e+02] [ 9.99975747e-01 -8.63118196e-04 -6.91091328e-03 1.42094276e+02] [ 6.91095478e-03 4.51068666e-05 9.99976118e-01 1.51882032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.52, Y:142.12, Z:1.52 [[-8.69778031e-04 -9.99999622e-01 -6.68103348e-06 1.71522891e+02] [ 9.99975742e-01 -8.69711091e-04 -6.91085746e-03 1.42117557e+02] [ 6.91084904e-03 -1.26917834e-05 9.99976120e-01 1.51792519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.52, Y:142.14, Z:1.52 [[-4.97937886e-04 -9.99999876e-01 -4.84583966e-06 1.71523803e+02] [ 9.99975996e-01 -4.97892508e-04 -6.91085875e-03 1.42140696e+02] [ 6.91085548e-03 -8.28690175e-06 9.99976120e-01 1.51861891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.52, Y:142.17, Z:1.52 [[-6.15058123e-04 -9.99999811e-01 -3.02910258e-06 1.71524146e+02] [ 9.99975931e-01 -6.15022504e-04 -6.91085954e-03 1.42165705e+02] [ 6.91085637e-03 -7.27960998e-06 9.99976120e-01 1.52307266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.52, Y:142.19, Z:1.52 [[-3.90795197e-06 -1.00000000e+00 -1.22696012e-06 1.71524598e+02] [ 9.99976120e-01 -3.89938134e-06 -6.91085986e-03 1.42186132e+02] [ 6.91085986e-03 -1.25393814e-06 9.99976120e-01 1.51903338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.52, Y:142.01, Z:1.52 [[ 3.41296350e-03 -9.99994176e-01 -6.77669065e-08 1.71524862e+02] [ 9.99970296e-01 3.41288246e-03 -6.91086521e-03 1.42011916e+02] [ 6.91082519e-03 2.35187658e-05 9.99976120e-01 1.52320227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.53, Y:142.03, Z:1.52 [[ 2.51876049e-03 -9.99996827e-01 -3.37243962e-05 1.71527534e+02] [ 9.99972948e-01 2.51893340e-03 -6.91070097e-03 1.42032116e+02] [ 6.91076400e-03 -1.63170834e-05 9.99976120e-01 1.51873921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:142.06, Z:1.52 [[ 5.64811678e-04 -9.99999840e-01 2.90784763e-05 1.71529330e+02] [ 9.99975960e-01 5.64597228e-04 -6.91096578e-03 1.42061183e+02] [ 6.91094826e-03 3.29811714e-05 9.99976119e-01 1.52325494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.53, Y:142.09, Z:1.52 [[-2.83480678e-04 -9.99999959e-01 -2.95838494e-05 1.71531244e+02] [ 9.99976081e-01 -2.83269466e-04 -6.91071467e-03 1.42085691e+02] [ 6.91070601e-03 -3.15421959e-05 9.99976120e-01 1.52173616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.53, Y:142.11, Z:1.52 [[-9.65145083e-04 -9.99999534e-01 -2.76575546e-05 1.71533135e+02] [ 9.99975655e-01 -9.64930905e-04 -6.91072238e-03 1.42110483e+02] [ 6.91069247e-03 -3.43267311e-05 9.99976120e-01 1.52250441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.54, Y:142.14, Z:1.52 [[-1.28853647e-03 -9.99999170e-01 -2.56547018e-05 1.71536017e+02] [ 9.99975291e-01 -1.28832841e-03 -6.91072981e-03 1.42135036e+02] [ 6.91069102e-03 -3.45587953e-05 9.99976120e-01 1.52493505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:142.16, Z:1.52 [[-1.24279168e-03 -9.99999227e-01 -2.36241685e-05 1.71537415e+02] [ 9.99975349e-01 -1.24259875e-03 -6.91073675e-03 1.42158652e+02] [ 6.91070206e-03 -3.22121923e-05 9.99976120e-01 1.52355313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.54, Y:142.18, Z:1.52 [[-6.57859000e-04 -9.99999783e-01 -2.15204131e-05 1.71538893e+02] [ 9.99975904e-01 -6.57694571e-04 -6.91074331e-03 1.42183324e+02] [ 6.91072766e-03 -2.60661893e-05 9.99976120e-01 1.52358731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.54, Y:142.21, Z:1.53 [[-2.78222959e-04 -9.99999961e-01 -1.96309059e-05 1.71540001e+02] [ 9.99976082e-01 -2.78080653e-04 -6.91074867e-03 1.42208813e+02] [ 6.91074295e-03 -2.15531654e-05 9.99976120e-01 1.52506436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.54, Y:142.23, Z:1.53 [[ 1.16895035e-03 -9.99999317e-01 -1.77731016e-05 1.71541239e+02] [ 9.99975437e-01 1.16904526e-03 -6.91075345e-03 1.42233811e+02] [ 6.91076951e-03 -9.69433739e-06 9.99976120e-01 1.52631519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.54, Y:142.26, Z:1.52 [[ 4.40332956e-03 -9.99990305e-01 -1.57712575e-05 1.71543455e+02] [ 9.99966425e-01 4.40333340e-03 -6.91075802e-03 1.42257742e+02] [ 6.91076047e-03 1.46596171e-05 9.99976120e-01 1.52416002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.54, Y:142.28, Z:1.53 [[ 5.76308811e-03 -9.99983393e-01 -1.38845521e-05 1.71544155e+02] [ 9.99959514e-01 5.76304644e-03 -6.91076181e-03 1.42282430e+02] [ 6.91072706e-03 2.59433393e-05 9.99976120e-01 1.52604581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.54, Y:142.31, Z:1.52 [[ 7.77726648e-03 -9.99969757e-01 -1.19656971e-05 1.71544636e+02] [ 9.99945877e-01 7.77716345e-03 -6.91076513e-03 1.42305890e+02] [ 6.91064919e-03 4.17818125e-05 9.99976120e-01 1.52447076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:142.33, Z:1.52 [[ 1.15709402e-02 -9.99933054e-01 -9.87896248e-06 1.71545376e+02] [ 9.99909176e-01 1.15707322e-02 -6.91076812e-03 1.42330013e+02] [ 6.91041978e-03 7.00860197e-05 9.99976120e-01 1.52423116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:142.35, Z:1.53 [[ 1.35325559e-02 -9.99908431e-01 -7.91811143e-06 1.71545323e+02] [ 9.99884553e-01 1.35322875e-02 -6.91077036e-03 1.42354636e+02] [ 6.91024470e-03 8.56031889e-05 9.99976120e-01 1.52634573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:142.38, Z:1.53 [[ 1.53590657e-02 -9.99882043e-01 -5.92444276e-06 1.71545044e+02] [ 9.99858165e-01 1.53587399e-02 -6.91077207e-03 1.42379375e+02] [ 6.91004789e-03 1.00219400e-04 9.99976120e-01 1.52586118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.55, Y:142.40, Z:1.53 [[ 1.69881812e-02 -9.99855690e-01 -3.93260285e-06 1.71545065e+02] [ 9.99831814e-01 1.69878027e-02 -6.91077321e-03 1.42403712e+02] [ 6.90984272e-03 1.13469526e-04 9.99976120e-01 1.52630915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.43, Z:1.53 [[ 1.79386249e-02 -9.99839090e-01 -1.93033942e-06 1.71545053e+02] [ 9.99815214e-01 1.79382099e-02 -6.91077376e-03 1.42428769e+02] [ 6.90969638e-03 1.22039796e-04 9.99976120e-01 1.52807404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.43, Z:1.53 [[ 1.91130277e-02 -9.99817329e-01 1.07206375e-07 1.71545979e+02] [ 9.99793454e-01 1.91125706e-02 -6.91077373e-03 1.42429518e+02] [ 6.90950929e-03 1.32192994e-04 9.99976120e-01 1.52857756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:142.46, Z:1.53 [[ 1.85995652e-02 -9.99827013e-01 -2.31064282e-06 1.71545766e+02] [ 9.99803137e-01 1.85991370e-02 -6.91077292e-03 1.42455318e+02] [ 6.90962043e-03 1.26227184e-04 9.99976120e-01 1.53297991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.48, Z:1.53 [[ 1.78101584e-02 -9.99841387e-01 -4.21265953e-07 1.71545342e+02] [ 9.99817511e-01 1.78097360e-02 -6.91077304e-03 1.42479699e+02] [ 6.90968440e-03 1.22660773e-04 9.99976120e-01 1.53445403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.47, Z:1.53 [[ 1.59462930e-02 -9.99872850e-01 1.65193771e-06 1.71545223e+02] [ 9.99848973e-01 1.59459008e-02 -6.91077254e-03 1.42473841e+02] [ 6.90986750e-03 1.11852892e-04 9.99976120e-01 1.53159574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.55, Y:142.50, Z:1.53 [[ 1.40374992e-02 -9.99901469e-01 -1.11397994e-06 1.71545096e+02] [ 9.99877592e-01 1.40371717e-02 -6.91077210e-03 1.42497158e+02] [ 6.91010681e-03 9.58961145e-05 9.99976120e-01 1.53036169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.55, Y:142.50, Z:1.53 [[ 1.24561794e-02 -9.99922419e-01 9.46142272e-07 1.71545636e+02] [ 9.99898541e-01 1.24558754e-02 -6.91077182e-03 1.42499121e+02] [ 6.91022389e-03 8.70278599e-05 9.99976120e-01 1.53061011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.55, Y:142.52, Z:1.53 [[ 1.03698469e-02 -9.99946232e-01 -1.77812598e-06 1.71546309e+02] [ 9.99922353e-01 1.03696115e-02 -6.91077112e-03 1.42524303e+02] [ 6.91041797e-03 6.98856503e-05 9.99976120e-01 1.52976018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.51, Z:1.53 [[ 6.87433358e-03 -9.99976372e-01 9.54051609e-08 1.71547518e+02] [ 9.99952492e-01 6.87416877e-03 -6.91077109e-03 1.42506235e+02] [ 6.91060714e-03 4.76023464e-05 9.99976120e-01 1.53267163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.55, Y:142.53, Z:1.53 [[ 5.22082860e-03 -9.99986371e-01 -2.64572568e-06 1.71546902e+02] [ 9.99962492e-01 5.22072221e-03 -6.91077004e-03 1.42530814e+02] [ 6.91068967e-03 3.34343194e-05 9.99976120e-01 1.53431384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.55, Z:1.53 [[ 3.71144262e-03 -9.99993113e-01 -6.04349149e-07 1.71546206e+02] [ 9.99969233e-01 3.71135816e-03 -6.91077022e-03 1.42554031e+02] [ 6.91072486e-03 2.50445965e-05 9.99976120e-01 1.53168160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.55, Y:142.53, Z:1.54 [[ 2.77056915e-03 -9.99996162e-01 1.31031936e-06 1.71546615e+02] [ 9.99972282e-01 2.77049393e-03 -6.91076986e-03 1.42534814e+02] [ 6.91073970e-03 2.04570488e-05 9.99976120e-01 1.53546746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.56, Z:1.53 [[ 1.11460993e-03 -9.99999379e-01 -1.36989813e-06 1.71547511e+02] [ 9.99975499e-01 1.11459278e-03 -6.91076932e-03 1.42559106e+02] [ 6.91076656e-03 6.33294753e-06 9.99976120e-01 1.53330489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.55, Z:1.54 [[-1.78184369e-03 -9.99998413e-01 5.64117557e-07 1.71549792e+02] [ 9.99974533e-01 -1.78180504e-03 -6.91076917e-03 1.42547462e+02] [ 6.91075920e-03 -1.17498073e-05 9.99976120e-01 1.53657088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58264 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.55, Y:142.57, Z:1.54 [[-3.97559031e-03 -9.99992097e-01 -1.76766873e-06 1.71550637e+02] [ 9.99968218e-01 -3.97548316e-03 -6.91076857e-03 1.42572132e+02] [ 6.91070693e-03 -2.92419971e-05 9.99976120e-01 1.53585225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.55, Y:142.58, Z:1.54 [[-5.76827031e-03 -9.99983363e-01 1.43634645e-07 1.71552212e+02] [ 9.99959484e-01 -5.76813356e-03 -6.91076853e-03 1.42575404e+02] [ 6.91065439e-03 -3.97195521e-05 9.99976120e-01 1.54007766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.60, Z:1.54 [[-7.97477506e-03 -9.99968201e-01 -2.48482141e-06 1.71553336e+02] [ 9.99944322e-01 -7.97456745e-03 -6.91076759e-03 1.42599395e+02] [ 6.91052801e-03 -5.75965000e-05 9.99976120e-01 1.54042621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67264 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:171.56, Y:142.62, Z:1.54 [[-1.10550779e-02 -9.99938891e-01 -8.60712892e-07 1.71556110e+02] [ 9.99915013e-01 -1.10548080e-02 -6.91076779e-03 1.42623241e+02] [ 6.91033596e-03 -7.72597161e-05 9.99976120e-01 1.54139173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:171.56, Y:142.61, Z:1.54 [[-1.15575949e-02 -9.99933209e-01 1.14460423e-06 1.71558103e+02] [ 9.99909331e-01 -1.15573268e-02 -6.91076746e-03 1.42606455e+02] [ 6.91031911e-03 -7.87273503e-05 9.99976120e-01 1.54165790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:171.56, Y:142.63, Z:1.54 [[-1.18399489e-02 -9.99929905e-01 -1.13061412e-06 1.71557740e+02] [ 9.99906027e-01 -1.18396584e-02 -6.91076708e-03 1.42631578e+02] [ 6.91026929e-03 -8.29536372e-05 9.99976120e-01 1.54183143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.56, Y:142.63, Z:1.54 [[-1.16954227e-02 -9.99931606e-01 8.20848725e-07 1.71559706e+02] [ 9.99907728e-01 -1.16951491e-02 -6.91076685e-03 1.42625526e+02] [ 6.91030380e-03 -8.00035664e-05 9.99976120e-01 1.54237984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.56, Y:142.65, Z:1.54 [[-1.00395878e-02 -9.99949602e-01 -1.75988183e-06 1.71563739e+02] [ 9.99925724e-01 -1.00393359e-02 -6.91076619e-03 1.42650450e+02] [ 6.91040024e-03 -7.11409949e-05 9.99976120e-01 1.54248481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:142.67, Z:1.54 [[-8.29003673e-03 -9.99965637e-01 1.89435102e-07 1.71565111e+02] [ 9.99941758e-01 -8.28984008e-03 -6.91076614e-03 1.42668025e+02] [ 6.91053024e-03 -5.71010811e-05 9.99976120e-01 1.54091818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:142.67, Z:1.54 [[-5.84290854e-03 -9.99982930e-01 5.18504708e-07 1.71566604e+02] [ 9.99959051e-01 -5.84277260e-03 -6.91076612e-03 1.42669573e+02] [ 6.91065118e-03 -3.98604909e-05 9.99976120e-01 1.54087017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:142.69, Z:1.54 [[-3.44836547e-03 -9.99994054e-01 -1.46380223e-07 1.71567635e+02] [ 9.99970175e-01 -3.44828212e-03 -6.91076610e-03 1.42693903e+02] [ 6.91072451e-03 -2.39772231e-05 9.99976120e-01 1.54234668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:142.70, Z:1.54 [[ 3.34192960e-03 -9.99994416e-01 1.80547637e-06 1.71569525e+02] [ 9.99970536e-01 3.34183731e-03 -6.91076559e-03 1.42701394e+02] [ 6.91072097e-03 2.49007152e-05 9.99976120e-01 1.54039705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:142.73, Z:1.54 [[ 6.58434438e-03 -9.99978323e-01 1.80547640e-06 1.71570332e+02] [ 9.99954444e-01 6.58417466e-03 -6.91076559e-03 1.42732377e+02] [ 6.91060390e-03 4.73082547e-05 9.99976120e-01 1.54499502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:142.73, Z:1.55 [[ 1.05870863e-02 -9.99943955e-01 4.53889099e-06 1.71571607e+02] [ 9.99920077e-01 1.05868021e-02 -6.91076380e-03 1.42729038e+02] [ 6.91032843e-03 7.77033809e-05 9.99976120e-01 1.54539315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:142.70, Z:1.54 [[ 1.42414029e-02 -9.99898586e-01 3.84702253e-06 1.71572169e+02] [ 9.99874709e-01 1.42410362e-02 -6.91076418e-03 1.42703207e+02] [ 6.91000855e-03 1.02265517e-04 9.99976120e-01 1.54234121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:142.69, Z:1.55 [[ 2.13241887e-02 -9.99772614e-01 3.16418714e-06 1.71571136e+02] [ 9.99748740e-01 2.13236576e-02 -6.91076449e-03 1.42685961e+02] [ 6.90912561e-03 1.50529838e-04 9.99976120e-01 1.54735044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.57, Y:142.70, Z:1.55 [[ 2.38582896e-02 -9.99715351e-01 2.49313695e-06 1.71569966e+02] [ 9.99691478e-01 2.38577026e-02 -6.91076474e-03 1.42695937e+02] [ 6.90873811e-03 1.67371394e-04 9.99976120e-01 1.54666531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.57, Y:142.67, Z:1.55 [[ 2.66227888e-02 -9.99645551e-01 2.82645034e-06 1.71568887e+02] [ 9.99621680e-01 2.66221336e-02 -6.91076460e-03 1.42667424e+02] [ 6.90823984e-03 1.86809208e-04 9.99976120e-01 1.54721340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.57, Y:142.72, Z:1.55 [[ 2.85511246e-02 -9.99592334e-01 5.10310502e-07 1.71566980e+02] [ 9.99568464e-01 2.85504393e-02 -6.91076477e-03 1.42724268e+02] [ 6.90793292e-03 1.97820197e-04 9.99976120e-01 1.54986572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.57, Y:142.75, Z:1.55 [[ 3.09396896e-02 -9.99521253e-01 -2.46702954e-05 1.71565334e+02] [ 9.99497380e-01 3.09391212e-02 -6.91073403e-03 1.42747409e+02] [ 6.90818882e-03 1.89158070e-04 9.99976120e-01 1.54844223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:142.77, Z:1.55 [[ 3.07558716e-02 -9.99526926e-01 -5.97117587e-06 1.71563852e+02] [ 9.99503057e-01 3.07551784e-02 -6.91075019e-03 1.42772421e+02] [ 6.90766454e-03 2.06577937e-04 9.99976120e-01 1.55329330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.56, Y:142.80, Z:1.55 [[ 3.03149747e-02 -9.99540396e-01 -4.01861350e-06 1.71562550e+02] [ 9.99516526e-01 3.03142785e-02 -6.91075133e-03 1.42797541e+02] [ 6.90769694e-03 2.05482581e-04 9.99976120e-01 1.55377262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.56, Y:142.82, Z:1.55 [[ 2.94508116e-02 -9.99566231e-01 -2.10635581e-06 1.71560655e+02] [ 9.99542361e-01 2.94501228e-02 -6.91075191e-03 1.42821401e+02] [ 6.90781627e-03 2.01421860e-04 9.99976120e-01 1.55208555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:142.85, Z:1.56 [[ 2.83690738e-02 -9.99597517e-01 -6.50471888e-09 1.71558053e+02] [ 9.99573647e-01 2.83683964e-02 -6.91075191e-03 1.42847216e+02] [ 6.90797064e-03 1.96045129e-04 9.99976120e-01 1.55544426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.86, Z:1.55 [[ 2.62779531e-02 -9.99654675e-01 1.84938887e-06 1.71552615e+02] [ 9.99630804e-01 2.62773129e-02 -6.91075142e-03 1.42859644e+02] [ 6.90831636e-03 1.83449108e-04 9.99976120e-01 1.55251429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:142.88, Z:1.55 [[ 2.45359143e-02 -9.99698949e-01 1.19777298e-06 1.71549987e+02] [ 9.99675077e-01 2.45353201e-02 -6.91075153e-03 1.42882872e+02] [ 6.90864165e-03 1.70758991e-04 9.99976120e-01 1.55466982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:142.91, Z:1.55 [[ 2.22814108e-02 -9.99751739e-01 5.38942554e-07 1.71547645e+02] [ 9.99727865e-01 2.22808750e-02 -6.91075158e-03 1.42906405e+02] [ 6.90902390e-03 1.54520091e-04 9.99976120e-01 1.55379921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.54, Y:142.93, Z:1.56 [[ 1.53994429e-02 -9.99881422e-01 -1.31143370e-07 1.71543174e+02] [ 9.99857545e-01 1.53990761e-02 -6.91075157e-03 1.42931553e+02] [ 6.90993412e-03 1.06290600e-04 9.99976120e-01 1.55597932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:171.54, Y:142.84, Z:1.55 [[ 1.16083859e-02 -9.99932620e-01 1.69878162e-06 1.71540964e+02] [ 9.99908743e-01 1.16080970e-02 -6.91075112e-03 1.42841703e+02] [ 6.91026575e-03 8.19212925e-05 9.99976120e-01 1.55431774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45264000000003 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:171.54, Y:142.87, Z:1.56 [[ 6.95147453e-03 -9.99975838e-01 -7.98164864e-07 1.71538768e+02] [ 9.99951959e-01 6.95131405e-03 -6.91075083e-03 1.42866596e+02] [ 6.91058940e-03 4.72417819e-05 9.99976120e-01 1.55509441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48264 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:171.54, Y:142.86, Z:1.55 [[ 2.68291478e-03 -9.99996401e-01 1.15720367e-06 1.71537086e+02] [ 9.99972522e-01 2.68284271e-03 -6.91075050e-03 1.42863851e+02] [ 6.91072253e-03 1.96981265e-05 9.99976120e-01 1.55465003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51264000000003 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:171.53, Y:142.89, Z:1.54 [[-7.42042667e-03 -9.99972468e-01 -1.24770610e-06 1.71533590e+02] [ 9.99948589e-01 -7.42024086e-03 -6.91075007e-03 1.42887732e+02] [ 6.91055054e-03 -5.25283561e-05 9.99976120e-01 1.53760591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54264 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:171.53, Y:142.91, Z:1.54 [[-1.38129233e-02 -9.99904597e-01 1.48414058e-05 1.71529778e+02] [ 9.99880718e-01 -1.38126960e-02 -6.91074996e-03 1.42908975e+02] [ 6.91029565e-03 -8.06180233e-05 9.99976120e-01 1.53525330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57264000000004 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:171.53, Y:142.94, Z:1.56 [[-1.71492270e-02 -9.99852938e-01 7.60025768e-05 1.71531699e+02] [ 9.99829056e-01 -1.71493427e-02 -6.91070979e-03 1.42939214e+02] [ 6.91099688e-03 -4.25237461e-05 9.99976118e-01 1.55972462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60264 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:171.53, Y:142.93, Z:1.56 [[-2.13646159e-02 -9.99771751e-01 3.58165898e-06 1.71531329e+02] [ 9.99747876e-01 -2.13641305e-02 -6.91074734e-03 1.42932332e+02] [ 6.90924648e-03 -1.44064706e-04 9.99976121e-01 1.55980285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63264000000004 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:171.53, Y:142.62, Z:1.53 [[-3.36609732e-02 -9.99433309e-01 1.30696242e-06 1.71528910e+02] [ 9.99409443e-01 -3.36601784e-02 -6.91074777e-03 1.42615567e+02] [ 6.90687550e-03 -2.31316305e-04 9.99976121e-01 1.53028926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66264 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:171.54, Y:143.84, Z:1.56 [[-2.45827961e-02 -9.99697797e-01 2.85902949e-05 1.71535759e+02] [ 9.99673920e-01 -2.45824066e-02 -6.91080037e-03 1.43843741e+02] [ 6.90941473e-03 -1.41305824e-04 9.99976120e-01 1.55598654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69264 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:171.54, Y:143.87, Z:1.55 [[-3.01118859e-02 -9.99546533e-01 -4.51032790e-05 1.71537981e+02] [ 9.99522676e-01 -3.01108554e-02 -6.91054737e-03 1.43868569e+02] [ 6.90605556e-03 -2.53171364e-04 9.99976121e-01 1.55378785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72264 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:171.54, Y:143.88, Z:1.54 [[-3.14714744e-02 -9.99504649e-01 -4.95062847e-05 1.71539588e+02] [ 9.99480795e-01 -3.14703810e-02 -6.91053348e-03 1.43884467e+02] [ 6.90555236e-03 -2.66965258e-04 9.99976121e-01 1.53814221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75264 meters Centerline goodness : 0.985526 Centerline is valid? [True, True] Translation: X:171.54, Y:143.92, Z:1.55 [[-3.18004154e-02 -9.99494235e-01 8.87125446e-05 1.71540092e+02] [ 9.99470351e-01 -3.18002689e-02 -6.91095136e-03 1.43917867e+02] [ 6.91027712e-03 -1.31105566e-04 9.99976115e-01 1.55211414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78264 meters Centerline goodness : 0.982022 Centerline is valid? [True, True] Translation: X:171.54, Y:143.94, Z:1.55 [[-3.12796563e-02 -9.99510670e-01 -5.85055340e-05 1.71541786e+02] [ 9.99486819e-01 -3.12785054e-02 -6.91040873e-03 1.43940147e+02] [ 6.90519730e-03 -2.74630720e-04 9.99976121e-01 1.55322935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81264 meters Centerline goodness : 0.114096 Centerline is valid? [True, False] Translation: X:172.81, Y:141.48, Z:2.34 [[ 7.54287758e-01 6.54989403e-01 4.51537494e-02 1.72813110e+02] [-5.88106493e-01 6.43488826e-01 4.89951919e-01 1.41478146e+02] [ 2.91857382e-01 -3.96119948e-01 8.70579265e-01 2.33878275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84264 meters Centerline goodness : 0.093496 Centerline is valid? [False, False] Translation: X:172.74, Y:141.63, Z:2.27 [[ 7.56738416e-01 6.53056351e-01 -2.94002064e-02 1.72735319e+02] [-5.87868746e-01 6.99494812e-01 4.06346337e-01 1.41629877e+02] [ 2.85932348e-01 -2.90214421e-01 9.13246014e-01 2.26773146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87264 meters Centerline goodness : 0.091269 Centerline is valid? [False, False] Translation: X:172.68, Y:141.76, Z:2.22 [[ 7.57813556e-01 6.45329079e-01 -9.62756204e-02 1.72683907e+02] [-5.88942795e-01 7.40050014e-01 3.24765086e-01 1.41755032e+02] [ 2.80829128e-01 -1.89410551e-01 9.40881844e-01 2.21725915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90264 meters Centerline goodness : 0.089786 Centerline is valid? [False, False] Translation: X:172.66, Y:141.85, Z:2.19 [[ 7.60063806e-01 6.31082391e-01 -1.55042016e-01 1.72656663e+02] [-5.87687666e-01 7.69338008e-01 2.50484006e-01 1.41854400e+02] [ 2.77355761e-01 -9.92675461e-02 9.55625311e-01 2.18753319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93264 meters Centerline goodness : 0.128922 Centerline is valid? [False, False] Translation: X:172.61, Y:141.97, Z:2.15 [[ 7.62000322e-01 6.13578599e-01 -2.07067170e-01 1.72606445e+02] [-5.87094847e-01 7.89495348e-01 1.78932212e-01 1.41966038e+02] [ 2.73267543e-01 -1.47783343e-02 9.61824543e-01 2.15326817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96264 meters Centerline goodness : 0.128315 Centerline is valid? [False, False] Translation: X:172.54, Y:142.08, Z:2.12 [[ 7.63783012e-01 5.95202976e-01 -2.49737719e-01 1.72539989e+02] [-5.86408931e-01 8.01538528e-01 1.16878369e-01 1.42080251e+02] [ 2.69740756e-01 5.71787164e-02 9.61233852e-01 2.11849132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99264 meters Centerline goodness : 0.131515 Centerline is valid? [False, False] Translation: X:172.49, Y:142.17, Z:2.09 [[ 7.65592059e-01 5.80593740e-01 -2.77091516e-01 1.72486537e+02] [-5.86220234e-01 8.07013069e-01 7.12442616e-02 1.42166279e+02] [ 2.64980447e-01 1.07892612e-01 9.58198595e-01 2.09000788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02264 meters Centerline goodness : 0.134274 Centerline is valid? [False, False] Translation: X:172.40, Y:142.26, Z:2.05 [[ 7.65583014e-01 5.71418829e-01 -2.95572615e-01 1.72402828e+02] [-5.89026643e-01 8.07349329e-01 3.51379484e-02 1.42263258e+02] [ 2.58708838e-01 1.47199129e-01 9.54673847e-01 2.05137007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05264 meters Centerline goodness : 0.133892 Centerline is valid? [False, False] Translation: X:172.31, Y:142.34, Z:2.01 [[ 7.65767080e-01 5.71762968e-01 -2.94428067e-01 1.72313568e+02] [-5.90619374e-01 8.06397651e-01 2.98593854e-02 1.42335925e+02] [ 2.54498593e-01 1.51029587e-01 9.55207061e-01 2.01184718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08264 meters Centerline goodness : 0.139442 Centerline is valid? [False, False] Translation: X:172.23, Y:142.41, Z:1.98 [[ 7.65273106e-01 5.68897471e-01 -3.01185560e-01 1.72231074e+02] [-5.93280428e-01 8.04892778e-01 1.28821242e-02 1.42412103e+02] [ 2.49750690e-01 1.68829155e-01 9.53478531e-01 1.97527831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11264 meters Centerline goodness : 0.136051 Centerline is valid? [False, False] Translation: X:172.13, Y:142.50, Z:1.93 [[ 7.66777256e-01 5.64741972e-01 -3.05154297e-01 1.72131861e+02] [-5.94025028e-01 8.04437179e-01 -3.88472913e-03 1.42504746e+02] [ 2.43283592e-01 1.84248012e-01 9.52294998e-01 1.93079111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264000000003 meters Centerline goodness : 0.138236 Centerline is valid? [False, False] Translation: X:172.02, Y:142.60, Z:1.89 [[ 7.67581598e-01 5.61826548e-01 -3.08495412e-01 1.72024297e+02] [-5.95430795e-01 8.03187365e-01 -1.87676584e-02 1.42600589e+02] [ 2.37235448e-01 1.98093378e-01 9.51040670e-01 1.88690271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17264 meters Centerline goodness : 0.143342 Centerline is valid? [False, False] Translation: X:171.98, Y:142.64, Z:1.87 [[ 7.66787486e-01 5.62820515e-01 -3.08658420e-01 1.71978422e+02] [-5.98692892e-01 8.00501606e-01 -2.76405592e-02 1.42643183e+02] [ 2.31524887e-01 2.05986037e-01 9.50771255e-01 1.86605142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264000000003 meters Centerline goodness : 0.146039 Centerline is valid? [False, False] Translation: X:171.86, Y:142.75, Z:1.82 [[ 7.68306262e-01 5.61544159e-01 -3.07202937e-01 1.71858139e+02] [-5.98935661e-01 8.00006832e-01 -3.55688502e-02 1.42745718e+02] [ 2.25790968e-01 2.11322565e-01 9.50979081e-01 1.81852416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23264 meters Centerline goodness : 0.145702 Centerline is valid? [False, False] Translation: X:171.81, Y:142.79, Z:1.80 [[ 7.69154825e-01 5.58252974e-01 -3.11053809e-01 1.71811843e+02] [-5.99650967e-01 7.98743977e-01 -4.92623275e-02 1.42794121e+02] [ 2.20951515e-01 2.24414074e-01 9.49114720e-01 1.79822332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264000000003 meters Centerline goodness : 0.089518 Centerline is valid? [False, False] Translation: X:171.68, Y:142.89, Z:1.75 [[ 7.68230002e-01 5.64524035e-01 -3.01886200e-01 1.71683124e+02] [-6.03860459e-01 7.95585782e-01 -4.89470069e-02 1.42889132e+02] [ 2.12544606e-01 2.19899698e-01 9.52086610e-01 1.74595008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29264 meters Centerline goodness : 0.146475 Centerline is valid? [False, False] Translation: X:171.58, Y:142.98, Z:1.71 [[ 7.69431295e-01 5.61049418e-01 -3.05285167e-01 1.71577169e+02] [-6.04491536e-01 7.94010796e-01 -6.43182593e-02 1.42982685e+02] [ 2.06313997e-01 2.34030781e-01 9.50086379e-01 1.70584718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264000000004 meters Centerline goodness : 0.088989 Centerline is valid? [False, False] Translation: X:171.49, Y:143.06, Z:1.67 [[ 7.72230976e-01 5.56807460e-01 -3.05981654e-01 1.71488460e+02] [-6.02536420e-01 7.94584818e-01 -7.47317148e-02 1.43062299e+02] [ 2.01517200e-01 2.42075235e-01 9.49099783e-01 1.67181488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35264 meters Centerline goodness : 0.087951 Centerline is valid? [False, False] Translation: X:171.42, Y:143.11, Z:1.64 [[ 7.71981721e-01 5.62759378e-01 -2.95543745e-01 1.71417825e+02] [-6.04960785e-01 7.93184799e-01 -6.98593148e-02 1.43107960e+02] [ 1.95106821e-01 2.32722490e-01 9.52771521e-01 1.64127287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264000000004 meters Centerline goodness : 0.087595 Centerline is valid? [False, False] Translation: X:171.33, Y:143.18, Z:1.61 [[ 7.74476756e-01 5.59993018e-01 -2.94267859e-01 1.71328074e+02] [-6.03320024e-01 7.93736235e-01 -7.73804701e-02 1.43183395e+02] [ 1.90238540e-01 2.37467067e-01 9.52585266e-01 1.60658023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41264 meters Centerline goodness : 0.087728 Centerline is valid? [False, False] Translation: X:171.23, Y:143.26, Z:1.57 [[ 7.75382104e-01 5.60610305e-01 -2.90686564e-01 1.71233414e+02] [-6.03520440e-01 7.93341971e-01 -7.98222783e-02 1.43255892e+02] [ 1.85864660e-01 2.37328049e-01 9.53482944e-01 1.57258224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters Centerline goodness : 0.088067 Centerline is valid? [False, False] Translation: X:171.14, Y:143.33, Z:1.54 [[ 7.77147974e-01 5.59028525e-01 -2.89012343e-01 1.71142139e+02] [-6.02493445e-01 7.93573438e-01 -8.51049176e-02 1.43331174e+02] [ 1.81776442e-01 2.40267157e-01 9.53535012e-01 1.53971980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47264 meters Centerline goodness : 0.086228 Centerline is valid? [False, False] Translation: X:171.08, Y:143.38, Z:1.52 [[ 7.77902078e-01 5.58721025e-01 -2.87574639e-01 1.71081311e+02] [-6.02174867e-01 7.93606047e-01 -8.70337411e-02 1.43379546e+02] [ 1.79593391e-01 2.40873948e-01 9.53795552e-01 1.51770411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters Centerline goodness : 0.085689 Centerline is valid? [False, False] Translation: X:171.02, Y:143.43, Z:1.50 [[ 7.79919325e-01 5.56171367e-01 -2.87052707e-01 1.71021410e+02] [-6.00349741e-01 7.94440019e-01 -9.18980138e-02 1.43429835e+02] [ 1.76935114e-01 2.44005055e-01 9.53496460e-01 1.49516168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53264 meters Centerline goodness : 0.085194 Centerline is valid? [False, False] Translation: X:170.93, Y:143.50, Z:1.46 [[ 7.81954387e-01 5.54649024e-01 -2.84449991e-01 1.70932183e+02] [-5.99235742e-01 7.94550891e-01 -9.80071775e-02 1.43503432e+02] [ 1.71650408e-01 2.47089744e-01 9.53668074e-01 1.46265578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters Centerline goodness : 0.086005 Centerline is valid? [False, False] Translation: X:170.84, Y:143.58, Z:1.43 [[ 7.83639188e-01 5.53848473e-01 -2.81356521e-01 1.70841387e+02] [-5.98471186e-01 7.94510682e-01 -1.02883505e-01 1.43577215e+02] [ 1.66558889e-01 2.49007317e-01 9.54072058e-01 1.43002689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59264 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:170.78, Y:143.63, Z:1.41 [[ 7.85088867e-01 5.52501186e-01 -2.79960551e-01 1.70783143e+02] [-5.97310905e-01 7.94946677e-01 -1.06204821e-01 1.43626463e+02] [ 1.63875420e-01 2.50603713e-01 9.54118769e-01 1.40668414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters Centerline goodness : 0.087352 Centerline is valid? [False, False] Translation: X:170.69, Y:143.70, Z:1.38 [[ 7.86655589e-01 5.51249255e-01 -2.78023818e-01 1.70693185e+02] [-5.96404162e-01 7.94919401e-01 -1.11378730e-01 1.43700672e+02] [ 1.59609085e-01 2.53431263e-01 9.54095139e-01 1.37611885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65264 meters Centerline goodness : 0.088937 Centerline is valid? [False, False] Translation: X:170.60, Y:143.78, Z:1.34 [[ 7.88945178e-01 5.49708361e-01 -2.74565520e-01 1.70602212e+02] [-5.94919532e-01 7.95153285e-01 -1.17481928e-01 1.43775577e+02] [ 1.53740877e-01 2.56031191e-01 9.54364591e-01 1.34305320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters Centerline goodness : 0.086596 Centerline is valid? [False, False] Translation: X:170.54, Y:143.82, Z:1.32 [[ 7.90165718e-01 5.48638535e-01 -2.73192051e-01 1.70543755e+02] [-5.93980482e-01 7.95376272e-01 -1.20680460e-01 1.43823576e+02] [ 1.51080524e-01 2.57628308e-01 9.54359644e-01 1.32086985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71264 meters Centerline goodness : 0.088142 Centerline is valid? [False, False] Translation: X:170.48, Y:143.87, Z:1.30 [[ 7.91197298e-01 5.47872798e-01 -2.71739274e-01 1.70483426e+02] [-5.93206363e-01 7.95571772e-01 -1.23173726e-01 1.43872463e+02] [ 1.48704562e-01 2.58652186e-01 9.54455866e-01 1.29968294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters Centerline goodness : 0.089044 Centerline is valid? [False, False] Translation: X:170.42, Y:143.92, Z:1.28 [[ 7.92170667e-01 5.47303703e-01 -2.70044982e-01 1.70423079e+02] [-5.92545811e-01 7.95685884e-01 -1.25592335e-01 1.43920992e+02] [ 1.46133830e-01 2.59504587e-01 9.54621534e-01 1.27785177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77264 meters Centerline goodness : 0.090248 Centerline is valid? [False, False] Translation: X:170.35, Y:143.98, Z:1.25 [[ 7.94012612e-01 5.47573682e-01 -2.64020900e-01 1.70346001e+02] [-5.92031461e-01 7.95134987e-01 -1.31373897e-01 1.43982127e+02] [ 1.37995366e-01 2.60621210e-01 9.55528055e-01 1.24747059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters Centerline goodness : 0.089867 Centerline is valid? [False, False] Translation: X:170.29, Y:144.02, Z:1.22 [[ 7.94368472e-01 5.47971526e-01 -2.62118175e-01 1.70291327e+02] [-5.92294631e-01 7.94487903e-01 -1.34074763e-01 1.44024847e+02] [ 1.34780567e-01 2.61755953e-01 9.55676734e-01 1.22218572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83264 meters Centerline goodness : 0.091593 Centerline is valid? [False, False] Translation: X:170.21, Y:144.09, Z:1.19 [[ 7.95871152e-01 5.49241835e-01 -2.54798970e-01 1.70208123e+02] [-5.92368170e-01 7.93407271e-01 -1.40017332e-01 1.44091801e+02] [ 1.25255979e-01 2.62370555e-01 9.56803340e-01 1.18903049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters Centerline goodness : 0.092366 Centerline is valid? [False, False] Translation: X:170.15, Y:144.14, Z:1.17 [[ 7.95814569e-01 5.50541680e-01 -2.52156756e-01 1.70149334e+02] [-5.93163470e-01 7.92507327e-01 -1.41736497e-01 1.44138853e+02] [ 1.21804228e-01 2.62366146e-01 9.57250090e-01 1.16782375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89264000000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 307.92264 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 307.95264000000003 meters Centerline goodness : 0.086339 Centerline is valid? [False, False] Translation: X:170.15, Y:144.15, Z:1.15 [[ 7.93145929e-01 5.56632970e-01 -2.47142208e-01 1.70147015e+02] [-5.98231235e-01 7.88134582e-01 -1.44786985e-01 1.44148305e+02] [ 1.14188111e-01 2.62685396e-01 9.58100964e-01 1.15100837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98264 meters Centerline goodness : 0.067457 Centerline is valid? [False, False] Translation: X:170.11, Y:144.18, Z:1.13 [[ 7.93367542e-01 5.57927015e-01 -2.43485910e-01 1.70112097e+02] [-5.99177500e-01 7.86341973e-01 -1.50507889e-01 1.44182549e+02] [ 1.07490774e-01 2.65299353e-01 9.58155513e-01 1.13330105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01264000000003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 308.04264 meters Centerline goodness : 0.789718 Centerline is valid? [False, False] Translation: X:170.11, Y:144.19, Z:1.12 [[ 7.90094346e-01 5.63901411e-01 -2.40345841e-01 1.70110822e+02] [-6.04552591e-01 7.81642703e-01 -1.53462861e-01 1.44192876e+02] [ 1.01326648e-01 2.66551840e-01 9.58479539e-01 1.11757408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07264000000004 meters Centerline goodness : 0.785501 Centerline is valid? [False, False] Translation: X:170.08, Y:144.23, Z:1.10 [[ 7.90938172e-01 5.64677009e-01 -2.35704651e-01 1.70077364e+02] [-6.04618562e-01 7.80454597e-01 -1.59144643e-01 1.44225697e+02] [ 9.40914571e-02 2.68384980e-01 9.58705534e-01 1.10052055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10264 meters Centerline goodness : 0.713823 Centerline is valid? [False, False] Translation: X:170.05, Y:144.25, Z:1.08 [[ 7.91588903e-01 5.65936978e-01 -2.30439464e-01 1.70046679e+02] [-6.04812348e-01 7.79417280e-01 -1.63434171e-01 1.44253908e+02] [ 8.71150591e-02 2.68745310e-01 9.59263741e-01 1.08390827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13264000000004 meters Centerline goodness : 0.766426 Centerline is valid? [False, False] Translation: X:170.05, Y:144.26, Z:1.08 [[ 7.91557172e-01 5.66748508e-01 -2.28546213e-01 1.70045917e+02] [-6.05281190e-01 7.78596836e-01 -1.65594830e-01 1.44259616e+02] [ 8.40947351e-02 2.69412499e-01 9.59346121e-01 1.07744814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16264 meters Centerline goodness : 0.752657 Centerline is valid? [False, False] Translation: X:170.03, Y:144.28, Z:1.06 [[ 7.93050464e-01 5.67115412e-01 -2.22375966e-01 1.70028681e+02] [-6.04301225e-01 7.78431004e-01 -1.69897619e-01 1.44278191e+02] [ 7.67527884e-02 2.69119455e-01 9.60043608e-01 1.06326877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19264 meters Centerline goodness : 0.454262 Centerline is valid? [False, False] Translation: X:169.98, Y:144.32, Z:1.05 [[ 7.92222868e-01 5.68804368e-01 -2.21007961e-01 1.69975404e+02] [-6.05538034e-01 7.77594353e-01 -1.69324281e-01 1.44320126e+02] [ 7.55421523e-02 2.67971294e-01 9.60460707e-01 1.04714080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22264 meters Centerline goodness : 0.743359 Centerline is valid? [False, False] Translation: X:169.95, Y:144.34, Z:1.03 [[ 7.93924428e-01 5.68958683e-01 -2.14406203e-01 1.69950890e+02] [-6.04226589e-01 7.77604454e-01 -1.73900954e-01 1.44344337e+02] [ 6.77807611e-02 2.67614144e-01 9.61139136e-01 1.03077561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25264 meters Centerline goodness : 0.737609 Centerline is valid? [False, False] Translation: X:169.95, Y:144.34, Z:1.03 [[ 7.94017045e-01 5.68851550e-01 -2.14347489e-01 1.69954171e+02] [-6.04120913e-01 7.77638068e-01 -1.74117654e-01 1.44343385e+02] [ 6.76376697e-02 2.67744186e-01 9.61112999e-01 1.02841426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28264 meters Centerline goodness : 0.723739 Centerline is valid? [False, False] Translation: X:169.95, Y:144.34, Z:1.03 [[ 7.94318733e-01 5.68562567e-01 -2.13996165e-01 1.69953799e+02] [-6.03777388e-01 7.77791835e-01 -1.74621670e-01 1.44343936e+02] [ 6.71611249e-02 2.67911309e-01 9.61099846e-01 1.02675599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31264 meters Centerline goodness : 0.720167 Centerline is valid? [False, False] Translation: X:169.95, Y:144.35, Z:1.02 [[ 7.95807099e-01 5.66623664e-01 -2.13608719e-01 1.69949072e+02] [-6.02063644e-01 7.78161947e-01 -1.78838903e-01 1.44351308e+02] [ 6.48878222e-02 2.70927312e-01 9.60410309e-01 1.02379293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34264 meters Centerline goodness : 0.727995 Centerline is valid? [False, False] Translation: X:169.95, Y:144.35, Z:1.02 [[ 7.95802813e-01 5.66718066e-01 -2.13374122e-01 1.69949482e+02] [-6.02087794e-01 7.78155085e-01 -1.78787449e-01 1.44350057e+02] [ 6.47160804e-02 2.70749509e-01 9.60472036e-01 1.02222789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37264 meters Centerline goodness : 0.714365 Centerline is valid? [False, False] Translation: X:169.95, Y:144.35, Z:1.02 [[ 7.95898142e-01 5.66624795e-01 -2.13266242e-01 1.69951462e+02] [-6.01979807e-01 7.78194380e-01 -1.78979939e-01 1.44349382e+02] [ 6.45481198e-02 2.70831772e-01 9.60460146e-01 1.02067843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40264 meters Centerline goodness : 0.711560 Centerline is valid? [False, False] Translation: X:169.95, Y:144.35, Z:1.02 [[ 7.95963198e-01 5.66542968e-01 -2.13240832e-01 1.69952957e+02] [-6.01901570e-01 7.78224839e-01 -1.79110579e-01 1.44349921e+02] [ 6.44754730e-02 2.70915421e-01 9.60441434e-01 1.01994299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43264 meters Centerline goodness : 0.703755 Centerline is valid? [False, False] Translation: X:169.95, Y:144.35, Z:1.02 [[ 7.96039178e-01 5.66451937e-01 -2.13199040e-01 1.69954572e+02] [-6.01810501e-01 7.78262807e-01 -1.79251567e-01 1.44350535e+02] [ 6.43874862e-02 2.70996691e-01 9.60424409e-01 1.01907646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46264 meters Centerline goodness : 0.703550 Centerline is valid? [False, False] Translation: X:169.96, Y:144.35, Z:1.02 [[ 7.96085064e-01 5.66386348e-01 -2.13201961e-01 1.69956167e+02] [-6.01753480e-01 7.78285254e-01 -1.79345512e-01 1.44350935e+02] [ 6.43530926e-02 2.71069305e-01 9.60406222e-01 1.01827422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49264 meters Centerline goodness : 0.699902 Centerline is valid? [False, False] Translation: X:169.96, Y:144.35, Z:1.02 [[ 7.96122492e-01 5.66333045e-01 -2.13203799e-01 1.69957673e+02] [-6.01712612e-01 7.78279896e-01 -1.79505810e-01 1.44351398e+02] [ 6.42721583e-02 2.71196028e-01 9.60375866e-01 1.01742526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52264 meters Centerline goodness : 0.638296 Centerline is valid? [False, False] Translation: X:169.96, Y:144.35, Z:1.02 [[ 7.96130130e-01 5.66273366e-01 -2.13333756e-01 1.69961291e+02] [-6.01714954e-01 7.78192519e-01 -1.79876395e-01 1.44351645e+02] [ 6.41555211e-02 2.71571129e-01 9.60277663e-01 1.01636929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55264 meters Centerline goodness : 0.668669 Centerline is valid? [False, False] Translation: X:169.96, Y:144.35, Z:1.01 [[ 7.96086886e-01 5.66351711e-01 -2.13287153e-01 1.69962653e+02] [-6.01778919e-01 7.78142125e-01 -1.79880418e-01 1.44351007e+02] [ 6.40921356e-02 2.71552154e-01 9.60287262e-01 1.01488563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58264 meters Centerline goodness : 0.669672 Centerline is valid? [False, False] Translation: X:169.96, Y:144.35, Z:1.01 [[ 7.96143139e-01 5.66311331e-01 -2.13184378e-01 1.69964719e+02] [-6.01723020e-01 7.78143783e-01 -1.80060157e-01 1.44350922e+02] [ 6.39179911e-02 2.71631606e-01 9.60276398e-01 1.01305382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7216.40 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%| | 0/10281 [00:00