+ python -m lidar_slam --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters Centerline goodness : 0.664680 Centerline is valid? [0, False] SLAMing on 0.05587156 meters Centerline goodness : 0.670036 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999991e-01 1.27658987e-04 -5.10342335e-05 1.84556200e-03] [-1.27639479e-04 9.99999919e-01 3.82075671e-04 -2.41569078e-03] [ 5.10830048e-05 -3.82069154e-04 9.99999926e-01 -1.74221720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08587156 meters Centerline goodness : 0.659093 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999238e-01 -1.02888620e-03 -6.81515320e-04 8.05236611e-03] [ 1.02864216e-03 9.99999407e-01 -3.58330144e-04 -2.46025864e-03] [ 6.81883596e-04 3.57628836e-04 9.99999704e-01 -6.27344490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11587156000000001 meters Centerline goodness : 0.432235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998767e-01 -1.22674860e-03 -9.80286002e-04 1.25435488e-02] [ 1.22667689e-03 9.99999245e-01 -7.37501982e-05 -5.32710784e-03] [ 9.80375734e-04 7.25476131e-05 9.99999517e-01 -8.49649729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587156 meters Centerline goodness : 0.428272 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998748e-01 -1.17877177e-03 -1.05532888e-03 1.42394343e-02] [ 1.17904454e-03 9.99999272e-01 2.57884611e-04 -6.93634015e-03] [ 1.05502412e-03 -2.59128568e-04 9.99999410e-01 -1.00719645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17587156 meters Centerline goodness : 0.442468 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995393e-01 -2.57924185e-03 -1.60028832e-03 2.09533932e-02] [ 2.57818893e-03 9.99996459e-01 -6.59669768e-04 -6.72174013e-03] [ 1.60198410e-03 6.55540884e-04 9.99998502e-01 -1.52530340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20587156 meters Centerline goodness : 0.397675 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995217e-01 -2.54270445e-03 -1.76067629e-03 2.46625752e-02] [ 2.54263334e-03 9.99996767e-01 -4.26279375e-05 -1.15929850e-02] [ 1.76077899e-03 3.81509793e-05 9.99998449e-01 -1.69012040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23587156 meters Centerline goodness : 0.430256 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99995453e-01 -2.45533936e-03 -1.75085624e-03 2.62165679e-02] [ 2.45597821e-03 9.99996918e-01 3.62821597e-04 -1.31774752e-02] [ 1.74995999e-03 -3.67120011e-04 9.99998401e-01 -1.86277332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26587156 meters Centerline goodness : 0.407496 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99995866e-01 -2.19733950e-03 -1.85449554e-03 2.82406414e-02] [ 2.19911880e-03 9.99997123e-01 9.57958060e-04 -1.64993208e-02] [ 1.85238525e-03 -9.62032356e-04 9.99997822e-01 -2.03557764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29587156000000003 meters Centerline goodness : 0.431187 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.9999965 -0.00179054 -0.00194699 0.0301639 ] [ 0.00179403 0.99999678 0.00179278 -0.02189353] [ 0.00194378 -0.00179627 0.9999965 -0.02211157] [ 0. 0. 0. 1. ]] SLAMing on 0.32587156000000006 meters Centerline goodness : 0.428211 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999467 -0.00200565 -0.0025761 0.04022651] [ 0.00201068 0.99999607 0.00195296 -0.02648887] [ 0.00257217 -0.00195813 0.99999477 -0.02877402] [ 0. 0. 0. 1. ]] SLAMing on 0.35587156000000003 meters Centerline goodness : 0.448304 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999464 -0.0017649 -0.00275679 0.04286541] [ 0.00177087 0.99999609 0.00216585 -0.0267626 ] [ 0.00275296 -0.00217072 0.99999385 -0.03096131] [ 0. 0. 0. 1. ]] SLAMing on 0.38587156000000006 meters Centerline goodness : 0.440241 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999479 -0.00148516 -0.00286663 0.04484223] [ 0.00149177 0.99999624 0.002303 -0.02729948] [ 0.0028632 -0.00230727 0.99999324 -0.03240286] [ 0. 0. 0. 1. ]] SLAMing on 0.41587156000000003 meters Centerline goodness : 0.431259 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.99999493 -0.00107798 -0.00299515 0.04707316] [ 0.00108539 0.99999635 0.00247354 -0.02876024] [ 0.00299247 -0.00247677 0.99999246 -0.03372191] [ 0. 0. 0. 1. ]] SLAMing on 0.44587156000000006 meters Centerline goodness : 0.419781 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999209 0.00129091 -0.00376098 0.05726033] [-0.00127671 0.99999206 0.00377558 -0.0327409 ] [ 0.00376582 -0.00377075 0.9999858 -0.03897221] [ 0. 0. 0. 1. ]] SLAMing on 0.47587156 meters Centerline goodness : 0.438142 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999039 0.00162826 -0.00407168 0.06020323] [-0.00161319 0.99999184 0.00370246 -0.03213899] [ 0.00407768 -0.00369585 0.99998486 -0.04066206] [ 0. 0. 0. 1. ]] SLAMing on 0.50587156 meters Centerline goodness : 0.436373 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.9999883 0.00203379 -0.00438874 0.06332754] [-0.00201763 0.99999119 0.00368156 -0.03196255] [ 0.00439619 -0.00367266 0.99998359 -0.0424237 ] [ 0. 0. 0. 1. ]] SLAMing on 0.53587156 meters Centerline goodness : 0.432676 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.05 [[ 0.99997669 0.00453248 -0.00510609 0.07340693] [-0.00450809 0.99997843 0.00477719 -0.03381171] [ 0.00512763 -0.00475406 0.99997555 -0.04766625] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters Centerline goodness : 0.439775 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99997277 0.00490492 -0.005514 0.07694197] [-0.00487968 0.9999776 0.00458148 -0.03206578] [ 0.00553635 -0.00455445 0.9999743 -0.04964385] [ 0. 0. 0. 1. ]] SLAMing on 0.5958715600000001 meters Centerline goodness : 0.436138 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996866 0.00524204 -0.00593248 0.08065357] [-0.0052161 0.9999768 0.00438014 -0.03017988] [ 0.0059553 -0.00434906 0.99997281 -0.05181633] [ 0. 0. 0. 1. ]] SLAMing on 0.6258715600000001 meters Centerline goodness : 0.428862 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996421 0.00563388 -0.00631151 0.08415686] [-0.00560738 0.99997543 0.00420749 -0.02879561] [ 0.00633506 -0.00417195 0.99997123 -0.05363797] [ 0. 0. 0. 1. ]] SLAMing on 0.65587156 meters Centerline goodness : 0.445961 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994557 0.00769002 -0.00705177 0.09310388] [-0.00765528 0.99995849 0.00494044 -0.0295917 ] [ 0.00708947 -0.00488619 0.99996293 -0.05771366] [ 0. 0. 0. 1. ]] SLAMing on 0.68587156 meters Centerline goodness : 0.452638 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99994004 0.00800811 -0.00746943 0.09679487] [-0.00797263 0.99995685 0.00476781 -0.02850128] [ 0.00750729 -0.00470797 0.99996074 -0.0597999 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7158715600000001 meters Centerline goodness : 0.441418 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99993569 0.00823369 -0.00779835 0.09997668] [-0.00819903 0.99995641 0.00446653 -0.02667088] [ 0.00783479 -0.0044023 0.99995962 -0.06169032] [ 0. 0. 0. 1. ]] SLAMing on 0.7458715600000001 meters Centerline goodness : 0.402543 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99993123 0.00845797 -0.00812367 0.10299761] [-0.00842434 0.99995584 0.00416452 -0.02422146] [ 0.00815853 -0.00409579 0.99995833 -0.06336744] [ 0. 0. 0. 1. ]] SLAMing on 0.7758715600000001 meters Centerline goodness : 0.454710 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990779 0.01036489 -0.00877425 0.11209429] [-0.01032389 0.99993564 0.00470417 -0.01888228] [ 0.00882244 -0.00461315 0.99995044 -0.06786096] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters Centerline goodness : 0.449837 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990637 0.01030656 -0.00900133 0.11450465] [-0.01026864 0.99993825 0.00424841 -0.01541067] [ 0.00904456 -0.00415558 0.99995046 -0.0694452 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8358715600000001 meters Centerline goodness : 0.457611 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990437 0.01031899 -0.00920695 0.11682832] [-0.01028282 0.99993926 0.00396757 -0.01342674] [ 0.00924733 -0.00387252 0.99994974 -0.07094509] [ 0. 0. 0. 1. ]] SLAMing on 0.8658715600000001 meters Centerline goodness : 0.454078 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990213 0.01031928 -0.00944679 0.11922594] [-0.01028418 0.99994006 0.00375642 -0.01199491] [ 0.00948499 -0.0036589 0.99994832 -0.07265493] [ 0. 0. 0. 1. ]] SLAMing on 0.8958715600000001 meters Centerline goodness : 0.448974 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.9999003 0.01029002 -0.00966966 0.12163696] [-0.01025626 0.99994116 0.00353423 -0.01051742] [ 0.00970546 -0.0034347 0.999947 -0.07442063] [ 0. 0. 0. 1. ]] SLAMing on 0.92587156 meters Centerline goodness : 0.448974 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.9999003 0.01029002 -0.00966966 0.12163696] [-0.01025626 0.99994116 0.00353423 -0.01051742] [ 0.00970546 -0.0034347 0.999947 -0.07442063] [ 0. 0. 0. 1. ]] SLAMing on 0.9558715600000001 meters Centerline goodness : 0.455911 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989908 0.01022228 -0.00986627 0.12627987] [-0.01019286 0.99994347 0.0030283 -0.00750423] [ 0.00989667 -0.00292743 0.99994674 -0.07600232] [ 0. 0. 0. 1. ]] SLAMing on 0.9858715600000001 meters Centerline goodness : 0.459232 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989728 0.01012342 -0.01014651 0.1288671 ] [-0.01009584 0.99994521 0.0027666 -0.00576014] [ 0.01017396 -0.00266388 0.9999447 -0.07777914] [ 0. 0. 0. 1. ]] SLAMing on 1.0158715600000001 meters Centerline goodness : 0.435809 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.08 [[ 0.99989667 0.0099431 -0.01038189 0.13139173] [-0.0099194 0.99994808 0.00233229 -0.00266913] [ 0.01040454 -0.00222907 0.99994339 -0.07945349] [ 0. 0. 0. 1. ]] SLAMing on 1.04587156 meters Centerline goodness : 0.429327 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 0.99989908 0.00954179 -0.01052499 0.13600359] [-0.00952951 0.99995385 0.0012164 0.00640675] [ 0.01053611 -0.00111598 0.99994387 -0.08086531] [ 0. 0. 0. 1. ]] SLAMing on 1.07587156 meters Centerline goodness : 0.341171 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99899020e-01 9.32062632e-03 -1.07273788e-02 1.38107665e-01] [-9.31352216e-03 9.99956375e-01 7.12013288e-04 9.92805254e-03] [ 1.07335472e-02 -6.12031709e-04 9.99942207e-01 -8.21583160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10587156 meters Centerline goodness : 0.358324 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99898085e-01 9.14548122e-03 -1.09626121e-02 1.40231270e-01] [-9.14197119e-03 9.99958143e-01 3.70251343e-04 1.17755550e-02] [ 1.09655393e-02 -2.69993725e-04 9.99939840e-01 -8.33182522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.13587156 meters Centerline goodness : 0.288614 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99896836e-01 9.03825598e-03 -1.11636982e-02 1.42407122e-01] [-9.03661354e-03 9.99959149e-01 1.97558243e-04 1.22183094e-02] [ 1.11650277e-02 -9.66558361e-05 9.99937664e-01 -8.46675616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.16587156 meters Centerline goodness : 0.294704 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.09 [[ 9.99895765e-01 8.83866584e-03 -1.14165357e-02 1.44802885e-01] [-8.83855378e-03 9.99960937e-01 6.02715026e-05 1.22974838e-02] [ 1.14166225e-02 4.06404445e-05 9.99934827e-01 -8.60310540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.19587156 meters Centerline goodness : 0.227524 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99901608e-01 7.79604902e-03 -1.16617650e-02 1.48890899e-01] [-7.79863234e-03 9.99969575e-01 -1.76061795e-04 1.29505718e-02] [ 1.16600376e-02 2.66990289e-04 9.99931984e-01 -8.69501143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22587156 meters Centerline goodness : 0.085106 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99900699e-01 7.30236286e-03 -1.20527328e-02 1.51630250e-01] [-7.30506735e-03 9.99973301e-01 -1.80378367e-04 1.28172977e-02] [ 1.20510938e-02 2.68406479e-04 9.99927347e-01 -8.82810268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25587156 meters Centerline goodness : 0.084993 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99906136e-01 4.26323917e-03 -1.30209105e-02 1.60912146e-01] [-4.27482041e-03 9.99990492e-01 -8.61731007e-04 1.35837667e-02] [ 1.30171129e-02 9.17312175e-04 9.99914853e-01 -9.23384722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28587156 meters Centerline goodness : 0.222121 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99902637e-01 3.63442409e-03 -1.34724412e-02 1.64007161e-01] [-3.64369631e-03 9.99993141e-01 -6.63753926e-04 1.15751852e-02] [ 1.34699364e-02 7.12778785e-04 9.99909022e-01 -9.36160938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31587156 meters Centerline goodness : 0.262293 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.10 [[ 9.99903760e-01 2.41238280e-05 -1.38733307e-02 1.69126454e-01] [-8.33274146e-05 9.99990893e-01 -4.26687637e-03 1.21003554e-02] [ 1.38731014e-02 4.26762176e-03 9.99894657e-01 -9.74841013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.34587156 meters Centerline goodness : 0.261781 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.12 [[ 0.99998758 -0.00362558 -0.00342104 0.16532481] [ 0.00360549 0.99997633 -0.00585982 0.01007834] [ 0.0034422 0.00584741 0.99997698 -0.12309907] [ 0. 0. 0. 1. ]] SLAMing on 1.37587156 meters Centerline goodness : 0.262549 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.13 [[ 0.99996521 -0.00738717 -0.00387378 0.17156642] [ 0.00735222 0.99993283 -0.00896024 0.00397523] [ 0.00393971 0.00893144 0.99995235 -0.12655503] [ 0. 0. 0. 1. ]] SLAMing on 1.40587156 meters Centerline goodness : 0.268383 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.13 [[ 9.99963959e-01 -7.33729527e-03 -4.27143962e-03 1.74616308e-01] [ 7.30146041e-03 9.99938520e-01 -8.34540813e-03 -6.34241018e-04] [ 4.33240973e-03 8.31391961e-03 9.99956054e-01 -1.28144660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.43587156 meters Centerline goodness : 0.280043 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.13 [[ 0.99996369 -0.00717255 -0.00460083 0.17711414] [ 0.00713665 0.99994434 -0.00777063 -0.00457362] [ 0.00465631 0.00773751 0.99995922 -0.12938326] [ 0. 0. 0. 1. ]] SLAMing on 1.46587156 meters Centerline goodness : 0.281681 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.13 [[ 0.99996443 -0.00687369 -0.00488694 0.1794168 ] [ 0.00683874 0.99995118 -0.00713284 -0.0085722 ] [ 0.00493573 0.00709917 0.99996262 -0.13064637] [ 0. 0. 0. 1. ]] SLAMing on 1.49587156 meters Centerline goodness : 0.261938 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.13 [[ 0.99996883 -0.00592926 -0.00521283 0.18508094] [ 0.00589909 0.99996587 -0.00578387 -0.015924 ] [ 0.00524694 0.00575294 0.99996969 -0.133499 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5258715600000001 meters Centerline goodness : 0.300430 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.13 [[ 0.99996985 -0.00544965 -0.00553175 0.18786933] [ 0.00542156 0.9999724 -0.00508042 -0.02081071] [ 0.00555928 0.00505028 0.99997179 -0.13490228] [ 0. 0. 0. 1. ]] SLAMing on 1.55587156 meters Centerline goodness : 0.329721 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.14 [[ 0.99997108 -0.0049072 -0.00580953 0.19023753] [ 0.00488232 0.99997888 -0.00428907 -0.02672599] [ 0.00583045 0.00426058 0.99997393 -0.13617037] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters Centerline goodness : 0.317871 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99951731e-01 -6.05809416e-04 -9.80654731e-03 2.19338402e-01] [ 5.62074907e-04 9.99989888e-01 -4.46186741e-03 -3.73286648e-02] [ 9.80915119e-03 4.45614002e-03 9.99941960e-01 -1.36408021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.61587156 meters Centerline goodness : 0.272909 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99947729e-01 -1.41541914e-04 -1.02234381e-02 2.22764285e-01] [ 1.01776191e-04 9.99992428e-01 -3.89007796e-03 -4.06935931e-02] [ 1.02239113e-02 3.88883413e-03 9.99940173e-01 -1.38184735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.64587156 meters Centerline goodness : 0.319279 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.14 [[ 9.99943887e-01 3.99610138e-04 -1.05859941e-02 2.25774271e-01] [-4.34050038e-04 9.99994620e-01 -3.25124817e-03 -4.49317888e-02] [ 1.05846379e-02 3.25566059e-03 9.99938681e-01 -1.39540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.67587156 meters Centerline goodness : 0.295288 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:-0.17 [[ 0.99999792 0.00172347 0.00109067 0.22003274] [-0.00172098 0.99999593 -0.00227345 -0.05108866] [-0.00109459 0.00227157 0.99999682 -0.1690486 ] [ 0. 0. 0. 1. ]] SLAMing on 1.70587156 meters Centerline goodness : 0.315965 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.17 [[ 9.99994236e-01 3.34210979e-03 5.98144887e-04 2.27125106e-01] [-3.34147584e-03 9.99993858e-01 -1.05774054e-03 -5.82721559e-02] [-6.01676298e-04 1.05573576e-03 9.99999262e-01 -1.71227867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73587156 meters Centerline goodness : 0.302130 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.17 [[ 9.99989310e-01 4.62062611e-03 -1.74805185e-04 2.33948600e-01] [-4.62063808e-03 9.99989322e-01 -6.81226171e-05 -6.13493790e-02] [ 1.74488549e-04 6.89296003e-05 9.99999982e-01 -1.74815970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7658715600000001 meters Centerline goodness : 0.055488 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:-0.18 [[ 9.99983157e-01 5.73760046e-03 -8.75484297e-04 2.40024307e-01] [-5.73689612e-03 9.99983220e-01 8.04921157e-04 -6.51429596e-02] [ 8.80087922e-04 -7.99885036e-04 9.99999293e-01 -1.77744714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7958715600000001 meters Centerline goodness : 0.306936 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.18 [[ 0.99996609 0.00804725 -0.00175121 0.25012859] [-0.00804381 0.99996572 0.0019654 -0.07246976] [ 0.00176696 -0.00195125 0.99999654 -0.18131528] [ 0. 0. 0. 1. ]] SLAMing on 1.82587156 meters Centerline goodness : 0.304662 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.18 [[ 0.99995993 0.00864026 -0.00234034 0.25448421] [-0.00863521 0.99996039 0.00215848 -0.07295034] [ 0.0023589 -0.00213818 0.99999493 -0.18291293] [ 0. 0. 0. 1. ]] SLAMing on 1.85587156 meters Centerline goodness : 0.306875 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.19 [[ 0.99994316 0.01013706 -0.00330447 0.2629158 ] [-0.01012681 0.9999439 0.00310517 -0.07518834] [ 0.00333576 -0.00307153 0.99998972 -0.18726797] [ 0. 0. 0. 1. ]] SLAMing on 1.88587156 meters Centerline goodness : 0.112212 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99993562 0.01068193 -0.00382708 0.26728309] [-0.01066913 0.99993747 0.00335134 -0.07626362] [ 0.00386264 -0.00331029 0.99998706 -0.18895339] [ 0. 0. 0. 1. ]] SLAMing on 1.91587156 meters Centerline goodness : 0.131248 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99992399 0.01165912 -0.00401021 0.27220883] [-0.01164342 0.99992455 0.00391496 -0.08024399] [ 0.00405555 -0.00386797 0.9999843 -0.18933511] [ 0. 0. 0. 1. ]] SLAMing on 1.94587156 meters Centerline goodness : 0.055562 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.19 [[ 0.99991889 0.01194931 -0.00440872 0.27549178] [-0.0119308 0.99992 0.00420016 -0.08204954] [ 0.00445856 -0.00414722 0.99998146 -0.19050208] [ 0. 0. 0. 1. ]] SLAMing on 1.97587156 meters Centerline goodness : 0.054196 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.19 [[ 0.99991322 0.012297 -0.00472564 0.27851145] [-0.01227497 0.99991378 0.00466416 -0.08509653] [ 0.00478259 -0.00460575 0.99997796 -0.19152027] [ 0. 0. 0. 1. ]] SLAMing on 2.00587156 meters Centerline goodness : 0.055328 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.19 [[ 0.99993593 0.00990857 -0.00547274 0.28756883] [-0.00990111 0.99995002 0.00138928 -0.08613827] [ 0.00548623 -0.001335 0.99998406 -0.19485101] [ 0. 0. 0. 1. ]] SLAMing on 2.0358715600000004 meters Centerline goodness : 0.057534 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99993141 0.01013671 -0.00586674 0.29098496] [-0.01012609 0.99994704 0.00183599 -0.08908479] [ 0.00588504 -0.00177646 0.99998111 -0.19643159] [ 0. 0. 0. 1. ]] SLAMing on 2.06587156 meters Centerline goodness : 0.104628 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99992702 0.01030686 -0.00630293 0.29459599] [-0.0102934 0.99994468 0.00216457 -0.09108458] [ 0.00632489 -0.00209953 0.99997779 -0.19798254] [ 0. 0. 0. 1. ]] SLAMing on 2.0958715600000004 meters Centerline goodness : 0.060402 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.20 [[ 0.99992255 0.01048969 -0.0066975 0.2980496 ] [-0.01047331 0.99994209 0.00247617 -0.09343796] [ 0.00672308 -0.00240584 0.99997451 -0.19953766] [ 0. 0. 0. 1. ]] SLAMing on 2.12587156 meters Centerline goodness : 0.052821 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.20 [[ 0.99993809 0.00796797 -0.00776688 0.30938191] [-0.00797727 0.9999675 -0.00116716 -0.09262726] [ 0.00775732 0.00122905 0.99996916 -0.20481211] [ 0. 0. 0. 1. ]] SLAMing on 2.1558715600000005 meters Centerline goodness : 0.113486 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.21 [[ 9.99933328e-01 8.14683308e-03 -8.18342318e-03 3.13062083e-01] [-8.15521889e-03 9.99966254e-01 -9.91884658e-04 -9.36171593e-02] [ 8.17506630e-03 1.05855613e-03 9.99966023e-01 -2.06361014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1858715600000003 meters Centerline goodness : 0.073851 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 9.99929935e-01 8.20332438e-03 -8.53405805e-03 3.16144062e-01] [-8.21211867e-03 9.99965784e-01 -9.95961914e-04 -9.31309643e-02] [ 8.52559585e-03 1.06597483e-03 9.99963088e-01 -2.07582292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2158715600000005 meters Centerline goodness : 0.105124 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 9.99926257e-01 8.31707888e-03 -8.84906953e-03 3.18904650e-01] [-8.32490268e-03 9.99964988e-01 -8.47671180e-04 -9.42385389e-02] [ 8.84170956e-03 9.21276314e-04 9.99960487e-01 -2.08587941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2458715600000003 meters Centerline goodness : 0.156449 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.10, Z:-0.21 [[ 0.99998131 0.00550718 -0.00265347 0.36299115] [-0.00551725 0.99997754 -0.00380421 -0.09510111] [ 0.00263246 0.00381878 0.99998924 -0.21411904] [ 0. 0. 0. 1. ]] SLAMing on 2.27587156 meters Centerline goodness : 0.176922 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99997964 0.0056051 -0.00305085 0.36602174] [-0.00561556 0.99997835 -0.0034297 -0.09788902] [ 0.00303156 0.00344676 0.99998946 -0.21506535] [ 0. 0. 0. 1. ]] SLAMing on 2.3058715600000004 meters Centerline goodness : 0.199705 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99998118 0.00487883 -0.00371922 0.37448775] [-0.00489154 0.9999822 -0.00341636 -0.0991046 ] [ 0.00370249 0.00343449 0.99998725 -0.2182409 ] [ 0. 0. 0. 1. ]] SLAMing on 2.33587156 meters Centerline goodness : 0.202825 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.9999797 0.00490099 -0.00407281 0.37725603] [-0.00491381 0.99998298 -0.00314394 -0.10096402] [ 0.00405733 0.00316389 0.99998676 -0.21897132] [ 0. 0. 0. 1. ]] SLAMing on 2.3658715600000004 meters Centerline goodness : 0.175960 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.99997789 0.00492711 -0.00446655 0.38052558] [-0.00493988 0.99998373 -0.00285156 -0.10312112] [ 0.00445243 0.00287357 0.99998596 -0.22013786] [ 0. 0. 0. 1. ]] SLAMing on 2.3958715600000002 meters Centerline goodness : 0.173477 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.22 [[ 0.99997575 0.00498176 -0.00486618 0.38362977] [-0.00499413 0.99998432 -0.00253365 -0.10553399] [ 0.00485349 0.00255789 0.99998495 -0.22109292] [ 0. 0. 0. 1. ]] SLAMing on 2.4258715600000005 meters Centerline goodness : 0.196457 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.22 [[ 0.99997368 0.00502446 -0.00523379 0.3865583 ] [-0.00503616 0.99998485 -0.00222381 -0.10832198] [ 0.00522253 0.00225011 0.99998383 -0.2220445 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4558715600000003 meters Centerline goodness : 0.190150 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99997078 0.00415871 -0.00641384 0.39987219] [-0.00417336 0.99998871 -0.00227328 -0.11245126] [ 0.00640431 0.00229998 0.99997685 -0.22851512] [ 0. 0. 0. 1. ]] SLAMing on 2.4858715600000005 meters Centerline goodness : 0.206286 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99996826 0.00426806 -0.0067277 0.40240329] [-0.00428147 0.99998887 -0.00197988 -0.11486864] [ 0.00671917 0.00200863 0.99997541 -0.22908118] [ 0. 0. 0. 1. ]] SLAMing on 2.5158715600000003 meters Centerline goodness : 0.189851 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.23 [[ 0.99996555 0.0043013 -0.00709864 0.40563558] [-0.00431478 0.99998892 -0.00188406 -0.11543675] [ 0.00709046 0.00191463 0.99997303 -0.23026755] [ 0. 0. 0. 1. ]] SLAMing on 2.54587156 meters Centerline goodness : 0.213907 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.99995226 0.00477977 -0.008522 0.42035715] [-0.00479387 0.99998717 -0.0016357 -0.11325859] [ 0.00851408 0.00167647 0.99996235 -0.23825648] [ 0. 0. 0. 1. ]] SLAMing on 2.5758715600000004 meters Centerline goodness : 0.230740 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.99994852 0.0048148 -0.00893124 0.42380227] [-0.00483012 0.9999869 -0.00169411 -0.11242133] [ 0.00892297 0.00173716 0.99995868 -0.23952466] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters Centerline goodness : 0.500557 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.24 [[ 0.99994433 0.00497721 -0.00930376 0.42692407] [-0.0049914 0.99998641 -0.00150297 -0.11417967] [ 0.00929615 0.00154933 0.99995559 -0.24053523] [ 0. 0. 0. 1. ]] SLAMing on 2.6358715600000004 meters Centerline goodness : 0.475464 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.25 [[ 0.99998835 0.00394099 -0.00278571 0.46939772] [-0.00394987 0.99998712 -0.00318831 -0.11454906] [ 0.00277311 0.00319928 0.99999104 -0.24535114] [ 0. 0. 0. 1. ]] SLAMing on 2.6658715600000003 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 2.6958715600000005 meters Centerline goodness : 0.218891 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.25 [[ 0.99998083 0.00470824 -0.0040216 0.48286873] [-0.00471991 0.99998467 -0.00289585 -0.11307563] [ 0.0040079 0.00291477 0.99998772 -0.25214649] [ 0. 0. 0. 1. ]] SLAMing on 2.7258715600000003 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 2.7558715600000006 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 2.7858715600000004 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 2.81587156 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 2.8458715600000004 meters Centerline goodness : 0.122858 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.26 [[ 0.99997088 0.00550361 -0.00528671 0.50192477] [-0.0055163 0.99998193 -0.00239021 -0.11510688] [ 0.00527346 0.00241931 0.99998317 -0.25808805] [ 0. 0. 0. 1. ]] SLAMing on 2.87587156 meters Centerline goodness : 0.188304 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.26 [[ 0.99996747 0.00503541 -0.00630173 0.51351993] [-0.00505063 0.99998436 -0.00240143 -0.11855338] [ 0.00628954 0.00243318 0.99997726 -0.26382932] [ 0. 0. 0. 1. ]] SLAMing on 2.9058715600000005 meters Centerline goodness : 0.189670 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.26 [[ 0.99996519 0.00509794 -0.00660589 0.51603361] [-0.00511322 0.99998429 -0.0022988 -0.11921114] [ 0.00659407 0.0023325 0.99997554 -0.26446563] [ 0. 0. 0. 1. ]] SLAMing on 2.9358715600000003 meters Centerline goodness : 0.190656 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.27 [[ 0.99996275 0.0051428 -0.00693125 0.51880171] [-0.00515841 0.99998419 -0.00223706 -0.11939502] [ 0.00691964 0.00227273 0.99997348 -0.26531763] [ 0. 0. 0. 1. ]] SLAMing on 2.9658715600000005 meters Centerline goodness : 0.191183 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.27 [[ 0.99995991 0.00525854 -0.00724746 0.52131948] [-0.00527354 0.99998399 -0.00205313 -0.12079486] [ 0.00723654 0.00209127 0.99997163 -0.2659368 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9958715600000003 meters Centerline goodness : 0.192042 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.27 [[ 0.9999494 0.00534557 -0.00852189 0.53476886] [-0.00536091 0.99998405 -0.00177922 -0.12411383] [ 0.00851225 0.00182481 0.99996211 -0.27299613] [ 0. 0. 0. 1. ]] SLAMing on 3.0258715600000006 meters Centerline goodness : 0.196589 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.27 [[ 0.99994631 0.00543328 -0.00882311 0.53731685] [-0.00544832 0.99998374 -0.00168152 -0.12440018] [ 0.00881383 0.0017295 0.99995966 -0.27388749] [ 0. 0. 0. 1. ]] SLAMing on 3.0558715600000004 meters Centerline goodness : 0.198297 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.27 [[ 0.99994286 0.00551239 -0.00915928 0.53986926] [-0.00552728 0.99998344 -0.0016014 -0.1246191 ] [ 0.0091503 0.00165193 0.99995677 -0.27443942] [ 0. 0. 0. 1. ]] SLAMing on 3.08587156 meters Centerline goodness : 0.197569 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.28 [[ 0.99993916 0.00560575 -0.00950056 0.54260524] [-0.00561983 0.99998315 -0.00145592 -0.12525369] [ 0.00949224 0.00150923 0.99995381 -0.27520245] [ 0. 0. 0. 1. ]] SLAMing on 3.1158715600000004 meters Centerline goodness : 0.202933 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 0.99993297 0.00604261 -0.00987602 0.54741194] [-0.00605285 0.99998117 -0.00100756 -0.12827522] [ 0.00986975 0.00106727 0.99995072 -0.27606222] [ 0. 0. 0. 1. ]] SLAMing on 3.1458715600000002 meters Centerline goodness : 0.114516 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 9.99927968e-01 6.25897111e-03 -1.02412914e-02 5.50022875e-01] [-6.26626843e-03 9.99980135e-01 -6.80605314e-04 -1.30716825e-01] [ 1.02368281e-02 7.44730970e-04 9.99947325e-01 -2.76419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1758715600000005 meters Centerline goodness : 0.077808 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 9.99922836e-01 6.48187728e-03 -1.05974966e-02 5.52649756e-01] [-6.48568831e-03 9.99978915e-01 -3.25288279e-04 -1.33465046e-01] [ 1.05951647e-02 3.93995238e-04 9.99943792e-01 -2.76884791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2058715600000003 meters Centerline goodness : 0.496083 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99969094e-01 7.19734854e-03 -3.16384904e-03 5.90029659e-01] [-7.19575649e-03 9.99973978e-01 5.14296030e-04 -1.37558303e-01] [ 3.16746828e-03 -4.91513847e-04 9.99994863e-01 -2.79438760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2358715600000005 meters Centerline goodness : 0.111978 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99967017e-01 7.33669894e-03 -3.48402943e-03 5.92341862e-01] [-7.33417133e-03 9.99972832e-01 7.37707038e-04 -1.38873420e-01] [ 3.48934711e-03 -7.12130238e-04 9.99993659e-01 -2.79948926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2658715600000003 meters Centerline goodness : 0.112406 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99964556e-01 7.49101315e-03 -3.84328057e-03 5.94926528e-01] [-7.48714108e-03 9.99971450e-01 1.02089208e-03 -1.40709353e-01] [ 3.85081836e-03 -9.92080715e-04 9.99992093e-01 -2.80543321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2958715600000006 meters Centerline goodness : 0.112515 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.28 [[ 0.99996227 0.00763758 -0.00413717 0.59716397] [-0.00763248 0.99997009 0.00124737 -0.14217862] [ 0.00414657 -0.00121575 0.99999066 -0.28113732] [ 0. 0. 0. 1. ]] SLAMing on 3.3258715600000004 meters Centerline goodness : 0.112726 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.29 [[ 0.99994952 0.0084352 -0.00545865 0.61074554] [-0.00842625 0.99996312 0.00166138 -0.1426412 ] [ 0.00547247 -0.0016153 0.99998372 -0.2879442 ] [ 0. 0. 0. 1. ]] SLAMing on 3.35587156 meters Centerline goodness : 0.111210 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.29 [[ 0.99994661 0.00854899 -0.0058043 0.61326426] [-0.00853904 0.99996203 0.00173698 -0.142855 ] [ 0.00581893 -0.00168733 0.99998165 -0.2886474 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3858715600000004 meters Centerline goodness : 0.111006 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.30 [[ 0.99993254 0.00922402 -0.007059 0.62603133] [-0.00920896 0.99995526 0.00216291 -0.14547877] [ 0.00707863 -0.00209776 0.99997275 -0.29509038] [ 0. 0. 0. 1. ]] SLAMing on 3.4158715600000003 meters Centerline goodness : 0.111274 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.30 [[ 0.99992916 0.00931598 -0.00740857 0.62849844] [-0.00930001 0.99995436 0.00218745 -0.14547102] [ 0.00742861 -0.0021184 0.99997016 -0.29565786] [ 0. 0. 0. 1. ]] SLAMing on 3.4458715600000005 meters Centerline goodness : 0.111508 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.30 [[ 0.99992571 0.00938934 -0.00777269 0.63104476] [-0.00937368 0.99995397 0.002049 -0.14412607] [ 0.00779157 -0.00197599 0.99996769 -0.2962307 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4758715600000003 meters Centerline goodness : 0.111800 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.30 [[ 0.99992263 0.00941264 -0.00813272 0.63342019] [-0.00939785 0.99995412 0.00185499 -0.14233807] [ 0.0081498 -0.00177841 0.99996521 -0.29670079] [ 0. 0. 0. 1. ]] SLAMing on 3.5058715600000006 meters Centerline goodness : 0.111401 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.30 [[ 0.99991482 0.00961374 -0.00882767 0.63871145] [-0.00959812 0.9999523 0.00181054 -0.14160748] [ 0.00884466 -0.00172565 0.9999594 -0.2982737 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5358715600000004 meters Centerline goodness : 0.104399 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.30 [[ 0.99991121 0.00964352 -0.00919593 0.64113243] [-0.00962699 0.99995197 0.00184013 -0.14184559] [ 0.00921324 -0.00175144 0.99995602 -0.29870643] [ 0. 0. 0. 1. ]] SLAMing on 3.5658715600000006 meters Centerline goodness : 0.111053 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99995 0.00991521 -0.00129824 0.67607485] [-0.00991266 0.99994896 0.00195419 -0.142012 ] [ 0.00131755 -0.00194123 0.99999725 -0.30025219] [ 0. 0. 0. 1. ]] SLAMing on 3.5958715600000004 meters Centerline goodness : 0.111368 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994993 0.00987681 -0.00160703 0.67797515] [-0.00987383 0.99994954 0.00185101 -0.14129987] [ 0.00162524 -0.00183505 0.999997 -0.3004413 ] [ 0. 0. 0. 1. ]] SLAMing on 3.62587156 meters Centerline goodness : 0.111575 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994985 0.00982577 -0.00193823 0.67991739] [-0.00982234 0.99995019 0.00177229 -0.14075492] [ 0.00195555 -0.00175316 0.99999655 -0.30042531] [ 0. 0. 0. 1. ]] SLAMing on 3.6558715600000005 meters Centerline goodness : 0.111433 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994985 0.00975247 -0.0022773 0.68179214] [-0.00974846 0.99995092 0.00176554 -0.14087082] [ 0.00229441 -0.00174325 0.99999585 -0.30030505] [ 0. 0. 0. 1. ]] SLAMing on 3.6858715600000003 meters Centerline goodness : 0.110559 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.30 [[ 0.99996801 0.00722977 -0.00342299 0.69135903] [-0.0072355 0.99997244 -0.00166526 -0.13844655] [ 0.00341085 0.00168997 0.99999276 -0.30440469] [ 0. 0. 0. 1. ]] SLAMing on 3.7158715600000005 meters Centerline goodness : 0.111065 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.30 [[ 0.99996705 0.00718085 -0.00378632 0.69340817] [-0.00718647 0.99997309 -0.00147266 -0.14007095] [ 0.00377564 0.00149982 0.99999175 -0.30465532] [ 0. 0. 0. 1. ]] SLAMing on 3.7458715600000003 meters Centerline goodness : 0.111391 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.30 [[ 0.99996598 0.00713581 -0.00413682 0.69543575] [-0.00714086 0.99997377 -0.00120742 -0.14222268] [ 0.00412809 0.00123692 0.99999071 -0.30495559] [ 0. 0. 0. 1. ]] SLAMing on 3.7758715600000006 meters Centerline goodness : 0.110773 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.30 [[ 9.99966266e-01 2.22900388e-03 -7.90564619e-03 7.19280757e-01] [-2.22806771e-03 9.99997510e-01 1.27223471e-04 -1.40741290e-01] [ 7.90591009e-03 -1.09604864e-04 9.99968742e-01 -3.01069509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8058715600000004 meters Centerline goodness : 0.111404 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.30 [[ 9.99963486e-01 2.17044348e-03 -8.26534265e-03 7.21088126e-01] [-2.16890053e-03 9.99997629e-01 1.95636100e-04 -1.41280454e-01] [ 8.26574767e-03 -1.77702250e-04 9.99965822e-01 -3.00859556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8358715600000006 meters Centerline goodness : 0.109907 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.32 [[ 9.99999038e-01 1.35816338e-03 -2.81366497e-04 7.30405568e-01] [-1.35825200e-03 9.99999028e-01 -3.14999250e-04 -1.40565201e-01] [ 2.80938403e-04 3.15381114e-04 9.99999911e-01 -3.20462785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8658715600000004 meters Centerline goodness : 0.109765 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.32 [[ 9.99998892e-01 1.36297444e-03 -5.98245362e-04 7.32083627e-01] [-1.36313056e-03 9.99999037e-01 -2.60641638e-04 -1.40905166e-01] [ 5.97889538e-04 2.61456836e-04 9.99999787e-01 -3.20493890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8958715600000002 meters Centerline goodness : 0.110617 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99998335e-01 1.44805842e-03 -1.11086901e-03 7.35485576e-01] [-1.44851264e-03 9.99998868e-01 -4.08187250e-04 -1.39573105e-01] [ 1.11027668e-03 4.09795678e-04 9.99999300e-01 -3.21257661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9258715600000005 meters Centerline goodness : 0.110742 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99997806e-01 1.48893509e-03 -1.47329445e-03 7.37600065e-01] [-1.48982678e-03 9.99998708e-01 -6.04321558e-04 -1.38037763e-01] [ 1.47239275e-03 6.06515186e-04 9.99998732e-01 -3.21698905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9558715600000003 meters Centerline goodness : 0.111229 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99997183e-01 1.50427618e-03 -1.83626315e-03 7.39489650e-01] [-1.50602579e-03 9.99998413e-01 -9.51800778e-04 -1.35403921e-01] [ 1.83482846e-03 9.54563556e-04 9.99997861e-01 -3.21742556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9858715600000005 meters Centerline goodness : 0.111489 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.32 [[ 0.99999629 0.00163111 -0.00218012 0.74135376] [-0.00163409 0.99999773 -0.00136595 -0.13195297] [ 0.00217788 0.0013695 0.99999669 -0.32194187] [ 0. 0. 0. 1. ]] SLAMing on 4.01587156 meters Centerline goodness : 0.111720 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.32 [[ 0.9999793 0.00580231 -0.00278185 0.74508956] [-0.00579516 0.9999799 0.00257079 -0.13003904] [ 0.00279671 -0.00255462 0.99999283 -0.32228914] [ 0. 0. 0. 1. ]] SLAMing on 4.04587156 meters Centerline goodness : 0.112243 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.32 [[ 0.9999777 0.00590099 -0.00312585 0.74693876] [-0.00589438 0.99998038 0.00212069 -0.12660291] [ 0.0031383 -0.00210222 0.99999287 -0.32262984] [ 0. 0. 0. 1. ]] SLAMing on 4.07587156 meters Centerline goodness : 0.111876 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996385 0.00749947 -0.0040062 0.75507712] [-0.00748903 0.99996854 0.00261442 -0.12288805] [ 0.00402568 -0.00258432 0.99998856 -0.32684097] [ 0. 0. 0. 1. ]] SLAMing on 4.10587156 meters Centerline goodness : 0.112225 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996327 0.00740229 -0.00432019 0.75681556] [-0.00739321 0.99997043 0.00211433 -0.11957951] [ 0.00433571 -0.00208231 0.99998843 -0.32720546] [ 0. 0. 0. 1. ]] SLAMing on 4.13587156 meters Centerline goodness : 0.112426 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996281 0.00726922 -0.00464127 0.75862136] [-0.00726244 0.99997254 0.00147614 -0.11535643] [ 0.00465188 -0.00144238 0.99998814 -0.32767867] [ 0. 0. 0. 1. ]] SLAMing on 4.16587156 meters Centerline goodness : 0.112662 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.33 [[ 9.99962130e-01 7.15407227e-03 -4.95562055e-03 7.60297717e-01] [-7.15013271e-03 9.99974108e-01 8.12229535e-04 -1.10833504e-01] [ 4.96130299e-03 -7.76765431e-04 9.99987391e-01 -3.27966200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19587156 meters Centerline goodness : 0.113066 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.33 [[ 9.99961690e-01 6.98506172e-03 -5.27514945e-03 7.61918393e-01] [-6.98433744e-03 9.99975597e-01 1.55708528e-04 -1.06387045e-01] [ 5.27610835e-03 -1.18859139e-04 9.99986074e-01 -3.28092959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22587156 meters Centerline goodness : 0.115484 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.33 [[ 9.99960115e-01 6.79772220e-03 -5.79299888e-03 7.64765758e-01] [-6.80138332e-03 9.99976683e-01 -6.12524232e-04 -1.01136927e-01] [ 5.78870004e-03 6.51900208e-04 9.99983033e-01 -3.28234898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25587156 meters Centerline goodness : 0.117590 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 9.99959686e-01 6.63306501e-03 -6.05210136e-03 7.65998224e-01] [-6.63849212e-03 9.99977580e-01 -8.77083966e-04 -9.96665575e-02] [ 6.04614792e-03 9.17225434e-04 9.99981301e-01 -3.28288758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28587156 meters Centerline goodness : 0.117797 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995892 0.0064607 -0.0063573 0.76739766] [-0.00646764 0.99997851 -0.00107173 -0.09875291] [ 0.00635024 0.0011128 0.99997922 -0.32823004] [ 0. 0. 0. 1. ]] SLAMing on 4.31587156 meters Centerline goodness : 0.115931 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995897 0.00590973 -0.00686607 0.77004921] [-0.00591909 0.99998158 -0.00134323 -0.09811431] [ 0.00685801 0.00138382 0.99997553 -0.32819731] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters Centerline goodness : 0.114215 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.9999576 0.00567467 -0.00725227 0.77197639] [-0.0056856 0.99998273 -0.00148801 -0.09759667] [ 0.0072437 0.00152918 0.99997259 -0.32841616] [ 0. 0. 0. 1. ]] SLAMing on 4.37587156 meters Centerline goodness : 0.114539 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995673 0.00545325 -0.00753653 0.77323554] [-0.00546679 0.99998348 -0.00177737 -0.09607345] [ 0.00752672 0.00181849 0.99997002 -0.32845426] [ 0. 0. 0. 1. ]] SLAMing on 4.4058715600000005 meters Centerline goodness : 0.106801 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.33 [[ 0.99995475 0.00500714 -0.0080887 0.77619211] [-0.00502576 0.99998476 -0.00228424 -0.09360579] [ 0.00807714 0.00232478 0.99996468 -0.32892477] [ 0. 0. 0. 1. ]] SLAMing on 4.43587156 meters Centerline goodness : 0.113635 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.33 [[ 0.99995325 0.00489702 -0.0083377 0.77736532] [-0.00491691 0.99998511 -0.00236644 -0.09337299] [ 0.00832598 0.00240732 0.99996244 -0.3290544 ] [ 0. 0. 0. 1. ]] SLAMing on 4.46587156 meters Centerline goodness : 0.101702 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.33 [[ 9.99999445e-01 1.05361440e-03 -2.00588965e-05 7.93857935e-01] [-1.05354444e-03 9.99994273e-01 3.21613476e-03 -9.34428554e-02] [ 2.34473475e-05 -3.21611185e-03 9.99994828e-01 -3.34976975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49587156 meters Centerline goodness : 0.105036 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.33 [[ 9.99999581e-01 8.67093131e-04 -2.93914724e-04 7.94973455e-01] [-8.66225361e-04 9.99995304e-01 2.93983421e-03 -9.20877869e-02] [ 2.96462454e-04 -2.93957838e-03 9.99995635e-01 -3.34899921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters Centerline goodness : 0.098458 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999540e-01 7.31738363e-04 -6.20674270e-04 7.96350105e-01] [-7.29988538e-04 9.99995772e-01 2.81479076e-03 -9.15652618e-02] [ 6.22731337e-04 -2.81433638e-03 9.99995846e-01 -3.34872226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55587156 meters Centerline goodness : 0.096358 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999339e-01 6.42602126e-04 -9.52934585e-04 7.97602524e-01] [-6.39886273e-04 9.99995741e-01 2.84756078e-03 -9.21202984e-02] [ 9.54760375e-04 -2.84694913e-03 9.99995492e-01 -3.34638271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58587156 meters Centerline goodness : 0.098352 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999088e-01 5.14584382e-04 -1.24867768e-03 7.98854302e-01] [-5.11010445e-04 9.99995777e-01 2.86081031e-03 -9.25935190e-02] [ 1.25014453e-03 -2.86016961e-03 9.99995128e-01 -3.34548131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61587156 meters Centerline goodness : 0.103294 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99998537e-01 2.12270266e-04 -1.69737126e-03 8.00776724e-01] [-2.08193619e-04 9.99997095e-01 2.40155740e-03 -9.02565598e-02] [ 1.69787611e-03 -2.40120051e-03 9.99995676e-01 -3.34152061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64587156 meters Centerline goodness : 0.106520 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99998044e-01 5.08488659e-05 -1.97734576e-03 8.01901918e-01] [-4.67729281e-05 9.99997874e-01 2.06130932e-03 -8.84565926e-02] [ 1.97744637e-03 -2.06121280e-03 9.99995921e-01 -3.34179411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67587156 meters Centerline goodness : 0.101163 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99997231e-01 -8.76552883e-05 -2.35166002e-03 8.03448285e-01] [ 9.19630449e-05 9.99998318e-01 1.83174836e-03 -8.73203176e-02] [ 2.35149551e-03 -1.83195955e-03 9.99995557e-01 -3.34179581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70587156 meters Centerline goodness : 0.103215 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99996529e-01 -1.38301204e-04 -2.63097492e-03 8.04534351e-01] [ 1.43151308e-04 9.99998291e-01 1.84336390e-03 -8.75989516e-02] [ 2.63071549e-03 -1.84373413e-03 9.99994840e-01 -3.34092102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73587156 meters Centerline goodness : 0.103215 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99996529e-01 -1.38301204e-04 -2.63097492e-03 8.04534351e-01] [ 1.43151308e-04 9.99998291e-01 1.84336390e-03 -8.75989516e-02] [ 2.63071549e-03 -1.84373413e-03 9.99994840e-01 -3.34092102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters Centerline goodness : 0.102247 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99992073e-01 -1.77837904e-03 -3.56246140e-03 8.11795226e-01] [ 1.77942581e-03 9.99998375e-01 2.90685483e-04 -8.64298661e-02] [ 3.56193866e-03 -2.97022314e-04 9.99993612e-01 -3.37761093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.79587156 meters Centerline goodness : 0.105496 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99990911e-01 -1.84376721e-03 -3.84432687e-03 8.12939708e-01] [ 1.84489431e-03 9.99998256e-01 2.89659830e-04 -8.65870293e-02] [ 3.84378611e-03 -2.96749574e-04 9.99992569e-01 -3.37831752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82587156 meters Centerline goodness : 0.106005 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99989673e-01 -1.95299862e-03 -4.10354738e-03 8.13982494e-01] [ 1.95386672e-03 9.99998070e-01 2.07551448e-04 -8.62890488e-02] [ 4.10313411e-03 -2.15567090e-04 9.99991559e-01 -3.37871996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85587156 meters Centerline goodness : 0.108057 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:-0.34 [[ 9.99987015e-01 -2.11614095e-03 -4.63587515e-03 8.16205937e-01] [ 2.11627672e-03 9.99997760e-01 2.43808274e-05 -8.53216977e-02] [ 4.63581318e-03 -3.41913055e-05 9.99989254e-01 -3.37678010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88587156 meters Centerline goodness : 0.111509 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99985504e-01 -2.16451375e-03 -4.93021412e-03 8.17079833e-01] [ 2.16412973e-03 9.99997655e-01 -8.32251388e-05 -8.47280515e-02] [ 4.93038270e-03 7.25543094e-05 9.99987843e-01 -3.37249547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.91587156 meters Centerline goodness : 0.108921 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99983802e-01 -2.15789981e-03 -5.26685786e-03 8.18128960e-01] [ 2.15709263e-03 9.99997661e-01 -1.58932824e-04 -8.42038783e-02] [ 5.26718850e-03 1.47569150e-04 9.99986117e-01 -3.36744799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9458715600000005 meters Centerline goodness : 0.108627 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99982418e-01 -2.09912596e-03 -5.54591364e-03 8.19000333e-01] [ 2.09825028e-03 9.99997785e-01 -1.63710267e-04 -8.40746917e-02] [ 5.54624500e-03 1.52070673e-04 9.99984608e-01 -3.36395848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97587156 meters Centerline goodness : 0.106093 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99980857e-01 -1.67850331e-03 -5.95549737e-03 8.20788653e-01] [ 1.67632569e-03 9.99998526e-01 -3.70621935e-04 -8.17412942e-02] [ 5.95611069e-03 3.60631487e-04 9.99982197e-01 -3.36308398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00587156 meters Centerline goodness : 0.105107 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.34 [[ 9.99976860e-01 -6.45388630e-05 -6.80254822e-03 8.27332787e-01] [ 7.17234877e-05 9.99999440e-01 1.05592801e-03 -8.08068013e-02] [ 6.80247627e-03 -1.05639148e-03 9.99976305e-01 -3.40044191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03587156 meters Centerline goodness : 0.102648 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.34 [[ 9.99974361e-01 7.51357638e-04 -7.12132885e-03 8.29014491e-01] [-7.49073316e-04 9.99999667e-01 3.23433579e-04 -7.35268384e-02] [ 7.12156949e-03 -3.18090889e-04 9.99974591e-01 -3.39929179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06587156 meters Centerline goodness : 0.102741 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.34 [[ 9.99993298e-01 1.81715245e-03 -3.17827478e-03 7.82342953e-01] [-1.81628961e-03 9.99998313e-01 2.74347075e-04 -6.99032233e-02] [ 3.17876795e-03 -2.68572569e-04 9.99994912e-01 -3.41158874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.09587156 meters Centerline goodness : 0.102253 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.34 [[ 9.99992669e-01 1.68674482e-03 -3.43748918e-03 7.83136513e-01] [-1.68831089e-03 9.99998472e-01 -4.52733695e-04 -6.56995687e-02] [ 3.43672028e-03 4.58533927e-04 9.99993989e-01 -3.41015737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12587156 meters Centerline goodness : 0.102442 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.34 [[ 9.99992169e-01 1.54543748e-03 -3.64331202e-03 7.83707517e-01] [-1.54901852e-03 9.99998320e-01 -9.80293115e-04 -6.28292003e-02] [ 3.64179091e-03 9.85928996e-04 9.99992883e-01 -3.40778828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1558715600000005 meters Centerline goodness : 0.101058 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.34 [[ 0.99999143 0.0013187 -0.00392423 0.78471153] [-0.00132498 0.99999785 -0.00159685 -0.05953976] [ 0.00392212 0.00160204 0.99999103 -0.34048305] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters Centerline goodness : 0.100918 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.34 [[ 0.99999108 0.00112587 -0.00407018 0.78523022] [-0.0011341 0.99999732 -0.00202054 -0.05740357] [ 0.00406789 0.00202514 0.99998968 -0.3405319 ] [ 0. 0. 0. 1. ]] SLAMing on 5.21587156 meters Centerline goodness : 0.083236 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.34 [[ 9.99990746e-01 9.14006426e-04 -4.20384416e-03 7.85669628e-01] [-9.24504976e-04 9.99996457e-01 -2.49610416e-03 -5.50450323e-02] [ 4.20154781e-03 2.49996753e-03 9.99988049e-01 -3.40535561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24587156 meters Centerline goodness : 0.080905 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.34 [[ 9.99990141e-01 6.73381829e-04 -4.38902331e-03 7.86274079e-01] [-6.86595821e-04 9.99995235e-01 -3.00987952e-03 -5.24781231e-02] [ 4.38697559e-03 3.01286333e-03 9.99985838e-01 -3.40582908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27587156 meters Centerline goodness : 0.082075 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.34 [[ 9.99989599e-01 4.59018333e-04 -4.53764785e-03 7.86822693e-01] [-4.75004341e-04 9.99993683e-01 -3.52252253e-03 -4.98774384e-02] [ 4.53600228e-03 3.52464129e-03 9.99983501e-01 -3.40748391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.30587156 meters Centerline goodness : 0.081543 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99988665e-01 -1.51088499e-05 -4.76115999e-03 7.87689186e-01] [-6.95418946e-06 9.99989263e-01 -4.63391240e-03 -4.42603960e-02] [ 4.76117888e-03 4.63389299e-03 9.99977929e-01 -3.40981058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33587156 meters Centerline goodness : 0.102809 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99988015e-01 -2.72343497e-04 -4.88839902e-03 7.87917224e-01] [ 2.47186405e-04 9.99986728e-01 -5.14615119e-03 -4.17569746e-02] [ 4.88973566e-03 5.14488117e-03 9.99974810e-01 -3.40632518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36587156 meters Centerline goodness : 0.086864 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99987175e-01 -4.66129885e-04 -5.04306235e-03 7.88305068e-01] [ 4.38874723e-04 9.99985301e-01 -5.40424394e-03 -4.07078290e-02] [ 5.04550730e-03 5.40196136e-03 9.99972680e-01 -3.40445052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39587156 meters Centerline goodness : 0.095659 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998646 -0.00117385 -0.0050705 0.78818044] [ 0.00114478 0.99998292 -0.00573228 -0.0405766 ] [ 0.00507714 0.00572639 0.99997072 -0.33967604] [ 0. 0. 0. 1. ]] SLAMing on 5.42587156 meters Centerline goodness : 0.453085 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998548 -0.00147327 -0.00518349 0.78829986] [ 0.00144218 0.99998098 -0.00599627 -0.03969432] [ 0.00519223 0.00598871 0.99996859 -0.33914282] [ 0. 0. 0. 1. ]] SLAMing on 5.45587156 meters Centerline goodness : 0.456172 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998439 -0.00174624 -0.00530756 0.78846099] [ 0.0017128 0.9999787 -0.00629831 -0.03846934] [ 0.00531845 0.00628912 0.99996608 -0.33865512] [ 0. 0. 0. 1. ]] SLAMing on 5.4858715600000005 meters Centerline goodness : 0.086990 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99981060e-01 -6.07275839e-03 -1.00068612e-03 8.09198194e-01] [ 6.07284422e-03 9.99981557e-01 8.27562636e-05 -3.87421589e-02] [ 1.00016510e-03 -8.88317072e-05 9.99999496e-01 -3.42133234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51587156 meters Centerline goodness : 0.093235 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99979851e-01 -6.24040013e-03 -1.16391293e-03 8.09688701e-01] [ 6.24050922e-03 9.99980524e-01 9.01204701e-05 -3.91428156e-02] [ 1.16332787e-03 -9.73820636e-05 9.99999319e-01 -3.42085509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54587156 meters Centerline goodness : 0.694812 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99979118e-01 -6.33845121e-03 -1.26014319e-03 8.10072262e-01] [ 6.33870951e-03 9.99979890e-01 2.01092846e-04 -4.00172250e-02] [ 1.25884323e-03 -2.09076328e-04 9.99999186e-01 -3.42261019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57587156 meters Centerline goodness : 0.798750 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99978233e-01 -6.45415439e-03 -1.37033682e-03 8.10620620e-01] [ 6.45458552e-03 9.99979121e-01 3.10423837e-04 -4.08890463e-02] [ 1.36830469e-03 -3.19262036e-04 9.99999013e-01 -3.42695890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60587156 meters Centerline goodness : 0.987122 Centerline is valid? [False, True] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99975372e-01 -6.86479793e-03 -1.45938346e-03 8.11180627e-01] [ 6.86514542e-03 9.99976407e-01 2.33232195e-04 -4.14120146e-02] [ 1.45774793e-03 -2.43245331e-04 9.99998908e-01 -3.43302710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63587156 meters Centerline goodness : 0.982652 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.04, Z:-0.37 [[ 9.99945232e-01 -1.03633239e-02 -1.46131954e-03 8.48853610e-01] [ 1.03633251e-02 9.99946299e-01 -6.79870574e-06 -3.95068312e-02] [ 1.46131153e-03 -8.34579604e-06 9.99998932e-01 -3.68358564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66587156 meters Centerline goodness : 0.985702 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.04, Z:-0.36 [[ 9.99960689e-01 -8.74557028e-03 -1.46121423e-03 8.70660009e-01] [ 8.74558789e-03 9.99961757e-01 5.65995471e-06 -4.09040892e-02] [ 1.46110885e-03 -1.84389097e-05 9.99998932e-01 -3.62003985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6958715600000005 meters Centerline goodness : 0.985459 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.04, Z:-0.35 [[ 9.99942015e-01 -1.06691243e-02 -1.46135089e-03 9.04879529e-01] [ 1.06691200e-02 9.99943083e-01 -1.07338333e-05 -3.96312992e-02] [ 1.46138223e-03 -4.85811710e-06 9.99998932e-01 -3.50010675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72587156 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:-0.32 [[ 9.99970078e-01 -7.59662670e-03 -1.46128668e-03 9.19112278e-01] [ 7.59663007e-03 9.99971145e-01 -3.23954992e-06 -4.23325639e-02] [ 1.46126912e-03 -7.86140133e-06 9.99998932e-01 -3.24710843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75587156 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.05, Z:-0.38 [[ 9.99983360e-01 -5.58068811e-03 -1.46156211e-03 9.33441725e-01] [ 5.58063995e-03 9.99984427e-01 -3.70249962e-05 -4.80480047e-02] [ 1.46174597e-03 2.88679282e-05 9.99998931e-01 -3.81501109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78587156 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.05, Z:-0.32 [[ 9.99941323e-01 -1.07337721e-02 -1.46181745e-03 9.79664461e-01] [ 1.07336820e-02 9.99942390e-01 -6.94489913e-05 -4.73976355e-02] [ 1.46247869e-03 5.37542325e-05 9.99998929e-01 -3.17314629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81587156 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.05, Z:-0.32 [[ 9.99937926e-01 -1.10457494e-02 -1.46150573e-03 1.00845362e+00] [ 1.10457099e-02 9.99938994e-01 -3.51054730e-05 -4.98152731e-02] [ 1.46180434e-03 1.89599255e-05 9.99998931e-01 -3.17913050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84587156 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.05, Z:-0.32 [[ 9.99917099e-01 -1.27929184e-02 -1.46151414e-03 1.04279106e+00] [ 1.27928794e-02 9.99918167e-01 -3.60125876e-05 -5.15839736e-02] [ 1.46185524e-03 1.73126279e-05 9.99998931e-01 -3.16902106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87587156 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.06, Z:-0.32 [[ 9.99925538e-01 -1.21154139e-02 -1.46143313e-03 1.06957704e+00] [ 1.21153863e-02 9.99926606e-01 -2.77320244e-05 -5.55776164e-02] [ 1.46166186e-03 1.00241324e-05 9.99998932e-01 -3.16370000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9058715600000005 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.06, Z:-0.32 [[ 9.99932842e-01 -1.14967950e-02 -1.46151717e-03 1.09746390e+00] [ 1.14967540e-02 9.99933909e-01 -3.64259508e-05 -6.10054261e-02] [ 1.46183936e-03 1.96208011e-05 9.99998931e-01 -3.20155404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93587156 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.06, Z:-0.31 [[ 9.99941893e-01 -1.06805906e-02 -1.46155915e-03 1.12754962e+00] [ 1.06805427e-02 9.99942961e-01 -4.05671844e-05 -6.32013545e-02] [ 1.46190906e-03 2.49545822e-05 9.99998931e-01 -3.13497599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96587156 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.06, Z:-0.31 [[ 9.99873545e-01 -1.58353417e-02 -1.46157200e-03 1.17277560e+00] [ 1.58352974e-02 9.99874613e-01 -4.18282885e-05 -6.25344917e-02] [ 1.46205110e-03 1.86785718e-05 9.99998931e-01 -3.11722701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99587156 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.07, Z:-0.32 [[ 9.99971251e-01 -7.44060637e-03 -1.46115333e-03 1.18227954e+00] [ 7.44060817e-03 9.99972318e-01 -4.20948801e-06 -7.35844271e-02] [ 1.46114421e-03 -6.66250244e-06 9.99998933e-01 -3.20010023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025871560000001 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.08, Z:-0.32 [[ 9.99975074e-01 -6.90760813e-03 -1.46162887e-03 1.21448712e+00] [ 6.90754199e-03 9.99976141e-01 -5.02947127e-05 -7.62846304e-02] [ 1.46194142e-03 4.01971963e-05 9.99998931e-01 -3.17199379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.05587156 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.31 [[ 9.99977578e-01 -6.53502511e-03 -1.46156557e-03 1.24760829e+00] [ 6.53496696e-03 9.99978646e-01 -4.45559295e-05 -7.89534246e-02] [ 1.46182553e-03 3.50036478e-05 9.99998931e-01 -3.13694283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08587156 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.08, Z:-0.32 [[ 9.99930492e-01 -1.16993666e-02 -1.46151554e-03 1.29974912e+00] [ 1.16993206e-02 9.99931560e-01 -4.00164461e-05 -7.95380548e-02] [ 1.46188368e-03 2.29149258e-05 9.99998931e-01 -3.17437924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11587156 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.08, Z:-0.31 [[ 9.99965005e-01 -8.23745938e-03 -1.46082638e-03 1.32395127e+00] [ 8.23749143e-03 9.99966071e-01 1.59241191e-05 -8.39970540e-02] [ 1.46064564e-03 -2.79571066e-05 9.99998933e-01 -3.07841111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14587156 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:-0.31 [[ 9.99964137e-01 -8.34208899e-03 -1.46101349e-03 1.36023339e+00] [ 8.34209863e-03 9.99965204e-01 5.05610619e-07 -8.42610901e-02] [ 1.46095843e-03 -1.26935111e-05 9.99998933e-01 -3.14138535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17587156 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.09, Z:-0.32 [[ 9.99987602e-01 -4.76051701e-03 -1.46080429e-03 1.38749714e+00] [ 4.76054727e-03 9.99988668e-01 1.72359010e-05 -8.76500183e-02] [ 1.46070568e-03 -2.41899152e-05 9.99998933e-01 -3.15617014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20587156 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.09, Z:-0.32 [[ 9.99998145e-01 -1.25535025e-03 -1.46089783e-03 1.41941225e+00] [ 1.25536565e-03 9.99999212e-01 9.62449484e-06 -9.09446332e-02] [ 1.46088459e-03 -1.14584379e-05 9.99998933e-01 -3.17434656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2358715600000005 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.09, Z:-0.31 [[ 9.99998898e-01 2.63839058e-04 -1.46083534e-03 1.45110061e+00] [-2.63817896e-04 9.99999965e-01 1.46788774e-05 -9.23354357e-02] [ 1.46083916e-03 -1.42934667e-05 9.99998933e-01 -3.05660858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26587156 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:-0.31 [[ 9.99994881e-01 2.84677083e-03 -1.46080679e-03 1.48141076e+00] [-2.84674907e-03 9.99995948e-01 1.69767918e-05 -9.30809018e-02] [ 1.46084920e-03 -1.28181545e-05 9.99998933e-01 -3.07480103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29587156 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.10, Z:-0.31 [[ 9.99964750e-01 8.26836348e-03 -1.46079181e-03 1.51152863e+00] [-8.26834575e-03 9.99965816e-01 1.81807039e-05 -9.56011090e-02] [ 1.46089220e-03 -6.10173126e-06 9.99998933e-01 -3.11789714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32587156 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.10, Z:-0.30 [[ 9.99949357e-01 9.95734776e-03 -1.46076784e-03 1.54315067e+00] [-9.95732901e-03 9.99950424e-01 2.01105113e-05 -9.55675432e-02] [ 1.46089567e-03 -5.56414682e-06 9.99998933e-01 -3.04888672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35587156 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:-0.30 [[ 9.99916117e-01 1.28695704e-02 -1.46073345e-03 1.57206246e+00] [-1.28695507e-02 9.99917184e-01 2.28706579e-05 -9.63083148e-02] [ 1.46090682e-03 -4.06975622e-06 9.99998933e-01 -3.04180771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38587156 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:-0.30 [[ 9.99890351e-01 1.47360626e-02 -1.46079246e-03 1.60209159e+00] [-1.47360519e-02 9.99891418e-01 1.81121036e-05 -9.61149117e-02] [ 1.46090074e-03 3.41619582e-06 9.99998933e-01 -2.97938029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41587156 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:-0.30 [[ 9.99874722e-01 1.57609467e-02 -1.46075528e-03 1.62919152e+00] [-1.57609327e-02 9.99875789e-01 2.10962004e-05 -9.72272943e-02] [ 1.46090633e-03 1.92930813e-06 9.99998933e-01 -3.03919693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4458715600000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.10, Z:-0.29 [[ 9.99890887e-01 1.46996421e-02 -1.46083413e-03 1.66201805e+00] [-1.46996362e-02 9.99891954e-01 1.48166506e-05 -9.82171456e-02] [ 1.46089409e-03 6.65869632e-06 9.99998933e-01 -2.89925269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.10, Z:-0.30 [[ 9.99900830e-01 1.40069973e-02 -1.46073380e-03 1.69106203e+00] [-1.40069790e-02 9.99901897e-01 2.27589218e-05 -9.95106971e-02] [ 1.46090928e-03 -2.29619715e-06 9.99998933e-01 -2.97959886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50587156 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.10, Z:-0.29 [[ 9.99923979e-01 1.22434957e-02 -1.46072789e-03 1.72031929e+00] [-1.22434749e-02 9.99925046e-01 2.32177591e-05 -9.82061642e-02] [ 1.46090267e-03 -5.33160888e-06 9.99998933e-01 -2.90666131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.10, Z:-0.29 [[ 9.99930975e-01 1.16580998e-02 -1.46073868e-03 1.74966696e+00] [-1.16580795e-02 9.99932042e-01 2.23750989e-05 -9.82212427e-02] [ 1.46090026e-03 -5.34414679e-06 9.99998933e-01 -2.92406034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565871560000001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.10, Z:-0.29 [[ 9.99932624e-01 1.15158366e-02 -1.46073138e-03 1.77814712e+00] [-1.15158154e-02 9.99933691e-01 2.29473153e-05 -9.97533920e-02] [ 1.46089878e-03 -6.12425620e-06 9.99998933e-01 -2.87901846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.10, Z:-0.29 [[ 9.99949795e-01 9.91332807e-03 -1.46078683e-03 1.80782956e+00] [-9.91331149e-03 9.99950862e-01 1.85902637e-05 -1.02338094e-01] [ 1.46089934e-03 -4.10809546e-06 9.99998933e-01 -2.90745249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.10, Z:-0.29 [[ 9.99956771e-01 9.18274407e-03 -1.46078728e-03 1.83680369e+00] [-9.18272676e-03 9.99957838e-01 1.85553139e-05 -1.02550487e-01] [ 1.46089607e-03 -5.14050137e-06 9.99998933e-01 -2.92837034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6558715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.10, Z:-0.29 [[ 9.99956985e-01 9.15935419e-03 -1.46078793e-03 1.86696229e+00] [-9.15933693e-03 9.99958052e-01 1.85032341e-05 -1.02887302e-01] [ 1.46089614e-03 -5.12258934e-06 9.99998933e-01 -2.92792971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.10, Z:-0.30 [[ 9.99963959e-01 8.36345465e-03 -1.46078837e-03 1.89524823e+00] [-8.36343659e-03 9.99965026e-01 1.84690651e-05 -1.03734026e-01] [ 1.46089174e-03 -6.25118855e-06 9.99998933e-01 -2.95384187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:-0.30 [[ 9.99970973e-01 7.47796356e-03 -1.46078901e-03 1.92493338e+00] [-7.47794463e-03 9.99972040e-01 1.84180819e-05 -1.05468363e-01] [ 1.46088590e-03 -7.49384795e-06 9.99998933e-01 -2.96295228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.11, Z:-0.30 [[ 9.99977652e-01 6.52395171e-03 -1.46078943e-03 1.95326452e+00] [-6.52393182e-03 9.99978719e-01 1.83845987e-05 -1.08187588e-01] [ 1.46087828e-03 -8.85409722e-06 9.99998933e-01 -2.96835999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.11, Z:-0.30 [[ 9.99989392e-01 4.36832426e-03 -1.46079006e-03 1.98160296e+00] [-4.36830214e-03 9.99990459e-01 1.83346202e-05 -1.12473977e-01] [ 1.46085621e-03 -1.19532534e-05 9.99998933e-01 -2.97341959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.11, Z:-0.30 [[ 9.99993276e-01 3.36368205e-03 -1.46079068e-03 2.01168754e+00] [-3.36365893e-03 9.99994343e-01 1.82849612e-05 -1.14481061e-01] [ 1.46084392e-03 -1.33712366e-05 9.99998933e-01 -2.96156209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.12, Z:-0.29 [[ 9.99995241e-01 2.71738668e-03 -1.46079110e-03 2.04169426e+00] [-2.71736292e-03 9.99996308e-01 1.82510022e-05 -1.16811907e-01] [ 1.46083531e-03 -1.42814158e-05 9.99998933e-01 -2.93588166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86587156 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:-0.29 [[ 9.99996167e-01 2.35190626e-03 -1.46079155e-03 2.07110593e+00] [-2.35188216e-03 9.99997234e-01 1.82154094e-05 -1.21349534e-01] [ 1.46083035e-03 -1.47797300e-05 9.99998933e-01 -2.88196141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.12, Z:-0.29 [[ 9.99996220e-01 2.32943683e-03 -1.46079199e-03 2.10078567e+00] [-2.32941275e-03 9.99997287e-01 1.81796526e-05 -1.23336590e-01] [ 1.46083038e-03 -1.47767964e-05 9.99998933e-01 -2.89891762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92587156 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.12, Z:-0.29 [[ 9.99995529e-01 2.60934484e-03 -1.46079221e-03 2.13037240e+00] [-2.60932109e-03 9.99996596e-01 1.81618831e-05 -1.24701269e-01] [ 1.46083463e-03 -1.43501259e-05 9.99998933e-01 -2.85966786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.13, Z:-0.28 [[ 9.99992201e-01 3.66924732e-03 -1.46079266e-03 2.15999362e+00] [-3.66922476e-03 9.99993268e-01 1.81263233e-05 -1.29204488e-01] [ 1.46084933e-03 -1.27662054e-05 9.99998933e-01 -2.84841751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9858715600000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.13, Z:-0.28 [[ 9.99989086e-01 4.43789994e-03 -1.46079310e-03 2.18916117e+00] [-4.43787825e-03 9.99990152e-01 1.80907558e-05 -1.31761807e-01] [ 1.46085900e-03 -1.16077365e-05 9.99998933e-01 -2.84200114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.01587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.13, Z:-0.28 [[ 9.99984129e-01 5.44133932e-03 -1.46079331e-03 2.21918849e+00] [-5.44131872e-03 9.99985196e-01 1.80731186e-05 -1.33521946e-01] [ 1.46087003e-03 -1.01241898e-05 9.99998933e-01 -2.83314818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.14, Z:-0.28 [[ 9.99978933e-01 6.32454507e-03 -1.46079375e-03 2.24892299e+00] [-6.32452547e-03 9.99980000e-01 1.80380504e-05 -1.35285405e-01] [ 1.46087861e-03 -8.79884313e-06 9.99998933e-01 -2.83919961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.14, Z:-0.28 [[ 9.99974705e-01 6.96099347e-03 -1.46079396e-03 2.27871950e+00] [-6.96097458e-03 9.99975772e-01 1.80206051e-05 -1.37406738e-01] [ 1.46088401e-03 -7.85159965e-06 9.99998933e-01 -2.83797345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.14, Z:-0.28 [[ 9.99973589e-01 7.11949728e-03 -1.46079439e-03 2.30962045e+00] [-7.11947860e-03 9.99974656e-01 1.79859089e-05 -1.41990235e-01] [ 1.46088542e-03 -7.58533945e-06 9.99998933e-01 -2.80384508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 9.99974277e-01 7.02228578e-03 -1.46076094e-03 2.33876065e+00] [-7.02226304e-03 9.99975343e-01 2.06921498e-05 -1.45139091e-01] [ 1.46087023e-03 -1.04337700e-05 9.99998933e-01 -2.80062721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.15, Z:-0.29 [[ 9.99981043e-01 5.98155706e-03 -1.46077282e-03 2.36770926e+00] [-5.98153461e-03 9.99982110e-01 1.97321573e-05 -1.52209501e-01] [ 1.46086472e-03 -1.09941201e-05 9.99998933e-01 -2.89847976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1958715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.16, Z:-0.29 [[ 9.99984707e-01 5.33411536e-03 -1.46079405e-03 2.39673505e+00] [-5.33409474e-03 9.99985773e-01 1.80103858e-05 -1.56152889e-01] [ 1.46086934e-03 -1.02180965e-05 9.99998933e-01 -2.90980902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.16, Z:-0.29 [[ 9.99986666e-01 4.95325340e-03 -1.46079426e-03 2.42628242e+00] [-4.95323240e-03 9.99987733e-01 1.79933097e-05 -1.59370538e-01] [ 1.46086547e-03 -1.07574163e-05 9.99998933e-01 -2.90690328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.16, Z:-0.29 [[ 9.99988577e-01 4.55099101e-03 -1.46079468e-03 2.45765222e+00] [-4.55096963e-03 9.99989644e-01 1.79595328e-05 -1.62340558e-01] [ 1.46086128e-03 -1.13112954e-05 9.99998933e-01 -2.91759126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.17, Z:-0.29 [[ 9.99978607e-01 6.37589752e-03 -1.46075142e-03 2.48717205e+00] [-6.37587291e-03 9.99979674e-01 2.15010530e-05 -1.67707554e-01] [ 1.46085882e-03 -1.21870276e-05 9.99998933e-01 -2.89412207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.17, Z:-0.29 [[ 9.99966765e-01 8.02091553e-03 -1.46079663e-03 2.51652128e+00] [-8.02089810e-03 9.99967832e-01 1.77884709e-05 -1.70067023e-01] [ 1.46089232e-03 -6.07097881e-06 9.99998933e-01 -2.91966709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.17, Z:-0.29 [[ 9.99948273e-01 1.00656366e-02 -1.46079684e-03 2.54739542e+00] [-1.00656213e-02 9.99949340e-01 1.77707847e-05 -1.72049583e-01] [ 1.46090172e-03 -3.06603763e-06 9.99998933e-01 -2.89530740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.17, Z:-0.29 [[ 9.99909086e-01 1.34046909e-02 -1.46075095e-03 2.57601260e+00] [-1.34046737e-02 9.99910153e-01 2.15321927e-05 -1.73643374e-01] [ 1.46090834e-03 -1.94934532e-06 9.99998933e-01 -2.90394814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4058715600000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.18, Z:-0.29 [[ 9.99796549e-01 2.01178248e-02 -1.46079687e-03 2.60546110e+00] [-2.01178203e-02 9.99797616e-01 1.77535007e-05 -1.75526390e-01] [ 1.46085839e-03 1.16381603e-05 9.99998933e-01 -2.90519768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.18, Z:-0.29 [[ 9.99720034e-01 2.36161094e-02 -1.46079709e-03 2.63526140e+00] [-2.36161087e-02 9.99721101e-01 1.77359815e-05 -1.75439002e-01] [ 1.46080853e-03 1.67673266e-05 9.99998933e-01 -2.93017190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.18, Z:-0.29 [[ 9.99639683e-01 2.68024258e-02 -1.46079730e-03 2.66494288e+00] [-2.68024285e-02 9.99640750e-01 1.77186578e-05 -1.75277859e-01] [ 1.46074741e-03 2.14406417e-05 9.99998933e-01 -2.89639052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.18, Z:-0.29 [[ 9.99485381e-01 3.20443367e-02 -1.46079773e-03 2.69450032e+00] [-3.20443451e-02 9.99486448e-01 1.76828571e-05 -1.75638324e-01] [ 1.46061417e-03 2.91365494e-05 9.99998933e-01 -2.86193316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525871560000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.18, Z:-0.28 [[ 9.99409460e-01 3.43306922e-02 -1.46079817e-03 2.72493379e+00] [-3.43307030e-02 9.99410528e-01 1.76460192e-05 -1.75156975e-01] [ 1.46054287e-03 3.25146298e-05 9.99998933e-01 -2.82732642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.17, Z:-0.28 [[ 9.99365027e-01 3.56006920e-02 -1.46079817e-03 2.75449925e+00] [-3.56007042e-02 9.99366094e-01 1.76460192e-05 -1.74352776e-01] [ 1.46050038e-03 3.43706292e-05 9.99998933e-01 -2.84282880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.17, Z:-0.28 [[ 9.99368669e-01 3.54983000e-02 -1.46079793e-03 2.78520059e+00] [-3.54983121e-02 9.99369736e-01 1.76658889e-05 -1.73212128e-01] [ 1.46050435e-03 3.42011251e-05 9.99998933e-01 -2.82950542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.17, Z:-0.28 [[ 9.99423230e-01 3.39274632e-02 -1.46079793e-03 2.81563140e+00] [-3.39274736e-02 9.99424297e-01 1.76658889e-05 -1.73229693e-01] [ 1.46055631e-03 3.19054836e-05 9.99998933e-01 -2.79189690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.17, Z:-0.28 [[ 9.99488895e-01 3.19345381e-02 -1.46079793e-03 2.84574661e+00] [-3.19345464e-02 9.99489962e-01 1.76658889e-05 -1.73844668e-01] [ 1.46061702e-03 2.89930596e-05 9.99998933e-01 -2.79620753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.18, Z:-0.28 [[ 9.99641738e-01 2.67256588e-02 -1.46079688e-03 2.87626804e+00] [-2.67256614e-02 9.99642806e-01 1.77524370e-05 -1.75552259e-01] [ 1.46074954e-03 2.12946858e-05 9.99998933e-01 -2.81844517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.18, Z:-0.28 [[ 9.99717279e-01 2.37324085e-02 -1.46079666e-03 2.90582016e+00] [-2.37324079e-02 9.99718347e-01 1.77704896e-05 -1.76384509e-01] [ 1.46080696e-03 1.69027567e-05 9.99998933e-01 -2.81819831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7358715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.18, Z:-0.28 [[ 9.99842236e-01 1.77022364e-02 -1.46079688e-03 2.93734720e+00] [-1.77022293e-02 9.99843303e-01 1.77527047e-05 -1.77758597e-01] [ 1.46088224e-03 8.10945733e-06 9.99998933e-01 -2.84926792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.18, Z:-0.29 [[ 9.99889423e-01 1.47988846e-02 -1.46079644e-03 2.96796680e+00] [-1.47988744e-02 9.99890491e-01 1.77883656e-05 -1.78637961e-01] [ 1.46089972e-03 3.83174451e-06 9.99998933e-01 -2.85305051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.18, Z:-0.29 [[ 9.99927250e-01 1.19733421e-02 -1.46079644e-03 2.99822935e+00] [-1.19733289e-02 9.99928317e-01 1.77883656e-05 -1.79883024e-01] [ 1.46090472e-03 -2.96475271e-07 9.99998933e-01 -2.86859143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.18, Z:-0.29 [[ 9.99954922e-01 9.38187299e-03 -1.46079644e-03 3.02732750e+00] [-9.38185702e-03 9.99955989e-01 1.77883656e-05 -1.81736207e-01] [ 1.46089904e-03 -4.08258038e-06 9.99998933e-01 -2.89863572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.19, Z:-0.29 [[ 9.99984399e-01 5.39136745e-03 -1.46079615e-03 3.05722064e+00] [-5.39134718e-03 9.99985466e-01 1.78123689e-05 -1.85371750e-01] [ 1.46087095e-03 -9.93643184e-06 9.99998933e-01 -2.89264570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.19, Z:-0.29 [[ 9.99992602e-01 3.55848501e-03 -1.46079660e-03 3.08706392e+00] [-3.55846284e-03 9.99993668e-01 1.77753306e-05 -1.86975308e-01] [ 1.46085061e-03 -1.25770087e-05 9.99998933e-01 -2.89883630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.19, Z:-0.29 [[ 9.99997038e-01 1.94675283e-03 -1.46079683e-03 3.11672636e+00] [-1.94672897e-03 9.99998105e-01 1.77569649e-05 -1.88531311e-01] [ 1.46082863e-03 -1.49131368e-05 9.99998933e-01 -2.88712827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9458715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.19, Z:-0.29 [[ 9.99998751e-01 6.03382156e-04 -1.46079726e-03 3.14599526e+00] [-6.03356913e-04 9.99999818e-01 1.77211050e-05 -1.90675922e-01] [ 1.46080769e-03 -1.68397007e-05 9.99998933e-01 -2.87850544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.20, Z:-0.29 [[ 9.99998509e-01 -9.21075348e-04 -1.46079769e-03 3.17555302e+00] [ 9.21102166e-04 9.99999576e-01 1.76853456e-05 -1.96131856e-01] [ 1.46078078e-03 -1.90308631e-05 9.99998933e-01 -2.88125664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.20, Z:-0.29 [[ 9.99998041e-01 -1.33546757e-03 -1.46079744e-03 3.20545910e+00] [ 1.33549486e-03 9.99999108e-01 1.77065299e-05 -1.98802181e-01] [ 1.46077249e-03 -1.96573827e-05 9.99998933e-01 -2.87407854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.20, Z:-0.29 [[ 9.99998466e-01 -9.66490771e-04 -1.46079787e-03 3.23472878e+00] [ 9.66517616e-04 9.99999533e-01 1.76708936e-05 -2.04285196e-01] [ 1.46078011e-03 -1.90827533e-05 9.99998933e-01 -2.88961687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065871560000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.21, Z:-0.29 [[ 9.99998933e-01 2.59245390e-05 -1.46079780e-03 3.26473098e+00] [-2.58987443e-05 1.00000000e+00 1.76768488e-05 -2.07275245e-01] [ 1.46079825e-03 -1.76389971e-05 9.99998933e-01 -2.87603325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.21, Z:-0.29 [[ 9.99998092e-01 1.29663291e-03 -1.46079822e-03 3.29461011e+00] [-1.29660852e-03 9.99999159e-01 1.76416189e-05 -2.09467229e-01] [ 1.46081987e-03 -1.57475019e-05 9.99998933e-01 -2.87845840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.21, Z:-0.29 [[ 9.99992925e-01 3.46652154e-03 -1.46079843e-03 3.32370628e+00] [-3.46649949e-03 9.99993992e-01 1.76240887e-05 -2.11242704e-01] [ 1.46085075e-03 -1.25601070e-05 9.99998933e-01 -2.87759585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.21, Z:-0.29 [[ 9.99979749e-01 6.19412862e-03 -1.46079864e-03 3.35365055e+00] [-6.19410951e-03 9.99980816e-01 1.76066604e-05 -2.13142865e-01] [ 1.46087968e-03 -8.55795712e-06 9.99998933e-01 -2.86853923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.22, Z:-0.29 [[ 9.99920749e-01 1.25044864e-02 -1.46079906e-03 3.38341697e+00] [-1.25044740e-02 9.99921816e-01 1.75716218e-05 -2.16543352e-01] [ 1.46090458e-03 6.96294703e-07 9.99998933e-01 -2.86718176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.22, Z:-0.29 [[ 9.99868581e-01 1.61458169e-02 -1.46079927e-03 3.41405852e+00] [-1.61458085e-02 9.99869648e-01 1.75542399e-05 -2.18310310e-01] [ 1.46089228e-03 6.03385234e-06 9.99998933e-01 -2.85930440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.22, Z:-0.29 [[ 9.99800127e-01 1.99391945e-02 -1.46079927e-03 3.44399863e+00] [-1.99391901e-02 9.99801194e-01 1.75542399e-05 -2.19176728e-01] [ 1.46085888e-03 1.15764231e-05 9.99998933e-01 -2.86242087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.22, Z:-0.29 [[ 9.99629104e-01 2.71941130e-02 -1.46079948e-03 3.47414262e+00] [-2.71941164e-02 9.99630171e-01 1.75368373e-05 -2.19550093e-01] [ 1.46073614e-03 2.21948181e-05 9.99998933e-01 -2.87148797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.22, Z:-0.29 [[ 9.99530712e-01 3.05977428e-02 -1.46079948e-03 3.50397000e+00] [-3.05977498e-02 9.99531779e-01 1.75368373e-05 -2.20261611e-01] [ 1.46065209e-03 2.71685696e-05 9.99998933e-01 -2.87966601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.22, Z:-0.29 [[ 9.99433853e-01 3.36130916e-02 -1.46079842e-03 3.53457182e+00] [-3.36131017e-02 9.99434920e-01 1.76250011e-05 -2.20317652e-01] [ 1.46056538e-03 3.14869430e-05 9.99998933e-01 -2.87968129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.22, Z:-0.29 [[ 9.99248356e-01 3.87374279e-02 -1.46079821e-03 3.56534615e+00] [-3.87374435e-02 9.99249423e-01 1.76418748e-05 -2.17938407e-01] [ 1.46038517e-03 3.89589739e-05 9.99998933e-01 -2.87601261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.22, Z:-0.29 [[ 9.99171554e-01 4.06702901e-02 -1.46079821e-03 3.59606663e+00] [-4.06703078e-02 9.99172621e-01 1.76418748e-05 -2.16561534e-01] [ 1.46030708e-03 4.17838536e-05 9.99998933e-01 -2.87450125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.22, Z:-0.29 [[ 9.99109053e-01 4.21777912e-02 -1.46079801e-03 3.62750897e+00] [-4.21778104e-02 9.99110120e-01 1.76584128e-05 -2.15959778e-01] [ 1.46024287e-03 4.39705816e-05 9.99998933e-01 -2.86829275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.22, Z:-0.29 [[ 9.99067072e-01 4.31607561e-02 -1.46079761e-03 3.65809318e+00] [-4.31607764e-02 9.99068139e-01 1.76916735e-05 -2.15242471e-01] [ 1.46019994e-03 4.53739905e-05 9.99998933e-01 -2.86404506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.21, Z:-0.29 [[ 9.99035037e-01 4.38960218e-02 -1.46079741e-03 3.68898038e+00] [-4.38960428e-02 9.99036104e-01 1.77082446e-05 -2.14441772e-01] [ 1.46016668e-03 4.64320688e-05 9.99998933e-01 -2.87011401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.21, Z:-0.29 [[ 9.99026933e-01 4.40800709e-02 -1.46079479e-03 3.71988833e+00] [-4.40800917e-02 9.99028000e-01 1.79221123e-05 -2.11420077e-01] [ 1.46016490e-03 4.64872954e-05 9.99998933e-01 -2.87090269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.21, Z:-0.29 [[ 9.99025936e-01 4.41026604e-02 -1.46079438e-03 3.75171767e+00] [-4.41026813e-02 9.99027003e-01 1.79551826e-05 -2.11856237e-01] [ 1.46016490e-03 4.64872559e-05 9.99998933e-01 -2.87043763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575871560000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.21, Z:-0.28 [[ 9.99037266e-01 4.38452734e-02 -1.46079397e-03 3.78342427e+00] [-4.38452939e-02 9.99038333e-01 1.79882134e-05 -2.11063524e-01] [ 1.46017787e-03 4.60780455e-05 9.99998933e-01 -2.84521004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.21, Z:-0.29 [[ 9.99071910e-01 4.30486231e-02 -1.46079354e-03 3.81336401e+00] [-4.30486427e-02 9.99072977e-01 1.80234772e-05 -2.09782981e-01] [ 1.46021524e-03 4.48784293e-05 9.99998933e-01 -2.86060078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.21, Z:-0.29 [[ 9.99127517e-01 4.17381160e-02 -1.46079252e-03 3.84432397e+00] [-4.17381341e-02 9.99128584e-01 1.81054816e-05 -2.06761583e-01] [ 1.46027525e-03 4.28810692e-05 9.99998933e-01 -2.87212565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.21, Z:-0.29 [[ 9.99156157e-01 4.10468056e-02 -1.46079208e-03 3.87500138e+00] [-4.10468229e-02 9.99157224e-01 1.81409338e-05 -2.05689238e-01] [ 1.46030559e-03 4.18352482e-05 9.99998933e-01 -2.88156639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.20, Z:-0.29 [[ 9.99225755e-01 3.93161092e-02 -1.46079186e-03 3.90669262e+00] [-3.93161247e-02 9.99226822e-01 1.81585964e-05 -2.03333068e-01] [ 1.46037634e-03 3.92881377e-05 9.99998933e-01 -2.86141685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.20, Z:-0.29 [[ 9.99260762e-01 3.84160917e-02 -1.46079142e-03 3.93831166e+00] [-3.84161061e-02 9.99261829e-01 1.81943469e-05 -2.01548660e-01] [ 1.46041206e-03 3.79370211e-05 9.99998933e-01 -2.85259193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.20, Z:-0.28 [[ 9.99285223e-01 3.77744617e-02 -1.46079097e-03 3.96843202e+00] [-3.77744754e-02 9.99286290e-01 1.82299949e-05 -1.99443904e-01] [ 1.46043702e-03 3.69636481e-05 9.99998933e-01 -2.84288544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.20, Z:-0.28 [[ 9.99335641e-01 3.64162389e-02 -1.46079075e-03 3.99840112e+00] [-3.64162511e-02 9.99336708e-01 1.82477180e-05 -1.95022554e-01] [ 1.46048633e-03 3.49609279e-05 9.99998933e-01 -2.84180619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.19, Z:-0.28 [[ 9.99351086e-01 3.59898923e-02 -1.46079053e-03 4.02870137e+00] [-3.59899040e-02 9.99352153e-01 1.82652943e-05 -1.92953750e-01] [ 1.46050153e-03 3.43202692e-05 9.99998933e-01 -2.82495360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.19, Z:-0.28 [[ 9.99360553e-01 3.57260696e-02 -1.46079053e-03 4.05971286e+00] [-3.57260811e-02 9.99361620e-01 1.82652943e-05 -1.90808725e-01] [ 1.46051054e-03 3.39347063e-05 9.99998933e-01 -2.82260576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.19, Z:-0.28 [[ 9.99351539e-01 3.59773094e-02 -1.46079053e-03 4.09048951e+00] [-3.59773211e-02 9.99352606e-01 1.82652943e-05 -1.87202979e-01] [ 1.46050196e-03 3.43018800e-05 9.99998933e-01 -2.82540561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.19, Z:-0.29 [[ 9.99354402e-01 3.58977067e-02 -1.46079053e-03 4.12051720e+00] [-3.58977183e-02 9.99355469e-01 1.82652943e-05 -1.85821873e-01] [ 1.46050469e-03 3.41855447e-05 9.99998933e-01 -2.85747873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.18, Z:-0.29 [[ 9.99347350e-01 3.60934966e-02 -1.46079031e-03 4.15094084e+00] [-3.60935084e-02 9.99348417e-01 1.82830123e-05 -1.84684061e-01] [ 1.46049838e-03 3.44539674e-05 9.99998933e-01 -2.86981297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.18, Z:-0.29 [[ 9.99354490e-01 3.58952659e-02 -1.46079031e-03 4.18193060e+00] [-3.58952775e-02 9.99355557e-01 1.82830123e-05 -1.83085107e-01] [ 1.46050519e-03 3.41642631e-05 9.99998933e-01 -2.87476058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.18, Z:-0.29 [[ 9.99357603e-01 3.58084685e-02 -1.46079031e-03 4.21219781e+00] [-3.58084801e-02 9.99358671e-01 1.82830123e-05 -1.78996027e-01] [ 1.46050815e-03 3.40374133e-05 9.99998933e-01 -2.87129875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.18, Z:-0.29 [[ 9.99362012e-01 3.56852194e-02 -1.46079031e-03 4.24133318e+00] [-3.56852307e-02 9.99363079e-01 1.82830123e-05 -1.77053531e-01] [ 1.46051233e-03 3.38572913e-05 9.99998933e-01 -2.91037243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.18, Z:-0.29 [[ 9.99365075e-01 3.55993370e-02 -1.46079010e-03 4.27149879e+00] [-3.55993482e-02 9.99366142e-01 1.82994048e-05 -1.75457425e-01] [ 1.46051562e-03 3.37153896e-05 9.99998933e-01 -2.87339375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.17, Z:-0.29 [[ 9.99359590e-01 3.57529746e-02 -1.46079010e-03 4.30144519e+00] [-3.57529860e-02 9.99360657e-01 1.82994048e-05 -1.72764013e-01] [ 1.46051042e-03 3.39399225e-05 9.99998933e-01 -2.87591660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.17, Z:-0.29 [[ 9.99345910e-01 3.61333526e-02 -1.46079033e-03 4.33157807e+00] [-3.61333645e-02 9.99346977e-01 1.82814413e-05 -1.71321748e-01] [ 1.46049697e-03 3.45137858e-05 9.99998933e-01 -2.86600343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.17, Z:-0.29 [[ 9.99316772e-01 3.69304017e-02 -1.46079077e-03 4.36086896e+00] [-3.69304144e-02 9.99317839e-01 1.82457513e-05 -1.69234871e-01] [ 1.46046810e-03 3.57143234e-05 9.99998933e-01 -2.85983805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.16, Z:-0.28 [[ 9.99213350e-01 3.96301366e-02 -1.46079056e-03 4.39108142e+00] [-3.96301523e-02 9.99214417e-01 1.82627698e-05 -1.63308365e-01] [ 1.46036675e-03 3.96429490e-05 9.99998933e-01 -2.84874998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.16, Z:-0.29 [[ 9.99130296e-01 4.16715530e-02 -1.46079100e-03 4.42072327e+00] [-4.16715709e-02 9.99131363e-01 1.82273872e-05 -1.61003603e-01] [ 1.46028167e-03 4.26619211e-05 9.99998933e-01 -2.85093085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.16, Z:-0.29 [[ 9.98954014e-01 4.57027895e-02 -1.46079144e-03 4.44968823e+00] [-4.57028117e-02 9.98955080e-01 1.81919920e-05 -1.55602893e-01] [ 1.46009646e-03 4.85893129e-05 9.99998933e-01 -2.89174050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.15, Z:-0.29 [[ 9.98878209e-01 4.73306328e-02 -1.46079210e-03 4.47947466e+00] [-4.73306568e-02 9.98879276e-01 1.81391444e-05 -1.52496153e-01] [ 1.46001349e-03 5.10214536e-05 9.99998933e-01 -2.88589711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.15, Z:-0.29 [[ 9.98819676e-01 4.85501812e-02 -1.46079254e-03 4.50962342e+00] [-4.85502066e-02 9.98820743e-01 1.81038271e-05 -1.49935166e-01] [ 1.45994883e-03 5.28393208e-05 9.99998933e-01 -2.88134746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.14, Z:-0.29 [[ 9.98777035e-01 4.94196407e-02 -1.46079299e-03 4.53795057e+00] [-4.94196671e-02 9.98778102e-01 1.80674927e-05 -1.44334011e-01] [ 1.45990094e-03 5.41465063e-05 9.99998933e-01 -2.89339203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.14, Z:-0.29 [[ 9.98799138e-01 4.89708967e-02 -1.46079366e-03 4.56726337e+00] [-4.89709227e-02 9.98800204e-01 1.80132615e-05 -1.40685698e-01] [ 1.45992313e-03 5.35447831e-05 9.99998933e-01 -2.86627935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.14, Z:-0.29 [[ 9.98842171e-01 4.80851698e-02 -1.46079454e-03 4.59573568e+00] [-4.80851949e-02 9.98843238e-01 1.79415860e-05 -1.37027159e-01] [ 1.45996747e-03 5.23217773e-05 9.99998933e-01 -2.87062045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.13, Z:-0.29 [[ 9.98904868e-01 4.67646235e-02 -1.46079501e-03 4.62472705e+00] [-4.67646472e-02 9.98905935e-01 1.79026790e-05 -1.34240802e-01] [ 1.46003402e-03 5.04304903e-05 9.99998933e-01 -2.86964790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.13, Z:-0.29 [[ 9.99075907e-01 4.29557792e-02 -1.46079588e-03 4.65385598e+00] [-4.29557990e-02 9.99076974e-01 1.78318662e-05 -1.30596723e-01] [ 1.46021351e-03 4.49342662e-05 9.99998933e-01 -2.88703952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.13, Z:-0.29 [[ 9.99180547e-01 4.04487478e-02 -1.46079652e-03 4.68305879e+00] [-4.04487650e-02 9.99181614e-01 1.77788381e-05 -1.28515662e-01] [ 1.46032016e-03 4.13231462e-05 9.99998933e-01 -2.86334458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.13, Z:-0.29 [[ 9.99286119e-01 3.77507295e-02 -1.46079738e-03 4.71171290e+00] [-3.77507439e-02 9.99287186e-01 1.77079847e-05 -1.25915702e-01] [ 1.46042460e-03 3.74508445e-05 9.99998933e-01 -2.85648759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.12, Z:-0.29 [[ 9.99380447e-01 3.51651490e-02 -1.46079824e-03 4.74116804e+00] [-3.51651608e-02 9.99381514e-01 1.76368474e-05 -1.23589758e-01] [ 1.46051496e-03 3.37432846e-05 9.99998933e-01 -2.86092791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.12, Z:-0.29 [[ 9.99562834e-01 2.95297513e-02 -1.46079867e-03 4.76983467e+00] [-2.95297571e-02 9.99563901e-01 1.76013001e-05 -1.21242059e-01] [ 1.46068138e-03 2.55434245e-05 9.99998933e-01 -2.87834138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.12, Z:-0.29 [[ 9.99644267e-01 2.66309201e-02 -1.46079931e-03 4.79875071e+00] [-2.66309229e-02 9.99645334e-01 1.75481889e-05 -1.21046877e-01] [ 1.46074854e-03 2.13604873e-05 9.99998933e-01 -2.88096409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.12, Z:-0.29 [[ 9.99714481e-01 2.38499970e-02 -1.46079994e-03 4.82709230e+00] [-2.38499969e-02 9.99715548e-01 1.74952922e-05 -1.20065334e-01] [ 1.46080168e-03 1.73497771e-05 9.99998933e-01 -2.87701436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.12, Z:-0.29 [[ 9.99815297e-01 1.91634541e-02 -1.46080057e-03 4.85608946e+00] [-1.91634491e-02 9.99816364e-01 1.74424929e-05 -1.15760582e-01] [ 1.46086657e-03 1.05547061e-05 9.99998933e-01 -2.87905400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.11, Z:-0.29 [[ 9.99852677e-01 1.71023385e-02 -1.46080119e-03 4.88540488e+00] [-1.71023314e-02 9.99853744e-01 1.73903653e-05 -1.14552215e-01] [ 1.46088496e-03 7.59530271e-06 9.99998933e-01 -2.85775181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.11, Z:-0.29 [[ 9.99878640e-01 1.55103933e-02 -1.46080160e-03 4.91362469e+00] [-1.55103845e-02 9.99879707e-01 1.73557318e-05 -1.13987676e-01] [ 1.46089507e-03 5.30396913e-06 9.99998933e-01 -2.85801548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745871560000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.11, Z:-0.28 [[ 9.99900119e-01 1.40576677e-02 -1.46080208e-03 4.94243495e+00] [-1.40576574e-02 9.99901186e-01 1.73157211e-05 -1.13451928e-01] [ 1.46090115e-03 3.22146358e-06 9.99998933e-01 -2.84189732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.11, Z:-0.28 [[ 9.99903273e-01 1.38314819e-02 -1.46080269e-03 4.97191990e+00] [-1.38314714e-02 9.99904340e-01 1.72642340e-05 -1.11722571e-01] [ 1.46090174e-03 2.94248644e-06 9.99998933e-01 -2.83794168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.11, Z:-0.28 [[ 9.99900389e-01 1.40384315e-02 -1.46080309e-03 5.00075767e+00] [-1.40384213e-02 9.99901456e-01 1.72301443e-05 -1.11076177e-01] [ 1.46090102e-03 3.27894118e-06 9.99998933e-01 -2.82048166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.11, Z:-0.28 [[ 9.99895501e-01 1.43823830e-02 -1.46080369e-03 5.03015303e+00] [-1.43823733e-02 9.99896568e-01 1.71793102e-05 -1.10855438e-01] [ 1.46089967e-03 3.83230892e-06 9.99998933e-01 -2.78036151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.11, Z:-0.28 [[ 9.99894808e-01 1.44304749e-02 -1.46080410e-03 5.05832344e+00] [-1.44304653e-02 9.99895875e-01 1.71436071e-05 -1.09844229e-01] [ 1.46089939e-03 3.93827921e-06 9.99998933e-01 -2.79067823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.11, Z:-0.28 [[ 9.99888794e-01 1.48413492e-02 -1.46080494e-03 5.08779280e+00] [-1.48413401e-02 9.99889861e-01 1.70725722e-05 -1.08815798e-01] [ 1.46089742e-03 4.60962924e-06 9.99998933e-01 -2.76849638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.11, Z:-0.28 [[ 9.99888895e-01 1.48345468e-02 -1.46080534e-03 5.11627245e+00] [-1.48345377e-02 9.99889962e-01 1.70378442e-05 -1.08356998e-01] [ 1.46089734e-03 4.63442071e-06 9.99998933e-01 -2.80978354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.11, Z:-0.28 [[ 9.99891006e-01 1.46915629e-02 -1.46080594e-03 5.14590964e+00] [-1.46915538e-02 9.99892073e-01 1.69860136e-05 -1.09385786e-01] [ 1.46089783e-03 4.47734687e-06 9.99998933e-01 -2.80887129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.11, Z:-0.28 [[ 9.99892722e-01 1.45742785e-02 -1.46080635e-03 5.17465611e+00] [-1.45742693e-02 9.99893790e-01 1.69507511e-05 -1.09540648e-01] [ 1.46089824e-03 4.34125252e-06 9.99998933e-01 -2.83518671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.11, Z:-0.29 [[ 9.99897497e-01 1.42429167e-02 -1.46080696e-03 5.20369503e+00] [-1.42429072e-02 9.99898565e-01 1.68980969e-05 -1.09784578e-01] [ 1.46089946e-03 3.90977313e-06 9.99998933e-01 -2.85358684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.11, Z:-0.28 [[ 9.99901815e-01 1.39364927e-02 -1.46080753e-03 5.23317718e+00] [-1.39364830e-02 9.99902882e-01 1.68488343e-05 -1.10763237e-01] [ 1.46090047e-03 3.51133929e-06 9.99998933e-01 -2.84229023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.11, Z:-0.28 [[ 9.99908427e-01 1.34537484e-02 -1.46080793e-03 5.26299216e+00] [-1.34537382e-02 9.99909494e-01 1.68143854e-05 -1.11398299e-01] [ 1.46090193e-03 2.84048167e-06 9.99998933e-01 -2.83239865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.11, Z:-0.28 [[ 9.99913744e-01 1.30526105e-02 -1.46080834e-03 5.29166186e+00] [-1.30525999e-02 9.99914811e-01 1.67782672e-05 -1.11607208e-01] [ 1.46090290e-03 2.29052679e-06 9.99998933e-01 -2.83867303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.11, Z:-0.28 [[ 9.99920267e-01 1.25429763e-02 -1.46080876e-03 5.32116981e+00] [-1.25429652e-02 9.99921334e-01 1.67417640e-05 -1.12693187e-01] [ 1.46090383e-03 1.58244435e-06 9.99998933e-01 -2.83800857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.11, Z:-0.28 [[ 9.99918034e-01 1.27197232e-02 -1.46080917e-03 5.35023191e+00] [-1.27197124e-02 9.99919101e-01 1.67061043e-05 -1.14434759e-01] [ 1.46090349e-03 1.87633746e-06 9.99998933e-01 -2.83561515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.12, Z:-0.28 [[ 9.99902814e-01 1.38646492e-02 -1.46080959e-03 5.37921897e+00] [-1.38646396e-02 9.99903881e-01 1.66693865e-05 -1.16210815e-01] [ 1.46090029e-03 3.58583195e-06 9.99998933e-01 -2.84714980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.12, Z:-0.28 [[ 9.99888424e-01 1.48662721e-02 -1.46081019e-03 5.40775543e+00] [-1.48662636e-02 9.99889491e-01 1.66164744e-05 -1.17026155e-01] [ 1.46089578e-03 5.10216897e-06 9.99998933e-01 -2.84764637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.12, Z:-0.29 [[ 9.99866625e-01 1.62664840e-02 -1.46081078e-03 5.43736762e+00] [-1.62664772e-02 9.99867692e-01 1.65638202e-05 -1.17800585e-01] [ 1.46088694e-03 7.20063436e-06 9.99998933e-01 -2.86683510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.12, Z:-0.28 [[ 9.99799240e-01 1.99836188e-02 -1.46081118e-03 5.46536913e+00] [-1.99836159e-02 9.99800307e-01 1.65289654e-05 -1.18028407e-01] [ 1.46084977e-03 1.26666425e-05 9.99998933e-01 -2.84870213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.12, Z:-0.28 [[ 9.99755064e-01 2.20834369e-02 -1.46081216e-03 5.49495328e+00] [-2.20834365e-02 9.99756131e-01 1.64422110e-05 -1.17468869e-01] [ 1.46081901e-03 1.58215687e-05 9.99998933e-01 -2.84258570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.12, Z:-0.28 [[ 9.99707005e-01 2.41613230e-02 -1.46081256e-03 5.52388207e+00] [-2.41613249e-02 9.99708072e-01 1.64060007e-05 -1.16950451e-01] [ 1.46078250e-03 1.88939731e-05 9.99998933e-01 -2.84280982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.12, Z:-0.28 [[ 9.99602688e-01 2.81483987e-02 -1.46081317e-03 5.55269215e+00] [-2.81484049e-02 9.99603755e-01 1.63519416e-05 -1.15980075e-01] [ 1.46069461e-03 2.47741158e-05 9.99998933e-01 -2.82776412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.12, Z:-0.28 [[ 9.99550190e-01 2.99547007e-02 -1.46081394e-03 5.58179228e+00] [-2.99547089e-02 9.99551257e-01 1.62830463e-05 -1.15411078e-01] [ 1.46064616e-03 2.74825342e-05 9.99998933e-01 -2.81710261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.11, Z:-0.28 [[ 9.99499137e-01 3.16123503e-02 -1.46081474e-03 5.60948229e+00] [-3.16123603e-02 9.99500204e-01 1.62105546e-05 -1.14539451e-01] [ 1.46059708e-03 2.99773665e-05 9.99998933e-01 -2.83009675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.11, Z:-0.28 [[ 9.99500667e-01 3.15639471e-02 -1.46081573e-03 5.63880637e+00] [-3.15639572e-02 9.99501734e-01 1.61205063e-05 -1.14772937e-01] [ 1.46059669e-03 2.99966685e-05 9.99998933e-01 -2.82966829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.11, Z:-0.29 [[ 9.99443442e-01 3.33267354e-02 -1.46081651e-03 5.66722746e+00] [-3.33267476e-02 9.99444510e-01 1.60497628e-05 -1.13084607e-01] [ 1.46053993e-03 3.26434329e-05 9.99998933e-01 -2.85317447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.11, Z:-0.29 [[ 9.99440481e-01 3.34154230e-02 -1.46081729e-03 5.69563918e+00] [-3.34154353e-02 9.99441548e-01 1.59784411e-05 -1.12587488e-01] [ 1.46053542e-03 3.28443448e-05 9.99998933e-01 -2.88020950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555871560000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.11, Z:-0.29 [[ 9.99456717e-01 3.29262325e-02 -1.46081766e-03 5.72417704e+00] [-3.29262443e-02 9.99457784e-01 1.59446919e-05 -1.11998501e-01] [ 1.46055058e-03 3.21632097e-05 9.99998933e-01 -2.85348934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.11, Z:-0.29 [[ 9.99533025e-01 3.05220854e-02 -1.46081844e-03 5.75293827e+00] [-3.05220947e-02 9.99534092e-01 1.58731956e-05 -1.09266177e-01] [ 1.46062231e-03 2.87214554e-05 9.99998933e-01 -2.87406663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.11, Z:-0.29 [[ 9.99578084e-01 2.90089781e-02 -1.46081901e-03 5.78185127e+00] [-2.90089860e-02 9.99579151e-01 1.58197716e-05 -1.08575150e-01] [ 1.46066315e-03 2.65637814e-05 9.99998933e-01 -2.85279808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.11, Z:-0.29 [[ 9.99619308e-01 2.75518709e-02 -1.46081982e-03 5.81087621e+00] [-2.75518774e-02 9.99620375e-01 1.57451077e-05 -1.08059420e-01] [ 1.46069906e-03 2.45092148e-05 9.99998933e-01 -2.86354976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.11, Z:-0.29 [[ 9.99672026e-01 2.55676899e-02 -1.46082042e-03 5.83966722e+00] [-2.55676942e-02 9.99673093e-01 1.56894008e-05 -1.06681267e-01] [ 1.46074401e-03 2.16655547e-05 9.99998933e-01 -2.85271849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.11, Z:-0.28 [[ 9.99694260e-01 2.46830529e-02 -1.46082099e-03 5.86969882e+00] [-2.46830564e-02 9.99695327e-01 1.56357961e-05 -1.05866719e-01] [ 1.46076186e-03 2.04265114e-05 9.99998933e-01 -2.83905910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.11, Z:-0.28 [[ 9.99713855e-01 2.38762273e-02 -1.46082136e-03 5.89821368e+00] [-2.38762300e-02 9.99714922e-01 1.56011500e-05 -1.05098650e-01] [ 1.46077741e-03 1.92822209e-05 9.99998933e-01 -2.82514889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.10, Z:-0.28 [[ 9.99753905e-01 2.21358402e-02 -1.46082213e-03 5.92719690e+00] [-2.21358412e-02 9.99754972e-01 1.55286631e-05 -1.04258444e-01] [ 1.46080793e-03 1.68116851e-05 9.99998933e-01 -2.81050278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.10, Z:-0.28 [[ 9.99781302e-01 2.08617917e-02 -1.46082290e-03 5.95620190e+00] [-2.08617914e-02 9.99782369e-01 1.54563765e-05 -1.03978021e-01] [ 1.46082742e-03 1.50223862e-05 9.99998933e-01 -2.82315867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.10, Z:-0.28 [[ 9.99812313e-01 1.93184860e-02 -1.46082347e-03 5.98497801e+00] [-1.93184841e-02 9.99813381e-01 1.54024695e-05 -1.03739273e-01] [ 1.46084840e-03 1.28213163e-05 9.99998933e-01 -2.83137565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.10, Z:-0.28 [[ 9.99882544e-01 1.52565873e-02 -1.46082402e-03 6.01482367e+00] [-1.52565811e-02 9.99883611e-01 1.53494893e-05 -1.03829396e-01] [ 1.46088818e-03 6.93949374e-06 9.99998933e-01 -2.81910236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885871560000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.10, Z:-0.28 [[ 9.99911665e-01 1.32108923e-02 -1.46082440e-03 6.04331650e+00] [-1.32108840e-02 9.99912732e-01 1.53138625e-05 -1.04324886e-01] [ 1.46089922e-03 3.98627185e-06 9.99998933e-01 -2.81299797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915871560000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.10, Z:-0.28 [[ 9.99940866e-01 1.07764294e-02 -1.46082495e-03 6.07300415e+00] [-1.07764186e-02 9.99941933e-01 1.52609650e-05 -1.04740989e-01] [ 1.46090458e-03 4.82398588e-07 9.99998933e-01 -2.79543708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.11, Z:-0.28 [[ 9.99975999e-01 6.77255486e-03 -1.46082531e-03 6.10211979e+00] [-6.77253985e-03 9.99977066e-01 1.52257969e-05 -1.06714987e-01] [ 1.46089493e-03 -5.33193379e-06 9.99998933e-01 -2.80572553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.11, Z:-0.28 [[ 9.99985945e-01 5.09659258e-03 -1.46082570e-03 6.13067042e+00] [-5.09657583e-03 9.99987012e-01 1.51885168e-05 -1.07698106e-01] [ 1.46088414e-03 -7.74309441e-06 9.99998933e-01 -2.80779948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.11, Z:-0.28 [[ 9.99991479e-01 3.86119447e-03 -1.46082608e-03 6.16061961e+00] [-3.86117645e-03 9.99992546e-01 1.51515988e-05 -1.09115954e-01] [ 1.46087370e-03 -9.51096241e-06 9.99998933e-01 -2.80540429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.11, Z:-0.28 [[ 9.99995973e-01 2.43326577e-03 -1.46082644e-03 6.18988092e+00] [-2.43324628e-03 9.99997040e-01 1.51169212e-05 -1.12549219e-01] [ 1.46085890e-03 -1.15623098e-05 9.99998933e-01 -2.81471705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065871560000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.11, Z:-0.28 [[ 9.99996718e-01 2.10492122e-03 -1.46082680e-03 6.21803996e+00] [-2.10490144e-03 9.99997785e-01 1.50820123e-05 -1.14412624e-01] [ 1.46085531e-03 -1.20070663e-05 9.99998933e-01 -2.82122492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.12, Z:-0.28 [[ 9.99995954e-01 2.44096517e-03 -1.46082716e-03 6.24739090e+00] [-2.44094579e-03 9.99997021e-01 1.50474481e-05 -1.16151357e-01] [ 1.46085954e-03 -1.14815873e-05 9.99998933e-01 -2.82834907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.12, Z:-0.28 [[ 9.99993795e-01 3.20559342e-03 -1.46082752e-03 6.27611960e+00] [-3.20557491e-03 9.99994862e-01 1.50124531e-05 -1.17308722e-01] [ 1.46086814e-03 -1.03295679e-05 9.99998933e-01 -2.83809310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.12, Z:-0.28 [[ 9.99973070e-01 7.19199452e-03 -1.46082805e-03 6.30502866e+00] [-7.19198034e-03 9.99974137e-01 1.49602918e-05 -1.18476500e-01] [ 1.46089787e-03 -4.45364231e-06 9.99998933e-01 -2.84003380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.12, Z:-0.28 [[ 9.99951319e-01 9.75839875e-03 -1.46082857e-03 6.33455868e+00] [-9.75838739e-03 9.99952386e-01 1.49099170e-05 -1.19049556e-01] [ 1.46090451e-03 -6.53860085e-07 9.99998933e-01 -2.81270226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.12, Z:-0.28 [[ 9.99872071e-01 1.59281713e-02 -1.46082894e-03 6.36326615e+00] [-1.59281666e-02 9.99873139e-01 1.48738898e-05 -1.19868157e-01] [ 1.46088053e-03 8.39633959e-06 9.99998933e-01 -2.82355328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.12, Z:-0.28 [[ 9.99820580e-01 1.88858067e-02 -1.46082948e-03 6.39288847e+00] [-1.88858052e-02 9.99821647e-01 1.48199825e-05 -1.20111782e-01] [ 1.46084883e-03 1.27716175e-05 9.99998933e-01 -2.81401222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.12, Z:-0.28 [[ 9.99764860e-01 2.16353896e-02 -1.46082982e-03 6.42208340e+00] [-2.16353911e-02 9.99765927e-01 1.47866174e-05 -1.20513275e-01] [ 1.46080779e-03 1.68224840e-05 9.99998933e-01 -2.79431235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.12, Z:-0.28 [[ 9.99652315e-01 2.63270781e-02 -1.46083017e-03 6.45110446e+00] [-2.63270846e-02 9.99653382e-01 1.47516765e-05 -1.20587385e-01] [ 1.46071219e-03 2.37128520e-05 9.99998933e-01 -2.78474731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.12, Z:-0.28 [[ 9.99602977e-01 2.81381141e-02 -1.46083089e-03 6.47856879e+00] [-2.81381227e-02 9.99604045e-01 1.46805784e-05 -1.20003019e-01] [ 1.46066555e-03 2.64302888e-05 9.99998933e-01 -2.79676327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.12, Z:-0.28 [[ 9.99554058e-01 2.98253467e-02 -1.46083177e-03 6.50843057e+00] [-2.98253572e-02 9.99555125e-01 1.45920050e-05 -1.19275501e-01] [ 1.46061710e-03 2.89843316e-05 9.99998933e-01 -2.78902317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.12, Z:-0.28 [[ 9.99443267e-01 3.33319990e-02 -1.46083213e-03 6.53665843e+00] [-3.33320133e-02 9.99444334e-01 1.45560116e-05 -1.15898054e-01] [ 1.46050558e-03 3.41445681e-05 9.99998933e-01 -2.81323276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.11, Z:-0.28 [[ 9.99397307e-01 3.46826996e-02 -1.46083302e-03 6.56521393e+00] [-3.46827155e-02 9.99398374e-01 1.44664103e-05 -1.14546343e-01] [ 1.46045588e-03 3.62079645e-05 9.99998933e-01 -2.80503433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.11, Z:-0.28 [[ 9.99355667e-01 3.58624574e-02 -1.46083369e-03 6.59366627e+00] [-3.58624747e-02 9.99356734e-01 1.43983721e-05 -1.14022871e-01] [ 1.46041035e-03 3.80000164e-05 9.99998933e-01 -2.79981018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.11, Z:-0.28 [[ 9.99283764e-01 3.78130321e-02 -1.46083437e-03 6.62092522e+00] [-3.78130515e-02 9.99284831e-01 1.43288059e-05 -1.11924960e-01] [ 1.46033144e-03 4.09200622e-05 9.99998933e-01 -2.80703557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.11, Z:-0.28 [[ 9.99292658e-01 3.75772490e-02 -1.46085852e-03 6.65042603e+00] [-3.75772718e-02 9.99293725e-01 1.18586391e-05 -1.09584683e-01] [ 1.46027237e-03 4.30448267e-05 9.99998933e-01 -2.80289471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.11, Z:-0.28 [[ 9.99286094e-01 3.77513903e-02 -1.46083375e-03 6.67970771e+00] [-3.77514096e-02 9.99287161e-01 1.43758114e-05 -1.07903499e-01] [ 1.46033512e-03 4.07829848e-05 9.99998933e-01 -2.80107973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.10, Z:-0.28 [[ 9.99342963e-01 3.62147551e-02 -1.46083442e-03 6.70771968e+00] [-3.62147728e-02 9.99344030e-01 1.43068101e-05 -1.04946359e-01] [ 1.46039428e-03 3.86063768e-05 9.99998933e-01 -2.80323750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.10, Z:-0.28 [[ 9.99396020e-01 3.47197402e-02 -1.46083526e-03 6.73642576e+00] [-3.47197565e-02 9.99397087e-01 1.42209175e-05 -1.03431068e-01] [ 1.46044825e-03 3.65075161e-05 9.99998933e-01 -2.78677645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.10, Z:-0.28 [[ 9.99506183e-01 3.13888049e-02 -1.46083594e-03 6.76543459e+00] [-3.13888178e-02 9.99507250e-01 1.41505188e-05 -9.94728003e-02] [ 1.46056028e-03 3.17103822e-05 9.99998933e-01 -2.77383896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.10, Z:-0.28 [[ 9.99557173e-01 2.97207513e-02 -1.46083662e-03 6.79351436e+00] [-2.97207625e-02 9.99558240e-01 1.40799203e-05 -9.81084163e-02] [ 1.46060975e-03 2.93434929e-05 9.99998933e-01 -2.77628770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695871560000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.10, Z:-0.28 [[ 9.99608711e-01 2.79336848e-02 -1.46083751e-03 6.82267580e+00] [-2.79336942e-02 9.99609778e-01 1.39871802e-05 -9.71938055e-02] [ 1.46065817e-03 2.68248810e-05 9.99998933e-01 -2.78077482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.10, Z:-0.28 [[ 9.99670558e-01 2.56250170e-02 -1.46083818e-03 6.85114504e+00] [-2.56250240e-02 9.99671625e-01 1.39168908e-05 -9.50111019e-02] [ 1.46071510e-03 2.35217074e-05 9.99998933e-01 -2.82706318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.09, Z:-0.28 [[ 9.99682069e-01 2.51719410e-02 -1.46083868e-03 6.87971219e+00] [-2.51719476e-02 9.99683136e-01 1.38642171e-05 -9.30411924e-02] [ 1.46072478e-03 2.29123455e-05 9.99998933e-01 -2.82849919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.09, Z:-0.28 [[ 9.99687394e-01 2.49595839e-02 -1.46083934e-03 6.90863823e+00] [-2.49595903e-02 9.99688461e-01 1.37947769e-05 -9.04557124e-02] [ 1.46072854e-03 2.26714868e-05 9.99998933e-01 -2.83246440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815871560000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.09, Z:-0.28 [[ 9.99691422e-01 2.47977198e-02 -1.46083999e-03 6.93704932e+00] [-2.47977262e-02 9.99692489e-01 1.37255687e-05 -8.78073530e-02] [ 1.46073112e-03 2.25041766e-05 9.99998933e-01 -2.80631596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.08, Z:-0.28 [[ 9.99699542e-01 2.44681594e-02 -1.46084067e-03 6.96504223e+00] [-2.44681656e-02 9.99700610e-01 1.36527306e-05 -8.32359733e-02] [ 1.46073736e-03 2.20954628e-05 9.99998933e-01 -2.82970298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.08, Z:-0.28 [[ 9.99725484e-01 2.33842334e-02 -1.46084159e-03 6.99369267e+00] [-2.33842385e-02 9.99726551e-01 1.35536969e-05 -8.10313523e-02] [ 1.46075906e-03 2.06106919e-05 9.99998933e-01 -2.81642344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.08, Z:-0.28 [[ 9.99761910e-01 2.17712954e-02 -1.46084224e-03 7.02269254e+00] [-2.17712990e-02 9.99762977e-01 1.34827708e-05 -7.91914889e-02] [ 1.46078952e-03 1.83248725e-05 9.99998933e-01 -2.80348248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.08, Z:-0.28 [[ 9.99870022e-01 1.60562793e-02 -1.46084290e-03 7.05188444e+00] [-1.60562768e-02 9.99871090e-01 1.34114273e-05 -7.52270877e-02] [ 1.46086992e-03 1.00460138e-05 9.99998933e-01 -2.77029513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.07, Z:-0.28 [[ 9.99923660e-01 1.22694501e-02 -1.46084338e-03 7.08070763e+00] [-1.22694437e-02 9.99924727e-01 1.33580864e-05 -7.41121446e-02] [ 1.46089732e-03 4.56666896e-06 9.99998933e-01 -2.77029443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.07, Z:-0.28 [[ 9.99963588e-01 8.40764158e-03 -1.46084387e-03 7.11063546e+00] [-8.40763111e-03 9.99964655e-01 1.33049735e-05 -7.33763631e-02] [ 1.46090410e-03 -1.02225267e-06 9.99998933e-01 -2.75516154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025871560000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.07, Z:-0.28 [[ 9.99998206e-01 1.20603853e-03 -1.46084418e-03 7.14037627e+00] [-1.20602044e-03 9.99999273e-01 1.32702227e-05 -7.22524195e-02] [ 1.46085912e-03 -1.15083910e-05 9.99998933e-01 -2.76834220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.07, Z:-0.28 [[ 9.99997786e-01 -1.51446814e-03 -1.46084450e-03 7.16964054e+00] [ 1.51448910e-03 9.99998853e-01 1.32355978e-05 -7.22608673e-02] [ 1.46082278e-03 -1.54480016e-05 9.99998933e-01 -2.79386071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.07, Z:-0.28 [[ 9.99978685e-01 -6.36365171e-03 -1.46084465e-03 7.19891097e+00] [ 6.36367781e-03 9.99979752e-01 1.32184503e-05 -7.29042187e-02] [ 1.46073095e-03 -2.25145133e-05 9.99998933e-01 -2.81499225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.07, Z:-0.28 [[ 9.99962602e-01 -8.52409389e-03 -1.46084496e-03 7.22906903e+00] [ 8.52412224e-03 9.99963669e-01 1.31843387e-05 -7.41254568e-02] [ 1.46067950e-03 -2.56362666e-05 9.99998933e-01 -2.82338074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145871560000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.08, Z:-0.28 [[ 9.99946662e-01 -1.02244006e-02 -1.46084496e-03 7.25942689e+00] [ 1.02244308e-02 9.99947729e-01 1.31843387e-05 -7.52974066e-02] [ 1.46063380e-03 -2.81199436e-05 9.99998933e-01 -2.81415436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175871560000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.08, Z:-0.28 [[ 9.99928863e-01 -1.18378985e-02 -1.46084481e-03 7.29015720e+00] [ 1.18379305e-02 9.99929929e-01 1.32012577e-05 -7.59983071e-02] [ 1.46058617e-03 -3.04936978e-05 9.99998933e-01 -2.81555222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.08, Z:-0.28 [[ 9.99902725e-01 -1.38710638e-02 -1.46084481e-03 7.32047523e+00] [ 1.38710979e-02 9.99903792e-01 1.32012577e-05 -7.71021836e-02] [ 1.46052115e-03 -3.34634949e-05 9.99998933e-01 -2.81366592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235871560000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.08, Z:-0.28 [[ 9.99893697e-01 -1.45072569e-02 -1.46084465e-03 7.35079032e+00] [ 1.45072917e-02 9.99894764e-01 1.32181963e-05 -7.89272866e-02] [ 1.46049916e-03 -3.44096907e-05 9.99998933e-01 -2.79883644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.08, Z:-0.28 [[ 9.99887885e-01 -1.49024583e-02 -1.46084450e-03 7.38246761e+00] [ 1.49024935e-02 9.99888952e-01 1.32349466e-05 -8.12389687e-02] [ 1.46048504e-03 -3.50036885e-05 9.99998933e-01 -2.79395843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.09, Z:-0.28 [[ 9.99893271e-01 -1.45365753e-02 -1.46084420e-03 7.41242812e+00] [ 1.45366101e-02 9.99894338e-01 1.32682775e-05 -8.63984191e-02] [ 1.46049697e-03 -3.45025840e-05 9.99998933e-01 -2.79276418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.09, Z:-0.28 [[ 9.99901990e-01 -1.39239434e-02 -1.46084405e-03 7.44148282e+00] [ 1.39239777e-02 9.99903057e-01 1.32848348e-05 -8.87660372e-02] [ 1.46051745e-03 -3.36242926e-05 9.99998933e-01 -2.81568183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.09, Z:-0.28 [[ 9.99901990e-01 -1.39239434e-02 -1.46084405e-03 7.47247910e+00] [ 1.39239777e-02 9.99903057e-01 1.32848348e-05 -8.90479156e-02] [ 1.46051745e-03 -3.36242926e-05 9.99998933e-01 -2.81522898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.09, Z:-0.28 [[ 9.99917784e-01 -1.27393404e-02 -1.46084405e-03 7.50254858e+00] [ 1.27393734e-02 9.99918851e-01 1.32848348e-05 -9.09666681e-02] [ 1.46055626e-03 -3.18939803e-05 9.99998933e-01 -2.82387754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.09, Z:-0.28 [[ 9.99955098e-01 -9.36311869e-03 -1.46084405e-03 7.53297014e+00] [ 9.36314808e-03 9.99956165e-01 1.32848348e-05 -9.45139407e-02] [ 1.46065562e-03 -2.69623374e-05 9.99998933e-01 -2.82677243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.10, Z:-0.29 [[ 9.99971834e-01 -7.36192245e-03 -1.46084389e-03 7.56230963e+00] [ 7.36194974e-03 9.99972900e-01 1.33019774e-05 -9.63782123e-02] [ 1.46070638e-03 -2.40562620e-05 9.99998933e-01 -2.85096494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.10, Z:-0.28 [[ 9.99983394e-01 -5.57465983e-03 -1.46084405e-03 7.59162818e+00] [ 5.57468519e-03 9.99984461e-01 1.32848240e-05 -9.84004426e-02] [ 1.46074729e-03 -2.14283491e-05 9.99998933e-01 -2.84906530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.10, Z:-0.28 [[ 9.99997785e-01 -1.51537645e-03 -1.46084420e-03 7.62132127e+00] [ 1.51539745e-03 9.99998852e-01 1.32685702e-05 -1.03049790e-01] [ 1.46082241e-03 -1.54823004e-05 9.99998933e-01 -2.80684194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.11, Z:-0.28 [[ 9.99998663e-01 7.35454569e-04 -1.46084435e-03 7.65091084e+00] [-7.35435995e-04 9.99999729e-01 1.32516278e-05 -1.05683383e-01] [ 1.46085370e-03 -1.21772525e-05 9.99998933e-01 -2.81719186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.11, Z:-0.28 [[ 9.99990712e-01 4.05482202e-03 -1.46084450e-03 7.68082608e+00] [-4.05480701e-03 9.99991779e-01 1.32346768e-05 -1.09637085e-01] [ 1.46088616e-03 -7.31111135e-06 9.99998933e-01 -2.80730884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.11, Z:-0.28 [[ 9.99982064e-01 5.80848160e-03 -1.46084483e-03 7.70986387e+00] [-5.80846852e-03 9.99983131e-01 1.31988493e-05 -1.11638628e-01] [ 1.46089685e-03 -4.71334134e-06 9.99998933e-01 -2.81632667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.11, Z:-0.28 [[ 9.99971241e-01 7.44196421e-03 -1.46084531e-03 7.73915366e+00] [-7.44195294e-03 9.99972308e-01 1.31453935e-05 -1.13536153e-01] [ 1.46090268e-03 -2.27347342e-06 9.99998933e-01 -2.81088826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.12, Z:-0.29 [[ 9.99958534e-01 8.98867814e-03 -1.46084563e-03 7.76798311e+00] [-8.98866858e-03 9.99959601e-01 1.31096251e-05 -1.15775967e-01] [ 1.46090445e-03 2.19757089e-08 9.99998933e-01 -2.85522361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.12, Z:-0.29 [[ 9.99929520e-01 1.17822724e-02 -1.46084610e-03 7.79702706e+00] [-1.17822659e-02 9.99930587e-01 1.30563183e-05 -1.19919849e-01] [ 1.46089854e-03 4.15667907e-06 9.99998933e-01 -2.86059977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.12, Z:-0.28 [[ 9.99911631e-01 1.32135071e-02 -1.46084639e-03 7.82559513e+00] [-1.32135022e-02 9.99912698e-01 1.30245642e-05 -1.21005437e-01] [ 1.46089095e-03 6.27948370e-06 9.99998933e-01 -2.80413769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.12, Z:-0.28 [[ 9.99897744e-01 1.42255910e-02 -1.46084702e-03 7.85457944e+00] [-1.42255872e-02 9.99898811e-01 1.29531745e-05 -1.21776764e-01] [ 1.46088347e-03 7.82955678e-06 9.99998933e-01 -2.79892544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.12, Z:-0.28 [[ 9.99869252e-01 1.61041861e-02 -1.46084765e-03 7.88327353e+00] [-1.61041844e-02 9.99870319e-01 1.28817847e-05 -1.23878957e-01] [ 1.46086566e-03 1.06456595e-05 9.99998933e-01 -2.81243614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.13, Z:-0.28 [[ 9.99866216e-01 1.62915792e-02 -1.46084800e-03 7.91167474e+00] [-1.62915778e-02 9.99867283e-01 1.28418168e-05 -1.25608609e-01] [ 1.46086334e-03 1.09594201e-05 9.99998933e-01 -2.84408605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.13, Z:-0.28 [[ 9.99874053e-01 1.58033053e-02 -1.46084845e-03 7.94158594e+00] [-1.58033035e-02 9.99875120e-01 1.27908283e-05 -1.27779222e-01] [ 1.46086815e-03 1.02970141e-05 9.99998933e-01 -2.84503446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.13, Z:-0.28 [[ 9.99898430e-01 1.41773136e-02 -1.46084872e-03 7.97014739e+00] [-1.41773101e-02 9.99899497e-01 1.27598651e-05 -1.30389762e-01] [ 1.46088280e-03 7.95233619e-06 9.99998933e-01 -2.84383427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.13, Z:-0.28 [[ 9.99910897e-01 1.32689448e-02 -1.46084912e-03 7.99932252e+00] [-1.32689404e-02 9.99911964e-01 1.27136052e-05 -1.31080400e-01] [ 1.46088921e-03 6.67144761e-06 9.99998933e-01 -2.78571681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.13, Z:-0.28 [[ 9.99926603e-01 1.20272281e-02 -1.46084943e-03 8.02844492e+00] [-1.20272224e-02 9.99927670e-01 1.26774623e-05 -1.33031175e-01] [ 1.46089625e-03 4.89342925e-06 9.99998933e-01 -2.78678408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.14, Z:-0.28 [[ 9.99928659e-01 1.18550723e-02 -1.46084990e-03 8.05672033e+00] [-1.18550665e-02 9.99929726e-01 1.26235505e-05 -1.35045994e-01] [ 1.46089689e-03 4.69582279e-06 9.99998933e-01 -2.83892650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.14, Z:-0.28 [[ 9.99929290e-01 1.18017412e-02 -1.46085036e-03 8.08628618e+00] [-1.18017355e-02 9.99930357e-01 1.25704562e-05 -1.36839456e-01] [ 1.46089697e-03 4.67100213e-06 9.99998933e-01 -2.77936699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.14, Z:-0.28 [[ 9.99929460e-01 1.17872848e-02 -1.46085066e-03 8.11599352e+00] [-1.17872791e-02 9.99930528e-01 1.25350519e-05 -1.37684737e-01] [ 1.46089693e-03 4.68528680e-06 9.99998933e-01 -2.78047314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.14, Z:-0.28 [[ 9.99919585e-01 1.25972139e-02 -1.46085097e-03 8.14497066e+00] [-1.25972091e-02 9.99920652e-01 1.24994269e-05 -1.38724011e-01] [ 1.46089251e-03 5.90422334e-06 9.99998933e-01 -2.80029123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.14, Z:-0.28 [[ 9.99911215e-01 1.32449230e-02 -1.46085142e-03 8.17466927e+00] [-1.32449190e-02 9.99912282e-01 1.24462341e-05 -1.39231650e-01] [ 1.46088813e-03 6.90372960e-06 9.99998933e-01 -2.78630441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.14, Z:-0.28 [[ 9.99905842e-01 1.36445331e-02 -1.46085172e-03 8.20331592e+00] [-1.36445296e-02 9.99906909e-01 1.24110030e-05 -1.38911479e-01] [ 1.46088507e-03 7.52280011e-06 9.99998933e-01 -2.77922989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.14, Z:-0.27 [[ 9.99884902e-01 1.51012925e-02 -1.46085217e-03 8.23288027e+00] [-1.51012906e-02 9.99885969e-01 1.23582318e-05 -1.38439130e-01] [ 1.46087221e-03 9.70394364e-06 9.99998933e-01 -2.74565418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.14, Z:-0.27 [[ 9.99885509e-01 1.50610482e-02 -1.46085246e-03 8.26137331e+00] [-1.50610463e-02 9.99886576e-01 1.23235947e-05 -1.38655143e-01] [ 1.46087237e-03 9.67978274e-06 9.99998933e-01 -2.73713066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.14, Z:-0.27 [[ 9.99896505e-01 1.43123952e-02 -1.46085289e-03 8.29117987e+00] [-1.43123926e-02 9.99897572e-01 1.22719669e-05 -1.39679210e-01] [ 1.46087890e-03 8.63760327e-06 9.99998933e-01 -2.73251903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.14, Z:-0.27 [[ 9.99938367e-01 1.10057823e-02 -1.46085318e-03 8.32106150e+00] [-1.10057762e-02 9.99939435e-01 1.22379763e-05 -1.42603799e-01] [ 1.46089939e-03 3.84060110e-06 9.99998933e-01 -2.72661724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.14, Z:-0.27 [[ 9.99959021e-01 8.93431764e-03 -1.46085347e-03 8.35019626e+00] [-8.93430934e-03 9.99960088e-01 1.22025468e-05 -1.43771503e-01] [ 1.46090419e-03 8.49670022e-07 9.99998933e-01 -2.73798403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285871560000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.14, Z:-0.27 [[ 9.99974672e-01 6.96568587e-03 -1.46085391e-03 8.37977506e+00] [-6.96567555e-03 9.99975739e-01 1.21497756e-05 -1.44543097e-01] [ 1.46090310e-03 -1.97363352e-06 9.99998933e-01 -2.73157897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.15, Z:-0.28 [[ 9.99991752e-01 3.78972214e-03 -1.46085420e-03 8.40843821e+00] [-3.78970848e-03 9.99992819e-01 1.21147899e-05 -1.48399789e-01] [ 1.46088962e-03 -6.57847844e-06 9.99998933e-01 -2.76906802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.15, Z:-0.28 [[ 9.99996105e-01 2.37836733e-03 -1.46085448e-03 8.43810591e+00] [-2.37835222e-03 9.99997172e-01 1.20814514e-05 -1.50451138e-01] [ 1.46087908e-03 -8.60697789e-06 9.99998933e-01 -2.75355661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.15, Z:-0.28 [[ 9.99997505e-01 1.69005724e-03 -1.46085477e-03 8.46776905e+00] [-1.69004145e-03 9.99998572e-01 1.20461202e-05 -1.53126094e-01] [ 1.46087304e-03 -9.57718501e-06 9.99998933e-01 -2.75848999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.16, Z:-0.28 [[ 9.99997844e-01 1.47601484e-03 -1.46085506e-03 8.49691735e+00] [-1.47599887e-03 9.99998911e-01 1.20104159e-05 -1.55463495e-01] [ 1.46087120e-03 -9.85416954e-06 9.99998933e-01 -2.75502559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.16, Z:-0.28 [[ 9.99997263e-01 1.82760584e-03 -1.46085535e-03 8.52609743e+00] [-1.82759030e-03 9.99998330e-01 1.19748799e-05 -1.56336217e-01] [ 1.46087480e-03 -9.30500202e-06 9.99998933e-01 -2.77075183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.16, Z:-0.28 [[ 9.99995511e-01 2.61625599e-03 -1.46085550e-03 8.55605598e+00] [-2.61624131e-03 9.99996578e-01 1.19572407e-05 -1.57953061e-01] [ 1.46088178e-03 -8.13523653e-06 9.99998933e-01 -2.77071124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.16, Z:-0.28 [[ 9.99983950e-01 5.47415448e-03 -1.46085578e-03 8.58528217e+00] [-5.47414291e-03 9.99985017e-01 1.19228336e-05 -1.62478195e-01] [ 1.46089916e-03 -3.92570896e-06 9.99998933e-01 -2.76201272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.16, Z:-0.28 [[ 9.99970641e-01 7.52222952e-03 -1.46085606e-03 8.61382586e+00] [-7.52222018e-03 9.99971708e-01 1.18876672e-05 -1.64625763e-01] [ 1.46090415e-03 -8.98437181e-07 9.99998933e-01 -2.76548292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.17, Z:-0.27 [[ 9.99926508e-01 1.20351452e-02 -1.46085649e-03 8.64390337e+00] [-1.20351408e-02 9.99927575e-01 1.18350929e-05 -1.67036400e-01] [ 1.46089312e-03 5.74739040e-06 9.99998933e-01 -2.74436494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.17, Z:-0.27 [[ 9.99897021e-01 1.42763244e-02 -1.46085678e-03 8.67344410e+00] [-1.42763224e-02 9.99898088e-01 1.17996986e-05 -1.67911990e-01] [ 1.46087635e-03 9.05717883e-06 9.99998933e-01 -2.74200945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.17, Z:-0.27 [[ 9.99866055e-01 1.63014644e-02 -1.46085706e-03 8.70307482e+00] [-1.63014646e-02 9.99867122e-01 1.17643042e-05 -1.68294875e-01] [ 1.46085472e-03 1.20513812e-05 9.99998933e-01 -2.74026332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.17, Z:-0.27 [[ 9.99812444e-01 1.93117185e-02 -1.46085735e-03 8.73191798e+00] [-1.93117220e-02 9.99813511e-01 1.17284789e-05 -1.67541445e-01] [ 1.46081141e-03 1.64853918e-05 9.99998933e-01 -2.74085065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.17, Z:-0.27 [[ 9.99795164e-01 2.01865244e-02 -1.46085778e-03 8.76039159e+00] [-2.01865289e-02 9.99796231e-01 1.16749728e-05 -1.67718486e-01] [ 1.46079578e-03 1.78170663e-05 9.99998933e-01 -2.73453080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.17, Z:-0.27 [[ 9.99783435e-01 2.07593159e-02 -1.46085819e-03 8.78887179e+00] [-2.07593211e-02 9.99784502e-01 1.16224614e-05 -1.68668865e-01] [ 1.46078466e-03 1.87064799e-05 9.99998933e-01 -2.74496978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.17, Z:-0.27 [[ 9.99772086e-01 2.12988582e-02 -1.46085861e-03 8.81802735e+00] [-2.12988641e-02 9.99773153e-01 1.15700312e-05 -1.70054661e-01] [ 1.46077365e-03 1.95472347e-05 9.99998933e-01 -2.73001357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.17, Z:-0.27 [[ 9.99771718e-01 2.13161294e-02 -1.46085891e-03 8.84660064e+00] [-2.13161353e-02 9.99772785e-01 1.15318532e-05 -1.70583639e-01] [ 1.46077280e-03 1.96106455e-05 9.99998933e-01 -2.73417691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.17, Z:-0.27 [[ 9.99770179e-01 2.13882218e-02 -1.46085933e-03 8.87612123e+00] [-2.13882278e-02 9.99771246e-01 1.14790518e-05 -1.69821684e-01] [ 1.46077066e-03 1.97687784e-05 9.99998933e-01 -2.72812009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.17, Z:-0.27 [[ 9.99765640e-01 2.15993320e-02 -1.46085960e-03 8.90464691e+00] [-2.15993384e-02 9.99766707e-01 1.14435816e-05 -1.67501685e-01] [ 1.46076597e-03 2.01127012e-05 9.99998933e-01 -2.72991961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.17, Z:-0.27 [[ 9.99768459e-01 2.14684585e-02 -1.46086002e-03 8.93432134e+00] [-2.14684647e-02 9.99769526e-01 1.13906677e-05 -1.67013910e-01] [ 1.46076787e-03 1.99743914e-05 9.99998933e-01 -2.72494785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.17, Z:-0.27 [[ 9.99773559e-01 2.12295997e-02 -1.46086015e-03 8.96399287e+00] [-2.12296058e-02 9.99774626e-01 1.13734572e-05 -1.67034272e-01] [ 1.46077236e-03 1.96426033e-05 9.99998933e-01 -2.72396628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915871560000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.17, Z:-0.27 [[ 9.99808689e-01 1.95051542e-02 -1.46086042e-03 8.99381531e+00] [-1.95051584e-02 9.99809756e-01 1.13389857e-05 -1.65301123e-01] [ 1.46080367e-03 1.71574974e-05 9.99998933e-01 -2.70619483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.17, Z:-0.27 [[ 9.99836441e-01 1.80265801e-02 -1.46086070e-03 9.02278051e+00] [-1.80265828e-02 9.99837508e-01 1.13027766e-05 -1.65223178e-01] [ 1.46082707e-03 1.50333984e-05 9.99998933e-01 -2.73027134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975871560000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.17, Z:-0.27 [[ 9.99869507e-01 1.60883172e-02 -1.46086100e-03 9.05274582e+00] [-1.60883179e-02 9.99870575e-01 1.12633631e-05 -1.65247073e-01] [ 1.46085314e-03 1.22409029e-05 9.99998933e-01 -2.73650014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005871560000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.17, Z:-0.27 [[ 9.99924683e-01 1.21857890e-02 -1.46086114e-03 9.08222636e+00] [-1.21857855e-02 9.99925750e-01 1.12457088e-05 -1.65023968e-01] [ 1.46088971e-03 6.55687867e-06 9.99998933e-01 -2.71508069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.16, Z:-0.27 [[ 9.99944752e-01 1.04095933e-02 -1.46086140e-03 9.11149034e+00] [-1.04095881e-02 9.99945819e-01 1.12108529e-05 -1.64909375e-01] [ 1.46089895e-03 3.99673195e-06 9.99998933e-01 -2.72214491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065871560000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.16, Z:-0.27 [[ 9.99965185e-01 8.21547477e-03 -1.46086168e-03 9.14045796e+00] [-8.21546721e-03 9.99966252e-01 1.11752608e-05 -1.64717839e-01] [ 1.46090419e-03 8.26789473e-07 9.99998933e-01 -2.72107025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.17, Z:-0.27 [[ 9.99986564e-01 4.97378264e-03 -1.46086208e-03 9.16999383e+00] [-4.97377170e-03 9.99987631e-01 1.11223131e-05 -1.67028598e-01] [ 1.46089933e-03 -3.85616915e-06 9.99998933e-01 -2.71441663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.17, Z:-0.27 [[ 9.99992413e-01 3.61106472e-03 -1.46086235e-03 9.19909589e+00] [-3.61105237e-03 9.99993480e-01 1.10869816e-05 -1.68527554e-01] [ 1.46089286e-03 -5.81164704e-06 9.99998933e-01 -2.73617995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.17, Z:-0.27 [[ 9.99995343e-01 2.67938531e-03 -1.46086275e-03 9.22878584e+00] [-2.67937205e-03 9.99996410e-01 1.10343105e-05 -1.70611553e-01] [ 1.46088707e-03 -7.12006434e-06 9.99998933e-01 -2.74193130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.17, Z:-0.27 [[ 9.99997938e-01 1.41082100e-03 -1.46086301e-03 9.25842021e+00] [-1.41080643e-03 9.99999005e-01 1.09999437e-05 -1.72666109e-01] [ 1.46087707e-03 -8.93892613e-06 9.99998933e-01 -2.72221796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.17, Z:-0.27 [[ 9.99997853e-01 1.46985747e-03 -1.46086327e-03 9.28749677e+00] [-1.46984302e-03 9.99998920e-01 1.09646449e-05 -1.72771640e-01] [ 1.46087781e-03 -8.81738165e-06 9.99998933e-01 -2.71709587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.17, Z:-0.27 [[ 9.99996215e-01 2.33161313e-03 -1.46086340e-03 9.31721046e+00] [-2.33159963e-03 9.99997282e-01 1.09471521e-05 -1.73080296e-01] [ 1.46088495e-03 -7.54096205e-06 9.99998933e-01 -2.72891498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.17, Z:-0.27 [[ 9.99996270e-01 2.30776004e-03 -1.46086366e-03 9.34737265e+00] [-2.30774656e-03 9.99997337e-01 1.09122839e-05 -1.73261686e-01] [ 1.46088495e-03 -7.54094008e-06 9.99998933e-01 -2.72847432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.17, Z:-0.27 [[ 9.99989028e-01 4.45092081e-03 -1.46086392e-03 9.37754214e+00] [-4.45090967e-03 9.99990095e-01 1.08774377e-05 -1.74244856e-01] [ 1.46089787e-03 -4.37514496e-06 9.99998933e-01 -2.72660887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.18, Z:-0.27 [[ 9.99982822e-01 5.67649339e-03 -1.46086405e-03 9.40648117e+00] [-5.67648359e-03 9.99983889e-01 1.08596767e-05 -1.75359812e-01] [ 1.46090216e-03 -2.56691931e-06 9.99998933e-01 -2.74435689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.18, Z:-0.27 [[ 9.99974848e-01 6.94040692e-03 -1.46086445e-03 9.43592289e+00] [-6.94039854e-03 9.99975915e-01 1.08063998e-05 -1.76761496e-01] [ 1.46090426e-03 -6.67146542e-07 9.99998933e-01 -2.73747511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.18, Z:-0.28 [[ 9.99967081e-01 7.98139704e-03 -1.46086471e-03 9.46444916e+00] [-7.98138982e-03 9.99968148e-01 1.07709827e-05 -1.78784044e-01] [ 1.46090414e-03 8.89102626e-07 9.99998933e-01 -2.75055775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.18, Z:-0.28 [[ 9.99951295e-01 9.76082161e-03 -1.46086510e-03 9.49440117e+00] [-9.76081637e-03 9.99952362e-01 1.07179859e-05 -1.80591822e-01] [ 1.46090012e-03 3.54177207e-06 9.99998933e-01 -2.75542637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.18, Z:-0.27 [[ 9.99939945e-01 1.08615113e-02 -1.46086535e-03 9.52328311e+00] [-1.08615073e-02 9.99941012e-01 1.06836095e-05 -1.80654736e-01] [ 1.46089522e-03 5.18423177e-06 9.99998933e-01 -2.74337705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485871560000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.18, Z:-0.27 [[ 9.99903190e-01 1.38375139e-02 -1.46086572e-03 9.55256424e+00] [-1.38375131e-02 9.99904257e-01 1.06321664e-05 -1.81160244e-01] [ 1.46087298e-03 9.58361149e-06 9.99998933e-01 -2.73657938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.18, Z:-0.27 [[ 9.99881593e-01 1.53188342e-02 -1.46086598e-03 9.58167475e+00] [-1.53188351e-02 9.99882660e-01 1.05972762e-05 -1.81598084e-01] [ 1.46085690e-03 1.17827436e-05 9.99998933e-01 -2.74614381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.18, Z:-0.28 [[ 9.99838167e-01 1.79305575e-02 -1.46086635e-03 9.61029065e+00] [-1.79305612e-02 9.99839235e-01 1.05450367e-05 -1.81406044e-01] [ 1.46082057e-03 1.56508234e-05 9.99998933e-01 -2.75538607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.18, Z:-0.28 [[ 9.99820970e-01 1.88651581e-02 -1.46086672e-03 9.63959562e+00] [-1.88651629e-02 9.99822037e-01 1.04933153e-05 -1.81948238e-01] [ 1.46080470e-03 1.70680520e-05 9.99998933e-01 -2.76425801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.18, Z:-0.27 [[ 9.99814259e-01 1.92175300e-02 -1.46086696e-03 9.66912507e+00] [-1.92175352e-02 9.99815326e-01 1.04600722e-05 -1.82379437e-01] [ 1.46079820e-03 1.76161330e-05 9.99998933e-01 -2.73853780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.18, Z:-0.27 [[ 9.99812263e-01 1.93210942e-02 -1.46086722e-03 9.69778972e+00] [-1.93210996e-02 9.99813330e-01 1.04239656e-05 -1.82708846e-01] [ 1.46079592e-03 1.78035525e-05 9.99998933e-01 -2.72346117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.18, Z:-0.27 [[ 9.99824019e-01 1.87028584e-02 -1.46086760e-03 9.72635638e+00] [-1.87028632e-02 9.99825086e-01 1.03701075e-05 -1.83397581e-01] [ 1.46080603e-03 1.69541244e-05 9.99998933e-01 -2.73567086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.18, Z:-0.27 [[ 9.99837059e-01 1.79922475e-02 -1.46086798e-03 9.75586618e+00] [-1.79922516e-02 9.99838126e-01 1.03168799e-05 -1.84209980e-01] [ 1.46081713e-03 1.59691054e-05 9.99998933e-01 -2.73023741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.18, Z:-0.27 [[ 9.99860905e-01 1.66143746e-02 -1.46086822e-03 9.78514457e+00] [-1.66143773e-02 9.99861972e-01 1.02830991e-05 -1.84236917e-01] [ 1.46083742e-03 1.39897469e-05 9.99998933e-01 -2.70067790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755871560000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.18, Z:-0.27 [[ 9.99869884e-01 1.60648740e-02 -1.46086847e-03 9.81488406e+00] [-1.60648762e-02 9.99870951e-01 1.02469689e-05 -1.84700143e-01] [ 1.46084456e-03 1.32230355e-05 9.99998933e-01 -2.70954732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.19, Z:-0.27 [[ 9.99881999e-01 1.52923140e-02 -1.46086873e-03 9.84363541e+00] [-1.52923154e-02 9.99883066e-01 1.02104351e-05 -1.86014825e-01] [ 1.46085404e-03 1.21308351e-05 9.99998933e-01 -2.74474609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.19, Z:-0.28 [[ 9.99901916e-01 1.39292729e-02 -1.46086910e-03 9.87298954e+00] [-1.39292730e-02 9.99902983e-01 1.01559594e-05 -1.89242260e-01] [ 1.46086884e-03 1.01938813e-05 9.99998933e-01 -2.75592136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.19, Z:-0.27 [[ 9.99907811e-01 1.34994942e-02 -1.46086935e-03 9.90162760e+00] [-1.34994938e-02 9.99908878e-01 1.01200769e-05 -1.89682365e-01] [ 1.46087285e-03 9.60185287e-06 9.99998933e-01 -2.73893762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875871560000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.19, Z:-0.28 [[ 9.99917270e-01 1.27796616e-02 -1.46086972e-03 9.92987188e+00] [-1.27796605e-02 9.99918337e-01 1.00664165e-05 -1.89334305e-01] [ 1.46087907e-03 8.60383544e-06 9.99998933e-01 -2.75715380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905871560000001 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.19, Z:-0.27 [[ 9.99925773e-01 1.20960255e-02 -1.46087009e-03 9.95954256e+00] [-1.20960238e-02 9.99926840e-01 1.00131736e-05 -1.91049124e-01] [ 1.46088433e-03 7.65828897e-06 9.99998933e-01 -2.73273589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.19, Z:-0.28 [[ 9.99929588e-01 1.17764188e-02 -1.46087033e-03 9.98863063e+00] [-1.17764168e-02 9.99930656e-01 9.97723405e-06 -1.90987766e-01] [ 1.46088653e-03 7.22728633e-06 9.99998933e-01 -2.76280144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.19, Z:-0.28 [[ 9.99925796e-01 1.20941478e-02 -1.46087070e-03 1.00181935e+01] [-1.20941462e-02 9.99926863e-01 9.92365841e-06 -1.91156713e-01] [ 1.46088387e-03 7.74506176e-06 9.99998933e-01 -2.76429355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995871560000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.19, Z:-0.27 [[ 9.99919962e-01 1.25672039e-02 -1.46087094e-03 1.00481275e+01] [-1.25672028e-02 9.99921030e-01 9.88782235e-06 -1.92408375e-01] [ 1.46087984e-03 8.47203044e-06 9.99998933e-01 -2.74668254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.20, Z:-0.27 [[ 9.99910366e-01 1.33088534e-02 -1.46087118e-03 1.00781168e+01] [-1.33088532e-02 9.99911433e-01 9.85174966e-06 -1.95737834e-01] [ 1.46087291e-03 9.59165347e-06 9.99998933e-01 -2.73936688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.20, Z:-0.27 [[ 9.99900116e-01 1.40578835e-02 -1.46087142e-03 1.01070353e+01] [-1.40578842e-02 9.99901183e-01 9.81575534e-06 -1.96861100e-01] [ 1.46086505e-03 1.07219863e-05 9.99998933e-01 -2.72667552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085871560000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.20, Z:-0.27 [[ 9.99861101e-01 1.66025550e-02 -1.46087178e-03 1.01355485e+01] [-1.66025584e-02 9.99862168e-01 9.76207940e-06 -1.96617543e-01] [ 1.46083250e-03 1.44934857e-05 9.99998933e-01 -2.69365169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.20, Z:-0.27 [[ 9.99835583e-01 1.80741193e-02 -1.46087213e-03 1.01645640e+01] [-1.80741244e-02 9.99836650e-01 9.70958237e-06 -1.95534562e-01] [ 1.46080899e-03 1.66959987e-05 9.99998933e-01 -2.70127722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.20, Z:-0.27 [[ 9.99745652e-01 2.25055014e-02 -1.46087178e-03 1.01942100e+01] [-2.25055112e-02 9.99746719e-01 9.76171676e-06 -1.95028797e-01] [ 1.46072146e-03 2.31184324e-05 9.99998933e-01 -2.68467507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175871560000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.19, Z:-0.27 [[ 9.99690327e-01 2.48418121e-02 -1.46087202e-03 1.02240483e+01] [-2.48418244e-02 9.99691394e-01 9.72597866e-06 -1.94477532e-01] [ 1.46066280e-03 2.65677594e-05 9.99998933e-01 -2.68607723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.19, Z:-0.27 [[ 9.99626268e-01 2.72981600e-02 -1.46087226e-03 1.02537682e+01] [-2.72981750e-02 9.99627335e-01 9.68984831e-06 -1.93400071e-01] [ 1.46059236e-03 3.01929197e-05 9.99998933e-01 -2.68777869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.19, Z:-0.27 [[ 9.99563422e-01 2.95098617e-02 -1.46087250e-03 1.02833732e+01] [-2.95098791e-02 9.99564489e-01 9.65384100e-06 -1.91800543e-01] [ 1.46052116e-03 3.34605445e-05 9.99998933e-01 -2.69335637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.19, Z:-0.27 [[ 9.99462502e-01 3.27501444e-02 -1.46087262e-03 1.03126075e+01] [-3.27501653e-02 9.99463569e-01 9.63600420e-06 -1.89040335e-01] [ 1.46040454e-03 3.82129948e-05 9.99998933e-01 -2.70598854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.19, Z:-0.27 [[ 9.99422186e-01 3.39581947e-02 -1.46087285e-03 1.03410775e+01] [-3.39582169e-02 9.99423253e-01 9.60034302e-06 -1.87409604e-01] [ 1.46035631e-03 4.00138414e-05 9.99998933e-01 -2.72428534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.19, Z:-0.27 [[ 9.99400191e-01 3.45994846e-02 -1.46087320e-03 1.03709587e+01] [-3.45995076e-02 9.99401258e-01 9.54734597e-06 -1.85467828e-01] [ 1.46032884e-03 4.10038739e-05 9.99998933e-01 -2.71954406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355871560000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.18, Z:-0.27 [[ 9.99407237e-01 3.43953550e-02 -1.46087343e-03 1.03998125e+01] [-3.43953778e-02 9.99408304e-01 9.51131520e-06 -1.82625670e-01] [ 1.46033618e-03 4.07416163e-05 9.99998933e-01 -2.71315866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385871560000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.18, Z:-0.27 [[ 9.99422476e-01 3.39496637e-02 -1.46087378e-03 1.04294267e+01] [-3.39496861e-02 9.99423543e-01 9.45772399e-06 -1.81371327e-01] [ 1.46035273e-03 4.01439443e-05 9.99998933e-01 -2.70112270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.18, Z:-0.27 [[ 9.99480308e-01 3.22021601e-02 -1.46087401e-03 1.04578959e+01] [-3.22021807e-02 9.99481375e-01 9.42252473e-06 -1.76189740e-01] [ 1.46041979e-03 3.76257008e-05 9.99998933e-01 -2.72812147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.17, Z:-0.27 [[ 9.99503796e-01 3.14647040e-02 -1.46087434e-03 1.04873963e+01] [-3.14647239e-02 9.99504863e-01 9.36984967e-06 -1.73736437e-01] [ 1.46044583e-03 3.66008076e-05 9.99998933e-01 -2.71696162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.17, Z:-0.27 [[ 9.99520131e-01 3.09414510e-02 -1.46087457e-03 1.05166746e+01] [-3.09414704e-02 9.99521198e-01 9.33443227e-06 -1.71633495e-01] [ 1.46046392e-03 3.58716543e-05 9.99998933e-01 -2.68951158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505871560000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.17, Z:-0.27 [[ 9.99568411e-01 2.93403579e-02 -1.46087480e-03 1.05465914e+01] [-2.93403757e-02 9.99569478e-01 9.29856001e-06 -1.66286802e-01] [ 1.46051868e-03 3.35680685e-05 9.99998933e-01 -2.69774330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.16, Z:-0.27 [[ 9.99612167e-01 2.78097339e-02 -1.46087503e-03 1.05748058e+01] [-2.78097500e-02 9.99613234e-01 9.26215443e-06 -1.63288265e-01] [ 1.46056759e-03 3.13680071e-05 9.99998933e-01 -2.71982180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.16, Z:-0.27 [[ 9.99670658e-01 2.56211268e-02 -1.46087537e-03 1.06046627e+01] [-2.56211407e-02 9.99671725e-01 9.20769830e-06 -1.60816565e-01] [ 1.46063171e-03 2.82246276e-05 9.99998933e-01 -2.73755048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595871560000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.16, Z:-0.27 [[ 9.99721672e-01 2.35466319e-02 -1.46087560e-03 1.06336630e+01] [-2.35466436e-02 9.99722739e-01 9.17178193e-06 -1.59469250e-01] [ 1.46068652e-03 2.52294879e-05 9.99998933e-01 -2.73127716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.16, Z:-0.28 [[ 9.99834711e-01 1.81222869e-02 -1.46087593e-03 1.06636112e+01] [-1.81222930e-02 9.99835778e-01 9.11805556e-06 -1.55910872e-01] [ 1.46080126e-03 1.73578732e-05 9.99998933e-01 -2.76587062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.15, Z:-0.28 [[ 9.99882053e-01 1.52887741e-02 -1.46087615e-03 1.06926147e+01] [-1.52887771e-02 9.99883120e-01 9.08240702e-06 -1.54463684e-01] [ 1.46084427e-03 1.32536742e-05 9.99998933e-01 -2.77239001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.15, Z:-0.27 [[ 9.99952805e-01 9.60490251e-03 -1.46087648e-03 1.07224785e+01] [-9.60489956e-03 9.99953872e-01 9.02929657e-06 -1.51963189e-01] [ 1.46089582e-03 5.00270146e-06 9.99998933e-01 -2.74536771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.15, Z:-0.28 [[ 9.99975637e-01 6.82575273e-03 -1.46087670e-03 1.07512361e+01] [-6.82574687e-03 9.99976704e-01 8.99343465e-06 -1.51002340e-01] [ 1.46090406e-03 9.78359041e-07 9.99998933e-01 -2.75414580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.15, Z:-0.28 [[ 9.99990070e-01 4.21016235e-03 -1.46087703e-03 1.07808517e+01] [-4.21015379e-03 9.99991137e-01 8.94012311e-06 -1.49887476e-01] [ 1.46090172e-03 -2.78951737e-06 9.99998933e-01 -2.76559712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.15, Z:-0.27 [[ 9.99998718e-01 6.56144620e-04 -1.46087724e-03 1.08107590e+01] [-6.56132311e-04 9.99999785e-01 8.90517120e-06 -1.49144642e-01] [ 1.46088277e-03 -7.94663102e-06 9.99998933e-01 -2.73397542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.15, Z:-0.28 [[ 9.99998549e-01 -8.76102068e-04 -1.46087746e-03 1.08403265e+01] [ 8.76115959e-04 9.99999616e-01 8.86881085e-06 -1.48905802e-01] [ 1.46086913e-03 -1.01486960e-05 9.99998933e-01 -2.75978624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835871560000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.15, Z:-0.28 [[ 9.99996208e-01 -2.33448035e-03 -1.46087757e-03 1.08694781e+01] [ 2.33449577e-03 9.99997275e-01 8.85073269e-06 -1.48326697e-01] [ 1.46085293e-03 -1.22611116e-05 9.99998933e-01 -2.78292578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.15, Z:-0.27 [[ 9.99991486e-01 -3.85918640e-03 -1.46087768e-03 1.08986873e+01] [ 3.85920342e-03 9.99992553e-01 8.83368129e-06 -1.48670413e-01] [ 1.46083271e-03 -1.44714302e-05 9.99998933e-01 -2.74070320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895871560000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.15, Z:-0.27 [[ 9.99990147e-01 -4.19196566e-03 -1.46087788e-03 1.09282183e+01] [ 4.19198299e-03 9.99991214e-01 8.79923082e-06 -1.49289946e-01] [ 1.46082816e-03 -1.49231194e-05 9.99998933e-01 -2.72555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.15, Z:-0.27 [[ 9.99989835e-01 -4.26571495e-03 -1.46087809e-03 1.09578850e+01] [ 4.26573231e-03 9.99990902e-01 8.76445741e-06 -1.49966595e-01] [ 1.46082741e-03 -1.49960832e-05 9.99998933e-01 -2.73961050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.15, Z:-0.27 [[ 9.99994288e-01 -3.04805372e-03 -1.46087810e-03 1.09877234e+01] [ 3.04806977e-03 9.99995355e-01 8.76314776e-06 -1.51193228e-01] [ 1.46084460e-03 -1.32159561e-05 9.99998933e-01 -2.70581194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985871560000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.15, Z:-0.27 [[ 9.99996858e-01 -2.03708802e-03 -1.46087831e-03 1.10171949e+01] [ 2.03710295e-03 9.99997925e-01 8.72769744e-06 -1.51918500e-01] [ 1.46085750e-03 -1.17036295e-05 9.99998933e-01 -2.69985510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.15, Z:-0.27 [[ 9.99998923e-01 -1.44201654e-04 -1.46087842e-03 1.10468081e+01] [ 1.44214532e-04 9.99999990e-01 8.71003669e-06 -1.52570644e-01] [ 1.46087715e-03 -8.92070721e-06 9.99998933e-01 -2.73661830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.15, Z:-0.27 [[ 9.99998038e-01 1.33752292e-03 -1.46087852e-03 1.10764817e+01] [-1.33751165e-03 9.99999105e-01 8.69249555e-06 -1.52776070e-01] [ 1.46088884e-03 -6.73853646e-06 9.99998933e-01 -2.72743526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.15, Z:-0.27 [[ 9.99992628e-01 3.55112465e-03 -1.46087873e-03 1.11065871e+01] [-3.55111579e-03 9.99993695e-01 8.65744751e-06 -1.53703986e-01] [ 1.46090026e-03 -3.46963416e-06 9.99998933e-01 -2.71599703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.15, Z:-0.28 [[ 9.99973757e-01 7.09591266e-03 -1.46087894e-03 1.11348545e+01] [-7.09590763e-03 9.99974824e-01 8.62240701e-06 -1.53737725e-01] [ 1.46090334e-03 1.74408126e-06 9.99998933e-01 -2.75721279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135871560000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.15, Z:-0.28 [[ 9.99957839e-01 9.06560383e-03 -1.46087914e-03 1.11633230e+01] [-9.06560095e-03 9.99958907e-01 8.58761172e-06 -1.54556848e-01] [ 1.46089696e-03 4.65649768e-06 9.99998933e-01 -2.75157944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.15, Z:-0.28 [[ 9.99958054e-01 9.04189458e-03 -1.46087945e-03 1.11934844e+01] [-9.04189176e-03 9.99959121e-01 8.53546672e-06 -1.54688002e-01] [ 1.46089690e-03 4.67400513e-06 9.99998933e-01 -2.75113878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.15, Z:-0.28 [[ 9.99927767e-01 1.19300300e-02 -1.46087965e-03 1.12230494e+01] [-1.19300303e-02 9.99928835e-01 8.50082899e-06 -1.52221289e-01] [ 1.46087710e-03 8.92812353e-06 9.99998933e-01 -2.78876882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.15, Z:-0.28 [[ 9.99910196e-01 1.33215982e-02 -1.46087985e-03 1.12522453e+01] [-1.33216000e-02 9.99911264e-01 8.46605555e-06 -1.51339415e-01] [ 1.46086300e-03 1.09959618e-05 9.99998933e-01 -2.76353341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.15, Z:-0.28 [[ 9.99898397e-01 1.41795868e-02 -1.46088025e-03 1.12805689e+01] [-1.41795896e-02 9.99899465e-01 8.39541470e-06 -1.49879362e-01] [ 1.46085243e-03 1.23201208e-05 9.99998933e-01 -2.78675822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.15, Z:-0.27 [[ 9.99878833e-01 1.54978843e-02 -1.46088055e-03 1.13104619e+01] [-1.54978887e-02 9.99879900e-01 8.34298016e-06 -1.49142001e-01] [ 1.46083440e-03 1.42985950e-05 9.99998933e-01 -2.73611960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.15, Z:-0.27 [[ 9.99882012e-01 1.52914334e-02 -1.46088075e-03 1.13398354e+01] [-1.52914376e-02 9.99883079e-01 8.30816527e-06 -1.48355180e-01] [ 1.46083699e-03 1.40317818e-05 9.99998933e-01 -2.73941422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.15, Z:-0.27 [[ 9.99888495e-01 1.48614619e-02 -1.46088095e-03 1.13695764e+01] [-1.48614657e-02 9.99889562e-01 8.27328687e-06 -1.47613128e-01] [ 1.46084257e-03 1.34384678e-05 9.99998933e-01 -2.71749304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.15, Z:-0.27 [[ 9.99907170e-01 1.35468357e-02 -1.46088115e-03 1.13993802e+01] [-1.35468381e-02 9.99908237e-01 8.23712212e-06 -1.47283059e-01] [ 1.46085869e-03 1.15539631e-05 9.99998933e-01 -2.69953194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.15, Z:-0.27 [[ 9.99921237e-01 1.24654088e-02 -1.46088135e-03 1.14277950e+01] [-1.24654101e-02 9.99922304e-01 8.20126009e-06 -1.45856792e-01] [ 1.46087008e-03 1.00098711e-05 9.99998933e-01 -2.74489141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.14, Z:-0.27 [[ 9.99932948e-01 1.14875855e-02 -1.46088165e-03 1.14578148e+01] [-1.14875859e-02 9.99934015e-01 8.14761848e-06 -1.44699861e-01] [ 1.46087885e-03 8.63493126e-06 9.99998933e-01 -2.72354628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.14, Z:-0.27 [[ 9.99947458e-01 1.01463221e-02 -1.46088185e-03 1.14876204e+01] [-1.01463210e-02 9.99948525e-01 8.11241664e-06 -1.43204051e-01] [ 1.46088896e-03 6.71058583e-06 9.99998933e-01 -2.73599406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.14, Z:-0.28 [[ 9.99977348e-01 6.57034678e-03 -1.46088205e-03 1.15175416e+01] [-6.57034199e-03 9.99978415e-01 8.07664487e-06 -1.43899758e-01] [ 1.46090358e-03 1.52203274e-06 9.99998933e-01 -2.75961924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.14, Z:-0.28 [[ 9.99990491e-01 4.10904989e-03 -1.46088224e-03 1.15465412e+01] [-4.10904253e-03 9.99991558e-01 8.04093989e-06 -1.44463984e-01] [ 1.46090295e-03 -2.03803615e-06 9.99998933e-01 -2.81459278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.14, Z:-0.28 [[ 9.99998929e-01 -9.12142866e-05 -1.46088253e-03 1.15758708e+01] [ 9.12260532e-05 9.99999996e-01 7.98776115e-06 -1.43096093e-01] [ 1.46088180e-03 -8.12102314e-06 9.99998933e-01 -2.80145939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.14, Z:-0.28 [[ 9.99997090e-01 -1.91971905e-03 -1.46088272e-03 1.16050980e+01] [ 1.91973272e-03 9.99998157e-01 7.95321720e-06 -1.42225449e-01] [ 1.46086476e-03 -1.07576984e-05 9.99998933e-01 -2.79065243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.14, Z:-0.28 [[ 9.99991562e-01 -3.83949944e-03 -1.46088282e-03 1.16346751e+01] [ 3.83951513e-03 9.99992629e-01 7.93602302e-06 -1.42707116e-01] [ 1.46084158e-03 -1.35450377e-05 9.99998933e-01 -2.77118592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.14, Z:-0.28 [[ 9.99975871e-01 -6.79141231e-03 -1.46088301e-03 1.16638267e+01] [ 6.79143110e-03 9.99976938e-01 7.90091052e-06 -1.44845032e-01] [ 1.46079566e-03 -1.78222062e-05 9.99998933e-01 -2.76435059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.15, Z:-0.28 [[ 9.99968552e-01 -7.79495401e-03 -1.46088310e-03 1.16930411e+01] [ 7.79497384e-03 9.99969619e-01 7.88343838e-06 -1.45798408e-01] [ 1.46077727e-03 -1.92707360e-05 9.99998933e-01 -2.76035776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.15, Z:-0.27 [[ 9.99960651e-01 -8.75004052e-03 -1.46088319e-03 1.17236176e+01] [ 8.75006135e-03 9.99961717e-01 7.86608627e-06 -1.48877295e-01] [ 1.46075844e-03 -2.06485943e-05 9.99998933e-01 -2.73937531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.15, Z:-0.27 [[ 9.99964122e-01 -8.34394257e-03 -1.46088319e-03 1.17527620e+01] [ 8.34396296e-03 9.99965189e-01 7.86608627e-06 -1.50042531e-01] [ 1.46076670e-03 -2.00553593e-05 9.99998933e-01 -2.70424593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.15, Z:-0.27 [[ 9.99968793e-01 -7.76397927e-03 -1.46088329e-03 1.17832029e+01] [ 7.76399902e-03 9.99969860e-01 7.84836505e-06 -1.49656078e-01] [ 1.46077832e-03 -1.91904165e-05 9.99998933e-01 -2.68397346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.15, Z:-0.27 [[ 9.99985570e-01 -5.16975948e-03 -1.46088329e-03 1.18125017e+01] [ 5.16977646e-03 9.99986637e-01 7.84836505e-06 -1.50166530e-01] [ 1.46082319e-03 -1.54006918e-05 9.99998933e-01 -2.67316802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.15, Z:-0.27 [[ 9.99992229e-01 -3.66169985e-03 -1.46088374e-03 1.18416851e+01] [ 3.66171510e-03 9.99993296e-01 7.76427436e-06 -1.51319900e-01] [ 1.46084551e-03 -1.31135541e-05 9.99998933e-01 -2.69935828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.15, Z:-0.27 [[ 9.99997171e-01 -1.87713592e-03 -1.46088372e-03 1.18709378e+01] [ 1.87714927e-03 9.99998238e-01 7.76730690e-06 -1.52834085e-01] [ 1.46086657e-03 -1.05095817e-05 9.99998933e-01 -2.71027339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885871560000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.15, Z:-0.27 [[ 9.99996621e-01 2.15028091e-03 -1.46088381e-03 1.19007651e+01] [-2.15027188e-03 9.99997688e-01 7.74960208e-06 -1.53988632e-01] [ 1.46089710e-03 -4.60827850e-06 9.99998933e-01 -2.70072597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.15, Z:-0.27 [[ 9.99990148e-01 4.19174084e-03 -1.46088391e-03 1.19296834e+01] [-4.19173402e-03 9.99991215e-01 7.73188007e-06 -1.53704002e-01] [ 1.46090348e-03 -1.60816712e-06 9.99998933e-01 -2.72810905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.15, Z:-0.27 [[ 9.99978403e-01 6.40770190e-03 -1.46088419e-03 1.19593205e+01] [-6.40769752e-03 9.99979470e-01 7.67868604e-06 -1.53643189e-01] [ 1.46090340e-03 1.68238377e-06 9.99998933e-01 -2.71687411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.15, Z:-0.27 [[ 9.99932905e-01 1.14913365e-02 -1.46088437e-03 1.19885485e+01] [-1.14913376e-02 9.99933972e-01 7.64291669e-06 -1.53706865e-01] [ 1.46087574e-03 9.14511166e-06 9.99998933e-01 -2.70718470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.15, Z:-0.27 [[ 9.99908768e-01 1.34283964e-02 -1.46088456e-03 1.20173429e+01] [-1.34283996e-02 9.99909835e-01 7.60642811e-06 -1.54319408e-01] [ 1.46085499e-03 1.20116075e-05 9.99998933e-01 -2.71603937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.15, Z:-0.28 [[ 9.99856232e-01 1.68932209e-02 -1.46088494e-03 1.20463707e+01] [-1.68932280e-02 9.99857299e-01 7.53307722e-06 -1.54941648e-01] [ 1.46080373e-03 1.71470682e-05 9.99998933e-01 -2.77276175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.16, Z:-0.28 [[ 9.99836368e-01 1.80306345e-02 -1.46088522e-03 1.20752549e+01] [-1.80306428e-02 9.99837435e-01 7.47854916e-06 -1.55321277e-01] [ 1.46078258e-03 1.88633742e-05 9.99998933e-01 -2.78569930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.16, Z:-0.28 [[ 9.99827595e-01 1.85106833e-02 -1.46088549e-03 1.21047379e+01] [-1.85106922e-02 9.99828662e-01 7.42529045e-06 -1.55284158e-01] [ 1.46077263e-03 1.96179914e-05 9.99998933e-01 -2.77646326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.15, Z:-0.27 [[ 9.99837195e-01 1.79846891e-02 -1.46088567e-03 1.21333128e+01] [-1.79846975e-02 9.99838262e-01 7.38918335e-06 -1.54664841e-01] [ 1.46078229e-03 1.88856065e-05 9.99998933e-01 -2.74939881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.15, Z:-0.27 [[ 9.99859939e-01 1.66724059e-02 -1.46088595e-03 1.21632910e+01] [-1.66724130e-02 9.99861006e-01 7.33534018e-06 -1.53878617e-01] [ 1.46080519e-03 1.70221810e-05 9.99998933e-01 -2.74181333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.15, Z:-0.27 [[ 9.99884105e-01 1.51539483e-02 -1.46088613e-03 1.21919134e+01] [-1.51539538e-02 9.99885172e-01 7.29929861e-06 -1.54054987e-01] [ 1.46082899e-03 1.48397481e-05 9.99998933e-01 -2.74418014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.16, Z:-0.27 [[ 9.99928132e-01 1.18994376e-02 -1.46088639e-03 1.22215757e+01] [-1.18994397e-02 9.99929199e-01 7.24572239e-06 -1.55221310e-01] [ 1.46086918e-03 1.01385279e-05 9.99998933e-01 -2.72705098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.16, Z:-0.27 [[ 9.99940417e-01 1.08179968e-02 -1.46088657e-03 1.22513972e+01] [-1.08179978e-02 9.99941484e-01 7.21039035e-06 -1.56462865e-01] [ 1.46087908e-03 8.59390696e-06 9.99998933e-01 -2.70390374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.16, Z:-0.27 [[ 9.99949015e-01 9.99160729e-03 -1.46088674e-03 1.22803425e+01] [-9.99160747e-03 9.99950083e-01 7.17465436e-06 -1.56664844e-01] [ 1.46088550e-03 7.42231831e-06 9.99998933e-01 -2.72658650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.16, Z:-0.27 [[ 9.99940539e-01 1.08066785e-02 -1.46088700e-03 1.23090507e+01] [-1.08066796e-02 9.99941606e-01 7.12124685e-06 -1.56368118e-01] [ 1.46087865e-03 8.66651433e-06 9.99998933e-01 -2.72058797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.16, Z:-0.27 [[ 9.99928656e-01 1.18553630e-02 -1.46088718e-03 1.23379532e+01] [-1.18553653e-02 9.99929723e-01 7.08512056e-06 -1.55208145e-01] [ 1.46086851e-03 1.02347361e-05 9.99998933e-01 -2.71843478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.15, Z:-0.27 [[ 9.99908609e-01 1.34402017e-02 -1.46088752e-03 1.23662000e+01] [-1.34402058e-02 9.99909676e-01 7.01333175e-06 -1.53284466e-01] [ 1.46084983e-03 1.26219381e-05 9.99998933e-01 -2.73526371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.15, Z:-0.27 [[ 9.99853699e-01 1.70424933e-02 -1.46088778e-03 1.23948277e+01] [-1.70425014e-02 9.99854766e-01 6.95962419e-06 -1.49361347e-01] [ 1.46079422e-03 1.79385759e-05 9.99998933e-01 -2.73438979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.15, Z:-0.27 [[ 9.99822925e-01 1.87612531e-02 -1.46088811e-03 1.24245576e+01] [-1.87612631e-02 9.99823992e-01 6.88796491e-06 -1.48109983e-01] [ 1.46076021e-03 2.05213610e-05 9.99998933e-01 -2.73035192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.15, Z:-0.27 [[ 9.99797444e-01 2.00732645e-02 -1.46088828e-03 1.24534768e+01] [-2.00732759e-02 9.99798511e-01 6.85203781e-06 -1.47358929e-01] [ 1.46073147e-03 2.24741637e-05 9.99998933e-01 -2.73633384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.14, Z:-0.27 [[ 9.99765332e-01 2.16135905e-02 -1.46088853e-03 1.24824380e+01] [-2.16136036e-02 9.99766399e-01 6.79837675e-06 -1.44007953e-01] [ 1.46069420e-03 2.47782843e-05 9.99998933e-01 -2.71686709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.14, Z:-0.27 [[ 9.99752379e-01 2.22046443e-02 -1.46088885e-03 1.25116489e+01] [-2.22046581e-02 9.99753446e-01 6.72928664e-06 -1.41266541e-01] [ 1.46067808e-03 2.57109172e-05 9.99998933e-01 -2.70649879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.14, Z:-0.27 [[ 9.99727576e-01 2.32946405e-02 -1.46088917e-03 1.25401114e+01] [-2.32946557e-02 9.99728643e-01 6.66009541e-06 -1.36919965e-01] [ 1.46064789e-03 2.73726291e-05 9.99998933e-01 -2.70159320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.13, Z:-0.27 [[ 9.99723643e-01 2.34628220e-02 -1.46088949e-03 1.25688842e+01] [-2.34628374e-02 9.99724710e-01 6.58934361e-06 -1.34876742e-01] [ 1.46064192e-03 2.76890899e-05 9.99998933e-01 -2.70718286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.13, Z:-0.27 [[ 9.99727516e-01 2.32971957e-02 -1.46088980e-03 1.25966979e+01] [-2.32972111e-02 9.99728583e-01 6.51819691e-06 -1.32738471e-01] [ 1.46064515e-03 2.75182373e-05 9.99998933e-01 -2.72932808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.13, Z:-0.27 [[ 9.99761087e-01 2.18090592e-02 -1.46089019e-03 1.26250063e+01] [-2.18090731e-02 9.99762154e-01 6.42984027e-06 -1.29595081e-01] [ 1.46068295e-03 2.54323568e-05 9.99998933e-01 -2.73914866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.13, Z:-0.27 [[ 9.99798987e-01 1.99962979e-02 -1.46089042e-03 1.26542180e+01] [-1.99963099e-02 9.99800054e-01 6.37708628e-06 -1.28707345e-01] [ 1.46072584e-03 2.28366133e-05 9.99998933e-01 -2.73068152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.13, Z:-0.27 [[ 9.99841042e-01 1.77695288e-02 -1.46089057e-03 1.26831825e+01] [-1.77695385e-02 9.99842109e-01 6.34194133e-06 -1.27298856e-01] [ 1.46077261e-03 1.96184181e-05 9.99998933e-01 -2.72168313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.12, Z:-0.27 [[ 9.99921831e-01 1.24176473e-02 -1.46089088e-03 1.27116870e+01] [-1.24176514e-02 9.99922898e-01 6.27147034e-06 -1.23779726e-01] [ 1.46085612e-03 1.18698535e-05 9.99998933e-01 -2.72092735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.12, Z:-0.27 [[ 9.99952965e-01 9.58822928e-03 -1.46089110e-03 1.27411370e+01] [-9.58823043e-03 9.99954032e-01 6.21886147e-06 -1.22264852e-01] [ 1.46088357e-03 7.78879155e-06 9.99998933e-01 -2.72153769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.12, Z:-0.27 [[ 9.99989941e-01 4.24073993e-03 -1.46089125e-03 1.27694642e+01] [-4.24073542e-03 9.99991008e-01 6.18481882e-06 -1.21313444e-01] [ 1.46090434e-03 1.04966416e-08 9.99998933e-01 -2.72266886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.12, Z:-0.27 [[ 9.99997876e-01 1.45416879e-03 -1.46089146e-03 1.27987874e+01] [-1.45416138e-03 9.99998943e-01 6.13405435e-06 -1.20556786e-01] [ 1.46089883e-03 -4.00966939e-06 9.99998933e-01 -2.74463342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.12, Z:-0.28 [[ 9.99998250e-01 -1.16829495e-03 -1.46089189e-03 1.28281416e+01] [ 1.16830501e-03 9.99999318e-01 6.03015438e-06 -1.20185004e-01] [ 1.46088385e-03 -7.73691115e-06 9.99998933e-01 -2.76290573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.12, Z:-0.27 [[ 9.99975649e-01 -6.82400855e-03 -1.46089196e-03 1.28582627e+01] [ 6.82402461e-03 9.99976716e-01 6.01343924e-06 -1.21480120e-01] [ 1.46081691e-03 -1.59824555e-05 9.99998933e-01 -2.73709839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.12, Z:-0.28 [[ 9.99957852e-01 -9.06425467e-03 -1.46089210e-03 1.28875298e+01] [ 9.06427307e-03 9.99958919e-01 5.97851654e-06 -1.21797739e-01] [ 1.46077789e-03 -1.92201895e-05 9.99998933e-01 -2.75946785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.12, Z:-0.27 [[ 9.99940389e-01 -1.08205346e-02 -1.46089217e-03 1.29182645e+01] [ 1.08205549e-02 9.99941456e-01 5.96125903e-06 -1.22139864e-01] [ 1.46074214e-03 -2.17685676e-05 9.99998933e-01 -2.72399613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.12, Z:-0.27 [[ 9.99907763e-01 -1.35030231e-02 -1.46089217e-03 1.29488716e+01] [ 1.35030462e-02 9.99908830e-01 5.96125903e-06 -1.22690279e-01] [ 1.46067848e-03 -2.56872037e-05 9.99998933e-01 -2.71302669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.12, Z:-0.27 [[ 9.99894326e-01 -1.44638569e-02 -1.46089210e-03 1.29797228e+01] [ 1.44638810e-02 9.99895393e-01 5.97805858e-06 -1.24100350e-01] [ 1.46065282e-03 -2.71075964e-05 9.99998933e-01 -2.68195062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.13, Z:-0.27 [[ 9.99874344e-01 -1.57848950e-02 -1.46089210e-03 1.30095787e+01] [ 1.57849205e-02 9.99875410e-01 5.97805858e-06 -1.26339231e-01] [ 1.46061573e-03 -2.90373731e-05 9.99998933e-01 -2.67327430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.13, Z:-0.27 [[ 9.99874344e-01 -1.57848949e-02 -1.46089186e-03 1.30405772e+01] [ 1.57849205e-02 9.99875410e-01 6.03605833e-06 -1.26467344e-01] [ 1.46061457e-03 -2.90953618e-05 9.99998933e-01 -2.67282149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.13, Z:-0.27 [[ 9.99861989e-01 -1.65489948e-02 -1.46089186e-03 1.30709056e+01] [ 1.65490213e-02 9.99863056e-01 6.03605833e-06 -1.27288161e-01] [ 1.46059191e-03 -3.02115558e-05 9.99998933e-01 -2.66708054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.13, Z:-0.27 [[ 9.99858398e-01 -1.67645486e-02 -1.46089186e-03 1.31009942e+01] [ 1.67645753e-02 9.99859465e-01 6.03605833e-06 -1.29360994e-01] [ 1.46058536e-03 -3.05264352e-05 9.99998933e-01 -2.67336330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.13, Z:-0.26 [[ 9.99849584e-01 -1.72822412e-02 -1.46089162e-03 1.31310174e+01] [ 1.72822686e-02 9.99850650e-01 6.09360548e-06 -1.32042197e-01] [ 1.46056813e-03 -3.13402102e-05 9.99998933e-01 -2.64452873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.14, Z:-0.27 [[ 9.99834089e-01 -1.81565627e-02 -1.46089162e-03 1.31612770e+01] [ 1.81565910e-02 9.99835155e-01 6.09360548e-06 -1.36554383e-01] [ 1.46054016e-03 -3.26174061e-05 9.99998933e-01 -2.66725776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.14, Z:-0.27 [[ 9.99826790e-01 -1.85541382e-02 -1.46089155e-03 1.31915512e+01] [ 1.85541669e-02 9.99827857e-01 6.11077279e-06 -1.38337474e-01] [ 1.46052669e-03 -3.32153400e-05 9.99998933e-01 -2.66259626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.14, Z:-0.27 [[ 9.99828733e-01 -1.84491277e-02 -1.46089155e-03 1.32222119e+01] [ 1.84491563e-02 9.99829800e-01 6.11077279e-06 -1.40851167e-01] [ 1.46053017e-03 -3.30619427e-05 9.99998933e-01 -2.68300375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.15, Z:-0.27 [[ 9.99829619e-01 -1.84010313e-02 -1.46089155e-03 1.32512750e+01] [ 1.84010598e-02 9.99830686e-01 6.11077279e-06 -1.47081780e-01] [ 1.46053176e-03 -3.29916844e-05 9.99998933e-01 -2.69383155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.15, Z:-0.27 [[ 9.99842095e-01 -1.77101968e-02 -1.46089162e-03 1.32802951e+01] [ 1.77102246e-02 9.99843162e-01 6.09367077e-06 -1.49928456e-01] [ 1.46055458e-03 -3.19654272e-05 9.99998933e-01 -2.70025412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.15, Z:-0.27 [[ 9.99858254e-01 -1.67730989e-02 -1.46089169e-03 1.33110797e+01] [ 1.67731257e-02 9.99859321e-01 6.07662859e-06 -1.52457168e-01] [ 1.46058425e-03 -3.05794872e-05 9.99998933e-01 -2.70353293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.16, Z:-0.27 [[ 9.99906769e-01 -1.35764227e-02 -1.46089169e-03 1.33413918e+01] [ 1.35764460e-02 9.99907836e-01 6.07662859e-06 -1.58088728e-01] [ 1.46067455e-03 -2.59097793e-05 9.99998933e-01 -2.68247505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.16, Z:-0.27 [[ 9.99932137e-01 -1.15579769e-02 -1.46089169e-03 1.33708369e+01] [ 1.15579981e-02 9.99933204e-01 6.07662859e-06 -1.59862972e-01] [ 1.46072388e-03 -2.29611997e-05 9.99998933e-01 -2.70541647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.16, Z:-0.27 [[ 9.99983232e-01 -5.60370582e-03 -1.46089177e-03 1.34005957e+01] [ 5.60372065e-03 9.99984299e-01 6.05884765e-06 -1.61667716e-01] [ 1.46083488e-03 -1.42451754e-05 9.99998933e-01 -2.69352975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.16, Z:-0.27 [[ 9.99997075e-01 -1.92778452e-03 -1.46089184e-03 1.34302814e+01] [ 1.92779540e-03 9.99998142e-01 6.04152277e-06 -1.62802299e-01] [ 1.46087748e-03 -8.85780566e-06 9.99998933e-01 -2.69108282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.16, Z:-0.27 [[ 9.99996634e-01 2.14416559e-03 -1.46089197e-03 1.34597187e+01] [-2.14415910e-03 9.99997701e-01 6.00809793e-06 -1.64013755e-01] [ 1.46090150e-03 -2.87569288e-06 9.99998933e-01 -2.68657440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.17, Z:-0.27 [[ 9.99936980e-01 1.11311338e-02 -1.46089211e-03 1.34886526e+01] [-1.11311369e-02 9.99938047e-01 5.97479849e-06 -1.65477860e-01] [ 1.46086811e-03 1.02869682e-05 9.99998933e-01 -2.70264666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.17, Z:-0.27 [[ 9.99888390e-01 1.48685636e-02 -1.46089936e-03 1.35189073e+01] [-1.48685734e-02 9.99889457e-01 4.13779862e-06 -1.65567620e-01] [ 1.46079939e-03 1.75841525e-05 9.99998933e-01 -2.70693596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.16, Z:-0.27 [[ 9.99754858e-01 2.20927728e-02 -1.46089301e-03 1.35475510e+01] [-2.20927880e-02 9.99755925e-01 5.75097868e-06 -1.64509749e-01] [ 1.46066349e-03 2.65256306e-05 9.99998933e-01 -2.71525446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.16, Z:-0.27 [[ 9.99690583e-01 2.48315238e-02 -1.46089329e-03 1.35765238e+01] [-2.48315420e-02 9.99691650e-01 5.67855684e-06 -1.63562454e-01] [ 1.46058383e-03 3.05994333e-05 9.99998933e-01 -2.72611988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.16, Z:-0.27 [[ 9.99628044e-01 2.72330408e-02 -1.46089357e-03 1.36043170e+01] [-2.72330617e-02 9.99629111e-01 5.60564663e-06 -1.62241362e-01] [ 1.46050440e-03 3.41810430e-05 9.99998933e-01 -2.74883271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.16, Z:-0.27 [[ 9.99575634e-01 2.90932706e-02 -1.46089772e-03 1.36329644e+01] [-2.90932950e-02 9.99576700e-01 4.52500247e-06 -1.60778023e-01] [ 1.46041097e-03 3.79792462e-05 9.99998933e-01 -2.73149874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.16, Z:-0.27 [[ 9.99504194e-01 3.14520551e-02 -1.46089340e-03 1.36622241e+01] [-3.14520804e-02 9.99505261e-01 5.64252702e-06 -1.57508449e-01] [ 1.46034811e-03 4.03084073e-05 9.99998933e-01 -2.72605183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.16, Z:-0.27 [[ 9.99487167e-01 3.19885727e-02 -1.46089368e-03 1.36911530e+01] [-3.19885987e-02 9.99488234e-01 5.56921911e-06 -1.56969622e-01] [ 1.46032420e-03 4.11655787e-05 9.99998933e-01 -2.72215234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.16, Z:-0.27 [[ 9.99461908e-01 3.27682729e-02 -1.46089389e-03 1.37175896e+01] [-3.27682999e-02 9.99462975e-01 5.51469455e-06 -1.56473001e-01] [ 1.46029006e-03 4.23592819e-05 9.99998933e-01 -2.73468581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.15, Z:-0.27 [[ 9.99507555e-01 3.13450658e-02 -1.46090735e-03 1.37471700e+01] [-3.13450964e-02 9.99508622e-01 1.92986107e-06 -1.53127545e-01] [ 1.46024998e-03 4.38633709e-05 9.99998933e-01 -2.68675316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.15, Z:-0.27 [[ 9.99539738e-01 3.03014352e-02 -1.46089955e-03 1.37762774e+01] [-3.03014616e-02 9.99540805e-01 4.01600723e-06 -1.51822093e-01] [ 1.46035040e-03 4.02532328e-05 9.99998933e-01 -2.67654533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.15, Z:-0.27 [[ 9.99569207e-01 2.93132384e-02 -1.46089416e-03 1.38047852e+01] [-2.93132617e-02 9.99570274e-01 5.45873118e-06 -1.49899952e-01] [ 1.46042639e-03 3.73671933e-05 9.99998933e-01 -2.68583067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.15, Z:-0.27 [[ 9.99647829e-01 2.64968622e-02 -1.46089675e-03 1.38338380e+01] [-2.64968835e-02 9.99648896e-01 4.76736078e-06 -1.45417922e-01] [ 1.46051015e-03 3.39435292e-05 9.99998933e-01 -2.66992650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.14, Z:-0.27 [[ 9.99689192e-01 2.48874335e-02 -1.46089387e-03 1.38639397e+01] [-2.48874519e-02 9.99690259e-01 5.53026297e-06 -1.43124748e-01] [ 1.46057900e-03 3.08293818e-05 9.99998933e-01 -2.68752424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.14, Z:-0.27 [[ 9.99780997e-01 2.08763779e-02 -1.46089400e-03 1.38924084e+01] [-2.08763922e-02 9.99782064e-01 5.49385436e-06 -1.39906588e-01] [ 1.46069031e-03 2.50055449e-05 9.99998933e-01 -2.71343822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.14, Z:-0.27 [[ 9.99829333e-01 1.84165673e-02 -1.46089421e-03 1.39225802e+01] [-1.84165790e-02 9.99830400e-01 5.43946509e-06 -1.38285702e-01] [ 1.46074661e-03 2.14661368e-05 9.99998933e-01 -2.69275965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.14, Z:-0.27 [[ 9.99873157e-01 1.58598598e-02 -1.46089427e-03 1.39515393e+01] [-1.58598689e-02 9.99874224e-01 5.42160421e-06 -1.36131180e-01] [ 1.46079651e-03 1.77486750e-05 9.99998933e-01 -2.69391985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.13, Z:-0.27 [[ 9.99912957e-01 1.31127494e-02 -1.46089447e-03 1.39811742e+01] [-1.31127556e-02 9.99914024e-01 5.36839457e-06 -1.34176931e-01] [ 1.46083926e-03 1.37884248e-05 9.99998933e-01 -2.68823259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045871560000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.13, Z:-0.27 [[ 9.99970649e-01 7.52112893e-03 -1.46089459e-03 1.40105360e+01] [-7.52112917e-03 9.99971716e-01 5.33369363e-06 -1.30476683e-01] [ 1.46089339e-03 5.65403986e-06 9.99998933e-01 -2.69123034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.13, Z:-0.27 [[ 9.99989582e-01 4.32452887e-03 -1.46089472e-03 1.40397850e+01] [-4.32452574e-03 9.99990649e-01 5.29869708e-06 -1.29285752e-01] [ 1.46090398e-03 1.01903495e-06 9.99998933e-01 -2.68504228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.13, Z:-0.27 [[ 9.99997497e-01 -1.69457399e-03 -1.46089485e-03 1.40681313e+01] [ 1.69458348e-03 9.99998564e-01 5.26164257e-06 -1.28931710e-01] [ 1.46088384e-03 -7.73723769e-06 9.99998933e-01 -2.70490655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.13, Z:-0.27 [[ 9.99987492e-01 -4.78357210e-03 -1.46089505e-03 1.40976639e+01] [ 4.78358481e-03 9.99988559e-01 5.20661105e-06 -1.29008244e-01] [ 1.46085343e-03 -1.21948613e-05 9.99998933e-01 -2.69132209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.13, Z:-0.27 [[ 9.99966563e-01 -8.04604978e-03 -1.46089518e-03 1.41268439e+01] [ 8.04606592e-03 9.99967630e-01 5.17091850e-06 -1.29071385e-01] [ 1.46080628e-03 -1.69252045e-05 9.99998933e-01 -2.72824309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.13, Z:-0.27 [[ 9.99883427e-01 -1.51986261e-02 -1.46089652e-03 1.41576392e+01] [ 1.51986494e-02 9.99884494e-01 4.79353186e-06 -1.31178549e-01] [ 1.46065493e-03 -2.69966271e-05 9.99998933e-01 -2.67288826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.13, Z:-0.27 [[ 9.99824396e-01 -1.86826714e-02 -1.46089447e-03 1.41882088e+01] [ 1.86826991e-02 9.99825463e-01 5.35435800e-06 -1.32993482e-01] [ 1.46053945e-03 -3.26468696e-05 9.99998933e-01 -2.67368898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.14, Z:-0.26 [[ 9.99688934e-01 -2.48978061e-02 -1.46089440e-03 1.42187647e+01] [ 2.48978405e-02 9.99690001e-01 5.37190835e-06 -1.36607285e-01] [ 1.46030778e-03 -4.17433532e-05 9.99998933e-01 -2.64847280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.14, Z:-0.27 [[ 9.99638485e-01 -2.68470729e-02 -1.46089440e-03 1.42494549e+01] [ 2.68471094e-02 9.99639551e-01 5.37190835e-06 -1.38817675e-01] [ 1.46022361e-03 -4.45907581e-05 9.99998933e-01 -2.65135326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31587156 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.14, Z:-0.27 [[ 9.99611793e-01 -2.78231633e-02 -1.46089440e-03 1.42786915e+01] [ 2.78232008e-02 9.99612860e-01 5.37190835e-06 -1.40947898e-01] [ 1.46017937e-03 -4.60165813e-05 9.99998933e-01 -2.65784424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.14, Z:-0.27 [[ 9.99652023e-01 -2.63381496e-02 -1.46089447e-03 1.43089953e+01] [ 2.63381855e-02 9.99653090e-01 5.35443115e-06 -1.44538814e-01] [ 1.46024664e-03 -4.38298774e-05 9.99998933e-01 -2.67050674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37587156 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.15, Z:-0.27 [[ 9.99700472e-01 -2.44301580e-02 -1.46089447e-03 1.43380980e+01] [ 2.44301919e-02 9.99701538e-01 5.35443115e-06 -1.45802834e-01] [ 1.46032764e-03 -4.10427595e-05 9.99998933e-01 -2.67549110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.15, Z:-0.27 [[ 9.99759546e-01 -2.18795619e-02 -1.46089453e-03 1.43678539e+01] [ 2.18795930e-02 9.99760613e-01 5.33707965e-06 -1.46922621e-01] [ 1.46042804e-03 -3.72995741e-05 9.99998933e-01 -2.67446210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.15, Z:-0.27 [[ 9.99866897e-01 -1.62497288e-02 -1.46089481e-03 1.43980169e+01] [ 1.62497538e-02 9.99867964e-01 5.25820855e-06 -1.49856142e-01] [ 1.46061648e-03 -2.89966897e-05 9.99998933e-01 -2.67801162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.15, Z:-0.27 [[ 9.99909373e-01 -1.33832712e-02 -1.46089481e-03 1.44273541e+01] [ 1.33832932e-02 9.99910440e-01 5.25820855e-06 -1.51998548e-01] [ 1.46069360e-03 -2.48093156e-05 9.99998933e-01 -2.68552519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.15, Z:-0.27 [[ 9.99937255e-01 -1.11063609e-02 -1.46089488e-03 1.44575465e+01] [ 1.11063804e-02 9.99938322e-01 5.24057514e-06 -1.53591898e-01] [ 1.46074657e-03 -2.14655006e-05 9.99998933e-01 -2.70170905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.16, Z:-0.27 [[ 9.99959516e-01 -8.87879167e-03 -1.46089467e-03 1.44882611e+01] [ 8.87880889e-03 9.99960583e-01 5.29753792e-06 -1.55198786e-01] [ 1.46079005e-03 -1.82683280e-05 9.99998933e-01 -2.69509866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.16, Z:-0.27 [[ 9.99973907e-01 -7.07465148e-03 -1.46090270e-03 1.45186531e+01] [ 7.07466348e-03 9.99974974e-01 3.04889310e-06 -1.57836921e-01] [ 1.46084457e-03 -1.33842085e-05 9.99998933e-01 -2.68373985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.16, Z:-0.27 [[ 9.99980226e-01 -6.11668074e-03 -1.46089505e-03 1.45493358e+01] [ 6.11669486e-03 9.99981293e-01 5.19894352e-06 -1.59457098e-01] [ 1.46083592e-03 -1.41346900e-05 9.99998933e-01 -2.68256485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.16, Z:-0.27 [[ 9.99986218e-01 -5.04280631e-03 -1.46089505e-03 1.45803020e+01] [ 5.04281928e-03 9.99987285e-01 5.19894352e-06 -1.61106183e-01] [ 1.46085026e-03 -1.25659016e-05 9.99998933e-01 -2.66798114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.16, Z:-0.27 [[ 9.99997701e-01 -1.56952592e-03 -1.46089505e-03 1.46097950e+01] [ 1.56953519e-03 9.99998768e-01 5.19894352e-06 -1.64446953e-01] [ 1.46088509e-03 -7.49185777e-06 9.99998933e-01 -2.67069125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.17, Z:-0.27 [[ 9.99998576e-01 8.44854237e-04 -1.46089518e-03 1.46389445e+01] [-8.44847596e-04 9.99999643e-01 5.16270990e-06 -1.65178600e-01] [ 1.46089902e-03 -3.92846877e-06 9.99998933e-01 -2.68043533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.17, Z:-0.27 [[ 9.99977709e-01 6.51520739e-03 -1.46089524e-03 1.46684494e+01] [-6.51520683e-03 9.99978776e-01 5.14464332e-06 -1.65646780e-01] [ 1.46089775e-03 4.37350602e-06 9.99998933e-01 -2.69024614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.17, Z:-0.27 [[ 9.99956256e-01 9.23865803e-03 -1.46089537e-03 1.46968848e+01] [-9.23866043e-03 9.99957323e-01 5.10829576e-06 -1.65615189e-01] [ 1.46088022e-03 8.38864394e-06 9.99998933e-01 -2.72745070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.17, Z:-0.27 [[ 9.99930716e-01 1.16803202e-02 -1.46089549e-03 1.47262724e+01] [-1.16803253e-02 9.99931783e-01 5.07204899e-06 -1.65672547e-01] [ 1.46085508e-03 1.19920370e-05 9.99998933e-01 -2.74088985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.17, Z:-0.27 [[ 9.99906656e-01 1.35847045e-02 -1.46089562e-03 1.47552151e+01] [-1.35847116e-02 9.99907724e-01 5.03696602e-06 -1.65566956e-01] [ 1.46082924e-03 1.48093498e-05 9.99998933e-01 -2.74423636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.16, Z:-0.28 [[ 9.99871067e-01 1.59910899e-02 -1.46089585e-03 1.47834343e+01] [-1.59910997e-02 9.99872134e-01 4.96695110e-06 -1.64363201e-01] [ 1.46078848e-03 1.83950205e-05 9.99998933e-01 -2.75104785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.16, Z:-0.27 [[ 9.99871858e-01 1.59415395e-02 -1.46089603e-03 1.48128004e+01] [-1.59415493e-02 9.99872925e-01 4.91450121e-06 -1.64204301e-01] [ 1.46078873e-03 1.83750746e-05 9.99998933e-01 -2.74844583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.16, Z:-0.27 [[ 9.99879693e-01 1.54422996e-02 -1.46089614e-03 1.48427259e+01] [-1.54423089e-02 9.99880760e-01 4.88030624e-06 -1.64371863e-01] [ 1.46079731e-03 1.76798905e-05 9.99998933e-01 -2.73405499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.17, Z:-0.27 [[ 9.99922681e-01 1.23489842e-02 -1.46089626e-03 1.48724596e+01] [-1.23489903e-02 9.99923748e-01 4.84582657e-06 -1.65140751e-01] [ 1.46084470e-03 1.31951419e-05 9.99998933e-01 -2.68219359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.17, Z:-0.27 [[ 9.99922955e-01 1.23267864e-02 -1.46089749e-03 1.49026207e+01] [-1.23267931e-02 9.99924022e-01 4.46867112e-06 -1.65197629e-01] [ 1.46084158e-03 1.35398542e-05 9.99998933e-01 -2.68175273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.17, Z:-0.27 [[ 9.99948735e-01 1.00196353e-02 -1.46089760e-03 1.49325237e+01] [-1.00196395e-02 9.99949802e-01 4.43604572e-06 -1.65442274e-01] [ 1.46086871e-03 1.02018490e-05 9.99998933e-01 -2.67973773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.17, Z:-0.27 [[ 9.99987764e-01 4.72633339e-03 -1.46089684e-03 1.49615974e+01] [-4.72633161e-03 9.99988831e-01 4.67200338e-06 -1.66515757e-01] [ 1.46090261e-03 2.23273671e-06 9.99998933e-01 -2.66645066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.03587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.17, Z:-0.27 [[ 9.99997432e-01 1.73268045e-03 -1.46089701e-03 1.49912643e+01] [-1.73267555e-03 9.99998499e-01 4.61898673e-06 -1.68329247e-01] [ 1.46090282e-03 -2.08771434e-06 9.99998933e-01 -2.65679147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.17, Z:-0.27 [[ 9.99992457e-01 -3.59873649e-03 -1.46089712e-03 1.50208650e+01] [ 3.59874703e-03 9.99993524e-01 4.58358903e-06 -1.71911973e-01] [ 1.46087116e-03 -9.84095362e-06 9.99998933e-01 -2.65421073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.17, Z:-0.27 [[ 9.99982440e-01 -5.74337785e-03 -1.46089723e-03 1.50505468e+01] [ 5.74339062e-03 9.99983507e-01 4.54811551e-06 -1.73319072e-01] [ 1.46084701e-03 -1.29385391e-05 9.99998933e-01 -2.66123788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.12587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.17, Z:-0.27 [[ 9.99972223e-01 -7.30877200e-03 -1.46089734e-03 1.50799934e+01] [ 7.30878639e-03 9.99973290e-01 4.51281582e-06 -1.74426552e-01] [ 1.46082534e-03 -1.51900771e-05 9.99998933e-01 -2.67191691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.18, Z:-0.27 [[ 9.99964899e-01 -8.25026519e-03 -1.46089745e-03 1.51096442e+01] [ 8.25028054e-03 9.99965966e-01 4.47782910e-06 -1.76280236e-01] [ 1.46081078e-03 -1.65304857e-05 9.99998933e-01 -2.67404266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.18, Z:-0.27 [[ 9.99964277e-01 -8.32530088e-03 -1.46089756e-03 1.51386802e+01] [ 8.32531625e-03 9.99965344e-01 4.44196667e-06 -1.80456318e-01] [ 1.46080995e-03 -1.66042421e-05 9.99998933e-01 -2.68811146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.21587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.18, Z:-0.27 [[ 9.99966783e-01 -8.01863967e-03 -1.46089755e-03 1.51688757e+01] [ 8.01865472e-03 9.99967850e-01 4.44512406e-06 -1.82489958e-01] [ 1.46081493e-03 -1.61594094e-05 9.99998933e-01 -2.68371627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.19, Z:-0.27 [[ 9.99982674e-01 -5.70236985e-03 -1.46089452e-03 1.51985416e+01] [ 5.70238393e-03 9.99983741e-01 5.47161536e-06 -1.86679162e-01] [ 1.46083957e-03 -1.38021020e-05 9.99998933e-01 -2.69924952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.19, Z:-0.27 [[ 9.99989699e-01 -4.29737945e-03 -1.46089815e-03 1.52286404e+01] [ 4.29739019e-03 9.99990766e-01 4.21624235e-06 -1.87941185e-01] [ 1.46086654e-03 -1.04942483e-05 9.99998933e-01 -2.69739350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.30587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.19, Z:-0.27 [[ 9.99996864e-01 -2.03422691e-03 -1.46089819e-03 1.52586552e+01] [ 2.03423522e-03 9.99997931e-01 4.20000007e-06 -1.88205679e-01] [ 1.46088663e-03 -7.17179745e-06 9.99998933e-01 -2.69946435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.33587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.19, Z:-0.27 [[ 9.99995935e-01 2.44852014e-03 -1.46089829e-03 1.52887579e+01] [-2.44851667e-03 9.99997002e-01 4.16564424e-06 -1.88111367e-01] [ 1.46090411e-03 -5.88593494e-07 9.99998933e-01 -2.70036087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.19, Z:-0.27 [[ 9.99985444e-01 5.19393468e-03 -1.46089851e-03 1.53183368e+01] [-5.19393426e-03 9.99986511e-01 4.08560027e-06 -1.89458367e-01] [ 1.46090003e-03 3.50227003e-06 9.99998933e-01 -2.71815514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.19, Z:-0.27 [[ 9.99971487e-01 7.40880581e-03 -1.46089861e-03 1.53476302e+01] [-7.40880780e-03 9.99972554e-01 4.05011656e-06 -1.91313365e-01] [ 1.46088852e-03 6.77351594e-06 9.99998933e-01 -2.71522854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.19, Z:-0.27 [[ 9.99952787e-01 9.60679631e-03 -1.46089871e-03 1.53774470e+01] [-9.60680070e-03 9.99953854e-01 4.01459990e-06 -1.92482267e-01] [ 1.46086986e-03 1.00201524e-05 9.99998933e-01 -2.71885053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.19, Z:-0.27 [[ 9.99902543e-01 1.38841773e-02 -1.46089881e-03 1.54066903e+01] [-1.38841863e-02 9.99903610e-01 3.97862582e-06 -1.93373491e-01] [ 1.46081323e-03 1.63051532e-05 9.99998933e-01 -2.66871739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.19, Z:-0.27 [[ 9.99872880e-01 1.58773525e-02 -1.46089891e-03 1.54354383e+01] [-1.58773636e-02 9.99873947e-01 3.94245008e-06 -1.93387989e-01] [ 1.46077735e-03 1.92532743e-05 9.99998933e-01 -2.65799751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.19, Z:-0.26 [[ 9.99831001e-01 1.83258201e-02 -1.46089905e-03 1.54636304e+01] [-1.83258340e-02 9.99832068e-01 3.88828193e-06 -1.93684196e-01] [ 1.46072497e-03 2.28845687e-05 9.99998933e-01 -2.64554089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.19, Z:-0.26 [[ 9.99818728e-01 1.89835976e-02 -1.46089924e-03 1.54934699e+01] [-1.89836122e-02 9.99819795e-01 3.81691102e-06 -1.94012595e-01] [ 1.46070843e-03 2.39169255e-05 9.99998933e-01 -2.64929067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.19, Z:-0.27 [[ 9.99805090e-01 1.96887520e-02 -1.46089933e-03 1.55227236e+01] [-1.96887674e-02 9.99806157e-01 3.78259325e-06 -1.94038702e-01] [ 1.46069062e-03 2.49814511e-05 9.99998933e-01 -2.66056900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.19, Z:-0.27 [[ 9.99772264e-01 2.12905184e-02 -1.46089941e-03 1.55528650e+01] [-2.12905356e-02 9.99773331e-01 3.74836761e-06 -1.93676422e-01] [ 1.46064808e-03 2.73558170e-05 9.99998933e-01 -2.65999810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.19, Z:-0.26 [[ 9.99756369e-01 2.20242845e-02 -1.46089950e-03 1.55824831e+01] [-2.20243026e-02 9.99757436e-01 3.71419594e-06 -1.93135577e-01] [ 1.46062694e-03 2.84620016e-05 9.99998933e-01 -2.63603142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.19, Z:-0.26 [[ 9.99693377e-01 2.47187608e-02 -1.46089959e-03 1.56123284e+01] [-2.47187818e-02 9.99694444e-01 3.67885591e-06 -1.91529831e-01] [ 1.46054414e-03 3.24339303e-05 9.99998933e-01 -2.61967873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.19, Z:-0.26 [[ 9.99661098e-01 2.59914225e-02 -1.46089968e-03 1.56412440e+01] [-2.59914449e-02 9.99662165e-01 3.64311961e-06 -1.90124848e-01] [ 1.46050083e-03 3.43290085e-05 9.99998933e-01 -2.62172134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.19, Z:-0.26 [[ 9.99588436e-01 2.86500305e-02 -1.46089977e-03 1.56695783e+01] [-2.86500558e-02 9.99589503e-01 3.60528662e-06 -1.86802051e-01] [ 1.46040337e-03 3.82510571e-05 9.99998933e-01 -2.64054418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.18, Z:-0.27 [[ 9.99522166e-01 3.08756509e-02 -1.46089990e-03 1.56989773e+01] [-3.08756787e-02 9.99523233e-01 3.55277375e-06 -1.82008349e-01] [ 1.46031308e-03 4.15551997e-05 9.99998933e-01 -2.68125634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.18, Z:-0.27 [[ 9.99505945e-01 3.13963798e-02 -1.46089999e-03 1.57272604e+01] [-3.13964082e-02 9.99507011e-01 3.51635684e-06 -1.77884314e-01] [ 1.46029018e-03 4.23523927e-05 9.99998933e-01 -2.71249514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.18, Z:-0.27 [[ 9.99524582e-01 3.07973311e-02 -1.46090012e-03 1.57568379e+01] [-3.07973589e-02 9.99525649e-01 3.46201888e-06 -1.76022354e-01] [ 1.46031376e-03 4.15314922e-05 9.99998933e-01 -2.71177757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.17, Z:-0.27 [[ 9.99555771e-01 2.97678777e-02 -1.46090020e-03 1.57850328e+01] [-2.97679045e-02 9.99556838e-01 3.42619246e-06 -1.73553474e-01] [ 1.46035477e-03 4.00632672e-05 9.99998933e-01 -2.71292085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.17, Z:-0.27 [[ 9.99556478e-01 2.97441135e-02 -1.46090028e-03 1.58151940e+01] [-2.97441402e-02 9.99557545e-01 3.38983081e-06 -1.73578955e-01] [ 1.46035473e-03 4.00648956e-05 9.99998933e-01 -2.71248020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.17, Z:-0.27 [[ 9.99590430e-01 2.85803917e-02 -1.46090036e-03 1.58446467e+01] [-2.85804173e-02 9.99591496e-01 3.35509821e-06 -1.70918612e-01] [ 1.46039947e-03 3.83994179e-05 9.99998933e-01 -2.70382326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.17, Z:-0.27 [[ 9.99644019e-01 2.66402115e-02 -1.46090044e-03 1.58731778e+01] [-2.66402351e-02 9.99645086e-01 3.31979845e-06 -1.68131309e-01] [ 1.46047039e-03 3.56001146e-05 9.99998933e-01 -2.69701608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.16, Z:-0.27 [[ 9.99785570e-01 2.06562180e-02 -1.46090056e-03 1.59015718e+01] [-2.06562352e-02 9.99786637e-01 3.26686441e-06 -1.64779380e-01] [ 1.46065634e-03 2.69105418e-05 9.99998933e-01 -2.69727253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.16, Z:-0.27 [[ 9.99861621e-01 1.65711977e-02 -1.46090068e-03 1.59311852e+01] [-1.65712107e-02 9.99862688e-01 3.21510954e-06 -1.64001391e-01] [ 1.46075336e-03 2.09942283e-05 9.99998933e-01 -2.68056583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.16, Z:-0.27 [[ 9.99927065e-01 1.19888006e-02 -1.46090075e-03 1.59602219e+01] [-1.19888088e-02 9.99928132e-01 3.17970405e-06 -1.62829027e-01] [ 1.46083388e-03 1.43349876e-05 9.99998933e-01 -2.67903118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.05587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.16, Z:-0.27 [[ 9.99995883e-01 2.46983476e-03 -1.46090084e-03 1.59899710e+01] [-2.46983280e-03 9.99996950e-01 3.14155164e-06 -1.61010214e-01] [ 1.46090414e-03 4.66642102e-07 9.99998933e-01 -2.66488025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.16, Z:-0.27 [[ 9.99995942e-01 -2.44569132e-03 -1.46090091e-03 1.60193712e+01] [ 2.44569846e-03 9.99997009e-01 3.10584866e-06 -1.60559849e-01] [ 1.46088895e-03 -6.67875917e-06 9.99998933e-01 -2.67167281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.16, Z:-0.27 [[ 9.99972043e-01 -7.33335792e-03 -1.46090099e-03 1.60489380e+01] [ 7.33337024e-03 9.99973110e-01 3.07012262e-06 -1.59645124e-01] [ 1.46083919e-03 -1.37833646e-05 9.99998933e-01 -2.68465753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.14587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.16, Z:-0.27 [[ 9.99878001e-01 -1.55514955e-02 -1.46090102e-03 1.60785075e+01] [ 1.55515166e-02 9.99879068e-01 3.05237966e-06 -1.59828287e-01] [ 1.46067688e-03 -2.57712337e-05 9.99998933e-01 -2.67664823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.16, Z:-0.27 [[ 9.99818538e-01 -1.89935846e-02 -1.46090106e-03 1.61081144e+01] [ 1.89936093e-02 9.99819605e-01 3.03483209e-06 -1.60661723e-01] [ 1.46057988e-03 -3.07820653e-05 9.99998933e-01 -2.68699097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.16, Z:-0.27 [[ 9.99717243e-01 -2.37339329e-02 -1.46090106e-03 1.61389856e+01] [ 2.37339627e-02 9.99718310e-01 3.03369476e-06 -1.62570613e-01] [ 1.46041754e-03 -3.77058082e-05 9.99998933e-01 -2.65517971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.16, Z:-0.27 [[ 9.99702718e-01 -2.43380670e-02 -1.46090106e-03 1.61695638e+01] [ 2.43380974e-02 9.99703785e-01 3.03369476e-06 -1.63404917e-01] [ 1.46039449e-03 -3.85883453e-05 9.99998933e-01 -2.65232196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.16, Z:-0.27 [[ 9.99701387e-01 -2.43926878e-02 -1.46090106e-03 1.62002885e+01] [ 2.43927183e-02 9.99702453e-01 3.03369476e-06 -1.63804874e-01] [ 1.46039238e-03 -3.86681369e-05 9.99998933e-01 -2.66000910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.17, Z:-0.27 [[ 9.99749203e-01 -2.23471967e-02 -1.46090106e-03 1.62284628e+01] [ 2.23472250e-02 9.99750270e-01 3.03369476e-06 -1.65540389e-01] [ 1.46046844e-03 -3.56800186e-05 9.99998933e-01 -2.68415396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.17, Z:-0.27 [[ 9.99772412e-01 -2.12835771e-02 -1.46090099e-03 1.62577588e+01] [ 2.12836043e-02 9.99773478e-01 3.06934401e-06 -1.65717015e-01] [ 1.46050474e-03 -3.41618841e-05 9.99998933e-01 -2.66824336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.35587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.17, Z:-0.26 [[ 9.99794293e-01 -2.02296307e-02 -1.46090151e-03 1.62881445e+01] [ 2.02296564e-02 9.99795360e-01 2.79710479e-06 -1.66530007e-01] [ 1.46054597e-03 -3.23500650e-05 9.99998933e-01 -2.64348936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.17, Z:-0.26 [[ 9.99808265e-01 -1.95268861e-02 -1.46090151e-03 1.63174189e+01] [ 1.95269110e-02 9.99809332e-01 2.79710479e-06 -1.70210668e-01] [ 1.46056834e-03 -3.13234623e-05 9.99998933e-01 -2.64938581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.17, Z:-0.26 [[ 9.99805347e-01 -1.96757345e-02 -1.46090154e-03 1.63481924e+01] [ 1.96757596e-02 9.99806414e-01 2.77977979e-06 -1.72530994e-01] [ 1.46056404e-03 -3.15235862e-05 9.99998933e-01 -2.63597845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.18, Z:-0.27 [[ 9.99795753e-01 -2.01573501e-02 -1.46090154e-03 1.63777793e+01] [ 2.01573756e-02 9.99796819e-01 2.77977979e-06 -1.76948731e-01] [ 1.46054868e-03 -3.22271532e-05 9.99998933e-01 -2.66274441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.18, Z:-0.27 [[ 9.99785079e-01 -2.06799835e-02 -1.46090158e-03 1.64068071e+01] [ 2.06800096e-02 9.99786146e-01 2.76214631e-06 -1.79508749e-01] [ 1.46053204e-03 -3.29730112e-05 9.99998933e-01 -2.68370326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.18, Z:-0.27 [[ 9.99776664e-01 -2.10828950e-02 -1.46090161e-03 1.64376348e+01] [ 2.10829215e-02 9.99777731e-01 2.74463583e-06 -1.82145283e-01] [ 1.46051903e-03 -3.35440968e-05 9.99998933e-01 -2.68146699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.19, Z:-0.27 [[ 9.99758431e-01 -2.19304721e-02 -1.46090161e-03 1.64674661e+01] [ 2.19304995e-02 9.99759498e-01 2.74463583e-06 -1.87285105e-01] [ 1.46049007e-03 -3.47822748e-05 9.99998933e-01 -2.68938855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.19, Z:-0.27 [[ 9.99752011e-01 -2.22212303e-02 -1.46090134e-03 1.64978312e+01] [ 2.22212582e-02 9.99753077e-01 2.89074737e-06 -1.90096010e-01] [ 1.46047637e-03 -3.53530963e-05 9.99998933e-01 -2.67430838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.19, Z:-0.27 [[ 9.99756059e-01 -2.20383391e-02 -1.46090165e-03 1.65274486e+01] [ 2.20383666e-02 9.99757126e-01 2.72598850e-06 -1.93028010e-01] [ 1.46048675e-03 -3.49212096e-05 9.99998933e-01 -2.67586105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.62587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.20, Z:-0.27 [[ 9.99772787e-01 -2.12659340e-02 -1.46090164e-03 1.65575869e+01] [ 2.12659606e-02 9.99773854e-01 2.72907627e-06 -1.95976614e-01] [ 1.46051323e-03 -3.37959330e-05 9.99998933e-01 -2.66041469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.20, Z:-0.26 [[ 9.99832504e-01 -1.82436197e-02 -1.46090138e-03 1.65868095e+01] [ 1.82436433e-02 9.99833571e-01 2.86813074e-06 -2.01356989e-01] [ 1.46060592e-03 -2.95198141e-05 9.99998933e-01 -2.64833561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.20, Z:-0.27 [[ 9.99872583e-01 -1.58959964e-02 -1.46090203e-03 1.66160864e+01] [ 1.58960170e-02 9.99873650e-01 2.48990636e-06 -2.04188491e-01] [ 1.46067787e-03 -2.57121126e-05 9.99998933e-01 -2.66663787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.71587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.21, Z:-0.27 [[ 9.99949106e-01 -9.98249394e-03 -1.46090206e-03 1.66457054e+01] [ 9.98250820e-03 9.99950174e-01 2.47226162e-06 -2.09229907e-01] [ 1.46080459e-03 -1.70556026e-05 9.99998933e-01 -2.65352061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.21, Z:-0.27 [[ 9.99975370e-01 -6.86476305e-03 -1.46090212e-03 1.66752142e+01] [ 6.86477394e-03 9.99976437e-01 2.43692153e-06 -2.10442902e-01] [ 1.46085097e-03 -1.24656243e-05 9.99998933e-01 -2.67298181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.21, Z:-0.27 [[ 9.99991995e-01 -3.72501353e-03 -1.46090211e-03 1.67048473e+01] [ 3.72502107e-03 9.99993062e-01 2.43929518e-06 -2.11425163e-01] [ 1.46088289e-03 -7.88116681e-06 9.99998933e-01 -2.68354857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.21, Z:-0.27 [[ 9.99997678e-01 1.58419359e-03 -1.46090214e-03 1.67344111e+01] [-1.58419174e-03 9.99998745e-01 2.42175376e-06 -2.13419448e-01] [ 1.46090415e-03 -1.07399029e-07 9.99998933e-01 -2.66395942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.22, Z:-0.27 [[ 9.99991952e-01 3.73646948e-03 -1.46090220e-03 1.67637626e+01] [-3.73646998e-03 9.99993019e-01 2.38612754e-06 -2.15429616e-01] [ 1.46090092e-03 3.07250889e-06 9.99998933e-01 -2.66368020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.22, Z:-0.27 [[ 9.99984083e-01 5.44977954e-03 -1.46090223e-03 1.67935230e+01] [-5.44978189e-03 9.99985150e-01 2.36835789e-06 -2.17165168e-01] [ 1.46089344e-03 5.59327833e-06 9.99998933e-01 -2.66240061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.22, Z:-0.27 [[ 9.99984213e-01 5.42587487e-03 -1.46090226e-03 1.68236855e+01] [-5.42587722e-03 9.99985280e-01 2.35086343e-06 -2.17168565e-01] [ 1.46089351e-03 5.57584997e-06 9.99998933e-01 -2.66195996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.22, Z:-0.27 [[ 9.99972014e-01 7.33743664e-03 -1.46090231e-03 1.68532751e+01] [-7.33744109e-03 9.99973081e-01 2.31594048e-06 -2.19515159e-01] [ 1.46087998e-03 8.40340899e-06 9.99998933e-01 -2.66064271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.22, Z:-0.27 [[ 9.99971184e-01 7.44964165e-03 -1.46090237e-03 1.68827248e+01] [-7.44964627e-03 9.99972251e-01 2.28111529e-06 -2.20703649e-01] [ 1.46087882e-03 8.60215632e-06 9.99998933e-01 -2.65934325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.23, Z:-0.27 [[ 9.99975050e-01 6.91117300e-03 -1.46090242e-03 1.69125621e+01] [-6.91117709e-03 9.99976118e-01 2.24625835e-06 -2.25128161e-01] [ 1.46088306e-03 7.85035304e-06 9.99998933e-01 -2.65699985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.23, Z:-0.26 [[ 9.99978230e-01 6.43471858e-03 -1.46090245e-03 1.69426742e+01] [-6.43472219e-03 9.99979297e-01 2.22891763e-06 -2.26968374e-01] [ 1.46088655e-03 7.17163229e-06 9.99998933e-01 -2.63632596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.23, Z:-0.26 [[ 9.99977197e-01 6.59328890e-03 -1.46090040e-03 1.69719772e+01] [-6.59329067e-03 9.99978264e-01 3.60498673e-06 -2.29043218e-01] [ 1.46089241e-03 6.02723643e-06 9.99998933e-01 -2.62871581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.23, Z:-0.26 [[ 9.99980353e-01 6.09590978e-03 -1.46090252e-03 1.70010140e+01] [-6.09591309e-03 9.99981420e-01 2.19066459e-06 -2.33132470e-01] [ 1.46088873e-03 6.71491324e-06 9.99998933e-01 -2.64619907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.24, Z:-0.26 [[ 9.99978977e-01 6.31751673e-03 -1.46090254e-03 1.70302612e+01] [-6.31752029e-03 9.99980044e-01 2.17310586e-06 -2.35353884e-01] [ 1.46088712e-03 7.05622130e-06 9.99998933e-01 -2.64300412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.24, Z:-0.27 [[ 9.99975325e-01 6.87136865e-03 -1.46090260e-03 1.70591975e+01] [-6.87137286e-03 9.99976392e-01 2.13777343e-06 -2.36726973e-01] [ 1.46088280e-03 7.90068577e-06 9.99998933e-01 -2.67849135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.24, Z:-0.27 [[ 9.99961785e-01 8.61940297e-03 -1.46090275e-03 1.70893912e+01] [-8.61940919e-03 9.99962852e-01 2.03480207e-06 -2.39003955e-01] [ 1.46086601e-03 1.05573942e-05 9.99998933e-01 -2.69762375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.19587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.24, Z:-0.27 [[ 9.99953146e-01 9.56928862e-03 -1.46090268e-03 1.71186634e+01] [-9.56929579e-03 9.99954213e-01 2.08329353e-06 -2.41492065e-01] [ 1.46085572e-03 1.18966139e-05 9.99998933e-01 -2.69686011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.24, Z:-0.27 [[ 9.99934925e-01 1.13141812e-02 -1.46090272e-03 1.71482271e+01] [-1.13141903e-02 9.99935992e-01 2.04874912e-06 -2.44591826e-01] [ 1.46083240e-03 1.44803156e-05 9.99998933e-01 -2.68705549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.24, Z:-0.27 [[ 9.99924635e-01 1.21897170e-02 -1.46090277e-03 1.71780685e+01] [-1.21897271e-02 9.99925703e-01 2.01308966e-06 -2.44597611e-01] [ 1.46081877e-03 1.57950682e-05 9.99998933e-01 -2.70942688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.24, Z:-0.27 [[ 9.99910586e-01 1.32923573e-02 -1.46090280e-03 1.72073952e+01] [-1.32923686e-02 9.99911653e-01 1.99542358e-06 -2.44638508e-01] [ 1.46080025e-03 1.74236133e-05 9.99998933e-01 -2.71058592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.25, Z:-0.27 [[ 9.99889871e-01 1.47685976e-02 -1.46090284e-03 1.72367263e+01] [-1.47686105e-02 9.99890938e-01 1.96028831e-06 -2.46389609e-01] [ 1.46077247e-03 1.96154326e-05 9.99998933e-01 -2.72009501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.25, Z:-0.27 [[ 9.99880929e-01 1.53620832e-02 -1.46090287e-03 1.72659340e+01] [-1.53620968e-02 9.99881996e-01 1.94275184e-06 -2.47051220e-01] [ 1.46076032e-03 2.05000107e-05 9.99998933e-01 -2.68863490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.37587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.25, Z:-0.27 [[ 9.99873269e-01 1.58528057e-02 -1.46090292e-03 1.72949871e+01] [-1.58528198e-02 9.99874336e-01 1.90620640e-06 -2.47475706e-01] [ 1.46074955e-03 2.12534658e-05 9.99998933e-01 -2.69483044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.25, Z:-0.27 [[ 9.99870549e-01 1.60234504e-02 -1.46090294e-03 1.73242147e+01] [-1.60234647e-02 9.99871616e-01 1.88805929e-06 -2.47071521e-01] [ 1.46074564e-03 2.15209118e-05 9.99998933e-01 -2.69194848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.25, Z:-0.27 [[ 9.99867443e-01 1.62161099e-02 -1.46090298e-03 1.73538038e+01] [-1.62161245e-02 9.99868510e-01 1.85266386e-06 -2.46312860e-01] [ 1.46074093e-03 2.18377664e-05 9.99998933e-01 -2.67502377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.24, Z:-0.27 [[ 9.99867722e-01 1.61988685e-02 -1.46090301e-03 1.73832093e+01] [-1.61988831e-02 9.99868789e-01 1.83512243e-06 -2.44960059e-01] [ 1.46074105e-03 2.18301173e-05 9.99998933e-01 -2.68027214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.24, Z:-0.27 [[ 9.99880736e-01 1.53746077e-02 -1.46090305e-03 1.74131520e+01] [-1.53746215e-02 9.99881804e-01 1.80061148e-06 -2.44206616e-01] [ 1.46075806e-03 2.06604347e-05 9.99998933e-01 -2.69025740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.24, Z:-0.27 [[ 9.99893252e-01 1.45379002e-02 -1.46090307e-03 1.74431154e+01] [-1.45379131e-02 9.99894319e-01 1.78347280e-06 -2.44307669e-01] [ 1.46077461e-03 1.94551994e-05 9.99998933e-01 -2.68129757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.24, Z:-0.27 [[ 9.99906999e-01 1.35594859e-02 -1.46090311e-03 1.74723999e+01] [-1.35594978e-02 9.99908066e-01 1.74903360e-06 -2.43955832e-01] [ 1.46079252e-03 1.80602416e-05 9.99998933e-01 -2.66619465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.24, Z:-0.27 [[ 9.99935651e-01 1.12498376e-02 -1.46090315e-03 1.75018963e+01] [-1.12498471e-02 9.99936718e-01 1.71353718e-06 -2.43092956e-01] [ 1.46082998e-03 1.47215102e-05 9.99998933e-01 -2.65862101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.24, Z:-0.26 [[ 9.99950859e-01 9.80536096e-03 -1.46090348e-03 1.75316465e+01] [-9.80536933e-03 9.99951926e-01 1.43259245e-06 -2.42842182e-01] [ 1.46084730e-03 1.28921761e-05 9.99998933e-01 -2.64723542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.24, Z:-0.27 [[ 9.99968935e-01 7.74559319e-03 -1.46090324e-03 1.75602483e+01] [-7.74559905e-03 9.99970002e-01 1.64434275e-06 -2.42829008e-01] [ 1.46087215e-03 9.67127909e-06 9.99998933e-01 -2.65074359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.24, Z:-0.26 [[ 9.99990722e-01 4.05242868e-03 -1.46090189e-03 1.75897766e+01] [-4.05242884e-03 9.99991789e-01 2.84726207e-06 -2.43883869e-01] [ 1.46090144e-03 3.07296533e-06 9.99998933e-01 -2.62082450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.24, Z:-0.26 [[ 9.99996681e-01 2.12224160e-03 -1.46090323e-03 1.76195099e+01] [-2.12224137e-03 9.99997748e-01 1.70824579e-06 -2.44294943e-01] [ 1.46090356e-03 1.39214914e-06 9.99998933e-01 -2.63578929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.24, Z:-0.26 [[ 9.99997920e-01 -1.42318859e-03 -1.46090325e-03 1.76490156e+01] [ 1.42319258e-03 9.99998987e-01 1.69031984e-06 -2.44960247e-01] [ 1.46089936e-03 -3.76946299e-06 9.99998933e-01 -2.63508559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.25, Z:-0.26 [[ 9.99994975e-01 -2.81345212e-03 -1.46090329e-03 1.76787666e+01] [ 2.81345754e-03 9.99996042e-01 1.65447013e-06 -2.45952609e-01] [ 1.46089285e-03 -5.76465119e-06 9.99998933e-01 -2.63358654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.25, Z:-0.26 [[ 9.99992252e-01 -3.65539230e-03 -1.46090333e-03 1.77083551e+01] [ 3.65539856e-03 9.99993319e-01 1.61886436e-06 -2.46816602e-01] [ 1.46088765e-03 -6.95903574e-06 9.99998933e-01 -2.64184629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.25, Z:-0.26 [[ 9.99992038e-01 -3.71348434e-03 -1.46090337e-03 1.77383047e+01] [ 3.71349062e-03 9.99993105e-01 1.58339070e-06 -2.47622919e-01] [ 1.46088741e-03 -7.00842903e-06 9.99998933e-01 -2.64307854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.25, Z:-0.26 [[ 9.99992812e-01 -3.49890425e-03 -1.46090337e-03 1.77679891e+01] [ 3.49891030e-03 9.99993879e-01 1.58345233e-06 -2.48096923e-01] [ 1.46088888e-03 -6.69501078e-06 9.99998933e-01 -2.63538094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.25, Z:-0.26 [[ 9.99993282e-01 -3.36176894e-03 -1.46090340e-03 1.77972623e+01] [ 3.36177479e-03 9.99994349e-01 1.54862711e-06 -2.49887472e-01] [ 1.46088994e-03 -6.45984494e-06 9.99998933e-01 -2.64184178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.25, Z:-0.27 [[ 9.99993593e-01 -3.26807588e-03 -1.46090344e-03 1.78270121e+01] [ 3.26808158e-03 9.99994660e-01 1.51383124e-06 -2.50117078e-01] [ 1.46089069e-03 -6.28817316e-06 9.99998933e-01 -2.65188423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.94587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.25, Z:-0.26 [[ 9.99993953e-01 -3.15582781e-03 -1.46090347e-03 1.78565844e+01] [ 3.15583334e-03 9.99995020e-01 1.47888621e-06 -2.50720663e-01] [ 1.46089153e-03 -6.08924515e-06 9.99998933e-01 -2.64316752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.25, Z:-0.27 [[ 9.99993219e-01 -3.38056831e-03 -1.46090351e-03 1.78864056e+01] [ 3.38057402e-03 9.99994286e-01 1.44312424e-06 -2.53400349e-01] [ 1.46089028e-03 -6.38180691e-06 9.99998933e-01 -2.68176585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.25, Z:-0.27 [[ 9.99993488e-01 -3.30006386e-03 -1.46090353e-03 1.79156888e+01] [ 3.30006947e-03 9.99994555e-01 1.42532027e-06 -2.54846463e-01] [ 1.46089087e-03 -6.24639411e-06 9.99998933e-01 -2.67589270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.25, Z:-0.27 [[ 9.99993435e-01 -3.31609695e-03 -1.46090356e-03 1.79458251e+01] [ 3.31610252e-03 9.99994502e-01 1.38979330e-06 -2.54888254e-01] [ 1.46089092e-03 -6.23429016e-06 9.99998933e-01 -2.67624021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.25, Z:-0.27 [[ 9.99994303e-01 -3.04290098e-03 -1.46090359e-03 1.79757839e+01] [ 3.04290620e-03 9.99995370e-01 1.35442049e-06 -2.54178232e-01] [ 1.46089271e-03 -5.79980538e-06 9.99998933e-01 -2.68461377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.25, Z:-0.27 [[ 9.99994655e-01 -2.92484971e-03 -1.46090361e-03 1.80057747e+01] [ 2.92485478e-03 9.99995723e-01 1.33682944e-06 -2.54729641e-01] [ 1.46089345e-03 -5.60975321e-06 9.99998933e-01 -2.67047114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.26, Z:-0.27 [[ 9.99994681e-01 -2.91601897e-03 -1.46090364e-03 1.80348236e+01] [ 2.91602398e-03 9.99995748e-01 1.30137850e-06 -2.55659912e-01] [ 1.46089363e-03 -5.56140163e-06 9.99998933e-01 -2.68173067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.26, Z:-0.26 [[ 9.99995070e-01 -2.77967812e-03 -1.46090408e-03 1.80644657e+01] [ 2.77968216e-03 9.99996137e-01 7.32391383e-07 -2.56551893e-01] [ 1.46089640e-03 -4.79323677e-06 9.99998933e-01 -2.64139972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.26, Z:-0.26 [[ 9.99995333e-01 -2.68335625e-03 -1.46090385e-03 1.80940014e+01] [ 2.68336065e-03 9.99996400e-01 1.05626755e-06 -2.56678207e-01] [ 1.46089575e-03 -4.97639452e-06 9.99998933e-01 -2.63904288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.26, Z:-0.26 [[ 9.99997158e-01 -1.88414305e-03 -1.46090384e-03 1.81236360e+01] [ 1.88414661e-03 9.99998225e-01 1.05880401e-06 -2.58298641e-01] [ 1.46089926e-03 -3.81135802e-06 9.99998933e-01 -2.62489992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.26, Z:-0.26 [[ 9.99997926e-01 -1.41872069e-03 -1.46090387e-03 1.81526418e+01] [ 1.41872370e-03 9.99998994e-01 1.02326684e-06 -2.59108350e-01] [ 1.46090095e-03 -3.09588366e-06 9.99998933e-01 -2.62487208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.26, Z:-0.26 [[ 9.99998758e-01 -5.91866051e-04 -1.46090388e-03 1.81811830e+01] [ 5.91868152e-04 9.99999825e-01 1.00559571e-06 -2.59337243e-01] [ 1.46090303e-03 -1.87025694e-06 9.99998933e-01 -2.64048239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.26, Z:-0.26 [[ 9.99998911e-01 2.11329640e-04 -1.46090381e-03 1.82105258e+01] [-2.11328238e-04 9.99999978e-01 1.11408859e-06 -2.58910156e-01] [ 1.46090401e-03 -8.05357152e-07 9.99998933e-01 -2.62016385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.26, Z:-0.26 [[ 9.99995970e-01 2.43409304e-03 -1.46090400e-03 1.82395405e+01] [-2.43409456e-03 9.99997038e-01 7.44086779e-07 -2.59720007e-01] [ 1.46090148e-03 2.81189469e-06 9.99998933e-01 -2.63539922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.26, Z:-0.26 [[ 9.99992849e-01 3.48812359e-03 -1.46090401e-03 1.82686028e+01] [-3.48812626e-03 9.99993916e-01 7.26037147e-07 -2.60390682e-01] [ 1.46089765e-03 4.36978567e-06 9.99998933e-01 -2.64267200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.26, Z:-0.27 [[ 9.99986774e-01 4.93124502e-03 -1.46090402e-03 1.82977596e+01] [-4.93124924e-03 9.99987841e-01 7.08858160e-07 -2.59756263e-01] [ 1.46088975e-03 6.49523304e-06 9.99998933e-01 -2.65794951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.26, Z:-0.27 [[ 9.99985728e-01 5.13894681e-03 -1.46090402e-03 1.83274131e+01] [-5.13895129e-03 9.99986796e-01 6.91907598e-07 -2.58942486e-01] [ 1.46088829e-03 6.81561689e-06 9.99998933e-01 -2.65410798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.26, Z:-0.26 [[ 9.99985878e-01 5.10968875e-03 -1.46090404e-03 1.83569863e+01] [-5.10969324e-03 9.99986945e-01 6.57384706e-07 -2.58393983e-01] [ 1.46088833e-03 6.80739607e-06 9.99998933e-01 -2.64998190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.26, Z:-0.26 [[ 9.99989849e-01 4.26228719e-03 -1.46090405e-03 1.83864494e+01] [-4.26229082e-03 9.99990916e-01 6.22758391e-07 -2.58025380e-01] [ 1.46089344e-03 5.60404588e-06 9.99998933e-01 -2.63510552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.26, Z:-0.26 [[ 9.99991994e-01 3.72532088e-03 -1.46090406e-03 1.84164706e+01] [-3.72532398e-03 9.99993061e-01 6.05573496e-07 -2.58406773e-01] [ 1.46089618e-03 4.83677228e-06 9.99998933e-01 -2.63671833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.26, Z:-0.26 [[ 9.99994302e-01 3.04334146e-03 -1.46090408e-03 1.84454806e+01] [-3.04334388e-03 9.99995369e-01 5.69844924e-07 -2.58689378e-01] [ 1.46089904e-03 3.87619180e-06 9.99998933e-01 -2.63593371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.26, Z:-0.26 [[ 9.99994483e-01 2.98323174e-03 -1.46090409e-03 1.84756150e+01] [-2.98323414e-03 9.99995550e-01 5.34348885e-07 -2.58653280e-01] [ 1.46089918e-03 3.82387302e-06 9.99998933e-01 -2.62134475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.26, Z:-0.26 [[ 9.99993885e-01 3.17731671e-03 -1.46090410e-03 1.85053619e+01] [-3.17731937e-03 9.99994952e-01 4.98374675e-07 -2.58611269e-01] [ 1.46089831e-03 4.14338727e-06 9.99998933e-01 -2.63561677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.26, Z:-0.26 [[ 9.99992689e-01 3.53376997e-03 -1.46090411e-03 1.85346108e+01] [-3.53377304e-03 9.99993756e-01 4.80448712e-07 -2.59690968e-01] [ 1.46089668e-03 4.68205835e-06 9.99998933e-01 -2.62566193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.26, Z:-0.26 [[ 9.99992970e-01 3.45350683e-03 -1.46090412e-03 1.85638087e+01] [-3.45350987e-03 9.99994037e-01 4.44619720e-07 -2.60495091e-01] [ 1.46089694e-03 4.60063019e-06 9.99998933e-01 -2.62438355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.26, Z:-0.26 [[ 9.99994360e-01 3.02420674e-03 -1.46090413e-03 1.85935650e+01] [-3.02420937e-03 9.99995427e-01 4.08860203e-07 -2.60963965e-01] [ 1.46089868e-03 4.00922206e-06 9.99998933e-01 -2.64268322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.26, Z:-0.26 [[ 9.99997874e-01 1.45540992e-03 -1.46090412e-03 1.86228931e+01] [-1.45541086e-03 9.99998941e-01 4.24252158e-07 -2.61918541e-01] [ 1.46090319e-03 1.70196447e-06 9.99998933e-01 -2.64152560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.26, Z:-0.26 [[ 9.99997906e-01 1.43277372e-03 -1.46090413e-03 1.86530567e+01] [-1.43277468e-03 9.99998974e-01 3.91202554e-07 -2.61879663e-01] [ 1.46090319e-03 1.70194471e-06 9.99998933e-01 -2.64108495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.26, Z:-0.26 [[ 9.99998844e-01 4.20919200e-04 -1.46090414e-03 1.86830895e+01] [-4.20919126e-04 9.99999911e-01 3.58133193e-07 -2.63751947e-01] [ 1.46090416e-03 2.56789715e-07 9.99998933e-01 -2.64006041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.27, Z:-0.27 [[ 9.99998818e-01 -4.80067491e-04 -1.46090415e-03 1.87130558e+01] [ 4.80068474e-04 9.99999885e-01 3.22125111e-07 -2.66038927e-01] [ 1.46090383e-03 -1.02345876e-06 9.99998933e-01 -2.65517293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.27, Z:-0.27 [[ 9.99998392e-01 -1.04023046e-03 -1.46090415e-03 1.87427003e+01] [ 1.04023201e-03 9.99999459e-01 3.04227524e-07 -2.69520404e-01] [ 1.46090305e-03 -1.82390630e-06 9.99998933e-01 -2.66751908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.27, Z:-0.27 [[ 9.99998907e-01 2.28837046e-04 -1.46090445e-03 1.87721416e+01] [-2.28839132e-04 9.99999974e-01 -1.26074868e-06 -2.71285575e-01] [ 1.46090413e-03 1.59505940e-06 9.99998933e-01 -2.66593604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.27, Z:-0.26 [[ 9.99997200e-01 1.86160404e-03 -1.46090435e-03 1.88019500e+01] [-1.86160587e-03 9.99998267e-01 1.07544217e-07 -2.71813266e-01] [ 1.46090202e-03 2.61208420e-06 9.99998933e-01 -2.63924545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.27, Z:-0.27 [[ 9.99987185e-01 4.84718687e-03 -1.46090435e-03 1.88313767e+01] [-4.84719194e-03 9.99988252e-01 7.23342207e-08 -2.71992807e-01] [ 1.46088754e-03 7.00895052e-06 9.99998933e-01 -2.65600905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.27, Z:-0.26 [[ 9.99967487e-01 7.93039655e-03 -1.46090435e-03 1.88614296e+01] [-7.93040494e-03 9.99968554e-01 5.48298401e-08 -2.72010862e-01] [ 1.46085885e-03 1.15307350e-05 9.99998933e-01 -2.64443251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.27, Z:-0.27 [[ 9.99895301e-01 1.43962624e-02 -1.46090435e-03 1.88908645e+01] [-1.43962778e-02 9.99896368e-01 1.91140226e-08 -2.72318425e-01] [ 1.46075323e-03 2.10124728e-05 9.99998933e-01 -2.66201012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.27, Z:-0.27 [[ 9.99845935e-01 1.74920746e-02 -1.46090435e-03 1.89207790e+01] [-1.74920932e-02 9.99847002e-01 1.40388902e-09 -2.72731413e-01] [ 1.46068086e-03 2.55528715e-05 9.99998933e-01 -2.68065918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.27, Z:-0.27 [[ 9.99747134e-01 2.24395424e-02 -1.46090435e-03 1.89512485e+01] [-2.24395664e-02 9.99748201e-01 -1.61536698e-08 -2.71034451e-01] [ 1.46053614e-03 3.27982099e-05 9.99998933e-01 -2.65619202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.27, Z:-0.27 [[ 9.99700032e-01 2.44481292e-02 -1.46090435e-03 1.89811001e+01] [-2.44481553e-02 9.99701099e-01 -1.61536700e-08 -2.69607655e-01] [ 1.46046729e-03 3.57325654e-05 9.99998933e-01 -2.66575972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.27, Z:-0.26 [[ 9.99654503e-01 2.62438519e-02 -1.46090435e-03 1.90119049e+01] [-2.62438800e-02 9.99655570e-01 -1.61536697e-08 -2.68887209e-01] [ 1.46040075e-03 3.83559466e-05 9.99998933e-01 -2.64319568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.27, Z:-0.26 [[ 9.99585562e-01 2.87501410e-02 -1.46090435e-03 1.90413092e+01] [-2.87501717e-02 9.99586628e-01 -1.61536699e-08 -2.68753832e-01] [ 1.46029999e-03 4.20173980e-05 9.99998933e-01 -2.64582076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.27, Z:-0.26 [[ 9.99569465e-01 2.93044600e-02 -1.46090435e-03 1.90719855e+01] [-2.93044913e-02 9.99570531e-01 2.84932310e-09 -2.68433375e-01] [ 1.46027703e-03 4.28082108e-05 9.99998933e-01 -2.64403030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.27, Z:-0.27 [[ 9.99563903e-01 2.94935482e-02 -1.46090435e-03 1.91011141e+01] [-2.94935797e-02 9.99564970e-01 2.84932302e-09 -2.68250884e-01] [ 1.46026890e-03 4.30844509e-05 9.99998933e-01 -2.66295924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.27, Z:-0.26 [[ 9.99579244e-01 2.89689470e-02 -1.46090435e-03 1.91318680e+01] [-2.89689779e-02 9.99580311e-01 -1.48230217e-08 -2.66479155e-01] [ 1.46029080e-03 4.23357228e-05 9.99998933e-01 -2.63200544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.26, Z:-0.26 [[ 9.99589735e-01 2.86046597e-02 -1.46090435e-03 1.91609525e+01] [-2.86046902e-02 9.99590802e-01 -1.48230216e-08 -2.64895267e-01] [ 1.46030613e-03 4.18035335e-05 9.99998933e-01 -2.62808324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.26, Z:-0.26 [[ 9.99599767e-01 2.82519318e-02 -1.46090435e-03 1.91911241e+01] [-2.82519620e-02 9.99600834e-01 -3.24240758e-08 -2.63020462e-01] [ 1.46032029e-03 4.13058253e-05 9.99998933e-01 -2.64705852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.26, Z:-0.26 [[ 9.99624071e-01 2.73784931e-02 -1.46090433e-03 1.92227758e+01] [-2.73785248e-02 9.99625138e-01 -1.70503450e-06 -2.62378794e-01] [ 1.46031001e-03 4.17017990e-05 9.99998933e-01 -2.64418765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.26, Z:-0.27 [[ 9.99646875e-01 2.65328328e-02 -1.46090427e-03 1.92519479e+01] [-2.65328611e-02 9.99647942e-01 4.51555215e-08 -2.61523954e-01] [ 1.46039115e-03 3.87168305e-05 9.99998933e-01 -2.67807177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.26, Z:-0.27 [[ 9.99673460e-01 2.55115432e-02 -1.46090428e-03 1.92827863e+01] [-2.55115704e-02 9.99674527e-01 -9.60569442e-09 -2.60218465e-01] [ 1.46042855e-03 3.72795649e-05 9.99998933e-01 -2.65839121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.26, Z:-0.27 [[ 9.99721330e-01 2.35611643e-02 -1.46090427e-03 1.93119550e+01] [-2.35611894e-02 9.99722397e-01 4.53393952e-08 -2.58586166e-01] [ 1.46049979e-03 3.43753155e-05 9.99998933e-01 -2.67200566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.26, Z:-0.27 [[ 9.99754346e-01 2.21159156e-02 -1.46090427e-03 1.93425057e+01] [-2.21159392e-02 9.99755413e-01 2.77645078e-08 -2.56843009e-01] [ 1.46054757e-03 3.22815124e-05 9.99998933e-01 -2.65645530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.26, Z:-0.26 [[ 9.99763321e-01 2.17063816e-02 -1.46090427e-03 1.93725212e+01] [-2.17064047e-02 9.99764388e-01 2.77645076e-08 -2.55112908e-01] [ 1.46056067e-03 3.16832215e-05 9.99998933e-01 -2.63826520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.25, Z:-0.27 [[ 9.99766791e-01 2.15459880e-02 -1.46090427e-03 1.94015352e+01] [-2.15460110e-02 9.99767858e-01 4.14114611e-08 -2.53219007e-01] [ 1.46056603e-03 3.14352577e-05 9.99998933e-01 -2.65289670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.25, Z:-0.27 [[ 9.99766687e-01 2.15508301e-02 -1.46090427e-03 1.94314277e+01] [-2.15508531e-02 9.99767753e-01 2.38315851e-08 -2.49888715e-01] [ 1.46056550e-03 3.14599073e-05 9.99998933e-01 -2.65352141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.25, Z:-0.26 [[ 9.99767183e-01 2.15278000e-02 -1.46090427e-03 1.94618425e+01] [-2.15278230e-02 9.99768250e-01 3.76997416e-08 -2.48182503e-01] [ 1.46056652e-03 3.14123976e-05 9.99998933e-01 -2.63152168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.25, Z:-0.26 [[ 9.99768304e-01 2.14756765e-02 -1.46090427e-03 1.94924021e+01] [-2.14756994e-02 9.99769371e-01 3.76997415e-08 -2.46815157e-01] [ 1.46056816e-03 3.13362500e-05 9.99998933e-01 -2.62808219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.24, Z:-0.26 [[ 9.99787913e-01 2.05425353e-02 -1.46090427e-03 1.95221606e+01] [-2.05425572e-02 9.99788979e-01 3.76997413e-08 -2.43955072e-01] [ 1.46059677e-03 2.99730178e-05 9.99998933e-01 -2.64641597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.24, Z:-0.27 [[ 9.99798380e-01 2.00266170e-02 -1.46090427e-03 1.95527246e+01] [-2.00266383e-02 9.99799447e-01 5.56920185e-08 -2.42042411e-01] [ 1.46061240e-03 2.92013206e-05 9.99998933e-01 -2.65288268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685871560000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.24, Z:-0.26 [[ 9.99832626e-01 1.82369420e-02 -1.46090427e-03 1.95831244e+01] [-1.82369614e-02 9.99833693e-01 5.56920187e-08 -2.36123835e-01] [ 1.46066233e-03 2.65867721e-05 9.99998933e-01 -2.64967992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.23, Z:-0.27 [[ 9.99837535e-01 1.79658040e-02 -1.46090427e-03 1.96117992e+01] [-1.79658231e-02 9.99838602e-01 5.56920185e-08 -2.33887505e-01] [ 1.46066949e-03 2.61906647e-05 9.99998933e-01 -2.66445783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.23, Z:-0.27 [[ 9.99843130e-01 1.76516804e-02 -1.46090427e-03 1.96411869e+01] [-1.76516992e-02 9.99844197e-01 1.87759236e-08 -2.32176881e-01] [ 1.46067699e-03 2.57686699e-05 9.99998933e-01 -2.65020113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.23, Z:-0.26 [[ 9.99851638e-01 1.71629970e-02 -1.46090427e-03 1.96712793e+01] [-1.71630153e-02 9.99852705e-01 -1.56323206e-08 -2.28434150e-01] [ 1.46068882e-03 2.50891525e-05 9.99998933e-01 -2.62132178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.23, Z:-0.26 [[ 9.99855856e-01 1.69154368e-02 -1.46090427e-03 1.97013825e+01] [-1.69154549e-02 9.99856923e-01 -5.09297759e-08 -2.25946999e-01] [ 1.46069439e-03 2.47627828e-05 9.99998933e-01 -2.61934540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.22, Z:-0.27 [[ 9.99874604e-01 1.57683958e-02 -1.46090427e-03 1.97298437e+01] [-1.57684127e-02 9.99875671e-01 -8.61645875e-08 -2.20580611e-01] [ 1.46072128e-03 2.31222953e-05 9.99998933e-01 -2.65353652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.22, Z:-0.27 [[ 9.99898602e-01 1.41651713e-02 -1.46090409e-03 1.97602506e+01] [-1.41651894e-02 9.99899669e-01 -2.05037380e-06 -2.17762462e-01] [ 1.46072847e-03 2.27441489e-05 9.99998933e-01 -2.65143363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.21, Z:-0.27 [[ 9.99950910e-01 9.80017458e-03 -1.46090402e-03 1.97899263e+01] [-9.80018497e-03 9.99951977e-01 4.43961195e-08 -2.13492838e-01] [ 1.46083430e-03 1.42727357e-05 9.99998933e-01 -2.66109383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.21, Z:-0.27 [[ 9.99972433e-01 7.27999336e-03 -1.46090402e-03 1.98195824e+01] [-7.28000109e-03 9.99973500e-01 2.70819388e-08 -2.12688968e-01] [ 1.46086551e-03 1.06083017e-05 9.99998933e-01 -2.65958578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.21, Z:-0.27 [[ 9.99988513e-01 4.56512738e-03 -1.46090402e-03 1.98494720e+01] [-4.56513227e-03 9.99989580e-01 -7.22417403e-09 -2.12089560e-01] [ 1.46088877e-03 6.67644418e-06 9.99998933e-01 -2.65654756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.21, Z:-0.27 [[ 9.99998916e-01 1.83437742e-04 -1.46090402e-03 1.98792027e+01] [-1.83437998e-04 9.99999983e-01 -4.15801329e-08 -2.11884420e-01] [ 1.46090399e-03 3.09565397e-07 9.99998933e-01 -2.65754601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.21, Z:-0.26 [[ 9.99997864e-01 -1.46200612e-03 -1.46090402e-03 1.99089750e+01] [ 1.46200759e-03 9.99998931e-01 -5.86987391e-08 -2.11075896e-01] [ 1.46090255e-03 -2.07715416e-06 9.99998933e-01 -2.64867621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.21, Z:-0.26 [[ 9.99995570e-01 -2.59349920e-03 -1.46090402e-03 1.99384305e+01] [ 2.59350183e-03 9.99996637e-01 -9.25308760e-08 -2.09953349e-01] [ 1.46089935e-03 -3.69632678e-06 9.99998933e-01 -2.63624350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.21, Z:-0.26 [[ 9.99990894e-01 -4.00965412e-03 -1.46090402e-03 1.99676747e+01] [ 4.00965822e-03 9.99991961e-01 -1.26490241e-07 -2.08192376e-01] [ 1.46089278e-03 -5.73123670e-06 9.99998933e-01 -2.60855605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.21, Z:-0.26 [[ 9.99989841e-01 -4.26412784e-03 -1.46090401e-03 1.99971699e+01] [ 4.26413216e-03 9.99990909e-01 -1.61865479e-07 -2.08027282e-01] [ 1.46089142e-03 -6.06762394e-06 9.99998933e-01 -2.61579694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.21, Z:-0.26 [[ 9.99991873e-01 -3.75771396e-03 -1.46090401e-03 2.00263211e+01] [ 3.75771771e-03 9.99992940e-01 -1.79456532e-07 -2.07159638e-01] [ 1.46089437e-03 -5.31020979e-06 9.99998933e-01 -2.63863555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.21, Z:-0.26 [[ 9.99994774e-01 -2.88393565e-03 -1.46090401e-03 2.00556199e+01] [ 2.88393844e-03 9.99995841e-01 -1.96088381e-07 -2.05984107e-01] [ 1.46089850e-03 -4.01706987e-06 9.99998933e-01 -2.64885461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.20, Z:-0.27 [[ 9.99997404e-01 -1.74884751e-03 -1.46090400e-03 2.00850315e+01] [ 1.74884904e-03 9.99998471e-01 -2.30180420e-07 -2.04891951e-01] [ 1.46090217e-03 -2.32472073e-06 9.99998933e-01 -2.66652774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.20, Z:-0.27 [[ 9.99998267e-01 1.15392334e-03 -1.46090402e-03 2.01143800e+01] [-1.15392478e-03 9.99999334e-01 -1.39299078e-07 -2.03104062e-01] [ 1.46090288e-03 1.82507218e-06 9.99998933e-01 -2.69232378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.20, Z:-0.27 [[ 9.99996238e-01 2.32156487e-03 -1.46090369e-03 2.01440030e+01] [-2.32156935e-03 9.99997305e-01 -1.37055335e-06 -2.01914353e-01] [ 1.46089658e-03 4.76213742e-06 9.99998933e-01 -2.68639465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.20, Z:-0.27 [[ 9.99992633e-01 3.54972376e-03 -1.46090399e-03 2.01735372e+01] [-3.54972824e-03 9.99993700e-01 -4.78754733e-07 -2.00668298e-01] [ 1.46089308e-03 5.66456335e-06 9.99998933e-01 -2.66200525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.20, Z:-0.27 [[ 9.99984790e-01 5.31846338e-03 -1.46090397e-03 2.02030903e+01] [-5.31846980e-03 9.99985857e-01 -5.12385600e-07 -1.98412131e-01] [ 1.46088059e-03 8.28215148e-06 9.99998933e-01 -2.65673203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.20, Z:-0.26 [[ 9.99982494e-01 5.73397225e-03 -1.46090397e-03 2.02324505e+01] [-5.73397914e-03 9.99983561e-01 -5.29143050e-07 -1.96416106e-01] [ 1.46087692e-03 8.90592667e-06 9.99998933e-01 -2.62363189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.19, Z:-0.26 [[ 9.99979796e-01 6.18648878e-03 -1.46090395e-03 2.02608055e+01] [-6.18649621e-03 9.99980863e-01 -5.64835816e-07 -1.93094847e-01] [ 1.46087250e-03 9.60270118e-06 9.99998933e-01 -2.64727835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.19, Z:-0.27 [[ 9.99979902e-01 6.16936837e-03 -1.46090393e-03 2.02894718e+01] [-6.16937585e-03 9.99980969e-01 -6.18144686e-07 -1.91651928e-01] [ 1.46087232e-03 9.63099770e-06 9.99998933e-01 -2.65100205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.19, Z:-0.26 [[ 9.99980442e-01 6.08131175e-03 -1.46090390e-03 2.03191316e+01] [-6.08131925e-03 9.99981509e-01 -6.88983234e-07 -1.90213233e-01] [ 1.46087270e-03 9.57319276e-06 9.99998933e-01 -2.64548383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.19, Z:-0.27 [[ 9.99985479e-01 5.18719790e-03 -1.46090389e-03 2.03480650e+01] [-5.18720447e-03 9.99986546e-01 -7.06555240e-07 -1.87733119e-01] [ 1.46088057e-03 8.28455217e-06 9.99998933e-01 -2.65561540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.19, Z:-0.27 [[ 9.99989450e-01 4.35492849e-03 -1.46090386e-03 2.03771711e+01] [-4.35493425e-03 9.99990517e-01 -7.60418402e-07 -1.86449591e-01] [ 1.46088670e-03 7.12255065e-06 9.99998933e-01 -2.65843605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.19, Z:-0.27 [[ 9.99998648e-01 7.54533325e-04 -1.46090383e-03 2.04066994e+01] [-7.54535318e-04 9.99999715e-01 -8.12931412e-07 -1.87016637e-01] [ 1.46090280e-03 1.91523385e-06 9.99998933e-01 -2.65922761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.19, Z:-0.26 [[ 9.99997330e-01 -1.79057836e-03 -1.46090381e-03 2.04367230e+01] [ 1.79057904e-03 9.99998397e-01 -8.47035073e-07 -1.87501882e-01] [ 1.46090299e-03 -1.76883093e-06 9.99998933e-01 -2.64970162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.19, Z:-0.26 [[ 9.99989033e-01 -4.44961270e-03 -1.46090379e-03 2.04667501e+01] [ 4.44961616e-03 9.99990100e-01 -8.81577211e-07 -1.87893882e-01] [ 1.46089325e-03 -5.61889359e-06 9.99998933e-01 -2.63665158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.19, Z:-0.26 [[ 9.99946006e-01 -1.02883680e-02 -1.46090377e-03 2.04964338e+01] [ 1.02883776e-02 9.99947073e-01 -9.15935442e-07 -1.89146608e-01] [ 1.46083587e-03 -1.41144437e-05 9.99998933e-01 -2.62967275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.19, Z:-0.26 [[ 9.99916482e-01 -1.28411705e-02 -1.46090375e-03 2.05260729e+01] [ 1.28411828e-02 9.99917549e-01 -9.50477580e-07 -1.90699633e-01] [ 1.46079550e-03 -1.78093340e-05 9.99998933e-01 -2.62513299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.19, Z:-0.26 [[ 9.99916482e-01 -1.28411706e-02 -1.46090373e-03 2.05570714e+01] [ 1.28411828e-02 9.99917549e-01 -9.86172795e-07 -1.90678687e-01] [ 1.46079594e-03 -1.77736414e-05 9.99998933e-01 -2.62468012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.19, Z:-0.26 [[ 9.99888558e-01 -1.48572195e-02 -1.46090373e-03 2.05864853e+01] [ 1.48572339e-02 9.99889625e-01 -9.86172795e-07 -1.92253311e-01] [ 1.46075713e-03 -2.07189255e-05 9.99998933e-01 -2.63881225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.20, Z:-0.26 [[ 9.99860548e-01 -1.66357848e-02 -1.46090371e-03 2.06162416e+01] [ 1.66358011e-02 9.99861615e-01 -1.00387786e-06 -1.96118195e-01] [ 1.46071825e-03 -2.32995658e-05 9.99998933e-01 -2.63786152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.20, Z:-0.26 [[ 9.99859606e-01 -1.66923082e-02 -1.46090369e-03 2.06461925e+01] [ 1.66923245e-02 9.99860673e-01 -1.03944807e-06 -1.97797433e-01] [ 1.46071750e-03 -2.33465763e-05 9.99998933e-01 -2.64917575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.20, Z:-0.26 [[ 9.99883346e-01 -1.52039775e-02 -1.46090367e-03 2.06759720e+01] [ 1.52039922e-02 9.99884413e-01 -1.05722916e-06 -2.00449543e-01] [ 1.46075089e-03 -2.11544622e-05 9.99998933e-01 -2.64863708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.20, Z:-0.27 [[ 9.99902318e-01 -1.39003707e-02 -1.46090365e-03 2.07058004e+01] [ 1.39003839e-02 9.99903385e-01 -1.09252660e-06 -2.01365780e-01] [ 1.46077769e-03 -1.92147017e-05 9.99998933e-01 -2.65021838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.20, Z:-0.27 [[ 9.99925633e-01 -1.21076056e-02 -1.46090364e-03 2.07354470e+01] [ 1.21076169e-02 9.99926700e-01 -1.11009032e-06 -2.02528536e-01] [ 1.46080999e-03 -1.65780537e-05 9.99998933e-01 -2.65246495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.21, Z:-0.27 [[ 9.99968645e-01 -7.78303293e-03 -1.46090364e-03 2.07655538e+01] [ 7.78303961e-03 9.99969712e-01 -1.10945057e-06 -2.05337653e-01] [ 1.46086802e-03 -1.02608551e-05 9.99998933e-01 -2.65645926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.21, Z:-0.27 [[ 9.99985144e-01 -5.25149139e-03 -1.46090361e-03 2.07948457e+01] [ 5.25149533e-03 9.99986211e-01 -1.14310407e-06 -2.06499785e-01] [ 1.46088947e-03 -6.52884139e-06 9.99998933e-01 -2.65528212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.21, Z:-0.27 [[ 9.99998550e-01 8.74982752e-04 -1.46090358e-03 2.08242670e+01] [-8.74985405e-04 9.99999617e-01 -1.17733701e-06 -2.06283789e-01] [ 1.46090199e-03 2.45560462e-06 9.99998933e-01 -2.65983019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.21, Z:-0.27 [[ 9.99990805e-01 4.03185467e-03 -1.46090355e-03 2.08535505e+01] [-4.03186074e-03 9.99991872e-01 -1.21209150e-06 -2.05370576e-01] [ 1.46088679e-03 7.10224003e-06 9.99998933e-01 -2.66956310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.20, Z:-0.27 [[ 9.99971811e-01 7.36494069e-03 -1.46090354e-03 2.08829435e+01] [-7.36495035e-03 9.99972878e-01 -1.22942622e-06 -2.04599027e-01] [ 1.46085486e-03 1.19888736e-05 9.99998933e-01 -2.66737382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.20, Z:-0.27 [[ 9.99915314e-01 1.29317351e-02 -1.46090351e-03 2.09127539e+01] [-1.29317508e-02 9.99916381e-01 -1.26352987e-06 -2.04001249e-01] [ 1.46076501e-03 2.01554629e-05 9.99998933e-01 -2.66487385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.20, Z:-0.27 [[ 9.99880374e-01 1.53981738e-02 -1.46090327e-03 2.09420095e+01] [-1.53981924e-02 9.99881441e-01 -1.50608787e-06 -2.02892484e-01] [ 1.46070687e-03 2.40011773e-05 9.99998933e-01 -2.65411655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.20, Z:-0.27 [[ 9.99801506e-01 1.98699257e-02 -1.46090327e-03 2.09710955e+01] [-1.98699491e-02 9.99802573e-01 -1.50254638e-06 -1.99515604e-01] [ 1.46058499e-03 3.05303218e-05 9.99998933e-01 -2.66117082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.20, Z:-0.27 [[ 9.99751447e-01 2.22465611e-02 -1.46090321e-03 2.10002232e+01] [-2.22465872e-02 9.99752514e-01 -1.55565780e-06 -1.97225510e-01] [ 1.46050705e-03 3.40553818e-05 9.99998933e-01 -2.65760081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.19, Z:-0.26 [[ 9.99694923e-01 2.46561832e-02 -1.46090317e-03 2.10296404e+01] [-2.46562118e-02 9.99695989e-01 -1.59505702e-06 -1.94550013e-01] [ 1.46041971e-03 3.76149084e-05 9.99998933e-01 -2.64862620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.19, Z:-0.27 [[ 9.99594813e-01 2.84266857e-02 -1.46090313e-03 2.10592992e+01] [-2.84267184e-02 9.99595879e-01 -1.63000955e-06 -1.89674920e-01] [ 1.46026641e-03 4.31580310e-05 9.99998933e-01 -2.65806131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.19, Z:-0.27 [[ 9.99565969e-01 2.94234606e-02 -1.46090309e-03 2.10877544e+01] [-2.94234945e-02 9.99567035e-01 -1.66470098e-06 -1.87574428e-01] [ 1.46022159e-03 4.46488525e-05 9.99998933e-01 -2.66224683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.19, Z:-0.27 [[ 9.99552000e-01 2.98942146e-02 -1.46090303e-03 2.11175098e+01] [-2.98942490e-02 9.99553067e-01 -1.71652056e-06 -1.85160770e-01] [ 1.46019879e-03 4.53883506e-05 9.99998933e-01 -2.65380740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.18, Z:-0.26 [[ 9.99545170e-01 3.01217277e-02 -1.46090299e-03 2.11464038e+01] [-3.01217624e-02 9.99546237e-01 -1.75054032e-06 -1.78748825e-01] [ 1.46018736e-03 4.57547169e-05 9.99998933e-01 -2.63652007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.18, Z:-0.26 [[ 9.99546518e-01 3.00769843e-02 -1.46090293e-03 2.11747873e+01] [-3.00770190e-02 9.99547584e-01 -1.80142304e-06 -1.75190648e-01] [ 1.46018781e-03 4.57402112e-05 9.99998933e-01 -2.64233760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.17, Z:-0.26 [[ 9.99598614e-01 2.82926797e-02 -1.46090030e-03 2.12050683e+01] [-2.82927156e-02 9.99599681e-01 -3.90214500e-06 -1.68415800e-01] [ 1.46020507e-03 4.52334155e-05 9.99998933e-01 -2.63768665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.17, Z:-0.26 [[ 9.99627325e-01 2.72594503e-02 -1.46090286e-03 2.12342410e+01] [-2.72594819e-02 9.99628391e-01 -1.70311151e-06 -1.65584371e-01] [ 1.46031355e-03 4.15259320e-05 9.99998933e-01 -2.64036790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.16, Z:-0.26 [[ 9.99689508e-01 2.48747733e-02 -1.46090282e-03 2.12643170e+01] [-2.48748024e-02 9.99690574e-01 -1.73709393e-06 -1.60139876e-01] [ 1.46040757e-03 3.80762236e-05 9.99998933e-01 -2.64259864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.16, Z:-0.27 [[ 9.99723230e-01 2.34804173e-02 -1.46090278e-03 2.12925854e+01] [-2.34804449e-02 9.99724296e-01 -1.77192148e-06 -1.57033416e-01] [ 1.46045840e-03 3.60740784e-05 9.99998933e-01 -2.65552824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455871560000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.15, Z:-0.27 [[ 9.99756680e-01 2.20101486e-02 -1.46090335e-03 2.13215702e+01] [-2.20101739e-02 9.99757747e-01 -1.27150328e-06 -1.54135865e-01] [ 1.46052145e-03 3.34259306e-05 9.99998933e-01 -2.65887721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.15, Z:-0.27 [[ 9.99840655e-01 1.77913006e-02 -1.46090289e-03 2.13521039e+01] [-1.77913220e-02 9.99841722e-01 -1.67009728e-06 -1.47856293e-01] [ 1.46064195e-03 2.76612249e-05 9.99998933e-01 -2.65888077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.14, Z:-0.26 [[ 9.99868107e-01 1.61750974e-02 -1.46090660e-03 2.13811653e+01] [-1.61751130e-02 9.99869174e-01 1.17300730e-06 -1.44925246e-01] [ 1.46073445e-03 2.24574767e-05 9.99998933e-01 -2.62830716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.14, Z:-0.26 [[ 9.99929815e-01 1.17571330e-02 -1.46090204e-03 2.14101141e+01] [-1.17571485e-02 9.99930882e-01 -2.06085516e-06 -1.39727783e-01] [ 1.46077683e-03 1.92367528e-05 9.99998933e-01 -2.63843891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.14, Z:-0.26 [[ 9.99956094e-01 9.25616626e-03 -1.46090198e-03 2.14395564e+01] [-9.25617920e-03 9.99957161e-01 -2.09800717e-06 -1.37621699e-01] [ 1.46081998e-03 1.56202856e-05 9.99998933e-01 -2.63028312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.60587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.14, Z:-0.26 [[ 9.99974554e-01 6.98255936e-03 -1.46090338e-03 2.14682637e+01] [-6.98256840e-03 9.99975622e-01 -1.09059705e-06 -1.36291487e-01] [ 1.46086015e-03 1.12914271e-05 9.99998933e-01 -2.62251469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.13, Z:-0.27 [[ 9.99996076e-01 2.39029821e-03 -1.46090215e-03 2.14975216e+01] [-2.39030367e-03 9.99997143e-01 -1.98941257e-06 -1.34107552e-01] [ 1.46089322e-03 5.48140455e-06 9.99998933e-01 -2.65196216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.13, Z:-0.26 [[ 9.99998798e-01 5.18536368e-04 -1.46090505e-03 2.15273490e+01] [-5.18536401e-04 9.99999866e-01 3.55712759e-07 -1.33810656e-01] [ 1.46090504e-03 4.01820114e-07 9.99998933e-01 -2.64309631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.13, Z:-0.26 [[ 9.99990762e-01 -4.04258169e-03 -1.46090234e-03 2.15572564e+01] [ 4.04258335e-03 9.99991829e-01 -1.81845475e-06 -1.34096788e-01] [ 1.46089776e-03 -4.08738152e-06 9.99998933e-01 -2.63780271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.13, Z:-0.26 [[ 9.99981270e-01 -5.94357203e-03 -1.46090230e-03 2.15864202e+01] [ 5.94357566e-03 9.99982337e-01 -1.85378477e-06 -1.34364343e-01] [ 1.46088751e-03 -6.82923329e-06 9.99998933e-01 -2.64603498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.13, Z:-0.26 [[ 9.99959669e-01 -8.86145486e-03 -1.46090227e-03 2.16165566e+01] [ 8.86146159e-03 9.99960736e-01 -1.87134230e-06 -1.33444859e-01] [ 1.46086150e-03 -1.10744626e-05 9.99998933e-01 -2.64170772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.13, Z:-0.26 [[ 9.99953469e-01 -9.53553773e-03 -1.46090227e-03 2.16466185e+01] [ 9.53554517e-03 9.99954536e-01 -1.87134230e-06 -1.32925231e-01] [ 1.46085370e-03 -1.20592444e-05 9.99998933e-01 -2.63812302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.13, Z:-0.26 [[ 9.99951836e-01 -9.70525361e-03 -1.46090227e-03 2.16762580e+01] [ 9.70526123e-03 9.99952903e-01 -1.87134230e-06 -1.32543766e-01] [ 1.46085163e-03 -1.23071860e-05 9.99998933e-01 -2.62601177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.13, Z:-0.26 [[ 9.99966809e-01 -8.01545284e-03 -1.46090225e-03 2.17055813e+01] [ 8.01545864e-03 9.99967876e-01 -1.88866130e-06 -1.32432216e-01] [ 1.46087046e-03 -9.82120295e-06 9.99998933e-01 -2.62635572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.87587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.13, Z:-0.26 [[ 9.99978173e-01 -6.44357964e-03 -1.46090223e-03 2.17356456e+01] [ 6.44358373e-03 9.99979240e-01 -1.90577588e-06 -1.31962774e-01] [ 1.46088418e-03 -7.50771156e-06 9.99998933e-01 -2.61164827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.13, Z:-0.26 [[ 9.99996983e-01 -1.97477000e-03 -1.46090223e-03 2.17649345e+01] [ 1.97476932e-03 9.99998050e-01 -1.90577588e-06 -1.30797531e-01] [ 1.46090314e-03 -9.79174770e-07 9.99998933e-01 -2.62847231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935871560000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.13, Z:-0.26 [[ 9.99998859e-01 3.83763458e-04 -1.46090223e-03 2.17949038e+01] [-3.83766651e-04 9.99999926e-01 -1.90577588e-06 -1.28872905e-01] [ 1.46090139e-03 2.46641926e-06 9.99998933e-01 -2.62882815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.13, Z:-0.26 [[ 9.99995122e-01 2.76079303e-03 -1.46090218e-03 2.18243775e+01] [-2.76079881e-03 9.99996189e-01 -1.94012227e-06 -1.27040553e-01] [ 1.46089126e-03 5.97336981e-06 9.99998933e-01 -2.62656103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.13, Z:-0.27 [[ 9.99987561e-01 4.76895780e-03 -1.46090214e-03 2.18533494e+01] [-4.76896577e-03 9.99988628e-01 -1.97559347e-06 -1.25237764e-01] [ 1.46087610e-03 8.94256118e-06 9.99998933e-01 -2.65343141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.12, Z:-0.26 [[ 9.99971530e-01 7.40299988e-03 -1.46090206e-03 2.18830254e+01] [-7.40301074e-03 9.99972597e-01 -2.02850889e-06 -1.22871367e-01] [ 1.46084701e-03 1.28435248e-05 9.99998933e-01 -2.64606004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.12, Z:-0.26 [[ 9.99967653e-01 7.90941521e-03 -1.46090201e-03 2.19114974e+01] [-7.90942666e-03 9.99968720e-01 -2.06341963e-06 -1.21489067e-01] [ 1.46084000e-03 1.36182502e-05 9.99998933e-01 -2.64290187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.12, Z:-0.26 [[ 9.99975882e-01 6.78972221e-03 -1.46090191e-03 2.19403205e+01] [-6.78973257e-03 9.99976949e-01 -2.13390642e-06 -1.18584481e-01] [ 1.46085375e-03 1.20529882e-05 9.99998933e-01 -2.64759104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.12, Z:-0.26 [[ 9.99986416e-01 5.00341671e-03 -1.46090183e-03 2.19693599e+01] [-5.00342524e-03 9.99987483e-01 -2.18629030e-06 -1.17742367e-01] [ 1.46087261e-03 9.49577371e-06 9.99998933e-01 -2.64182739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.12, Z:-0.27 [[ 9.99995608e-01 2.57861720e-03 -1.46090173e-03 2.19978830e+01] [-2.57862324e-03 9.99996675e-01 -2.25494690e-06 -1.17827691e-01] [ 1.46089105e-03 6.02205214e-06 9.99998933e-01 -2.65747472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.12, Z:-0.27 [[ 9.99991543e-01 -3.84440671e-03 -1.46090167e-03 2.20261223e+01] [ 3.84440746e-03 9.99992610e-01 -2.29117339e-06 -1.18461519e-01] [ 1.46089968e-03 -3.32514726e-06 9.99998933e-01 -2.66740297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.12, Z:-0.26 [[ 9.99972588e-01 -7.25872660e-03 -1.46090159e-03 2.20562299e+01] [ 7.25873093e-03 9.99973655e-01 -2.34032562e-06 -1.18576708e-01] [ 1.46088009e-03 -8.26403009e-06 9.99998933e-01 -2.64984349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.12, Z:-0.27 [[ 9.99944471e-01 -1.04365549e-02 -1.46090159e-03 2.20858005e+01] [ 1.04365627e-02 9.99945538e-01 -2.34032562e-06 -1.19586574e-01] [ 1.46084645e-03 -1.29065953e-05 9.99998933e-01 -2.68813483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.12, Z:-0.27 [[ 9.99862565e-01 -1.65141614e-02 -1.46090156e-03 2.21165770e+01] [ 1.65141755e-02 9.99863632e-01 -2.35760365e-06 -1.22455234e-01] [ 1.46074128e-03 -2.17683052e-05 9.99998933e-01 -2.66043865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.12, Z:-0.27 [[ 9.99822141e-01 -1.88029737e-02 -1.46090156e-03 2.21464903e+01] [ 1.88029903e-02 9.99823208e-01 -2.35760365e-06 -1.24649931e-01] [ 1.46068762e-03 -2.51121336e-05 9.99998933e-01 -2.67328296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.13, Z:-0.27 [[ 9.99743693e-01 -2.25923525e-02 -1.46089798e-03 2.21765110e+01] [ 2.25923702e-02 9.99744760e-01 -4.44838122e-06 -1.29982214e-01] [ 1.46062559e-03 -2.85579068e-05 9.99998933e-01 -2.68868919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.13, Z:-0.27 [[ 9.99734074e-01 -2.30140544e-02 -1.46090131e-03 2.22065015e+01] [ 2.30140753e-02 9.99735141e-01 -2.49287576e-06 -1.31912557e-01] [ 1.46057175e-03 -3.11290800e-05 9.99998933e-01 -2.67991527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.13, Z:-0.27 [[ 9.99723564e-01 -2.34661604e-02 -1.46089622e-03 2.22372039e+01] [ 2.34661775e-02 9.99724631e-01 -5.40956191e-06 -1.32525493e-01] [ 1.46062088e-03 -2.88735836e-05 9.99998933e-01 -2.66565358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.13, Z:-0.27 [[ 9.99750140e-01 -2.23052111e-02 -1.46089737e-03 2.22664241e+01] [ 2.23052280e-02 9.99751207e-01 -4.76593860e-06 -1.34547751e-01] [ 1.46064021e-03 -2.78209011e-05 9.99998933e-01 -2.65717156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.14, Z:-0.26 [[ 9.99777840e-01 -2.10270512e-02 -1.46090121e-03 2.22965864e+01] [ 2.10270698e-02 9.99778907e-01 -2.64264007e-06 -1.36326367e-01] [ 1.46063378e-03 -2.80764187e-05 9.99998933e-01 -2.63227052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.14, Z:-0.26 [[ 9.99812286e-01 -1.93198844e-02 -1.46090121e-03 2.23271763e+01] [ 1.93199012e-02 9.99813353e-01 -2.64264007e-06 -1.38819401e-01] [ 1.46067959e-03 -2.55823230e-05 9.99998933e-01 -2.63448989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.14, Z:-0.27 [[ 9.99874695e-01 -1.57626383e-02 -1.46090121e-03 2.23569245e+01] [ 1.57626512e-02 9.99875762e-01 -2.64264007e-06 -1.43915161e-01] [ 1.46076137e-03 -2.03853674e-05 9.99998933e-01 -2.66406712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.14, Z:-0.27 [[ 9.99903251e-01 -1.38330940e-02 -1.46090118e-03 2.23874640e+01] [ 1.38331049e-02 9.99904318e-01 -2.66010257e-06 -1.44746523e-01] [ 1.46079819e-03 -1.75489541e-05 9.99998933e-01 -2.66231483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.15, Z:-0.27 [[ 9.99953740e-01 -9.50707165e-03 -1.46090118e-03 2.24166846e+01] [ 9.50707791e-03 9.99954807e-01 -2.66010257e-06 -1.46096742e-01] [ 1.46086045e-03 -1.12289218e-05 9.99998933e-01 -2.67416093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.15, Z:-0.27 [[ 9.99953740e-01 -9.50707165e-03 -1.46090119e-03 2.24476814e+01] [ 9.50707791e-03 9.99954807e-01 -2.65526882e-06 -1.46040407e-01] [ 1.46086041e-03 -1.12337554e-05 9.99998933e-01 -2.67370809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.15, Z:-0.27 [[ 9.99974064e-01 -7.05249948e-03 -1.46090119e-03 2.24786628e+01] [ 7.05250313e-03 9.99975131e-01 -2.65526882e-06 -1.46801765e-01] [ 1.46088358e-03 -7.64781024e-06 9.99998933e-01 -2.66597600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.15, Z:-0.27 [[ 9.99988264e-01 -4.61936520e-03 -1.46090119e-03 2.25084563e+01] [ 4.61936625e-03 9.99989331e-01 -2.65526882e-06 -1.47662350e-01] [ 1.46089787e-03 -4.09319998e-06 9.99998933e-01 -2.66555245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.15, Z:-0.27 [[ 9.99998562e-01 8.61834932e-04 -1.46090119e-03 2.25382030e+01] [-8.61839727e-04 9.99999629e-01 -2.65240001e-06 -1.49153075e-01] [ 1.46089836e-03 3.91145888e-06 9.99998933e-01 -2.66663866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.15, Z:-0.27 [[ 9.99992943e-01 3.46130655e-03 -1.46090116e-03 2.25680493e+01] [-3.46131414e-03 9.99994010e-01 -2.66925169e-06 -1.48898661e-01] [ 1.46088317e-03 7.72587070e-06 9.99998933e-01 -2.65103090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.15, Z:-0.27 [[ 9.99961212e-01 8.68568128e-03 -1.46090110e-03 2.25963066e+01] [-8.68569450e-03 9.99962279e-01 -2.70449405e-06 -1.47105286e-01] [ 1.46082250e-03 1.53933298e-05 9.99998933e-01 -2.66392501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.15, Z:-0.27 [[ 9.99936044e-01 1.12148438e-02 -1.46090097e-03 2.26250842e+01] [-1.12148598e-02 9.99937111e-01 -2.76971547e-06 -1.46400808e-01] [ 1.46077804e-03 1.91533379e-05 9.99998933e-01 -2.65244509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.15, Z:-0.27 [[ 9.99910740e-01 1.32806980e-02 -1.46090084e-03 2.26542433e+01] [-1.32807163e-02 9.99911807e-01 -2.83960268e-06 -1.45583780e-01] [ 1.46073428e-03 2.22411588e-05 9.99998933e-01 -2.65138098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.14, Z:-0.27 [[ 9.99884157e-01 1.51505369e-02 -1.46090076e-03 2.26822751e+01] [-1.51505573e-02 9.99885224e-01 -2.87939259e-06 -1.42689082e-01] [ 1.46068946e-03 2.50125196e-05 9.99998933e-01 -2.68706314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.14, Z:-0.27 [[ 9.99881961e-01 1.52947804e-02 -1.46090058e-03 2.27120571e+01] [-1.52948011e-02 9.99883028e-01 -2.96625535e-06 -1.41444244e-01] [ 1.46068433e-03 2.53100890e-05 9.99998933e-01 -2.68861648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.14, Z:-0.27 [[ 9.99916414e-01 1.28463934e-02 -1.46089843e-03 2.27418686e+01] [-1.28464130e-02 9.99917481e-01 -4.05965057e-06 -1.39507035e-01] [ 1.46072572e-03 2.28266158e-05 9.99998933e-01 -2.70560194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.14, Z:-0.27 [[ 9.99941978e-01 1.06726952e-02 -1.46090079e-03 2.27718784e+01] [-1.06727108e-02 9.99943045e-01 -2.84565850e-06 -1.38488933e-01] [ 1.46078721e-03 1.84372650e-05 9.99998933e-01 -2.70207743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.14, Z:-0.27 [[ 9.99963494e-01 8.41881633e-03 -1.46090072e-03 2.28008150e+01] [-8.41882952e-03 9.99964561e-01 -2.88185796e-06 -1.37815735e-01] [ 1.46082468e-03 1.51808269e-05 9.99998933e-01 -2.72341850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.14, Z:-0.27 [[ 9.99992113e-01 3.69332239e-03 -1.46090061e-03 2.28299204e+01] [-3.69333062e-03 9.99993180e-01 -2.93592406e-06 -1.37610946e-01] [ 1.46087980e-03 8.33148987e-06 9.99998933e-01 -2.71895472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.14, Z:-0.27 [[ 9.99997875e-01 1.45449059e-03 -1.46090051e-03 2.28591809e+01] [-1.45449651e-03 9.99998942e-01 -2.98743222e-06 -1.37050688e-01] [ 1.46089461e-03 5.11230056e-06 9.99998933e-01 -2.68677929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.14, Z:-0.27 [[ 9.99998920e-01 -1.61864788e-04 -1.46090043e-03 2.28885777e+01] [ 1.61860544e-04 9.99999987e-01 -3.02301502e-06 -1.36028762e-01] [ 1.46090090e-03 2.78654962e-06 9.99998933e-01 -2.68210293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.13, Z:-0.27 [[ 9.99995239e-01 -2.71787423e-03 -1.46090040e-03 2.29177725e+01] [ 2.71787268e-03 9.99996307e-01 -3.04070872e-06 -1.34943446e-01] [ 1.46090326e-03 -9.29847035e-07 9.99998933e-01 -2.68173714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.13, Z:-0.27 [[ 9.99992853e-01 -3.48698061e-03 -1.46090032e-03 2.29473271e+01] [ 3.48697984e-03 9.99993920e-01 -3.07505507e-06 -1.34966719e-01] [ 1.46090216e-03 -2.01909688e-06 9.99998933e-01 -2.68492301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.13, Z:-0.27 [[ 9.99988590e-01 -4.54810136e-03 -1.46090029e-03 2.29767597e+01] [ 4.54810169e-03 9.99989657e-01 -3.09210673e-06 -1.34219362e-01] [ 1.46089924e-03 -3.55225162e-06 9.99998933e-01 -2.66619592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.13, Z:-0.27 [[ 9.99985752e-01 -5.13434468e-03 -1.46090021e-03 2.30063932e+01] [ 5.13434559e-03 9.99986819e-01 -3.12757016e-06 -1.33305382e-01] [ 1.46089701e-03 -4.37324097e-06 9.99998933e-01 -2.67530927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.13, Z:-0.27 [[ 9.99982021e-01 -5.81573849e-03 -1.46090017e-03 2.30363531e+01] [ 5.81574010e-03 9.99983088e-01 -3.14522493e-06 -1.32511837e-01] [ 1.46089376e-03 -5.35104734e-06 9.99998933e-01 -2.68779268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.13, Z:-0.27 [[ 9.99967545e-01 -7.92307036e-03 -1.46090018e-03 2.30665752e+01] [ 7.92307423e-03 9.99968612e-01 -3.14408564e-06 -1.33042023e-01] [ 1.46087923e-03 -8.43083693e-06 9.99998933e-01 -2.68267833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.13, Z:-0.27 [[ 9.99955936e-01 -9.27317292e-03 -1.46090018e-03 2.30961195e+01] [ 9.27317823e-03 9.99957003e-01 -3.14408564e-06 -1.33480082e-01] [ 1.46086652e-03 -1.04032406e-05 9.99998933e-01 -2.70786630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.28587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.14, Z:-0.27 [[ 9.99938652e-01 -1.09798874e-02 -1.46090014e-03 2.31258321e+01] [ 1.09798945e-02 9.99939719e-01 -3.16150041e-06 -1.35438523e-01] [ 1.46084679e-03 -1.28792230e-05 9.99998933e-01 -2.68231780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.14, Z:-0.27 [[ 9.99925730e-01 -1.20996015e-02 -1.46090010e-03 2.31562898e+01] [ 1.20996098e-02 9.99926797e-01 -3.17872578e-06 -1.35608632e-01] [ 1.46083162e-03 -1.44978315e-05 9.99998933e-01 -2.69389445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.14, Z:-0.27 [[ 9.99918034e-01 -1.27197487e-02 -1.46090010e-03 2.31866489e+01] [ 1.27197577e-02 9.99919101e-01 -3.17872578e-06 -1.36833963e-01] [ 1.46082235e-03 -1.54038300e-05 9.99998933e-01 -2.69159426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.37587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.14, Z:-0.26 [[ 9.99908644e-01 -1.34375861e-02 -1.46090014e-03 2.32174336e+01] [ 1.34375958e-02 9.99909711e-01 -3.16129230e-06 -1.39644436e-01] [ 1.46081072e-03 -1.64699820e-05 9.99998933e-01 -2.64112724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.14, Z:-0.27 [[ 9.99907193e-01 -1.35451209e-02 -1.46090017e-03 2.32469549e+01] [ 1.35451307e-02 9.99908261e-01 -3.14403673e-06 -1.40046837e-01] [ 1.46080874e-03 -1.66443389e-05 9.99998933e-01 -2.68324821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.14, Z:-0.27 [[ 9.99879359e-01 -1.54639609e-02 -1.46089361e-03 2.32774891e+01] [ 1.54639683e-02 9.99880426e-01 -6.23963419e-06 -1.43303721e-01] [ 1.46081542e-03 -1.63523310e-05 9.99998933e-01 -2.66788750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.15, Z:-0.27 [[ 9.99872420e-01 -1.59062679e-02 -1.46090027e-03 2.33079816e+01] [ 1.59062802e-02 9.99873487e-01 -3.20131767e-06 -1.45498251e-01] [ 1.46076637e-03 -2.00365797e-05 9.99998933e-01 -2.65091802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.49587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.15, Z:-0.27 [[ 9.99862157e-01 -1.65388123e-02 -1.46089098e-03 2.33377261e+01] [ 1.65388195e-02 9.99863224e-01 -7.14649668e-06 -1.47982075e-01] [ 1.46080936e-03 -1.70159006e-05 9.99998933e-01 -2.66177115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.15, Z:-0.27 [[ 9.99831724e-01 -1.82863089e-02 -1.46089510e-03 2.33686051e+01] [ 1.82863205e-02 9.99832791e-01 -5.41659887e-06 -1.51592117e-01] [ 1.46074987e-03 -2.12987086e-05 9.99998933e-01 -2.68498656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.15, Z:-0.27 [[ 9.99816868e-01 -1.90813302e-02 -1.46089532e-03 2.33987126e+01] [ 1.90813428e-02 9.99817935e-01 -5.32363702e-06 -1.53872980e-01] [ 1.46073092e-03 -2.25531823e-05 9.99998933e-01 -2.68943137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.16, Z:-0.27 [[ 9.99802390e-01 -1.98253951e-02 -1.46089974e-03 2.34289774e+01] [ 1.98254113e-02 9.99803457e-01 -3.45321510e-06 -1.59267317e-01] [ 1.46068107e-03 -2.55104054e-05 9.99998933e-01 -2.69620130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.16, Z:-0.27 [[ 9.99810184e-01 -1.94283512e-02 -1.46089974e-03 2.34583012e+01] [ 1.94283668e-02 9.99811251e-01 -3.45321510e-06 -1.61939597e-01] [ 1.46069109e-03 -2.49303364e-05 9.99998933e-01 -2.69781562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.64587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.17, Z:-0.27 [[ 9.99823970e-01 -1.87054934e-02 -1.46089970e-03 2.34878118e+01] [ 1.87055083e-02 9.99825037e-01 -3.47043567e-06 -1.65164773e-01] [ 1.46070901e-03 -2.38570467e-05 9.99998933e-01 -2.68177012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.17, Z:-0.27 [[ 9.99852040e-01 -1.71395392e-02 -1.46089966e-03 2.35174317e+01] [ 1.71395524e-02 9.99853107e-01 -3.48752250e-06 -1.71486898e-01] [ 1.46074484e-03 -2.15521597e-05 9.99998933e-01 -2.74235018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.17, Z:-0.27 [[ 9.99864871e-01 -1.63739258e-02 -1.46089753e-03 2.35471463e+01] [ 1.63739369e-02 9.99865938e-01 -4.36325177e-06 -1.74084390e-01] [ 1.46077312e-03 -1.95579818e-05 9.99998933e-01 -2.67387093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.18, Z:-0.27 [[ 9.99901220e-01 -1.39791179e-02 -1.46089952e-03 2.35760390e+01] [ 1.39791277e-02 9.99902287e-01 -3.54102735e-06 -1.79111598e-01] [ 1.46080628e-03 -1.68814234e-05 9.99998933e-01 -2.72716794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.18, Z:-0.27 [[ 9.99918662e-01 -1.26702809e-02 -1.46089703e-03 2.36064379e+01] [ 1.26702877e-02 9.99919729e-01 -4.55103471e-06 -1.81608080e-01] [ 1.46083743e-03 -1.39593213e-05 9.99998933e-01 -2.70130712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.18, Z:-0.27 [[ 9.99942016e-01 -1.06691672e-02 -1.46089921e-03 2.36355990e+01] [ 1.06691732e-02 9.99943083e-01 -3.68685157e-06 -1.84497741e-01] [ 1.46085540e-03 -1.18999489e-05 9.99998933e-01 -2.72608323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.19, Z:-0.27 [[ 9.99977496e-01 -6.54777203e-03 -1.46089507e-03 2.36651166e+01] [ 6.54777128e-03 9.99978563e-01 -5.29044579e-06 -1.89535148e-01] [ 1.46089839e-03 -4.27528004e-06 9.99998933e-01 -2.70466146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.19, Z:-0.27 [[ 9.99990200e-01 -4.17927015e-03 -1.46089870e-03 2.36949806e+01] [ 4.17926885e-03 9.99991267e-01 -3.94631890e-06 -1.91251400e-01] [ 1.46090243e-03 -2.15920820e-06 9.99998933e-01 -2.70492101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.19, Z:-0.27 [[ 9.99998213e-01 -1.20015373e-03 -1.46089860e-03 2.37246642e+01] [ 1.20014919e-03 9.99999280e-01 -3.98140194e-06 -1.93414777e-01] [ 1.46090233e-03 2.22809855e-06 9.99998933e-01 -2.70598598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.20, Z:-0.27 [[ 9.99981182e-01 5.95830225e-03 -1.46089832e-03 2.37533532e+01] [-5.95831457e-03 9.99982249e-01 -4.08322213e-06 -1.96626784e-01] [ 1.46084806e-03 1.27876371e-05 9.99998933e-01 -2.69063702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.20, Z:-0.27 [[ 9.99949291e-01 9.96403081e-03 -1.46088818e-03 2.37829797e+01] [-9.96405239e-03 9.99950358e-01 -7.49525905e-06 -1.97721200e-01] [ 1.46074098e-03 2.20512454e-05 9.99998933e-01 -2.71506116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.20, Z:-0.27 [[ 9.99850538e-01 1.72269141e-02 -1.46089783e-03 2.38119539e+01] [-1.72269387e-02 9.99851605e-01 -4.21403932e-06 -1.95971801e-01] [ 1.46060845e-03 2.93802068e-05 9.99998933e-01 -2.71166876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.19, Z:-0.27 [[ 9.99795206e-01 2.01844637e-02 -1.46089268e-03 2.38415705e+01] [-2.01844940e-02 9.99796272e-01 -5.96737707e-06 -1.94470327e-01] [ 1.46047461e-03 3.54535345e-05 9.99998933e-01 -2.71822898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.19, Z:-0.27 [[ 9.99678219e-01 2.53243736e-02 -1.46089759e-03 2.38712940e+01] [-2.53244069e-02 9.99679286e-01 -4.29778360e-06 -1.92122244e-01] [ 1.46032023e-03 4.12927659e-05 9.99998933e-01 -2.73286106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.19, Z:-0.28 [[ 9.99616767e-01 2.76438893e-02 -1.46089749e-03 2.39018734e+01] [-2.76439251e-02 9.99617834e-01 -4.33232559e-06 -1.92092325e-01] [ 1.46021942e-03 4.47156062e-05 9.99998933e-01 -2.75480227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.19, Z:-0.28 [[ 9.99607516e-01 2.79764001e-02 -1.46090488e-03 2.39320802e+01] [-2.79764327e-02 9.99608583e-01 -1.84935906e-06 -1.90290949e-01] [ 1.46028132e-03 4.27195403e-05 9.99998933e-01 -2.75613116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.19, Z:-0.27 [[ 9.99633842e-01 2.70193872e-02 -1.46091217e-03 2.39600004e+01] [-2.70194151e-02 9.99634909e-01 6.41185479e-07 -1.88102862e-01] [ 1.46039613e-03 3.88320417e-05 9.99998933e-01 -2.74150566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.19, Z:-0.27 [[ 9.99667162e-01 2.57571593e-02 -1.46089096e-03 2.39913723e+01] [-2.57571960e-02 9.99668228e-01 -6.30455303e-06 -1.88573507e-01] [ 1.46024389e-03 4.39309095e-05 9.99998933e-01 -2.74482295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.19, Z:-0.27 [[ 9.99749339e-01 2.23410915e-02 -1.46090926e-03 2.40189770e+01] [-2.23411152e-02 9.99750406e-01 4.28940382e-08 -1.85245087e-01] [ 1.46054558e-03 3.25954588e-05 9.99998933e-01 -2.72809605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.18, Z:-0.27 [[ 9.99797894e-01 2.00508608e-02 -1.46089209e-03 2.40486038e+01] [-2.00508907e-02 9.99798961e-01 -5.77957369e-06 -1.82885594e-01] [ 1.46048251e-03 3.50705932e-05 9.99998933e-01 -2.72384660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.18, Z:-0.27 [[ 9.99837328e-01 1.79773210e-02 -1.46089499e-03 2.40786617e+01] [-1.79773472e-02 9.99838394e-01 -4.78299417e-06 -1.81760275e-01] [ 1.46057291e-03 3.10452325e-05 9.99998933e-01 -2.67895198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.18, Z:-0.27 [[ 9.99911006e-01 1.32606984e-02 -1.46089348e-03 2.41079261e+01] [-1.32607203e-02 9.99912073e-01 -5.30526821e-06 -1.81016719e-01] [ 1.46069468e-03 2.46772959e-05 9.99998933e-01 -2.70321082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.18, Z:-0.27 [[ 9.99942251e-01 1.06471290e-02 -1.46090055e-03 2.41375260e+01] [-1.06471444e-02 9.99943318e-01 -2.80363349e-06 -1.81065977e-01] [ 1.46078789e-03 1.83578907e-05 9.99998933e-01 -2.70395905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.18, Z:-0.27 [[ 9.99983508e-01 5.55423047e-03 -1.46089575e-03 2.41663651e+01] [-5.55424293e-03 9.99984575e-01 -4.47338748e-06 -1.81524905e-01] [ 1.46084837e-03 1.25874836e-05 9.99998933e-01 -2.70253311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365871560000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.18, Z:-0.27 [[ 9.99993375e-01 3.33408176e-03 -1.46089653e-03 2.41955236e+01] [-3.33409146e-03 9.99994442e-01 -4.20461647e-06 -1.81819201e-01] [ 1.46087440e-03 9.07535128e-06 9.99998933e-01 -2.68005535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.18, Z:-0.27 [[ 9.99998795e-01 5.25407429e-04 -1.46089070e-03 2.42263385e+01] [-5.25417109e-04 9.99999862e-01 -6.24227240e-06 -1.82056837e-01] [ 1.46088722e-03 7.00984185e-06 9.99998933e-01 -2.72706953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.18, Z:-0.28 [[ 9.99992737e-01 -3.52019729e-03 -1.46090548e-03 2.42558661e+01] [ 3.52019966e-03 9.99993804e-01 -9.50306333e-07 -1.83156285e-01] [ 1.46089977e-03 -4.19237954e-06 9.99998933e-01 -2.75932329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.19, Z:-0.27 [[ 9.99983033e-01 -5.63915216e-03 -1.46090467e-03 2.42852225e+01] [ 5.63915635e-03 9.99984100e-01 -1.24956341e-06 -1.85127358e-01] [ 1.46088848e-03 -6.98872762e-06 9.99998933e-01 -2.74786801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.19, Z:-0.27 [[ 9.99982922e-01 -5.65867250e-03 -1.46090462e-03 2.43152212e+01] [ 5.65867669e-03 9.99983990e-01 -1.26435957e-06 -1.85010037e-01] [ 1.46088839e-03 -7.00244896e-06 9.99998933e-01 -2.74742974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.19, Z:-0.28 [[ 9.99982319e-01 -5.76427464e-03 -1.46090452e-03 2.43444637e+01] [ 5.76427889e-03 9.99983386e-01 -1.30346661e-06 -1.85805306e-01] [ 1.46088776e-03 -7.11761750e-06 9.99998933e-01 -2.75994050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.19, Z:-0.28 [[ 9.99984320e-01 -5.40604355e-03 -1.46090171e-03 2.43743047e+01] [ 5.40604600e-03 9.99985387e-01 -2.26832400e-06 -1.85957726e-01] [ 1.46089263e-03 -5.62941344e-06 9.99998933e-01 -2.75595610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.19, Z:-0.27 [[ 9.99995154e-01 -2.74909479e-03 -1.46089887e-03 2.44042240e+01] [ 2.74909305e-03 9.99996221e-01 -3.20322066e-06 -1.85804094e-01] [ 1.46090215e-03 -8.12941784e-07 9.99998933e-01 -2.74059279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.19, Z:-0.27 [[ 9.99998633e-01 -7.74281551e-04 -1.46090424e-03 2.44338645e+01] [ 7.74280135e-04 9.99999700e-01 -1.53490332e-06 -1.85761676e-01] [ 1.46090499e-03 4.03752087e-07 9.99998933e-01 -2.71735441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.19, Z:-0.28 [[ 9.99997977e-01 1.38276198e-03 -1.46090718e-03 2.44629423e+01] [-1.38276440e-03 9.99999044e-01 -6.52111732e-07 -1.85759222e-01] [ 1.46090488e-03 2.67220086e-06 9.99998933e-01 -2.75019968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.19, Z:-0.27 [[ 9.99983841e-01 5.49401311e-03 -1.46090824e-03 2.44918948e+01] [-5.49401944e-03 9.99984908e-01 -3.24274409e-07 -1.85336595e-01] [ 1.46088441e-03 8.35052742e-06 9.99998933e-01 -2.73840447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.18, Z:-0.28 [[ 9.99976716e-01 6.66577311e-03 -1.46090284e-03 2.45218297e+01] [-6.66578300e-03 9.99977783e-01 -1.89830009e-06 -1.84322815e-01] [ 1.46085773e-03 1.16363172e-05 9.99998933e-01 -2.75053311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.18, Z:-0.27 [[ 9.99954571e-01 9.41916911e-03 -1.46090863e-03 2.45503068e+01] [-9.41917950e-03 9.99955639e-01 -2.33084870e-07 -1.81304982e-01] [ 1.46084162e-03 1.39936349e-05 9.99998933e-01 -2.73608122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.18, Z:-0.27 [[ 9.99945064e-01 1.03795732e-02 -1.46090729e-03 2.45792005e+01] [-1.03795852e-02 9.99946131e-01 -6.25340538e-07 -1.78969724e-01] [ 1.46082210e-03 1.57889179e-05 9.99998933e-01 -2.72919216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.18, Z:-0.27 [[ 9.99930446e-01 1.17033466e-02 -1.46090286e-03 2.46074056e+01] [-1.17033618e-02 9.99931513e-01 -1.89739507e-06 -1.76870662e-01] [ 1.46078060e-03 1.89947379e-05 9.99998933e-01 -2.72132791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.17, Z:-0.27 [[ 9.99902994e-01 1.38516851e-02 -1.46089117e-03 2.46379814e+01] [-1.38517075e-02 9.99904060e-01 -5.18978203e-06 -1.72626629e-01] [ 1.46067912e-03 2.54251157e-05 9.99998933e-01 -2.71800671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.17, Z:-0.27 [[ 9.99886880e-01 1.49697327e-02 -1.46090485e-03 2.46663168e+01] [-1.49697506e-02 9.99887947e-01 -1.28238701e-06 -1.69763030e-01] [ 1.46072195e-03 2.31516231e-05 9.99998933e-01 -2.73915049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.17, Z:-0.28 [[ 9.99871527e-01 1.59623386e-02 -1.46090182e-03 2.46949675e+01] [-1.59623588e-02 9.99872593e-01 -2.13476918e-06 -1.65351200e-01] [ 1.46068161e-03 2.54539339e-05 9.99998933e-01 -2.78211667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.16, Z:-0.28 [[ 9.99875986e-01 1.56805038e-02 -1.46090381e-03 2.47238745e+01] [-1.56805229e-02 9.99877053e-01 -1.57663257e-06 -1.63245322e-01] [ 1.46069947e-03 2.44841726e-05 9.99998933e-01 -2.79207030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.16, Z:-0.28 [[ 9.99888546e-01 1.48580229e-02 -1.46089401e-03 2.47544405e+01] [-1.48580450e-02 9.99889613e-01 -4.30215573e-06 -1.61630818e-01] [ 1.46066883e-03 2.60077053e-05 9.99998933e-01 -2.80441033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.16, Z:-0.28 [[ 9.99927082e-01 1.19873665e-02 -1.46090847e-03 2.47834579e+01] [-1.19873795e-02 9.99928149e-01 -1.19791820e-07 -1.57159175e-01] [ 1.46080207e-03 1.76322473e-05 9.99998933e-01 -2.82767705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.16, Z:-0.28 [[ 9.99947512e-01 1.01409906e-02 -1.46090866e-03 2.48123993e+01] [-1.01410015e-02 9.99948579e-01 -6.62320605e-08 -1.55599932e-01] [ 1.46083287e-03 1.48813055e-05 9.99998933e-01 -2.79267898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.15, Z:-0.28 [[ 9.99989580e-01 4.32506219e-03 -1.46088957e-03 2.48430052e+01] [-4.32507456e-03 9.99990647e-01 -5.31439910e-06 -1.54308179e-01] [ 1.46085292e-03 1.16328000e-05 9.99998933e-01 -2.78440998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.15, Z:-0.28 [[ 9.99997163e-01 1.88140533e-03 -1.46091068e-03 2.48714867e+01] [-1.88140651e-03 9.99998230e-01 5.64969755e-07 -1.53921541e-01] [ 1.46090915e-03 2.18359871e-06 9.99998933e-01 -2.79485274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.15, Z:-0.28 [[ 9.99998089e-01 -1.29894607e-03 -1.46090546e-03 2.49011814e+01] [ 1.29894603e-03 9.99999156e-01 -9.75225038e-07 -1.53349936e-01] [ 1.46090549e-03 -9.22414180e-07 9.99998933e-01 -2.77241232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.15, Z:-0.28 [[ 9.99974021e-01 -7.05848023e-03 -1.46090579e-03 2.49311499e+01] [ 7.05848647e-03 9.99975089e-01 -8.80527493e-07 -1.52880474e-01] [ 1.46087561e-03 -9.43127916e-06 9.99998933e-01 -2.79439642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.15, Z:-0.28 [[ 9.99956341e-01 -9.22940334e-03 -1.46089874e-03 2.49606469e+01] [ 9.22940896e-03 9.99957408e-01 -2.89520213e-06 -1.52154844e-01] [ 1.46086324e-03 -1.05881562e-05 9.99998933e-01 -2.78459931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.15, Z:-0.28 [[ 9.99921531e-01 -1.24417298e-02 -1.46090000e-03 2.49907066e+01] [ 1.24417394e-02 9.99922599e-01 -2.54627894e-06 -1.50368647e-01] [ 1.46081861e-03 -1.56300580e-05 9.99998933e-01 -2.79861852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.15, Z:-0.28 [[ 9.99903304e-01 -1.38292456e-02 -1.46089940e-03 2.50201392e+01] [ 1.38292564e-02 9.99904371e-01 -2.71306457e-06 -1.50340450e-01] [ 1.46079721e-03 -1.74903501e-05 9.99998933e-01 -2.78885010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.15, Z:-0.28 [[ 9.99894945e-01 -1.44210042e-02 -1.46090535e-03 2.50500197e+01] [ 1.44210178e-02 9.99896012e-01 -1.20970776e-06 -1.51265860e-01] [ 1.46077088e-03 -1.98581614e-05 9.99998933e-01 -2.79488961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.15, Z:-0.28 [[ 9.99908649e-01 -1.34372147e-02 -1.46090783e-03 2.50782307e+01] [ 1.34372281e-02 9.99909716e-01 -5.94900645e-07 -1.50814330e-01] [ 1.46078393e-03 -1.90357055e-05 9.99998933e-01 -2.76524964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.15, Z:-0.28 [[ 9.99927717e-01 -1.19342295e-02 -1.46088524e-03 2.51092223e+01] [ 1.19342334e-02 9.99928784e-01 -6.04929887e-06 -1.47623165e-01] [ 1.46085340e-03 -1.13856838e-05 9.99998933e-01 -2.78264495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.15, Z:-0.28 [[ 9.99939110e-01 -1.09380730e-02 -1.46090746e-03 2.51386318e+01] [ 1.09380838e-02 9.99940177e-01 -6.08780881e-07 -1.46354786e-01] [ 1.46082673e-03 -1.53707845e-05 9.99998933e-01 -2.77489642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.15, Z:-0.28 [[ 9.99945174e-01 -1.03688943e-02 -1.46090096e-03 2.51686144e+01] [ 1.03689022e-02 9.99946241e-01 -2.19939186e-06 -1.45919273e-01] [ 1.46084523e-03 -1.29486679e-05 9.99998933e-01 -2.77690706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.15, Z:-0.28 [[ 9.99950030e-01 -9.88959183e-03 -1.46089779e-03 2.51990846e+01] [ 9.88959812e-03 9.99951097e-01 -2.91966537e-06 -1.46523610e-01] [ 1.46085522e-03 -1.15281726e-05 9.99998933e-01 -2.75988579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.15, Z:-0.28 [[ 9.99949991e-01 -9.89348239e-03 -1.46090996e-03 2.52293294e+01] [ 9.89349264e-03 9.99951058e-01 -2.11062333e-07 -1.46680163e-01] [ 1.46084055e-03 -1.42424502e-05 9.99998933e-01 -2.76906781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.15, Z:-0.28 [[ 9.99957685e-01 -9.08259079e-03 -1.46090493e-03 2.52583667e+01] [ 9.08259858e-03 9.99958752e-01 -1.30402610e-06 -1.46182330e-01] [ 1.46085652e-03 -1.19648421e-05 9.99998933e-01 -2.78919016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.15, Z:-0.28 [[ 9.99957357e-01 -9.11870746e-03 -1.46089849e-03 2.52878199e+01] [ 9.11871317e-03 9.99958424e-01 -2.75420058e-06 -1.45807148e-01] [ 1.46086287e-03 -1.05674312e-05 9.99998933e-01 -2.78779206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.15, Z:-0.28 [[ 9.99956935e-01 -9.16476865e-03 -1.46090418e-03 2.53185350e+01] [ 9.16477622e-03 9.99958003e-01 -1.50954343e-06 -1.45956071e-01] [ 1.46085666e-03 -1.18793815e-05 9.99998933e-01 -2.79365394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.15, Z:-0.28 [[ 9.99960555e-01 -8.76095555e-03 -1.46090498e-03 2.53485154e+01] [ 8.76096295e-03 9.99961622e-01 -1.33437481e-06 -1.46869331e-01] [ 1.46086060e-03 -1.14646122e-05 9.99998933e-01 -2.79326921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.15, Z:-0.28 [[ 9.99963188e-01 -8.45507835e-03 -1.46090707e-03 2.53776525e+01] [ 8.45508609e-03 9.99964255e-01 -8.78760218e-07 -1.47470573e-01] [ 1.46086228e-03 -1.14733672e-05 9.99998933e-01 -2.76492192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595871560000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.15, Z:-0.28 [[ 9.99959291e-01 -8.90400170e-03 -1.46087792e-03 2.54081320e+01] [ 8.90400100e-03 9.99960359e-01 -6.98073099e-06 -1.50021488e-01] [ 1.46088216e-03 -6.02721162e-06 9.99998933e-01 -2.76424272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.15, Z:-0.28 [[ 9.99953511e-01 -9.53105535e-03 -1.46087792e-03 2.54379232e+01] [ 9.53105533e-03 9.99954578e-01 -6.98073099e-06 -1.49992419e-01] [ 1.46087809e-03 -6.94330178e-06 9.99998933e-01 -2.78058773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.15, Z:-0.28 [[ 9.99951615e-01 -9.72799691e-03 -1.46090102e-03 2.54680806e+01] [ 9.72800402e-03 9.99952682e-01 -2.23789396e-06 -1.50173338e-01] [ 1.46085367e-03 -1.19738653e-05 9.99998933e-01 -2.77898598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.15, Z:-0.28 [[ 9.99948630e-01 -1.00301484e-02 -1.46090030e-03 2.54984842e+01] [ 1.00301556e-02 9.99949697e-01 -2.38529928e-06 -1.50830123e-01] [ 1.46085074e-03 -1.22678807e-05 9.99998933e-01 -2.77980311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.15, Z:-0.28 [[ 9.99944067e-01 -1.04751785e-02 -1.46090249e-03 2.55294289e+01] [ 1.04751869e-02 9.99945134e-01 -1.95291414e-06 -1.51897511e-01] [ 1.46084279e-03 -1.33504216e-05 9.99998933e-01 -2.78597641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.16, Z:-0.28 [[ 9.99937376e-01 -1.10954517e-02 -1.46090382e-03 2.55587265e+01] [ 1.10954611e-02 9.99938443e-01 -1.68964657e-06 -1.56373153e-01] [ 1.46083264e-03 -1.45198607e-05 9.99998933e-01 -2.81538906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.16, Z:-0.28 [[ 9.99934885e-01 -1.13177956e-02 -1.46090018e-03 2.55889571e+01] [ 1.13178041e-02 9.99935952e-01 -2.40444967e-06 -1.58678865e-01] [ 1.46083382e-03 -1.41298890e-05 9.99998933e-01 -2.81208502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.16, Z:-0.28 [[ 9.99933805e-01 -1.14127556e-02 -1.46089799e-03 2.56179933e+01] [ 1.14127637e-02 9.99934872e-01 -2.82360476e-06 -1.61161010e-01] [ 1.46083507e-03 -1.38494656e-05 9.99998933e-01 -2.81264949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.16, Z:-0.28 [[ 9.99936884e-01 -1.11397397e-02 -1.46089283e-03 2.56474152e+01] [ 1.11397460e-02 9.99937951e-01 -3.80214563e-06 -1.62641655e-01] [ 1.46084454e-03 -1.24720695e-05 9.99998933e-01 -2.80618238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865871560000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.16, Z:-0.28 [[ 9.99941001e-01 -1.07638022e-02 -1.46088744e-03 2.56768062e+01] [ 1.07638067e-02 9.99942069e-01 -4.79386408e-06 -1.64696834e-01] [ 1.46085441e-03 -1.09311287e-05 9.99998933e-01 -2.79552665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.17, Z:-0.28 [[ 9.99958829e-01 -8.95577514e-03 -1.46087579e-03 2.57062740e+01] [ 8.95577463e-03 9.99959896e-01 -6.88930379e-06 -1.67509279e-01] [ 1.46087890e-03 -6.19425416e-06 9.99998933e-01 -2.84672846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.17, Z:-0.28 [[ 9.99973840e-01 -7.08410611e-03 -1.46089955e-03 2.57358585e+01] [ 7.08410947e-03 9.99974907e-01 -2.87767037e-06 -1.68889813e-01] [ 1.46088328e-03 -7.47157723e-06 9.99998933e-01 -2.80701078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.17, Z:-0.28 [[ 9.99984317e-01 -5.40658350e-03 -1.46088510e-03 2.57653392e+01] [ 5.40658164e-03 9.99985384e-01 -5.22197169e-06 -1.69459321e-01] [ 1.46089198e-03 -2.67650478e-06 9.99998933e-01 -2.84716320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.17, Z:-0.28 [[ 9.99998855e-01 -3.94893683e-04 -1.46089576e-03 2.57943632e+01] [ 3.94889068e-04 9.99999922e-01 -3.44767516e-06 -1.70999102e-01] [ 1.46089701e-03 2.87077945e-06 9.99998933e-01 -2.81991854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.17, Z:-0.28 [[ 9.99997270e-01 1.82344616e-03 -1.46086988e-03 2.58248124e+01] [-1.82345931e-03 9.99998337e-01 -7.67001171e-06 -1.71323196e-01] [ 1.46085347e-03 1.03338276e-05 9.99998933e-01 -2.80916208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.17, Z:-0.28 [[ 9.99972348e-01 7.29168996e-03 -1.46088534e-03 2.58531504e+01] [-7.29170526e-03 9.99973415e-01 -5.14845337e-06 -1.70155860e-01] [ 1.46080896e-03 1.58006563e-05 9.99998933e-01 -2.77176568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.17, Z:-0.28 [[ 9.99937025e-01 1.11270725e-02 -1.46089070e-03 2.58819603e+01] [-1.11270907e-02 9.99938092e-01 -4.28549019e-06 -1.69571994e-01] [ 1.46075257e-03 2.05406835e-05 9.99998933e-01 -2.76389929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.17, Z:-0.28 [[ 9.99906399e-01 1.36036455e-02 -1.46086037e-03 2.59115087e+01] [-1.36036733e-02 9.99907466e-01 -9.13522080e-06 -1.67970401e-01] [ 1.46060092e-03 2.90074330e-05 9.99998933e-01 -2.77547955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-0.17, Z:-0.28 [[ 9.99817142e-01 1.90669469e-02 -1.46087627e-03 2.59397806e+01] [-1.90669768e-02 9.99818209e-01 -6.56359998e-06 -1.67067880e-01] [ 1.46048555e-03 3.44168937e-05 9.99998933e-01 -2.76305511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.17, Z:-0.28 [[ 9.99788366e-01 2.05204543e-02 -1.46086098e-03 2.59697361e+01] [-2.05204894e-02 9.99789433e-01 -9.03547444e-06 -1.65374818e-01] [ 1.46036796e-03 3.90111444e-05 9.99998933e-01 -2.79443567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.16, Z:-0.28 [[ 9.99688999e-01 2.48952200e-02 -1.46089405e-03 2.59984098e+01] [-2.48952518e-02 9.99690065e-01 -3.58822172e-06 -1.60477456e-01] [ 1.46035194e-03 3.99564311e-05 9.99998933e-01 -2.77740498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.16, Z:-0.28 [[ 9.99656597e-01 2.61639824e-02 -1.46086085e-03 2.60277574e+01] [-2.61640234e-02 9.99657663e-01 -8.98593326e-06 -1.57890986e-01] [ 1.46012564e-03 4.72048450e-05 9.99998933e-01 -2.78726401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.16, Z:-0.28 [[ 9.99633350e-01 2.70375977e-02 -1.46086064e-03 2.60560497e+01] [-2.70376397e-02 9.99634416e-01 -9.02034047e-06 -1.55802656e-01] [ 1.46008268e-03 4.85152569e-05 9.99998933e-01 -2.79712158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.15, Z:-0.28 [[ 9.99633077e-01 2.70476729e-02 -1.46086032e-03 2.60860941e+01] [-2.70477150e-02 9.99634144e-01 -9.07184722e-06 -1.51463657e-01] [ 1.46008048e-03 4.85814521e-05 9.99998933e-01 -2.80080378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.15, Z:-0.28 [[ 9.99662209e-01 2.59486941e-02 -1.46086010e-03 2.61148039e+01] [-2.59487351e-02 9.99663275e-01 -9.10643151e-06 -1.49448310e-01] [ 1.46013190e-03 4.70108273e-05 9.99998933e-01 -2.81657204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.14, Z:-0.28 [[ 9.99706921e-01 2.41648023e-02 -1.46085978e-03 2.61430126e+01] [-2.41648415e-02 9.99707988e-01 -9.15813828e-06 -1.44899208e-01] [ 1.46021189e-03 4.44568992e-05 9.99998933e-01 -2.78423691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.14, Z:-0.28 [[ 9.99708035e-01 2.41186922e-02 -1.46085946e-03 2.61723364e+01] [-2.41187314e-02 9.99709101e-01 -9.20871928e-06 -1.44623293e-01] [ 1.46021240e-03 4.44401076e-05 9.99998933e-01 -2.78380847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.14, Z:-0.28 [[ 9.99759522e-01 2.18806877e-02 -1.46085903e-03 2.62013691e+01] [-2.18807246e-02 9.99760588e-01 -9.27609929e-06 -1.42096989e-01] [ 1.46030632e-03 4.12385228e-05 9.99998933e-01 -2.81548441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.14, Z:-0.28 [[ 9.99786469e-01 2.06126583e-02 -1.46085871e-03 2.62303099e+01] [-2.06126939e-02 9.99787536e-01 -9.32636999e-06 -1.39735427e-01] [ 1.46035609e-03 3.94366120e-05 9.99998933e-01 -2.76234033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.14, Z:-0.28 [[ 9.99868672e-01 1.61401660e-02 -1.46085826e-03 2.62604628e+01] [-1.61401970e-02 9.99869738e-01 -9.39737817e-06 -1.35354383e-01] [ 1.46051629e-03 3.29746840e-05 9.99998933e-01 -2.77412869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.49587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.13, Z:-0.28 [[ 9.99894720e-01 1.44365983e-02 -1.46088179e-03 2.62892872e+01] [-1.44366220e-02 9.99895787e-01 -5.70092664e-06 -1.33211688e-01] [ 1.46064725e-03 2.67905247e-05 9.99998933e-01 -2.76912473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.13, Z:-0.28 [[ 9.99955590e-01 9.31045432e-03 -1.46085355e-03 2.63195611e+01] [-9.31047904e-03 9.99956656e-01 -1.01168494e-05 -1.28378341e-01] [ 1.46069603e-03 2.37176464e-05 9.99998933e-01 -2.80830160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.13, Z:-0.28 [[ 9.99968387e-01 7.81610985e-03 -1.46087000e-03 2.63479813e+01] [-7.81612915e-03 9.99969454e-01 -7.50263860e-06 -1.27325171e-01] [ 1.46076674e-03 1.89207500e-05 9.99998933e-01 -2.76486542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.13, Z:-0.28 [[ 9.99982062e-01 5.80876115e-03 -1.46085931e-03 2.63771706e+01] [-5.80878078e-03 9.99983129e-01 -9.19978903e-06 -1.25831111e-01] [ 1.46078123e-03 1.76854355e-05 9.99998933e-01 -2.75068307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615871560000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.12, Z:-0.28 [[ 9.99997747e-01 1.54019433e-03 -1.46085910e-03 2.64059971e+01] [-1.54020947e-03 9.99998814e-01 -9.23426783e-06 -1.23996882e-01] [ 1.46084314e-03 1.14842760e-05 9.99998933e-01 -2.76324044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.64587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.12, Z:-0.28 [[ 9.99998838e-01 -4.35025208e-04 -1.46085885e-03 2.64359524e+01] [ 4.35012126e-04 9.99999905e-01 -9.27259750e-06 -1.22930833e-01] [ 1.46086275e-03 8.63709541e-06 9.99998933e-01 -2.77715710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.12, Z:-0.28 [[ 9.99992538e-01 -3.57617117e-03 -1.46085864e-03 2.64658575e+01] [ 3.57616139e-03 9.99993605e-01 -9.30655804e-06 -1.20878073e-01] [ 1.46088258e-03 4.08222235e-06 9.99998933e-01 -2.76891831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.12, Z:-0.28 [[ 9.99983090e-01 -5.62904536e-03 -1.46085842e-03 2.64956544e+01] [ 5.62903772e-03 9.99984157e-01 -9.34030877e-06 -1.20078088e-01] [ 1.46088785e-03 1.11692366e-06 9.99998933e-01 -2.78253528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.12, Z:-0.28 [[ 9.99972295e-01 -7.29897060e-03 -1.46085831e-03 2.65255057e+01] [ 7.29896472e-03 9.99973362e-01 -9.35708602e-06 -1.19016585e-01] [ 1.46088770e-03 -1.30592651e-06 9.99998933e-01 -2.77889779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.12, Z:-0.28 [[ 9.99960536e-01 -8.76314476e-03 -1.46085244e-03 2.65553216e+01] [ 8.76313911e-03 9.99961603e-01 -1.02719528e-05 -1.17600198e-01] [ 1.46088636e-03 -2.53010571e-06 9.99998933e-01 -2.82321905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795871560000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.12, Z:-0.28 [[ 9.99929243e-01 -1.18056766e-02 -1.46083652e-03 2.65854196e+01] [ 1.18056707e-02 9.99930311e-01 -1.27031651e-05 -1.16535377e-01] [ 1.46088468e-03 -4.54388861e-06 9.99998933e-01 -2.79632459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.12, Z:-0.28 [[ 9.99926767e-01 -1.20135586e-02 -1.46085742e-03 2.66156998e+01] [ 1.20135575e-02 9.99927835e-01 -9.48390659e-06 -1.17032004e-01] [ 1.46086593e-03 -8.06688260e-06 9.99998933e-01 -2.77605331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.12, Z:-0.28 [[ 9.99896663e-01 -1.43013719e-02 -1.46085742e-03 2.66446026e+01] [ 1.43013733e-02 9.99897730e-01 -9.48390659e-06 -1.15248283e-01] [ 1.46084365e-03 -1.14093408e-05 9.99998933e-01 -2.84023490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.12, Z:-0.28 [[ 9.99885181e-01 -1.50827702e-02 -1.46082594e-03 2.66750525e+01] [ 1.50827655e-02 9.99886249e-01 -1.42421591e-05 -1.15304960e-01] [ 1.46087458e-03 -7.79277113e-06 9.99998933e-01 -2.79897413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915871560000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.11, Z:-0.28 [[ 9.99861041e-01 -1.66061401e-02 -1.46084688e-03 2.67048275e+01] [ 1.66061418e-02 9.99862108e-01 -1.10017279e-05 -1.14211939e-01] [ 1.46082814e-03 -1.32588313e-05 9.99998933e-01 -2.81421219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.94587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.11, Z:-0.27 [[ 9.99827655e-01 -1.85074750e-02 -1.46083222e-03 2.67350867e+01] [ 1.85074755e-02 9.99828722e-01 -1.32197544e-05 -1.13669585e-01] [ 1.46082668e-03 -1.38188405e-05 9.99998933e-01 -2.73689396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.11, Z:-0.27 [[ 9.99814229e-01 -1.92190789e-02 -1.46083721e-03 2.67661847e+01] [ 1.92190812e-02 9.99815296e-01 -1.24683170e-05 -1.14865378e-01] [ 1.46080702e-03 -1.56099483e-05 9.99998933e-01 -2.73747062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.11, Z:-0.28 [[ 9.99810413e-01 -1.94165677e-02 -1.46083292e-03 2.67951502e+01] [ 1.94165692e-02 9.99811481e-01 -1.31051787e-05 -1.14250713e-01] [ 1.46081198e-03 -1.52616694e-05 9.99998933e-01 -2.76788446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.11, Z:-0.28 [[ 9.99819432e-01 -1.89464692e-02 -1.46082084e-03 2.68260557e+01] [ 1.89464677e-02 9.99820499e-01 -1.48748257e-05 -1.14475962e-01] [ 1.46084045e-03 -1.28052551e-05 9.99998933e-01 -2.75573916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.12, Z:-0.28 [[ 9.99838067e-01 -1.79361464e-02 -1.46082401e-03 2.68556890e+01] [ 1.79361445e-02 9.99839134e-01 -1.44052484e-05 -1.15703810e-01] [ 1.46084739e-03 -1.17986349e-05 9.99998933e-01 -2.78731975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.12, Z:-0.28 [[ 9.99842725e-01 -1.76745762e-02 -1.46082400e-03 2.68854039e+01] [ 1.76745740e-02 9.99843792e-01 -1.44072110e-05 -1.16266154e-01] [ 1.46085045e-03 -1.14144968e-05 9.99998933e-01 -2.80938429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.12, Z:-0.28 [[ 9.99866059e-01 -1.63012056e-02 -1.46082923e-03 2.69157906e+01] [ 1.63012030e-02 9.99867126e-01 -1.36364060e-05 -1.17819259e-01] [ 1.46085742e-03 -1.01786943e-05 9.99998933e-01 -2.80793425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.12, Z:-0.28 [[ 9.99871086e-01 -1.59899243e-02 -1.46082232e-03 2.69455677e+01] [ 1.59899200e-02 9.99872153e-01 -1.46449767e-05 -1.19340442e-01] [ 1.46086973e-03 -8.71534331e-06 9.99998933e-01 -2.83579047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.12, Z:-0.28 [[ 9.99872033e-01 -1.59306132e-02 -1.46082642e-03 2.69756698e+01] [ 1.59306096e-02 9.99873100e-01 -1.40474657e-05 -1.20355535e-01] [ 1.46086483e-03 -9.22618745e-06 9.99998933e-01 -2.79974522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.12, Z:-0.28 [[ 9.99876920e-01 -1.56208638e-02 -1.46083404e-03 2.70049052e+01] [ 1.56208616e-02 9.99877987e-01 -1.29170177e-05 -1.22386402e-01] [ 1.46085757e-03 -9.90405844e-06 9.99998933e-01 -2.80039856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.12, Z:-0.28 [[ 9.99870197e-01 -1.60453865e-02 -1.46080504e-03 2.70346100e+01] [ 1.60453786e-02 9.99871264e-01 -1.71652107e-05 -1.24899505e-01] [ 1.46089240e-03 -6.27618719e-06 9.99998933e-01 -2.78710666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.13, Z:-0.28 [[ 9.99848206e-01 -1.73617732e-02 -1.46080716e-03 2.70648145e+01] [ 1.73617671e-02 9.99849273e-01 -1.68555164e-05 -1.27385044e-01] [ 1.46087961e-03 -8.50923583e-06 9.99998933e-01 -2.79532243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.13, Z:-0.28 [[ 9.99847372e-01 -1.74097486e-02 -1.46081878e-03 2.70947062e+01] [ 1.74097451e-02 9.99848439e-01 -1.51188534e-05 -1.30479483e-01] [ 1.46086059e-03 -1.03159367e-05 9.99998933e-01 -2.76195927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.14, Z:-0.28 [[ 9.99815524e-01 -1.91515860e-02 -1.46080013e-03 2.71272450e+01] [ 1.91515803e-02 9.99816592e-01 -1.78740916e-05 -1.36591498e-01] [ 1.46087452e-03 -1.01058368e-05 9.99998933e-01 -2.75316067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.14, Z:-0.28 [[ 9.99837760e-01 -1.79532494e-02 -1.46085436e-03 2.71553326e+01] [ 1.79532544e-02 9.99838827e-01 -9.74297034e-06 -1.39115166e-01] [ 1.46079383e-03 -1.64857003e-05 9.99998933e-01 -2.76350781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.14, Z:-0.28 [[ 9.99862834e-01 -1.64978658e-02 -1.46080295e-03 2.71850754e+01] [ 1.64978582e-02 9.99863901e-01 -1.72613374e-05 -1.44727755e-01] [ 1.46088891e-03 -6.84115023e-06 9.99998933e-01 -2.77501457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.15, Z:-0.28 [[ 9.99889263e-01 -1.48097464e-02 -1.46081766e-03 2.72153202e+01] [ 1.48097402e-02 9.99890330e-01 -1.50822597e-05 -1.47205629e-01] [ 1.46088081e-03 -6.55374040e-06 9.99998933e-01 -2.76370738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.15, Z:-0.28 [[ 9.99919007e-01 -1.26430380e-02 -1.46080497e-03 2.72444900e+01] [ 1.26430267e-02 9.99920074e-01 -1.69470520e-05 -1.49407173e-01] [ 1.46090248e-03 -1.52331687e-06 9.99998933e-01 -2.78445374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.15, Z:-0.28 [[ 9.99971914e-01 -7.35101541e-03 -1.46080619e-03 2.72746522e+01] [ 7.35099876e-03 9.99972981e-01 -1.67674562e-05 -1.54078447e-01] [ 1.46088998e-03 6.02860078e-06 9.99998933e-01 -2.75223574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.16, Z:-0.28 [[ 9.99990539e-01 -4.09725381e-03 -1.46081026e-03 2.73035456e+01] [ 4.09723457e-03 9.99991606e-01 -1.61660009e-05 -1.56719217e-01] [ 1.46086424e-03 1.01805656e-05 9.99998933e-01 -2.77480862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.16, Z:-0.28 [[ 9.99998672e-01 -7.22367819e-04 -1.46080383e-03 2.73329346e+01] [ 7.22343596e-04 9.99999739e-01 -1.71094066e-05 -1.58946762e-01] [ 1.46081581e-03 1.60541816e-05 9.99998933e-01 -2.77009292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.16, Z:-0.27 [[ 9.99980805e-01 6.02123504e-03 -1.46081008e-03 2.73627725e+01] [-6.02126504e-03 9.99981872e-01 -1.61407121e-05 -1.61817004e-01] [ 1.46068641e-03 2.49363270e-05 9.99998933e-01 -2.74673367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.16, Z:-0.28 [[ 9.99958017e-01 9.04602921e-03 -1.46080168e-03 2.73911254e+01] [-9.04606431e-03 9.99959083e-01 -1.74252963e-05 -1.62686311e-01] [ 1.46058428e-03 3.06390708e-05 9.99998933e-01 -2.75587154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.16, Z:-0.27 [[ 9.99895455e-01 1.43855804e-02 -1.46080495e-03 2.74203960e+01] [-1.43856205e-02 9.99896521e-01 -1.69387583e-05 -1.63486303e-01] [ 1.46041012e-03 3.79515731e-05 9.99998933e-01 -2.72539745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.16, Z:-0.27 [[ 9.99857123e-01 1.68404005e-02 -1.46081894e-03 2.74496289e+01] [-1.68404401e-02 9.99858190e-01 -1.48016610e-05 -1.63832962e-01] [ 1.46036251e-03 3.94003801e-05 9.99998933e-01 -2.73593664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.16, Z:-0.28 [[ 9.99822365e-01 1.87910856e-02 -1.46080410e-03 2.74786651e+01] [-1.87911306e-02 9.99823431e-01 -1.70701636e-05 -1.64076073e-01] [ 1.46022540e-03 4.45172920e-05 9.99998933e-01 -2.75325421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.16, Z:-0.27 [[ 9.99763174e-01 2.17131889e-02 -1.46080111e-03 2.75105870e+01] [-2.17132376e-02 9.99764240e-01 -1.75120788e-05 -1.64025347e-01] [ 1.46007646e-03 4.92266530e-05 9.99998933e-01 -2.69871741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.16, Z:-0.28 [[ 9.99710166e-01 2.40301984e-02 -1.46085307e-03 2.75380194e+01] [-2.40302381e-02 9.99711232e-01 -9.62815114e-06 -1.63337738e-01] [ 1.46019985e-03 4.47300076e-05 9.99998933e-01 -2.76463670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.16, Z:-0.27 [[ 9.99707600e-01 2.41367073e-02 -1.46080205e-03 2.75692698e+01] [-2.41367582e-02 9.99708666e-01 -1.72606509e-05 -1.61533244e-01] [ 1.45995985e-03 5.25146298e-05 9.99998933e-01 -2.71371118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.16, Z:-0.27 [[ 9.99687479e-01 2.49561820e-02 -1.46085252e-03 2.75976018e+01] [-2.49562225e-02 9.99688545e-01 -9.49886069e-06 -1.60004791e-01] [ 1.46016047e-03 4.59532526e-05 9.99998933e-01 -2.71433260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.16, Z:-0.28 [[ 9.99702304e-01 2.43550604e-02 -1.46085218e-03 2.76261774e+01] [-2.43551003e-02 9.99703371e-01 -9.55077226e-06 -1.57394569e-01] [ 1.46018624e-03 4.51271305e-05 9.99998933e-01 -2.75940823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.16, Z:-0.28 [[ 9.99732245e-01 2.30933841e-02 -1.46085184e-03 2.76544852e+01] [-2.30934228e-02 9.99733311e-01 -9.60223249e-06 -1.56488321e-01] [ 1.46024050e-03 4.33357306e-05 9.99998933e-01 -2.80002128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.15, Z:-0.28 [[ 9.99812048e-01 1.93322336e-02 -1.46085151e-03 2.76822699e+01] [-1.93322683e-02 9.99813114e-01 -9.65268305e-06 -1.54912662e-01] [ 1.46039189e-03 3.78924421e-05 9.99998933e-01 -2.77566391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.15, Z:-0.27 [[ 9.99877952e-01 1.55546228e-02 -1.46079361e-03 2.77148072e+01] [-1.55546659e-02 9.99879019e-01 -1.81637386e-05 -1.54073830e-01] [ 1.46033435e-03 4.08836783e-05 9.99998933e-01 -2.71700421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.15, Z:-0.27 [[ 9.99929144e-01 1.18140947e-02 -1.46084985e-03 2.77446894e+01] [-1.18141214e-02 9.99930211e-01 -9.64238653e-06 -1.53374069e-01] [ 1.46063399e-03 2.69003608e-05 9.99998933e-01 -2.70877966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.15, Z:-0.27 [[ 9.99992030e-01 3.71560210e-03 -1.46084963e-03 2.77731951e+01] [-3.71562020e-03 9.99993097e-01 -9.67664166e-06 -1.53145693e-01] [ 1.46080359e-03 1.51045269e-05 9.99998933e-01 -2.70792160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.15, Z:-0.27 [[ 9.99997600e-01 -1.63283270e-03 -1.46079936e-03 2.78050874e+01] [ 1.63280937e-03 9.99998667e-01 -1.71638108e-05 -1.53145357e-01] [ 1.46082544e-03 1.47785627e-05 9.99998933e-01 -2.70603949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.16, Z:-0.27 [[ 9.99955598e-01 -9.30952613e-03 -1.46084920e-03 2.78347858e+01] [ 9.30952218e-03 9.99956665e-01 -9.50540879e-06 -1.55210139e-01] [ 1.46087438e-03 -4.09482126e-06 9.99998933e-01 -2.69842078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.16, Z:-0.27 [[ 9.99926604e-01 -1.20271586e-02 -1.46084897e-03 2.78624829e+01] [ 1.20271575e-02 9.99927671e-01 -9.53975620e-06 -1.55467471e-01] [ 1.46085805e-03 -8.03080470e-06 9.99998933e-01 -2.71127848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.16, Z:-0.27 [[ 9.99836146e-01 -1.80429123e-02 -1.46079943e-03 2.78922686e+01] [ 1.80429067e-02 9.99837213e-01 -1.70534906e-05 -1.57133967e-01] [ 1.46086932e-03 -9.30637143e-06 9.99998933e-01 -2.72311727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.16, Z:-0.27 [[ 9.99790443e-01 -2.04190285e-02 -1.46080498e-03 2.79217186e+01] [ 2.04190266e-02 9.99791510e-01 -1.62096637e-05 -1.59056257e-01] [ 1.46083141e-03 -1.36219490e-05 9.99998933e-01 -2.69750085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.16, Z:-0.27 [[ 9.99730176e-01 -2.31827649e-02 -1.46079612e-03 2.79537290e+01] [ 2.31827640e-02 9.99731243e-01 -1.75656525e-05 -1.61937435e-01] [ 1.46081074e-03 -1.63043788e-05 9.99998933e-01 -2.67861663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.16, Z:-0.27 [[ 9.99687110e-01 -2.49709544e-02 -1.46084862e-03 2.79829428e+01] [ 2.49709673e-02 9.99688177e-01 -9.45071855e-06 -1.64173526e-01] [ 1.46062908e-03 -2.70310415e-05 9.99998933e-01 -2.71821977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.17, Z:-0.27 [[ 9.99587089e-01 -2.86970065e-02 -1.46084850e-03 2.80129544e+01] [ 2.86970233e-02 9.99588156e-01 -9.46815841e-06 -1.67735209e-01] [ 1.46051857e-03 -3.24577546e-05 9.99998933e-01 -2.68081526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.17, Z:-0.27 [[ 9.99559289e-01 -2.96494987e-02 -1.46084828e-03 2.80429127e+01] [ 2.96495165e-02 9.99560356e-01 -9.50239231e-06 -1.70137433e-01] [ 1.46048777e-03 -3.38152406e-05 9.99998933e-01 -2.66169099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.17, Z:-0.27 [[ 9.99551405e-01 -2.99141216e-02 -1.46084805e-03 2.80720070e+01] [ 2.99141395e-02 9.99552472e-01 -9.53742970e-06 -1.72276065e-01] [ 1.46047959e-03 -3.41668612e-05 9.99998933e-01 -2.66462871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.17, Z:-0.27 [[ 9.99550703e-01 -2.99375599e-02 -1.46084771e-03 2.81021611e+01] [ 2.99375778e-02 9.99551770e-01 -9.58974912e-06 -1.72033988e-01] [ 1.46048001e-03 -3.41488015e-05 9.99998933e-01 -2.66418817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.18, Z:-0.27 [[ 9.99592447e-01 -2.85097363e-02 -1.46084748e-03 2.81309731e+01] [ 2.85097526e-02 9.99593514e-01 -9.62400420e-06 -1.76886311e-01] [ 1.46052805e-03 -3.20283184e-05 9.99998933e-01 -2.65200642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.18, Z:-0.26 [[ 9.99633364e-01 -2.70370642e-02 -1.46084707e-03 2.81604681e+01] [ 2.70370789e-02 9.99634431e-01 -9.68702321e-06 -1.78961073e-01] [ 1.46057493e-03 -2.98135658e-05 9.99998933e-01 -2.62157882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.18, Z:-0.27 [[ 9.99685490e-01 -2.50357336e-02 -1.46084683e-03 2.81888088e+01] [ 2.50357462e-02 9.99686557e-01 -9.72260470e-06 -1.81350342e-01] [ 1.46063235e-03 -2.68538435e-05 9.99998933e-01 -2.66049402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.19, Z:-0.27 [[ 9.99795667e-01 -2.01616191e-02 -1.46084647e-03 2.82181334e+01] [ 2.01616263e-02 9.99796734e-01 -9.77571406e-06 -1.85211357e-01] [ 1.46074663e-03 -1.96793242e-05 9.99998933e-01 -2.66460339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.19, Z:-0.27 [[ 9.99856059e-01 -1.69034811e-02 -1.46084498e-03 2.82468270e+01] [ 1.69034846e-02 9.99857126e-01 -9.99437618e-06 -1.86982796e-01] [ 1.46080520e-03 -1.47004329e-05 9.99998933e-01 -2.67388922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.19, Z:-0.27 [[ 9.99924491e-01 -1.22015614e-02 -1.46084463e-03 2.82729681e+01] [ 1.22015598e-02 9.99925558e-01 -1.00447516e-05 -1.89327968e-01] [ 1.46085844e-03 -7.78058999e-06 9.99998933e-01 -2.73610959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535871560000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.19, Z:-0.27 [[ 9.99983851e-01 -5.49224470e-03 -1.46078982e-03 2.83028088e+01] [ 5.49222381e-03 9.99984917e-01 -1.83076180e-05 -1.91284463e-01] [ 1.46086834e-03 1.02843377e-05 9.99998933e-01 -2.68391927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.19, Z:-0.26 [[ 9.99996195e-01 -2.34003908e-03 -1.46079905e-03 2.83344111e+01] [ 2.34001684e-03 9.99997262e-01 -1.69325517e-05 -1.92374857e-01] [ 1.46083467e-03 1.35141929e-05 9.99998933e-01 -2.62423786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.19, Z:-0.27 [[ 9.99980390e-01 6.08971399e-03 -1.46084714e-03 2.83629572e+01] [-6.08973459e-03 9.99981457e-01 -9.65940071e-06 -1.93036724e-01] [ 1.46076123e-03 1.85553826e-05 9.99998933e-01 -2.66283615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.19, Z:-0.26 [[ 9.99956128e-01 9.25246652e-03 -1.46080213e-03 2.83943920e+01] [-9.25250023e-03 9.99957195e-01 -1.63234645e-05 -1.93101016e-01] [ 1.46058857e-03 2.98388204e-05 9.99998933e-01 -2.62774362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.19, Z:-0.26 [[ 9.99919157e-01 1.26311279e-02 -1.46084619e-03 2.84238558e+01] [-1.26311555e-02 9.99920224e-01 -9.66149277e-06 -1.92003213e-01] [ 1.46060761e-03 2.81128870e-05 9.99998933e-01 -2.62217093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.19, Z:-0.26 [[ 9.99866352e-01 1.62832158e-02 -1.46084596e-03 2.84529044e+01] [-1.62832473e-02 9.99867419e-01 -9.69581652e-06 -1.90333914e-01] [ 1.46049440e-03 3.34818368e-05 9.99998933e-01 -2.60527306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.19, Z:-0.26 [[ 9.99780996e-01 2.08764425e-02 -1.46080586e-03 2.84819740e+01] [-2.08764877e-02 9.99782062e-01 -1.57104053e-05 -1.86387654e-01] [ 1.46015952e-03 4.62034602e-05 9.99998933e-01 -2.61040487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.18, Z:-0.26 [[ 9.99746432e-01 2.24708375e-02 -1.46080972e-03 2.85133069e+01] [-2.24708836e-02 9.99747498e-01 -1.51285321e-05 -1.84317282e-01] [ 1.46010091e-03 4.79503811e-05 9.99998933e-01 -2.61004826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.18, Z:-0.26 [[ 9.99748370e-01 2.23844487e-02 -1.46084660e-03 2.85425278e+01] [-2.23844863e-02 9.99749436e-01 -9.38978382e-06 -1.83538053e-01] [ 1.46027038e-03 4.20877218e-05 9.99998933e-01 -2.61396351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.18, Z:-0.26 [[ 9.99753565e-01 2.21512099e-02 -1.46084650e-03 2.85712532e+01] [-2.21512473e-02 9.99754631e-01 -9.40670945e-06 -1.82473019e-01] [ 1.46027968e-03 4.17639633e-05 9.99998933e-01 -2.58148358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.18, Z:-0.26 [[ 9.99783071e-01 2.07768430e-02 -1.46081280e-03 2.86012731e+01] [-2.07768864e-02 9.99784137e-01 -1.45407945e-05 -1.81191092e-01] [ 1.46019535e-03 4.48887817e-05 9.99998933e-01 -2.59661849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.18, Z:-0.26 [[ 9.99825363e-01 1.86308549e-02 -1.46084565e-03 2.86304632e+01] [-1.86308886e-02 9.99826430e-01 -9.47719253e-06 -1.78619478e-01] [ 1.46041552e-03 3.66923899e-05 9.99998933e-01 -2.57416964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.18, Z:-0.26 [[ 9.99860385e-01 1.66455923e-02 -1.46081617e-03 2.86605966e+01] [-1.66456305e-02 9.99861452e-01 -1.40159519e-05 -1.76529152e-01] [ 1.46038048e-03 3.83302014e-05 9.99998933e-01 -2.58027179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.17, Z:-0.26 [[ 9.99883468e-01 1.51959085e-02 -1.46084586e-03 2.86904997e+01] [-1.51959385e-02 9.99884535e-01 -9.40600946e-06 -1.74618191e-01] [ 1.46053425e-03 3.16038371e-05 9.99998933e-01 -2.57911137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.17, Z:-0.26 [[ 9.99930044e-01 1.17376454e-02 -1.46084563e-03 2.87198009e+01] [-1.17376717e-02 9.99931111e-01 -9.44141361e-06 -1.72703607e-01] [ 1.46063417e-03 2.65876795e-05 9.99998933e-01 -2.60523045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.17, Z:-0.26 [[ 9.99950450e-01 9.84699426e-03 -1.46084551e-03 2.87493830e+01] [-9.84701858e-03 9.99951517e-01 -9.45897047e-06 -1.71637624e-01] [ 1.46068154e-03 2.38434747e-05 9.99998933e-01 -2.56232838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.17, Z:-0.26 [[ 9.99986796e-01 4.92677882e-03 -1.46084539e-03 2.87793613e+01] [-4.92679792e-03 9.99987863e-01 -9.47755313e-06 -1.69007441e-01] [ 1.46078097e-03 1.66747180e-05 9.99998933e-01 -2.60497746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.17, Z:-0.26 [[ 9.99996384e-01 2.25775906e-03 -1.46084539e-03 2.88094778e+01] [-2.25777531e-03 9.99997451e-01 -9.47755313e-06 -1.68162559e-01] [ 1.46082027e-03 1.27757795e-05 9.99998933e-01 -2.56376315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.17, Z:-0.26 [[ 9.99998388e-01 -1.04443292e-03 -1.46084527e-03 2.88383077e+01] [ 1.04442016e-03 9.99999455e-01 -9.49624258e-06 -1.67680901e-01] [ 1.46085439e-03 7.97049102e-06 9.99998933e-01 -2.57997625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105871560000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.17, Z:-0.26 [[ 9.99987625e-01 -4.75565926e-03 -1.46084503e-03 2.88675535e+01] [ 4.75565041e-03 9.99988692e-01 -9.53351249e-06 -1.66728043e-01] [ 1.46087385e-03 2.58612625e-06 9.99998933e-01 -2.59483368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.17, Z:-0.26 [[ 9.99932822e-01 -1.14985914e-02 -1.46084527e-03 2.88974899e+01] [ 1.14985897e-02 9.99933889e-01 -9.49566073e-06 -1.67146049e-01] [ 1.46085788e-03 -7.30263767e-06 9.99998933e-01 -2.59868501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.17, Z:-0.26 [[ 9.99892495e-01 -1.45898541e-02 -1.46084516e-03 2.89273168e+01] [ 1.45898558e-02 9.99893562e-01 -9.51310663e-06 -1.67598530e-01] [ 1.46082847e-03 -1.18014363e-05 9.99998933e-01 -2.60289343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19587156 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.17, Z:-0.26 [[ 9.99803537e-01 -1.97674599e-02 -1.46084505e-03 2.89573146e+01] [ 1.97674670e-02 9.99804604e-01 -9.53031106e-06 -1.68058686e-01] [ 1.46074800e-03 -1.93487676e-05 9.99998933e-01 -2.58812361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.17, Z:-0.26 [[ 9.99795343e-01 -2.01776644e-02 -1.46084493e-03 2.89853042e+01] [ 2.01776720e-02 9.99796410e-01 -9.54764508e-06 -1.69610670e-01] [ 1.46074017e-03 -1.99307589e-05 9.99998933e-01 -2.61844524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.17, Z:-0.26 [[ 9.99764926e-01 -2.16323703e-02 -1.46081222e-03 2.90156586e+01] [ 2.16323723e-02 9.99765993e-01 -1.44457641e-05 -1.70388394e-01] [ 1.46078288e-03 -1.71584656e-05 9.99998933e-01 -2.56799240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:-0.17, Z:-0.26 [[ 9.99786755e-01 -2.05988114e-02 -1.46084383e-03 2.90447169e+01] [ 2.05988192e-02 9.99787822e-01 -9.67338814e-06 -1.70986342e-01] [ 1.46073313e-03 -2.04203326e-05 9.99998933e-01 -2.55726694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.17, Z:-0.25 [[ 9.99807163e-01 -1.95832362e-02 -1.46082377e-03 2.90746095e+01] [ 1.95832385e-02 9.99808230e-01 -1.27248873e-05 -1.71159576e-01] [ 1.46079282e-03 -1.58852268e-05 9.99998933e-01 -2.49860527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.17, Z:-0.25 [[ 9.99837232e-01 -1.79826500e-02 -1.46084821e-03 2.91042362e+01] [ 1.79826561e-02 9.99838299e-01 -9.00670483e-06 -1.70501180e-01] [ 1.46077396e-03 -1.72646921e-05 9.99998933e-01 -2.52277667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.17, Z:-0.25 [[ 9.99914688e-01 -1.29800705e-02 -1.46084324e-03 2.91340352e+01] [ 1.29800701e-02 9.99915755e-01 -9.75166977e-06 -1.69423520e-01] [ 1.46084675e-03 -9.21100986e-06 9.99998933e-01 -2.52261649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.17, Z:-0.26 [[ 9.99953771e-01 -9.50382518e-03 -1.46084301e-03 2.91629611e+01] [ 9.50382103e-03 9.99954838e-01 -9.78636950e-06 -1.69077643e-01] [ 1.46087004e-03 -4.09767341e-06 9.99998933e-01 -2.57000804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.17, Z:-0.25 [[ 9.99975182e-01 -6.89216425e-03 -1.46082330e-03 2.91932629e+01] [ 6.89215307e-03 9.99976249e-01 -1.26873966e-05 -1.67827262e-01] [ 1.46087604e-03 2.61886399e-06 9.99998933e-01 -2.54043362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.16, Z:-0.26 [[ 9.99998691e-01 -6.96028560e-04 -1.46084174e-03 2.92226477e+01] [ 6.96014707e-04 9.99999758e-01 -9.99098506e-06 -1.64135136e-01] [ 1.46084834e-03 8.97420465e-06 9.99998933e-01 -2.55214236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495871560000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.16, Z:-0.26 [[ 9.99996489e-01 2.21082290e-03 -1.46084150e-03 2.92519406e+01] [-2.21083991e-03 9.99997556e-01 -1.00254657e-05 -1.61515857e-01] [ 1.46081577e-03 1.32551172e-05 9.99998933e-01 -2.56082448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.16, Z:-0.26 [[ 9.99974624e-01 6.97267258e-03 -1.46084126e-03 2.92813180e+01] [-6.97269472e-03 9.99975690e-01 -1.00608068e-05 -1.59785769e-01] [ 1.46073560e-03 2.02465516e-05 9.99998933e-01 -2.58995397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.16, Z:-0.26 [[ 9.99964279e-01 8.32509310e-03 -1.46084114e-03 2.93104068e+01] [-8.32511671e-03 9.99965346e-01 -1.00784721e-05 -1.58891407e-01] [ 1.46070661e-03 2.22397850e-05 9.99998933e-01 -2.62589308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.16, Z:-0.26 [[ 9.99957163e-01 9.13986391e-03 -1.46084078e-03 2.93397505e+01] [-9.13988846e-03 9.99958230e-01 -1.01300101e-05 -1.57823675e-01] [ 1.46068717e-03 2.34814980e-05 9.99998933e-01 -2.64074076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.16, Z:-0.26 [[ 9.99954888e-01 9.38546927e-03 -1.46083047e-03 2.93679596e+01] [-9.38549623e-03 9.99955955e-01 -1.16067031e-05 -1.56254919e-01] [ 1.46065719e-03 2.53167984e-05 9.99998933e-01 -2.58720429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.15, Z:-0.26 [[ 9.99963177e-01 8.45642636e-03 -1.46082256e-03 2.93982154e+01] [-8.45645399e-03 9.99964243e-01 -1.27412958e-05 -1.53493712e-01] [ 1.46066258e-03 2.50942054e-05 9.99998933e-01 -2.62561559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.15, Z:-0.26 [[ 9.99969160e-01 7.71654637e-03 -1.46083213e-03 2.94265247e+01] [-7.71657120e-03 9.99970227e-01 -1.13597357e-05 -1.52150003e-01] [ 1.46070098e-03 2.26320005e-05 9.99998933e-01 -2.64242778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.15, Z:-0.26 [[ 9.99980016e-01 6.15084927e-03 -1.46083047e-03 2.94568225e+01] [-6.15087278e-03 9.99981083e-01 -1.15995498e-05 -1.49776656e-01] [ 1.46073149e-03 2.05847003e-05 9.99998933e-01 -2.56401311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.15, Z:-0.26 [[ 9.99981443e-01 5.91434130e-03 -1.46084081e-03 2.94868739e+01] [-5.91436237e-03 9.99982510e-01 -1.01037047e-05 -1.48961566e-01] [ 1.46075551e-03 1.87434592e-05 9.99998933e-01 -2.56870804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.15, Z:-0.26 [[ 9.99979019e-01 6.31088805e-03 -1.46084057e-03 2.95160521e+01] [-6.31090959e-03 9.99980086e-01 -1.01382789e-05 -1.48647270e-01] [ 1.46074750e-03 1.93572990e-05 9.99998933e-01 -2.62755079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.15, Z:-0.27 [[ 9.99965875e-01 8.13114030e-03 -1.46083670e-03 2.95444989e+01] [-8.13116460e-03 9.99966941e-01 -1.06973137e-05 -1.46255851e-01] [ 1.46070143e-03 2.25752523e-05 9.99998933e-01 -2.65601897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.14, Z:-0.26 [[ 9.99952913e-01 9.59360152e-03 -1.46085484e-03 2.95740750e+01] [-9.59362355e-03 9.99953980e-01 -8.07118209e-06 -1.44439735e-01] [ 1.46071018e-03 2.20856934e-05 9.99998933e-01 -2.58045668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.14, Z:-0.26 [[ 9.99942962e-01 1.05801422e-02 -1.46084847e-03 2.96021135e+01] [-1.05801667e-02 9.99944028e-01 -8.99739310e-06 -1.42335097e-01] [ 1.46067151e-03 2.44529002e-05 9.99998933e-01 -2.58238034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.14, Z:-0.26 [[ 9.99935565e-01 1.12575154e-02 -1.46083637e-03 2.96311311e+01] [-1.12575431e-02 9.99936632e-01 -1.07409905e-05 -1.40193894e-01] [ 1.46062288e-03 2.71857268e-05 9.99998933e-01 -2.55292983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.14, Z:-0.25 [[ 9.99939601e-01 1.08931578e-02 -1.46084099e-03 2.96608270e+01] [-1.08931841e-02 9.99940667e-01 -1.00710885e-05 -1.39003050e-01] [ 1.46064460e-03 2.59836900e-05 9.99998933e-01 -2.53480049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.14, Z:-0.25 [[ 9.99950166e-01 9.87583952e-03 -1.46084075e-03 2.96895174e+01] [-9.87586482e-03 9.99951232e-01 -1.01054239e-05 -1.38714323e-01] [ 1.46066971e-03 2.45319861e-05 9.99998933e-01 -2.53310921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.14, Z:-0.25 [[ 9.99968598e-01 7.78906181e-03 -1.46084039e-03 2.97188244e+01] [-7.78908496e-03 9.99969665e-01 -1.01566856e-05 -1.37940560e-01] [ 1.46071697e-03 2.15349766e-05 9.99998933e-01 -2.50491901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.14, Z:-0.25 [[ 9.99974257e-01 7.02504065e-03 -1.46084015e-03 2.97479192e+01] [-7.02506303e-03 9.99975324e-01 -1.01909595e-05 -1.36750763e-01] [ 1.46073251e-03 2.04531913e-05 9.99998933e-01 -2.50901162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.13, Z:-0.25 [[ 9.99978445e-01 6.40122997e-03 -1.46083979e-03 2.97764797e+01] [-6.40125176e-03 9.99979512e-01 -1.02420807e-05 -1.33370190e-01] [ 1.46074430e-03 1.95930632e-05 9.99998933e-01 -2.53640249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.13, Z:-0.25 [[ 9.99979772e-01 6.19042292e-03 -1.46083944e-03 2.98064420e+01] [-6.19044456e-03 9.99980839e-01 -1.02926643e-05 -1.32368508e-01] [ 1.46074773e-03 1.93357017e-05 9.99998933e-01 -2.51838729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.13, Z:-0.25 [[ 9.99980882e-01 6.00849027e-03 -1.46083919e-03 2.98348872e+01] [-6.00851176e-03 9.99981949e-01 -1.03277138e-05 -1.31725787e-01] [ 1.46075077e-03 1.91049858e-05 9.99998933e-01 -2.53346619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.13, Z:-0.25 [[ 9.99982537e-01 5.72642944e-03 -1.46083882e-03 2.98645754e+01] [-5.72645071e-03 9.99983604e-01 -1.03799523e-05 -1.29863308e-01] [ 1.46075543e-03 1.87451925e-05 9.99998933e-01 -2.54888440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.13, Z:-0.25 [[ 9.99982540e-01 5.72590164e-03 -1.46083936e-03 2.98936010e+01] [-5.72592280e-03 9.99983607e-01 -1.03043818e-05 -1.28173059e-01] [ 1.46075641e-03 1.86688552e-05 9.99998933e-01 -2.54870609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.12, Z:-0.25 [[ 9.99981276e-01 5.94250715e-03 -1.46083819e-03 2.99230982e+01] [-5.94252879e-03 9.99982343e-01 -1.04678008e-05 -1.24481301e-01] [ 1.46075019e-03 1.91486778e-05 9.99998933e-01 -2.51298795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.12, Z:-0.25 [[ 9.99981414e-01 5.91917772e-03 -1.46083794e-03 2.99532571e+01] [-5.91919938e-03 9.99982481e-01 -1.05018493e-05 -1.24218139e-01] [ 1.46075019e-03 1.91486452e-05 9.99998933e-01 -2.51254733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.12, Z:-0.26 [[ 9.99980569e-01 6.06030816e-03 -1.46083770e-03 2.99824584e+01] [-6.06033002e-03 9.99981636e-01 -1.05359304e-05 -1.21903826e-01] [ 1.46074702e-03 1.93888843e-05 9.99998933e-01 -2.55497729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.12, Z:-0.26 [[ 9.99978362e-01 6.41415967e-03 -1.46084474e-03 3.00116095e+01] [-6.41418047e-03 9.99979429e-01 -9.55570496e-06 -1.17358439e-01] [ 1.46075340e-03 1.89256200e-05 9.99998933e-01 -2.56004069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.12, Z:-0.25 [[ 9.99975376e-01 6.86385734e-03 -1.46083491e-03 3.00408640e+01] [-6.86388059e-03 9.99976443e-01 -1.09073497e-05 -1.15054726e-01] [ 1.46072563e-03 2.09340775e-05 9.99998933e-01 -2.47880003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.11, Z:-0.25 [[ 9.99975265e-01 6.88012356e-03 -1.46083725e-03 3.00689856e+01] [-6.88014637e-03 9.99976331e-01 -1.05848571e-05 -1.11828395e-01] [ 1.46072985e-03 2.06353694e-05 9.99998933e-01 -2.52949456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.11, Z:-0.25 [[ 9.99972034e-01 7.33466661e-03 -1.46083837e-03 3.00982986e+01] [-7.33468967e-03 9.99973101e-01 -1.04310789e-05 -1.09825149e-01] [ 1.46072257e-03 2.11455833e-05 9.99998933e-01 -2.47366434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.10, Z:-0.25 [[ 9.99969526e-01 7.66900374e-03 -1.46083661e-03 3.01277253e+01] [-7.66902751e-03 9.99970593e-01 -1.06720036e-05 -1.03100710e-01] [ 1.46071181e-03 2.18748746e-05 9.99998933e-01 -2.49618690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.10, Z:-0.25 [[ 9.99969778e-01 7.63599703e-03 -1.46083968e-03 3.01577073e+01] [-7.63602016e-03 9.99970845e-01 -1.02539916e-05 -1.00957944e-01] [ 1.46071879e-03 2.14086829e-05 9.99998933e-01 -2.50713477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.10, Z:-0.25 [[ 9.99975560e-01 6.83709429e-03 -1.46083116e-03 3.01863594e+01] [-6.83711827e-03 9.99976627e-01 -1.14259279e-05 -9.80658453e-02] [ 1.46071889e-03 2.14135240e-05 9.99998933e-01 -2.48248976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.10, Z:-0.25 [[ 9.99981249e-01 5.94714644e-03 -1.46083740e-03 3.02149369e+01] [-5.94716822e-03 9.99982315e-01 -1.05619617e-05 -9.56403791e-02] [ 1.46074875e-03 1.92496094e-05 9.99998933e-01 -2.48963575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.09, Z:-0.25 [[ 9.99987025e-01 4.88023617e-03 -1.46083906e-03 3.02446245e+01] [-4.88025648e-03 9.99988091e-01 -1.03345149e-05 -9.20970186e-02] [ 1.46077123e-03 1.74636500e-05 9.99998933e-01 -2.49405910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.09, Z:-0.25 [[ 9.99994662e-01 2.92282057e-03 -1.46083669e-03 3.02734559e+01] [-2.92283926e-03 9.99995728e-01 -1.06600288e-05 -8.98884305e-02] [ 1.46079929e-03 1.49297628e-05 9.99998933e-01 -2.50215829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.09, Z:-0.25 [[ 9.99997594e-01 1.63623378e-03 -1.46083631e-03 3.03029518e+01] [-1.63625117e-03 9.99998661e-01 -1.07116739e-05 -8.84493737e-02] [ 1.46081682e-03 1.31019432e-05 9.99998933e-01 -2.49304032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.09, Z:-0.25 [[ 9.99998914e-01 1.96144724e-04 -1.46084226e-03 3.03320944e+01] [-1.96159387e-04 9.99999981e-01 -9.89362847e-06 -8.69082080e-02] [ 1.46084029e-03 1.01801756e-05 9.99998933e-01 -2.50113428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.09, Z:-0.25 [[ 9.99996742e-01 -2.09316651e-03 -1.46083712e-03 3.03619764e+01] [ 2.09315325e-03 9.99997809e-01 -1.06017787e-05 -8.54218384e-02] [ 1.46085611e-03 7.54398815e-06 9.99998933e-01 -2.51272343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.09, Z:-0.25 [[ 9.99994054e-01 -3.12365420e-03 -1.46083700e-03 3.03912373e+01] [ 3.12364202e-03 9.99995121e-01 -1.06187492e-05 -8.51305444e-02] [ 1.46086304e-03 6.05555428e-06 9.99998933e-01 -2.51267452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.08, Z:-0.25 [[ 9.99984201e-01 -5.42809233e-03 -1.46084329e-03 3.04205916e+01] [ 5.42808388e-03 9.99985268e-01 -9.75402118e-06 -8.33026913e-02] [ 1.46087471e-03 1.82428718e-06 9.99998933e-01 -2.52289454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.08, Z:-0.26 [[ 9.99985755e-01 -5.13376271e-03 -1.46086015e-03 3.04500291e+01] [ 5.13375735e-03 9.99986822e-01 -7.41500559e-06 -8.36052898e-02] [ 1.46087896e-03 -8.48015534e-08 9.99998933e-01 -2.55557042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.08, Z:-0.25 [[ 9.99985833e-01 -5.11849641e-03 -1.46083691e-03 3.04799287e+01] [ 5.11848636e-03 9.99986900e-01 -1.06204688e-05 -8.42689023e-02] [ 1.46087214e-03 3.14304452e-06 9.99998933e-01 -2.53072349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.08, Z:-0.25 [[ 9.99990950e-01 -3.99576101e-03 -1.46083711e-03 3.05100505e+01] [ 3.99574980e-03 9.99992017e-01 -1.05936191e-05 -8.22115299e-02] [ 1.46086778e-03 4.75638362e-06 9.99998933e-01 -2.51337568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.08, Z:-0.25 [[ 9.99993780e-01 -3.21035805e-03 -1.46083711e-03 3.05401837e+01] [ 3.21034600e-03 9.99994847e-01 -1.05936191e-05 -8.08007757e-02] [ 1.46086359e-03 5.90376061e-06 9.99998933e-01 -2.50236451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.08, Z:-0.25 [[ 9.99998929e-01 8.71425942e-05 -1.46084993e-03 3.05693314e+01] [-8.71555818e-05 9.99999996e-01 -8.82680696e-06 -8.02467564e-02] [ 1.46084916e-03 8.95411874e-06 9.99998933e-01 -2.47152590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.08, Z:-0.25 [[ 9.99997255e-01 1.83204262e-03 -1.46084459e-03 3.05988969e+01] [-1.83205854e-03 9.99998322e-01 -9.55823510e-06 -8.01588552e-02] [ 1.46082463e-03 1.22345617e-05 9.99998933e-01 -2.48094520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.08, Z:-0.25 [[ 9.99992529e-01 3.57883421e-03 -1.46083835e-03 3.06271876e+01] [-3.57885322e-03 9.99993596e-01 -1.04007202e-05 -7.97694606e-02] [ 1.46079177e-03 1.56287686e-05 9.99998933e-01 -2.47522045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.08, Z:-0.25 [[ 9.99973475e-01 7.13543603e-03 -1.46083449e-03 3.06560400e+01] [-7.13545959e-03 9.99974542e-01 -1.09170616e-05 -7.91238506e-02] [ 1.46071940e-03 2.13404975e-05 9.99998933e-01 -2.47914146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.08, Z:-0.25 [[ 9.99961238e-01 8.68264671e-03 -1.46083038e-03 3.06844488e+01] [-8.68267271e-03 9.99962305e-01 -1.14588332e-05 -7.78340679e-02] [ 1.46067582e-03 2.41423011e-05 9.99998933e-01 -2.45978881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.08, Z:-0.25 [[ 9.99947021e-01 1.01892631e-02 -1.46083236e-03 3.07132681e+01] [-1.01892903e-02 9.99948088e-01 -1.11997034e-05 -7.64639798e-02] [ 1.46064241e-03 2.60839550e-05 9.99998933e-01 -2.45354585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.07, Z:-0.25 [[ 9.99910625e-01 1.32894122e-02 -1.46083182e-03 3.07419111e+01] [-1.32894429e-02 9.99911691e-01 -1.12693766e-05 -7.44606045e-02] [ 1.46055306e-03 3.06820105e-05 9.99998933e-01 -2.47643911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.07, Z:-0.24 [[ 9.99886972e-01 1.49635760e-02 -1.46084328e-03 3.07708166e+01] [-1.49636062e-02 9.99888039e-01 -9.78238118e-06 -7.35829641e-02] [ 1.46053335e-03 3.16407592e-05 9.99998933e-01 -2.43711197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.07, Z:-0.24 [[ 9.99858147e-01 1.67794993e-02 -1.46083092e-03 3.07997747e+01] [-1.67795338e-02 9.99859214e-01 -1.13703962e-05 -7.16520804e-02] [ 1.46043447e-03 3.58808451e-05 9.99998933e-01 -2.44513523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.07, Z:-0.24 [[ 9.99852003e-01 1.71417304e-02 -1.46083052e-03 3.08288813e+01] [-1.71417653e-02 9.99853069e-01 -1.14218238e-05 -7.01207311e-02] [ 1.46042009e-03 3.64613474e-05 9.99998933e-01 -2.44090555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.07, Z:-0.24 [[ 9.99856677e-01 1.68668740e-02 -1.46083144e-03 3.08572222e+01] [-1.68669085e-02 9.99857744e-01 -1.13052631e-05 -6.81095440e-02] [ 1.46043294e-03 3.59433531e-05 9.99998933e-01 -2.43878040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.07, Z:-0.25 [[ 9.99867708e-01 1.61997909e-02 -1.46082935e-03 3.08856939e+01] [-1.61998251e-02 9.99868774e-01 -1.15688849e-05 -6.63824751e-02] [ 1.46045024e-03 3.52325345e-05 9.99998933e-01 -2.45778879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.06, Z:-0.25 [[ 9.99901027e-01 1.39929637e-02 -1.46082925e-03 3.09147385e+01] [-1.39929956e-02 9.99902093e-01 -1.15820412e-05 -6.46196382e-02] [ 1.46052415e-03 3.20222721e-05 9.99998933e-01 -2.50461538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.06, Z:-0.25 [[ 9.99917603e-01 1.27535413e-02 -1.46082814e-03 3.09441444e+01] [-1.27535721e-02 9.99918670e-01 -1.17202023e-05 -6.40527070e-02] [ 1.46055985e-03 3.03500135e-05 9.99998933e-01 -2.51576106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.06, Z:-0.25 [[ 9.99949845e-01 9.90828039e-03 -1.46082648e-03 3.09725331e+01] [-9.90830839e-03 9.99950911e-01 -1.19270017e-05 -6.34063198e-02] [ 1.46063659e-03 2.64007228e-05 9.99998933e-01 -2.52415032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.06, Z:-0.25 [[ 9.99962052e-01 8.58843441e-03 -1.46082507e-03 3.10018629e+01] [-8.58846125e-03 9.99963118e-01 -1.21018143e-05 -6.30153880e-02] [ 1.46066726e-03 2.46475945e-05 9.99998933e-01 -2.53045531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.06, Z:-0.25 [[ 9.99966260e-01 8.08363240e-03 -1.46082865e-03 3.10300965e+01] [-8.08365805e-03 9.99967327e-01 -1.16526326e-05 -6.28569288e-02] [ 1.46068673e-03 2.34610788e-05 9.99998933e-01 -2.53176545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.06, Z:-0.26 [[ 9.99972630e-01 7.25295632e-03 -1.46080731e-03 3.10601334e+01] [-7.25298493e-03 9.99973697e-01 -1.42875648e-05 -5.99189567e-02] [ 1.46066526e-03 2.48823871e-05 9.99998933e-01 -2.58067512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.06, Z:-0.25 [[ 9.99970278e-01 7.57025725e-03 -1.46081011e-03 3.10902062e+01] [-7.57028569e-03 9.99971345e-01 -1.39439558e-05 -5.91690158e-02] [ 1.46066269e-03 2.50022912e-05 9.99998933e-01 -2.53730198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.06, Z:-0.25 [[ 9.99965225e-01 8.21068529e-03 -1.46082782e-03 3.11190748e+01] [-8.21071120e-03 9.99966291e-01 -1.17392474e-05 -5.83427856e-02] [ 1.46068219e-03 2.37332746e-05 9.99998933e-01 -2.53967592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.06, Z:-0.25 [[ 9.99954582e-01 9.41803034e-03 -1.46082060e-03 3.11475788e+01] [-9.41805886e-03 9.99955649e-01 -1.26400095e-05 -5.63596289e-02] [ 1.46063677e-03 2.63975298e-05 9.99998933e-01 -2.50822889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.05, Z:-0.25 [[ 9.99957300e-01 9.12489140e-03 -1.46081718e-03 3.11759246e+01] [-9.12492022e-03 9.99958367e-01 -1.30654765e-05 -5.22257955e-02] [ 1.46063715e-03 2.63947589e-05 9.99998933e-01 -2.51784058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.05, Z:-0.25 [[ 9.99963265e-01 8.44604250e-03 -1.46081446e-03 3.12056898e+01] [-8.44607109e-03 9.99964331e-01 -1.34045292e-05 -5.16494111e-02] [ 1.46064914e-03 2.57421795e-05 9.99998933e-01 -2.53176402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.05, Z:-0.25 [[ 9.99969920e-01 7.61748426e-03 -1.46082780e-03 3.12346896e+01] [-7.61750955e-03 9.99970986e-01 -1.17460552e-05 -5.09689380e-02] [ 1.46069594e-03 2.28735716e-05 9.99998933e-01 -2.53430110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.05, Z:-0.26 [[ 9.99977711e-01 6.51486291e-03 -1.46082724e-03 3.12630529e+01] [-6.51488712e-03 9.99978778e-01 -1.18142984e-05 -5.00073906e-02] [ 1.46071927e-03 2.13311597e-05 9.99998933e-01 -2.56966305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.05, Z:-0.26 [[ 9.99994864e-01 2.85287203e-03 -1.46081700e-03 3.12913835e+01] [-2.85289416e-03 9.99995930e-01 -1.30671836e-05 -4.93479151e-02] [ 1.46077377e-03 1.72346728e-05 9.99998933e-01 -2.58155945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.05, Z:-0.25 [[ 9.99998627e-01 7.82115068e-04 -1.46082231e-03 3.13209035e+01] [-7.82134038e-04 9.99999694e-01 -1.24145686e-05 -4.88440669e-02] [ 1.46081216e-03 1.35571104e-05 9.99998933e-01 -2.54567761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.05, Z:-0.25 [[ 9.99993438e-01 -3.31513893e-03 -1.46082720e-03 3.13499565e+01] [ 3.31512521e-03 9.99994505e-01 -1.18106506e-05 -4.82695384e-02] [ 1.46085832e-03 6.96774804e-06 9.99998933e-01 -2.54373435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.05, Z:-0.26 [[ 9.99985418e-01 -5.19898662e-03 -1.46079831e-03 3.13799451e+01] [ 5.19896974e-03 9.99986485e-01 -1.53522945e-05 -4.93578502e-02] [ 1.46085839e-03 7.75742439e-06 9.99998933e-01 -2.55510894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.05, Z:-0.25 [[ 9.99970806e-01 -7.50020901e-03 -1.46081298e-03 3.14102356e+01] [ 7.50019719e-03 9.99971873e-01 -1.35663083e-05 -4.98223734e-02] [ 1.46087365e-03 2.60952677e-06 9.99998933e-01 -2.54203486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.05, Z:-0.25 [[ 9.99950598e-01 -9.83200802e-03 -1.46082610e-03 3.14401327e+01] [ 9.83200103e-03 9.99951665e-01 -1.19649170e-05 -4.99349709e-02] [ 1.46087313e-03 -2.39851782e-06 9.99998933e-01 -2.53865932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.05, Z:-0.25 [[ 9.99940977e-01 -1.07661237e-02 -1.46079157e-03 3.14709388e+01] [ 1.07661116e-02 9.99942044e-01 -1.61170159e-05 -4.94225291e-02] [ 1.46088043e-03 3.89019528e-07 9.99998933e-01 -2.53360211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.05, Z:-0.25 [[ 9.99944170e-01 -1.04653261e-02 -1.46082479e-03 3.15015445e+01] [ 1.04653196e-02 9.99945237e-01 -1.21105312e-05 -5.29743026e-02] [ 1.46087153e-03 -3.17814320e-06 9.99998933e-01 -2.52814579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.05, Z:-0.25 [[ 9.99950987e-01 -9.79234948e-03 -1.46082479e-03 3.15323483e+01] [ 9.79234224e-03 9.99952054e-01 -1.21105312e-05 -5.29260796e-02] [ 1.46087334e-03 -2.19495869e-06 9.99998933e-01 -2.50557149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.05, Z:-0.25 [[ 9.99958141e-01 -9.03224684e-03 -1.46082479e-03 3.15626703e+01] [ 9.03223878e-03 9.99959208e-01 -1.21105312e-05 -5.10249015e-02] [ 1.46087458e-03 -1.08449407e-06 9.99998933e-01 -2.50258596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.05, Z:-0.25 [[ 9.99979037e-01 -6.30802332e-03 -1.46082493e-03 3.15931900e+01] [ 6.30801238e-03 9.99980104e-01 -1.20926638e-05 -5.26324900e-02] [ 1.46087215e-03 2.87750850e-06 9.99998933e-01 -2.51710019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.05, Z:-0.25 [[ 9.99987965e-01 -4.68361066e-03 -1.46082493e-03 3.16222576e+01] [ 4.68359800e-03 9.99989032e-01 -1.20926638e-05 -5.21422145e-02] [ 1.46086555e-03 5.25060150e-06 9.99998933e-01 -2.52235819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.05, Z:-0.25 [[ 9.99994288e-01 -3.04782965e-03 -1.46082479e-03 3.16514825e+01] [ 3.04781521e-03 9.99995355e-01 -1.21101463e-05 -5.08338639e-02] [ 1.46085491e-03 7.65775307e-06 9.99998933e-01 -2.54284296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:-0.05, Z:-0.26 [[ 9.99998590e-01 -8.28638143e-04 -1.46079593e-03 3.16809368e+01] [ 8.28616287e-04 9.99999657e-01 -1.55663988e-05 -5.06516136e-02] [ 1.46080833e-03 1.43559376e-05 9.99998933e-01 -2.55051915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.05, Z:-0.25 [[ 9.99998819e-01 -4.76759833e-04 -1.46082436e-03 3.17108127e+01] [ 4.76742595e-04 9.99999886e-01 -1.21481266e-05 -4.84732186e-02] [ 1.46082998e-03 1.14516750e-05 9.99998933e-01 -2.54691647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.05, Z:-0.25 [[ 9.99998932e-01 -3.88854077e-05 -1.46082438e-03 3.17408556e+01] [ 3.88677079e-05 9.99999999e-01 -1.21446801e-05 -4.77954067e-02] [ 1.46082486e-03 1.20878882e-05 9.99998933e-01 -2.53209758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.05, Z:-0.25 [[ 9.99998888e-01 -3.00516483e-04 -1.46082424e-03 3.17699714e+01] [ 3.00499037e-04 9.99999955e-01 -1.21616854e-05 -4.62514633e-02] [ 1.46082783e-03 1.17226956e-05 9.99998933e-01 -2.52908922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.05, Z:-0.25 [[ 9.99998923e-01 -1.44304724e-04 -1.46082410e-03 3.17989273e+01] [ 1.44287087e-04 9.99999990e-01 -1.21786605e-05 -4.52568272e-02] [ 1.46082584e-03 1.19678693e-05 9.99998933e-01 -2.53260727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.05, Z:-0.25 [[ 9.99998925e-01 -1.25700314e-04 -1.46079004e-03 3.18289269e+01] [ 1.25676778e-04 9.99999992e-01 -1.62034015e-05 -4.50400402e-02] [ 1.46079206e-03 1.60197967e-05 9.99998933e-01 -2.53216433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.04, Z:-0.25 [[ 9.99998911e-01 -2.11369291e-04 -1.46079258e-03 3.18589599e+01] [ 2.11346292e-04 9.99999978e-01 -1.58987410e-05 -4.46020649e-02] [ 1.46079591e-03 1.55899906e-05 9.99998933e-01 -2.52117008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.04, Z:-0.25 [[ 9.99998627e-01 -7.82227703e-04 -1.46079150e-03 3.18888984e+01] [ 7.82205124e-04 9.99999694e-01 -1.60281949e-05 -4.45953291e-02] [ 1.46080359e-03 1.48855343e-05 9.99998933e-01 -2.49632817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.04, Z:-0.25 [[ 9.99997683e-01 -1.58134293e-03 -1.46082406e-03 3.19185587e+01] [ 1.58132694e-03 9.99998750e-01 -1.20959685e-05 -4.46309800e-02] [ 1.46084136e-03 9.78590007e-06 9.99998933e-01 -2.49361248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.04, Z:-0.25 [[ 9.99996819e-01 -2.05625056e-03 -1.46082392e-03 3.19486616e+01] [ 2.05623505e-03 9.99997886e-01 -1.21132145e-05 -4.41813026e-02] [ 1.46084574e-03 9.10937862e-06 9.99998933e-01 -2.49226438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.04, Z:-0.25 [[ 9.99995591e-01 -2.58549090e-03 -1.46082363e-03 3.19780455e+01] [ 2.58547592e-03 9.99996658e-01 -1.21481454e-05 -4.33237137e-02] [ 1.46085015e-03 8.37116754e-06 9.99998933e-01 -2.50272199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315871560000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.04, Z:-0.25 [[ 9.99990632e-01 -4.07453681e-03 -1.46082348e-03 3.20074412e+01] [ 4.07452339e-03 9.99991699e-01 -1.21655264e-05 -4.17012704e-02] [ 1.46086092e-03 6.21325304e-06 9.99998933e-01 -2.49180698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.04, Z:-0.25 [[ 9.99985002e-01 -5.27845202e-03 -1.46082320e-03 3.20378925e+01] [ 5.27843983e-03 9.99986069e-01 -1.21993062e-05 -4.26331836e-02] [ 1.46086724e-03 4.48825585e-06 9.99998933e-01 -2.49037288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.04, Z:-0.25 [[ 9.99970439e-01 -7.54895754e-03 -1.46082320e-03 3.20672151e+01] [ 7.54894777e-03 9.99971506e-01 -1.21993062e-05 -4.16176761e-02] [ 1.46087367e-03 1.17126752e-06 9.99998933e-01 -2.50863049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.04, Z:-0.25 [[ 9.99961188e-01 -8.68841122e-03 -1.46078803e-03 3.20965294e+01] [ 8.68839660e-03 9.99962255e-01 -1.63560804e-05 -4.12968422e-02] [ 1.46087500e-03 3.66353986e-06 9.99998933e-01 -2.52587410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.04, Z:-0.25 [[ 9.99949470e-01 -9.94606565e-03 -1.46078911e-03 3.21269542e+01] [ 9.94605255e-03 9.99950537e-01 -1.62292047e-05 -4.23258753e-02] [ 1.46087827e-03 1.69929937e-06 9.99998933e-01 -2.49877626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.04, Z:-0.25 [[ 9.99937887e-01 -1.10493383e-02 -1.46082187e-03 3.21567883e+01] [ 1.10493320e-02 9.99938954e-01 -1.23548775e-05 -4.19421580e-02] [ 1.46086921e-03 -3.78699578e-06 9.99998933e-01 -2.50871907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.04, Z:-0.25 [[ 9.99936895e-01 -1.11387319e-02 -1.46079967e-03 3.21868328e+01] [ 1.11387220e-02 9.99937962e-01 -1.49565980e-05 -4.10854327e-02] [ 1.46087565e-03 -1.31578725e-06 9.99998933e-01 -2.47085865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.04, Z:-0.25 [[ 9.99954899e-01 -9.38433215e-03 -1.46082714e-03 3.22167925e+01] [ 9.38432505e-03 9.99955966e-01 -1.17149948e-05 -4.03397656e-02] [ 1.46087275e-03 -1.99441032e-06 9.99998933e-01 -2.50613581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.04, Z:-0.25 [[ 9.99965506e-01 -8.17631421e-03 -1.46081767e-03 3.22478066e+01] [ 8.17630420e-03 9.99966573e-01 -1.28271785e-05 -3.99454043e-02] [ 1.46087372e-03 8.82646405e-07 9.99998933e-01 -2.49759819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.04, Z:-0.25 [[ 9.99983440e-01 -5.56643156e-03 -1.46082083e-03 3.22778118e+01] [ 5.56641930e-03 9.99984507e-01 -1.24566425e-05 -3.76533980e-02] [ 1.46086754e-03 4.32489501e-06 9.99998933e-01 -2.49960400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.04, Z:-0.25 [[ 9.99987357e-01 -4.81166727e-03 -1.46082083e-03 3.23074604e+01] [ 4.81165421e-03 9.99988424e-01 -1.24566425e-05 -3.69338226e-02] [ 1.46086386e-03 5.42752036e-06 9.99998933e-01 -2.52097537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.04, Z:-0.25 [[ 9.99989328e-01 -4.38298434e-03 -1.46082096e-03 3.23372901e+01] [ 4.38297085e-03 9.99990395e-01 -1.24407613e-05 -3.57797297e-02] [ 1.46086146e-03 6.03789281e-06 9.99998933e-01 -2.52397954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.03, Z:-0.25 [[ 9.99986294e-01 -5.02771796e-03 -1.46082087e-03 3.23669153e+01] [ 5.02770513e-03 9.99987361e-01 -1.24522314e-05 -3.22541164e-02] [ 1.46086501e-03 5.10748416e-06 9.99998933e-01 -2.52528967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.03, Z:-0.25 [[ 9.99976691e-01 -6.66958041e-03 -1.46077977e-03 3.23965545e+01] [ 6.66956238e-03 9.99977758e-01 -1.72123757e-05 -2.94546924e-02] [ 1.46086207e-03 7.46921278e-06 9.99998933e-01 -2.49426191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.03, Z:-0.25 [[ 9.99935664e-01 -1.12486938e-02 -1.46081921e-03 3.24264141e+01] [ 1.12486873e-02 9.99936731e-01 -1.26605292e-05 -2.90022747e-02] [ 1.46086921e-03 -3.77258386e-06 9.99998933e-01 -2.47610347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.03, Z:-0.25 [[ 9.99900623e-01 -1.40217645e-02 -1.46081921e-03 3.24571175e+01] [ 1.40217609e-02 9.99901690e-01 -1.26605292e-05 -3.04032132e-02] [ 1.46085312e-03 -7.82398676e-06 9.99998933e-01 -2.46890116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79587156 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.03, Z:-0.25 [[ 9.99858973e-01 -1.67302054e-02 -1.46081921e-03 3.24879154e+01] [ 1.67302047e-02 9.99860040e-01 -1.26605292e-05 -3.03567230e-02] [ 1.46082657e-03 -1.17810608e-05 9.99998933e-01 -2.46857730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.03, Z:-0.25 [[ 9.99735035e-01 -2.29722897e-02 -1.46081936e-03 3.25189023e+01] [ 2.29722957e-02 9.99736102e-01 -1.26432854e-05 -3.38268627e-02] [ 1.46072430e-03 -2.09184391e-05 9.99998933e-01 -2.47207924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.04, Z:-0.25 [[ 9.99655624e-01 -2.62011405e-02 -1.46081966e-03 3.25504223e+01] [ 2.62011500e-02 9.99656691e-01 -1.26086476e-05 -3.59758503e-02] [ 1.46064851e-03 -2.56708497e-05 9.99998933e-01 -2.48076763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.04, Z:-0.25 [[ 9.99493800e-01 -3.17806435e-02 -1.46081996e-03 3.25807997e+01] [ 3.17806591e-02 9.99494867e-01 -1.25743610e-05 -3.86691410e-02] [ 1.46048167e-03 -3.38578252e-05 9.99998933e-01 -2.48091395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.04, Z:-0.25 [[ 9.99408752e-01 -3.43513120e-02 -1.46082011e-03 3.26108868e+01] [ 3.43513303e-02 9.99409819e-01 -1.25572607e-05 -4.18952749e-02] [ 1.46038932e-03 -3.76312777e-05 9.99998933e-01 -2.48380333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.04, Z:-0.25 [[ 9.99332912e-01 -3.64910579e-02 -1.46082058e-03 3.26416454e+01] [ 3.64910786e-02 9.99333979e-01 -1.25018011e-05 -4.36816019e-02] [ 1.46030385e-03 -4.08134573e-05 9.99998933e-01 -2.49148744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.05, Z:-0.25 [[ 9.99226233e-01 -3.93039620e-02 -1.46082072e-03 3.26729943e+01] [ 3.93039857e-02 9.99227300e-01 -1.24852639e-05 -5.06341460e-02] [ 1.46018266e-03 -4.49404735e-05 9.99998933e-01 -2.49282998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.05, Z:-0.25 [[ 9.99202312e-01 -3.99074621e-02 -1.46082102e-03 3.27033984e+01] [ 3.99074865e-02 9.99203379e-01 -1.24507007e-05 -5.48220178e-02] [ 1.46015417e-03 -4.58569260e-05 9.99998933e-01 -2.51889528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.06, Z:-0.25 [[ 9.99248297e-01 -3.87389643e-02 -1.46082151e-03 3.27335975e+01] [ 3.87389876e-02 9.99249364e-01 -1.23928282e-05 -6.18556861e-02] [ 1.46020505e-03 -4.42072338e-05 9.99998933e-01 -2.52395257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.07, Z:-0.25 [[ 9.99311855e-01 -3.70632245e-02 -1.46082151e-03 3.27643365e+01] [ 3.70632460e-02 9.99312922e-01 -1.23928282e-05 -6.53946426e-02] [ 1.46027713e-03 -4.17584867e-05 9.99998933e-01 -2.53239650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.07, Z:-0.25 [[ 9.99402179e-01 -3.45420099e-02 -1.46082165e-03 3.27943109e+01] [ 3.45420286e-02 9.99403246e-01 -1.23753478e-05 -6.90758406e-02] [ 1.46037737e-03 -3.80917939e-05 9.99998933e-01 -2.53481089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.08, Z:-0.25 [[ 9.99589906e-01 -2.85987205e-02 -1.46082151e-03 3.28245173e+01] [ 2.85987330e-02 9.99590973e-01 -1.23922628e-05 -7.72032488e-02] [ 1.46057840e-03 -2.93904635e-05 9.99998933e-01 -2.53575608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.08, Z:-0.25 [[ 9.99688606e-01 -2.49109813e-02 -1.46082166e-03 3.28540900e+01] [ 2.49109898e-02 9.99689673e-01 -1.23750945e-05 -8.03731376e-02] [ 1.46067660e-03 -2.40192725e-05 9.99998933e-01 -2.53688050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.08, Z:-0.25 [[ 9.99776076e-01 -2.11107458e-02 -1.46082151e-03 3.28842910e+01] [ 2.11107502e-02 9.99777143e-01 -1.23922736e-05 -8.30688619e-02] [ 1.46075757e-03 -1.84495393e-05 9.99998933e-01 -2.52962454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.09, Z:-0.26 [[ 9.99902736e-01 -1.38702671e-02 -1.46082151e-03 3.29140760e+01] [ 1.38702638e-02 9.99903803e-01 -1.23922736e-05 -8.81030572e-02] [ 1.46085287e-03 -7.87091149e-06 9.99998933e-01 -2.55056494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.09, Z:-0.26 [[ 9.99947696e-01 -1.01227839e-02 -1.46082136e-03 3.29431985e+01] [ 1.01227765e-02 9.99948763e-01 -1.24097249e-05 -9.07371727e-02] [ 1.46087214e-03 -2.37849237e-06 9.99998933e-01 -2.56874440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.10, Z:-0.26 [[ 9.99993682e-01 -3.24059711e-03 -1.46082121e-03 3.29734254e+01] [ 3.24058241e-03 9.99994749e-01 -1.24271853e-05 -9.66437221e-02] [ 1.46085382e-03 7.69319522e-06 9.99998933e-01 -2.55099156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.10, Z:-0.25 [[ 9.99998933e-01 2.42054393e-05 -1.46082121e-03 3.30025605e+01] [-2.42236191e-05 1.00000000e+00 -1.24271853e-05 -9.96656461e-02] [ 1.46082091e-03 1.24625584e-05 9.99998933e-01 -2.54780962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.10, Z:-0.25 [[ 9.99994974e-01 2.81382736e-03 -1.46082107e-03 3.30318239e+01] [-2.81384855e-03 9.99996041e-01 -1.24444516e-05 -1.02018778e-01] [ 1.46078027e-03 1.65549183e-05 9.99998933e-01 -2.54089861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.11, Z:-0.26 [[ 9.99959231e-01 8.91078398e-03 -1.46082077e-03 3.30600526e+01] [-8.91081172e-03 9.99960298e-01 -1.24792869e-05 -1.05098397e-01] [ 1.46065157e-03 2.54958770e-05 9.99998933e-01 -2.56821453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.11, Z:-0.26 [[ 9.99927118e-01 1.19843181e-02 -1.46079424e-03 3.30889781e+01] [-1.19843536e-02 9.99928185e-01 -1.55420362e-05 -1.06145138e-01] [ 1.46050307e-03 3.30475781e-05 9.99998933e-01 -2.55376384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.11, Z:-0.25 [[ 9.99855445e-01 1.69397402e-02 -1.46077845e-03 3.31187132e+01] [-1.69397837e-02 9.99856511e-01 -1.73463183e-05 -1.06706846e-01] [ 1.46027500e-03 4.20890817e-05 9.99998933e-01 -2.53990377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.11, Z:-0.25 [[ 9.99811239e-01 1.93740171e-02 -1.46081883e-03 3.31487295e+01] [-1.93740563e-02 9.99812305e-01 -1.27014751e-05 -1.06378221e-01] [ 1.46029856e-03 4.10010638e-05 9.99998933e-01 -2.54426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.11, Z:-0.25 [[ 9.99765918e-01 2.15864630e-02 -1.46081853e-03 3.31784772e+01] [-2.15865047e-02 9.99766984e-01 -1.27356872e-05 -1.06466572e-01] [ 1.46020322e-03 4.42666720e-05 9.99998933e-01 -2.54119221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.11, Z:-0.26 [[ 9.99723588e-01 2.34651734e-02 -1.46081822e-03 3.32068848e+01] [-2.34652171e-02 9.99724654e-01 -1.27710377e-05 -1.06231350e-01] [ 1.46011632e-03 4.70459244e-05 9.99998933e-01 -2.58734270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.10, Z:-0.26 [[ 9.99630879e-01 2.71288138e-02 -1.46083188e-03 3.32351547e+01] [-2.71288591e-02 9.99631945e-01 -1.12082816e-05 -1.03859301e-01] [ 1.45999014e-03 5.08348465e-05 9.99998933e-01 -2.55931908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.10, Z:-0.26 [[ 9.99568175e-01 2.93484147e-02 -1.46081731e-03 3.32635724e+01] [-2.93484647e-02 9.99569241e-01 -1.28627939e-05 -1.01031762e-01] [ 1.45981055e-03 5.57299847e-05 9.99998933e-01 -2.58905387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.10, Z:-0.26 [[ 9.99553148e-01 2.98558295e-02 -1.46081687e-03 3.32931339e+01] [-2.98558802e-02 9.99554214e-01 -1.29126864e-05 -1.00318237e-01] [ 1.45978014e-03 5.65208897e-05 9.99998933e-01 -2.58504190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.10, Z:-0.26 [[ 9.99559724e-01 2.96348391e-02 -1.46081657e-03 3.33227166e+01] [-2.96348896e-02 9.99560790e-01 -1.29457845e-05 -9.84259891e-02] [ 1.45979132e-03 5.62312226e-05 9.99998933e-01 -2.57573655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.09, Z:-0.26 [[ 9.99580108e-01 2.89391421e-02 -1.46081627e-03 3.33526415e+01] [-2.89391919e-02 9.99581174e-01 -1.29796838e-05 -9.45342513e-02] [ 1.45982882e-03 5.52490762e-05 9.99998933e-01 -2.55895578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.09, Z:-0.26 [[ 9.99633780e-01 2.70216987e-02 -1.46081597e-03 3.33813522e+01] [-2.70217465e-02 9.99634846e-01 -1.30134634e-05 -9.23063479e-02] [ 1.45993090e-03 5.24824965e-05 9.99998933e-01 -2.57917260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.09, Z:-0.25 [[ 9.99739692e-01 2.27687221e-02 -1.46078959e-03 3.34114887e+01] [-2.27687697e-02 9.99740758e-01 -1.59393269e-05 -8.86705417e-02] [ 1.46004797e-03 4.91955595e-05 9.99998933e-01 -2.53913734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-0.09, Z:-0.25 [[ 9.99793617e-01 2.02629848e-02 -1.46081516e-03 3.34414216e+01] [-2.02630255e-02 9.99794684e-01 -1.30847871e-05 -8.67359852e-02] [ 1.46025009e-03 4.26826214e-05 9.99998933e-01 -2.53622650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.09, Z:-0.25 [[ 9.99847455e-01 1.74049783e-02 -1.46081485e-03 3.34706957e+01] [-1.74050160e-02 9.99848521e-01 -1.31187675e-05 -8.51836636e-02] [ 1.46036524e-03 3.85422721e-05 9.99998933e-01 -2.52747334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:-0.08, Z:-0.25 [[ 9.99926670e-01 1.20216538e-02 -1.46081454e-03 3.34994328e+01] [-1.20216858e-02 9.99927737e-01 -1.31532452e-05 -8.37567122e-02] [ 1.46055085e-03 3.07137342e-05 9.99998933e-01 -2.51143323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.08, Z:-0.25 [[ 9.99956540e-01 9.20778670e-03 -1.46081407e-03 3.35294252e+01] [-9.20781581e-03 9.99957607e-01 -1.32048717e-05 -8.24902415e-02] [ 1.46063056e-03 2.66552047e-05 9.99998933e-01 -2.50934193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.08, Z:-0.25 [[ 9.99990827e-01 4.02630017e-03 -1.46081377e-03 3.35584485e+01] [-4.02632381e-03 9.99991894e-01 -1.32389125e-05 -7.89411488e-02] [ 1.46074862e-03 1.91205003e-05 9.99998933e-01 -2.52453462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.08, Z:-0.25 [[ 9.99997153e-01 1.88660451e-03 -1.46081330e-03 3.35883467e+01] [-1.88662594e-03 9.99998220e-01 -1.32895675e-05 -7.69747187e-02] [ 1.46078563e-03 1.60455379e-05 9.99998933e-01 -2.54045116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.08, Z:-0.26 [[ 9.99998930e-01 -7.49197012e-05 -1.46081299e-03 3.36182683e+01] [ 7.49003178e-05 9.99999997e-01 -1.33235780e-05 -7.59124561e-02] [ 1.46081399e-03 1.32141484e-05 9.99998933e-01 -2.55606977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.07, Z:-0.26 [[ 9.99994226e-01 -3.06834089e-03 -1.46081284e-03 3.36478813e+01] [ 3.06832468e-03 9.99995293e-01 -1.33405275e-05 -7.36515526e-02] [ 1.46084690e-03 8.85820239e-06 9.99998933e-01 -2.58941323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995871560000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.07, Z:-0.26 [[ 9.99994913e-01 -2.83537867e-03 -1.46082596e-03 3.36773646e+01] [ 2.83536430e-03 9.99995980e-01 -1.19079204e-05 -7.26557530e-02] [ 1.46085385e-03 7.76588604e-06 9.99998933e-01 -2.56189768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.07, Z:-0.26 [[ 9.99994846e-01 -2.85899057e-03 -1.46081236e-03 3.37075243e+01] [ 2.85897405e-03 9.99995913e-01 -1.33915892e-05 -7.23330819e-02] [ 1.46084468e-03 9.21509554e-06 9.99998933e-01 -2.56145600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.07, Z:-0.26 [[ 9.99992837e-01 -3.49183645e-03 -1.46081204e-03 3.37372942e+01] [ 3.49182056e-03 9.99993903e-01 -1.34260788e-05 -6.88950529e-02] [ 1.46085002e-03 8.32508907e-06 9.99998933e-01 -2.55550443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.07, Z:-0.26 [[ 9.99994148e-01 -3.09358258e-03 -1.46081172e-03 3.37672625e+01] [ 3.09356622e-03 9.99995215e-01 -1.34612242e-05 -6.70992068e-02] [ 1.46084637e-03 8.94202765e-06 9.99998933e-01 -2.55573584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.06, Z:-0.26 [[ 9.99997979e-01 -1.38165302e-03 -1.46081156e-03 3.37964048e+01] [ 1.38163481e-03 9.99999045e-01 -1.34786906e-05 -6.16492822e-02] [ 1.46082879e-03 1.14603552e-05 9.99998933e-01 -2.55299875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.06, Z:-0.25 [[ 9.99998824e-01 -4.67325711e-04 -1.46081321e-03 3.38262006e+01] [ 4.67306779e-04 9.99999891e-01 -1.33008030e-05 -5.89567712e-02] [ 1.46081927e-03 1.26181394e-05 9.99998933e-01 -2.51291011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175871560000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.06, Z:-0.25 [[ 9.99998633e-01 7.74411422e-04 -1.46080911e-03 3.38560677e+01] [-7.74432315e-04 9.99999700e-01 -1.37368700e-05 -5.73436921e-02] [ 1.46079803e-03 1.48681490e-05 9.99998933e-01 -2.51334720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.05, Z:-0.25 [[ 9.99998323e-01 1.10427996e-03 -1.46080894e-03 3.38857509e+01] [-1.10430123e-03 9.99999390e-01 -1.37544811e-05 -5.43641299e-02] [ 1.46079286e-03 1.53676311e-05 9.99998933e-01 -2.50370539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.05, Z:-0.25 [[ 9.99998443e-01 9.90255248e-04 -1.46080878e-03 3.39153117e+01] [-9.90276422e-04 9.99999510e-01 -1.37719155e-05 -5.24418615e-02] [ 1.46079442e-03 1.52184986e-05 9.99998933e-01 -2.51505412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.05, Z:-0.25 [[ 9.99998549e-01 -8.76383627e-04 -1.46080862e-03 3.39454472e+01] [ 8.76364420e-04 9.99999616e-01 -1.37886044e-05 -5.00864074e-02] [ 1.46082014e-03 1.25083837e-05 9.99998933e-01 -2.52497305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.05, Z:-0.25 [[ 9.99995382e-01 -2.66506118e-03 -1.46080846e-03 3.39749772e+01] [ 2.66504386e-03 9.99996449e-01 -1.38061305e-05 -4.92236394e-02] [ 1.46084006e-03 9.91294817e-06 9.99998933e-01 -2.52845874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.05, Z:-0.25 [[ 9.99989306e-01 -4.38795974e-03 -1.46080829e-03 3.40046085e+01] [ 4.38794423e-03 9.99990373e-01 -1.38235174e-05 -4.81417701e-02] [ 1.46085488e-03 7.41342429e-06 9.99998933e-01 -2.53751500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.05, Z:-0.26 [[ 9.99977702e-01 -6.51624973e-03 -1.46080607e-03 3.40353735e+01] [ 6.51623615e-03 9.99978769e-01 -1.40581965e-05 -4.65884107e-02] [ 1.46086666e-03 4.53892566e-06 9.99998933e-01 -2.55026296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.05, Z:-0.25 [[ 9.99962289e-01 -8.56074763e-03 -1.46081530e-03 3.40645159e+01] [ 8.56073764e-03 9.99963356e-01 -1.30906046e-05 -4.58836737e-02] [ 1.46087384e-03 5.84454358e-07 9.99998933e-01 -2.52900899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.05, Z:-0.25 [[ 9.99964996e-01 -8.23855156e-03 -1.46080610e-03 3.40952873e+01] [ 8.23853983e-03 9.99966063e-01 -1.40472543e-05 -4.50495149e-02] [ 1.46087225e-03 2.01185330e-06 9.99998933e-01 -2.52173200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.04, Z:-0.25 [[ 9.99973688e-01 -7.10554739e-03 -1.46080610e-03 3.41261523e+01] [ 7.10553445e-03 9.99974755e-01 -1.40472543e-05 -4.39589153e-02] [ 1.46086904e-03 3.66707659e-06 9.99998933e-01 -2.52070681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.04, Z:-0.26 [[ 9.99981373e-01 -5.92611885e-03 -1.46080610e-03 3.41560411e+01] [ 5.92610465e-03 9.99982440e-01 -1.40472543e-05 -4.18645778e-02] [ 1.46086370e-03 5.39010279e-06 9.99998933e-01 -2.55145107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.04, Z:-0.25 [[ 9.99995077e-01 -2.77704125e-03 -1.46081236e-03 3.41861298e+01] [ 2.77702464e-03 9.99996144e-01 -1.34001715e-05 -3.79380995e-02] [ 1.46084394e-03 9.34339361e-06 9.99998933e-01 -2.53054778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.04, Z:-0.25 [[ 9.99997886e-01 -1.44702077e-03 -1.46080414e-03 3.42159550e+01] [ 1.44700150e-03 9.99998953e-01 -1.42435263e-05 -3.54834663e-02] [ 1.46082322e-03 1.21297104e-05 9.99998933e-01 -2.53124085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.03, Z:-0.25 [[ 9.99998931e-01 6.12041734e-05 -1.46080380e-03 3.42452502e+01] [-6.12250962e-05 9.99999998e-01 -1.42780684e-05 -3.09254469e-02] [ 1.46080293e-03 1.43674910e-05 9.99998933e-01 -2.53644281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.03, Z:-0.25 [[ 9.99998911e-01 2.11358695e-04 -1.46080363e-03 3.42753733e+01] [-2.11379804e-04 9.99999978e-01 -1.42953297e-05 -2.88341632e-02] [ 1.46080058e-03 1.46040985e-05 9.99998933e-01 -2.53917014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.02, Z:-0.25 [[ 9.99998932e-01 -5.27763992e-05 -1.46084088e-03 3.43050359e+01] [ 5.27610896e-05 9.99999999e-01 -1.05185028e-05 -2.46449521e-02] [ 1.46084143e-03 1.04414160e-05 9.99998933e-01 -2.54609309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.02, Z:-0.26 [[ 9.99998716e-01 -6.58291096e-04 -1.46080220e-03 3.43344829e+01] [ 6.58270714e-04 9.99999783e-01 -1.44328939e-05 -2.21842144e-02] [ 1.46081139e-03 1.34712720e-05 9.99998933e-01 -2.55939350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.02, Z:-0.26 [[ 9.99998372e-01 -1.05939725e-03 -1.46081263e-03 3.43641803e+01] [ 1.05937884e-03 9.99999439e-01 -1.33734936e-05 -2.00132850e-02] [ 1.46082598e-03 1.18259178e-05 9.99998933e-01 -2.56128847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.02, Z:-0.26 [[ 9.99995648e-01 -2.56334761e-03 -1.46080346e-03 3.43941455e+01] [ 2.56332944e-03 9.99996715e-01 -1.43103581e-05 -1.59294061e-02] [ 1.46083534e-03 1.05657753e-05 9.99998933e-01 -2.55574775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.01, Z:-0.26 [[ 9.99992855e-01 -3.48652599e-03 -1.46080311e-03 3.44233088e+01] [ 3.48650876e-03 9.99993922e-01 -1.43458269e-05 -1.43799577e-02] [ 1.46084425e-03 9.25262158e-06 9.99998933e-01 -2.56419169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.01, Z:-0.26 [[ 9.99985993e-01 -5.08713384e-03 -1.46080293e-03 3.44524418e+01] [ 5.08711829e-03 9.99987060e-01 -1.43634155e-05 -1.28208170e-02] [ 1.46085710e-03 6.93193704e-06 9.99998933e-01 -2.56575428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.01, Z:-0.26 [[ 9.99975766e-01 -6.80684551e-03 -1.46080292e-03 3.44817197e+01] [ 6.80683179e-03 9.99976833e-01 -1.43650763e-05 -1.16673494e-02] [ 1.46086686e-03 4.42128841e-06 9.99998933e-01 -2.59733811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.01, Z:-0.26 [[ 9.99930501e-01 -1.16987046e-02 -1.46082465e-03 3.45115508e+01] [ 1.16986993e-02 9.99931568e-01 -1.21615465e-05 -1.14799091e-02] [ 1.46086695e-03 -4.92904703e-06 9.99998933e-01 -2.55263245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.01, Z:-0.26 [[ 9.99846071e-01 -1.74842741e-02 -1.46080255e-03 3.45418120e+01] [ 1.74842717e-02 9.99847138e-01 -1.44028302e-05 -1.12807654e-02] [ 1.46083107e-03 -1.11404554e-05 9.99998933e-01 -2.55938432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.01, Z:-0.26 [[ 9.99799486e-01 -1.99713216e-02 -1.46080255e-03 3.45735450e+01] [ 1.99713219e-02 9.99800553e-01 -1.44028302e-05 -1.20400185e-02] [ 1.46079884e-03 -1.47742156e-05 9.99998933e-01 -2.56916243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:-0.01, Z:-0.26 [[ 9.99749763e-01 -2.23221471e-02 -1.46080288e-03 3.46044021e+01] [ 2.23221499e-02 9.99750830e-01 -1.43690404e-05 -1.34111383e-02] [ 1.46075964e-03 -1.82428162e-05 9.99998933e-01 -2.56311017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.01, Z:-0.26 [[ 9.99717120e-01 -2.37391388e-02 -1.46080321e-03 3.46350886e+01] [ 2.37391432e-02 9.99718187e-01 -1.43353673e-05 -1.41195731e-02] [ 1.46073185e-03 -2.03469045e-05 9.99998933e-01 -2.55038604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.02, Z:-0.26 [[ 9.99724280e-01 -2.34356416e-02 -1.46080321e-03 3.46658961e+01] [ 2.34356457e-02 9.99725347e-01 -1.43353673e-05 -1.53959077e-02] [ 1.46073796e-03 -1.99034517e-05 9.99998933e-01 -2.55655807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.02, Z:-0.25 [[ 9.99793041e-01 -2.02914305e-02 -1.46080338e-03 3.46973373e+01] [ 2.02914312e-02 9.99794108e-01 -1.43181856e-05 -1.70977819e-02] [ 1.46079315e-03 -1.53265690e-05 9.99998933e-01 -2.52676008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.02, Z:-0.25 [[ 9.99844959e-01 -1.75477851e-02 -1.46080372e-03 3.47268753e+01] [ 1.75477829e-02 9.99846026e-01 -1.42831156e-05 -1.71358060e-02] [ 1.46082943e-03 -1.13529655e-05 9.99998933e-01 -2.53295248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.02, Z:-0.25 [[ 9.99893596e-01 -1.45142138e-02 -1.46080372e-03 3.47569850e+01] [ 1.45142084e-02 9.99894663e-01 -1.42831156e-05 -1.68195151e-02] [ 1.46085715e-03 -6.92081382e-06 9.99998933e-01 -2.51916141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.02, Z:-0.25 [[ 9.99933609e-01 -1.14299566e-02 -1.46080372e-03 3.47865028e+01] [ 1.14299479e-02 9.99934676e-01 -1.42831156e-05 -1.66858189e-02] [ 1.46087155e-03 -2.41474309e-06 9.99998933e-01 -2.51527443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.02, Z:-0.25 [[ 9.99980259e-01 -6.11133484e-03 -1.46080356e-03 3.48157645e+01] [ 6.11132047e-03 9.99981326e-01 -1.43001767e-05 -1.70216481e-02] [ 1.46086367e-03 5.37245571e-06 9.99998933e-01 -2.49188735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.02, Z:-0.25 [[ 9.99996306e-01 -2.29223251e-03 -1.46080339e-03 3.48464026e+01] [ 2.29221404e-03 9.99997373e-01 -1.43170811e-05 -1.68024501e-02] [ 1.46083237e-03 1.09685542e-05 9.99998933e-01 -2.49564292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.02, Z:-0.25 [[ 9.99998871e-01 -3.51324880e-04 -1.46083449e-03 3.48762998e+01] [ 3.51308945e-04 9.99999938e-01 -1.11643597e-05 -1.65058268e-02] [ 1.46083832e-03 1.06511429e-05 9.99998933e-01 -2.47810488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.02, Z:-0.25 [[ 9.99998327e-01 1.10131213e-03 -1.46080134e-03 3.49053713e+01] [-1.10133449e-03 9.99999393e-01 -1.45032977e-05 -1.68264948e-02] [ 1.46078448e-03 1.61121044e-05 9.99998933e-01 -2.49570814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.02, Z:-0.25 [[ 9.99993092e-01 3.41779419e-03 -1.46080117e-03 3.49359887e+01] [-3.41781905e-03 9.99994159e-01 -1.45208330e-05 -1.83188689e-02] [ 1.46074300e-03 1.95134867e-05 9.99998933e-01 -2.53768169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.02, Z:-0.25 [[ 9.99987219e-01 4.84021661e-03 -1.46083871e-03 3.49648357e+01] [-4.84023745e-03 9.99988286e-01 -1.07304837e-05 -1.84174190e-02] [ 1.46076966e-03 1.78011528e-05 9.99998933e-01 -2.53118885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.02, Z:-0.25 [[ 9.99969197e-01 7.71169815e-03 -1.46080057e-03 3.49945345e+01] [-7.71172765e-03 9.99970264e-01 -1.45575980e-05 -1.71342139e-02] [ 1.46064487e-03 2.58224457e-05 9.99998933e-01 -2.53214982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.02, Z:-0.25 [[ 9.99958081e-01 9.03889545e-03 -1.46080022e-03 3.50229721e+01] [-9.03892641e-03 9.99959148e-01 -1.45929909e-05 -1.62037377e-02] [ 1.46060863e-03 2.77964448e-05 9.99998933e-01 -2.53417744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.01, Z:-0.25 [[ 9.99948405e-01 1.00525354e-02 -1.46079968e-03 3.50513989e+01] [-1.00525675e-02 9.99949472e-01 -1.46459062e-05 -1.46893110e-02] [ 1.46057864e-03 2.93299380e-05 9.99998933e-01 -2.52939301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.01, Z:-0.26 [[ 9.99940193e-01 1.08386573e-02 -1.46079896e-03 3.50789469e+01] [-1.08386904e-02 9.99941260e-01 -1.47178048e-05 -1.19157047e-02] [ 1.46055363e-03 3.05500723e-05 9.99998933e-01 -2.55776217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.01, Z:-0.26 [[ 9.99944296e-01 1.04532846e-02 -1.46079797e-03 3.51075619e+01] [-1.04533174e-02 9.99945362e-01 -1.48152470e-05 -1.09372226e-02] [ 1.46056329e-03 3.00846066e-05 9.99998933e-01 -2.56938603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.01, Z:-0.26 [[ 9.99955515e-01 9.31849031e-03 -1.46079745e-03 3.51372224e+01] [-9.31852197e-03 9.99956582e-01 -1.48668442e-05 -1.03281470e-02] [ 1.46059548e-03 2.84786559e-05 9.99998933e-01 -2.55488356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.01, Z:-0.26 [[ 9.99984656e-01 5.34348790e-03 -1.46079709e-03 3.51656461e+01] [-5.34351537e-03 9.99985723e-01 -1.49014486e-05 -1.06372469e-02] [ 1.46069661e-03 2.27070117e-05 9.99998933e-01 -2.55962033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.01, Z:-0.25 [[ 9.99994558e-01 2.95798181e-03 -1.46079657e-03 3.51952368e+01] [-2.95800681e-03 9.99995625e-01 -1.49528892e-05 -1.05515885e-02] [ 1.46074595e-03 1.92738541e-05 9.99998933e-01 -2.54920545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.01, Z:-0.26 [[ 9.99998762e-01 -5.85689748e-04 -1.46079621e-03 3.52250209e+01] [ 5.85668479e-04 9.99999828e-01 -1.49879675e-05 -1.04653227e-02] [ 1.46080474e-03 1.41324066e-05 9.99998933e-01 -2.55557729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.01, Z:-0.25 [[ 9.99997185e-01 -1.87000695e-03 -1.46079585e-03 3.52550433e+01] [ 1.86998700e-03 9.99998251e-01 -1.50227389e-05 -1.00880638e-02] [ 1.46082139e-03 1.22910273e-05 9.99998933e-01 -2.54468567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.01, Z:-0.25 [[ 9.99995637e-01 -2.56753139e-03 -1.46079549e-03 3.52847480e+01] [ 2.56751213e-03 9.99996704e-01 -1.50575933e-05 -9.57628579e-03] [ 1.46082934e-03 1.13069174e-05 9.99998933e-01 -2.54459293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.01, Z:-0.25 [[ 9.99997007e-01 -1.96291757e-03 -1.46079531e-03 3.53138347e+01] [ 1.96289764e-03 9.99998073e-01 -1.50749424e-05 -8.49333660e-03] [ 1.46082209e-03 1.22075056e-05 9.99998933e-01 -2.53644578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.01, Z:-0.25 [[ 9.99998727e-01 -6.41453125e-04 -1.46079513e-03 3.53436810e+01] [ 6.41431763e-04 9.99999794e-01 -1.50920905e-05 -7.49370099e-03] [ 1.46080451e-03 1.41550709e-05 9.99998933e-01 -2.53803219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.01, Z:-0.26 [[ 9.99995709e-01 2.53920744e-03 -1.46079478e-03 3.53730850e+01] [-2.53923224e-03 9.99996776e-01 -1.51261612e-05 -5.62491344e-03] [ 1.46075166e-03 1.88353935e-05 9.99998933e-01 -2.58152024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.00, Z:-0.26 [[ 9.99989482e-01 4.34754454e-03 -1.46081503e-03 3.54013716e+01] [-4.34756842e-03 9.99990549e-01 -1.31732508e-05 -4.79499286e-03] [ 1.46074395e-03 1.95241056e-05 9.99998933e-01 -2.55336054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.00, Z:-0.26 [[ 9.99982590e-01 5.71707336e-03 -1.46079396e-03 3.54310835e+01] [-5.71710166e-03 9.99983657e-01 -1.51983996e-05 -3.60108767e-03] [ 1.46068319e-03 2.35496426e-05 9.99998933e-01 -2.55282694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.00, Z:-0.25 [[ 9.99973152e-01 7.18061596e-03 -1.46079360e-03 3.54597841e+01] [-7.18064588e-03 9.99974219e-01 -1.52329080e-05 -1.37970313e-03] [ 1.46064655e-03 2.57219405e-05 9.99998933e-01 -2.53894514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.00, Z:-0.25 [[ 9.99972620e-01 7.25437982e-03 -1.46079287e-03 3.54882874e+01] [-7.25440992e-03 9.99973686e-01 -1.53023654e-05 -8.72407572e-04] [ 1.46064342e-03 2.58991366e-05 9.99998933e-01 -2.51974474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.00, Z:-0.25 [[ 9.99976294e-01 6.72888634e-03 -1.46079212e-03 3.55166892e+01] [-6.72891597e-03 9.99977360e-01 -1.53733548e-05 -1.02305023e-03] [ 1.46065560e-03 2.52025378e-05 9.99998933e-01 -2.54079137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:0.00, Z:-0.25 [[ 9.99978612e-01 6.37508301e-03 -1.46079156e-03 3.55460249e+01] [-6.37511235e-03 9.99979679e-01 -1.54262849e-05 3.60587217e-05] [ 1.46066353e-03 2.47386653e-05 9.99998933e-01 -2.52414890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:0.00, Z:-0.25 [[ 9.99978993e-01 6.31509153e-03 -1.46081749e-03 3.55751764e+01] [-6.31511724e-03 9.99980059e-01 -1.29830329e-05 4.23867602e-04] [ 1.46070637e-03 2.22079938e-05 9.99998933e-01 -2.52372602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:0.00, Z:-0.25 [[ 9.99980355e-01 6.09548838e-03 -1.46081669e-03 3.56036668e+01] [-6.09551396e-03 9.99981422e-01 -1.30575933e-05 1.99953498e-03] [ 1.46070996e-03 2.19617653e-05 9.99998933e-01 -2.51811729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:0.00, Z:-0.25 [[ 9.99981594e-01 5.88870713e-03 -1.46081993e-03 3.56318043e+01] [-5.88873205e-03 9.99982661e-01 -1.27563151e-05 3.70269181e-03] [ 1.46071949e-03 2.13584575e-05 9.99998933e-01 -2.52087744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:0.00, Z:-0.25 [[ 9.99982808e-01 5.67889862e-03 -1.46078426e-03 3.56608764e+01] [-5.67892811e-03 9.99983875e-01 -1.60364965e-05 4.20500229e-03] [ 1.46066963e-03 2.43319096e-05 9.99998933e-01 -2.52671611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:0.01, Z:-0.25 [[ 9.99985348e-01 5.21240584e-03 -1.46078524e-03 3.56897256e+01] [-5.21243469e-03 9.99986415e-01 -1.59465432e-05 5.35939497e-03] [ 1.46068227e-03 2.35605572e-05 9.99998933e-01 -2.51329734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:0.01, Z:-0.25 [[ 9.99985470e-01 5.18909934e-03 -1.46078449e-03 3.57180333e+01] [-5.18912827e-03 9.99986536e-01 -1.60149909e-05 7.57833421e-03] [ 1.46068172e-03 2.35949563e-05 9.99998933e-01 -2.52241760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:0.01, Z:-0.25 [[ 9.99984829e-01 5.31119059e-03 -1.46078393e-03 3.57466951e+01] [-5.31121972e-03 9.99985895e-01 -1.60658244e-05 8.70723140e-03] [ 1.46067800e-03 2.38241251e-05 9.99998933e-01 -2.52498847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:0.01, Z:-0.25 [[ 9.99983741e-01 5.51219699e-03 -1.46078318e-03 3.57753780e+01] [-5.51222644e-03 9.99984807e-01 -1.61332420e-05 9.96527252e-03] [ 1.46067206e-03 2.41851474e-05 9.99998933e-01 -2.52340374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:35.80, Y:0.01, Z:-0.25 [[ 9.99983399e-01 5.57387918e-03 -1.46078244e-03 3.58043410e+01] [-5.57390880e-03 9.99984466e-01 -1.62004045e-05 1.19595323e-02] [ 1.46066945e-03 2.43424036e-05 9.99998933e-01 -2.52215502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:0.02, Z:-0.25 [[ 9.99972908e-01 7.21451987e-03 -1.46078169e-03 3.58326078e+01] [-7.21455133e-03 9.99973975e-01 -1.62674310e-05 1.50855648e-02] [ 1.46062631e-03 2.68058748e-05 9.99998933e-01 -2.49956219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.86, Y:0.02, Z:-0.25 [[ 9.99965439e-01 8.18459001e-03 -1.46078121e-03 3.58609274e+01] [-8.18462257e-03 9.99966505e-01 -1.63107891e-05 1.67202411e-02] [ 1.46059878e-03 2.82661682e-05 9.99998933e-01 -2.49109588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:0.02, Z:-0.25 [[ 9.99959208e-01 8.91334967e-03 -1.46078046e-03 3.58894671e+01] [-8.91338310e-03 9.99960275e-01 -1.63777164e-05 1.91013288e-02] [ 1.46057645e-03 2.93975441e-05 9.99998933e-01 -2.51092574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:0.02, Z:-0.25 [[ 9.99947221e-01 1.01696313e-02 -1.46074863e-03 3.59193063e+01] [-1.01696702e-02 9.99948287e-01 -1.91838007e-05 2.27951838e-02] [ 1.46047800e-03 3.40381200e-05 9.99998933e-01 -2.47888494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:0.03, Z:-0.25 [[ 9.99945111e-01 1.03749937e-02 -1.46077944e-03 3.59477843e+01] [-1.03750288e-02 9.99946178e-01 -1.64480859e-05 2.56572296e-02] [ 1.46053017e-03 3.16028119e-05 9.99998933e-01 -2.47832891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:0.03, Z:-0.25 [[ 9.99948483e-01 1.00448032e-02 -1.46077868e-03 3.59776529e+01] [-1.00448380e-02 9.99949549e-01 -1.65151079e-05 2.85762381e-02] [ 1.46053909e-03 3.11875424e-05 9.99998933e-01 -2.47361118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:36.01, Y:0.03, Z:-0.25 [[ 9.99963809e-01 8.38132553e-03 -1.46077829e-03 3.60060349e+01] [-8.38135865e-03 9.99964876e-01 -1.65497410e-05 3.30072487e-02] [ 1.46058827e-03 2.87924487e-05 9.99998933e-01 -2.52005850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:0.04, Z:-0.25 [[ 9.99970787e-01 7.50281482e-03 -1.46077770e-03 3.60345770e+01] [-7.50284707e-03 9.99971853e-01 -1.66015059e-05 3.51305785e-02] [ 1.46061202e-03 2.75610126e-05 9.99998933e-01 -2.51738898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425871560000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.06, Y:0.04, Z:-0.25 [[ 9.99980340e-01 6.09798619e-03 -1.46077729e-03 3.60640051e+01] [-6.09801700e-03 9.99981407e-01 -1.66374627e-05 3.75388975e-02] [ 1.46064867e-03 2.55449804e-05 9.99998933e-01 -2.53001793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:0.04, Z:-0.25 [[ 9.99987339e-01 4.81532232e-03 -1.46077692e-03 3.60926491e+01] [-4.81535181e-03 9.99988406e-01 -1.66701703e-05 4.25724945e-02] [ 1.46067971e-03 2.37041140e-05 9.99998933e-01 -2.51053515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:0.05, Z:-0.25 [[ 9.99989681e-01 4.30171975e-03 -1.46077613e-03 3.61209017e+01] [-4.30174879e-03 9.99990747e-01 -1.67390446e-05 4.50901975e-02] [ 1.46069060e-03 2.30227638e-05 9.99998933e-01 -2.50948777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:0.05, Z:-0.25 [[ 9.99990568e-01 4.09027426e-03 -1.46077554e-03 3.61499635e+01] [-4.09030315e-03 9.99991635e-01 -1.67902583e-05 4.72402510e-02] [ 1.46069464e-03 2.27651147e-05 9.99998933e-01 -2.52291496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.18, Y:0.05, Z:-0.25 [[ 9.99987726e-01 4.73441823e-03 -1.46077496e-03 3.61787752e+01] [-4.73444788e-03 9.99988792e-01 -1.68406892e-05 5.23240253e-02] [ 1.46067885e-03 2.37564454e-05 9.99998933e-01 -2.48512013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:0.06, Z:-0.25 [[ 9.99984270e-01 5.41525521e-03 -1.46077419e-03 3.62075782e+01] [-5.41528568e-03 9.99985337e-01 -1.69068811e-05 5.64801461e-02] [ 1.46066122e-03 2.48171247e-05 9.99998933e-01 -2.46015411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:0.06, Z:-0.25 [[ 9.99980102e-01 6.13697414e-03 -1.46075840e-03 3.62363547e+01] [-6.13700736e-03 9.99981168e-01 -1.82614874e-05 6.00809532e-02] [ 1.46061882e-03 2.72258090e-05 9.99998933e-01 -2.45161448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:0.06, Z:-0.25 [[ 9.99975895e-01 6.78796659e-03 -1.46077291e-03 3.62653999e+01] [-6.78799869e-03 9.99976961e-01 -1.70154272e-05 6.38959051e-02] [ 1.46062376e-03 2.69307416e-05 9.99998933e-01 -2.45573643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:0.07, Z:-0.24 [[ 9.99972832e-01 7.22505497e-03 -1.46075882e-03 3.62944079e+01] [-7.22508928e-03 9.99973899e-01 -1.82148554e-05 7.01994203e-02] [ 1.46058909e-03 2.87684734e-05 9.99998933e-01 -2.43365476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:0.07, Z:-0.24 [[ 9.99978360e-01 6.41449490e-03 -1.46077162e-03 3.63225189e+01] [-6.41452675e-03 9.99979427e-01 -1.71230823e-05 7.38853881e-02] [ 1.46063173e-03 2.64928704e-05 9.99998933e-01 -2.44111858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:0.08, Z:-0.24 [[ 9.99985601e-01 5.16372331e-03 -1.46077052e-03 3.63514609e+01] [-5.16375396e-03 9.99986668e-01 -1.72169255e-05 7.70755348e-02] [ 1.46066214e-03 2.47597372e-05 9.99998933e-01 -2.44156808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:0.08, Z:-0.25 [[ 9.99998271e-01 1.15074854e-03 -1.46074821e-03 3.63805870e+01] [-1.15077767e-03 9.99999338e-01 -1.91007755e-05 8.08388481e-02] [ 1.46072527e-03 2.07817389e-05 9.99998933e-01 -2.46556870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.41, Y:0.08, Z:-0.25 [[ 9.99998579e-01 -8.41047596e-04 -1.46076925e-03 3.64099342e+01] [ 8.41023182e-04 9.99999646e-01 -1.73275808e-05 8.17961209e-02] [ 1.46078330e-03 1.60990153e-05 9.99998933e-01 -2.46612841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.44, Y:0.08, Z:-0.25 [[ 9.99991506e-01 -3.85407905e-03 -1.46080602e-03 3.64392397e+01] [ 3.85406239e-03 9.99992573e-01 -1.42190578e-05 8.43564817e-02] [ 1.46084997e-03 8.58889954e-06 9.99998933e-01 -2.49899462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:36.47, Y:0.09, Z:-0.25 [[ 9.99974944e-01 -6.92652057e-03 -1.46077087e-03 3.64700903e+01] [ 6.92650283e-03 9.99976011e-01 -1.72032380e-05 8.62961813e-02] [ 1.46085499e-03 7.08477336e-06 9.99998933e-01 -2.50516186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:0.09, Z:-0.25 [[ 9.99934713e-01 -1.13329485e-02 -1.46077087e-03 3.65002073e+01] [ 1.13329355e-02 9.99935780e-01 -1.72032380e-05 8.88236075e-02] [ 1.46087202e-03 6.47292779e-07 9.99998933e-01 -2.50954606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:0.09, Z:-0.25 [[ 9.99908356e-01 -1.34590466e-02 -1.46077107e-03 3.65311409e+01] [ 1.34590359e-02 9.99909423e-01 -1.71859947e-05 9.00668227e-02] [ 1.46087007e-03 -2.47615062e-06 9.99998933e-01 -2.49031940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:0.09, Z:-0.25 [[ 9.99848139e-01 -1.73656454e-02 -1.46077147e-03 3.65628951e+01] [ 1.73656389e-02 9.99849206e-01 -1.71525308e-05 9.21746062e-02] [ 1.46084906e-03 -8.21730384e-06 9.99998933e-01 -2.46593090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:0.09, Z:-0.25 [[ 9.99821055e-01 -1.88606701e-02 -1.46077227e-03 3.65944141e+01] [ 1.88606653e-02 9.99822122e-01 -1.70838081e-05 9.28912129e-02] [ 1.46083464e-03 -1.04703858e-05 9.99998933e-01 -2.47627582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:0.09, Z:-0.25 [[ 9.99788329e-01 -2.05222794e-02 -1.46077287e-03 3.66268227e+01] [ 2.05222764e-02 9.99789396e-01 -1.70325893e-05 9.34731831e-02] [ 1.46081477e-03 -1.29494006e-05 9.99998933e-01 -2.47529208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:0.09, Z:-0.25 [[ 9.99759709e-01 -2.18721269e-02 -1.46077366e-03 3.66581688e+01] [ 2.18721254e-02 9.99760776e-01 -1.69647852e-05 9.36678204e-02] [ 1.46079526e-03 -1.49895159e-05 9.99998933e-01 -2.49022166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:36.69, Y:0.09, Z:-0.25 [[ 9.99717259e-01 -2.37332701e-02 -1.46075285e-03 3.66904113e+01] [ 2.37332680e-02 9.99718326e-01 -1.87618834e-05 9.36432810e-02] [ 1.46078667e-03 -1.59118602e-05 9.99998933e-01 -2.51938305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:0.09, Z:-0.25 [[ 9.99635146e-01 -2.69711009e-02 -1.46076152e-03 3.67220240e+01] [ 2.69711034e-02 9.99636213e-01 -1.80120407e-05 9.31445121e-02] [ 1.46071592e-03 -2.13928811e-05 9.99998933e-01 -2.50738381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:0.09, Z:-0.25 [[ 9.99604155e-01 -2.80962534e-02 -1.46077586e-03 3.67542478e+01] [ 2.80962589e-02 9.99605222e-01 -1.67625496e-05 9.25111591e-02] [ 1.46067014e-03 -2.42864225e-05 9.99998933e-01 -2.50614819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.79, Y:0.09, Z:-0.25 [[ 9.99565019e-01 -2.94557012e-02 -1.46077665e-03 3.67869086e+01] [ 2.94557082e-02 9.99566086e-01 -1.66936840e-05 9.15671214e-02] [ 1.46063452e-03 -2.63417882e-05 9.99998933e-01 -2.52491620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175871560000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.82, Y:0.09, Z:-0.25 [[ 9.99532364e-01 -3.05437159e-02 -1.46077743e-03 3.68190289e+01] [ 3.05437242e-02 9.99533431e-01 -1.66251506e-05 8.84930398e-02] [ 1.46060367e-03 -2.80002067e-05 9.99998933e-01 -2.52286254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:0.09, Z:-0.25 [[ 9.99538119e-01 -3.03548271e-02 -1.46077820e-03 3.68497828e+01] [ 3.03548353e-02 9.99539186e-01 -1.65567962e-05 8.67377133e-02] [ 1.46060763e-03 -2.77925329e-05 9.99998933e-01 -2.53248278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:0.08, Z:-0.25 [[ 9.99549073e-01 -2.99919568e-02 -1.46077948e-03 3.68822605e+01] [ 2.99919647e-02 9.99550140e-01 -1.64434066e-05 8.49688270e-02] [ 1.46061550e-03 -2.73756548e-05 9.99998933e-01 -2.52321140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:0.08, Z:-0.25 [[ 9.99569044e-01 -2.93188046e-02 -1.46078023e-03 3.69141610e+01] [ 2.93188119e-02 9.99570111e-01 -1.63765640e-05 8.41443483e-02] [ 1.46063240e-03 -2.64588344e-05 9.99998933e-01 -2.51272149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:0.08, Z:-0.25 [[ 9.99643267e-01 -2.66684338e-02 -1.46078097e-03 3.69459586e+01] [ 2.66684385e-02 9.99644334e-01 -1.63097617e-05 8.32675005e-02] [ 1.46069638e-03 -2.26528040e-05 9.99998933e-01 -2.49389893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:36.98, Y:0.08, Z:-0.25 [[ 9.99682468e-01 -2.51560970e-02 -1.46078172e-03 3.69773155e+01] [ 2.51561001e-02 9.99683535e-01 -1.62424530e-05 8.27597476e-02] [ 1.46072803e-03 -2.05102758e-05 9.99998933e-01 -2.51521828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:0.08, Z:-0.25 [[ 9.99730859e-01 -2.31533058e-02 -1.46078296e-03 3.70089686e+01] [ 2.31533069e-02 9.99731926e-01 -1.61306349e-05 8.16319126e-02] [ 1.46076484e-03 -1.76956627e-05 9.99998933e-01 -2.49030564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:0.08, Z:-0.25 [[ 9.99773665e-01 -2.12246061e-02 -1.46078333e-03 3.70404226e+01] [ 2.12246053e-02 9.99774733e-01 -1.60967764e-05 8.02421666e-02] [ 1.46079591e-03 -1.49114165e-05 9.99998933e-01 -2.50457596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:0.08, Z:-0.25 [[ 9.99847817e-01 -1.73841819e-02 -1.46078389e-03 3.70719955e+01] [ 1.73841770e-02 9.99848884e-01 -1.60459204e-05 7.88501362e-02] [ 1.46084209e-03 -9.35104726e-06 9.99998933e-01 -2.50507894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:0.08, Z:-0.25 [[ 9.99881186e-01 -1.53453538e-02 -1.46078445e-03 3.71027691e+01] [ 1.53453468e-02 9.99882253e-01 -1.59949437e-05 7.82057679e-02] [ 1.46085789e-03 -6.42320074e-06 9.99998933e-01 -2.51711098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:0.08, Z:-0.25 [[ 9.99911056e-01 -1.32569387e-02 -1.46078501e-03 3.71334359e+01] [ 1.32569296e-02 9.99912123e-01 -1.59437841e-05 7.75546942e-02] [ 1.46086800e-03 -3.42315792e-06 9.99998933e-01 -2.51811407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:0.08, Z:-0.25 [[ 9.99964700e-01 -8.27435730e-03 -1.46078518e-03 3.71643207e+01] [ 8.27434286e-03 9.99965767e-01 -1.59273599e-05 7.74017806e-02] [ 1.46086697e-03 3.83976019e-06 9.99998933e-01 -2.49275422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:0.08, Z:-0.25 [[ 9.99982864e-01 -5.66904872e-03 -1.46078555e-03 3.71953656e+01] [ 5.66903155e-03 9.99983931e-01 -1.58935313e-05 7.76513504e-02] [ 1.46085218e-03 7.61201955e-06 9.99998933e-01 -2.48515129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:0.08, Z:-0.25 [[ 9.99993489e-01 -3.29974539e-03 -1.46078592e-03 3.72256617e+01] [ 3.29972575e-03 9.99994556e-01 -1.58597716e-05 7.75098555e-02] [ 1.46083030e-03 1.10394755e-05 9.99998933e-01 -2.48384502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:0.08, Z:-0.25 [[ 9.99998794e-01 5.27859100e-04 -1.46078592e-03 3.72548262e+01] [-5.27882831e-04 9.99999861e-01 -1.58597716e-05 7.68897422e-02] [ 1.46077734e-03 1.66308763e-05 9.99998933e-01 -2.47564586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:0.08, Z:-0.25 [[ 9.99997209e-01 1.85695107e-03 -1.46078574e-03 3.72847383e+01] [-1.85697624e-03 9.99998276e-01 -1.58766174e-05 7.66885736e-02] [ 1.46075374e-03 1.85892175e-05 9.99998933e-01 -2.46079317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:0.08, Z:-0.25 [[ 9.99995188e-01 2.73688639e-03 -1.46079822e-03 3.73131742e+01] [-2.73691084e-03 9.99996255e-01 -1.47372317e-05 7.63551142e-02] [ 1.46075242e-03 1.87352353e-05 9.99998933e-01 -2.46947530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:0.08, Z:-0.25 [[ 9.99995209e-01 2.72926485e-03 -1.46079889e-03 3.73418603e+01] [-2.72928920e-03 9.99996275e-01 -1.46760952e-05 7.61331014e-02] [ 1.46075340e-03 1.86629675e-05 9.99998933e-01 -2.46251092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715871560000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.37, Y:0.08, Z:-0.25 [[ 9.99997795e-01 1.50891375e-03 -1.46078258e-03 3.73720350e+01] [-1.50893895e-03 9.99998861e-01 -1.61514325e-05 7.51935155e-02] [ 1.46075655e-03 1.83556286e-05 9.99998933e-01 -2.50350710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:0.07, Z:-0.25 [[ 9.99997521e-01 1.68074405e-03 -1.46079545e-03 3.74012251e+01] [-1.68076773e-03 9.99998587e-01 -1.49826117e-05 7.42889607e-02] [ 1.46076821e-03 1.74378324e-05 9.99998933e-01 -2.49044901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:0.07, Z:-0.25 [[ 9.99998099e-01 1.29118259e-03 -1.46078405e-03 3.74312390e+01] [-1.29120738e-03 9.99999166e-01 -1.60219793e-05 7.24518465e-02] [ 1.46076215e-03 1.79081240e-05 9.99998933e-01 -2.51402013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:0.07, Z:-0.25 [[ 9.99998174e-01 1.23202402e-03 -1.46082917e-03 3.74613889e+01] [-1.23204275e-03 9.99999241e-01 -1.19217127e-05 7.28782199e-02] [ 1.46081337e-03 1.37214949e-05 9.99998933e-01 -2.51358679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:0.07, Z:-0.25 [[ 9.99998757e-01 5.92638528e-04 -1.46082864e-03 3.74898898e+01] [-5.92656646e-04 9.99999824e-01 -1.19696017e-05 7.17109268e-02] [ 1.46082129e-03 1.28353567e-05 9.99998933e-01 -2.49356059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:0.07, Z:-0.25 [[ 9.99998763e-01 5.83086380e-04 -1.46078201e-03 3.75191170e+01] [-5.83110637e-04 9.99999830e-01 -1.61797209e-05 7.19970420e-02] [ 1.46077233e-03 1.70314985e-05 9.99998933e-01 -2.47062151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.55, Y:0.07, Z:-0.25 [[ 9.99998761e-01 5.86698806e-04 -1.46078163e-03 3.75484526e+01] [-5.86723118e-04 9.99999828e-01 -1.62142409e-05 7.26471829e-02] [ 1.46077186e-03 1.70712952e-05 9.99998933e-01 -2.48135534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:0.07, Z:-0.25 [[ 9.99997974e-01 1.38509536e-03 -1.46078184e-03 3.75778506e+01] [-1.38512050e-03 9.99999041e-01 -1.61954025e-05 7.22201371e-02] [ 1.46075800e-03 1.82187285e-05 9.99998933e-01 -2.47574112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:0.07, Z:-0.25 [[ 9.99996417e-01 2.24342075e-03 -1.46078165e-03 3.76079465e+01] [-2.24344683e-03 9.99997483e-01 -1.62123667e-05 6.99812317e-02] [ 1.46074160e-03 1.94894945e-05 9.99998933e-01 -2.45471205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.64, Y:0.07, Z:-0.25 [[ 9.99995458e-01 2.63625933e-03 -1.46082581e-03 3.76366390e+01] [-2.63628001e-03 9.99996525e-01 -1.22343678e-05 7.05744894e-02] [ 1.46078848e-03 1.60854581e-05 9.99998933e-01 -2.47527652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:0.07, Z:-0.24 [[ 9.99991015e-01 3.97956324e-03 -1.46078065e-03 3.76667129e+01] [-3.97959127e-03 9.99992081e-01 -1.62849268e-05 7.02784940e-02] [ 1.46070428e-03 2.20980904e-05 9.99998933e-01 -2.43036821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:0.07, Z:-0.24 [[ 9.99985689e-01 5.14654900e-03 -1.46078027e-03 3.76949466e+01] [-5.14657833e-03 9.99986756e-01 -1.63196227e-05 7.09317813e-02] [ 1.46067693e-03 2.38374092e-05 9.99998933e-01 -2.44027581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:0.07, Z:-0.25 [[ 9.99984615e-01 5.35119120e-03 -1.46077969e-03 3.77239182e+01] [-5.35122083e-03 9.99985682e-01 -1.63714055e-05 7.17817672e-02] [ 1.46067116e-03 2.41881084e-05 9.99998933e-01 -2.45016226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:0.07, Z:-0.25 [[ 9.99986135e-01 5.05917068e-03 -1.46077930e-03 3.77559585e+01] [-5.05920004e-03 9.99987202e-01 -1.64058717e-05 7.17169006e-02] [ 1.46067760e-03 2.37960189e-05 9.99998933e-01 -2.46705854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:0.07, Z:-0.25 [[ 9.99987296e-01 4.82427813e-03 -1.46088099e-03 3.77838843e+01] [-4.82429389e-03 9.99988363e-01 -7.26799837e-06 7.21937653e-02] [ 1.46082892e-03 1.43156253e-05 9.99998933e-01 -2.46347463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:0.07, Z:-0.25 [[ 9.99992364e-01 3.62460726e-03 -1.46077837e-03 3.78153792e+01] [-3.62463509e-03 9.99993431e-01 -1.64053098e-05 7.06872296e-02] [ 1.46070931e-03 2.16999731e-05 9.99998933e-01 -2.47587170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:0.07, Z:-0.25 [[ 9.99994920e-01 2.83309086e-03 -1.46088062e-03 3.78437440e+01] [-2.83310429e-03 9.99995987e-01 -7.12397587e-06 7.03046790e-02] [ 1.46085457e-03 1.12627668e-05 9.99998933e-01 -2.46008990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:0.07, Z:-0.24 [[ 9.99998903e-01 2.46012926e-04 -1.46077946e-03 3.78735397e+01] [-2.46036896e-04 9.99999970e-01 -1.62288857e-05 6.92574882e-02] [ 1.46077543e-03 1.65882735e-05 9.99998933e-01 -2.43915584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:0.07, Z:-0.24 [[ 9.99998287e-01 -1.13661869e-03 -1.46077909e-03 3.79030894e+01] [ 1.13659615e-03 9.99999354e-01 -1.62623868e-05 6.90205180e-02] [ 1.46079663e-03 1.46020430e-05 9.99998933e-01 -2.42777287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:0.07, Z:-0.24 [[ 9.99996359e-01 -2.26912713e-03 -1.46077872e-03 3.79329397e+01] [ 2.26910575e-03 9.99997425e-01 -1.62960078e-05 6.90423212e-02] [ 1.46081193e-03 1.29812871e-05 9.99998933e-01 -2.41441962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:0.07, Z:-0.24 [[ 9.99988698e-01 -4.52445267e-03 -1.46077890e-03 3.79637366e+01] [ 4.52443371e-03 9.99989765e-01 -1.62797259e-05 6.76547938e-02] [ 1.46083760e-03 9.67034465e-06 9.99998933e-01 -2.41530174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:0.07, Z:-0.24 [[ 9.99987615e-01 -4.75772585e-03 -1.46083485e-03 3.79926290e+01] [ 4.75771452e-03 9.99988682e-01 -1.12321441e-05 6.62734260e-02] [ 1.46087176e-03 4.28176984e-06 9.99998933e-01 -2.40014253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:0.07, Z:-0.24 [[ 9.99984187e-01 -5.43061741e-03 -1.46077860e-03 3.80234180e+01] [ 5.43059942e-03 9.99985254e-01 -1.62797621e-05 6.50886340e-02] [ 1.46084547e-03 8.34660123e-06 9.99998933e-01 -2.40456198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.05, Y:0.06, Z:-0.24 [[ 9.99978603e-01 -6.37653042e-03 -1.46077860e-03 3.80543304e+01] [ 6.37651344e-03 9.99979670e-01 -1.62797621e-05 6.23731548e-02] [ 1.46085271e-03 6.96473937e-06 9.99998933e-01 -2.42115889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:0.06, Z:-0.24 [[ 9.99975453e-01 -6.85269230e-03 -1.46077860e-03 3.80846590e+01] [ 6.85267583e-03 9.99976520e-01 -1.62797621e-05 6.12001355e-02] [ 1.46085586e-03 6.26912027e-06 9.99998933e-01 -2.43900329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:0.06, Z:-0.24 [[ 9.99968545e-01 -7.79588550e-03 -1.46077922e-03 3.81172796e+01] [ 7.79587011e-03 9.99969612e-01 -1.62233237e-05 5.95076915e-02] [ 1.46086131e-03 4.83476831e-06 9.99998933e-01 -2.44031192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495871560000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.14, Y:0.06, Z:-0.25 [[ 9.99969463e-01 -7.67719435e-03 -1.46090846e-03 3.81439201e+01] [ 7.67719602e-03 9.99970530e-01 -4.46044663e-06 6.06272919e-02] [ 1.46089965e-03 -6.75537018e-06 9.99998933e-01 -2.48283625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:0.06, Z:-0.25 [[ 9.99979313e-01 -6.26411025e-03 -1.46077400e-03 3.81745470e+01] [ 6.26409295e-03 9.99980380e-01 -1.64209867e-05 5.94470948e-02] [ 1.46084821e-03 7.27022284e-06 9.99998933e-01 -2.48432750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:38.21, Y:0.06, Z:-0.25 [[ 9.99981968e-01 -5.82499373e-03 -1.46077463e-03 3.82054664e+01] [ 5.82497604e-03 9.99983035e-01 -1.63655366e-05 5.94888628e-02] [ 1.46084517e-03 7.85626429e-06 9.99998933e-01 -2.49724428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:0.06, Z:-0.25 [[ 9.99989073e-01 -4.44065975e-03 -1.46077463e-03 3.82356536e+01] [ 4.44064058e-03 9.99990140e-01 -1.63655366e-05 5.81960839e-02] [ 1.46083290e-03 9.87858269e-06 9.99998933e-01 -2.46484558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:38.27, Y:0.06, Z:-0.25 [[ 9.99990418e-01 -4.12674461e-03 -1.46077463e-03 3.82682777e+01] [ 4.12672510e-03 9.99991485e-01 -1.63655366e-05 5.70253879e-02] [ 1.46082972e-03 1.03371645e-05 9.99998933e-01 -2.48113626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:0.06, Z:-0.25 [[ 9.99998505e-01 -9.25161443e-04 -1.46090419e-03 3.82971619e+01] [ 9.25155646e-04 9.99999572e-01 -4.64395687e-06 5.74187402e-02] [ 1.46090786e-03 3.29238617e-06 9.99998933e-01 -2.47430505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:0.06, Z:-0.25 [[ 9.99998388e-01 1.04420909e-03 -1.46085877e-03 3.83250933e+01] [-1.04422309e-03 9.99999455e-01 -8.82458789e-06 5.82172673e-02] [ 1.46084876e-03 1.03500361e-05 9.99998933e-01 -2.48336435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705871560000006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:38.36, Y:0.06, Z:-0.25 [[ 9.99994239e-01 3.06406863e-03 -1.46077915e-03 3.83550747e+01] [-3.06409536e-03 9.99995306e-01 -1.60645562e-05 5.96319763e-02] [ 1.46072307e-03 2.05404302e-05 9.99998933e-01 -2.49152652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:0.06, Z:-0.25 [[ 9.99988052e-01 4.66506243e-03 -1.46077878e-03 3.83851585e+01] [-4.66509093e-03 9.99989118e-01 -1.60980077e-05 5.97224019e-02] [ 1.46068779e-03 2.29124811e-05 9.99998933e-01 -2.47250430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:0.06, Z:-0.25 [[ 9.99988688e-01 4.52652488e-03 -1.46077841e-03 3.84157858e+01] [-4.52655327e-03 9.99989755e-01 -1.61314523e-05 6.16844396e-02] [ 1.46069043e-03 2.27435611e-05 9.99998933e-01 -2.49819928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:0.06, Z:-0.25 [[ 9.99980249e-01 6.11287629e-03 -1.46083673e-03 3.84448054e+01] [-6.11289861e-03 9.99981316e-01 -1.08162022e-05 6.22003213e-02] [ 1.46074332e-03 1.97459354e-05 9.99998933e-01 -2.47791318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:0.06, Z:-0.25 [[ 9.99955689e-01 9.29975775e-03 -1.46085006e-03 3.84730757e+01] [-9.29978167e-03 9.99956756e-01 -9.57810881e-06 6.44362760e-02] [ 1.46069782e-03 2.31632710e-05 9.99998933e-01 -2.47368871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:0.07, Z:-0.25 [[ 9.99949668e-01 9.92606159e-03 -1.46078310e-03 3.85012800e+01] [-9.92609523e-03 9.99950735e-01 -1.57781851e-05 6.71311502e-02] [ 1.46055452e-03 3.02772631e-05 9.99998933e-01 -2.48986334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:0.07, Z:-0.25 [[ 9.99946959e-01 1.01953231e-02 -1.46078217e-03 3.85295211e+01] [-1.01953572e-02 9.99948026e-01 -1.58638731e-05 6.97087936e-02] [ 1.46054451e-03 3.07562276e-05 9.99998933e-01 -2.49446810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:0.08, Z:-0.24 [[ 9.99968742e-01 7.77049325e-03 -1.46078128e-03 3.85594247e+01] [-7.77052483e-03 9.99969809e-01 -1.59453694e-05 7.54434785e-02] [ 1.46061327e-03 2.72959082e-05 9.99998933e-01 -2.42306059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:0.07, Z:-0.25 [[ 9.99965016e-01 8.23608270e-03 -1.46080662e-03 3.85887784e+01] [-8.23611136e-03 9.99966083e-01 -1.36087908e-05 7.38039831e-02] [ 1.46064499e-03 2.56396808e-05 9.99998933e-01 -2.45097814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:0.07, Z:-0.24 [[ 9.99978161e-01 6.44546879e-03 -1.46078201e-03 3.86179406e+01] [-6.44549885e-03 9.99979227e-01 -1.58736599e-05 7.47669303e-02] [ 1.46064935e-03 2.52887820e-05 9.99998933e-01 -2.42201970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:0.08, Z:-0.24 [[ 9.99998050e-01 1.32877540e-03 -1.46078162e-03 3.86464220e+01] [-1.32880005e-03 9.99999117e-01 -1.59092398e-05 7.65697848e-02] [ 1.46075919e-03 1.78502955e-05 9.99998933e-01 -2.41647879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:0.08, Z:-0.24 [[ 9.99997065e-01 -1.93311203e-03 -1.46078104e-03 3.86763923e+01] [ 1.93309078e-03 9.99998131e-01 -1.59621846e-05 7.73457066e-02] [ 1.46080917e-03 1.31383154e-05 9.99998933e-01 -2.41334636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:0.08, Z:-0.24 [[ 9.99983279e-01 -5.59529841e-03 -1.46078066e-03 3.87055362e+01] [ 5.59528101e-03 9.99984346e-01 -1.59970093e-05 7.73125619e-02] [ 1.46084730e-03 7.82326348e-06 9.99998933e-01 -2.41172158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:0.08, Z:-0.24 [[ 9.99898896e-01 -1.41443894e-02 -1.46078084e-03 3.87366277e+01] [ 1.41443811e-02 9.99899963e-01 -1.59807768e-05 7.66376345e-02] [ 1.46086075e-03 -4.68267987e-06 9.99998933e-01 -2.40953805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:0.08, Z:-0.24 [[ 9.99841065e-01 -1.77682353e-02 -1.46081532e-03 3.87668000e+01] [ 1.77682355e-02 9.99842132e-01 -1.28195364e-05 7.54970166e-02] [ 1.46081249e-03 -1.31386119e-05 9.99998933e-01 -2.40573498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:38.80, Y:0.07, Z:-0.24 [[ 9.99762623e-01 -2.17385360e-02 -1.46078077e-03 3.87991937e+01] [ 2.17385358e-02 9.99763690e-01 -1.59788927e-05 7.40086878e-02] [ 1.46078293e-03 -1.57801353e-05 9.99998933e-01 -2.43399763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:0.07, Z:-0.24 [[ 9.99683621e-01 -2.51102309e-02 -1.46078151e-03 3.88299325e+01] [ 2.51102344e-02 9.99684688e-01 -1.59103780e-05 7.13827514e-02] [ 1.46072042e-03 -2.07752219e-05 9.99998933e-01 -2.41354187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:0.07, Z:-0.24 [[ 9.99525175e-01 -3.07781000e-02 -1.46078207e-03 3.88613562e+01] [ 3.07781097e-02 9.99526242e-01 -1.58593412e-05 6.67880041e-02] [ 1.46057813e-03 -2.91082999e-05 9.99998933e-01 -2.42418469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:0.07, Z:-0.24 [[ 9.99459842e-01 -3.28312348e-02 -1.46078243e-03 3.88926454e+01] [ 3.28312467e-02 9.99460909e-01 -1.58258455e-05 6.52882400e-02] [ 1.46051452e-03 -3.21420112e-05 9.99998933e-01 -2.42471552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:0.07, Z:-0.24 [[ 9.99375979e-01 -3.52919187e-02 -1.46078280e-03 3.89189540e+01] [ 3.52919333e-02 9.99377046e-01 -1.57916940e-05 6.69863170e-02] [ 1.46043012e-03 -3.57720094e-05 9.99998933e-01 -2.44475596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.95, Y:0.06, Z:-0.24 [[ 9.99375836e-01 -3.52959705e-02 -1.46060970e-03 3.89532250e+01] [ 3.52959623e-02 9.99376903e-01 -3.13624505e-05 6.12842497e-02] [ 1.46080657e-03 -2.02107499e-05 9.99998933e-01 -2.43621835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:0.05, Z:-0.24 [[ 9.99397924e-01 -3.46649046e-02 -1.46077803e-03 3.89841866e+01] [ 3.46649185e-02 9.99398991e-01 -1.57945076e-05 5.45177638e-02] [ 1.46044760e-03 -3.48527533e-05 9.99998933e-01 -2.43023311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:0.05, Z:-0.24 [[ 9.99453191e-01 -3.30330910e-02 -1.46077839e-03 3.90159161e+01] [ 3.30331032e-02 9.99454258e-01 -1.57610414e-05 5.19018813e-02] [ 1.46050182e-03 -3.25016203e-05 9.99998933e-01 -2.42448679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.05, Y:0.05, Z:-0.24 [[ 9.99524742e-01 -3.07921332e-02 -1.46077876e-03 3.90458678e+01] [ 3.07921431e-02 9.99525809e-01 -1.57270626e-05 5.00560198e-02] [ 1.46057034e-03 -2.92609202e-05 9.99998933e-01 -2.43976819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:0.05, Z:-0.24 [[ 9.99690216e-01 -2.48463060e-02 -1.46077936e-03 3.90773108e+01] [ 2.48463096e-02 9.99691283e-01 -1.56710494e-05 4.59128408e-02] [ 1.46071776e-03 -2.06287815e-05 9.99998933e-01 -2.41034581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:0.04, Z:-0.24 [[ 9.99772281e-01 -2.12897109e-02 -1.46077972e-03 3.91083241e+01] [ 2.12897108e-02 9.99773348e-01 -1.56373174e-05 4.46170810e-02] [ 1.46078154e-03 -1.54658212e-05 9.99998933e-01 -2.40965651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:0.04, Z:-0.24 [[ 9.99842834e-01 -1.76684041e-02 -1.46078008e-03 3.91396949e+01] [ 1.76684002e-02 9.99843902e-01 -1.56036266e-05 4.34634128e-02] [ 1.46082774e-03 -1.02084727e-05 9.99998933e-01 -2.41130368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:0.04, Z:-0.24 [[ 9.99933826e-01 -1.14109642e-02 -1.46078044e-03 3.91699026e+01] [ 1.14109537e-02 9.99934893e-01 -1.55700337e-05 3.97747195e-02] [ 1.46086300e-03 -1.09989453e-06 9.99998933e-01 -2.41883177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:0.04, Z:-0.24 [[ 9.99964708e-01 -8.27343650e-03 -1.46077949e-03 3.92002547e+01] [ 8.27342245e-03 9.99965775e-01 -1.56580901e-05 3.76919760e-02] [ 1.46085904e-03 3.57189164e-06 9.99998933e-01 -2.44215728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:0.04, Z:-0.24 [[ 9.99986313e-01 -5.02400304e-03 -1.46077968e-03 3.92303443e+01] [ 5.02398555e-03 9.99987380e-01 -1.56404552e-05 3.61914212e-02] [ 1.46083982e-03 8.30130511e-06 9.99998933e-01 -2.43663372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:0.04, Z:-0.24 [[ 9.99997319e-01 -1.79695212e-03 -1.46077968e-03 3.92594926e+01] [ 1.79693119e-03 9.99998385e-01 -1.56404552e-05 3.53523206e-02] [ 1.46080543e-03 1.30154927e-05 9.99998933e-01 -2.42630589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:0.04, Z:-0.24 [[ 9.99988984e-01 4.46064538e-03 -1.46077950e-03 3.92880706e+01] [-4.46067301e-03 9.99990051e-01 -1.56571684e-05 3.53752168e-02] [ 1.46069513e-03 2.21730556e-05 9.99998933e-01 -2.43631111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:0.03, Z:-0.24 [[ 9.99967133e-01 7.97494737e-03 -1.46068745e-03 3.93164345e+01] [-7.97499157e-03 9.99968199e-01 -2.44341789e-05 3.35124941e-02] [ 1.46044613e-03 3.60823459e-05 9.99998933e-01 -2.43197096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:39.35, Y:0.03, Z:-0.25 [[ 9.99941114e-01 1.07533287e-02 -1.46066241e-03 3.93480295e+01] [-1.07533793e-02 9.99942180e-01 -2.67979715e-05 3.13200707e-02] [ 1.46028978e-03 4.25034504e-05 9.99998933e-01 -2.47053576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:0.03, Z:-0.25 [[ 9.99866815e-01 1.62548243e-02 -1.46078309e-03 3.93755616e+01] [-1.62548638e-02 9.99867881e-01 -1.51984082e-05 3.05262865e-02] [ 1.46034305e-03 3.89412142e-05 9.99998933e-01 -2.46254263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.03, Z:-0.25 [[ 9.99867535e-01 1.62104509e-02 -1.46078222e-03 3.94048819e+01] [-1.62104905e-02 9.99868601e-01 -1.52818524e-05 3.09275781e-02] [ 1.46034255e-03 3.89598244e-05 9.99998933e-01 -2.46211417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.43, Y:0.03, Z:-0.24 [[ 9.99829022e-01 1.84334486e-02 -1.46078154e-03 3.94319857e+01] [-1.84334906e-02 9.99830089e-01 -1.53466807e-05 3.34274067e-02] [ 1.46025044e-03 4.22713596e-05 9.99998933e-01 -2.44669339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:0.03, Z:-0.25 [[ 9.99803551e-01 1.97668021e-02 -1.46064196e-03 3.94645467e+01] [-1.97668647e-02 9.99804616e-01 -2.84558370e-05 3.27947883e-02] [ 1.45979409e-03 5.73225589e-05 9.99998933e-01 -2.46383567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.49, Y:0.03, Z:-0.25 [[ 9.99771746e-01 2.13148165e-02 -1.46077995e-03 3.94931057e+01] [-2.13148614e-02 9.99772812e-01 -1.51522469e-05 3.49997721e-02] [ 1.46012512e-03 4.62851106e-05 9.99998933e-01 -2.49350432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:0.04, Z:-0.25 [[ 9.99771860e-01 2.13094603e-02 -1.46077928e-03 3.95216873e+01] [-2.13095053e-02 9.99772927e-01 -1.52172575e-05 3.59635977e-02] [ 1.46012330e-03 4.63422695e-05 9.99998933e-01 -2.50540428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:39.55, Y:0.04, Z:-0.25 [[ 9.99765938e-01 2.15855573e-02 -1.46077877e-03 3.95493705e+01] [-2.15856026e-02 9.99767004e-01 -1.52657409e-05 3.76240550e-02] [ 1.46010889e-03 4.67939578e-05 9.99998933e-01 -2.51972818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:0.04, Z:-0.25 [[ 9.99780517e-01 2.08993713e-02 -1.46070035e-03 3.95803421e+01] [-2.08994267e-02 9.99781583e-01 -2.26885283e-05 3.80209560e-02] [ 1.45990713e-03 5.32113485e-05 9.99998933e-01 -2.46257314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:0.04, Z:-0.25 [[ 9.99774793e-01 2.11714072e-02 -1.46077847e-03 3.96061372e+01] [-2.11714519e-02 9.99775860e-01 -1.51614644e-05 4.06371893e-02] [ 1.46013006e-03 4.60848511e-05 9.99998933e-01 -2.46149426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:0.04, Z:-0.24 [[ 9.99806604e-01 1.96117461e-02 -1.46062470e-03 3.96388574e+01] [-1.96118104e-02 9.99807670e-01 -2.96556592e-05 4.27473156e-02] [ 1.45976218e-03 5.82954186e-05 9.99998933e-01 -2.41851969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:0.05, Z:-0.24 [[ 9.99820801e-01 1.88740865e-02 -1.46077519e-03 3.96662789e+01] [-1.88741285e-02 9.99821868e-01 -1.50183757e-05 4.52904167e-02] [ 1.46023152e-03 4.25865431e-05 9.99998933e-01 -2.43366629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:0.05, Z:-0.24 [[ 9.99855024e-01 1.69645745e-02 -1.46070791e-03 3.96969580e+01] [-1.69646240e-02 9.99856090e-01 -2.14595540e-05 4.68451483e-02] [ 1.46013364e-03 4.62368032e-05 9.99998933e-01 -2.42296012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:0.05, Z:-0.25 [[ 9.99884707e-01 1.51141746e-02 -1.46077369e-03 3.97244945e+01] [-1.51142128e-02 9.99885774e-01 -1.50928680e-05 4.87910161e-02] [ 1.46037871e-03 3.71695723e-05 9.99998933e-01 -2.46329420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.05, Z:-0.25 [[ 9.99916460e-01 1.28428689e-02 -1.46077280e-03 3.97528698e+01] [-1.28429048e-02 9.99917526e-01 -1.51787569e-05 5.09125659e-02] [ 1.46045738e-03 3.39380548e-05 9.99998933e-01 -2.45296336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.05, Z:-0.25 [[ 9.99971430e-01 7.41660465e-03 -1.46077208e-03 3.97818804e+01] [-7.41663484e-03 9.99972496e-01 -1.52472230e-05 5.45809538e-02] [ 1.46061882e-03 2.60808005e-05 9.99998933e-01 -2.48109666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:0.06, Z:-0.25 [[ 9.99989192e-01 4.41388944e-03 -1.46077154e-03 3.98101915e+01] [-4.41391650e-03 9.99990259e-01 -1.52985106e-05 5.64007758e-02] [ 1.46068979e-03 2.17460689e-05 9.99998933e-01 -2.50478390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.84, Y:0.06, Z:-0.25 [[ 9.99998584e-01 8.35287012e-04 -1.46074083e-03 3.98394380e+01] [-8.35314483e-04 9.99999651e-01 -1.81960849e-05 5.72778465e-02] [ 1.46072512e-03 1.94162371e-05 9.99998933e-01 -2.50869755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:0.06, Z:-0.25 [[ 9.99981706e-01 -5.86979355e-03 -1.46076964e-03 3.98689244e+01] [ 5.86977721e-03 9.99982773e-01 -1.54764213e-05 5.83548704e-02] [ 1.46083532e-03 6.90174579e-06 9.99998933e-01 -2.49188731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:0.06, Z:-0.25 [[ 9.99969998e-01 -7.60714344e-03 -1.46076927e-03 3.98980115e+01] [ 7.60712889e-03 9.99971065e-01 -1.55116629e-05 5.86008208e-02] [ 1.46084500e-03 4.39893737e-06 9.99998933e-01 -2.52933785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.93, Y:0.06, Z:-0.25 [[ 9.99942563e-01 -1.06177804e-02 -1.46071769e-03 3.99292873e+01] [ 1.06177620e-02 9.99943630e-01 -2.03233154e-05 5.88108096e-02] [ 1.46085113e-03 4.81259537e-06 9.99998933e-01 -2.48429518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:0.06, Z:-0.25 [[ 9.99910167e-01 -1.33238181e-02 -1.46076864e-03 3.99566977e+01] [ 1.33238096e-02 9.99911234e-01 -1.55301034e-05 5.96241309e-02] [ 1.46084590e-03 -3.93429504e-06 9.99998933e-01 -2.50637959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:0.06, Z:-0.25 [[ 9.99870311e-01 -1.60382934e-02 -1.46066563e-03 3.99884024e+01] [ 1.60382733e-02 9.99871378e-01 -2.54814466e-05 6.06278769e-02] [ 1.46088644e-03 2.05158740e-06 9.99998933e-01 -2.46217479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385871560000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:40.02, Y:0.06, Z:-0.25 [[ 9.99849739e-01 -1.72732463e-02 -1.46073949e-03 4.00198291e+01] [ 1.72732381e-02 9.99850806e-01 -1.82319260e-05 6.16142001e-02] [ 1.46083648e-03 -7.00251456e-06 9.99998933e-01 -2.49353581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:0.06, Z:-0.24 [[ 9.99816470e-01 -1.91021853e-02 -1.46075105e-03 4.00511611e+01] [ 1.91021807e-02 9.99817537e-01 -1.70991545e-05 6.23479284e-02] [ 1.46081114e-03 -1.08075141e-05 9.99998933e-01 -2.44352242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:0.06, Z:-0.25 [[ 9.99817105e-01 -1.90688955e-02 -1.46077359e-03 4.00800934e+01] [ 1.90688941e-02 9.99818172e-01 -1.48867353e-05 6.19031481e-02] [ 1.46079186e-03 -1.29713243e-05 9.99998933e-01 -2.45598184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:0.06, Z:-0.25 [[ 9.99814657e-01 -1.91968196e-02 -1.46072987e-03 4.01113704e+01] [ 1.91968120e-02 9.99815724e-01 -1.92228058e-05 6.16244102e-02] [ 1.46082971e-03 -8.82211381e-06 9.99998933e-01 -2.45964878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.14, Y:0.06, Z:-0.25 [[ 9.99832507e-01 -1.82434488e-02 -1.46076110e-03 4.01416636e+01] [ 1.82434447e-02 9.99833574e-01 -1.61302464e-05 6.11891070e-02] [ 1.46081226e-03 -1.05217696e-05 9.99998933e-01 -2.48845542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535871560000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:40.17, Y:0.06, Z:-0.25 [[ 9.99882429e-01 -1.52641790e-02 -1.46077586e-03 4.01724999e+01] [ 1.52641739e-02 9.99883496e-01 -1.46591988e-05 6.17790258e-02] [ 1.46082943e-03 -7.64006152e-06 9.99998933e-01 -2.47633521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565871560000005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:40.20, Y:0.06, Z:-0.25 [[ 9.99919309e-01 -1.26190888e-02 -1.46077586e-03 4.02031066e+01] [ 1.26190808e-02 9.99920376e-01 -1.46591988e-05 6.31275779e-02] [ 1.46084453e-03 -3.77563274e-06 9.99998933e-01 -2.46746795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:0.07, Z:-0.24 [[ 9.99951989e-01 -9.68943653e-03 -1.46077586e-03 4.02339384e+01] [ 9.68942546e-03 9.99953056e-01 -1.46591988e-05 6.50840217e-02] [ 1.46084933e-03 5.04416139e-07 9.99998933e-01 -2.44753210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:0.07, Z:-0.24 [[ 9.99986254e-01 -5.03562920e-03 -1.46077586e-03 4.02602055e+01] [ 5.03561315e-03 9.99987321e-01 -1.46591988e-05 6.72496139e-02] [ 1.46083116e-03 7.30309511e-06 9.99998933e-01 -2.44859934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:0.07, Z:-0.25 [[ 9.99995685e-01 2.54871855e-03 -1.46061964e-03 4.02933105e+01] [-2.54876473e-03 9.99996751e-01 -2.97581435e-05 6.98668318e-02] [ 1.46053905e-03 3.34807909e-05 9.99998933e-01 -2.46099770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.32, Y:0.07, Z:-0.25 [[ 9.99973632e-01 7.11351889e-03 -1.46077118e-03 4.03229660e+01] [-7.11354802e-03 9.99974698e-01 -1.47508251e-05 7.23146682e-02] [ 1.46062929e-03 2.51417021e-05 9.99998933e-01 -2.47562682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:0.07, Z:-0.25 [[ 9.99940742e-01 1.07878577e-02 -1.46077083e-03 4.03516924e+01] [-1.07878908e-02 9.99941809e-01 -1.47856714e-05 7.47981964e-02] [ 1.46052632e-03 3.05434314e-05 9.99998933e-01 -2.46590770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:0.08, Z:-0.25 [[ 9.99857385e-01 1.68248553e-02 -1.46077011e-03 4.03809133e+01] [-1.68248949e-02 9.99858451e-01 -1.48556210e-05 7.97622270e-02] [ 1.46031340e-03 3.94308060e-05 9.99998933e-01 -2.47640467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:0.08, Z:-0.25 [[ 9.99818352e-01 1.90033830e-02 -1.46076865e-03 4.04091270e+01] [-1.90034251e-02 9.99819418e-01 -1.49983257e-05 8.29556144e-02] [ 1.46021984e-03 4.27552089e-05 9.99998933e-01 -2.49176049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:0.09, Z:-0.25 [[ 9.99786898e-01 2.05918507e-02 -1.46076773e-03 4.04373255e+01] [-2.05918948e-02 9.99787964e-01 -1.50873647e-05 8.55851578e-02] [ 1.46014732e-03 4.51641249e-05 9.99998933e-01 -2.49430725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:0.09, Z:-0.25 [[ 9.99783467e-01 2.07577629e-02 -1.46075994e-03 4.04663340e+01] [-2.07578082e-02 9.99784533e-01 -1.58413248e-05 8.77794121e-02] [ 1.46011637e-03 4.61600694e-05 9.99998933e-01 -2.51365749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:0.09, Z:-0.25 [[ 9.99816590e-01 1.90958720e-02 -1.46076851e-03 4.04948576e+01] [-1.90959143e-02 9.99817656e-01 -1.50069158e-05 9.14987032e-02] [ 1.46021558e-03 4.28988738e-05 9.99998933e-01 -2.48654278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:0.09, Z:-0.25 [[ 9.99841099e-01 1.77663494e-02 -1.46076778e-03 4.05228190e+01] [-1.77663903e-02 9.99842165e-01 -1.50782507e-05 9.40606318e-02] [ 1.46026933e-03 4.10284253e-05 9.99998933e-01 -2.51382501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:0.10, Z:-0.25 [[ 9.99888108e-01 1.48874987e-02 -1.46076679e-03 4.05513079e+01] [-1.48875367e-02 9.99889174e-01 -1.51737025e-05 9.90028620e-02] [ 1.46037900e-03 3.69192238e-05 9.99998933e-01 -2.50113417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:0.10, Z:-0.25 [[ 9.99907525e-01 1.35206275e-02 -1.46076608e-03 4.05789353e+01] [-1.35206642e-02 9.99908592e-01 -1.52410782e-05 1.01979013e-01] [ 1.46042649e-03 3.49901964e-05 9.99998933e-01 -2.50557796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.61, Y:0.10, Z:-0.25 [[ 9.99920886e-01 1.24934795e-02 -1.46076511e-03 4.06078583e+01] [-1.24935152e-02 9.99921953e-01 -1.53341973e-05 1.04649803e-01] [ 1.46045952e-03 3.35830752e-05 9.99998933e-01 -2.49485266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:0.11, Z:-0.25 [[ 9.99960146e-01 8.80751823e-03 -1.46076437e-03 4.06378581e+01] [-8.80755012e-03 9.99961213e-01 -1.54038282e-05 1.09378665e-01] [ 1.46057204e-03 2.82689697e-05 9.99998933e-01 -2.47461504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.67, Y:0.11, Z:-0.25 [[ 9.99975587e-01 6.83312839e-03 -1.46076401e-03 4.06667328e+01] [-6.83315824e-03 9.99976654e-01 -1.54384946e-05 1.11534449e-01] [ 1.46062441e-03 2.54197493e-05 9.99998933e-01 -2.47676748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:0.11, Z:-0.25 [[ 9.99990758e-01 4.04348640e-03 -1.46076346e-03 4.06966384e+01] [-4.04351335e-03 9.99991825e-01 -1.54900728e-05 1.14209444e-01] [ 1.46068888e-03 2.13965462e-05 9.99998933e-01 -2.46536412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:0.12, Z:-0.25 [[ 9.99996843e-01 -2.04448874e-03 -1.46076309e-03 4.07261919e+01] [ 2.04446824e-03 9.99997910e-01 -1.55245732e-05 1.19311111e-01] [ 1.46079178e-03 1.25380404e-05 9.99998933e-01 -2.47738621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:0.12, Z:-0.25 [[ 9.99984124e-01 -5.44226553e-03 -1.46078062e-03 4.07555037e+01] [ 5.44225107e-03 9.99985191e-01 -1.38742970e-05 1.21121908e-01] [ 1.46083449e-03 5.92414186e-06 9.99998933e-01 -2.46592257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:0.12, Z:-0.25 [[ 9.99960210e-01 -8.80028804e-03 -1.46076242e-03 4.07858749e+01] [ 8.80027467e-03 9.99961277e-01 -1.55804199e-05 1.22823734e-01] [ 1.46084297e-03 2.72468948e-06 9.99998933e-01 -2.45904376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:0.12, Z:-0.25 [[ 9.99925071e-01 -1.21539601e-02 -1.46076242e-03 4.08163676e+01] [ 1.21539503e-02 9.99926138e-01 -1.55804199e-05 1.24327176e-01] [ 1.46084389e-03 -2.17478136e-06 9.99998933e-01 -2.46009295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:0.12, Z:-0.25 [[ 9.99847784e-01 -1.73860304e-02 -1.46076260e-03 4.08477262e+01] [ 1.73860262e-02 9.99848852e-01 -1.55635318e-05 1.24902146e-01] [ 1.46081240e-03 -9.83569410e-06 9.99998933e-01 -2.46887466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.88, Y:0.13, Z:-0.25 [[ 9.99814433e-01 -1.92084741e-02 -1.46076297e-03 4.08791926e+01] [ 1.92084719e-02 9.99815500e-01 -1.55290515e-05 1.25515510e-01] [ 1.46079174e-03 -1.25328547e-05 9.99998933e-01 -2.48000924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285871560000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:40.91, Y:0.13, Z:-0.25 [[ 9.99790238e-01 -2.04290583e-02 -1.46076351e-03 4.09114982e+01] [ 2.04290575e-02 9.99791305e-01 -1.54774645e-05 1.27387151e-01] [ 1.46077485e-03 -1.43678039e-05 9.99998933e-01 -2.46119188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:0.13, Z:-0.25 [[ 9.99766109e-01 -2.15775975e-02 -1.46076424e-03 4.09415326e+01] [ 2.15775980e-02 9.99767176e-01 -1.54085134e-05 1.29696780e-01] [ 1.46075662e-03 -1.61148740e-05 9.99998933e-01 -2.45523481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:0.13, Z:-0.25 [[ 9.99725759e-01 -2.33724928e-02 -1.46076442e-03 4.09739816e+01] [ 2.33724952e-02 9.99726826e-01 -1.53913985e-05 1.30321202e-01] [ 1.46072511e-03 -1.87545320e-05 9.99998933e-01 -2.45544716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.13, Z:-0.24 [[ 9.99720141e-01 -2.36115419e-02 -1.46079176e-03 4.10044161e+01] [ 2.36115484e-02 9.99721208e-01 -1.27927588e-05 1.30818475e-01] [ 1.46068656e-03 -2.17023768e-05 9.99998933e-01 -2.43547765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:0.13, Z:-0.25 [[ 9.99715341e-01 -2.38139386e-02 -1.46076353e-03 4.10351892e+01] [ 2.38139414e-02 9.99716408e-01 -1.54605287e-05 1.32149937e-01] [ 1.46071744e-03 -1.93304093e-05 9.99998933e-01 -2.45387664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:0.13, Z:-0.24 [[ 9.99709231e-01 -2.40690713e-02 -1.46076470e-03 4.10668629e+01] [ 2.40690746e-02 9.99710298e-01 -1.53492226e-05 1.34377028e-01] [ 1.46071095e-03 -1.98144949e-05 9.99998933e-01 -2.43843240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:0.13, Z:-0.24 [[ 9.99721259e-01 -2.35641950e-02 -1.46076506e-03 4.10986032e+01] [ 2.35641977e-02 9.99722326e-01 -1.53148852e-05 1.34558596e-01] [ 1.46072032e-03 -1.91111403e-05 9.99998933e-01 -2.44400650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:0.14, Z:-0.24 [[ 9.99731214e-01 -2.31379764e-02 -1.46076541e-03 4.11295763e+01] [ 2.31379788e-02 9.99732281e-01 -1.52808231e-05 1.35006698e-01] [ 1.46072790e-03 -1.85224433e-05 9.99998933e-01 -2.44878131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525871560000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.16, Y:0.14, Z:-0.25 [[ 9.99779246e-01 -2.09600956e-02 -1.46076594e-03 4.11613479e+01] [ 2.09600957e-02 9.99780313e-01 -1.52298147e-05 1.36359613e-01] [ 1.46076425e-03 -1.53913414e-05 9.99998933e-01 -2.45051228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:0.14, Z:-0.25 [[ 9.99801888e-01 -1.98506937e-02 -1.46076630e-03 4.11932977e+01] [ 1.98506927e-02 9.99802955e-01 -1.51957034e-05 1.37937710e-01] [ 1.46078011e-03 -1.38045300e-05 9.99998933e-01 -2.48187043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:0.14, Z:-0.25 [[ 9.99839588e-01 -1.78511448e-02 -1.46080828e-03 4.12224843e+01] [ 1.78511475e-02 9.99840656e-01 -1.11345264e-05 1.40058922e-01] [ 1.46077427e-03 -1.49443638e-05 9.99998933e-01 -2.46862542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.25, Y:0.14, Z:-0.24 [[ 9.99890582e-01 -1.47204272e-02 -1.46076700e-03 4.12541976e+01] [ 1.47204208e-02 9.99891649e-01 -1.51215037e-05 1.43724181e-01] [ 1.46083132e-03 -6.38325588e-06 9.99998933e-01 -2.44623987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.29, Y:0.14, Z:-0.24 [[ 9.99890932e-01 -1.46965823e-02 -1.46076736e-03 4.12860326e+01] [ 1.46965759e-02 9.99891999e-01 -1.50866779e-05 1.44009988e-01] [ 1.46083132e-03 -6.38324608e-06 9.99998933e-01 -2.44577487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:0.15, Z:-0.25 [[ 9.99904903e-01 -1.37132070e-02 -1.46076772e-03 4.13166543e+01] [ 1.37131996e-02 9.99905970e-01 -1.50518423e-05 1.45341952e-01] [ 1.46083678e-03 -4.98138857e-06 9.99998933e-01 -2.48451785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:0.15, Z:-0.24 [[ 9.99918722e-01 -1.26655335e-02 -1.46078746e-03 4.13472171e+01] [ 1.26655278e-02 9.99919789e-01 -1.31335316e-05 1.46928605e-01] [ 1.46083663e-03 -5.36918005e-06 9.99998933e-01 -2.43373349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:0.15, Z:-0.24 [[ 9.99916117e-01 -1.28695316e-02 -1.46076603e-03 4.13773821e+01] [ 1.28695231e-02 9.99917184e-01 -1.51930936e-05 1.48353604e-01] [ 1.46084059e-03 -3.60754315e-06 9.99998933e-01 -2.44302928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:0.15, Z:-0.24 [[ 9.99915145e-01 -1.29448234e-02 -1.46076663e-03 4.14085358e+01] [ 1.29448151e-02 9.99916212e-01 -1.51358718e-05 1.49812020e-01] [ 1.46084016e-03 -3.77476638e-06 9.99998933e-01 -2.42700635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:0.15, Z:-0.25 [[ 9.99900761e-01 -1.40119398e-02 -1.46076698e-03 4.14408987e+01] [ 1.40119327e-02 9.99901828e-01 -1.51015865e-05 1.51416333e-01] [ 1.46083518e-03 -5.36808088e-06 9.99998933e-01 -2.45007889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.47, Y:0.15, Z:-0.24 [[ 9.99892041e-01 -1.46209584e-02 -1.46084458e-03 4.14686533e+01] [ 1.46209630e-02 9.99893108e-01 -7.48835211e-06 1.53169118e-01] [ 1.46079792e-03 -1.38714110e-05 9.99998933e-01 -2.42641788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:0.15, Z:-0.24 [[ 9.99880434e-01 -1.53942951e-02 -1.46076579e-03 4.14994411e+01] [ 1.53942894e-02 9.99881501e-01 -1.51068389e-05 1.53393707e-01] [ 1.46082525e-03 -7.38241880e-06 9.99998933e-01 -2.42953307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885871560000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:41.53, Y:0.15, Z:-0.24 [[ 9.99862709e-01 -1.65054631e-02 -1.46076631e-03 4.15305629e+01] [ 1.65054588e-02 9.99863776e-01 -1.50568226e-05 1.53081832e-01] [ 1.46081584e-03 -9.05586265e-06 9.99998933e-01 -2.42056095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:0.15, Z:-0.24 [[ 9.99825898e-01 -1.86021198e-02 -1.46076666e-03 4.15613298e+01] [ 1.86021177e-02 9.99826966e-01 -1.50226692e-05 1.53748634e-01] [ 1.46079335e-03 -1.21532996e-05 9.99998933e-01 -2.42877676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:0.15, Z:-0.24 [[ 9.99804788e-01 -1.97040928e-02 -1.46076719e-03 4.15932585e+01] [ 1.97040920e-02 9.99805855e-01 -1.49714012e-05 1.54180674e-01] [ 1.46077858e-03 -1.38146124e-05 9.99998933e-01 -2.42229476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:0.15, Z:-0.24 [[ 9.99785282e-01 -2.06701804e-02 -1.46076787e-03 4.16255291e+01] [ 2.06701807e-02 9.99786349e-01 -1.49041932e-05 1.53552007e-01] [ 1.46076385e-03 -1.52933429e-05 9.99998933e-01 -2.42682742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:0.15, Z:-0.24 [[ 9.99765589e-01 -2.16017013e-02 -1.46081300e-03 4.16574735e+01] [ 2.16017091e-02 9.99766656e-01 -1.04592185e-05 1.53295135e-01] [ 1.46069807e-03 -2.10992908e-05 9.99998933e-01 -2.42641342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:0.15, Z:-0.24 [[ 9.99742039e-01 -2.26654338e-02 -1.46081701e-03 4.16897289e+01] [ 2.26654432e-02 9.99743106e-01 -1.00628337e-05 1.52922426e-01] [ 1.46066982e-03 -2.30498272e-05 9.99998933e-01 -2.42737692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:0.15, Z:-0.24 [[ 9.99756412e-01 -2.20222991e-02 -1.46084186e-03 4.17178743e+01] [ 2.20223115e-02 9.99757479e-01 -7.61001548e-06 1.52671252e-01] [ 1.46065517e-03 -2.45629526e-05 9.99998933e-01 -2.41828655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:0.15, Z:-0.24 [[ 9.99740064e-01 -2.27523886e-02 -1.46076710e-03 4.17511932e+01] [ 2.27523911e-02 9.99741131e-01 -1.49260519e-05 1.52254834e-01] [ 1.46072856e-03 -1.83137724e-05 9.99998933e-01 -2.42421201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:0.15, Z:-0.24 [[ 9.99765587e-01 -2.16018042e-02 -1.46085762e-03 4.17794152e+01] [ 2.16018186e-02 9.99766653e-01 -5.90401179e-06 1.51498474e-01] [ 1.46064427e-03 -2.56545536e-05 9.99998933e-01 -2.41439570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:0.15, Z:-0.24 [[ 9.99778848e-01 -2.09790714e-02 -1.46076665e-03 4.18104702e+01] [ 2.09790721e-02 9.99779915e-01 -1.48516884e-05 1.50596224e-01] [ 1.46075673e-03 -1.57971249e-05 9.99998933e-01 -2.40698161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.84, Y:0.15, Z:-0.24 [[ 9.99790144e-01 -2.04336553e-02 -1.46076700e-03 4.18418541e+01] [ 2.04336555e-02 9.99791211e-01 -1.48176378e-05 1.50304209e-01] [ 1.46076478e-03 -1.50342813e-05 9.99998933e-01 -2.40823532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:0.15, Z:-0.24 [[ 9.99802383e-01 -1.98257568e-02 -1.46076751e-03 4.18733954e+01] [ 1.98257564e-02 9.99803450e-01 -1.47667199e-05 1.49926053e-01] [ 1.46077316e-03 -1.41970191e-05 9.99998933e-01 -2.40956843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:0.15, Z:-0.24 [[ 9.99832715e-01 -1.82320754e-02 -1.46076785e-03 4.19041974e+01] [ 1.82320733e-02 9.99833782e-01 -1.47330681e-05 1.48702024e-01] [ 1.46079366e-03 -1.19022231e-05 9.99998933e-01 -2.42555932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:0.15, Z:-0.24 [[ 9.99857121e-01 -1.68405576e-02 -1.46076802e-03 4.19361227e+01] [ 1.68405541e-02 9.99858188e-01 -1.47163288e-05 1.49174678e-01] [ 1.46080869e-03 -9.88591665e-06 9.99998933e-01 -2.42538113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:0.15, Z:-0.24 [[ 9.99910019e-01 -1.33349171e-02 -1.46076869e-03 4.19669142e+01] [ 1.33349100e-02 9.99911086e-01 -1.46489979e-05 1.49770789e-01] [ 1.46083415e-03 -4.83153926e-06 9.99998933e-01 -2.43517385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:42.00, Y:0.15, Z:-0.24 [[ 9.99934395e-01 -1.13609958e-02 -1.46076903e-03 4.19985360e+01] [ 1.13609866e-02 9.99935462e-01 -1.46155047e-05 1.49756898e-01] [ 1.46084080e-03 -1.98123143e-06 9.99998933e-01 -2.43320153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:0.15, Z:-0.24 [[ 9.99957016e-01 -9.15600040e-03 -1.46076936e-03 4.20296351e+01] [ 9.15598887e-03 9.99958083e-01 -1.45824261e-05 1.50811225e-01] [ 1.46084164e-03 1.20701133e-06 9.99998933e-01 -2.42270854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:0.15, Z:-0.24 [[ 9.99985556e-01 -5.17232893e-03 -1.46076970e-03 4.20600239e+01] [ 5.17231320e-03 9.99986623e-01 -1.45485057e-05 1.52760557e-01] [ 1.46082541e-03 6.99273716e-06 9.99998933e-01 -2.43916537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:0.15, Z:-0.24 [[ 9.99992346e-01 -3.62957322e-03 -1.46076986e-03 4.20908851e+01] [ 3.62955587e-03 9.99993413e-01 -1.45315783e-05 1.53363121e-01] [ 1.46081299e-03 9.22952121e-06 9.99998933e-01 -2.43575131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:0.15, Z:-0.24 [[ 9.99995689e-01 -2.54702075e-03 -1.46076986e-03 4.21208100e+01] [ 2.54700224e-03 9.99996756e-01 -1.45315783e-05 1.53645729e-01] [ 1.46080214e-03 1.08109315e-05 9.99998933e-01 -2.44052490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:0.15, Z:-0.24 [[ 9.99997161e-01 -1.88284588e-03 -1.46076969e-03 4.21509052e+01] [ 1.88282664e-03 9.99998227e-01 -1.45488332e-05 1.54130284e-01] [ 1.46079450e-03 1.17984158e-05 9.99998933e-01 -2.42195164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:0.15, Z:-0.25 [[ 9.99995885e-01 -2.46902351e-03 -1.46076969e-03 4.21805165e+01] [ 2.46900489e-03 9.99996952e-01 -1.45488332e-05 1.54627239e-01] [ 1.46080116e-03 1.09421258e-05 9.99998933e-01 -2.47425379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:0.16, Z:-0.24 [[ 9.99993112e-01 -3.41191601e-03 -1.46077646e-03 4.22097111e+01] [ 3.41189939e-03 9.99994179e-01 -1.38713746e-05 1.55067839e-01] [ 1.46081529e-03 8.88725675e-06 9.99998933e-01 -2.44305555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:0.16, Z:-0.24 [[ 9.99988467e-01 -4.57507241e-03 -1.46076806e-03 4.22398463e+01] [ 4.57505581e-03 9.99989534e-01 -1.47060912e-05 1.55640089e-01] [ 1.46082005e-03 8.02282620e-06 9.99998933e-01 -2.43573535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605871560000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.27, Y:0.16, Z:-0.25 [[ 9.99970363e-01 -7.55898883e-03 -1.46076806e-03 4.22704285e+01] [ 7.55897541e-03 9.99971430e-01 -1.47060912e-05 1.55768913e-01] [ 1.46083749e-03 3.66374551e-06 9.99998933e-01 -2.46412699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:0.16, Z:-0.24 [[ 9.99957522e-01 -9.10056063e-03 -1.46076823e-03 4.23020390e+01] [ 9.10054889e-03 9.99958589e-01 -1.46892338e-05 1.55585184e-01] [ 1.46084142e-03 1.39481718e-06 9.99998933e-01 -2.44643583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:0.15, Z:-0.25 [[ 9.99942722e-01 -1.06027570e-02 -1.46076857e-03 4.23320067e+01] [ 1.06027469e-02 9.99943789e-01 -1.46547319e-05 1.54640250e-01] [ 1.46084184e-03 -8.34266992e-07 9.99998933e-01 -2.45459742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:0.15, Z:-0.25 [[ 9.99907295e-01 -1.35376287e-02 -1.46076915e-03 4.23626488e+01] [ 1.35376218e-02 9.99908362e-01 -1.45971595e-05 1.53665083e-01] [ 1.46083290e-03 -5.17953404e-06 9.99998933e-01 -2.48439465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:0.15, Z:-0.25 [[ 9.99893990e-01 -1.44870530e-02 -1.46077781e-03 4.23927972e+01] [ 1.44870484e-02 9.99895057e-01 -1.37329706e-05 1.53884802e-01] [ 1.46082346e-03 -7.43084407e-06 9.99998933e-01 -2.45755682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:0.15, Z:-0.24 [[ 9.99883514e-01 -1.51928953e-02 -1.46076894e-03 4.24244813e+01] [ 1.51928901e-02 9.99884581e-01 -1.46189572e-05 1.53963778e-01] [ 1.46082244e-03 -7.57604773e-06 9.99998933e-01 -2.43605610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:0.15, Z:-0.24 [[ 9.99857463e-01 -1.68202451e-02 -1.46076928e-03 4.24551807e+01] [ 1.68202418e-02 9.99858530e-01 -1.45847732e-05 1.52889189e-01] [ 1.46080795e-03 -9.98779818e-06 9.99998933e-01 -2.44232644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:0.15, Z:-0.25 [[ 9.99843252e-01 -1.76447387e-02 -1.46076962e-03 4.24863601e+01] [ 1.76447363e-02 9.99844319e-01 -1.45506301e-05 1.52602701e-01] [ 1.46079895e-03 -1.12265454e-05 9.99998933e-01 -2.47425930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:0.15, Z:-0.25 [[ 9.99844922e-01 -1.75498647e-02 -1.46079887e-03 4.25168441e+01] [ 1.75498665e-02 9.99845989e-01 -1.15915570e-05 1.51141364e-01] [ 1.46077732e-03 -1.40470657e-05 9.99998933e-01 -2.45122163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:0.15, Z:-0.25 [[ 9.99841856e-01 -1.77236821e-02 -1.46076975e-03 4.25486799e+01] [ 1.77236798e-02 9.99842923e-01 -1.45208641e-05 1.50501826e-01] [ 1.46079766e-03 -1.13716475e-05 9.99998933e-01 -2.45351093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:0.15, Z:-0.25 [[ 9.99840179e-01 -1.78180301e-02 -1.46077008e-03 4.25798990e+01] [ 1.78180279e-02 9.99841246e-01 -1.44873912e-05 1.49856389e-01] [ 1.46079632e-03 -1.15429663e-05 9.99998933e-01 -2.45125315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:0.15, Z:-0.24 [[ 9.99846203e-01 -1.74767591e-02 -1.46077058e-03 4.26117111e+01] [ 1.74767567e-02 9.99847270e-01 -1.44373614e-05 1.49173846e-01] [ 1.46079979e-03 -1.10943910e-05 9.99998933e-01 -2.44882972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965871560000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.64, Y:0.15, Z:-0.25 [[ 9.99836734e-01 -1.80103282e-02 -1.46077090e-03 4.26431579e+01] [ 1.80103264e-02 9.99837801e-01 -1.44041679e-05 1.47503578e-01] [ 1.46079339e-03 -1.19071446e-05 9.99998933e-01 -2.45957470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:0.15, Z:-0.24 [[ 9.99834133e-01 -1.81541351e-02 -1.46077139e-03 4.26746777e+01] [ 1.81541335e-02 9.99835200e-01 -1.43543720e-05 1.46046323e-01] [ 1.46079125e-03 -1.21670479e-05 9.99998933e-01 -2.44117710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025871560000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.71, Y:0.14, Z:-0.24 [[ 9.99820398e-01 -1.88954260e-02 -1.46077173e-03 4.27053986e+01] [ 1.88954252e-02 9.99821465e-01 -1.43205022e-05 1.44116459e-01] [ 1.46078152e-03 -1.32839726e-05 9.99998933e-01 -2.44609815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:0.14, Z:-0.24 [[ 9.99808399e-01 -1.95200256e-02 -1.46077222e-03 4.27369357e+01] [ 1.95200256e-02 9.99809466e-01 -1.42697505e-05 1.42145798e-01] [ 1.46077244e-03 -1.42472947e-05 9.99998933e-01 -2.44020054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:0.14, Z:-0.24 [[ 9.99777207e-01 -2.10571116e-02 -1.46077271e-03 4.27679244e+01] [ 2.10571133e-02 9.99778274e-01 -1.42194439e-05 1.38230359e-01] [ 1.46074824e-03 -1.65433806e-05 9.99998933e-01 -2.43109254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:0.14, Z:-0.24 [[ 9.99755638e-01 -2.20574239e-02 -1.46077303e-03 4.27997895e+01] [ 2.20574268e-02 9.99756705e-01 -1.41867524e-05 1.36390504e-01] [ 1.46073055e-03 -1.80376084e-05 9.99998933e-01 -2.42939122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:0.13, Z:-0.24 [[ 9.99738914e-01 -2.28028380e-02 -1.46077366e-03 4.28308628e+01] [ 2.28028417e-02 9.99739981e-01 -1.41213952e-05 1.34111023e-01] [ 1.46071584e-03 -1.91920823e-05 9.99998933e-01 -2.42544956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:0.13, Z:-0.25 [[ 9.99701827e-01 -2.43746496e-02 -1.46077398e-03 4.28626679e+01] [ 2.43746550e-02 9.99702894e-01 -1.40885069e-05 1.30214205e-01] [ 1.46068337e-03 -2.15215557e-05 9.99998933e-01 -2.46134468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.89, Y:0.13, Z:-0.24 [[ 9.99704278e-01 -2.42738967e-02 -1.46082443e-03 4.28925845e+01] [ 2.42739097e-02 9.99705345e-01 -8.81535111e-06 1.28260225e-01] [ 1.46060798e-03 -2.66471762e-05 9.99998933e-01 -2.43756587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.92, Y:0.12, Z:-0.24 [[ 9.99704777e-01 -2.42533436e-02 -1.46077229e-03 4.29242577e+01] [ 2.42533488e-02 9.99705844e-01 -1.41851623e-05 1.24915959e-01] [ 1.46068663e-03 -2.12476452e-05 9.99998933e-01 -2.44099312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:0.12, Z:-0.24 [[ 9.99725660e-01 -2.33767273e-02 -1.46077260e-03 4.29553676e+01] [ 2.33767316e-02 9.99726727e-01 -1.41527395e-05 1.18590997e-01] [ 1.46070426e-03 -1.99992322e-05 9.99998933e-01 -2.42698001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:0.12, Z:-0.24 [[ 9.99744104e-01 -2.25741738e-02 -1.46077291e-03 4.29860200e+01] [ 2.25741773e-02 9.99745171e-01 -1.41204703e-05 1.16853525e-01] [ 1.46071942e-03 -1.88588899e-05 9.99998933e-01 -2.42529377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.02, Y:0.11, Z:-0.24 [[ 9.99813211e-01 -1.92719970e-02 -1.46077307e-03 4.30172523e+01] [ 1.92719969e-02 9.99814278e-01 -1.41043925e-05 1.13408107e-01] [ 1.46077359e-03 -1.40502562e-05 9.99998933e-01 -2.41118602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:0.11, Z:-0.24 [[ 9.99847757e-01 -1.73876007e-02 -1.46077340e-03 4.30476833e+01] [ 1.73875987e-02 9.99848824e-01 -1.40701494e-05 1.12078407e-01] [ 1.46079721e-03 -1.13313342e-05 9.99998933e-01 -2.40557519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385871560000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.08, Y:0.11, Z:-0.24 [[ 9.99880056e-01 -1.54188212e-02 -1.46077356e-03 4.30781970e+01] [ 1.54188171e-02 9.99881123e-01 -1.40530402e-05 1.11285935e-01] [ 1.46081659e-03 -8.47204582e-06 9.99998933e-01 -2.41983139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:0.11, Z:-0.24 [[ 9.99942456e-01 -1.06278573e-02 -1.46077373e-03 4.31085214e+01] [ 1.06278482e-02 9.99943523e-01 -1.40361024e-05 1.07197909e-01] [ 1.46084040e-03 -1.48958670e-06 9.99998933e-01 -2.41828145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:0.11, Z:-0.24 [[ 9.99963650e-01 -8.40031586e-03 -1.46077373e-03 4.31397224e+01] [ 8.40030432e-03 9.99964717e-01 -1.40361024e-05 1.05362576e-01] [ 1.46084009e-03 1.76464834e-06 9.99998933e-01 -2.41774086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:0.10, Z:-0.24 [[ 9.99978305e-01 -6.42312368e-03 -1.46077405e-03 4.31701813e+01] [ 6.42311008e-03 9.99979372e-01 -1.40023132e-05 1.04035538e-01] [ 1.46083386e-03 4.61929687e-06 9.99998933e-01 -2.42510502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:0.10, Z:-0.24 [[ 9.99988268e-01 -4.61854777e-03 -1.46077421e-03 4.32011286e+01] [ 4.61853227e-03 9.99989334e-01 -1.39855002e-05 1.03379605e-01] [ 1.46082322e-03 7.23870329e-06 9.99998933e-01 -2.43405180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535871560000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.23, Y:0.10, Z:-0.25 [[ 9.99995443e-01 -2.64194297e-03 -1.46077421e-03 4.32319720e+01] [ 2.64192536e-03 9.99996510e-01 -1.39855002e-05 1.01665832e-01] [ 1.46080606e-03 1.01261800e-05 9.99998933e-01 -2.45380419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565871560000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.26, Y:0.10, Z:-0.25 [[ 9.99995382e-01 -2.66512804e-03 -1.46077421e-03 4.32621291e+01] [ 2.66511045e-03 9.99996448e-01 -1.39855002e-05 1.01999323e-01] [ 1.46080630e-03 1.00923110e-05 9.99998933e-01 -2.45336362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:0.10, Z:-0.24 [[ 9.99997865e-01 -1.46125298e-03 -1.46077389e-03 4.32925184e+01] [ 1.46123406e-03 9.99998932e-01 -1.40193685e-05 1.00531074e-01] [ 1.46079281e-03 1.18848061e-05 9.99998933e-01 -2.43264658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:0.10, Z:-0.24 [[ 9.99998605e-01 -8.10602763e-04 -1.46077389e-03 4.33211995e+01] [ 8.10583148e-04 9.99999671e-01 -1.40193685e-05 9.95709241e-02] [ 1.46078477e-03 1.28352703e-05 9.99998933e-01 -2.42660504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:43.35, Y:0.10, Z:-0.24 [[ 9.99998915e-01 -1.91386064e-04 -1.46077356e-03 4.33506736e+01] [ 1.91365740e-04 9.99999982e-01 -1.40528604e-05 9.88295298e-02] [ 1.46077623e-03 1.37733032e-05 9.99998933e-01 -2.42214529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:0.10, Z:-0.24 [[ 9.99997438e-01 1.72936037e-03 -1.46077324e-03 4.33805003e+01] [-1.72938279e-03 9.99998505e-01 -1.40866070e-05 9.73988181e-02] [ 1.46074669e-03 1.66128070e-05 9.99998933e-01 -2.37188859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:0.10, Z:-0.24 [[ 9.99994899e-01 2.84057790e-03 -1.46077290e-03 4.34088950e+01] [-2.84060156e-03 9.99995965e-01 -1.41218062e-05 9.70405788e-02] [ 1.46072689e-03 1.82712079e-05 9.99998933e-01 -2.37513374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:0.10, Z:-0.24 [[ 9.99987174e-01 4.84961156e-03 -1.46077239e-03 4.34385049e+01] [-4.84963744e-03 9.99988240e-01 -1.41744925e-05 9.74820234e-02] [ 1.46068647e-03 2.12585272e-05 9.99998933e-01 -2.37822615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:0.10, Z:-0.24 [[ 9.99983155e-01 5.61753130e-03 -1.46077205e-03 4.34671219e+01] [-5.61755805e-03 9.99984221e-01 -1.42088145e-05 9.81839035e-02] [ 1.46066919e-03 2.24145470e-05 9.99998933e-01 -2.40752830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:0.10, Z:-0.24 [[ 9.99977933e-01 6.48071852e-03 -1.46077155e-03 4.34959488e+01] [-6.48074626e-03 9.99979000e-01 -1.42601338e-05 9.88117449e-02] [ 1.46064846e-03 2.37267089e-05 9.99998933e-01 -2.37932587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:0.10, Z:-0.24 [[ 9.99967827e-01 7.88746054e-03 -1.46077087e-03 4.35242388e+01] [-7.88748989e-03 9.99968893e-01 -1.43293194e-05 9.94583712e-02] [ 1.46061241e-03 2.58506739e-05 9.99998933e-01 -2.40204626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:0.10, Z:-0.24 [[ 9.99961192e-01 8.68798058e-03 -1.46077037e-03 4.35529343e+01] [-8.68801085e-03 9.99962258e-01 -1.43807449e-05 1.00773684e-01] [ 1.46059030e-03 2.70713756e-05 9.99998933e-01 -2.40721695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.58, Y:0.10, Z:-0.24 [[ 9.99958017e-01 9.04602439e-03 -1.46076969e-03 4.35817123e+01] [-9.04605515e-03 9.99959084e-01 -1.44490464e-05 1.02103589e-01] [ 1.46057922e-03 2.76626430e-05 9.99998933e-01 -2.41447075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925871560000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.61, Y:0.10, Z:-0.25 [[ 9.99956702e-01 9.19020768e-03 -1.46076901e-03 4.36099093e+01] [-9.19023869e-03 9.99957769e-01 -1.45178776e-05 1.03987237e-01] [ 1.46057390e-03 2.79420648e-05 9.99998933e-01 -2.45989625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:0.11, Z:-0.24 [[ 9.99958949e-01 8.94243212e-03 -1.46076815e-03 4.36383907e+01] [-8.94246299e-03 9.99960015e-01 -1.46032059e-05 1.05813010e-01] [ 1.46057916e-03 2.76654716e-05 9.99998933e-01 -2.42940278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:0.11, Z:-0.24 [[ 9.99964350e-01 8.31657488e-03 -1.46076748e-03 4.36666550e+01] [-8.31660518e-03 9.99965416e-01 -1.46707234e-05 1.07946959e-01] [ 1.46059495e-03 2.68188268e-05 9.99998933e-01 -2.43293640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:0.11, Z:-0.24 [[ 9.99974856e-01 6.93921781e-03 -1.46076663e-03 4.36960635e+01] [-6.93924676e-03 9.99975923e-01 -1.47549015e-05 1.11380732e-01] [ 1.46062907e-03 2.48911506e-05 9.99998933e-01 -2.41634730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:0.11, Z:-0.24 [[ 9.99981173e-01 5.95979796e-03 -1.46076629e-03 4.37252519e+01] [-5.95982592e-03 9.99982240e-01 -1.47879304e-05 1.12987340e-01] [ 1.46065222e-03 2.34935648e-05 9.99998933e-01 -2.40896701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:0.11, Z:-0.24 [[ 9.99988829e-01 4.49535444e-03 -1.46076562e-03 4.37539558e+01] [-4.49538093e-03 9.99989896e-01 -1.48538935e-05 1.14927441e-01] [ 1.46068409e-03 2.14204255e-05 9.99998933e-01 -2.41512456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:0.12, Z:-0.24 [[ 9.99995491e-01 2.62387249e-03 -1.46076512e-03 4.37829047e+01] [-2.62389706e-03 9.99996557e-01 -1.49031286e-05 1.17097472e-01] [ 1.46072099e-03 1.87359587e-05 9.99998933e-01 -2.41158582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:0.12, Z:-0.24 [[ 9.99996030e-01 -2.40946961e-03 -1.46076450e-03 4.38120394e+01] [ 2.40945032e-03 9.99997097e-01 -1.49636323e-05 1.18830922e-01] [ 1.46079631e-03 1.14439334e-05 9.99998933e-01 -2.40772075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:0.12, Z:-0.24 [[ 9.99981814e-01 -5.85133441e-03 -1.46072837e-03 4.38440989e+01] [ 5.85131365e-03 9.99982881e-01 -1.84838953e-05 1.18064248e-01] [ 1.46081152e-03 9.93637932e-06 9.99998933e-01 -2.42089608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:0.12, Z:-0.24 [[ 9.99950406e-01 -9.85148542e-03 -1.46085591e-03 4.38718402e+01] [ 9.85148829e-03 9.99951473e-01 -5.23109577e-06 1.20075462e-01] [ 1.46083655e-03 -9.16076856e-06 9.99998933e-01 -2.40071623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:0.12, Z:-0.24 [[ 9.99923988e-01 -1.22427168e-02 -1.46076978e-03 4.39023717e+01] [ 1.22427092e-02 9.99925055e-01 -1.41329144e-05 1.22826158e-01] [ 1.46083333e-03 -3.75193949e-06 9.99998933e-01 -2.38822413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:0.12, Z:-0.24 [[ 9.99906167e-01 -1.36206788e-02 -1.46070390e-03 4.39331565e+01] [ 1.36206628e-02 9.99907234e-01 -2.09384751e-05 1.22855043e-01] [ 1.46085359e-03 1.04075514e-06 9.99998933e-01 -2.37433809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:0.12, Z:-0.24 [[ 9.99862423e-01 -1.65227619e-02 -1.46077036e-03 4.39623737e+01] [ 1.65227591e-02 9.99863490e-01 -1.40077217e-05 1.24850763e-01] [ 1.46080240e-03 -1.01301623e-05 9.99998933e-01 -2.38851626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:0.12, Z:-0.24 [[ 9.99841385e-01 -1.77502501e-02 -1.46068876e-03 4.39931150e+01] [ 1.77502362e-02 9.99842452e-01 -2.24863805e-05 1.24881701e-01] [ 1.46085777e-03 -3.44475662e-06 9.99998933e-01 -2.39327048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.02, Y:0.12, Z:-0.24 [[ 9.99826602e-01 -1.85642653e-02 -1.46070268e-03 4.40244567e+01] [ 1.85642544e-02 9.99827669e-01 -2.10118345e-05 1.24813364e-01] [ 1.46084103e-03 -6.10866511e-06 9.99998933e-01 -2.38970281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:0.13, Z:-0.24 [[ 9.99767308e-01 -2.15220021e-02 -1.46069146e-03 4.40555773e+01] [ 2.15219926e-02 9.99768375e-01 -2.21992620e-05 1.25442185e-01] [ 1.46083090e-03 -9.24289447e-06 9.99998933e-01 -2.38130231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:0.13, Z:-0.24 [[ 9.99743785e-01 -2.25882992e-02 -1.46071656e-03 4.40855088e+01] [ 2.25882948e-02 9.99744852e-01 -1.95099911e-05 1.25687150e-01] [ 1.46078456e-03 -1.34901040e-05 9.99998933e-01 -2.36447372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:0.12, Z:-0.24 [[ 9.99717435e-01 -2.37258429e-02 -1.46066866e-03 4.41177104e+01] [ 2.37258322e-02 9.99718503e-01 -2.46497888e-05 1.23777931e-01] [ 1.46084232e-03 -1.00127558e-05 9.99998933e-01 -2.35230847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:0.12, Z:-0.24 [[ 9.99687104e-01 -2.49712029e-02 -1.46077173e-03 4.41486256e+01] [ 2.49712099e-02 9.99688171e-01 -1.34836118e-05 1.23452320e-01] [ 1.46065292e-03 -2.29978445e-05 9.99998933e-01 -2.35112832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:0.12, Z:-0.24 [[ 9.99624105e-01 -2.73772749e-02 -1.46077204e-03 4.41798934e+01] [ 2.73772844e-02 9.99625172e-01 -1.34497906e-05 1.20059110e-01] [ 1.46059272e-03 -2.65472367e-05 9.99998933e-01 -2.38595721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:0.12, Z:-0.24 [[ 9.99602320e-01 -2.81614586e-02 -1.46077250e-03 4.42113011e+01] [ 2.81614691e-02 9.99603387e-01 -1.33991422e-05 1.17773935e-01] [ 1.46057048e-03 -2.77436860e-05 9.99998933e-01 -2.40319989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:0.12, Z:-0.24 [[ 9.99593453e-01 -2.84744512e-02 -1.46077281e-03 4.42427225e+01] [ 2.84744620e-02 9.99594520e-01 -1.33658420e-05 1.16394325e-01] [ 1.46056108e-03 -2.82343117e-05 9.99998933e-01 -2.40562683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:0.12, Z:-0.24 [[ 9.99634305e-01 -2.70022770e-02 -1.46077311e-03 4.42744487e+01] [ 2.70022863e-02 9.99635372e-01 -1.33324567e-05 1.15005967e-01] [ 1.46060048e-03 -2.61166327e-05 9.99998933e-01 -2.39738080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.31, Y:0.11, Z:-0.24 [[ 9.99664565e-01 -2.58577745e-02 -1.46077341e-03 4.43054897e+01] [ 2.58577827e-02 9.99665632e-01 -1.32990984e-05 1.14023210e-01] [ 1.46062886e-03 -2.44777241e-05 9.99998933e-01 -2.41317002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:0.11, Z:-0.24 [[ 9.99763201e-01 -2.17119548e-02 -1.46077372e-03 4.43361413e+01] [ 2.17119586e-02 9.99764268e-01 -1.32658670e-05 1.12161893e-01] [ 1.46071739e-03 -1.84535327e-05 9.99998933e-01 -2.39545957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:0.11, Z:-0.24 [[ 9.99801591e-01 -1.98656643e-02 -1.46077387e-03 4.43676591e+01] [ 1.98656661e-02 9.99802658e-01 -1.32492585e-05 1.11329743e-01] [ 1.46074880e-03 -1.57726162e-05 9.99998933e-01 -2.40604911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:0.11, Z:-0.24 [[ 9.99860033e-01 -1.66667648e-02 -1.46080937e-03 4.43971173e+01] [ 1.66667689e-02 9.99861100e-01 -9.32717152e-06 1.09948218e-01] [ 1.46076191e-03 -1.50211061e-05 9.99998933e-01 -2.39830635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:0.11, Z:-0.24 [[ 9.99938959e-01 -1.09518832e-02 -1.46077397e-03 4.44280675e+01] [ 1.09518756e-02 9.99940026e-01 -1.32345409e-05 1.07849416e-01] [ 1.46083130e-03 -2.76448168e-06 9.99998933e-01 -2.39649256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:0.11, Z:-0.24 [[ 9.99968379e-01 -7.81708210e-03 -1.46077397e-03 4.44580792e+01] [ 7.81707110e-03 9.99969446e-01 -1.32345409e-05 1.07776554e-01] [ 1.46083279e-03 1.81514848e-06 9.99998933e-01 -2.40639885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:0.11, Z:-0.24 [[ 9.99987280e-01 -4.82772368e-03 -1.46077412e-03 4.44842973e+01] [ 4.82770952e-03 9.99988346e-01 -1.32175938e-05 1.10403066e-01] [ 1.46082091e-03 6.16523258e-06 9.99998933e-01 -2.40906445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:0.11, Z:-0.24 [[ 9.99998212e-01 -1.20082264e-03 -1.46062570e-03 4.45176809e+01] [ 1.20078147e-03 9.99999279e-01 -2.90578538e-05 1.08981656e-01] [ 1.46065953e-03 2.73039095e-05 9.99998933e-01 -2.40218612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:0.11, Z:-0.24 [[ 9.99981621e-01 5.88417209e-03 -1.46076910e-03 4.45470774e+01] [-5.88419774e-03 9.99982688e-01 -1.32614445e-05 1.09948174e-01] [ 1.46066578e-03 2.18566550e-05 9.99998933e-01 -2.40851544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:0.11, Z:-0.24 [[ 9.99961215e-01 8.68534909e-03 -1.46076880e-03 4.45759509e+01] [-8.68537778e-03 9.99962281e-01 -1.32947233e-05 1.10789864e-01] [ 1.46059823e-03 2.59815365e-05 9.99998933e-01 -2.41889863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:0.11, Z:-0.24 [[ 9.99937395e-01 1.10937653e-02 -1.46076818e-03 4.46038608e+01] [-1.10937966e-02 9.99938462e-01 -1.33622224e-05 1.11940380e-01] [ 1.46053005e-03 2.95668510e-05 9.99998933e-01 -2.43709394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:0.11, Z:-0.24 [[ 9.99891070e-01 1.46872187e-02 -1.46076740e-03 4.46330021e+01] [-1.46872540e-02 9.99892136e-01 -1.34465720e-05 1.14129632e-01] [ 1.46041235e-03 3.48997692e-05 9.99998933e-01 -2.44230144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:0.12, Z:-0.24 [[ 9.99878332e-01 1.55302198e-02 -1.46076585e-03 4.46617829e+01] [-1.55302563e-02 9.99879398e-01 -1.36138474e-05 1.15590011e-01] [ 1.46037825e-03 3.62982590e-05 9.99998933e-01 -2.42663322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:0.12, Z:-0.24 [[ 9.99861163e-01 1.65988385e-02 -1.46076565e-03 4.46899360e+01] [-1.65988762e-02 9.99862229e-01 -1.36354174e-05 1.18861289e-01] [ 1.46033807e-03 3.78805925e-05 9.99998933e-01 -2.43743668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:0.12, Z:-0.24 [[ 9.99858868e-01 1.67365037e-02 -1.46076500e-03 4.47172713e+01] [-1.67365416e-02 9.99859934e-01 -1.37044824e-05 1.22391703e-01] [ 1.46033103e-03 3.81507025e-05 9.99998933e-01 -2.41762642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065871560000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.75, Y:0.12, Z:-0.24 [[ 9.99847667e-01 1.73927879e-02 -1.46072944e-03 4.47481852e+01] [-1.73928321e-02 9.99848733e-01 -1.75903833e-05 1.22158097e-01] [ 1.46020254e-03 4.29939257e-05 9.99998933e-01 -2.44181353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:0.13, Z:-0.25 [[ 9.99852246e-01 1.71275373e-02 -1.46076909e-03 4.47756087e+01] [-1.71275749e-02 9.99853312e-01 -1.32037606e-05 1.26143614e-01] [ 1.46032867e-03 3.82212417e-05 9.99998933e-01 -2.46002778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:0.13, Z:-0.25 [[ 9.99858429e-01 1.67626893e-02 -1.46076828e-03 4.48040589e+01] [-1.67627266e-02 9.99859496e-01 -1.32929915e-05 1.29159345e-01] [ 1.46034021e-03 3.77775690e-05 9.99998933e-01 -2.45809046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:0.13, Z:-0.25 [[ 9.99869472e-01 1.60905316e-02 -1.46076765e-03 4.48315805e+01] [-1.60905683e-02 9.99870538e-01 -1.33622203e-05 1.32172430e-01] [ 1.46036353e-03 3.68650578e-05 9.99998933e-01 -2.46790362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:0.13, Z:-0.25 [[ 9.99882770e-01 1.52418255e-02 -1.46076686e-03 4.48603453e+01] [-1.52418615e-02 9.99883836e-01 -1.34481146e-05 1.34653058e-01] [ 1.46039219e-03 3.57113441e-05 9.99998933e-01 -2.46374797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:0.14, Z:-0.25 [[ 9.99903243e-01 1.38336920e-02 -1.46076623e-03 4.48864809e+01] [-1.38337265e-02 9.99904309e-01 -1.35163549e-05 1.39724263e-01] [ 1.46043946e-03 3.37228875e-05 9.99998933e-01 -2.47999130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:0.14, Z:-0.25 [[ 9.99932521e-01 1.15247439e-02 -1.46068105e-03 4.49185772e+01] [-1.15247890e-02 9.99933587e-01 -2.24981332e-05 1.42279075e-01] [ 1.46032476e-03 3.93306559e-05 9.99998933e-01 -2.45847712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:0.14, Z:-0.25 [[ 9.99951629e-01 9.72651575e-03 -1.46076392e-03 4.49472874e+01] [-9.72654598e-03 9.99952696e-01 -1.35902551e-05 1.44944395e-01] [ 1.46056264e-03 2.77977852e-05 9.99998933e-01 -2.45498246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:0.15, Z:-0.25 [[ 9.99983122e-01 5.62335997e-03 -1.46076330e-03 4.49742512e+01] [-5.62338592e-03 9.99984189e-01 -1.36567562e-05 1.50029287e-01] [ 1.46066341e-03 2.18709615e-05 9.99998933e-01 -2.46631273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:0.15, Z:-0.24 [[ 9.99996198e-01 2.33909016e-03 -1.46068559e-03 4.50062359e+01] [-2.33912451e-03 9.99997264e-01 -2.18110379e-05 1.52367679e-01] [ 1.46063058e-03 2.52276804e-05 9.99998933e-01 -2.42923855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.03, Y:0.16, Z:-0.25 [[ 9.99996155e-01 -2.35695123e-03 -1.46076164e-03 4.50346783e+01] [ 2.35693373e-03 9.99997222e-01 -1.37054586e-05 1.57470891e-01] [ 1.46078989e-03 1.02624875e-05 9.99998933e-01 -2.46839128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:0.16, Z:-0.24 [[ 9.99982778e-01 -5.68412006e-03 -1.46069494e-03 4.50665354e+01] [ 5.68409582e-03 9.99983845e-01 -2.07454634e-05 1.60065659e-01] [ 1.46078926e-03 1.24423761e-05 9.99998933e-01 -2.41170096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:0.16, Z:-0.25 [[ 9.99968828e-01 -7.75940793e-03 -1.46076096e-03 4.50956773e+01] [ 7.75939617e-03 9.99969895e-01 -1.37122648e-05 1.62068581e-01] [ 1.46082338e-03 2.37721430e-06 9.99998933e-01 -2.45669904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:0.16, Z:-0.25 [[ 9.99969321e-01 -7.69561528e-03 -1.46070013e-03 4.51265227e+01] [ 7.69559407e-03 9.99970388e-01 -2.01395627e-05 1.62247327e-01] [ 1.46081186e-03 8.89798956e-06 9.99998933e-01 -2.45623641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:0.16, Z:-0.25 [[ 9.99915364e-01 -1.29279446e-02 -1.46070002e-03 4.51577583e+01] [ 1.29279289e-02 9.99916431e-01 -2.01506906e-05 1.61802295e-01] [ 1.46083846e-03 1.26515900e-06 9.99998933e-01 -2.46447569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:0.17, Z:-0.24 [[ 9.99847968e-01 -1.73754929e-02 -1.46078220e-03 4.51863873e+01] [ 1.73754948e-02 9.99849035e-01 -1.13862699e-05 1.65510887e-01] [ 1.46075951e-03 -1.39972747e-05 9.99998933e-01 -2.44715735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.22, Y:0.17, Z:-0.24 [[ 9.99779507e-01 -2.09476332e-02 -1.46070626e-03 4.52184189e+01] [ 2.09476272e-02 9.99780574e-01 -1.93987243e-05 1.66008370e-01] [ 1.46079210e-03 -1.12038832e-05 9.99998933e-01 -2.43307006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.25, Y:0.17, Z:-0.24 [[ 9.99707583e-01 -2.41374309e-02 -1.46076017e-03 4.52505476e+01] [ 2.41374368e-02 9.99708650e-01 -1.36147271e-05 1.66493334e-01] [ 1.46066320e-03 -2.16482603e-05 9.99998933e-01 -2.43417634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:0.17, Z:-0.24 [[ 9.99578731e-01 -2.89866626e-02 -1.46076080e-03 4.52808196e+01] [ 2.89866738e-02 9.99579798e-01 -1.35461897e-05 1.66053571e-01] [ 1.46053965e-03 -2.88021137e-05 9.99998933e-01 -2.44820747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635871560000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.31, Y:0.16, Z:-0.25 [[ 9.99501065e-01 -3.15513559e-02 -1.46071806e-03 4.53129374e+01] [ 3.15513631e-02 9.99502132e-01 -1.81360379e-05 1.64894055e-01] [ 1.46056303e-03 -2.79606568e-05 9.99998933e-01 -2.48025428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:0.16, Z:-0.25 [[ 9.99382623e-01 -3.51032728e-02 -1.46072239e-03 4.53452178e+01] [ 3.51032845e-02 9.99383690e-01 -1.76593128e-05 1.62819231e-01] [ 1.46044204e-03 -3.36277434e-05 9.99998933e-01 -2.46106606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:0.16, Z:-0.25 [[ 9.99321258e-01 -3.68088346e-02 -1.46072603e-03 4.53759742e+01] [ 3.68088486e-02 9.99322325e-01 -1.72565762e-05 1.62157373e-01] [ 1.46037133e-03 -3.65227800e-05 9.99998933e-01 -2.47197171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:45.41, Y:0.16, Z:-0.25 [[ 9.99239018e-01 -3.89775733e-02 -1.46072488e-03 4.54080932e+01] [ 3.89775895e-02 9.99240085e-01 -1.73825915e-05 1.60844224e-01] [ 1.46029239e-03 -3.95661712e-05 9.99998933e-01 -2.46033369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:0.16, Z:-0.25 [[ 9.99188494e-01 -4.02519601e-02 -1.46076311e-03 4.54385452e+01] [ 4.02519839e-02 9.99189560e-01 -1.31301797e-05 1.57503596e-01] [ 1.46010776e-03 -4.56790886e-05 9.99998933e-01 -2.48031709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785871560000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.47, Y:0.16, Z:-0.25 [[ 9.99150988e-01 -4.11724274e-02 -1.46072534e-03 4.54707268e+01] [ 4.11724461e-02 9.99152055e-01 -1.72824787e-05 1.55464855e-01] [ 1.46019829e-03 -4.28738297e-05 9.99998933e-01 -2.46658970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:0.15, Z:-0.25 [[ 9.99168541e-01 -4.07442355e-02 -1.46076234e-03 4.55011075e+01] [ 4.07442597e-02 9.99169608e-01 -1.31839526e-05 1.53904175e-01] [ 1.46008650e-03 -4.63446893e-05 9.99998933e-01 -2.48902793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:0.15, Z:-0.25 [[ 9.99195105e-01 -4.00875035e-02 -1.46073150e-03 4.55320111e+01] [ 4.00875221e-02 9.99196172e-01 -1.65934425e-05 1.48723711e-01] [ 1.46022252e-03 -4.19770199e-05 9.99998933e-01 -2.47526714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:0.15, Z:-0.25 [[ 9.99195359e-01 -4.00811660e-02 -1.46072606e-03 4.55652167e+01] [ 4.00811837e-02 9.99196426e-01 -1.71957778e-05 1.45269538e-01] [ 1.46024148e-03 -4.13656881e-05 9.99998933e-01 -2.45581929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:0.14, Z:-0.25 [[ 9.99271739e-01 -3.81294961e-02 -1.46084019e-03 4.55933586e+01] [ 3.81295309e-02 9.99272805e-01 -4.03414302e-06 1.42725209e-01] [ 1.45993169e-03 -5.16699458e-05 9.99998933e-01 -2.48236024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:0.14, Z:-0.25 [[ 9.99326770e-01 -3.66588736e-02 -1.46075702e-03 4.56255702e+01] [ 3.66588931e-02 9.99327837e-01 -1.33978132e-05 1.39196926e-01] [ 1.46026630e-03 -4.01609420e-05 9.99998933e-01 -2.47555647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965871560000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.66, Y:0.14, Z:-0.25 [[ 9.99409876e-01 -3.43185868e-02 -1.46076192e-03 4.56570454e+01] [ 3.43186047e-02 9.99410943e-01 -1.28448938e-05 1.36547227e-01] [ 1.46034227e-03 -3.72939972e-05 9.99998933e-01 -2.48346355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:0.13, Z:-0.25 [[ 9.99515733e-01 -3.10832052e-02 -1.46073871e-03 4.56881948e+01] [ 3.10832158e-02 9.99516800e-01 -1.54511432e-05 1.32295771e-01] [ 1.46051315e-03 -2.99607957e-05 9.99998933e-01 -2.46292203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:0.13, Z:-0.25 [[ 9.99587087e-01 -2.86970768e-02 -1.46076060e-03 4.57189052e+01] [ 2.86970885e-02 9.99588154e-01 -1.29890289e-05 1.29708463e-01] [ 1.46053174e-03 -2.89359106e-05 9.99998933e-01 -2.47585128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:0.13, Z:-0.25 [[ 9.99654582e-01 -2.62408783e-02 -1.46074263e-03 4.57492191e+01] [ 2.62408844e-02 9.99655649e-01 -1.49976027e-05 1.26723152e-01] [ 1.46063317e-03 -2.33387564e-05 9.99998933e-01 -2.47421071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:45.78, Y:0.12, Z:-0.25 [[ 9.99763033e-01 -2.17196928e-02 -1.46073716e-03 4.57800862e+01] [ 2.17196932e-02 9.99764100e-01 -1.56119778e-05 1.21284128e-01] [ 1.46073166e-03 -1.61184847e-05 9.99998933e-01 -2.46690399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:0.12, Z:-0.24 [[ 9.99806846e-01 -1.95993998e-02 -1.46075113e-03 4.58106567e+01] [ 1.95994002e-02 9.99807913e-01 -1.40252358e-05 1.20197018e-01] [ 1.46074543e-03 -1.46073192e-05 9.99998933e-01 -2.44665546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:0.12, Z:-0.24 [[ 9.99855166e-01 -1.69562053e-02 -1.46075174e-03 4.58414896e+01] [ 1.69562030e-02 9.99856233e-01 -1.39553214e-05 1.18851512e-01] [ 1.46077837e-03 -1.08155030e-05 9.99998933e-01 -2.44785610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:0.12, Z:-0.25 [[ 9.99920958e-01 -1.24877781e-02 -1.46074783e-03 4.58718918e+01] [ 1.24877704e-02 9.99922025e-01 -1.44028259e-05 1.16749642e-01] [ 1.46081379e-03 -3.83979611e-06 9.99998933e-01 -2.46575334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:0.12, Z:-0.24 [[ 9.99941394e-01 -1.07272751e-02 -1.46075102e-03 4.59021210e+01] [ 1.07272660e-02 9.99942461e-01 -1.40381639e-05 1.15143087e-01] [ 1.46081757e-03 -1.63252368e-06 9.99998933e-01 -2.44204748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.93, Y:0.11, Z:-0.24 [[ 9.99960937e-01 -8.71725936e-03 -1.46076273e-03 4.59328845e+01] [ 8.71725012e-03 9.99962004e-01 -1.26901862e-05 1.13338539e-01] [ 1.46081786e-03 -4.41436753e-08 9.99998933e-01 -2.43332176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.96, Y:0.11, Z:-0.24 [[ 9.99985311e-01 -5.21962400e-03 -1.46076273e-03 4.59630321e+01] [ 5.21961103e-03 9.99986378e-01 -1.26901862e-05 1.10723887e-01] [ 1.46080907e-03 5.06538648e-06 9.99998933e-01 -2.43982804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:0.11, Z:-0.24 [[ 9.99993354e-01 -3.34048505e-03 -1.46076273e-03 4.59926039e+01] [ 3.34047008e-03 9.99994421e-01 -1.26901862e-05 1.09643032e-01] [ 1.46079698e-03 7.81046762e-06 9.99998933e-01 -2.43481182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:0.11, Z:-0.25 [[ 9.99996245e-01 -2.31879768e-03 -1.46076258e-03 4.60242929e+01] [ 2.31878159e-03 9.99997312e-01 -1.27079719e-05 1.07809923e-01] [ 1.46078812e-03 9.32073477e-06 9.99998933e-01 -2.45314860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:0.11, Z:-0.24 [[ 9.99998868e-01 3.60555533e-04 -1.46082957e-03 4.60513645e+01] [-3.60563173e-04 9.99999935e-01 -4.96653224e-06 1.07006585e-01] [ 1.46082769e-03 5.49324796e-06 9.99998933e-01 -2.43364364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:0.11, Z:-0.25 [[ 9.99998670e-01 7.25700281e-04 -1.46075927e-03 4.60804689e+01] [-7.25719924e-04 9.99999737e-01 -1.29166071e-05 1.07477335e-01] [ 1.46074952e-03 1.39766921e-05 9.99998933e-01 -2.46835568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:0.11, Z:-0.25 [[ 9.99997553e-01 1.66146649e-03 -1.46077215e-03 4.61096777e+01] [-1.66148503e-03 9.99998620e-01 -1.14807631e-05 1.05848777e-01] [ 1.46075106e-03 1.39077860e-05 9.99998933e-01 -2.46470594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:0.10, Z:-0.25 [[ 9.99998564e-01 8.58778866e-04 -1.46078341e-03 4.61384792e+01] [-8.58794752e-04 9.99999631e-01 -1.02479696e-05 1.03978409e-01] [ 1.46077407e-03 1.15024680e-05 9.99998933e-01 -2.45044305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:0.10, Z:-0.25 [[ 9.99998928e-01 1.01275017e-04 -1.46075557e-03 4.61683363e+01] [-1.01294560e-04 9.99999995e-01 -1.33050154e-05 1.03128989e-01] [ 1.46075421e-03 1.34529677e-05 9.99998933e-01 -2.46546861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:0.10, Z:-0.24 [[ 9.99998887e-01 -3.04280792e-04 -1.46076037e-03 4.61976125e+01] [ 3.04262448e-04 9.99999954e-01 -1.27804418e-05 1.02634909e-01] [ 1.46076419e-03 1.23359730e-05 9.99998933e-01 -2.44242822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:0.10, Z:-0.24 [[ 9.99997492e-01 -1.69797065e-03 -1.46075527e-03 4.62270802e+01] [ 1.69795298e-03 9.99998558e-01 -1.33391142e-05 1.00396879e-01] [ 1.46077581e-03 1.08587869e-05 9.99998933e-01 -2.44641536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:0.10, Z:-0.24 [[ 9.99994716e-01 -2.90426186e-03 -1.46076562e-03 4.62570884e+01] [ 2.90424714e-03 9.99995783e-01 -1.22013359e-05 9.91553331e-02] [ 1.46079489e-03 7.95884703e-06 9.99998933e-01 -2.41677699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:0.10, Z:-0.24 [[ 9.99991400e-01 -3.88152826e-03 -1.46075665e-03 4.62869470e+01] [ 3.88151313e-03 9.99992467e-01 -1.31938248e-05 9.70614307e-02] [ 1.46079686e-03 7.52376517e-06 9.99998933e-01 -2.43535828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:0.09, Z:-0.24 [[ 9.99980988e-01 -5.99077245e-03 -1.46077610e-03 4.63169264e+01] [ 5.99076270e-03 9.99982055e-01 -1.10480008e-05 9.29387124e-02] [ 1.46081607e-03 2.29662778e-06 9.99998933e-01 -2.44187778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:0.09, Z:-0.24 [[ 9.99971399e-01 -7.42075617e-03 -1.46076790e-03 4.63465906e+01] [ 7.42074663e-03 9.99972466e-01 -1.19495491e-05 9.11152274e-02] [ 1.46081635e-03 1.10921888e-06 9.99998933e-01 -2.43868548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:0.09, Z:-0.24 [[ 9.99962683e-01 -8.51458589e-03 -1.46077232e-03 4.63765225e+01] [ 8.51457822e-03 9.99963750e-01 -1.14659624e-05 8.95198180e-02] [ 1.46081700e-03 -9.72325625e-07 9.99998933e-01 -2.39721142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:0.09, Z:-0.24 [[ 9.99948083e-01 -1.00844820e-02 -1.46075477e-03 4.64056889e+01] [ 1.00844732e-02 9.99949150e-01 -1.33813694e-05 8.58807233e-02] [ 1.46081544e-03 -1.35026776e-06 9.99998933e-01 -2.43627112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:0.08, Z:-0.24 [[ 9.99940446e-01 -1.08153245e-02 -1.46076863e-03 4.64356821e+01] [ 1.08153187e-02 9.99941513e-01 -1.18771969e-05 8.38623261e-02] [ 1.46081165e-03 -3.92218876e-06 9.99998933e-01 -2.42062938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:0.08, Z:-0.24 [[ 9.99931413e-01 -1.16205122e-02 -1.46075404e-03 4.64664972e+01] [ 1.16205049e-02 9.99932480e-01 -1.34603414e-05 7.95096389e-02] [ 1.46081183e-03 -3.51528127e-06 9.99998933e-01 -2.37982779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:0.08, Z:-0.24 [[ 9.99934586e-01 -1.13441395e-02 -1.46075404e-03 4.64966393e+01] [ 1.13441320e-02 9.99935653e-01 -1.34603414e-05 7.83122435e-02] [ 1.46081274e-03 -3.11152568e-06 9.99998933e-01 -2.39320681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:0.08, Z:-0.24 [[ 9.99942570e-01 -1.06171367e-02 -1.46075420e-03 4.65267522e+01] [ 1.06171284e-02 9.99943637e-01 -1.34428668e-05 7.68431489e-02] [ 1.46081459e-03 -2.06692018e-06 9.99998933e-01 -2.40349554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:0.07, Z:-0.24 [[ 9.99968205e-01 -7.83931406e-03 -1.46075436e-03 4.65575586e+01] [ 7.83930281e-03 9.99969272e-01 -1.34261119e-05 7.42287124e-02] [ 1.46081472e-03 1.97438932e-06 9.99998933e-01 -2.38668591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.59, Y:0.07, Z:-0.24 [[ 9.99982837e-01 -5.67370450e-03 -1.46075436e-03 4.65876832e+01] [ 5.67369094e-03 9.99983904e-01 -1.34261119e-05 7.32636123e-02] [ 1.46080702e-03 5.13801275e-06 9.99998933e-01 -2.39056785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:0.07, Z:-0.24 [[ 9.99994442e-01 -2.99714302e-03 -1.46075436e-03 4.66168004e+01] [ 2.99712661e-03 9.99995509e-01 -1.34261119e-05 7.27577592e-02] [ 1.46078804e-03 9.04797156e-06 9.99998933e-01 -2.39444309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:0.07, Z:-0.24 [[ 9.99996542e-01 2.18671020e-03 -1.46075443e-03 4.66465267e+01] [-2.18673213e-03 9.99997609e-01 -1.34179536e-05 7.17574403e-02] [ 1.46072160e-03 1.66121858e-05 9.99998933e-01 -2.40760931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.68, Y:0.07, Z:-0.24 [[ 9.99988316e-01 4.60811183e-03 -1.46075412e-03 4.66763252e+01] [-4.60813640e-03 9.99989382e-01 -1.34521030e-05 7.26820048e-02] [ 1.46067662e-03 2.01833000e-05 9.99998933e-01 -2.41549321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:0.07, Z:-0.24 [[ 9.99961072e-01 8.70178374e-03 -1.46075380e-03 4.67059644e+01] [-8.70181272e-03 9.99962138e-01 -1.34863347e-05 7.45242488e-02] [ 1.46058114e-03 2.61970157e-05 9.99998933e-01 -2.42089318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:0.08, Z:-0.24 [[ 9.99950942e-01 9.79695623e-03 -1.46075348e-03 4.67349531e+01] [-9.79698643e-03 9.99952008e-01 -1.35205029e-05 7.55296151e-02] [ 1.46055092e-03 2.78308217e-05 9.99998933e-01 -2.41448650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:0.08, Z:-0.24 [[ 9.99943076e-01 1.05692971e-02 -1.46075283e-03 4.67631812e+01] [-1.05693283e-02 9.99944143e-01 -1.35909224e-05 7.59211537e-02] [ 1.46052759e-03 2.90293250e-05 9.99998933e-01 -2.44052055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:0.08, Z:-0.24 [[ 9.99946118e-01 1.02775121e-02 -1.46075247e-03 4.67926159e+01] [-1.02775430e-02 9.99947185e-01 -1.36297186e-05 7.65910755e-02] [ 1.46053524e-03 2.86419304e-05 9.99998933e-01 -2.43808891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:0.08, Z:-0.24 [[ 9.99955063e-01 9.36689342e-03 -1.46075215e-03 4.68222533e+01] [-9.36692337e-03 9.99956129e-01 -1.36639385e-05 7.66948461e-02] [ 1.46056007e-03 2.73460779e-05 9.99998933e-01 -2.44351565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:0.08, Z:-0.25 [[ 9.99964226e-01 8.33147632e-03 -1.46075182e-03 4.68521544e+01] [-8.33150521e-03 9.99965292e-01 -1.36985829e-05 7.63062528e-02] [ 1.46058699e-03 2.58683543e-05 9.99998933e-01 -2.45186216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:0.08, Z:-0.24 [[ 9.99974574e-01 6.97978258e-03 -1.46075149e-03 4.68814056e+01] [-6.97981008e-03 9.99975641e-01 -1.37334386e-05 7.62076674e-02] [ 1.46062006e-03 2.39288574e-05 9.99998933e-01 -2.44536194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:0.08, Z:-0.24 [[ 9.99989431e-01 4.35947279e-03 -1.46075116e-03 4.69103885e+01] [-4.35949756e-03 9.99990497e-01 -1.37689415e-05 7.67427457e-02] [ 1.46067725e-03 2.01369371e-05 9.99998933e-01 -2.43729380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:0.08, Z:-0.25 [[ 9.99994103e-01 3.10807173e-03 -1.46075066e-03 4.69392404e+01] [-3.10809523e-03 9.99995170e-01 -1.38216605e-05 7.68700527e-02] [ 1.46070065e-03 1.83617312e-05 9.99998933e-01 -2.45727281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285871560000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:46.97, Y:0.08, Z:-0.24 [[ 9.99998918e-01 1.74149187e-04 -1.46075016e-03 4.69686650e+01] [-1.74169639e-04 9.99999985e-01 -1.38741828e-05 7.63965251e-02] [ 1.46074772e-03 1.41285862e-05 9.99998933e-01 -2.44473255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:0.08, Z:-0.24 [[ 9.99998423e-01 -1.00958704e-03 -1.46074984e-03 4.69985001e+01] [ 1.00956780e-03 9.99999490e-01 -1.39079311e-05 7.68622915e-02] [ 1.46076314e-03 1.24331831e-05 9.99998933e-01 -2.41513983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:0.08, Z:-0.24 [[ 9.99996542e-01 -2.18698634e-03 -1.46074952e-03 4.70285370e+01] [ 2.18696831e-03 9.99997608e-01 -1.39419286e-05 7.66623866e-02] [ 1.46077651e-03 1.07472675e-05 9.99998933e-01 -2.40046615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:0.08, Z:-0.24 [[ 9.99996489e-01 -2.21100778e-03 -1.46074918e-03 4.70586946e+01] [ 2.21098973e-03 9.99997556e-01 -1.39769957e-05 7.69955064e-02] [ 1.46077651e-03 1.07472452e-05 9.99998933e-01 -2.40002554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.09, Y:0.08, Z:-0.24 [[ 9.99988269e-01 -4.61832118e-03 -1.46074884e-03 4.70882732e+01] [ 4.61830564e-03 9.99989335e-01 -1.40120851e-05 7.55966042e-02] [ 1.46079798e-03 7.26573609e-06 9.99998933e-01 -2.40554580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.12, Y:0.08, Z:-0.24 [[ 9.99983171e-01 -5.61456077e-03 -1.46074868e-03 4.71184161e+01] [ 5.61454626e-03 9.99984238e-01 -1.40295348e-05 7.50118746e-02] [ 1.46080442e-03 5.82785764e-06 9.99998933e-01 -2.39659685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465871560000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.15, Y:0.07, Z:-0.24 [[ 9.99971461e-01 -7.41233756e-03 -1.46074835e-03 4.71491049e+01] [ 7.41232492e-03 9.99972528e-01 -1.40637263e-05 7.45415254e-02] [ 1.46081246e-03 3.23578352e-06 9.99998933e-01 -2.38115959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.18, Y:0.07, Z:-0.24 [[ 9.99966456e-01 -8.05934288e-03 -1.46074835e-03 4.71798131e+01] [ 8.05933094e-03 9.99967523e-01 -1.40637263e-05 7.42090206e-02] [ 1.46081425e-03 2.29060016e-06 9.99998933e-01 -2.37463511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:0.07, Z:-0.24 [[ 9.99961485e-01 -8.65416461e-03 -1.46074835e-03 4.72090838e+01] [ 8.65415330e-03 9.99962552e-01 -1.40637263e-05 7.31183757e-02] [ 1.46081536e-03 1.42164447e-06 9.99998933e-01 -2.37721703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:0.07, Z:-0.24 [[ 9.99950593e-01 -9.83250249e-03 -1.46074818e-03 4.72398327e+01] [ 9.83249241e-03 9.99951660e-01 -1.40810918e-05 7.20330310e-02] [ 1.46081602e-03 -2.82399316e-07 9.99998933e-01 -2.36629709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:0.07, Z:-0.24 [[ 9.99948691e-01 -1.00240228e-02 -1.46074818e-03 4.72701840e+01] [ 1.00240129e-02 9.99949758e-01 -1.40810918e-05 7.23278463e-02] [ 1.46081594e-03 -5.62189360e-07 9.99998933e-01 -2.35164461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:0.07, Z:-0.24 [[ 9.99948829e-01 -1.00103087e-02 -1.46074818e-03 4.73001459e+01] [ 1.00102988e-02 9.99949896e-01 -1.40810918e-05 7.26805167e-02] [ 1.46081595e-03 -5.42154580e-07 9.99998933e-01 -2.35847448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.33, Y:0.07, Z:-0.23 [[ 9.99953688e-01 -9.51252089e-03 -1.46074801e-03 4.73306218e+01] [ 9.51251044e-03 9.99954755e-01 -1.40986960e-05 7.13513331e-02] [ 1.46081603e-03 2.02662313e-07 9.99998933e-01 -2.34636609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:0.07, Z:-0.23 [[ 9.99956749e-01 -9.18510149e-03 -1.46074801e-03 4.73615969e+01] [ 9.18509069e-03 9.99957816e-01 -1.40986960e-05 7.11300289e-02] [ 1.46081589e-03 6.80983224e-07 9.99998933e-01 -2.34295097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:0.07, Z:-0.23 [[ 9.99958672e-01 -8.97331364e-03 -1.46074801e-03 4.73925572e+01] [ 8.97330262e-03 9.99959739e-01 -1.40986960e-05 7.12853390e-02] [ 1.46081571e-03 9.90379336e-07 9.99998933e-01 -2.33508787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:0.07, Z:-0.24 [[ 9.99954923e-01 -9.38180868e-03 -1.46074801e-03 4.74223012e+01] [ 9.38179810e-03 9.99955990e-01 -1.40986960e-05 7.11551733e-02] [ 1.46081599e-03 3.93617527e-07 9.99998933e-01 -2.35857435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:0.07, Z:-0.24 [[ 9.99949740e-01 -9.91882997e-03 -1.46074784e-03 4.74523953e+01] [ 9.91881993e-03 9.99950807e-01 -1.41162789e-05 7.00354833e-02] [ 1.46081600e-03 -3.73325335e-07 9.99998933e-01 -2.36417231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:47.48, Y:0.07, Z:-0.24 [[ 9.99940456e-01 -1.08143320e-02 -1.46074784e-03 4.74825786e+01] [ 1.08143229e-02 9.99941523e-01 -1.41162789e-05 6.78714996e-02] [ 1.46081508e-03 -1.68156045e-06 9.99998933e-01 -2.39329350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:0.06, Z:-0.24 [[ 9.99923608e-01 -1.22737480e-02 -1.46074784e-03 4.75135647e+01] [ 1.22737405e-02 9.99924675e-01 -1.41162789e-05 6.47460015e-02] [ 1.46081107e-03 -3.81363936e-06 9.99998933e-01 -2.37930543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855871560000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:47.54, Y:0.06, Z:-0.24 [[ 9.99913095e-01 -1.31022362e-02 -1.46074784e-03 4.75432201e+01] [ 1.31022295e-02 9.99914162e-01 -1.41162789e-05 6.38342805e-02] [ 1.46080741e-03 -5.02400135e-06 9.99998933e-01 -2.41019356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:0.06, Z:-0.24 [[ 9.99898507e-01 -1.41718548e-02 -1.46074787e-03 4.75739216e+01] [ 1.41718493e-02 9.99899574e-01 -1.41132061e-05 6.23059269e-02] [ 1.46080118e-03 -6.58972493e-06 9.99998933e-01 -2.37652573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:0.06, Z:-0.24 [[ 9.99894084e-01 -1.44806016e-02 -1.46074787e-03 4.76039998e+01] [ 1.44805964e-02 9.99895151e-01 -1.41132061e-05 6.07788618e-02] [ 1.46079908e-03 -7.04078915e-06 9.99998933e-01 -2.38025593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:47.63, Y:0.06, Z:-0.24 [[ 9.99895542e-01 -1.43795406e-02 -1.46074787e-03 4.76348879e+01] [ 1.43795354e-02 9.99896609e-01 -1.41132061e-05 5.84689824e-02] [ 1.46079978e-03 -6.89314381e-06 9.99998933e-01 -2.40112414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:47.67, Y:0.05, Z:-0.24 [[ 9.99913957e-01 -1.30362753e-02 -1.46074787e-03 4.76655911e+01] [ 1.30362686e-02 9.99915024e-01 -1.41132061e-05 5.48892181e-02] [ 1.46080773e-03 -4.93070986e-06 9.99998933e-01 -2.38956738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.69, Y:0.05, Z:-0.24 [[ 9.99930275e-01 -1.17180185e-02 -1.46074787e-03 4.76948535e+01] [ 1.17180104e-02 9.99931342e-01 -1.41132061e-05 5.48011665e-02] [ 1.46081296e-03 -3.00483673e-06 9.99998933e-01 -2.37535381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:0.06, Z:-0.24 [[ 9.99952421e-01 -9.64474112e-03 -1.46074770e-03 4.77253315e+01] [ 9.64473076e-03 9.99953488e-01 -1.41307036e-05 5.51892289e-02] [ 1.46081605e-03 4.15130288e-08 9.99998933e-01 -2.36088679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:0.06, Z:-0.24 [[ 9.99986410e-01 -5.00450563e-03 -1.46074770e-03 4.77548118e+01] [ 5.00449033e-03 9.99987477e-01 -1.41307036e-05 5.52846983e-02] [ 1.46080013e-03 6.82021386e-06 9.99998933e-01 -2.36157957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.78, Y:0.05, Z:-0.24 [[ 9.99995139e-01 -2.75464512e-03 -1.46074753e-03 4.77844583e+01] [ 2.75462739e-03 9.99996206e-01 -1.41478713e-05 5.47237905e-02] [ 1.46078096e-03 1.01239873e-05 9.99998933e-01 -2.35884573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:0.05, Z:-0.24 [[ 9.99998752e-01 6.01196113e-04 -1.46074719e-03 4.78134954e+01] [-6.01217472e-04 9.99999819e-01 -1.41828963e-05 5.34295697e-02] [ 1.46073840e-03 1.50611054e-05 9.99998933e-01 -2.38744437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:0.05, Z:-0.24 [[ 9.99995815e-01 2.49739878e-03 -1.46074703e-03 4.78435529e+01] [-2.49742219e-03 9.99996881e-01 -1.42003301e-05 5.32972343e-02] [ 1.46070701e-03 1.78483727e-05 9.99998933e-01 -2.39635187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:0.05, Z:-0.24 [[ 9.99991743e-01 3.79216929e-03 -1.46074670e-03 4.78734584e+01] [-3.79219412e-03 9.99992810e-01 -1.42337537e-05 5.39477400e-02] [ 1.46068222e-03 1.97730712e-05 9.99998933e-01 -2.40559968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:0.05, Z:-0.24 [[ 9.99985194e-01 5.24200072e-03 -1.46074637e-03 4.79030765e+01] [-5.24202715e-03 9.99986260e-01 -1.42671461e-05 5.45406431e-02] [ 1.46065151e-03 2.19242070e-05 9.99998933e-01 -2.40457373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:0.06, Z:-0.24 [[ 9.99975497e-01 6.84631791e-03 -1.46074604e-03 4.79324224e+01] [-6.84634611e-03 9.99976563e-01 -1.43011319e-05 5.59235094e-02] [ 1.46061390e-03 2.43015545e-05 9.99998933e-01 -2.40467044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:0.06, Z:-0.24 [[ 9.99972154e-01 7.31826926e-03 -1.46074570e-03 4.79625166e+01] [-7.31829801e-03 9.99973221e-01 -1.43353634e-05 5.60652958e-02] [ 1.46060168e-03 2.50251366e-05 9.99998933e-01 -2.40551524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.99, Y:0.06, Z:-0.24 [[ 9.99973165e-01 7.17885668e-03 -1.46074537e-03 4.79912226e+01] [-7.17888533e-03 9.99974231e-01 -1.43697488e-05 5.53822440e-02] [ 1.46060457e-03 2.48558867e-05 9.99998933e-01 -2.41012373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:0.06, Z:-0.24 [[ 9.99976543e-01 6.69181668e-03 -1.46074486e-03 4.80206943e+01] [-6.69184488e-03 9.99977609e-01 -1.44209614e-05 5.56584991e-02] [ 1.46061565e-03 2.41957011e-05 9.99998933e-01 -2.40612745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.05, Y:0.06, Z:-0.24 [[ 9.99979947e-01 6.16211923e-03 -1.46074453e-03 4.80499239e+01] [-6.16214692e-03 9.99981014e-01 -1.44546387e-05 5.58423224e-02] [ 1.46062772e-03 2.34556712e-05 9.99998933e-01 -2.38840655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:0.06, Z:-0.24 [[ 9.99985065e-01 5.26641224e-03 -1.46074419e-03 4.80782376e+01] [-5.26643902e-03 9.99986132e-01 -1.44890122e-05 5.57859979e-02] [ 1.46064762e-03 2.21817160e-05 9.99998933e-01 -2.40092019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:0.06, Z:-0.24 [[ 9.99987142e-01 4.85607235e-03 -1.46074382e-03 4.81079701e+01] [-4.85609875e-03 9.99988209e-01 -1.45255768e-05 5.54317452e-02] [ 1.46065606e-03 2.16189063e-05 9.99998933e-01 -2.39457097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455871560000006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:48.14, Y:0.05, Z:-0.24 [[ 9.99988972e-01 4.46348649e-03 -1.46074349e-03 4.81369864e+01] [-4.46351252e-03 9.99990038e-01 -1.45594422e-05 5.38666438e-02] [ 1.46066395e-03 2.10793285e-05 9.99998933e-01 -2.41669497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:0.05, Z:-0.24 [[ 9.99989756e-01 4.28423663e-03 -1.46074314e-03 4.81669934e+01] [-4.28426252e-03 9.99990822e-01 -1.45944907e-05 5.38394606e-02] [ 1.46066720e-03 2.08525483e-05 9.99998933e-01 -2.39217713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:0.05, Z:-0.24 [[ 9.99990199e-01 4.17941871e-03 -1.46074280e-03 4.81959164e+01] [-4.17944454e-03 9.99991266e-01 -1.46280497e-05 5.40139244e-02] [ 1.46066890e-03 2.07329999e-05 9.99998933e-01 -2.39429457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:0.05, Z:-0.24 [[ 9.99988170e-01 4.63952760e-03 -1.46074244e-03 4.82247994e+01] [-4.63955397e-03 9.99989237e-01 -1.46636012e-05 5.49282071e-02] [ 1.46065869e-03 2.14406211e-05 9.99998933e-01 -2.39047264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:48.25, Y:0.06, Z:-0.24 [[ 9.99985685e-01 5.14738039e-03 -1.46074208e-03 4.82543976e+01] [-5.14740736e-03 9.99986752e-01 -1.46996881e-05 5.57122877e-02] [ 1.46064706e-03 2.22185122e-05 9.99998933e-01 -2.40939562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:0.06, Z:-0.24 [[ 9.99982089e-01 5.80409410e-03 -1.46074175e-03 4.82828196e+01] [-5.80412181e-03 9.99983156e-01 -1.47327824e-05 5.71513146e-02] [ 1.46063163e-03 2.32108416e-05 9.99998933e-01 -2.38908784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.31, Y:0.06, Z:-0.24 [[ 9.99972150e-01 7.31881360e-03 -1.46074140e-03 4.83125740e+01] [-7.31884298e-03 9.99973217e-01 -1.47667533e-05 5.86617514e-02] [ 1.46059420e-03 2.54572790e-05 9.99998933e-01 -2.38888622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:0.06, Z:-0.24 [[ 9.99965957e-01 8.12101407e-03 -1.46074107e-03 4.83414730e+01] [-8.12104435e-03 9.99967024e-01 -1.47995918e-05 5.98465170e-02] [ 1.46057271e-03 2.66618310e-05 9.99998933e-01 -2.38933219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:0.06, Z:-0.24 [[ 9.99956244e-01 9.23992970e-03 -1.46074070e-03 4.83706251e+01] [-9.23996123e-03 9.99957311e-01 -1.48364025e-05 6.10305186e-02] [ 1.46054125e-03 2.83329407e-05 9.99998933e-01 -2.37846108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.40, Y:0.06, Z:-0.24 [[ 9.99936882e-01 1.11399335e-02 -1.46074032e-03 4.84002803e+01] [-1.11399671e-02 9.99937949e-01 -1.48735927e-05 6.24195939e-02] [ 1.46048398e-03 3.11452529e-05 9.99998933e-01 -2.39515438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:0.06, Z:-0.24 [[ 9.99934648e-01 1.13386902e-02 -1.46073999e-03 4.84299163e+01] [-1.13387241e-02 9.99935714e-01 -1.49058055e-05 6.45433768e-02] [ 1.46047707e-03 3.14677591e-05 9.99998933e-01 -2.37308862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:0.07, Z:-0.24 [[ 9.99936116e-01 1.12085013e-02 -1.46073966e-03 4.84595452e+01] [-1.12085351e-02 9.99937182e-01 -1.49378915e-05 6.84446937e-02] [ 1.46048047e-03 3.13096890e-05 9.99998933e-01 -2.37650935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:0.07, Z:-0.24 [[ 9.99942789e-01 1.05964428e-02 -1.46073933e-03 4.84887537e+01] [-1.05964760e-02 9.99943856e-01 -1.49699340e-05 7.07282531e-02] [ 1.46049869e-03 3.04477668e-05 9.99998933e-01 -2.35048442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:0.07, Z:-0.24 [[ 9.99956002e-01 9.26610243e-03 -1.46073897e-03 4.85177498e+01] [-9.26613424e-03 9.99957068e-01 -1.50052375e-05 7.22889157e-02] [ 1.46053722e-03 2.85399807e-05 9.99998933e-01 -2.36029905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:0.07, Z:-0.24 [[ 9.99985395e-01 5.20353065e-03 -1.46073860e-03 4.85474781e+01] [-5.20355817e-03 9.99986461e-01 -1.50406002e-05 7.29648104e-02] [ 1.46064056e-03 2.26414188e-05 9.99998933e-01 -2.36067640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:0.07, Z:-0.24 [[ 9.99994473e-01 2.98665137e-03 -1.46073824e-03 4.85760186e+01] [-2.98667658e-03 9.99995540e-01 -1.50758062e-05 7.29830282e-02] [ 1.46068670e-03 1.94384755e-05 9.99998933e-01 -2.40576953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:0.07, Z:-0.24 [[ 9.99996528e-01 -2.19305386e-03 -1.46073770e-03 4.86052209e+01] [ 2.19303410e-03 9.99997595e-01 -1.51282320e-05 7.25430038e-02] [ 1.46076736e-03 1.19247319e-05 9.99998933e-01 -2.38291687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:0.07, Z:-0.24 [[ 9.99987867e-01 -4.70446342e-03 -1.46073734e-03 4.86351724e+01] [ 4.70444629e-03 9.99988934e-01 -1.51632347e-05 7.23523262e-02] [ 1.46079251e-03 8.29109040e-06 9.99998933e-01 -2.37796199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:0.07, Z:-0.24 [[ 9.99976506e-01 -6.69731736e-03 -1.46073696e-03 4.86646392e+01] [ 6.69730230e-03 9.99977573e-01 -1.51988340e-05 7.18721598e-02] [ 1.46080600e-03 5.41547986e-06 9.99998933e-01 -2.40177106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:0.07, Z:-0.24 [[ 9.99960058e-01 -8.81753841e-03 -1.46073678e-03 4.86944665e+01] [ 8.81752559e-03 9.99961125e-01 -1.52165471e-05 7.20938770e-02] [ 1.46081417e-03 2.33585542e-06 9.99998933e-01 -2.38272058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.72, Y:0.07, Z:-0.24 [[ 9.99927269e-01 -1.19717279e-02 -1.46073642e-03 4.87240845e+01] [ 1.19717184e-02 9.99928336e-01 -1.52514661e-05 7.15548274e-02] [ 1.46081432e-03 -2.23716821e-06 9.99998933e-01 -2.37663340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:0.07, Z:-0.23 [[ 9.99906688e-01 -1.35823918e-02 -1.46073623e-03 4.87550576e+01] [ 1.35823840e-02 9.99907755e-01 -1.52688255e-05 7.16146962e-02] [ 1.46080888e-03 -4.57287970e-06 9.99998933e-01 -2.34078178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:0.07, Z:-0.23 [[ 9.99882418e-01 -1.52648579e-02 -1.46073623e-03 4.87841162e+01] [ 1.52648519e-02 9.99883485e-01 -1.52688255e-05 7.09417738e-02] [ 1.46079911e-03 -7.03089213e-06 9.99998933e-01 -2.32511486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:0.07, Z:-0.23 [[ 9.99833762e-01 -1.81745829e-02 -1.46073606e-03 4.88148603e+01] [ 1.81745800e-02 9.99834829e-01 -1.52858799e-05 6.79803773e-02] [ 1.46077260e-03 -1.12649255e-05 9.99998933e-01 -2.30504021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:0.07, Z:-0.23 [[ 9.99815196e-01 -1.91687341e-02 -1.46073606e-03 4.88442534e+01] [ 1.91687323e-02 9.99816263e-01 -1.52858799e-05 6.61203492e-02] [ 1.46076068e-03 -1.27174033e-05 9.99998933e-01 -2.32025102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205871560000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.87, Y:0.06, Z:-0.23 [[ 9.99785304e-01 -2.06691005e-02 -1.46073587e-03 4.88749773e+01] [ 2.06691002e-02 9.99786371e-01 -1.53034354e-05 6.13989967e-02] [ 1.46074012e-03 -1.48919462e-05 9.99998933e-01 -2.33931564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.91, Y:0.06, Z:-0.23 [[ 9.99785304e-01 -2.06691005e-02 -1.46073587e-03 4.89059745e+01] [ 2.06691002e-02 9.99786371e-01 -1.53034354e-05 6.17237395e-02] [ 1.46074012e-03 -1.48919462e-05 9.99998933e-01 -2.33886281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.94, Y:0.06, Z:-0.23 [[ 9.99767972e-01 -2.14911361e-02 -1.46073587e-03 4.89361262e+01] [ 2.14911367e-02 9.99769039e-01 -1.53034354e-05 5.98404382e-02] [ 1.46072739e-03 -1.60929897e-05 9.99998933e-01 -2.32178783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:0.06, Z:-0.23 [[ 9.99746205e-01 -2.24809225e-02 -1.46073587e-03 4.89652335e+01] [ 2.24809241e-02 9.99747272e-01 -1.53034354e-05 5.87274873e-02] [ 1.46071074e-03 -1.75391408e-05 9.99998933e-01 -2.30920766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:0.05, Z:-0.23 [[ 9.99732778e-01 -2.30703054e-02 -1.46073569e-03 4.89944324e+01] [ 2.30703077e-02 9.99733845e-01 -1.53209267e-05 5.36874093e-02] [ 1.46070036e-03 -1.83827891e-05 9.99998933e-01 -2.31821881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:0.05, Z:-0.23 [[ 9.99722336e-01 -2.35184567e-02 -1.46073551e-03 4.90250740e+01] [ 2.35184594e-02 9.99723403e-01 -1.53377868e-05 5.14482901e-02] [ 1.46069220e-03 -1.90207207e-05 9.99998933e-01 -2.30326906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:0.05, Z:-0.23 [[ 9.99732055e-01 -2.31016315e-02 -1.46073551e-03 4.90552115e+01] [ 2.31016337e-02 9.99733122e-01 -1.53377868e-05 4.64437467e-02] [ 1.46070000e-03 -1.84116997e-05 9.99998933e-01 -2.30459499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:0.04, Z:-0.23 [[ 9.99742735e-01 -2.26347038e-02 -1.46073551e-03 4.90854075e+01] [ 2.26347056e-02 9.99743802e-01 -1.53377868e-05 4.42187735e-02] [ 1.46070844e-03 -1.77294773e-05 9.99998933e-01 -2.30693724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:0.04, Z:-0.23 [[ 9.99772197e-01 -2.12936488e-02 -1.46073533e-03 4.91138187e+01] [ 2.12936491e-02 9.99773264e-01 -1.53548325e-05 4.19510810e-02] [ 1.46073109e-03 -1.57530510e-05 9.99998933e-01 -2.33943066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47587156 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:49.14, Y:0.04, Z:-0.23 [[ 9.99798894e-01 -2.00009377e-02 -1.46067143e-03 4.91433100e+01] [ 2.00009277e-02 9.99799961e-01 -2.14781224e-05 3.70489414e-02] [ 1.46080882e-03 -7.74098055e-06 9.99998933e-01 -2.34937208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.17, Y:0.03, Z:-0.23 [[ 9.99834263e-01 -1.81469608e-02 -1.46068117e-03 4.91722346e+01] [ 1.81469502e-02 9.99835330e-01 -2.05479132e-05 3.48956597e-02] [ 1.46081352e-03 -5.96240080e-06 9.99998933e-01 -2.33645417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:0.03, Z:-0.23 [[ 9.99870064e-01 -1.60536888e-02 -1.46064825e-03 4.92034900e+01] [ 1.60536714e-02 9.99871131e-01 -2.36236879e-05 3.15474432e-02] [ 1.46083926e-03 1.71851328e-07 9.99998933e-01 -2.33682567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:0.03, Z:-0.23 [[ 9.99897703e-01 -1.42284647e-02 -1.46073472e-03 4.92330784e+01] [ 1.42284573e-02 9.99898770e-01 -1.54450974e-05 3.02881044e-02] [ 1.46080661e-03 -5.34048422e-06 9.99998933e-01 -2.34910856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:0.03, Z:-0.23 [[ 9.99928194e-01 -1.18942310e-02 -1.46073455e-03 4.92621971e+01] [ 1.18942211e-02 9.99929261e-01 -1.54619426e-05 2.91358179e-02] [ 1.46081512e-03 -1.91346742e-06 9.99998933e-01 -2.34881690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:0.03, Z:-0.24 [[ 9.99976800e-01 -6.65327998e-03 -1.46073437e-03 4.92908366e+01] [ 6.65326446e-03 9.99977867e-01 -1.54785391e-05 2.81131884e-02] [ 1.46080502e-03 5.75952796e-06 9.99998933e-01 -2.37285106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:0.03, Z:-0.23 [[ 9.99987267e-01 -4.83035942e-03 -1.46065831e-03 4.93213997e+01] [ 4.83033172e-03 9.99988334e-01 -2.24914649e-05 2.85017668e-02] [ 1.46074992e-03 1.54357143e-05 9.99998933e-01 -2.34425633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.35, Y:0.03, Z:-0.24 [[ 9.99998915e-01 -1.92299439e-04 -1.46073133e-03 4.93506789e+01] [ 1.92276716e-04 9.99999981e-01 -1.56958873e-05 2.70122365e-02] [ 1.46073433e-03 1.54150057e-05 9.99998933e-01 -2.35195071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.38, Y:0.03, Z:-0.23 [[ 9.99997228e-01 1.84648005e-03 -1.46073098e-03 4.93800976e+01] [-1.84650499e-03 9.99998295e-01 -1.57290210e-05 2.70248128e-02] [ 1.46069944e-03 1.84262245e-05 9.99998933e-01 -2.32670260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:0.03, Z:-0.23 [[ 9.99992614e-01 3.55492908e-03 -1.46073062e-03 4.94095617e+01] [-3.55495589e-03 9.99993681e-01 -1.57621547e-05 2.74025159e-02] [ 1.46066536e-03 2.09548712e-05 9.99998933e-01 -2.31166524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.44, Y:0.03, Z:-0.23 [[ 9.99968387e-01 7.81609230e-03 -1.46073026e-03 4.94379165e+01] [-7.81612372e-03 9.99969454e-01 -1.57956750e-05 2.88906475e-02] [ 1.46056218e-03 2.72124240e-05 9.99998933e-01 -2.31480695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:0.03, Z:-0.23 [[ 9.99952745e-01 9.61112337e-03 -1.46064631e-03 4.94678268e+01] [-9.61116793e-03 9.99953811e-01 -2.34940911e-05 2.98592384e-02] [ 1.46035304e-03 3.75314979e-05 9.99998933e-01 -2.31518746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:0.03, Z:-0.23 [[ 9.99927731e-01 1.19331213e-02 -1.46064620e-03 4.94989105e+01] [-1.19331684e-02 9.99928797e-01 -2.35042313e-05 3.19032685e-02] [ 1.46026172e-03 4.09326697e-05 9.99998933e-01 -2.31756710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:0.03, Z:-0.24 [[ 9.99907555e-01 1.35184185e-02 -1.46073036e-03 4.95274060e+01] [-1.35184558e-02 9.99908621e-01 -1.56489153e-05 3.19827495e-02] [ 1.46038533e-03 3.53942874e-05 9.99998933e-01 -2.35762734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:0.03, Z:-0.23 [[ 9.99905336e-01 1.36815720e-02 -1.46065475e-03 4.95573472e+01] [-1.36816200e-02 9.99906402e-01 -2.28606235e-05 3.20623062e-02] [ 1.46020527e-03 4.28425826e-05 9.99998933e-01 -2.33920296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:0.03, Z:-0.24 [[ 9.99913525e-01 1.30694069e-02 -1.46064999e-03 4.95858260e+01] [-1.30694549e-02 9.99914591e-01 -2.33177766e-05 3.18872332e-02] [ 1.46022049e-03 4.24056594e-05 9.99998933e-01 -2.38792483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:0.03, Z:-0.24 [[ 9.99921967e-01 1.24067255e-02 -1.46064991e-03 4.96152932e+01] [-1.24067728e-02 9.99923033e-01 -2.33257544e-05 3.31461622e-02] [ 1.46024809e-03 4.14458858e-05 9.99998933e-01 -2.37427584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:0.04, Z:-0.24 [[ 9.99949426e-01 9.95045475e-03 -1.46064532e-03 4.96471213e+01] [-9.95050006e-03 9.99950492e-01 -2.37572884e-05 3.80351094e-02] [ 1.46033661e-03 3.82902383e-05 9.99998933e-01 -2.35673083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.68, Y:0.04, Z:-0.24 [[ 9.99958219e-01 9.02367894e-03 -1.46073372e-03 4.96766606e+01] [-9.02371097e-03 9.99959285e-01 -1.53384240e-05 3.93098133e-02] [ 1.46053584e-03 2.85190220e-05 9.99998933e-01 -2.36327182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:0.04, Z:-0.23 [[ 9.99966853e-01 8.00989286e-03 -1.46073337e-03 4.97067696e+01] [-8.00992385e-03 9.99967920e-01 -1.53723515e-05 4.06319703e-02] [ 1.46056338e-03 2.70722049e-05 9.99998933e-01 -2.32075602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:0.04, Z:-0.24 [[ 9.99969247e-01 7.70532250e-03 -1.46073299e-03 4.97350200e+01] [-7.70535323e-03 9.99970313e-01 -1.54080400e-05 4.04005746e-02] [ 1.46057090e-03 2.66630299e-05 9.99998933e-01 -2.36995012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:0.04, Z:-0.24 [[ 9.99992757e-01 3.51462114e-03 -1.46065123e-03 4.97642485e+01] [-3.51465864e-03 9.99993823e-01 -2.31059400e-05 4.09438432e-02] [ 1.46056100e-03 2.82394632e-05 9.99998933e-01 -2.36256541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:0.04, Z:-0.23 [[ 9.99998910e-01 2.14799526e-04 -1.46065173e-03 4.97947326e+01] [-2.14833437e-04 9.99999977e-01 -2.30592889e-05 4.15371561e-02] [ 1.46064674e-03 2.33730606e-05 9.99998933e-01 -2.33831278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.82, Y:0.04, Z:-0.23 [[ 9.99982269e-01 -5.77311376e-03 -1.46073326e-03 4.98243979e+01] [ 5.77309764e-03 9.99983335e-01 -1.52493954e-05 4.20256477e-02] [ 1.46079695e-03 6.81616926e-06 9.99998933e-01 -2.33702249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:0.04, Z:-0.23 [[ 9.99967911e-01 -7.87677617e-03 -1.46073290e-03 4.98529730e+01] [ 7.87676225e-03 9.99968978e-01 -1.52831318e-05 4.24357379e-02] [ 1.46080797e-03 3.77679559e-06 9.99998933e-01 -2.33735178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:0.04, Z:-0.23 [[ 9.99931413e-01 -1.16204647e-02 -1.46066043e-03 4.98844711e+01] [ 1.16204447e-02 9.99932480e-01 -2.21714782e-05 4.22313639e-02] [ 1.46081945e-03 5.19643381e-06 9.99998933e-01 -2.28394977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.91, Y:0.04, Z:-0.23 [[ 9.99843208e-01 -1.76472518e-02 -1.46073286e-03 4.99137018e+01] [ 1.76472484e-02 9.99844275e-01 -1.52201396e-05 4.00335291e-02] [ 1.46077398e-03 -1.05601624e-05 9.99998933e-01 -2.30430797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:0.04, Z:-0.23 [[ 9.99791875e-01 -2.03487672e-02 -1.46073267e-03 4.99435499e+01] [ 2.03487666e-02 9.99792942e-01 -1.52376690e-05 3.91646101e-02] [ 1.46074029e-03 -1.44896106e-05 9.99998933e-01 -2.28909380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:0.04, Z:-0.23 [[ 9.99689883e-01 -2.48596722e-02 -1.46073232e-03 4.99731042e+01] [ 2.48596764e-02 9.99690950e-01 -1.52717571e-05 3.70068947e-02] [ 1.46066053e-03 -2.10463116e-05 9.99998933e-01 -2.28933436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:0.03, Z:-0.23 [[ 9.99646122e-01 -2.65611779e-02 -1.46073195e-03 5.00019847e+01] [ 2.65611839e-02 9.99647189e-01 -1.53065270e-05 3.49410117e-02] [ 1.46062315e-03 -2.34976596e-05 9.99998933e-01 -2.30210527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:0.03, Z:-0.23 [[ 9.99603126e-01 -2.81328302e-02 -1.46073126e-03 5.00315777e+01] [ 2.81328378e-02 9.99604193e-01 -1.53720446e-05 3.27560868e-02] [ 1.46058556e-03 -2.57285718e-05 9.99998933e-01 -2.28654353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:0.03, Z:-0.23 [[ 9.99524054e-01 -3.08144716e-02 -1.46073090e-03 5.00614291e+01] [ 3.08144820e-02 9.99525121e-01 -1.54063254e-05 2.88917784e-02] [ 1.46051197e-03 -2.96126732e-05 9.99998933e-01 -2.28546014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:0.03, Z:-0.23 [[ 9.99487807e-01 -3.19685872e-02 -1.46073054e-03 5.00903734e+01] [ 3.19685988e-02 9.99488874e-01 -1.54405565e-05 2.71439559e-02] [ 1.46047753e-03 -3.12648606e-05 9.99998933e-01 -2.27663206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:0.03, Z:-0.23 [[ 9.99474218e-01 -3.23906522e-02 -1.46072797e-03 5.01179095e+01] [ 3.23906638e-02 9.99475285e-01 -1.56798277e-05 2.53017999e-02] [ 1.46046938e-03 -3.16423651e-05 9.99998933e-01 -2.29878550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:0.02, Z:-0.23 [[ 9.99439987e-01 -3.34302018e-02 -1.46066272e-03 5.01465483e+01] [ 3.34302058e-02 9.99441054e-01 -2.16958171e-05 2.11625219e-02] [ 1.46057159e-03 -2.71465883e-05 9.99998933e-01 -2.30207662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:0.02, Z:-0.23 [[ 9.99406367e-01 -3.44206271e-02 -1.46065507e-03 5.01767945e+01] [ 3.44206311e-02 9.99407434e-01 -2.23969824e-05 1.54576850e-02] [ 1.46056045e-03 -2.78929824e-05 9.99998933e-01 -2.29365707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.21, Y:0.01, Z:-0.23 [[ 9.99415395e-01 -3.41575028e-02 -1.46072592e-03 5.02061702e+01] [ 3.41575160e-02 9.99416462e-01 -1.58797553e-05 1.20436811e-02] [ 1.46041594e-03 -3.40242971e-05 9.99998933e-01 -2.31152489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:0.01, Z:-0.23 [[ 9.99437819e-01 -3.34949545e-02 -1.46072444e-03 5.02348311e+01] [ 3.34949669e-02 9.99438886e-01 -1.60149266e-05 9.55254587e-03] [ 1.46044122e-03 -3.29209933e-05 9.99998933e-01 -2.29864971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:0.00, Z:-0.23 [[ 9.99535683e-01 -3.04349101e-02 -1.46072168e-03 5.02629556e+01] [ 3.04349189e-02 9.99536750e-01 -1.62624569e-05 4.39691015e-03] [ 1.46053995e-03 -2.82020398e-05 9.99998933e-01 -2.30410832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.29, Y:0.00, Z:-0.23 [[ 9.99574844e-01 -2.91203847e-02 -1.46072070e-03 5.02921890e+01] [ 2.91203919e-02 9.99575911e-01 -1.63503470e-05 2.32993807e-03] [ 1.46057735e-03 -2.61933635e-05 9.99998933e-01 -2.31680620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675871560000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.32, Y:0.00, Z:-0.23 [[ 9.99615184e-01 -2.77010889e-02 -1.46071791e-03 5.03212908e+01] [ 2.77010943e-02 9.99616251e-01 -1.65960589e-05 9.53033986e-05] [ 1.46061708e-03 -2.38738119e-05 9.99998933e-01 -2.31207199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705871560000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.01, Z:-0.23 [[ 9.99698042e-01 -2.45294022e-02 -1.46071508e-03 5.03500073e+01] [ 2.45294038e-02 9.99699109e-01 -1.68415077e-05 -6.51371575e-03] [ 1.46068867e-03 -1.89940477e-05 9.99998933e-01 -2.31764507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.01, Z:-0.23 [[ 9.99731418e-01 -2.31291532e-02 -1.46071221e-03 5.03784748e+01] [ 2.31291529e-02 9.99732485e-01 -1.70862455e-05 -9.03708412e-03] [ 1.46071664e-03 -1.67033797e-05 9.99998933e-01 -2.31994851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76587156 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:50.41, Y:-0.01, Z:-0.23 [[ 9.99766959e-01 -2.15382046e-02 -1.46070931e-03 5.04060413e+01] [ 2.15382022e-02 9.99768026e-01 -1.73311697e-05 -1.18421525e-02] [ 1.46074374e-03 -1.41339217e-05 9.99998933e-01 -2.33430506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.02, Z:-0.23 [[ 9.99820929e-01 -1.88673576e-02 -1.46070827e-03 5.04353644e+01] [ 1.88673523e-02 9.99821996e-01 -1.74184419e-05 -1.80855224e-02] [ 1.46077689e-03 -1.01443747e-05 9.99998933e-01 -2.31905170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:-0.02, Z:-0.23 [[ 9.99854048e-01 -1.70220301e-02 -1.46070536e-03 5.04642288e+01] [ 1.70220225e-02 9.99855115e-01 -1.76589996e-05 -2.16033377e-02] [ 1.46079431e-03 -7.20773728e-06 9.99998933e-01 -2.34171419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.02, Z:-0.23 [[ 9.99877664e-01 -1.55731524e-02 -1.46069925e-03 5.04932691e+01] [ 1.55731425e-02 9.99878731e-01 -1.81587841e-05 -2.47973550e-02] [ 1.46080490e-03 -4.59111482e-06 9.99998933e-01 -2.32477040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:-0.03, Z:-0.23 [[ 9.99926661e-01 -1.20224063e-02 -1.46070200e-03 5.05222185e+01] [ 1.20223929e-02 9.99927728e-01 -1.79342180e-05 -3.07256273e-02] [ 1.46081205e-03 3.71769334e-07 9.99998933e-01 -2.32413856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:-0.03, Z:-0.23 [[ 9.99946301e-01 -1.02597428e-02 -1.46069903e-03 5.05508077e+01] [ 1.02597272e-02 9.99947367e-01 -1.81730927e-05 -3.35266215e-02] [ 1.46080860e-03 3.18574331e-06 9.99998933e-01 -2.31712229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:-0.04, Z:-0.23 [[ 9.99975765e-01 -6.80706916e-03 -1.46069602e-03 5.05799479e+01] [ 6.80704953e-03 9.99976832e-01 -1.84117188e-05 -3.88685432e-02] [ 1.46078751e-03 8.46824238e-06 9.99998933e-01 -2.30617646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.04, Z:-0.23 [[ 9.99987801e-01 -4.71856046e-03 -1.46069521e-03 5.06089079e+01] [ 4.71853850e-03 9.99988867e-01 -1.84761341e-05 -4.10793299e-02] [ 1.46076613e-03 1.15835621e-05 9.99998933e-01 -2.30425307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:-0.04, Z:-0.23 [[ 9.99994228e-01 -3.06748631e-03 -1.46069457e-03 5.06383715e+01] [ 3.06746252e-03 9.99995295e-01 -1.85265349e-05 -4.27652036e-02] [ 1.46074453e-03 1.40458022e-05 9.99998933e-01 -2.30811013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.05, Z:-0.23 [[ 9.99998918e-01 1.73708994e-04 -1.46069415e-03 5.06682317e+01] [-1.73736289e-04 9.99999985e-01 -1.85593832e-05 -4.70340196e-02] [ 1.46069091e-03 1.88131387e-05 9.99998933e-01 -2.29078911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.05, Z:-0.23 [[ 9.99997711e-01 1.56358217e-03 -1.46069373e-03 5.06978217e+01] [-1.56361099e-03 9.99998777e-01 -1.85924301e-05 -4.90191735e-02] [ 1.46066287e-03 2.08763443e-05 9.99998933e-01 -2.29007348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.05, Z:-0.23 [[ 9.99996036e-01 2.40706464e-03 -1.46069331e-03 5.07271269e+01] [-2.40709441e-03 9.99997103e-01 -1.86252501e-05 -5.09495367e-02] [ 1.46064425e-03 2.21412030e-05 9.99998933e-01 -2.29535531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.06, Z:-0.23 [[ 9.99991912e-01 3.74722987e-03 -1.46069339e-03 5.07570296e+01] [-3.74726106e-03 9.99992979e-01 -1.86192477e-05 -5.56664918e-02] [ 1.46061336e-03 2.40926966e-05 9.99998933e-01 -2.31011727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.06, Z:-0.23 [[ 9.99983747e-01 5.51112846e-03 -1.46071708e-03 5.07860434e+01] [-5.51115883e-03 9.99984813e-01 -1.67655940e-05 -5.78695138e-02] [ 1.46060250e-03 2.48155653e-05 9.99998933e-01 -2.28370481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.06, Z:-0.23 [[ 9.99983747e-01 5.51112566e-03 -1.46069252e-03 5.08170390e+01] [-5.51115883e-03 9.99984813e-01 -1.86854082e-05 -5.74718693e-02] [ 1.46056736e-03 2.67352130e-05 9.99998933e-01 -2.28325378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.06, Z:-0.23 [[ 9.99971993e-01 7.34033758e-03 -1.46069252e-03 5.08475673e+01] [-7.34037271e-03 9.99973059e-01 -1.86854082e-05 -5.83501153e-02] [ 1.46051601e-03 2.94069124e-05 9.99998933e-01 -2.29274393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:-0.06, Z:-0.23 [[ 9.99954693e-01 9.40627046e-03 -1.46069252e-03 5.08784453e+01] [-9.40630778e-03 9.99955760e-01 -1.86854082e-05 -5.86285066e-02] [ 1.46045214e-03 3.24242850e-05 9.99998933e-01 -2.30165960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.06, Z:-0.23 [[ 9.99929335e-01 1.17979629e-02 -1.46069252e-03 5.09093846e+01] [-1.17980028e-02 9.99930401e-01 -1.86854082e-05 -5.82489622e-02] [ 1.46037041e-03 3.59173423e-05 9.99998933e-01 -2.28570686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:-0.06, Z:-0.23 [[ 9.99850747e-01 1.72148504e-02 -1.46069252e-03 5.09398095e+01] [-1.72148961e-02 9.99851813e-01 -1.86854082e-05 -5.60165144e-02] [ 1.46015440e-03 4.38282892e-05 9.99998933e-01 -2.32397861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.06, Z:-0.23 [[ 9.99786883e-01 2.05926145e-02 -1.46069274e-03 5.09698869e+01] [-2.05926638e-02 9.99787948e-01 -1.86682539e-05 -5.55095109e-02] [ 1.45999857e-03 4.87438298e-05 9.99998933e-01 -2.33881945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.05, Z:-0.23 [[ 9.99680291e-01 2.52424540e-02 -1.46072415e-03 5.10006967e+01] [-2.52425046e-02 9.99681357e-01 -1.61977311e-05 -5.16679691e-02] [ 1.45984983e-03 5.30648887e-05 9.99998933e-01 -2.29963188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.05, Z:-0.23 [[ 9.99619789e-01 2.75343955e-02 -1.46069457e-03 5.10306589e+01] [-2.75344519e-02 9.99620855e-01 -1.85294935e-05 -4.98255167e-02] [ 1.45963056e-03 5.87418729e-05 9.99998933e-01 -2.32697595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.05, Z:-0.23 [[ 9.99574711e-01 2.91249585e-02 -1.46069479e-03 5.10623061e+01] [-2.91250166e-02 9.99575777e-01 -1.85125462e-05 -4.75464948e-02] [ 1.45953595e-03 6.10474330e-05 9.99998933e-01 -2.27950107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.04, Z:-0.23 [[ 9.99543137e-01 3.01891414e-02 -1.46069522e-03 5.10927780e+01] [-3.01892005e-02 9.99544202e-01 -1.84784973e-05 -4.34184340e-02] [ 1.45947159e-03 6.25672761e-05 9.99998933e-01 -2.30592006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:-0.04, Z:-0.23 [[ 9.99545545e-01 3.01092927e-02 -1.46069543e-03 5.11238749e+01] [-3.01093517e-02 9.99546611e-01 -1.84616099e-05 -4.11171553e-02] [ 1.45947730e-03 6.24338126e-05 9.99998933e-01 -2.29713404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.04, Z:-0.23 [[ 9.99566307e-01 2.94119802e-02 -1.46069582e-03 5.11547651e+01] [-2.94120385e-02 9.99567372e-01 -1.84310767e-05 -3.81244115e-02] [ 1.45952179e-03 6.13851249e-05 9.99998933e-01 -2.25213282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:-0.03, Z:-0.23 [[ 9.99661590e-01 2.59725396e-02 -1.46069626e-03 5.11861147e+01] [-2.59725942e-02 9.99662655e-01 -1.83961989e-05 -3.23747819e-02] [ 1.45972570e-03 5.63280445e-05 9.99998933e-01 -2.26362076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:-0.03, Z:-0.23 [[ 9.99721623e-01 2.35487281e-02 -1.46069670e-03 5.12163199e+01] [-2.35487801e-02 9.99722689e-01 -1.83612277e-05 -2.96483619e-02] [ 1.45985925e-03 5.27537416e-05 9.99998933e-01 -2.29608425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:-0.03, Z:-0.23 [[ 9.99840352e-01 1.78083510e-02 -1.46069692e-03 5.12480213e+01] [-1.78083968e-02 9.99841418e-01 -1.83437598e-05 -2.53580965e-02] [ 1.46013860e-03 4.43535015e-05 9.99998933e-01 -2.28516633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:-0.02, Z:-0.23 [[ 9.99893375e-01 1.45294650e-02 -1.46069734e-03 5.12784822e+01] [-1.45295073e-02 9.99894441e-01 -1.83097528e-05 -2.36639067e-02] [ 1.46027712e-03 3.95310132e-05 9.99998933e-01 -2.29110135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:-0.02, Z:-0.23 [[ 9.99936203e-01 1.12007182e-02 -1.46069756e-03 5.13090898e+01] [-1.12007569e-02 9.99937269e-01 -1.82928055e-05 -2.24442232e-02] [ 1.46040103e-03 3.46525566e-05 9.99998933e-01 -2.27887130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:-0.02, Z:-0.23 [[ 9.99989810e-01 4.27160507e-03 -1.46069756e-03 5.13382241e+01] [-4.27163635e-03 9.99990876e-01 -1.82928055e-05 -1.89138460e-02] [ 1.46060609e-03 2.45321878e-05 9.99998933e-01 -2.27061288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:-0.02, Z:-0.23 [[ 9.99998655e-01 7.45506542e-04 -1.46069756e-03 5.13683283e+01] [-7.45534057e-04 9.99999722e-01 -1.82928055e-05 -1.70834583e-02] [ 1.46068351e-03 1.93817807e-05 9.99998933e-01 -2.26739078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.01, Z:-0.23 [[ 9.99977884e-01 -6.48822391e-03 -1.46069712e-03 5.13980057e+01] [ 6.48820406e-03 9.99978951e-01 -1.83271684e-05 -1.44595023e-02] [ 1.46078529e-03 8.84946205e-06 9.99998933e-01 -2.26509933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:-0.01, Z:-0.23 [[ 9.99951190e-01 -9.77161955e-03 -1.46069669e-03 5.14269786e+01] [ 9.77160315e-03 9.99952257e-01 -1.83616123e-05 -1.33976712e-02] [ 1.46080638e-03 4.08736767e-06 9.99998933e-01 -2.26695167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.01, Z:-0.23 [[ 9.99917843e-01 -1.27347476e-02 -1.46069383e-03 5.14556091e+01] [ 1.27347340e-02 9.99918910e-01 -1.85864126e-05 -1.27495352e-02] [ 1.46081208e-03 -1.66617543e-08 9.99998933e-01 -2.27375023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845871560000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.01, Z:-0.23 [[ 9.99859160e-01 -1.67190552e-02 -1.46069064e-03 5.14841984e+01] [ 1.67190455e-02 9.99860227e-01 -1.88336711e-05 -1.10084978e-02] [ 1.46080136e-03 -5.59033474e-06 9.99998933e-01 -2.29174381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:-0.01, Z:-0.23 [[ 9.99835096e-01 -1.81010360e-02 -1.46068996e-03 5.15119696e+01] [ 1.81010277e-02 9.99836163e-01 -1.88862727e-05 -9.58140096e-03] [ 1.46079251e-03 -7.55683122e-06 9.99998933e-01 -2.27055725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.01, Z:-0.23 [[ 9.99810327e-01 -1.94210237e-02 -1.46068885e-03 5.15397050e+01] [ 1.94210167e-02 9.99811394e-01 -1.89719553e-05 -8.76577857e-03] [ 1.46078181e-03 -9.39970570e-06 9.99998933e-01 -2.25825225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:51.57, Y:-0.01, Z:-0.23 [[ 9.99782690e-01 -2.07951723e-02 -1.46068774e-03 5.15680825e+01] [ 2.07951667e-02 9.99783757e-01 -1.90568765e-05 -8.80297290e-03] [ 1.46076817e-03 -1.13225097e-05 9.99998933e-01 -2.25172031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.01, Z:-0.22 [[ 9.99777642e-01 -2.10364532e-02 -1.46068454e-03 5.15957393e+01] [ 2.10364475e-02 9.99778709e-01 -1.92991001e-05 -6.27180162e-03] [ 1.46076729e-03 -1.14328048e-05 9.99998933e-01 -2.24615412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.01, Z:-0.23 [[ 9.99784676e-01 -2.06994820e-02 -1.46068340e-03 5.16259076e+01] [ 2.06994758e-02 9.99785743e-01 -1.93851680e-05 -5.30573755e-03] [ 1.46077170e-03 -1.08543867e-05 9.99998933e-01 -2.25504247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:-0.00, Z:-0.23 [[ 9.99816271e-01 -1.91125969e-02 -1.46071539e-03 5.16546761e+01] [ 1.91125925e-02 9.99817338e-01 -1.70038995e-05 -2.70497008e-03] [ 1.46077356e-03 -1.09172826e-05 9.99998933e-01 -2.25232981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:-0.00, Z:-0.23 [[ 9.99840213e-01 -1.78161650e-02 -1.46071794e-03 5.16820206e+01] [ 1.78161595e-02 9.99841279e-01 -1.68154645e-05 -1.52358953e-03] [ 1.46078568e-03 -9.21160609e-06 9.99998933e-01 -2.25667452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:0.00, Z:-0.22 [[ 9.99865272e-01 -1.63494150e-02 -1.46070743e-03 5.17101635e+01] [ 1.63494068e-02 9.99866339e-01 -1.75848630e-05 5.01217092e-04] [ 1.46079969e-03 -6.29920597e-06 9.99998933e-01 -2.24059555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:51.74, Y:0.00, Z:-0.23 [[ 9.99925815e-01 -1.20926288e-02 -1.46067457e-03 5.17389169e+01] [ 1.20926125e-02 9.99926881e-01 -1.99859272e-05 2.85099550e-03] [ 1.46080945e-03 2.32107283e-06 9.99998933e-01 -2.27367780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:0.01, Z:-0.23 [[ 9.99950399e-01 -9.85219040e-03 -1.46067371e-03 5.17689145e+01] [ 9.85217162e-03 9.99951466e-01 -2.00485095e-05 6.77542889e-03] [ 1.46080034e-03 5.65670696e-06 9.99998933e-01 -2.25449613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:0.01, Z:-0.22 [[ 9.99972078e-01 -7.32865958e-03 -1.46067323e-03 5.17981347e+01] [ 7.32863806e-03 9.99973145e-01 -2.00833951e-05 1.01319578e-02] [ 1.46078119e-03 9.37808889e-06 9.99998933e-01 -2.24869416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:0.02, Z:-0.23 [[ 9.99997565e-01 -1.65427413e-03 -1.46067276e-03 5.18279403e+01] [ 1.65424651e-03 9.99998632e-01 -2.01181418e-05 1.60703235e-02] [ 1.46070404e-03 1.77017800e-05 9.99998933e-01 -2.26176009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:51.86, Y:0.02, Z:-0.22 [[ 9.99998547e-01 8.79018966e-04 -1.46069908e-03 5.18567498e+01] [-8.79046501e-04 9.99999613e-01 -1.82084232e-05 1.82658649e-02] [ 1.46068251e-03 1.94924192e-05 9.99998933e-01 -2.23615320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:0.02, Z:-0.22 [[ 9.99994567e-01 2.95509092e-03 -1.46067167e-03 5.18864489e+01] [-2.95512357e-03 9.99995633e-01 -2.01910411e-05 2.14865345e-02] [ 1.46060563e-03 2.45073967e-05 9.99998933e-01 -2.21699767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:51.92, Y:0.02, Z:-0.22 [[ 9.99981496e-01 5.90539398e-03 -1.46067120e-03 5.19158650e+01] [-5.90542982e-03 9.99982563e-01 -2.02250974e-05 2.46370736e-02] [ 1.46052629e-03 2.88506144e-05 9.99998933e-01 -2.23263411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:0.03, Z:-0.22 [[ 9.99977442e-01 6.55612909e-03 -1.46067073e-03 5.19457914e+01] [-6.55616567e-03 9.99978508e-01 -2.02591024e-05 2.88184071e-02] [ 1.46050651e-03 2.98350447e-05 9.99998933e-01 -2.21387940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:0.03, Z:-0.22 [[ 9.99971553e-01 7.39999851e-03 -1.46067049e-03 5.19756821e+01] [-7.40003602e-03 9.99972619e-01 -2.02760053e-05 3.39742549e-02] [ 1.46048046e-03 3.10844428e-05 9.99998933e-01 -2.22486783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:0.04, Z:-0.23 [[ 9.99965377e-01 8.19214328e-03 -1.46067026e-03 5.20063734e+01] [-8.19218165e-03 9.99966443e-01 -2.02928042e-05 3.55965691e-02] [ 1.46045500e-03 3.22581777e-05 9.99998933e-01 -2.25407192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:0.04, Z:-0.22 [[ 9.99964757e-01 8.26749687e-03 -1.46070603e-03 5.20364014e+01] [-8.26753156e-03 9.99965823e-01 -1.77099889e-05 3.85539805e-02] [ 1.46050969e-03 2.97857979e-05 9.99998933e-01 -2.23149634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:0.04, Z:-0.22 [[ 9.99963617e-01 8.40418819e-03 -1.46070174e-03 5.20658022e+01] [-8.40422348e-03 9.99964684e-01 -1.80200947e-05 4.24590589e-02] [ 1.46049870e-03 3.02955029e-05 9.99998933e-01 -2.21682588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:0.05, Z:-0.22 [[ 9.99953110e-01 9.57313516e-03 -1.46067133e-03 5.20956905e+01] [-9.57317490e-03 9.99954176e-01 -2.02167447e-05 4.80172671e-02] [ 1.46041086e-03 3.41990589e-05 9.99998933e-01 -2.23926771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:0.05, Z:-0.23 [[ 9.99948513e-01 1.00418392e-02 -1.46067085e-03 5.21250533e+01] [-1.00418795e-02 9.99949579e-01 -2.02515961e-05 5.12494531e-02] [ 1.46039384e-03 3.49184341e-05 9.99998933e-01 -2.25023877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:0.05, Z:-0.23 [[ 9.99943421e-01 1.05366256e-02 -1.46067037e-03 5.21544446e+01] [-1.05366665e-02 9.99944488e-01 -2.02862289e-05 5.45045267e-02] [ 1.46037553e-03 3.56756776e-05 9.99998933e-01 -2.26862009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:0.06, Z:-0.23 [[ 9.99943931e-01 1.04881903e-02 -1.46068062e-03 5.21833778e+01] [-1.04882300e-02 9.99944997e-01 -1.95480174e-05 6.14840403e-02] [ 1.46039526e-03 3.48668757e-05 9.99998933e-01 -2.27240156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:0.07, Z:-0.23 [[ 9.99949036e-01 9.98955592e-03 -1.46069572e-03 5.22122775e+01] [-9.98959354e-03 9.99950103e-01 -1.84586756e-05 6.57128306e-02] [ 1.46043844e-03 3.30494914e-05 9.99998933e-01 -2.27137170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:0.07, Z:-0.23 [[ 9.99961000e-01 8.71005004e-03 -1.46067005e-03 5.22430699e+01] [-8.71008899e-03 9.99962066e-01 -2.03050539e-05 7.17638406e-02] [ 1.46043778e-03 3.30268282e-05 9.99998933e-01 -2.26735606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:0.08, Z:-0.22 [[ 9.99969146e-01 7.71839673e-03 -1.46072414e-03 5.22714291e+01] [-7.71842891e-03 9.99970212e-01 -1.63975839e-05 7.51246170e-02] [ 1.46055407e-03 2.76715734e-05 9.99998933e-01 -2.24699668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:0.08, Z:-0.23 [[ 9.99978081e-01 6.45787605e-03 -1.46069496e-03 5.23001926e+01] [-6.45790997e-03 9.99979147e-01 -1.85096905e-05 7.80097668e-02] [ 1.46054497e-03 2.79423214e-05 9.99998933e-01 -2.26435322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:0.09, Z:-0.22 [[ 9.99988102e-01 4.65421740e-03 -1.46072111e-03 5.23286367e+01] [-4.65424664e-03 9.99989169e-01 -1.66192403e-05 8.52447346e-02] [ 1.46062794e-03 2.34175989e-05 9.99998933e-01 -2.24932256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:0.09, Z:-0.23 [[ 9.99993678e-01 3.24198072e-03 -1.46061631e-03 5.23595852e+01] [-3.24201953e-03 9.99994744e-01 -2.42039590e-05 8.91102401e-02] [ 1.46053016e-03 2.89391526e-05 9.99998933e-01 -2.25364080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775871560000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:52.39, Y:0.09, Z:-0.23 [[ 9.99996127e-01 2.36907800e-03 -1.46067386e-03 5.23895018e+01] [-2.36910974e-03 9.99997193e-01 -2.00008546e-05 9.08140271e-02] [ 1.46062238e-03 2.34612738e-05 9.99998933e-01 -2.30948712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:0.09, Z:-0.23 [[ 9.99998633e-01 7.74700726e-04 -1.46067361e-03 5.24190366e+01] [-7.74730793e-04 9.99999700e-01 -2.00187494e-05 9.47620688e-02] [ 1.46065767e-03 2.11503508e-05 9.99998933e-01 -2.30444623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:52.45, Y:0.10, Z:-0.23 [[ 9.99996685e-01 -2.12033610e-03 -1.46067316e-03 5.24482761e+01] [ 2.12030907e-03 9.99997752e-01 -2.00519016e-05 9.87683742e-02] [ 1.46071239e-03 1.69547566e-05 9.99998933e-01 -2.34785620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:0.10, Z:-0.23 [[ 9.99988929e-01 -4.47315791e-03 -1.46067293e-03 5.24779772e+01] [ 4.47313337e-03 9.99989995e-01 -2.00683918e-05 1.02992633e-01] [ 1.46074809e-03 1.35343848e-05 9.99998933e-01 -2.32408053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:0.11, Z:-0.23 [[ 9.99975942e-01 -6.78098893e-03 -1.46067271e-03 5.25074281e+01] [ 6.78096682e-03 9.99977009e-01 -2.00847604e-05 1.05169982e-01] [ 1.46077532e-03 1.01795040e-05 9.99998933e-01 -2.32803484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:0.11, Z:-0.23 [[ 9.99930105e-01 -1.17325049e-02 -1.46067226e-03 5.25368570e+01] [ 1.17324881e-02 9.99931172e-01 -2.01173092e-05 1.08711479e-01] [ 1.46080775e-03 2.97858324e-06 9.99998933e-01 -2.31717748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:0.11, Z:-0.23 [[ 9.99898512e-01 -1.41715186e-02 -1.46067204e-03 5.25675878e+01] [ 1.41715043e-02 9.99899579e-01 -2.01334702e-05 1.10414009e-01] [ 1.46081067e-03 -5.68493113e-07 9.99998933e-01 -2.31183306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:0.11, Z:-0.23 [[ 9.99867108e-01 -1.62367842e-02 -1.46067204e-03 5.25975561e+01] [ 1.62367721e-02 9.99868175e-01 -2.01334702e-05 1.11403531e-01] [ 1.46080638e-03 -3.58580441e-06 9.99998933e-01 -2.31086089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:0.11, Z:-0.23 [[ 9.99806414e-01 -1.96214400e-02 -1.46067208e-03 5.26268126e+01] [ 1.96214315e-02 9.99807481e-01 -2.01302374e-05 1.11690701e-01] [ 1.46078586e-03 -8.53413670e-06 9.99998933e-01 -2.31733518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:0.11, Z:-0.23 [[ 9.99784414e-01 -2.07121269e-02 -1.46067213e-03 5.26571156e+01] [ 2.07121196e-02 9.99785481e-01 -2.01266665e-05 1.12742159e-01] [ 1.46077565e-03 -1.01312883e-05 9.99998933e-01 -2.31650832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:0.11, Z:-0.23 [[ 9.99784414e-01 -2.07121269e-02 -1.46067213e-03 5.26881113e+01] [ 2.07121196e-02 9.99785481e-01 -2.01266665e-05 1.13169250e-01] [ 1.46077565e-03 -1.01312883e-05 9.99998933e-01 -2.31605549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:0.11, Z:-0.23 [[ 9.99773624e-01 -2.12265845e-02 -1.46067213e-03 5.27188038e+01] [ 2.12265777e-02 9.99774691e-01 -2.01266665e-05 1.14554161e-01] [ 1.46077025e-03 -1.08829601e-05 9.99998933e-01 -2.29430924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:0.12, Z:-0.23 [[ 9.99770499e-01 -2.13732364e-02 -1.46067213e-03 5.27484908e+01] [ 2.13732298e-02 9.99771566e-01 -2.01266665e-05 1.15445023e-01] [ 1.46076863e-03 -1.10972337e-05 9.99998933e-01 -2.32135039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:0.12, Z:-0.23 [[ 9.99769263e-01 -2.14309891e-02 -1.46067218e-03 5.27780924e+01] [ 2.14309826e-02 9.99770330e-01 -2.01232663e-05 1.15128816e-01] [ 1.46076796e-03 -1.11850169e-05 9.99998933e-01 -2.29231376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:0.11, Z:-0.23 [[ 9.99782358e-01 -2.08111335e-02 -1.46073012e-03 5.28067102e+01] [ 2.08111324e-02 9.99783425e-01 -1.59233113e-05 1.14943149e-01] [ 1.46074514e-03 -1.44796021e-05 9.99998933e-01 -2.29863448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:0.11, Z:-0.23 [[ 9.99802909e-01 -1.97992273e-02 -1.46066793e-03 5.28364599e+01] [ 1.97992186e-02 9.99803976e-01 -2.03801564e-05 1.14375771e-01] [ 1.46078512e-03 -8.54394408e-06 9.99998933e-01 -2.31807450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:0.11, Z:-0.23 [[ 9.99818271e-01 -1.90076697e-02 -1.46066769e-03 5.28673301e+01] [ 1.90076602e-02 9.99819338e-01 -2.03972529e-05 1.14170761e-01] [ 1.46079151e-03 -7.37032904e-06 9.99998933e-01 -2.31442582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285871560000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:52.90, Y:0.11, Z:-0.24 [[ 9.99837737e-01 -1.79545473e-02 -1.46066769e-03 5.28969951e+01] [ 1.79545367e-02 9.99838804e-01 -2.03972529e-05 1.12767474e-01] [ 1.46079846e-03 -5.83166846e-06 9.99998933e-01 -2.38699777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:0.11, Z:-0.23 [[ 9.99854507e-01 -1.69950357e-02 -1.46066745e-03 5.29274045e+01] [ 1.69950240e-02 9.99855574e-01 -2.04146333e-05 1.13827315e-01] [ 1.46080344e-03 -4.41241524e-06 9.99998933e-01 -2.33358387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345871560000006 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.96, Y:0.11, Z:-0.24 [[ 9.99876586e-01 -1.56422208e-02 -1.46066745e-03 5.29569931e+01] [ 1.56422077e-02 9.99877653e-01 -2.04146333e-05 1.11518779e-01] [ 1.46080807e-03 -2.43594974e-06 9.99998933e-01 -2.37372274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:0.11, Z:-0.23 [[ 9.99879220e-01 -1.54729122e-02 -1.46066745e-03 5.29872217e+01] [ 1.54728989e-02 9.99880287e-01 -2.04147646e-05 1.12829778e-01] [ 1.46080846e-03 -2.18846087e-06 9.99998933e-01 -2.33175654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.02, Y:0.11, Z:-0.23 [[ 9.99909617e-01 -1.33650165e-02 -1.46072606e-03 5.30158942e+01] [ 1.33650071e-02 9.99910684e-01 -1.62200678e-05 1.11942687e-01] [ 1.46081237e-03 -3.30401228e-06 9.99998933e-01 -2.32805497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:0.11, Z:-0.23 [[ 9.99919392e-01 -1.26125658e-02 -1.46066321e-03 5.30459079e+01] [ 1.26125491e-02 9.99920458e-01 -2.06627876e-05 1.12779656e-01] [ 1.46080764e-03 2.23843555e-06 9.99998933e-01 -2.34947808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:0.11, Z:-0.23 [[ 9.99935148e-01 -1.12944852e-02 -1.46068168e-03 5.30751506e+01] [ 1.12944690e-02 9.99936215e-01 -1.93656377e-05 1.13265758e-01] [ 1.46080723e-03 2.86675784e-06 9.99998933e-01 -2.32712358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:0.11, Z:-0.23 [[ 9.99939955e-01 -1.08606526e-02 -1.46066137e-03 5.31051848e+01] [ 1.08606338e-02 9.99941021e-01 -2.07919913e-05 1.13453759e-01] [ 1.46080104e-03 4.92703450e-06 9.99998933e-01 -2.33444141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:0.11, Z:-0.23 [[ 9.99938114e-01 -1.10288482e-02 -1.46066137e-03 5.31356077e+01] [ 1.10288296e-02 9.99939180e-01 -2.07919913e-05 1.12855974e-01] [ 1.46080185e-03 4.68131918e-06 9.99998933e-01 -2.33569041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.16, Y:0.11, Z:-0.24 [[ 9.99935801e-01 -1.12365646e-02 -1.46066137e-03 5.31649334e+01] [ 1.12365463e-02 9.99936868e-01 -2.07919913e-05 1.11604000e-01] [ 1.46080279e-03 4.37786736e-06 9.99998933e-01 -2.35293725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.19, Y:0.11, Z:-0.23 [[ 9.99915702e-01 -1.29017599e-02 -1.46066088e-03 5.31946458e+01] [ 1.29017433e-02 9.99916769e-01 -2.08266867e-05 1.09856019e-01] [ 1.46080801e-03 1.97985933e-06 9.99998933e-01 -2.34606654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:53.22, Y:0.11, Z:-0.24 [[ 9.99901869e-01 -1.39326476e-02 -1.46066038e-03 5.32244244e+01] [ 1.39326320e-02 9.99902936e-01 -2.08615940e-05 1.08623655e-01] [ 1.46080926e-03 5.08703327e-07 9.99998933e-01 -2.35085634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:0.11, Z:-0.23 [[ 9.99881601e-01 -1.53183283e-02 -1.46066013e-03 5.32538843e+01] [ 1.53183142e-02 9.99882668e-01 -2.08789053e-05 1.09194585e-01] [ 1.46080858e-03 -1.49841759e-06 9.99998933e-01 -2.31457104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:0.11, Z:-0.23 [[ 9.99853539e-01 -1.70519034e-02 -1.46065963e-03 5.32834404e+01] [ 1.70518910e-02 9.99854606e-01 -2.09141992e-05 1.08206756e-01] [ 1.46080388e-03 -3.99587266e-06 9.99998933e-01 -2.31379118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:0.11, Z:-0.23 [[ 9.99842425e-01 -1.76915826e-02 -1.46065912e-03 5.33125637e+01] [ 1.76915709e-02 9.99843492e-01 -2.09494033e-05 1.07761077e-01] [ 1.46080115e-03 -4.89525221e-06 9.99998933e-01 -2.32071507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:0.11, Z:-0.23 [[ 9.99835498e-01 -1.80788225e-02 -1.46065916e-03 5.33416573e+01] [ 1.80788112e-02 9.99836565e-01 -2.09465351e-05 1.06873831e-01] [ 1.46079913e-03 -5.46389182e-06 9.99998933e-01 -2.31667865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:0.10, Z:-0.23 [[ 9.99837419e-01 -1.79722671e-02 -1.46065892e-03 5.33709419e+01] [ 1.79722557e-02 9.99838486e-01 -2.09634586e-05 1.04545048e-01] [ 1.46079976e-03 -5.29128523e-06 9.99998933e-01 -2.30243184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:53.40, Y:0.10, Z:-0.24 [[ 9.99846273e-01 -1.74727524e-02 -1.46065843e-03 5.34001513e+01] [ 1.74727404e-02 9.99847340e-01 -2.09977589e-05 1.02005864e-01] [ 1.46080233e-03 -4.52717454e-06 9.99998933e-01 -2.35104139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:0.10, Z:-0.23 [[ 9.99840798e-01 -1.77832601e-02 -1.46065818e-03 5.34303091e+01] [ 1.77832484e-02 9.99841865e-01 -2.10147832e-05 1.02853826e-01] [ 1.46080091e-03 -4.96380962e-06 9.99998933e-01 -2.32664072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:0.10, Z:-0.24 [[ 9.99866272e-01 -1.62881702e-02 -1.46072052e-03 5.34602152e+01] [ 1.62881631e-02 9.99867339e-01 -1.67055475e-05 9.97071560e-02] [ 1.46079884e-03 -7.08914064e-06 9.99998933e-01 -2.35119638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:0.10, Z:-0.23 [[ 9.99887305e-01 -1.49413731e-02 -1.46070141e-03 5.34892070e+01] [ 1.49413628e-02 9.99888371e-01 -1.80188897e-05 9.89628858e-02] [ 1.46080758e-03 -3.80801058e-06 9.99998933e-01 -2.33673497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:53.52, Y:0.10, Z:-0.24 [[ 9.99909192e-01 -1.33968206e-02 -1.46065219e-03 5.35186825e+01] [ 1.33968036e-02 9.99910259e-01 -2.13811096e-05 9.65333113e-02] [ 1.46080755e-03 1.81109751e-06 9.99998933e-01 -2.36713118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:0.10, Z:-0.23 [[ 9.99939935e-01 -1.08624988e-02 -1.46065169e-03 5.35480606e+01] [ 1.08624791e-02 9.99941001e-01 -2.14155119e-05 9.53436019e-02] [ 1.46079814e-03 5.54792714e-06 9.99998933e-01 -2.32955558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:0.09, Z:-0.23 [[ 9.99955359e-01 -9.33519297e-03 -1.46065118e-03 5.35773922e+01] [ 9.33517160e-03 9.99956426e-01 -2.14501419e-05 9.47523008e-02] [ 1.46078777e-03 7.81375499e-06 9.99998933e-01 -2.32437602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:0.09, Z:-0.23 [[ 9.99970092e-01 -7.59481858e-03 -1.46065067e-03 5.36063905e+01] [ 7.59479530e-03 9.99971159e-01 -2.14847959e-05 9.46389332e-02] [ 1.46077171e-03 1.03908105e-05 9.99998933e-01 -2.31872821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035871560000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:53.64, Y:0.09, Z:-0.23 [[ 9.99989937e-01 -4.24175750e-03 -1.46065016e-03 5.36357635e+01] [ 4.24173059e-03 9.99991004e-01 -2.15193772e-05 9.20281809e-02] [ 1.46072830e-03 1.53234762e-05 9.99998933e-01 -2.33703735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:0.09, Z:-0.23 [[ 9.99995230e-01 -2.72140247e-03 -1.46064965e-03 5.36653020e+01] [ 2.72137389e-03 9.99996297e-01 -2.15538821e-05 9.31191244e-02] [ 1.46070290e-03 1.75788055e-05 9.99998933e-01 -2.30995373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:0.09, Z:-0.23 [[ 9.99998506e-01 -9.23894272e-04 -1.46064914e-03 5.36943138e+01] [ 9.23863725e-04 9.99999573e-01 -2.15883775e-05 9.34583361e-02] [ 1.46066846e-03 2.02389045e-05 9.99998933e-01 -2.31576024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:0.09, Z:-0.23 [[ 9.99995626e-01 2.57181848e-03 -1.46064919e-03 5.37244526e+01] [-2.57185275e-03 9.99996693e-01 -2.15849835e-05 9.49316995e-02] [ 1.46058885e-03 2.53414637e-05 9.99998933e-01 -2.32416047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:53.75, Y:0.09, Z:-0.24 [[ 9.99991042e-01 3.97268135e-03 -1.46064894e-03 5.37540931e+01] [-3.97271714e-03 9.99992108e-01 -2.16020951e-05 9.38280485e-02] [ 1.46055159e-03 2.74046466e-05 9.99998933e-01 -2.35561226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:0.10, Z:-0.23 [[ 9.99987457e-01 4.79089307e-03 -1.46064843e-03 5.37836818e+01] [-4.79092978e-03 9.99988523e-01 -2.16364142e-05 9.53908119e-02] [ 1.46052801e-03 2.86340069e-05 9.99998933e-01 -2.32451738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:0.09, Z:-0.23 [[ 9.99982020e-01 5.81595491e-03 -1.46064792e-03 5.38137719e+01] [-5.81599277e-03 9.99983087e-01 -2.16710344e-05 9.49629480e-02] [ 1.46049717e-03 3.01657625e-05 9.99998933e-01 -2.31075828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:0.09, Z:-0.23 [[ 9.99982665e-01 5.70397946e-03 -1.46064739e-03 5.38431363e+01] [-5.70401725e-03 9.99983732e-01 -2.17065678e-05 9.45811796e-02] [ 1.46049981e-03 3.00377494e-05 9.99998933e-01 -2.31105267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:0.09, Z:-0.23 [[ 9.99986024e-01 5.08126448e-03 -1.46064765e-03 5.38725618e+01] [-5.08130158e-03 9.99987090e-01 -2.16888938e-05 9.44381643e-02] [ 1.46051859e-03 2.91105819e-05 9.99998933e-01 -2.31630625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.90, Y:0.10, Z:-0.23 [[ 9.99990818e-01 4.02880964e-03 -1.46064739e-03 5.39017739e+01] [-4.02884564e-03 9.99991884e-01 -2.17062158e-05 9.55727077e-02] [ 1.46054809e-03 2.75907394e-05 9.99998933e-01 -2.32230079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.93, Y:0.10, Z:-0.23 [[ 9.99990658e-01 4.06828138e-03 -1.46064686e-03 5.39317626e+01] [-4.06831747e-03 9.99991724e-01 -2.17417593e-05 9.65205776e-02] [ 1.46054632e-03 2.76839314e-05 9.99998933e-01 -2.32362112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:0.10, Z:-0.23 [[ 9.99990167e-01 4.18722989e-03 -1.46064633e-03 5.39613046e+01] [-4.18726617e-03 9.99991233e-01 -2.17776468e-05 9.79714325e-02] [ 1.46054233e-03 2.78935476e-05 9.99998933e-01 -2.31555681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:0.10, Z:-0.23 [[ 9.99983850e-01 5.49243508e-03 -1.46064606e-03 5.39910565e+01] [-5.49247277e-03 9.99984916e-01 -2.17954744e-05 9.76333898e-02] [ 1.46050432e-03 2.98176812e-05 9.99998933e-01 -2.30197308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425871560000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.02, Y:0.10, Z:-0.23 [[ 9.99979340e-01 6.25993491e-03 -1.46064581e-03 5.40205981e+01] [-6.25997345e-03 9.99980406e-01 -2.18125948e-05 9.82672592e-02] [ 1.46048064e-03 3.09557481e-05 9.99998933e-01 -2.30329245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:0.10, Z:-0.23 [[ 9.99971849e-01 7.35982880e-03 -1.46064528e-03 5.40500752e+01] [-7.35986856e-03 9.99972916e-01 -2.18480066e-05 1.00817072e-01] [ 1.46044492e-03 3.25975488e-05 9.99998933e-01 -2.29252434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:0.10, Z:-0.23 [[ 9.99951383e-01 9.75180388e-03 -1.46064475e-03 5.40789904e+01] [-9.75184625e-03 9.99952449e-01 -2.18832877e-05 1.02836868e-01] [ 1.46036189e-03 3.61262068e-05 9.99998933e-01 -2.32411273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:0.10, Z:-0.23 [[ 9.99943664e-01 1.05135742e-02 -1.46064396e-03 5.41084000e+01] [-1.05136175e-02 9.99944730e-01 -2.19358877e-05 1.04494071e-01] [ 1.46033260e-03 3.72913037e-05 9.99998933e-01 -2.32382423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:0.11, Z:-0.23 [[ 9.99932871e-01 1.14943774e-02 -1.46064346e-03 5.41380970e+01] [-1.14944217e-02 9.99933937e-01 -2.19688853e-05 1.06521518e-01] [ 1.46029445e-03 3.87566625e-05 9.99998933e-01 -2.31276490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:0.11, Z:-0.23 [[ 9.99923124e-01 1.23130693e-02 -1.46064295e-03 5.41677135e+01] [-1.23131145e-02 9.99924190e-01 -2.20030017e-05 1.08420170e-01] [ 1.46026129e-03 3.99863740e-05 9.99998933e-01 -2.31069565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:0.11, Z:-0.23 [[ 9.99907629e-01 1.35129884e-02 -1.46064243e-03 5.41966311e+01] [-1.35130350e-02 9.99908695e-01 -2.20372591e-05 1.11991424e-01] [ 1.46021128e-03 4.17729358e-05 9.99998933e-01 -2.32256546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:0.11, Z:-0.23 [[ 9.99898229e-01 1.41915054e-02 -1.46064636e-03 5.42265678e+01] [-1.41915524e-02 9.99899295e-01 -2.17777386e-05 1.14143519e-01] [ 1.46019021e-03 4.25043616e-05 9.99998933e-01 -2.29204886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:0.12, Z:-0.23 [[ 9.99894225e-01 1.44708163e-02 -1.46064127e-03 5.42559395e+01] [-1.44708640e-02 9.99895291e-01 -2.21136623e-05 1.16457222e-01] [ 1.46016833e-03 4.32480646e-05 9.99998933e-01 -2.28691651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:0.12, Z:-0.23 [[ 9.99897583e-01 1.42369315e-02 -1.46064074e-03 5.42847439e+01] [-1.42369791e-02 9.99898649e-01 -2.21487170e-05 1.20561829e-01] [ 1.46017737e-03 4.29415602e-05 9.99998933e-01 -2.28867788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:54.31, Y:0.12, Z:-0.23 [[ 9.99903980e-01 1.37803444e-02 -1.46063995e-03 5.43133538e+01] [-1.37803916e-02 9.99905046e-01 -2.22009190e-05 1.21882202e-01] [ 1.46019532e-03 4.23269777e-05 9.99998933e-01 -2.31607956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:0.13, Z:-0.23 [[ 9.99910872e-01 1.32708147e-02 -1.46063917e-03 5.43427848e+01] [-1.32708614e-02 9.99911938e-01 -2.22521104e-05 1.25804584e-01] [ 1.46021524e-03 4.16340671e-05 9.99998933e-01 -2.31838528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:0.13, Z:-0.23 [[ 9.99914268e-01 1.30124301e-02 -1.46066527e-03 5.43716543e+01] [-1.30124740e-02 9.99915334e-01 -2.05386201e-05 1.28800368e-01] [ 1.46027435e-03 3.95437282e-05 9.99998933e-01 -2.30854677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:0.13, Z:-0.23 [[ 9.99915341e-01 1.29296727e-02 -1.46065724e-03 5.44005076e+01] [-1.29297172e-02 9.99916407e-01 -2.10655716e-05 1.33469617e-01] [ 1.46026277e-03 3.99496733e-05 9.99998933e-01 -2.28925320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:0.14, Z:-0.23 [[ 9.99918897e-01 1.26517462e-02 -1.46063994e-03 5.44302593e+01] [-1.26517921e-02 9.99919963e-01 -2.22034201e-05 1.35935931e-01] [ 1.46024213e-03 4.06813323e-05 9.99998933e-01 -2.29183026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:0.14, Z:-0.23 [[ 9.99931584e-01 1.16057924e-02 -1.46063943e-03 5.44602447e+01] [-1.16058373e-02 9.99932650e-01 -2.22373154e-05 1.39995826e-01] [ 1.46028297e-03 3.91877375e-05 9.99998933e-01 -2.27774869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:54.49, Y:0.14, Z:-0.23 [[ 9.99942752e-01 1.06000071e-02 -1.46063890e-03 5.44892819e+01] [-1.06000509e-02 9.99943818e-01 -2.22717890e-05 1.41110864e-01] [ 1.46032076e-03 3.77533607e-05 9.99998933e-01 -2.31308615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:0.14, Z:-0.23 [[ 9.99947892e-01 1.01034517e-02 -1.46063812e-03 5.45175488e+01] [-1.01034950e-02 9.99948958e-01 -2.23232274e-05 1.43983104e-01] [ 1.46033802e-03 3.70796142e-05 9.99998933e-01 -2.29724120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:0.15, Z:-0.23 [[ 9.99972541e-01 7.26531745e-03 -1.46060281e-03 5.45475030e+01] [-7.26536117e-03 9.99973607e-01 -2.46283687e-05 1.46652821e-01] [ 1.46038533e-03 3.52394993e-05 9.99998933e-01 -2.28192684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:0.15, Z:-0.23 [[ 9.99972714e-01 7.24140986e-03 -1.46063954e-03 5.45776600e+01] [-7.24145003e-03 9.99973780e-01 -2.22133110e-05 1.47155556e-01] [ 1.46044039e-03 3.27898531e-05 9.99998933e-01 -2.28148757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025871560000006 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:54.61, Y:0.15, Z:-0.23 [[ 9.99987359e-01 4.81129623e-03 -1.46063901e-03 5.46063040e+01] [-4.81133385e-03 9.99988425e-01 -2.22482375e-05 1.47761469e-01] [ 1.46051506e-03 2.92755782e-05 9.99998933e-01 -2.31265339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:0.15, Z:-0.23 [[ 9.99994345e-01 3.02924090e-03 -1.46063821e-03 5.46361526e+01] [-3.02927670e-03 9.99995411e-01 -2.23003446e-05 1.49998615e-01] [ 1.46056396e-03 2.67248959e-05 9.99998933e-01 -2.29092710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:0.15, Z:-0.23 [[ 9.99998573e-01 8.49003594e-04 -1.46063768e-03 5.46658895e+01] [-8.49037122e-04 9.99999639e-01 -2.23349140e-05 1.51129598e-01] [ 1.46061820e-03 2.35750178e-05 9.99998933e-01 -2.28404615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:0.15, Z:-0.23 [[ 9.99995951e-01 -2.44210675e-03 -1.46063715e-03 5.46955835e+01] [ 2.44207668e-03 9.99997018e-01 -2.23700453e-05 1.53229039e-01] [ 1.46068742e-03 1.88029668e-05 9.99998933e-01 -2.27667816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:0.15, Z:-0.23 [[ 9.99992961e-01 -3.45607289e-03 -1.46063688e-03 5.47254147e+01] [ 3.45604388e-03 9.99994028e-01 -2.23874887e-05 1.54800563e-01] [ 1.46070553e-03 1.73393060e-05 9.99998933e-01 -2.29577407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:0.16, Z:-0.23 [[ 9.99989809e-01 -4.27191880e-03 -1.46063662e-03 5.47554027e+01] [ 4.27189063e-03 9.99990875e-01 -2.24046195e-05 1.56416106e-01] [ 1.46071900e-03 1.61647113e-05 9.99998933e-01 -2.27345687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:0.16, Z:-0.23 [[ 9.99989024e-01 -4.45175111e-03 -1.46063608e-03 5.47844856e+01] [ 4.45172309e-03 9.99990091e-01 -2.24393556e-05 1.56797112e-01] [ 1.46072150e-03 1.59367619e-05 9.99998933e-01 -2.29829393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:0.16, Z:-0.23 [[ 9.99987385e-01 -4.80588977e-03 -1.46063582e-03 5.48138925e+01] [ 4.80586209e-03 9.99988452e-01 -2.24566245e-05 1.57459387e-01] [ 1.46072687e-03 1.54367269e-05 9.99998933e-01 -2.31259770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:0.16, Z:-0.23 [[ 9.99983517e-01 -5.55263610e-03 -1.46063530e-03 5.48436403e+01] [ 5.55260918e-03 9.99984584e-01 -2.24904689e-05 1.58590577e-01] [ 1.46073766e-03 1.43797612e-05 9.99998933e-01 -2.32375010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.87, Y:0.16, Z:-0.23 [[ 9.99979818e-01 -6.18297262e-03 -1.46063477e-03 5.48733245e+01] [ 6.18294632e-03 9.99980885e-01 -2.25247167e-05 1.60110246e-01] [ 1.46074612e-03 1.34932358e-05 9.99998933e-01 -2.32444756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.90, Y:0.16, Z:-0.23 [[ 9.99976813e-01 -6.65138868e-03 -1.46063424e-03 5.49028924e+01] [ 6.65136282e-03 9.99977879e-01 -2.25589456e-05 1.61348625e-01] [ 1.46075198e-03 1.28432142e-05 9.99998933e-01 -2.31346207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355871560000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:54.93, Y:0.16, Z:-0.23 [[ 9.99972363e-01 -7.28966524e-03 -1.46063369e-03 5.49322420e+01] [ 7.28964001e-03 9.99973430e-01 -2.25942691e-05 1.62718499e-01] [ 1.46075959e-03 1.19461509e-05 9.99998933e-01 -2.34101492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:0.16, Z:-0.24 [[ 9.99976391e-01 -6.71438919e-03 -1.46063342e-03 5.49617034e+01] [ 6.71436332e-03 9.99977458e-01 -2.26118085e-05 1.64670267e-01] [ 1.46075232e-03 1.28040512e-05 9.99998933e-01 -2.36668826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:0.17, Z:-0.23 [[ 9.99981533e-01 -5.89919772e-03 -1.46066167e-03 5.49912067e+01] [ 5.89917365e-03 9.99982600e-01 -2.07903899e-05 1.65501351e-01] [ 1.46075890e-03 1.21733092e-05 9.99998933e-01 -2.30475909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.02, Y:0.17, Z:-0.23 [[ 9.99988912e-01 -4.47688715e-03 -1.46062932e-03 5.50203997e+01] [ 4.47685854e-03 9.99989979e-01 -2.28572823e-05 1.67580029e-01] [ 1.46071701e-03 1.63179980e-05 9.99998933e-01 -2.33049860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:0.17, Z:-0.23 [[ 9.99993199e-01 -3.38659874e-03 -1.46062905e-03 5.50498797e+01] [ 3.38656894e-03 9.99994265e-01 -2.28743965e-05 1.70038804e-01] [ 1.46069814e-03 1.79277200e-05 9.99998933e-01 -2.26074112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:0.17, Z:-0.23 [[ 9.99995634e-01 -2.56879927e-03 -1.46062849e-03 5.50791828e+01] [ 2.56876854e-03 9.99996700e-01 -2.29100517e-05 1.71964987e-01] [ 1.46068253e-03 1.91579352e-05 9.99998933e-01 -2.25484608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:0.17, Z:-0.23 [[ 9.99997027e-01 -1.95251410e-03 -1.46062793e-03 5.51083423e+01] [ 1.95248267e-03 9.99998094e-01 -2.29461209e-05 1.73946727e-01] [ 1.46066995e-03 2.00942020e-05 9.99998933e-01 -2.26502988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:0.18, Z:-0.23 [[ 9.99998239e-01 -1.17797773e-03 -1.46062765e-03 5.51374352e+01] [ 1.17794545e-03 9.99999306e-01 -2.29640100e-05 1.76904492e-01] [ 1.46065368e-03 2.12434298e-05 9.99998933e-01 -2.27554149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:0.18, Z:-0.23 [[ 9.99998308e-01 -1.11839968e-03 -1.46062768e-03 5.51673442e+01] [ 1.11836733e-03 9.99999374e-01 -2.29617031e-05 1.78705666e-01] [ 1.46065245e-03 2.13281460e-05 9.99998933e-01 -2.27337690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:0.18, Z:-0.23 [[ 9.99998369e-01 -1.06193675e-03 -1.46062715e-03 5.51972443e+01] [ 1.06190430e-03 9.99999436e-01 -2.29958191e-05 1.80737921e-01] [ 1.46065074e-03 2.14447354e-05 9.99998933e-01 -2.26758292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:0.18, Z:-0.23 [[ 9.99998781e-01 -5.51444894e-04 -1.46062660e-03 5.52270241e+01] [ 5.51411843e-04 9.99999848e-01 -2.30305137e-05 1.84278882e-01] [ 1.46063908e-03 2.22250788e-05 9.99998933e-01 -2.31170387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.26, Y:0.19, Z:-0.23 [[ 9.99998804e-01 -5.09042075e-04 -1.46062633e-03 5.52565359e+01] [ 5.09008954e-04 9.99999870e-01 -2.30478089e-05 1.85722731e-01] [ 1.46063787e-03 2.23043095e-05 9.99998933e-01 -2.28091371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:0.19, Z:-0.23 [[ 9.99997954e-01 1.39952568e-03 -1.46062578e-03 5.52863634e+01] [-1.39956089e-03 9.99999020e-01 -2.30823661e-05 1.89872964e-01] [ 1.46059204e-03 2.51265536e-05 9.99998933e-01 -2.25017096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:0.19, Z:-0.23 [[ 9.99996180e-01 2.34640864e-03 -1.46062523e-03 5.53147089e+01] [-2.34644491e-03 9.99997247e-01 -2.31173562e-05 1.92517281e-01] [ 1.46056696e-03 2.65445445e-05 9.99998933e-01 -2.26343004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:0.20, Z:-0.23 [[ 9.99992484e-01 3.59152928e-03 -1.46062439e-03 5.53443650e+01] [-3.59156696e-03 9.99993550e-01 -2.31697815e-05 1.95313534e-01] [ 1.46053176e-03 2.84155377e-05 9.99998933e-01 -2.26205168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:0.20, Z:-0.23 [[ 9.99988519e-01 4.56388567e-03 -1.46062383e-03 5.53727355e+01] [-4.56392443e-03 9.99989585e-01 -2.32050497e-05 1.98163144e-01] [ 1.46050272e-03 2.98709601e-05 9.99998933e-01 -2.27502326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:0.20, Z:-0.23 [[ 9.99980763e-01 6.02822935e-03 -1.46062299e-03 5.54009463e+01] [-6.02826974e-03 9.99981830e-01 -2.32577641e-05 2.03801364e-01] [ 1.46045625e-03 3.20623461e-05 9.99998933e-01 -2.27818804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:0.21, Z:-0.23 [[ 9.99979784e-01 6.18859102e-03 -1.46062218e-03 5.54293013e+01] [-6.18863166e-03 9.99980850e-01 -2.33090323e-05 2.07854715e-01] [ 1.46044996e-03 3.23478137e-05 9.99998933e-01 -2.25488707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:0.21, Z:-0.22 [[ 9.99979756e-01 6.19299979e-03 -1.46062107e-03 5.54576714e+01] [-6.19304054e-03 9.99980823e-01 -2.33779852e-05 2.11859929e-01] [ 1.46044828e-03 3.24231974e-05 9.99998933e-01 -2.24980013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.49, Y:0.22, Z:-0.22 [[ 9.99985707e-01 5.14327608e-03 -1.46061996e-03 5.54864008e+01] [-5.14331581e-03 9.99986773e-01 -2.34470579e-05 2.17658812e-01] [ 1.46048005e-03 3.09591526e-05 9.99998933e-01 -2.24455114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:0.22, Z:-0.22 [[ 9.99990325e-01 4.14927029e-03 -1.46061884e-03 5.55158767e+01] [-4.14930907e-03 9.99991391e-01 -2.35167846e-05 2.20403463e-01] [ 1.46050869e-03 2.95771161e-05 9.99998933e-01 -2.24251742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:0.22, Z:-0.23 [[ 9.99994973e-01 2.81434522e-03 -1.46061828e-03 5.55440581e+01] [-2.81438262e-03 9.99996039e-01 -2.35516371e-05 2.23634346e-01] [ 1.46054621e-03 2.76622574e-05 9.99998933e-01 -2.25133067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:0.23, Z:-0.23 [[ 9.99998834e-01 -4.46113231e-04 -1.46061744e-03 5.55728487e+01] [ 4.46079231e-04 9.99999900e-01 -2.36036309e-05 2.28878504e-01] [ 1.46062782e-03 2.29520523e-05 9.99998933e-01 -2.25942499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:0.23, Z:-0.22 [[ 9.99995901e-01 -2.46271419e-03 -1.46061661e-03 5.56028281e+01] [ 2.46268227e-03 9.99996967e-01 -2.36545489e-05 2.31999840e-01] [ 1.46067044e-03 2.00574172e-05 9.99998933e-01 -2.24946185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:0.24, Z:-0.23 [[ 9.99989128e-01 -4.42838919e-03 -1.46061604e-03 5.56322379e+01] [ 4.42835931e-03 9.99990194e-01 -2.36900383e-05 2.35407996e-01] [ 1.46070663e-03 1.72216481e-05 9.99998933e-01 -2.26164514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105871560000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:55.66, Y:0.24, Z:-0.23 [[ 9.99976627e-01 -6.67926795e-03 -1.46061575e-03 5.56616599e+01] [ 6.67924044e-03 9.99977693e-01 -2.37077009e-05 2.37867378e-01] [ 1.46074152e-03 1.39513430e-05 9.99998933e-01 -2.30090608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:0.24, Z:-0.23 [[ 9.99946768e-01 -1.02140769e-02 -1.46061547e-03 5.56921139e+01] [ 1.02140532e-02 9.99947835e-01 -2.37249540e-05 2.41544334e-01] [ 1.46078161e-03 8.80488696e-06 9.99998933e-01 -2.25498183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:0.24, Z:-0.23 [[ 9.99924502e-01 -1.22006968e-02 -1.46061547e-03 5.57229115e+01] [ 1.22006751e-02 9.99925569e-01 -2.37249540e-05 2.43819012e-01] [ 1.46079622e-03 5.90266793e-06 9.99998933e-01 -2.26699057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:0.25, Z:-0.22 [[ 9.99897435e-01 -1.42472989e-02 -1.46061639e-03 5.57545256e+01] [ 1.42472796e-02 9.99898502e-01 -2.36683065e-05 2.46257136e-01] [ 1.46080535e-03 2.85606893e-06 9.99998933e-01 -2.23910416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:0.25, Z:-0.22 [[ 9.99811929e-01 -1.93384027e-02 -1.46061696e-03 5.57843919e+01] [ 1.93383888e-02 9.99812996e-01 -2.36330245e-05 2.49821646e-01] [ 1.46080084e-03 -4.61739884e-06 9.99998933e-01 -2.23982976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:0.25, Z:-0.22 [[ 9.99758446e-01 -2.19298145e-02 -1.46061724e-03 5.58158867e+01] [ 2.19298034e-02 9.99759513e-01 -2.36155515e-05 2.51267432e-01] [ 1.46078387e-03 -8.42120186e-06 9.99998933e-01 -2.23675987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:0.25, Z:-0.22 [[ 9.99704472e-01 -2.42659475e-02 -1.46061780e-03 5.58475566e+01] [ 2.42659389e-02 9.99705538e-01 -2.35813216e-05 2.52557559e-01] [ 1.46075992e-03 -1.18689096e-05 9.99998933e-01 -2.23498510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:0.25, Z:-0.22 [[ 9.99644116e-01 -2.66365854e-02 -1.46061835e-03 5.58785344e+01] [ 2.66365794e-02 9.99645183e-01 -2.35469163e-05 2.53819005e-01] [ 1.46072731e-03 -1.53673404e-05 9.99998933e-01 -2.23379435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:0.26, Z:-0.22 [[ 9.99523317e-01 -3.08383782e-02 -1.46061891e-03 5.59099330e+01] [ 3.08383768e-02 9.99524384e-01 -2.35123987e-05 2.55062767e-01] [ 1.46064930e-03 -2.15419255e-05 9.99998933e-01 -2.23005652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:0.26, Z:-0.22 [[ 9.99476763e-01 -3.23120194e-02 -1.46061947e-03 5.59399385e+01] [ 3.23120196e-02 9.99477830e-01 -2.34773407e-05 2.55824730e-01] [ 1.46061538e-03 -2.37305084e-05 9.99998933e-01 -2.24229173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:0.26, Z:-0.22 [[ 9.99437084e-01 -3.35168743e-02 -1.46062039e-03 5.59717046e+01] [ 3.35168759e-02 9.99438151e-01 -2.34197589e-05 2.56388933e-01] [ 1.46058470e-03 -2.55488569e-05 9.99998933e-01 -2.23954321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:0.26, Z:-0.22 [[ 9.99369701e-01 -3.54692523e-02 -1.46062093e-03 5.60026691e+01] [ 3.54692560e-02 9.99370768e-01 -2.33860328e-05 2.56964842e-01] [ 1.46053135e-03 -2.84358452e-05 9.99998933e-01 -2.23210272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:0.26, Z:-0.22 [[ 9.99350707e-01 -3.60004345e-02 -1.46062148e-03 5.60337209e+01] [ 3.60004388e-02 9.99351774e-01 -2.33515032e-05 2.57748526e-01] [ 1.46051534e-03 -2.92466731e-05 9.99998933e-01 -2.23969256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:0.26, Z:-0.22 [[ 9.99333739e-01 -3.64684192e-02 -1.46062333e-03 5.60647913e+01] [ 3.64684242e-02 9.99334806e-01 -2.32356007e-05 2.58828357e-01] [ 1.46049910e-03 -3.00465114e-05 9.99998933e-01 -2.23615113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525871560000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.10, Y:0.26, Z:-0.22 [[ 9.99308846e-01 -3.71442839e-02 -1.46062387e-03 5.60958249e+01] [ 3.71442897e-02 9.99309912e-01 -2.32014413e-05 2.59855847e-01] [ 1.46047771e-03 -3.10684307e-05 9.99998933e-01 -2.24445846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:0.26, Z:-0.22 [[ 9.99291234e-01 -3.76151144e-02 -1.46062441e-03 5.61265181e+01] [ 3.76151207e-02 9.99292301e-01 -2.31675242e-05 2.59510604e-01] [ 1.46046218e-03 -3.17904597e-05 9.99998933e-01 -2.22509573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:0.26, Z:-0.22 [[ 9.99273757e-01 -3.80765733e-02 -1.46062495e-03 5.61578971e+01] [ 3.80765801e-02 9.99274824e-01 -2.31335152e-05 2.59250051e-01] [ 1.46044658e-03 -3.24988882e-05 9.99998933e-01 -2.21844696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:0.26, Z:-0.22 [[ 9.99250335e-01 -3.86863517e-02 -1.46062550e-03 5.61891847e+01] [ 3.86863592e-02 9.99251402e-01 -2.30989014e-05 2.58913808e-01] [ 1.46042569e-03 -3.34246977e-05 9.99998933e-01 -2.23306106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:0.26, Z:-0.22 [[ 9.99180368e-01 -4.04531780e-02 -1.46062631e-03 5.62208535e+01] [ 4.04531875e-02 9.99181435e-01 -2.30470862e-05 2.56630682e-01] [ 1.46036302e-03 -3.60587940e-05 9.99998933e-01 -2.22359288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:0.26, Z:-0.22 [[ 9.99133735e-01 -4.15890222e-02 -1.46062684e-03 5.62529019e+01] [ 4.15890330e-02 9.99134802e-01 -2.30134468e-05 2.55289211e-01] [ 1.46032022e-03 -3.77525469e-05 9.99998933e-01 -2.21482446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705871560000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.28, Y:0.25, Z:-0.22 [[ 9.99071353e-01 -4.30615695e-02 -1.46062794e-03 5.62845612e+01] [ 4.30615820e-02 9.99072420e-01 -2.29438604e-05 2.53655760e-01] [ 1.46026108e-03 -3.99743959e-05 9.99998933e-01 -2.23263793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:0.25, Z:-0.22 [[ 9.99049371e-01 -4.35685808e-02 -1.46062848e-03 5.63152245e+01] [ 4.35685939e-02 9.99050438e-01 -2.29092801e-05 2.49532998e-01] [ 1.46023965e-03 -4.07500271e-05 9.99998933e-01 -2.22140651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:0.25, Z:-0.22 [[ 9.99047761e-01 -4.36054865e-02 -1.46062928e-03 5.63462062e+01] [ 4.36054996e-02 9.99048828e-01 -2.28579000e-05 2.47877925e-01] [ 1.46023670e-03 -4.08553358e-05 9.99998933e-01 -2.20982546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:0.25, Z:-0.22 [[ 9.99067809e-01 -4.31437117e-02 -1.46062983e-03 5.63768854e+01] [ 4.31437244e-02 9.99068876e-01 -2.28229304e-05 2.46534347e-01] [ 1.46025447e-03 -4.02153557e-05 9.99998933e-01 -2.23175117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:0.24, Z:-0.22 [[ 9.99121189e-01 -4.18893430e-02 -1.46063010e-03 5.64084893e+01] [ 4.18893544e-02 9.99122256e-01 -2.28054953e-05 2.43074203e-01] [ 1.46030335e-03 -3.83993984e-05 9.99998933e-01 -2.22670310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855871560000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.44, Y:0.24, Z:-0.22 [[ 9.99152744e-01 -4.11298145e-02 -1.46063063e-03 5.64400625e+01] [ 4.11298251e-02 9.99153810e-01 -2.27713988e-05 2.40978171e-01] [ 1.46033125e-03 -3.73233769e-05 9.99998933e-01 -2.22287494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885871560000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.47, Y:0.24, Z:-0.22 [[ 9.99153722e-01 -4.11060372e-02 -1.46063117e-03 5.64718953e+01] [ 4.11060478e-02 9.99154789e-01 -2.27367438e-05 2.41431583e-01] [ 1.46033125e-03 -3.73232727e-05 9.99998933e-01 -2.22240991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:0.24, Z:-0.22 [[ 9.99195836e-01 -4.00692784e-02 -1.46063171e-03 5.65028102e+01] [ 4.00692880e-02 9.99196903e-01 -2.27019845e-05 2.39089529e-01] [ 1.46036834e-03 -3.58427444e-05 9.99998933e-01 -2.22417360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.53, Y:0.23, Z:-0.22 [[ 9.99301401e-01 -3.73440162e-02 -1.46063225e-03 5.65328785e+01] [ 3.73440229e-02 9.99302468e-01 -2.26671400e-05 2.34504609e-01] [ 1.46045990e-03 -3.18945795e-05 9.99998933e-01 -2.23364707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:0.23, Z:-0.22 [[ 9.99364826e-01 -3.56063438e-02 -1.46063252e-03 5.65637058e+01] [ 3.56063487e-02 9.99365893e-01 -2.26497316e-05 2.32855969e-01] [ 1.46051280e-03 -2.93724458e-05 9.99998933e-01 -2.24039188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.59, Y:0.23, Z:-0.23 [[ 9.99435234e-01 -3.35720128e-02 -1.46063252e-03 5.65942975e+01] [ 3.35720155e-02 9.99436301e-01 -2.26497316e-05 2.30989857e-01] [ 1.46056956e-03 -2.63994379e-05 9.99998933e-01 -2.25407038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035871560000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.62, Y:0.23, Z:-0.23 [[ 9.99606610e-01 -2.80087844e-02 -1.46063252e-03 5.66246946e+01] [ 2.80087812e-02 9.99607677e-01 -2.26497316e-05 2.28391023e-01] [ 1.46069387e-03 -1.82697154e-05 9.99998933e-01 -2.25618424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.66, Y:0.23, Z:-0.22 [[ 9.99692515e-01 -2.47536091e-02 -1.46063279e-03 5.66560622e+01] [ 2.47536024e-02 9.99693582e-01 -2.26324581e-05 2.28451684e-01] [ 1.46074546e-03 -1.35304244e-05 9.99998933e-01 -2.24558832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095871560000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.69, Y:0.23, Z:-0.23 [[ 9.99766295e-01 -2.15690246e-02 -1.46063333e-03 5.66865989e+01] [ 2.15690146e-02 9.99767361e-01 -2.25974220e-05 2.28222877e-01] [ 1.46078094e-03 -8.91228081e-06 9.99998933e-01 -2.27334260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:0.23, Z:-0.23 [[ 9.99834325e-01 -1.81435527e-02 -1.46063360e-03 5.67171911e+01] [ 1.81435391e-02 9.99835392e-01 -2.25799598e-05 2.28918875e-01] [ 1.46080285e-03 -3.92484396e-06 9.99998933e-01 -2.25351982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:0.23, Z:-0.23 [[ 9.99927764e-01 -1.19303834e-02 -1.46063360e-03 5.67467767e+01] [ 1.19303632e-02 9.99928830e-01 -2.25799598e-05 2.28760866e-01] [ 1.46079904e-03 5.15243938e-06 9.99998933e-01 -2.27271560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:0.23, Z:-0.22 [[ 9.99954356e-01 -9.44209271e-03 -1.46063333e-03 5.67771647e+01] [ 9.44206977e-03 9.99955422e-01 -2.25973556e-05 2.28895354e-01] [ 1.46078159e-03 8.80492229e-06 9.99998933e-01 -2.23346098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:0.23, Z:-0.22 [[ 9.99969208e-01 -7.71037867e-03 -1.46063333e-03 5.68075199e+01] [ 7.71035389e-03 9.99970275e-01 -2.25973556e-05 2.29656147e-01] [ 1.46076415e-03 1.13346599e-05 9.99998933e-01 -2.22369106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:0.23, Z:-0.22 [[ 9.99979180e-01 -6.28537585e-03 -1.46063333e-03 5.68368219e+01] [ 6.28534955e-03 9.99980247e-01 -2.25973556e-05 2.29928489e-01] [ 1.46074651e-03 1.34162940e-05 9.99998933e-01 -2.22135508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:0.23, Z:-0.22 [[ 9.99985757e-01 -5.13349761e-03 -1.46063330e-03 5.68671491e+01] [ 5.13347008e-03 9.99986823e-01 -2.25992717e-05 2.29903003e-01] [ 1.46073007e-03 1.51008325e-05 9.99998933e-01 -2.20007931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:0.23, Z:-0.22 [[ 9.99984694e-01 -5.33656385e-03 -1.46063330e-03 5.68967384e+01] [ 5.33653654e-03 9.99985760e-01 -2.25992717e-05 2.30139401e-01] [ 1.46073311e-03 1.48042028e-05 9.99998933e-01 -2.22203689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.93, Y:0.23, Z:-0.22 [[ 9.99980422e-01 -6.08453088e-03 -1.46063303e-03 5.69269829e+01] [ 6.08450434e-03 9.99981489e-01 -2.26169132e-05 2.29935005e-01] [ 1.46074361e-03 1.37292424e-05 9.99998933e-01 -2.22514549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:0.23, Z:-0.23 [[ 9.99964022e-01 -8.35594851e-03 -1.46063303e-03 5.69560588e+01] [ 8.35592438e-03 9.99965088e-01 -2.26169132e-05 2.29141107e-01] [ 1.46077102e-03 1.04111603e-05 9.99998933e-01 -2.25760815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:0.23, Z:-0.23 [[ 9.99949167e-01 -9.97645816e-03 -1.46063316e-03 5.69868327e+01] [ 9.97643578e-03 9.99950234e-01 -2.26085527e-05 2.29228561e-01] [ 1.46078602e-03 8.03549053e-06 9.99998933e-01 -2.26370155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:0.23, Z:-0.23 [[ 9.99912394e-01 -1.31556629e-02 -1.46063316e-03 5.70167826e+01] [ 1.31556439e-02 9.99913461e-01 -2.26085527e-05 2.28288458e-01] [ 1.46080419e-03 3.39100232e-06 9.99998933e-01 -2.29433215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:0.23, Z:-0.23 [[ 9.99889724e-01 -1.47785950e-02 -1.46063289e-03 5.70468402e+01] [ 1.47785777e-02 9.99890791e-01 -2.26257036e-05 2.27930180e-01] [ 1.46080776e-03 1.03713176e-06 9.99998933e-01 -2.26284276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:0.23, Z:-0.23 [[ 9.99870756e-01 -1.60105843e-02 -1.46063289e-03 5.70776116e+01] [ 1.60105683e-02 9.99871822e-01 -2.26257036e-05 2.27204157e-01] [ 1.46080792e-03 -7.62783351e-07 9.99998933e-01 -2.27337060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:0.23, Z:-0.23 [[ 9.99857178e-01 -1.68371639e-02 -1.46063377e-03 5.71077286e+01] [ 1.68371489e-02 9.99858245e-01 -2.25688017e-05 2.26784510e-01] [ 1.46080672e-03 -2.02732995e-06 9.99998933e-01 -2.26685228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:0.23, Z:-0.22 [[ 9.99846912e-01 -1.74361696e-02 -1.46063404e-03 5.71382769e+01] [ 1.74361553e-02 9.99847978e-01 -2.25517247e-05 2.26829040e-01] [ 1.46080521e-03 -2.91956958e-06 9.99998933e-01 -2.24920045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:0.23, Z:-0.22 [[ 9.99849948e-01 -1.72611961e-02 -1.46063404e-03 5.71698111e+01] [ 1.72611815e-02 9.99851014e-01 -2.25517247e-05 2.26741973e-01] [ 1.46080569e-03 -2.66392855e-06 9.99998933e-01 -2.23471058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:0.23, Z:-0.22 [[ 9.99856212e-01 -1.68944053e-02 -1.46063457e-03 5.72004140e+01] [ 1.68943904e-02 9.99857279e-01 -2.25174754e-05 2.26844551e-01] [ 1.46080652e-03 -2.16229288e-06 9.99998933e-01 -2.23479188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.23, Y:0.23, Z:-0.23 [[ 9.99867672e-01 -1.62019969e-02 -1.46063457e-03 5.72296625e+01] [ 1.62019813e-02 9.99868739e-01 -2.25174754e-05 2.26690523e-01] [ 1.46080767e-03 -1.15067817e-06 9.99998933e-01 -2.25722645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:0.23, Z:-0.22 [[ 9.99890237e-01 -1.47438165e-02 -1.46063430e-03 5.72605625e+01] [ 1.47437994e-02 9.99891304e-01 -2.25348069e-05 2.27470902e-01] [ 1.46080778e-03 9.97034427e-07 9.99998933e-01 -2.24665873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:57.29, Y:0.23, Z:-0.23 [[ 9.99898446e-01 -1.41761820e-02 -1.46063456e-03 5.72912040e+01] [ 1.41761642e-02 9.99899513e-01 -2.25175118e-05 2.27081198e-01] [ 1.46080700e-03 1.80902958e-06 9.99998933e-01 -2.26785199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:0.23, Z:-0.23 [[ 9.99900797e-01 -1.40094039e-02 -1.46063456e-03 5.73212558e+01] [ 1.40093859e-02 9.99901863e-01 -2.25175118e-05 2.27327714e-01] [ 1.46080668e-03 2.05268464e-06 9.99998933e-01 -2.25232271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:0.23, Z:-0.23 [[ 9.99903916e-01 -1.37849747e-02 -1.46063456e-03 5.73518887e+01] [ 1.37849565e-02 9.99904983e-01 -2.25175118e-05 2.26965012e-01] [ 1.46080618e-03 2.38056424e-06 9.99998933e-01 -2.26838213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:0.23, Z:-0.22 [[ 9.99903597e-01 -1.38080896e-02 -1.46063544e-03 5.73821830e+01] [ 1.38080715e-02 9.99904664e-01 -2.24603405e-05 2.27152824e-01] [ 1.46080633e-03 2.28961661e-06 9.99998933e-01 -2.24918168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:0.23, Z:-0.22 [[ 9.99904885e-01 -1.37144735e-02 -1.46063544e-03 5.74126116e+01] [ 1.37144554e-02 9.99905952e-01 -2.24603405e-05 2.27433248e-01] [ 1.46080611e-03 2.42638465e-06 9.99998933e-01 -2.24589981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:0.23, Z:-0.22 [[ 9.99889453e-01 -1.47968958e-02 -1.46063544e-03 5.74427137e+01] [ 1.47968788e-02 9.99890520e-01 -2.24603405e-05 2.27482258e-01] [ 1.46080788e-03 8.45012013e-07 9.99998933e-01 -2.23974915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:57.47, Y:0.23, Z:-0.23 [[ 9.99882175e-01 -1.52807641e-02 -1.46063544e-03 5.74735522e+01] [ 1.52807476e-02 9.99883242e-01 -2.24603405e-05 2.26898680e-01] [ 1.46080811e-03 1.38092663e-07 9.99998933e-01 -2.25984737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:57.50, Y:0.23, Z:-0.23 [[ 9.99873039e-01 -1.58673443e-02 -1.46063631e-03 5.75036094e+01] [ 1.58673285e-02 9.99874106e-01 -2.24040365e-05 2.26616806e-01] [ 1.46080791e-03 -7.75203991e-07 9.99998933e-01 -2.25431958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:0.23, Z:-0.22 [[ 9.99856651e-01 -1.68684077e-02 -1.46063631e-03 5.75343831e+01] [ 1.68683930e-02 9.99857718e-01 -2.24040365e-05 2.26656256e-01] [ 1.46080641e-03 -2.23776228e-06 9.99998933e-01 -2.24853487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:0.23, Z:-0.22 [[ 9.99840575e-01 -1.77957956e-02 -1.46063657e-03 5.75654101e+01] [ 1.77957819e-02 9.99841642e-01 -2.23870156e-05 2.25293573e-01] [ 1.46080366e-03 -3.60972323e-06 9.99998933e-01 -2.23219176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:0.23, Z:-0.22 [[ 9.99840650e-01 -1.77916196e-02 -1.46063683e-03 5.75955301e+01] [ 1.77916059e-02 9.99841717e-01 -2.23698648e-05 2.25317416e-01] [ 1.46080363e-03 -3.62077472e-06 9.99998933e-01 -2.22183980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.63, Y:0.23, Z:-0.22 [[ 9.99843946e-01 -1.76053998e-02 -1.46063683e-03 5.76257147e+01] [ 1.76053859e-02 9.99845013e-01 -2.23698648e-05 2.25132923e-01] [ 1.46080428e-03 -3.34870115e-06 9.99998933e-01 -2.23069978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:0.23, Z:-0.22 [[ 9.99844079e-01 -1.75978413e-02 -1.46063710e-03 5.76558177e+01] [ 1.75978274e-02 9.99845146e-01 -2.23523916e-05 2.25213203e-01] [ 1.46080427e-03 -3.35513314e-06 9.99998933e-01 -2.22388076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:0.22, Z:-0.22 [[ 9.99853502e-01 -1.70540731e-02 -1.46063710e-03 5.76864390e+01] [ 1.70540587e-02 9.99854569e-01 -2.23523916e-05 2.24686106e-01] [ 1.46080588e-03 -2.56067375e-06 9.99998933e-01 -2.22581488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:0.22, Z:-0.22 [[ 9.99860658e-01 -1.66292084e-02 -1.46063710e-03 5.77164430e+01] [ 1.66291935e-02 9.99861725e-01 -2.23523916e-05 2.24064040e-01] [ 1.46080683e-03 -1.93993993e-06 9.99998933e-01 -2.24704353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:0.22, Z:-0.22 [[ 9.99867969e-01 -1.61836594e-02 -1.46063737e-03 5.77467645e+01] [ 1.61836440e-02 9.99869036e-01 -2.23345110e-05 2.23212782e-01] [ 1.46080753e-03 -1.30687309e-06 9.99998933e-01 -2.24803879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:0.22, Z:-0.22 [[ 9.99869399e-01 -1.60951026e-02 -1.46063737e-03 5.77770281e+01] [ 1.60950871e-02 9.99870465e-01 -2.23345110e-05 2.22800403e-01] [ 1.46080764e-03 -1.17749164e-06 9.99998933e-01 -2.22881108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205871560000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.81, Y:0.22, Z:-0.22 [[ 9.99883452e-01 -1.51970202e-02 -1.46063737e-03 5.78072146e+01] [ 1.51970037e-02 9.99884519e-01 -2.23345110e-05 2.21836426e-01] [ 1.46080811e-03 1.34596382e-07 9.99998933e-01 -2.23051050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:0.22, Z:-0.22 [[ 9.99882862e-01 -1.52357818e-02 -1.46063737e-03 5.78379977e+01] [ 1.52357654e-02 9.99883929e-01 -2.23345110e-05 2.22957530e-01] [ 1.46080812e-03 7.79664832e-08 9.99998933e-01 -2.22714685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:0.22, Z:-0.22 [[ 9.99886870e-01 -1.49703955e-02 -1.46063764e-03 5.78682355e+01] [ 1.49703789e-02 9.99887937e-01 -2.23167022e-05 2.22938595e-01] [ 1.46080805e-03 4.47878664e-07 9.99998933e-01 -2.23270142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:0.22, Z:-0.22 [[ 9.99890832e-01 -1.47034321e-02 -1.46063790e-03 5.78987880e+01] [ 1.47034152e-02 9.99891899e-01 -2.22997162e-05 2.22743011e-01] [ 1.46080789e-03 8.20916263e-07 9.99998933e-01 -2.23478892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:57.93, Y:0.22, Z:-0.23 [[ 9.99902205e-01 -1.39085172e-02 -1.46063790e-03 5.79291985e+01] [ 1.39084995e-02 9.99903272e-01 -2.22997162e-05 2.21727741e-01] [ 1.46080677e-03 1.98225388e-06 9.99998933e-01 -2.25089275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.96, Y:0.22, Z:-0.23 [[ 9.99914948e-01 -1.29600320e-02 -1.46063790e-03 5.79596413e+01] [ 1.29600133e-02 9.99916015e-01 -2.22997162e-05 2.20808210e-01] [ 1.46080424e-03 3.36793295e-06 9.99998933e-01 -2.26827695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:0.22, Z:-0.22 [[ 9.99917180e-01 -1.27867022e-02 -1.46064596e-03 5.79894136e+01] [ 1.27866841e-02 9.99918247e-01 -2.17732859e-05 2.20281610e-01] [ 1.46080495e-03 3.09466424e-06 9.99998933e-01 -2.24964035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:0.22, Z:-0.23 [[ 9.99919708e-01 -1.25874490e-02 -1.46063507e-03 5.80193902e+01] [ 1.25874295e-02 9.99920775e-01 -2.24807840e-05 2.19787677e-01] [ 1.46080232e-03 4.09333794e-06 9.99998933e-01 -2.25368841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:0.22, Z:-0.23 [[ 9.99918802e-01 -1.26592609e-02 -1.46063513e-03 5.80490563e+01] [ 1.26592416e-02 9.99919868e-01 -2.24763936e-05 2.19865362e-01] [ 1.46080263e-03 3.98403558e-06 9.99998933e-01 -2.25234903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:0.22, Z:-0.22 [[ 9.99908242e-01 -1.34675034e-02 -1.46063487e-03 5.80793403e+01] [ 1.34674849e-02 9.99909309e-01 -2.24935695e-05 2.19457495e-01] [ 1.46080534e-03 2.82042746e-06 9.99998933e-01 -2.24803757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:0.22, Z:-0.22 [[ 9.99895595e-01 -1.43758381e-02 -1.46063487e-03 5.81099778e+01] [ 1.43758206e-02 9.99896662e-01 -2.24935695e-05 2.18866421e-01] [ 1.46080729e-03 1.49339625e-06 9.99998933e-01 -2.23962738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:0.22, Z:-0.22 [[ 9.99879006e-01 -1.54867767e-02 -1.46063487e-03 5.81399020e+01] [ 1.54867604e-02 9.99880073e-01 -2.24935695e-05 2.17181128e-01] [ 1.46080805e-03 -1.29654328e-07 9.99998933e-01 -2.24693139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565871560000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:58.17, Y:0.21, Z:-0.23 [[ 9.99830888e-01 -1.83319854e-02 -1.46063460e-03 5.81708239e+01] [ 1.83319720e-02 9.99831955e-01 -2.25108239e-05 2.11745551e-01] [ 1.46080182e-03 -4.26929563e-06 9.99998933e-01 -2.25262340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.20, Y:0.21, Z:-0.22 [[ 9.99794569e-01 -2.02159758e-02 -1.46063460e-03 5.82002010e+01] [ 2.02159645e-02 9.99795636e-01 -2.25108239e-05 2.10094447e-01] [ 1.46079118e-03 -7.02193771e-06 9.99998933e-01 -2.24288514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:0.21, Z:-0.22 [[ 9.99757154e-01 -2.19886060e-02 -1.46063434e-03 5.82312022e+01] [ 2.19885965e-02 9.99758221e-01 -2.25280724e-05 2.08638245e-01] [ 1.46077655e-03 -9.59469754e-06 9.99998933e-01 -2.20919717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:0.21, Z:-0.22 [[ 9.99725382e-01 -2.33886168e-02 -1.46063434e-03 5.82606215e+01] [ 2.33886088e-02 9.99726449e-01 -2.25280724e-05 2.06724788e-01] [ 1.46076168e-03 -1.16403194e-05 9.99998933e-01 -2.21801719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.29, Y:0.20, Z:-0.22 [[ 9.99698842e-01 -2.44967850e-02 -1.46063407e-03 5.82908402e+01] [ 2.44967782e-02 9.99699909e-01 -2.25456379e-05 2.01789251e-01] [ 1.46074804e-03 -1.32419806e-05 9.99998933e-01 -2.20335149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:0.20, Z:-0.22 [[ 9.99699798e-01 -2.44577450e-02 -1.46063407e-03 5.83203896e+01] [ 2.44577381e-02 9.99700865e-01 -2.25456379e-05 2.00188940e-01] [ 1.46074855e-03 -1.31849359e-05 9.99998933e-01 -2.19688300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745871560000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.35, Y:0.20, Z:-0.22 [[ 9.99717544e-01 -2.37212591e-02 -1.46063380e-03 5.83501343e+01] [ 2.37212514e-02 9.99718611e-01 -2.25630654e-05 1.97451549e-01] [ 1.46075802e-03 -1.20913692e-05 9.99998933e-01 -2.19144117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.38, Y:0.20, Z:-0.22 [[ 9.99735973e-01 -2.29314519e-02 -1.46063325e-03 5.83806717e+01] [ 2.29314434e-02 9.99737040e-01 -2.25986646e-05 1.96047700e-01] [ 1.46076738e-03 -1.09017307e-05 9.99998933e-01 -2.17689273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.41, Y:0.20, Z:-0.22 [[ 9.99735973e-01 -2.29314519e-02 -1.46063325e-03 5.84116658e+01] [ 2.29314434e-02 9.99737040e-01 -2.25986646e-05 1.96527236e-01] [ 1.46076738e-03 -1.09017307e-05 9.99998933e-01 -2.17643991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:0.19, Z:-0.22 [[ 9.99799799e-01 -1.99556467e-02 -1.46063325e-03 5.84406283e+01] [ 1.99556350e-02 9.99800866e-01 -2.25986646e-05 1.92627413e-01] [ 1.46079336e-03 -6.55372364e-06 9.99998933e-01 -2.17591298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.47, Y:0.19, Z:-0.22 [[ 9.99839048e-01 -1.78814118e-02 -1.46063242e-03 5.84708384e+01] [ 1.78813978e-02 9.99840115e-01 -2.26519177e-05 1.90464769e-01] [ 1.46080394e-03 -3.46987756e-06 9.99998933e-01 -2.18731198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:58.50, Y:0.19, Z:-0.22 [[ 9.99869068e-01 -1.61156549e-02 -1.46063242e-03 5.85003431e+01] [ 1.61156390e-02 9.99870134e-01 -2.26519177e-05 1.88829311e-01] [ 1.46080778e-03 -8.90072968e-07 9.99998933e-01 -2.20386838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:0.19, Z:-0.22 [[ 9.99918409e-01 -1.26901906e-02 -1.46063215e-03 5.85311231e+01] [ 1.26901710e-02 9.99919476e-01 -2.26692395e-05 1.85926783e-01] [ 1.46080221e-03 4.13171808e-06 9.99998933e-01 -2.17175656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:0.18, Z:-0.22 [[ 9.99940598e-01 -1.08012455e-02 -1.46063215e-03 5.85604747e+01] [ 1.08012239e-02 9.99941665e-01 -2.26692395e-05 1.84287526e-01] [ 1.46079180e-03 6.89127796e-06 9.99998933e-01 -2.18163428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:0.18, Z:-0.22 [[ 9.99958743e-01 -8.96537954e-03 -1.46063219e-03 5.85898952e+01] [ 8.96535599e-03 9.99959810e-01 -2.26668128e-05 1.82648143e-01] [ 1.46077670e-03 9.57079009e-06 9.99998933e-01 -2.17295824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:0.18, Z:-0.22 [[ 9.99981840e-01 -5.84687866e-03 -1.46063165e-03 5.86197104e+01] [ 5.84685174e-03 9.99982907e-01 -2.27016241e-05 1.78009502e-01] [ 1.46073941e-03 1.41611151e-05 9.99998933e-01 -2.18446791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:0.18, Z:-0.22 [[ 9.99989346e-01 -4.37883668e-03 -1.46063138e-03 5.86489070e+01] [ 4.37880817e-03 9.99990413e-01 -2.27189399e-05 1.76135948e-01] [ 1.46071686e-03 1.63228732e-05 9.99998933e-01 -2.20044446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:0.17, Z:-0.22 [[ 9.99994659e-01 -2.92373981e-03 -1.46063111e-03 5.86790902e+01] [ 2.92370972e-03 9.99995726e-01 -2.27360083e-05 1.74815472e-01] [ 1.46069134e-03 1.84654255e-05 9.99998933e-01 -2.21288676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:0.17, Z:-0.22 [[ 9.99998118e-01 -1.27674457e-03 -1.46063085e-03 5.87090181e+01] [ 1.27671270e-03 9.99999185e-01 -2.27531150e-05 1.73495885e-01] [ 1.46065871e-03 2.08882662e-05 9.99998933e-01 -2.22591286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:0.17, Z:-0.22 [[ 9.99996011e-01 2.41736167e-03 -1.46063091e-03 5.87382672e+01] [-2.41739748e-03 9.99997078e-01 -2.27487355e-05 1.70175003e-01] [ 1.46057165e-03 2.62795702e-05 9.99998933e-01 -2.20668150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.77, Y:0.17, Z:-0.22 [[ 9.99988733e-01 4.51672990e-03 -1.46063038e-03 5.87684561e+01] [-4.51676800e-03 9.99989799e-01 -2.27828118e-05 1.68540713e-01] [ 1.46051258e-03 2.93798836e-05 9.99998933e-01 -2.21408114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:0.17, Z:-0.22 [[ 9.99978215e-01 6.43712041e-03 -1.46062985e-03 5.87983309e+01] [-6.43716060e-03 9.99979281e-01 -2.28172564e-05 1.68433642e-01] [ 1.46045270e-03 3.22190682e-05 9.99998933e-01 -2.18154889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:0.17, Z:-0.22 [[ 9.99962515e-01 8.53437322e-03 -1.46062929e-03 5.88276309e+01] [-8.53441570e-03 9.99963581e-01 -2.28528452e-05 1.68365510e-01] [ 1.46038106e-03 3.53176061e-05 9.99998933e-01 -2.18632590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:0.17, Z:-0.22 [[ 9.99921171e-01 1.24706949e-02 -1.46062901e-03 5.88558359e+01] [-1.24707416e-02 9.99922237e-01 -2.28705143e-05 1.67701866e-01] [ 1.46023022e-03 4.10838383e-05 9.99998933e-01 -2.21276915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:0.17, Z:-0.22 [[ 9.99896414e-01 1.43188140e-02 -1.46062820e-03 5.88849920e+01] [-1.43188628e-02 9.99897480e-01 -2.29221984e-05 1.67854893e-01] [ 1.46015024e-03 4.38343588e-05 9.99998933e-01 -2.17346544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:0.17, Z:-0.22 [[ 9.99869442e-01 1.60924182e-02 -1.46062760e-03 5.89141422e+01] [-1.60924689e-02 9.99870508e-01 -2.29605939e-05 1.67930672e-01] [ 1.46006897e-03 4.64627004e-05 9.99998933e-01 -2.17658144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:0.17, Z:-0.22 [[ 9.99845552e-01 1.75139732e-02 -1.46062679e-03 5.89438644e+01] [-1.75140255e-02 9.99846617e-01 -2.30119398e-05 1.68196773e-01] [ 1.45999972e-03 4.85898405e-05 9.99998933e-01 -2.16785144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:0.17, Z:-0.22 [[ 9.99822620e-01 1.87774998e-02 -1.46062624e-03 5.89729578e+01] [-1.87775535e-02 9.99823686e-01 -2.30466344e-05 1.68078837e-01] [ 1.45993595e-03 5.04695338e-05 9.99998933e-01 -2.17704461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:0.17, Z:-0.22 [[ 9.99801254e-01 1.98826296e-02 -1.46062542e-03 5.90022597e+01] [-1.98826845e-02 9.99802320e-01 -2.30984263e-05 1.69575915e-01] [ 1.45987743e-03 5.21349900e-05 9.99998933e-01 -2.18020060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:0.17, Z:-0.22 [[ 9.99796557e-01 2.01174183e-02 -1.46062488e-03 5.90323697e+01] [-2.01174735e-02 9.99797623e-01 -2.31328279e-05 1.70742379e-01] [ 1.45986391e-03 5.25122040e-05 9.99998933e-01 -2.19799142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:0.17, Z:-0.22 [[ 9.99801858e-01 1.98522257e-02 -1.46064054e-03 5.90611561e+01] [-1.98522793e-02 9.99802924e-01 -2.21479117e-05 1.72466212e-01] [ 1.45991300e-03 5.11405672e-05 9.99998933e-01 -2.18186398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:0.17, Z:-0.22 [[ 9.99821070e-01 1.88598920e-02 -1.46062407e-03 5.90908532e+01] [-1.88599460e-02 9.99822135e-01 -2.31857562e-05 1.74007828e-01] [ 1.45992700e-03 5.07288986e-05 9.99998933e-01 -2.17581338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.12, Y:0.17, Z:-0.22 [[ 9.99835344e-01 1.80873537e-02 -1.46062351e-03 5.91207360e+01] [-1.80874069e-02 9.99836409e-01 -2.32211473e-05 1.74885029e-01] [ 1.45996455e-03 4.96362154e-05 9.99998933e-01 -2.18741804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:0.18, Z:-0.22 [[ 9.99852284e-01 1.71253432e-02 -1.46062294e-03 5.91508276e+01] [-1.71253954e-02 9.99853349e-01 -2.32566446e-05 1.76304461e-01] [ 1.46001046e-03 4.82669546e-05 9.99998933e-01 -2.19290948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:0.18, Z:-0.22 [[ 9.99869855e-01 1.60667149e-02 -1.46063576e-03 5.91808951e+01] [-1.60667648e-02 9.99870921e-01 -2.24514778e-05 1.77399863e-01] [ 1.46008650e-03 4.59162471e-05 9.99998933e-01 -2.18706523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:0.18, Z:-0.22 [[ 9.99892965e-01 1.45576266e-02 -1.46063688e-03 5.92107600e+01] [-1.45576748e-02 9.99894031e-01 -2.23816644e-05 1.78806414e-01] [ 1.46015627e-03 4.36427454e-05 9.99998933e-01 -2.18743488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.24, Y:0.18, Z:-0.22 [[ 9.99928638e-01 1.18568341e-02 -1.46064092e-03 5.92395257e+01] [-1.18568791e-02 9.99929704e-01 -2.21286799e-05 1.81707790e-01] [ 1.46027587e-03 3.94457435e-05 9.99998933e-01 -2.20007409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:0.18, Z:-0.22 [[ 9.99945536e-01 1.03339636e-02 -1.46062050e-03 5.92695148e+01] [-1.03340088e-02 9.99946602e-01 -2.34030079e-05 1.83528172e-01] [ 1.46030066e-03 3.84957984e-05 9.99998933e-01 -2.17954786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:0.18, Z:-0.22 [[ 9.99958593e-01 8.98218206e-03 -1.46061996e-03 5.92989063e+01] [-8.98222587e-03 9.99959659e-01 -2.34370629e-05 1.83871357e-01] [ 1.46035052e-03 3.65557108e-05 9.99998933e-01 -2.18389475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:0.19, Z:-0.22 [[ 9.99984476e-01 5.37727981e-03 -1.46063890e-03 5.93274720e+01] [-5.37731805e-03 9.99985542e-01 -2.22531237e-05 1.86341752e-01] [ 1.46049812e-03 3.01070981e-05 9.99998933e-01 -2.17821571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:59.36, Y:0.19, Z:-0.22 [[ 9.99993732e-01 3.22540343e-03 -1.46062179e-03 5.93575886e+01] [-3.22544094e-03 9.99994798e-01 -2.33246826e-05 1.87363459e-01] [ 1.46053896e-03 2.80356857e-05 9.99998933e-01 -2.19646884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:0.19, Z:-0.22 [[ 9.99998783e-01 5.48214773e-04 -1.46062123e-03 5.93870360e+01] [-5.48249478e-04 9.99999849e-01 -2.33595890e-05 1.89369789e-01] [ 1.46060821e-03 2.41603454e-05 9.99998933e-01 -2.17082682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:0.19, Z:-0.22 [[ 9.99988033e-01 -4.66904497e-03 -1.46062096e-03 5.94168981e+01] [ 4.66901581e-03 9.99989100e-01 -2.33769737e-05 1.90059533e-01] [ 1.46071418e-03 1.65570316e-05 9.99998933e-01 -2.15518540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:59.45, Y:0.19, Z:-0.22 [[ 9.99973322e-01 -7.15700671e-03 -1.46062039e-03 5.94460863e+01] [ 7.15698015e-03 9.99974388e-01 -2.34124608e-05 1.89921865e-01] [ 1.46075054e-03 1.29582051e-05 9.99998933e-01 -2.18500530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:0.19, Z:-0.22 [[ 9.99954914e-01 -9.38277413e-03 -1.46062010e-03 5.94755952e+01] [ 9.38274992e-03 9.99955981e-01 -2.34301122e-05 1.90602017e-01] [ 1.46077565e-03 9.72442263e-06 9.99998933e-01 -2.17051747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:0.19, Z:-0.22 [[ 9.99933344e-01 -1.14531298e-02 -1.46061983e-03 5.95050611e+01] [ 1.14531078e-02 9.99934411e-01 -2.34472581e-05 1.90529939e-01] [ 1.46079257e-03 6.71705896e-06 9.99998933e-01 -2.17097787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:0.19, Z:-0.22 [[ 9.99886139e-01 -1.50191882e-02 -1.46063872e-03 5.95347850e+01] [ 1.50191717e-02 9.99887206e-01 -2.22773575e-05 1.90707645e-01] [ 1.46080856e-03 3.37237320e-07 9.99998933e-01 -2.18094561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:0.19, Z:-0.22 [[ 9.99866772e-01 -1.62574383e-02 -1.46061604e-03 5.95641746e+01] [ 1.62574211e-02 9.99867839e-01 -2.36767188e-05 1.90720734e-01] [ 1.46080792e-03 -7.22855776e-08 9.99998933e-01 -2.17788934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:0.19, Z:-0.22 [[ 9.99849967e-01 -1.72600559e-02 -1.46061547e-03 5.95935494e+01] [ 1.72600397e-02 9.99851034e-01 -2.37114349e-05 1.91023628e-01] [ 1.46080715e-03 -1.50240369e-06 9.99998933e-01 -2.17118469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:0.19, Z:-0.22 [[ 9.99832536e-01 -1.82418801e-02 -1.46061489e-03 5.96233021e+01] [ 1.82418649e-02 9.99833603e-01 -2.37473319e-05 1.91459323e-01] [ 1.46080504e-03 -2.90098440e-06 9.99998933e-01 -2.18019322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.65, Y:0.19, Z:-0.22 [[ 9.99813900e-01 -1.92362157e-02 -1.46061460e-03 5.96531924e+01] [ 1.92362015e-02 9.99814967e-01 -2.37651707e-05 1.90697188e-01] [ 1.46080149e-03 -4.33592873e-06 9.99998933e-01 -2.22418950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:0.19, Z:-0.22 [[ 9.99807096e-01 -1.95866419e-02 -1.46061469e-03 5.96832656e+01] [ 1.95866281e-02 9.99808163e-01 -2.37596520e-05 1.90402598e-01] [ 1.46079986e-03 -4.85344803e-06 9.99998933e-01 -2.19258851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:0.19, Z:-0.22 [[ 9.99802787e-01 -1.98054133e-02 -1.46061410e-03 5.97130542e+01] [ 1.98053996e-02 9.99803854e-01 -2.37956400e-05 1.90033240e-01] [ 1.46079889e-03 -5.13709884e-06 9.99998933e-01 -2.19042939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:0.19, Z:-0.22 [[ 9.99795334e-01 -2.01781493e-02 -1.46061381e-03 5.97424309e+01] [ 2.01781360e-02 9.99796400e-01 -2.38135676e-05 1.90256796e-01] [ 1.46079694e-03 -5.66377039e-06 9.99998933e-01 -2.18874554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:59.77, Y:0.19, Z:-0.22 [[ 9.99794504e-01 -2.02191861e-02 -1.46061323e-03 5.97719216e+01] [ 2.02191729e-02 9.99795571e-01 -2.38489233e-05 1.89673932e-01] [ 1.46079685e-03 -5.68836906e-06 9.99998933e-01 -2.22218977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:59.80, Y:0.19, Z:-0.22 [[ 9.99803440e-01 -1.97723970e-02 -1.46061295e-03 5.98018472e+01] [ 1.97723832e-02 9.99804507e-01 -2.38665320e-05 1.89565519e-01] [ 1.46079930e-03 -5.01795804e-06 9.99998933e-01 -2.20464779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:59.83, Y:0.19, Z:-0.22 [[ 9.99821679e-01 -1.88275691e-02 -1.46061237e-03 5.98314551e+01] [ 1.88275542e-02 9.99822746e-01 -2.39018349e-05 1.89430239e-01] [ 1.46080348e-03 -3.60218593e-06 9.99998933e-01 -2.20084219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:0.19, Z:-0.22 [[ 9.99845873e-01 -1.74956395e-02 -1.46061178e-03 5.98614226e+01] [ 1.74956232e-02 9.99846940e-01 -2.39374311e-05 1.89599872e-01] [ 1.46080702e-03 -1.62057175e-06 9.99998933e-01 -2.18672089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:0.19, Z:-0.22 [[ 9.99899715e-01 -1.40863723e-02 -1.46061149e-03 5.98913900e+01] [ 1.40863523e-02 9.99900782e-01 -2.39550936e-05 1.88948025e-01] [ 1.46080402e-03 3.37800317e-06 9.99998933e-01 -2.18860121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:0.19, Z:-0.22 [[ 9.99925312e-01 -1.21341033e-02 -1.46061093e-03 5.99213690e+01] [ 1.21340812e-02 9.99926379e-01 -2.39893008e-05 1.89514691e-01] [ 1.46079449e-03 6.26433743e-06 9.99998933e-01 -2.17546487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:0.19, Z:-0.22 [[ 9.99947978e-01 -1.00949353e-02 -1.46061037e-03 5.99514372e+01] [ 1.00949110e-02 9.99949045e-01 -2.40238168e-05 1.90361971e-01] [ 1.46077846e-03 9.27783534e-06 9.99998933e-01 -2.15714955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.98, Y:0.19, Z:-0.22 [[ 9.99966177e-01 -8.09386790e-03 -1.46060978e-03 5.99811367e+01] [ 8.09384139e-03 9.99967244e-01 -2.40596050e-05 1.91581803e-01] [ 1.46075667e-03 1.22368474e-05 9.99998933e-01 -2.16505451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:0.19, Z:-0.21 [[ 9.99989516e-01 -4.33977958e-03 -1.46060948e-03 6.00109996e+01] [ 4.33974904e-03 9.99990583e-01 -2.40774271e-05 1.93683257e-01] [ 1.46070022e-03 1.77384961e-05 9.99998933e-01 -2.14739923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:0.19, Z:-0.22 [[ 9.99994662e-01 -2.92279013e-03 -1.46060890e-03 6.00406651e+01] [ 2.92275802e-03 9.99995728e-01 -2.41129697e-05 1.94639827e-01] [ 1.46067313e-03 1.98438347e-05 9.99998933e-01 -2.15807435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:0.19, Z:-0.22 [[ 9.99997432e-01 -1.73267746e-03 -1.46060892e-03 6.00699559e+01] [ 1.73264409e-03 9.99998499e-01 -2.41113959e-05 1.94986477e-01] [ 1.46064851e-03 2.15806186e-05 9.99998933e-01 -2.16017569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:0.20, Z:-0.22 [[ 9.99998394e-01 -1.03887557e-03 -1.46060836e-03 6.01000526e+01] [ 1.03884141e-03 9.99999460e-01 -2.41456242e-05 1.95450786e-01] [ 1.46063265e-03 2.26282450e-05 9.99998933e-01 -2.15764611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:60.13, Y:0.20, Z:-0.22 [[ 9.99998842e-01 -4.28324181e-04 -1.46060778e-03 6.01296882e+01] [ 4.28289320e-04 9.99999908e-01 -2.41803717e-05 1.96377878e-01] [ 1.46061800e-03 2.35547809e-05 9.99998933e-01 -2.19737232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.16, Y:0.20, Z:-0.22 [[ 9.99998798e-01 -5.19933104e-04 -1.46060749e-03 6.01595225e+01] [ 5.19898315e-04 9.99999865e-01 -2.41976883e-05 1.97486163e-01] [ 1.46061988e-03 2.34382919e-05 9.99998933e-01 -2.18813296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:0.20, Z:-0.22 [[ 9.99998642e-01 -7.63869390e-04 -1.46060692e-03 6.01887284e+01] [ 7.63834811e-04 9.99999708e-01 -2.42321612e-05 1.98808372e-01] [ 1.46062500e-03 2.31164658e-05 9.99998933e-01 -2.15118179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:0.20, Z:-0.22 [[ 9.99997532e-01 -1.67424630e-03 -1.46060633e-03 6.02185379e+01] [ 1.67421264e-03 9.99998598e-01 -2.42677826e-05 2.00050962e-01] [ 1.46064491e-03 2.18223572e-05 9.99998933e-01 -2.15790603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:0.20, Z:-0.22 [[ 9.99997491e-01 -1.69862570e-03 -1.46060574e-03 6.02486953e+01] [ 1.69859202e-03 9.99998557e-01 -2.43033354e-05 2.00597713e-01] [ 1.46064491e-03 2.18223011e-05 9.99998933e-01 -2.15746541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:0.20, Z:-0.22 [[ 9.99996104e-01 -2.37876817e-03 -1.46060514e-03 6.02786316e+01] [ 2.37873516e-03 9.99997171e-01 -2.43389441e-05 2.00942447e-01] [ 1.46065891e-03 2.08644565e-05 9.99998933e-01 -2.15991222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:0.20, Z:-0.22 [[ 9.99993763e-01 -3.21553841e-03 -1.46060455e-03 6.03084217e+01] [ 3.21550624e-03 9.99994830e-01 -2.43744638e-05 2.01035584e-01] [ 1.46067538e-03 1.96777287e-05 9.99998933e-01 -2.16894820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:0.20, Z:-0.22 [[ 9.99991564e-01 -3.83915341e-03 -1.46060426e-03 6.03376636e+01] [ 3.83912188e-03 9.99992630e-01 -2.43920563e-05 2.01569011e-01] [ 1.46068714e-03 1.87844127e-05 9.99998933e-01 -2.16105108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:0.20, Z:-0.22 [[ 9.99989990e-01 -4.22919413e-03 -1.46060369e-03 6.03672145e+01] [ 4.22916297e-03 9.99991057e-01 -2.44262750e-05 2.03623857e-01] [ 1.46069393e-03 1.82488994e-05 9.99998933e-01 -2.15319425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:0.20, Z:-0.22 [[ 9.99990856e-01 -4.01928381e-03 -1.46060340e-03 6.03973083e+01] [ 4.01925240e-03 9.99991922e-01 -2.44433384e-05 2.04876099e-01] [ 1.46068985e-03 1.85725811e-05 9.99998933e-01 -2.15645674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:0.21, Z:-0.21 [[ 9.99992905e-01 -3.47213516e-03 -1.46060259e-03 6.04268665e+01] [ 3.47210309e-03 9.99993972e-01 -2.44914158e-05 2.06348194e-01] [ 1.46067883e-03 1.94198793e-05 9.99998933e-01 -2.13715976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:0.21, Z:-0.21 [[ 9.99994910e-01 -2.83665421e-03 -1.46057878e-03 6.04561837e+01] [ 2.83661939e-03 9.99995976e-01 -2.59082113e-05 2.07025798e-01] [ 1.46064640e-03 2.17649733e-05 9.99998933e-01 -2.14314342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:0.21, Z:-0.22 [[ 9.99998078e-01 -1.30807072e-03 -1.46060243e-03 6.04860524e+01] [ 1.30803633e-03 9.99999144e-01 -2.44987129e-05 2.06447802e-01] [ 1.46063322e-03 2.25881447e-05 9.99998933e-01 -2.17558806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:0.21, Z:-0.22 [[ 9.99998766e-01 -5.78037872e-04 -1.46060213e-03 6.05154204e+01] [ 5.78002679e-04 9.99999833e-01 -2.45162568e-05 2.06560195e-01] [ 1.46061606e-03 2.36719946e-05 9.99998933e-01 -2.17143994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:0.21, Z:-0.22 [[ 9.99998917e-01 1.83494866e-04 -1.46057894e-03 6.05449608e+01] [-1.83532883e-04 9.99999983e-01 -2.58948331e-05 2.07512076e-01] [ 1.46057416e-03 2.61628693e-05 9.99998933e-01 -2.16293043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:0.21, Z:-0.22 [[ 9.99998092e-01 1.29744362e-03 -1.46056389e-03 6.05742589e+01] [-1.29748412e-03 9.99999158e-01 -2.67837540e-05 2.09795798e-01] [ 1.46052791e-03 2.86787614e-05 9.99998933e-01 -2.16693346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:0.21, Z:-0.22 [[ 9.99997739e-01 1.54521537e-03 -1.46059849e-03 6.06043839e+01] [-1.54525316e-03 9.99998806e-01 -2.47411813e-05 2.11013664e-01] [ 1.46055851e-03 2.69981198e-05 9.99998933e-01 -2.15978983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:0.21, Z:-0.22 [[ 9.99997567e-01 1.65290441e-03 -1.46059790e-03 6.06342369e+01] [-1.65294236e-03 9.99998634e-01 -2.47757401e-05 2.12311902e-01] [ 1.46055495e-03 2.71899640e-05 9.99998933e-01 -2.15529209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.66, Y:0.21, Z:-0.22 [[ 9.99997523e-01 1.67969064e-03 -1.46059761e-03 6.06636001e+01] [-1.67972864e-03 9.99998589e-01 -2.47929475e-05 2.12975032e-01] [ 1.46055390e-03 2.72462937e-05 9.99998933e-01 -2.17173854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:0.21, Z:-0.21 [[ 9.99997358e-01 1.77515296e-03 -1.46059702e-03 6.06935075e+01] [-1.77519111e-03 9.99998424e-01 -2.48277338e-05 2.14689220e-01] [ 1.46055064e-03 2.74205070e-05 9.99998933e-01 -2.14270102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:0.22, Z:-0.21 [[ 9.99996811e-01 2.06009087e-03 -1.46059672e-03 6.07236120e+01] [-2.06012935e-03 9.99997878e-01 -2.48449974e-05 2.15955277e-01] [ 1.46054244e-03 2.78539364e-05 9.99998933e-01 -2.13255185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:0.22, Z:-0.21 [[ 9.99994915e-01 2.83497013e-03 -1.46059614e-03 6.07528062e+01] [-2.83500949e-03 9.99995981e-01 -2.48792868e-05 2.17699044e-01] [ 1.46051974e-03 2.90199642e-05 9.99998933e-01 -2.11741500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:0.22, Z:-0.21 [[ 9.99991237e-01 3.92325497e-03 -1.46059554e-03 6.07823863e+01] [-3.92329554e-03 9.99992304e-01 -2.49145242e-05 2.20213401e-01] [ 1.46048655e-03 3.06446538e-05 9.99998933e-01 -2.12000150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:0.23, Z:-0.21 [[ 9.99975024e-01 6.91507995e-03 -1.46059524e-03 6.08109635e+01] [-6.91512374e-03 9.99976090e-01 -2.49320631e-05 2.25497575e-01] [ 1.46038791e-03 3.50316372e-05 9.99998933e-01 -2.12391315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.84, Y:0.23, Z:-0.21 [[ 9.99965077e-01 8.22866847e-03 -1.46059437e-03 6.08407365e+01] [-8.22871374e-03 9.99966143e-01 -2.49828761e-05 2.27350341e-01] [ 1.46033934e-03 3.70008166e-05 9.99998933e-01 -2.14491614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:0.23, Z:-0.21 [[ 9.99962017e-01 8.59256139e-03 -1.46059378e-03 6.08704271e+01] [-8.59260709e-03 9.99963083e-01 -2.50175385e-05 2.30298389e-01] [ 1.46032489e-03 3.75668967e-05 9.99998933e-01 -2.12155553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:0.23, Z:-0.21 [[ 9.99960818e-01 8.73088929e-03 -1.46059318e-03 6.08991977e+01] [-8.73093519e-03 9.99961884e-01 -2.50522930e-05 2.32432135e-01] [ 1.46031878e-03 3.78036558e-05 9.99998933e-01 -2.12930512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:0.23, Z:-0.21 [[ 9.99963800e-01 8.38247082e-03 -1.46059229e-03 6.09286813e+01] [-8.38251642e-03 9.99964866e-01 -2.51041449e-05 2.34537530e-01] [ 1.46033054e-03 3.73466750e-05 9.99998933e-01 -2.12706716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:0.24, Z:-0.21 [[ 9.99977890e-01 6.48734306e-03 -1.46059168e-03 6.09571850e+01] [-6.48738670e-03 9.99978956e-01 -2.51395102e-05 2.37943937e-01] [ 1.46039786e-03 3.46143774e-05 9.99998933e-01 -2.13164997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:60.99, Y:0.24, Z:-0.21 [[ 9.99986312e-01 5.02417029e-03 -1.46059077e-03 6.09863684e+01] [-5.02421245e-03 9.99987378e-01 -2.51922719e-05 2.39016904e-01] [ 1.46044577e-03 3.25302454e-05 9.99998933e-01 -2.14677864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:0.24, Z:-0.21 [[ 9.99994097e-01 3.11020858e-03 -1.46059018e-03 6.10160017e+01] [-3.11024874e-03 9.99995163e-01 -2.52266110e-05 2.41658234e-01] [ 1.46050465e-03 2.97692608e-05 9.99998933e-01 -2.10785345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:0.24, Z:-0.21 [[ 9.99998817e-01 -4.82780428e-04 -1.46058958e-03 6.10451936e+01] [ 4.82744046e-04 9.99999883e-01 -2.52614213e-05 2.44244657e-01] [ 1.46060160e-03 2.45563005e-05 9.99998933e-01 -2.10930300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:0.25, Z:-0.21 [[ 9.99996903e-01 -2.01520293e-03 -1.46058897e-03 6.10745071e+01] [ 2.01516814e-03 9.99997969e-01 -2.52961150e-05 2.45438525e-01] [ 1.46063699e-03 2.23527042e-05 9.99998933e-01 -2.11180029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:0.25, Z:-0.21 [[ 9.99994932e-01 -2.82885148e-03 -1.46058837e-03 6.11041203e+01] [ 2.82881750e-03 9.99995999e-01 -2.53308086e-05 2.46486473e-01] [ 1.46065419e-03 2.11989423e-05 9.99998933e-01 -2.13904355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:0.25, Z:-0.21 [[ 9.99988588e-01 -4.54881691e-03 -1.46052063e-03 6.11339876e+01] [ 4.54877909e-03 9.99989654e-01 -2.92169169e-05 2.48026871e-01] [ 1.46063843e-03 2.25729978e-05 9.99998933e-01 -2.13398892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:0.25, Z:-0.22 [[ 9.99980001e-01 -6.15342335e-03 -1.46058713e-03 6.11626245e+01] [ 6.15339283e-03 9.99981067e-01 -2.53919975e-05 2.51373997e-01] [ 1.46071572e-03 1.64039233e-05 9.99998933e-01 -2.15158778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:0.25, Z:-0.22 [[ 9.99977716e-01 -6.51412577e-03 -1.46046321e-03 6.11935631e+01] [ 6.51408533e-03 9.99978783e-01 -3.24434517e-05 2.51840703e-01] [ 1.46064356e-03 2.29291468e-05 9.99998933e-01 -2.15296007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:0.25, Z:-0.22 [[ 9.99981961e-01 -5.82618739e-03 -1.46058435e-03 6.12214182e+01] [ 5.82615635e-03 9.99983027e-01 -2.55060524e-05 2.52717840e-01] [ 1.46070817e-03 1.69959994e-05 9.99998933e-01 -2.17302371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:0.25, Z:-0.22 [[ 9.99977960e-01 -6.47655608e-03 -1.46050112e-03 6.12512188e+01] [ 6.47651880e-03 9.99979027e-01 -3.02471876e-05 2.54704144e-01] [ 1.46066638e-03 2.07875581e-05 9.99998933e-01 -2.15850817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:0.26, Z:-0.21 [[ 9.99984894e-01 -5.29892213e-03 -1.46058257e-03 6.12810648e+01] [ 5.29889039e-03 9.99985960e-01 -2.56000894e-05 2.57201652e-01] [ 1.46069771e-03 1.78602357e-05 9.99998933e-01 -2.14347163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:0.26, Z:-0.21 [[ 9.99989661e-01 -4.30631742e-03 -1.46058228e-03 6.13108528e+01] [ 4.30628459e-03 9.99990728e-01 -2.56167220e-05 2.59203438e-01] [ 1.46067905e-03 1.93267742e-05 9.99998933e-01 -2.14170637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:0.26, Z:-0.22 [[ 9.99993771e-01 -3.21309545e-03 -1.46058170e-03 6.13405414e+01] [ 3.21306141e-03 9.99994838e-01 -2.56496134e-05 2.61488121e-01] [ 1.46065657e-03 2.09565150e-05 9.99998933e-01 -2.15179977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:0.26, Z:-0.22 [[ 9.99997828e-01 -1.48654918e-03 -1.46058112e-03 6.13693764e+01] [ 1.48651326e-03 9.99998895e-01 -2.56824853e-05 2.63555877e-01] [ 1.46061768e-03 2.35112563e-05 9.99998933e-01 -2.20684575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.40, Y:0.27, Z:-0.22 [[ 9.99998933e-01 -3.67598867e-05 -1.46048217e-03 6.14008393e+01] [ 3.67142652e-05 9.99999999e-01 -3.12640303e-05 2.66478213e-01] [ 1.46048332e-03 3.12103764e-05 9.99998933e-01 -2.21129977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:0.27, Z:-0.22 [[ 9.99998486e-01 9.46219707e-04 -1.46057810e-03 6.14301398e+01] [-9.46258461e-04 9.99999552e-01 -2.58422233e-05 2.69382205e-01] [ 1.46055299e-03 2.72242685e-05 9.99998933e-01 -2.19273134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:0.27, Z:-0.22 [[ 9.99996251e-01 2.31603586e-03 -1.46057752e-03 6.14604858e+01] [-2.31607612e-03 9.99997318e-01 -2.58747529e-05 2.74731964e-01] [ 1.46051368e-03 2.92574646e-05 9.99998933e-01 -2.20188622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:0.28, Z:-0.22 [[ 9.99991946e-01 3.73822146e-03 -1.46065163e-03 6.14898188e+01] [-3.73825718e-03 9.99993012e-01 -2.17303061e-05 2.77373551e-01] [ 1.46056019e-03 2.71904225e-05 9.99998933e-01 -2.16259062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:61.52, Y:0.28, Z:-0.22 [[ 9.99989618e-01 4.31629585e-03 -1.46056977e-03 6.15182405e+01] [-4.31633884e-03 9.99990684e-01 -2.62799422e-05 2.80203815e-01] [ 1.46044273e-03 3.25839834e-05 9.99998933e-01 -2.20990806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:0.28, Z:-0.22 [[ 9.99988171e-01 4.63951187e-03 -1.46056902e-03 6.15472969e+01] [-4.63955527e-03 9.99989237e-01 -2.63214452e-05 2.83704082e-01] [ 1.46043118e-03 3.30975245e-05 9.99998933e-01 -2.18502595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:0.29, Z:-0.22 [[ 9.99989772e-01 4.28040580e-03 -1.46056816e-03 6.15756348e+01] [-4.28044888e-03 9.99990838e-01 -2.63694751e-05 2.87536314e-01] [ 1.46044190e-03 3.26210927e-05 9.99998933e-01 -2.22442377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.61, Y:0.29, Z:-0.22 [[ 9.99994021e-01 3.13439383e-03 -1.46053099e-03 6.16059168e+01] [-3.13443872e-03 9.99995087e-01 -2.84408427e-05 2.89450676e-01] [ 1.46043467e-03 3.30186175e-05 9.99998933e-01 -2.19814904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:0.29, Z:-0.21 [[ 9.99996614e-01 2.15364769e-03 -1.46057136e-03 6.16352730e+01] [-2.15368824e-03 9.99997680e-01 -2.61896307e-05 2.91076112e-01] [ 1.46051157e-03 2.93351574e-05 9.99998933e-01 -2.14750180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:0.29, Z:-0.22 [[ 9.99998408e-01 1.02453523e-03 -1.46062779e-03 6.16639884e+01] [-1.02456997e-03 9.99999475e-01 -2.30382927e-05 2.93575212e-01] [ 1.46060342e-03 2.45347714e-05 9.99998933e-01 -2.18104313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.69, Y:0.30, Z:-0.21 [[ 9.99998495e-01 -9.36849003e-04 -1.46056660e-03 6.16930546e+01] [ 9.36811387e-04 9.99999561e-01 -2.64381591e-05 2.97859294e-01] [ 1.46059073e-03 2.50698439e-05 9.99998933e-01 -2.12939999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:0.30, Z:-0.21 [[ 9.99997309e-01 -1.80245878e-03 -1.46056998e-03 6.17224831e+01] [ 1.80242236e-03 9.99998375e-01 -2.62500661e-05 3.00365094e-01] [ 1.46061492e-03 2.36174315e-05 9.99998933e-01 -2.12092017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:0.30, Z:-0.21 [[ 9.99995296e-01 -2.69715066e-03 -1.46056936e-03 6.17523764e+01] [ 2.69711515e-03 9.99996362e-01 -2.62845907e-05 3.01616161e-01] [ 1.46063494e-03 2.23451433e-05 9.99998933e-01 -2.10738649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:0.30, Z:-0.21 [[ 9.99989437e-01 -4.35800450e-03 -1.46064325e-03 6.17822306e+01] [ 4.35797672e-03 9.99990504e-01 -2.21969746e-05 3.03422316e-01] [ 1.46072612e-03 1.58312909e-05 9.99998933e-01 -2.12336840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:61.81, Y:0.31, Z:-0.22 [[ 9.99982979e-01 -5.64876673e-03 -1.46056652e-03 6.18111809e+01] [ 5.64873414e-03 9.99984045e-01 -2.64360631e-05 3.06403802e-01] [ 1.46069255e-03 1.81852611e-05 9.99998933e-01 -2.16175485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:61.84, Y:0.31, Z:-0.21 [[ 9.99980266e-01 -6.11017037e-03 -1.46056619e-03 6.18417162e+01] [ 6.11013825e-03 9.99981333e-01 -2.64545158e-05 3.07939407e-01] [ 1.46070057e-03 1.75297324e-05 9.99998933e-01 -2.14812732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:0.31, Z:-0.21 [[ 9.99974849e-01 -6.94024412e-03 -1.46066723e-03 6.18703236e+01] [ 6.94022103e-03 9.99975916e-01 -2.08715155e-05 3.11653899e-01] [ 1.46077691e-03 1.07336372e-05 9.99998933e-01 -2.12897245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:0.32, Z:-0.21 [[ 9.99971676e-01 -7.38337848e-03 -1.46056443e-03 6.19010543e+01] [ 7.38334760e-03 9.99972742e-01 -2.65307077e-05 3.15497947e-01] [ 1.46072051e-03 1.57461013e-05 9.99998933e-01 -2.13953753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:0.32, Z:-0.21 [[ 9.99972137e-01 -7.32063879e-03 -1.46056443e-03 6.19303919e+01] [ 7.32060785e-03 9.99973204e-01 -2.65307077e-05 3.17816134e-01] [ 1.46071952e-03 1.58377490e-05 9.99998933e-01 -2.14759289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.96, Y:0.32, Z:-0.22 [[ 9.99972892e-01 -7.21684977e-03 -1.46056412e-03 6.19610362e+01] [ 7.21681869e-03 9.99973958e-01 -2.65482631e-05 3.20055595e-01] [ 1.46071767e-03 1.60069170e-05 9.99998933e-01 -2.16299152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.99, Y:0.32, Z:-0.22 [[ 9.99971937e-01 -7.34795915e-03 -1.46056412e-03 6.19905635e+01] [ 7.34792821e-03 9.99973003e-01 -2.65482631e-05 3.23398015e-01] [ 1.46071976e-03 1.58153978e-05 9.99998933e-01 -2.18665740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:0.33, Z:-0.22 [[ 9.99969227e-01 -7.70785835e-03 -1.46056379e-03 6.20214031e+01] [ 7.70782776e-03 9.99970294e-01 -2.65660783e-05 3.25263997e-01] [ 1.46072517e-03 1.53074867e-05 9.99998933e-01 -2.16797657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:0.33, Z:-0.22 [[ 9.99964295e-01 -8.32322064e-03 -1.46056379e-03 6.20522026e+01] [ 8.32319072e-03 9.99965361e-01 -2.65660783e-05 3.27447685e-01] [ 1.46073431e-03 1.44085788e-05 9.99998933e-01 -2.16219915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:0.33, Z:-0.22 [[ 9.99956275e-01 -9.23659008e-03 -1.46056379e-03 6.20825427e+01] [ 9.23656113e-03 9.99957342e-01 -2.65660783e-05 3.29748691e-01] [ 1.46074687e-03 1.30743300e-05 9.99998933e-01 -2.17293615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:0.33, Z:-0.22 [[ 9.99931271e-01 -1.16326786e-02 -1.46056411e-03 6.21134127e+01] [ 1.16326522e-02 9.99932338e-01 -2.65482870e-05 3.32674003e-01] [ 1.46077412e-03 9.55622793e-06 9.99998933e-01 -2.19792468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:0.33, Z:-0.22 [[ 9.99931656e-01 -1.15995759e-02 -1.46058028e-03 6.21442489e+01] [ 1.15995508e-02 9.99932723e-01 -2.56584051e-05 3.33191159e-01] [ 1.46077964e-03 8.71457643e-06 9.99998933e-01 -2.19747519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:0.33, Z:-0.22 [[ 9.99917061e-01 -1.27960288e-02 -1.46058111e-03 6.21750332e+01] [ 1.27960050e-02 9.99918127e-01 -2.56122783e-05 3.34225820e-01] [ 1.46078927e-03 6.92055078e-06 9.99998933e-01 -2.15575978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:0.34, Z:-0.22 [[ 9.99897984e-01 -1.42087331e-02 -1.46056354e-03 6.22055125e+01] [ 1.42087095e-02 9.99899051e-01 -2.65779414e-05 3.35452996e-01] [ 1.46079374e-03 5.82250696e-06 9.99998933e-01 -2.16126913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:0.34, Z:-0.22 [[ 9.99880393e-01 -1.53969783e-02 -1.46058076e-03 6.22353850e+01] [ 1.53969572e-02 9.99881460e-01 -2.56352498e-05 3.36877919e-01] [ 1.46080233e-03 3.14368418e-06 9.99998933e-01 -2.16220446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.27, Y:0.34, Z:-0.21 [[ 9.99846110e-01 -1.74820682e-02 -1.46059096e-03 6.22667188e+01] [ 1.74820502e-02 9.99847177e-01 -2.50774792e-05 3.38718800e-01] [ 1.46080616e-03 -4.60504569e-07 9.99998933e-01 -2.13960018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.30, Y:0.34, Z:-0.22 [[ 9.99822948e-01 -1.87600377e-02 -1.46056101e-03 6.22975207e+01] [ 1.87600187e-02 9.99824015e-01 -2.67148840e-05 3.39900562e-01] [ 1.46080515e-03 -6.89997845e-07 9.99998933e-01 -2.15324214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:0.34, Z:-0.21 [[ 9.99791727e-01 -2.03560603e-02 -1.46056133e-03 6.23291406e+01] [ 2.03560431e-02 9.99792794e-01 -2.66974178e-05 3.41388552e-01] [ 1.46080215e-03 -3.03939195e-06 9.99998933e-01 -2.14677754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:0.34, Z:-0.21 [[ 9.99740565e-01 -2.27303500e-02 -1.46059256e-03 6.23599440e+01] [ 2.27303378e-02 9.99741632e-01 -2.49866681e-05 3.42637978e-01] [ 1.46078315e-03 -8.21957668e-06 9.99998933e-01 -2.12474817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:0.34, Z:-0.21 [[ 9.99723411e-01 -2.34727278e-02 -1.46058331e-03 6.23919334e+01] [ 2.34727156e-02 9.99724478e-01 -2.54936775e-05 3.41636115e-01] [ 1.46077929e-03 -8.79723035e-06 9.99998933e-01 -2.14359076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:0.34, Z:-0.21 [[ 9.99677690e-01 -2.53452821e-02 -1.46065940e-03 6.24226923e+01] [ 2.53452780e-02 9.99678757e-01 -2.13248300e-05 3.41952004e-01] [ 1.46073066e-03 -1.57028619e-05 9.99998933e-01 -2.14828332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:0.34, Z:-0.21 [[ 9.99653338e-01 -2.62882057e-02 -1.46066558e-03 6.24512862e+01] [ 2.62882031e-02 9.99654405e-01 -2.09838818e-05 3.42397398e-01] [ 1.46071242e-03 -1.74216661e-05 9.99998933e-01 -2.13368063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:0.34, Z:-0.21 [[ 9.99604535e-01 -2.80827457e-02 -1.46054780e-03 6.24835921e+01] [ 2.80827356e-02 9.99605602e-01 -2.74630812e-05 3.41750623e-01] [ 1.46074300e-03 -1.35639573e-05 9.99998933e-01 -2.12941842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:0.34, Z:-0.21 [[ 9.99568362e-01 -2.93420591e-02 -1.46068050e-03 6.25125599e+01] [ 2.93420610e-02 9.99569429e-01 -2.01207845e-05 3.43124209e-01] [ 1.46064196e-03 -2.27472767e-05 9.99998933e-01 -2.13899368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:0.34, Z:-0.21 [[ 9.99544035e-01 -3.01593858e-02 -1.46057544e-03 6.25443175e+01] [ 3.01593801e-02 9.99545102e-01 -2.59177447e-05 3.42661366e-01] [ 1.46069270e-03 -1.81441229e-05 9.99998933e-01 -2.12434723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:0.34, Z:-0.21 [[ 9.99538428e-01 -3.03446370e-02 -1.46056383e-03 6.25773403e+01] [ 3.03446306e-02 9.99539495e-01 -2.65564174e-05 3.40475340e-01] [ 1.46069708e-03 -1.77761102e-05 9.99998933e-01 -2.11696105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:0.34, Z:-0.21 [[ 9.99511461e-01 -3.12202768e-02 -1.46068112e-03 6.26075094e+01] [ 3.12202808e-02 9.99512528e-01 -2.00681390e-05 3.39933813e-01] [ 1.46059562e-03 -2.55445398e-05 9.99998933e-01 -2.14689775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.64, Y:0.34, Z:-0.21 [[ 9.99525151e-01 -3.07788680e-02 -1.46069956e-03 6.26363107e+01] [ 3.07788730e-02 9.99526218e-01 -1.90249833e-05 3.39390827e-01] [ 1.46059307e-03 -2.59427370e-05 9.99998933e-01 -2.13279277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.67, Y:0.34, Z:-0.21 [[ 9.99523291e-01 -3.08392080e-02 -1.46057269e-03 6.26678332e+01] [ 3.08392027e-02 9.99524358e-01 -2.61196188e-05 3.38176984e-01] [ 1.46068349e-03 -1.89357298e-05 9.99998933e-01 -2.13276405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:0.33, Z:-0.21 [[ 9.99525776e-01 -3.07585852e-02 -1.46057331e-03 6.26991151e+01] [ 3.07585800e-02 9.99526843e-01 -2.60844253e-05 3.34256757e-01] [ 1.46068455e-03 -1.88531057e-05 9.99998933e-01 -2.13830154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:0.33, Z:-0.22 [[ 9.99526383e-01 -3.07388344e-02 -1.46063208e-03 6.27290812e+01] [ 3.07388340e-02 9.99527450e-01 -2.27755213e-05 3.32394217e-01] [ 1.46064195e-03 -2.21333925e-05 9.99998933e-01 -2.16654570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:0.33, Z:-0.22 [[ 9.99528330e-01 -3.06754501e-02 -1.46063935e-03 6.27607901e+01] [ 3.06754502e-02 9.99529397e-01 -2.23652274e-05 3.30882598e-01] [ 1.46063804e-03 -2.24510913e-05 9.99998933e-01 -2.15145866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:0.33, Z:-0.21 [[ 9.99593283e-01 -2.84804397e-02 -1.46062995e-03 6.27904108e+01] [ 2.84804366e-02 9.99594350e-01 -2.28933774e-05 3.28082889e-01] [ 1.46068946e-03 -1.87153124e-05 9.99998933e-01 -2.11248589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:0.33, Z:-0.21 [[ 9.99639843e-01 -2.67964729e-02 -1.46057230e-03 6.28208832e+01] [ 2.67964634e-02 9.99640910e-01 -2.61172172e-05 3.26986370e-01] [ 1.46074767e-03 -1.30303612e-05 9.99998933e-01 -2.10883018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:0.33, Z:-0.21 [[ 9.99694829e-01 -2.46599836e-02 -1.46057261e-03 6.28512858e+01] [ 2.46599718e-02 9.99695896e-01 -2.60998668e-05 3.25897370e-01] [ 1.46077207e-03 -9.92577745e-06 9.99998933e-01 -2.11493300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:0.32, Z:-0.21 [[ 9.99752133e-01 -2.22157219e-02 -1.46058051e-03 6.28816886e+01] [ 2.22157082e-02 9.99753200e-01 -2.56582369e-05 3.24759540e-01] [ 1.46079006e-03 -6.79595328e-06 9.99998933e-01 -2.09245607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:0.32, Z:-0.21 [[ 9.99862489e-01 -1.65187549e-02 -1.46056954e-03 6.29119847e+01] [ 1.65187342e-02 9.99863556e-01 -2.62681360e-05 3.22462631e-01] [ 1.46080417e-03 2.13776381e-06 9.99998933e-01 -2.08640223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:0.32, Z:-0.21 [[ 9.99901530e-01 -1.39569626e-02 -1.46056954e-03 6.29423250e+01] [ 1.39569391e-02 9.99902597e-01 -2.62681360e-05 3.21860884e-01] [ 1.46079390e-03 5.88046921e-06 9.99998933e-01 -2.09129611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:0.32, Z:-0.21 [[ 9.99919045e-01 -1.26400306e-02 -1.46056954e-03 6.29723593e+01] [ 1.26400057e-02 9.99920112e-01 -2.62681360e-05 3.22121298e-01] [ 1.46078489e-03 7.80440204e-06 9.99998933e-01 -2.12649204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:63.00, Y:0.32, Z:-0.21 [[ 9.99941911e-01 -1.06790337e-02 -1.46064573e-03 6.30012398e+01] [ 1.06790129e-02 9.99942977e-01 -2.20336860e-05 3.21347504e-01] [ 1.46079774e-03 6.43415146e-06 9.99998933e-01 -2.13959645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:63.03, Y:0.32, Z:-0.22 [[ 9.99958193e-01 -9.02655116e-03 -1.46058701e-03 6.30312321e+01] [ 9.02652386e-03 9.99959260e-01 -2.52819576e-05 3.18990292e-01] [ 1.46075572e-03 1.20968771e-05 9.99998933e-01 -2.15684004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:0.32, Z:-0.22 [[ 9.99951663e-01 -9.72304319e-03 -1.46056539e-03 6.30607453e+01] [ 9.72301490e-03 9.99952730e-01 -2.64745224e-05 3.18737487e-01] [ 1.46075377e-03 1.22721436e-05 9.99998933e-01 -2.19045371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:0.32, Z:-0.22 [[ 9.99952333e-01 -9.65394451e-03 -1.46062488e-03 6.30904583e+01] [ 9.65392087e-03 9.99953400e-01 -2.32297110e-05 3.15831481e-01] [ 1.46078108e-03 9.12784665e-06 9.99998933e-01 -2.17803663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:0.31, Z:-0.22 [[ 9.99951587e-01 -9.73087843e-03 -1.46060144e-03 6.31203361e+01] [ 9.73085301e-03 9.99952654e-01 -2.45031903e-05 3.14896537e-01] [ 1.46077073e-03 1.02891060e-05 9.99998933e-01 -2.18826185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:0.31, Z:-0.22 [[ 9.99956977e-01 -9.16023787e-03 -1.46060987e-03 6.31510481e+01] [ 9.16021252e-03 9.99958044e-01 -2.40423943e-05 3.13794416e-01] [ 1.46076882e-03 1.06618631e-05 9.99998933e-01 -2.15689207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:0.31, Z:-0.22 [[ 9.99957456e-01 -9.10790565e-03 -1.46055901e-03 6.31818583e+01] [ 9.10787620e-03 9.99958522e-01 -2.68129473e-05 3.13335919e-01] [ 1.46074264e-03 1.35092160e-05 9.99998933e-01 -2.15670054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.21, Y:0.31, Z:-0.21 [[ 9.99960979e-01 -8.71244674e-03 -1.46055901e-03 6.32121464e+01] [ 8.71241687e-03 9.99962046e-01 -2.68129473e-05 3.11952769e-01] [ 1.46073718e-03 1.40869021e-05 9.99998933e-01 -2.14783214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.24, Y:0.31, Z:-0.22 [[ 9.99962525e-01 -8.53320225e-03 -1.46055901e-03 6.32421697e+01] [ 8.53317219e-03 9.99963591e-01 -2.68129473e-05 3.12015676e-01] [ 1.46073463e-03 1.43487410e-05 9.99998933e-01 -2.17360780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:0.31, Z:-0.21 [[ 9.99964352e-01 -8.31630243e-03 -1.46057270e-03 6.32714936e+01] [ 8.31627323e-03 9.99965419e-01 -2.60699364e-05 3.12102308e-01] [ 1.46073899e-03 1.39224854e-05 9.99998933e-01 -2.14598992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:0.31, Z:-0.21 [[ 9.99967580e-01 -7.91862928e-03 -1.46058832e-03 6.33019002e+01] [ 7.91860088e-03 9.99968647e-01 -2.52257240e-05 3.12168889e-01] [ 1.46074228e-03 1.36590902e-05 9.99998933e-01 -2.13934666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:0.31, Z:-0.21 [[ 9.99963530e-01 -8.41456453e-03 -1.46057203e-03 6.33320067e+01] [ 8.41453538e-03 9.99964597e-01 -2.61020039e-05 3.11264111e-01] [ 1.46073996e-03 1.38110169e-05 9.99998933e-01 -2.08545658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:0.31, Z:-0.21 [[ 9.99964248e-01 -8.32879673e-03 -1.46061344e-03 6.33618982e+01] [ 8.32877071e-03 9.99965315e-01 -2.38937230e-05 3.10491791e-01] [ 1.46076179e-03 1.17277543e-05 9.99998933e-01 -2.11659937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:0.31, Z:-0.21 [[ 9.99957267e-01 -9.12858666e-03 -1.46053108e-03 6.33912778e+01] [ 9.12855513e-03 9.99958333e-01 -2.82516960e-05 3.09831794e-01] [ 1.46072813e-03 1.49179502e-05 9.99998933e-01 -2.09458474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:0.31, Z:-0.21 [[ 9.99932893e-01 -1.14924429e-02 -1.46054199e-03 6.34216581e+01] [ 1.14924147e-02 9.99933960e-01 -2.76759660e-05 3.07551407e-01] [ 1.46076360e-03 1.08889545e-05 9.99998933e-01 -2.11213176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:0.31, Z:-0.22 [[ 9.99912730e-01 -1.31300612e-02 -1.46054199e-03 6.34509439e+01] [ 1.31300348e-02 9.99913797e-01 -2.76759660e-05 3.06637545e-01] [ 1.46077948e-03 8.49658349e-06 9.99998933e-01 -2.15257193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.48, Y:0.31, Z:-0.21 [[ 9.99889003e-01 -1.48272681e-02 -1.46053316e-03 6.34802935e+01] [ 1.48272428e-02 9.99890070e-01 -2.81392628e-05 3.05881701e-01] [ 1.46078983e-03 6.48045973e-06 9.99998933e-01 -2.13384497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:0.31, Z:-0.21 [[ 9.99863733e-01 -1.64432755e-02 -1.46053783e-03 6.35099482e+01] [ 1.64432523e-02 9.99864800e-01 -2.78945275e-05 3.05587051e-01] [ 1.46079905e-03 3.87473430e-06 9.99998933e-01 -2.11985940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:0.30, Z:-0.21 [[ 9.99830208e-01 -1.83690564e-02 -1.46057190e-03 6.35409073e+01] [ 1.83690378e-02 9.99831275e-01 -2.61152840e-05 3.03527709e-01] [ 1.46080517e-03 -7.18450610e-07 9.99998933e-01 -2.14205678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:0.30, Z:-0.21 [[ 9.99839431e-01 -1.78599568e-02 -1.46060576e-03 6.35703854e+01] [ 1.78599402e-02 9.99840498e-01 -2.43521497e-05 3.02175791e-01] [ 1.46080772e-03 -1.73809219e-06 9.99998933e-01 -2.11262556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:0.30, Z:-0.21 [[ 9.99847510e-01 -1.74018178e-02 -1.46052944e-03 6.35997128e+01] [ 1.74017951e-02 9.99848577e-01 -2.82921859e-05 3.01982347e-01] [ 1.46080062e-03 2.87203759e-06 9.99998933e-01 -2.11239462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.63, Y:0.30, Z:-0.21 [[ 9.99879927e-01 -1.54272056e-02 -1.46052946e-03 6.36298748e+01] [ 1.54271808e-02 9.99880994e-01 -2.82914404e-05 3.02742432e-01] [ 1.46079210e-03 5.75619146e-06 9.99998933e-01 -2.13497662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:0.30, Z:-0.21 [[ 9.99898060e-01 -1.42034123e-02 -1.46052912e-03 6.36600415e+01] [ 1.42033861e-02 9.99899126e-01 -2.83086692e-05 3.03161369e-01] [ 1.46078387e-03 7.56132435e-06 9.99998933e-01 -2.12713554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:0.30, Z:-0.21 [[ 9.99916509e-01 -1.28390933e-02 -1.46052912e-03 6.36900357e+01] [ 1.28390656e-02 9.99917575e-01 -2.83086692e-05 3.03295911e-01] [ 1.46077220e-03 9.55447647e-06 9.99998933e-01 -2.13615836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:0.30, Z:-0.22 [[ 9.99942867e-01 -1.05891616e-02 -1.46052878e-03 6.37195611e+01] [ 1.05891315e-02 9.99943933e-01 -2.83263799e-05 3.02439904e-01] [ 1.46074684e-03 1.28590302e-05 9.99998933e-01 -2.15889850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:63.75, Y:0.30, Z:-0.22 [[ 9.99952537e-01 -9.63277604e-03 -1.46052883e-03 6.37499413e+01] [ 9.63274494e-03 9.99953604e-01 -2.83234694e-05 3.02883169e-01] [ 1.46073390e-03 1.42532234e-05 9.99998933e-01 -2.16438290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:0.30, Z:-0.22 [[ 9.99955907e-01 -9.27636831e-03 -1.46052883e-03 6.37790776e+01] [ 9.27633683e-03 9.99956973e-01 -2.83234694e-05 3.03629980e-01] [ 1.46072873e-03 1.47738631e-05 9.99998933e-01 -2.16997949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:63.81, Y:0.30, Z:-0.22 [[ 9.99959334e-01 -8.89926083e-03 -1.46051898e-03 6.38090428e+01] [ 8.89922821e-03 9.99960401e-01 -2.88286923e-05 3.03644412e-01] [ 1.46071769e-03 1.58300283e-05 9.99998933e-01 -2.15542830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:0.30, Z:-0.21 [[ 9.99957795e-01 -9.07054417e-03 -1.46052451e-03 6.38391823e+01] [ 9.07051215e-03 9.99958862e-01 -2.85454203e-05 3.03699211e-01] [ 1.46072335e-03 1.52965102e-05 9.99998933e-01 -2.12240006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:0.30, Z:-0.21 [[ 9.99949005e-01 -9.99268127e-03 -1.46052451e-03 6.38697282e+01] [ 9.99265024e-03 9.99950072e-01 -2.85454203e-05 3.04033686e-01] [ 1.46073684e-03 1.39494540e-05 9.99998933e-01 -2.13272442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:0.30, Z:-0.22 [[ 9.99937710e-01 -1.10654239e-02 -1.46050895e-03 6.38991924e+01] [ 1.10653929e-02 9.99938776e-01 -2.93375580e-05 3.03575681e-01] [ 1.46074417e-03 1.31746252e-05 9.99998933e-01 -2.15177453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:0.30, Z:-0.21 [[ 9.99929679e-01 -1.17687634e-02 -1.46053641e-03 6.39298257e+01] [ 1.17687351e-02 9.99930746e-01 -2.79438114e-05 3.02948903e-01] [ 1.46076413e-03 1.07531802e-05 9.99998933e-01 -2.14799280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:63.96, Y:0.30, Z:-0.21 [[ 9.99920869e-01 -1.24949227e-02 -1.46051643e-03 6.39603449e+01] [ 1.24948937e-02 9.99921935e-01 -2.89547901e-05 3.01162844e-01] [ 1.46076420e-03 1.07035013e-05 9.99998933e-01 -2.11672268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:0.30, Z:-0.22 [[ 9.99917151e-01 -1.27889836e-02 -1.46051797e-03 6.39904058e+01] [ 1.27889551e-02 9.99918218e-01 -2.88768704e-05 3.01313565e-01] [ 1.46076783e-03 1.01959793e-05 9.99998933e-01 -2.15666807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:0.30, Z:-0.21 [[ 9.99921106e-01 -1.24759025e-02 -1.46050208e-03 6.40211914e+01] [ 1.24758724e-02 9.99922173e-01 -2.96803554e-05 3.00946238e-01] [ 1.46075871e-03 1.14569761e-05 9.99998933e-01 -2.11212080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:0.30, Z:-0.21 [[ 9.99921106e-01 -1.24759014e-02 -1.46051672e-03 6.40521847e+01] [ 1.24758724e-02 9.99922173e-01 -2.89418855e-05 3.01559966e-01] [ 1.46076412e-03 1.07183819e-05 9.99998933e-01 -2.11166830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:0.30, Z:-0.21 [[ 9.99934968e-01 -1.13104951e-02 -1.46051672e-03 6.40812290e+01] [ 1.13104649e-02 9.99936034e-01 -2.89418855e-05 3.00685487e-01] [ 1.46075064e-03 1.24208803e-05 9.99998933e-01 -2.12821857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:0.30, Z:-0.21 [[ 9.99940855e-01 -1.07774746e-02 -1.46051636e-03 6.41111266e+01] [ 1.07774438e-02 9.99941921e-01 -2.89597333e-05 3.00693725e-01] [ 1.46074365e-03 1.32173875e-05 9.99998933e-01 -2.14255397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:0.30, Z:-0.22 [[ 9.99949614e-01 -9.93163008e-03 -1.46053162e-03 6.41405370e+01] [ 9.93159949e-03 9.99950680e-01 -2.81931624e-05 3.00813410e-01] [ 1.46073959e-03 1.36863268e-05 9.99998933e-01 -2.17009306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.17, Y:0.30, Z:-0.21 [[ 9.99961072e-01 -8.70179757e-03 -1.46046082e-03 6.41700299e+01] [ 8.70176050e-03 9.99962138e-01 -3.17334970e-05 3.00686217e-01] [ 1.46068166e-03 1.90236814e-05 9.99998933e-01 -2.13387741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:0.30, Z:-0.22 [[ 9.99971849e-01 -7.35984229e-03 -1.46051193e-03 6.41991233e+01] [ 7.35980753e-03 9.99972916e-01 -2.91750371e-05 3.01163964e-01] [ 1.46068709e-03 1.84251291e-05 9.99998933e-01 -2.15114129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:0.30, Z:-0.22 [[ 9.99976984e-01 -6.62563223e-03 -1.46041639e-03 6.42290591e+01] [ 6.62558974e-03 9.99978050e-01 -3.39288376e-05 3.01781541e-01] [ 1.46060913e-03 2.42519368e-05 9.99998933e-01 -2.15549304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:0.30, Z:-0.21 [[ 9.99984365e-01 -5.39779075e-03 -1.46041872e-03 6.42584462e+01] [ 5.39774712e-03 9.99985431e-01 -3.38131336e-05 3.01068498e-01] [ 1.46057996e-03 2.59296340e-05 9.99998933e-01 -2.12367811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:0.30, Z:-0.21 [[ 9.99985783e-01 -5.12849156e-03 -1.46051014e-03 6.42875770e+01] [ 5.12845431e-03 9.99986849e-01 -2.92480251e-05 3.01643949e-01] [ 1.46064093e-03 2.17574497e-05 9.99998933e-01 -2.11929778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:0.30, Z:-0.21 [[ 9.99986064e-01 -5.07326872e-03 -1.46050979e-03 6.43175519e+01] [ 5.07323139e-03 9.99987131e-01 -2.92651485e-05 3.02856745e-01] [ 1.46063947e-03 2.18552366e-05 9.99998933e-01 -2.10606154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:0.30, Z:-0.21 [[ 9.99977231e-01 -6.58816112e-03 -1.46050986e-03 6.43474391e+01] [ 6.58812540e-03 9.99978298e-01 -2.92619332e-05 3.04376229e-01] [ 1.46067094e-03 1.96392448e-05 9.99998933e-01 -2.09925609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:0.30, Z:-0.21 [[ 9.99964905e-01 -8.24953460e-03 -1.46050951e-03 6.43774748e+01] [ 8.24950063e-03 9.99965972e-01 -2.92792114e-05 3.03993017e-01] [ 1.46070135e-03 1.72297097e-05 9.99998933e-01 -2.10107121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.41, Y:0.30, Z:-0.21 [[ 9.99946025e-01 -1.02865573e-02 -1.46050882e-03 6.44073813e+01] [ 1.02865255e-02 9.99947092e-01 -2.93134892e-05 3.03304152e-01] [ 1.46073309e-03 1.42883458e-05 9.99998933e-01 -2.10380463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.44, Y:0.30, Z:-0.21 [[ 9.99912878e-01 -1.31188288e-02 -1.46050814e-03 6.44373540e+01] [ 1.31187999e-02 9.99913944e-01 -2.93476540e-05 3.03256980e-01] [ 1.46076746e-03 1.01849832e-05 9.99998933e-01 -2.11495253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:0.30, Z:-0.22 [[ 9.99837115e-01 -1.79891829e-02 -1.46050745e-03 6.44666166e+01] [ 1.79891591e-02 9.99838182e-01 -2.93816250e-05 3.00984147e-01] [ 1.46079967e-03 3.10353815e-06 9.99998933e-01 -2.15773914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:0.30, Z:-0.21 [[ 9.99769946e-01 -2.13991404e-02 -1.46036909e-03 6.44975678e+01] [ 2.13991103e-02 9.99771012e-01 -3.62246087e-05 2.99055357e-01] [ 1.46080986e-03 4.96567583e-06 9.99998933e-01 -2.11969525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.53, Y:0.30, Z:-0.21 [[ 9.99710864e-01 -2.40011355e-02 -1.46050673e-03 6.45273771e+01] [ 2.40011182e-02 9.99711931e-01 -2.93830341e-05 2.97203338e-01] [ 1.46079123e-03 -5.67925621e-06 9.99998933e-01 -2.13380910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:0.29, Z:-0.22 [[ 9.99633260e-01 -2.70409285e-02 -1.46050638e-03 6.45545554e+01] [ 2.70409144e-02 9.99634327e-01 -2.94005399e-05 2.93200252e-01] [ 1.46076733e-03 -1.01036705e-05 9.99998933e-01 -2.15108926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.59, Y:0.29, Z:-0.21 [[ 9.99578867e-01 -2.89819888e-02 -1.46029266e-03 6.45861827e+01] [ 2.89819614e-02 9.99579934e-01 -3.99062644e-05 2.91268732e-01] [ 1.46083580e-03 -2.43268695e-06 9.99998933e-01 -2.11150627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:0.29, Z:-0.21 [[ 9.99575076e-01 -2.91124355e-02 -1.46050362e-03 6.46152872e+01] [ 2.91124235e-02 9.99576143e-01 -2.94414036e-05 2.88279379e-01] [ 1.46074168e-03 -1.30899066e-05 9.99998933e-01 -2.12617539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:0.29, Z:-0.21 [[ 9.99577381e-01 -2.90332012e-02 -1.46050254e-03 6.46445003e+01] [ 2.90331891e-02 9.99578448e-01 -2.94949157e-05 2.85919921e-01] [ 1.46074319e-03 -1.29205957e-05 9.99998933e-01 -2.14081287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:0.28, Z:-0.21 [[ 9.99626386e-01 -2.72938664e-02 -1.46050185e-03 6.46735979e+01] [ 2.72938524e-02 9.99627453e-01 -2.95288564e-05 2.82699077e-01] [ 1.46076370e-03 -1.03448978e-05 9.99998933e-01 -2.13068174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:0.28, Z:-0.21 [[ 9.99667013e-01 -2.57629525e-02 -1.46049691e-03 6.47023823e+01] [ 2.57629365e-02 9.99668080e-01 -2.97710852e-05 2.82383559e-01] [ 1.46077913e-03 -7.86551730e-06 9.99998933e-01 -2.14976714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:0.28, Z:-0.21 [[ 9.99710151e-01 -2.40308509e-02 -1.46049586e-03 6.47312194e+01] [ 2.40308330e-02 9.99711217e-01 -2.98227326e-05 2.82312319e-01] [ 1.46079076e-03 -5.28284350e-06 9.99998933e-01 -2.14126719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.76, Y:0.28, Z:-0.21 [[ 9.99748635e-01 -2.23726344e-02 -1.46049487e-03 6.47606573e+01] [ 2.23726146e-02 9.99749701e-01 -2.98709369e-05 2.82636040e-01] [ 1.46079760e-03 -2.81166050e-06 9.99998933e-01 -2.10408691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:0.28, Z:-0.21 [[ 9.99842678e-01 -1.76772541e-02 -1.46049414e-03 6.47906663e+01] [ 1.76772293e-02 9.99843745e-01 -2.99063982e-05 2.80136617e-01] [ 1.46079460e-03 4.08420346e-06 9.99998933e-01 -2.11568701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:0.28, Z:-0.21 [[ 9.99880456e-01 -1.53928842e-02 -1.46049342e-03 6.48197765e+01] [ 1.53928569e-02 9.99881523e-01 -2.99418189e-05 2.79332003e-01] [ 1.46078127e-03 7.45707338e-06 9.99998933e-01 -2.13191660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:0.28, Z:-0.21 [[ 9.99946984e-01 -1.01929530e-02 -1.46049352e-03 6.48488947e+01] [ 1.01929202e-02 9.99948050e-01 -2.99369033e-05 2.77197005e-01] [ 1.46072279e-03 1.50486223e-05 9.99998933e-01 -2.13034115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:0.28, Z:-0.22 [[ 9.99978816e-01 -6.34301388e-03 -1.46049247e-03 6.48764214e+01] [ 6.34297684e-03 9.99979883e-01 -2.99881494e-05 2.77044521e-01] [ 1.46065330e-03 2.07236442e-05 9.99998933e-01 -2.16710893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:0.28, Z:-0.21 [[ 9.99985803e-01 -5.12459882e-03 -1.46022907e-03 6.49089154e+01] [ 5.12454204e-03 9.99986869e-01 -4.26234562e-05 2.77896634e-01] [ 1.46042832e-03 3.51398458e-05 9.99998933e-01 -2.14348443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:0.28, Z:-0.21 [[ 9.99993890e-01 -3.17601495e-03 -1.46048632e-03 6.49382811e+01] [ 3.17597428e-03 9.99994956e-01 -3.01706080e-05 2.78949949e-01] [ 1.46057478e-03 2.55319566e-05 9.99998933e-01 -2.14438913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:0.28, Z:-0.22 [[ 9.99997249e-01 -1.83531676e-03 -1.46048562e-03 6.49673148e+01] [ 1.83527460e-03 9.99998315e-01 -3.02044304e-05 2.80150756e-01] [ 1.46053859e-03 2.75239552e-05 9.99998933e-01 -2.15404616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:0.28, Z:-0.22 [[ 9.99998773e-01 -5.67203368e-04 -1.46048572e-03 6.49968775e+01] [ 5.67159866e-04 9.99999839e-01 -3.01997801e-05 2.81716573e-01] [ 1.46050261e-03 2.93714141e-05 9.99998933e-01 -2.15034603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:0.28, Z:-0.21 [[ 9.99998632e-01 -7.76687258e-04 -1.46048500e-03 6.50268709e+01] [ 7.76643929e-04 9.99999698e-01 -3.02343748e-05 2.82206665e-01] [ 1.46050804e-03 2.91000566e-05 9.99998933e-01 -2.14906556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:65.05, Y:0.28, Z:-0.22 [[ 9.99998926e-01 1.22429938e-04 -1.46048428e-03 6.50525642e+01] [-1.22474276e-04 9.99999992e-01 -3.02691924e-05 2.82319030e-01] [ 1.46048056e-03 3.04480316e-05 9.99998933e-01 -2.19540154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:0.28, Z:-0.21 [[ 9.99993834e-01 -3.19363040e-03 -1.46018268e-03 6.50860747e+01] [ 3.19356867e-03 9.99994900e-01 -4.45995298e-05 2.83375629e-01] [ 1.46031767e-03 3.99360611e-05 9.99998933e-01 -2.14564332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:0.29, Z:-0.21 [[ 9.99989414e-01 -4.36336539e-03 -1.46047931e-03 6.51150358e+01] [ 4.36332578e-03 9.99990480e-01 -3.03037929e-05 2.85048483e-01] [ 1.46059763e-03 2.39309251e-05 9.99998933e-01 -2.13572377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:0.29, Z:-0.21 [[ 9.99983808e-01 -5.50011130e-03 -1.46048038e-03 6.51449210e+01] [ 5.50007298e-03 9.99984874e-01 -3.02520498e-05 2.85814181e-01] [ 1.46062468e-03 2.22188113e-05 9.99998933e-01 -2.12054319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:0.29, Z:-0.21 [[ 9.99972747e-01 -7.23685908e-03 -1.46047966e-03 6.51741006e+01] [ 7.23682256e-03 9.99973813e-01 -3.02866998e-05 2.86656234e-01] [ 1.46066060e-03 1.97166422e-05 9.99998933e-01 -2.10561322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:0.29, Z:-0.21 [[ 9.99963196e-01 -8.45420366e-03 -1.46047930e-03 6.52037131e+01] [ 8.45416841e-03 9.99964262e-01 -3.03039884e-05 2.88100690e-01] [ 1.46068331e-03 1.79557351e-05 9.99998933e-01 -2.09799087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:0.29, Z:-0.21 [[ 9.99951259e-01 -9.76460925e-03 -1.46047860e-03 6.52332883e+01] [ 9.76457536e-03 9.99952325e-01 -3.03379796e-05 2.89198814e-01] [ 1.46070521e-03 1.60755476e-05 9.99998933e-01 -2.09253550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.26, Y:0.29, Z:-0.21 [[ 9.99902553e-01 -1.38834841e-02 -1.46047789e-03 6.52622893e+01] [ 1.38834545e-02 9.99903620e-01 -3.03718504e-05 2.90440414e-01] [ 1.46075880e-03 1.00924123e-05 9.99998933e-01 -2.09307672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.29, Y:0.29, Z:-0.21 [[ 9.99876247e-01 -1.56638956e-02 -1.46047785e-03 6.52921566e+01] [ 1.56638679e-02 9.99877314e-01 -3.03737206e-05 2.91420752e-01] [ 1.46077444e-03 7.49322954e-06 9.99998933e-01 -2.09651828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:0.29, Z:-0.21 [[ 9.99850783e-01 -1.72127309e-02 -1.46047751e-03 6.53223083e+01] [ 1.72127048e-02 9.99851850e-01 -3.03904011e-05 2.91683636e-01] [ 1.46078424e-03 5.24709811e-06 9.99998933e-01 -2.08562465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:0.29, Z:-0.21 [[ 9.99748325e-01 -2.23864438e-02 -1.46047681e-03 6.53512766e+01] [ 2.23864232e-02 9.99749392e-01 -3.04236621e-05 2.91951196e-01] [ 1.46079189e-03 -2.27884680e-06 9.99998933e-01 -2.09736818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:0.29, Z:-0.21 [[ 9.99727249e-01 -2.33086995e-02 -1.46047578e-03 6.53777644e+01] [ 2.33086799e-02 9.99728315e-01 -3.04733105e-05 2.92568117e-01] [ 1.46078928e-03 -3.57676348e-06 9.99998933e-01 -2.11788310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:0.29, Z:-0.21 [[ 9.99672281e-01 -2.55577607e-02 -1.46019707e-03 6.54068173e+01] [ 2.55577241e-02 9.99673347e-01 -4.37060781e-05 2.92455838e-01] [ 1.46083712e-03 6.37244089e-06 9.99998933e-01 -2.11389578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:0.29, Z:-0.21 [[ 9.99572385e-01 -2.92047199e-02 -1.46018744e-03 6.54396814e+01] [ 2.92046866e-02 9.99573451e-01 -4.41596758e-05 2.91669888e-01] [ 1.46085427e-03 1.49647581e-06 9.99998933e-01 -2.08617743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:0.29, Z:-0.21 [[ 9.99459959e-01 -3.28276982e-02 -1.46047162e-03 6.54679758e+01] [ 3.28276885e-02 9.99461026e-01 -3.05938917e-05 2.88924904e-01] [ 1.46068879e-03 -1.73665376e-05 9.99998933e-01 -2.09236745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.50, Y:0.29, Z:-0.21 [[ 9.99415975e-01 -3.41405235e-02 -1.46047060e-03 6.54954494e+01] [ 3.41405151e-02 9.99417042e-01 -3.06424754e-05 2.88262840e-01] [ 1.46066536e-03 -1.92366392e-05 9.99998933e-01 -2.09963262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:0.29, Z:-0.21 [[ 9.99409093e-01 -3.43413972e-02 -1.46046891e-03 6.55230044e+01] [ 3.43413890e-02 9.99410160e-01 -3.07226142e-05 2.86400721e-01] [ 1.46066253e-03 -1.94500711e-05 9.99998933e-01 -2.09041040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:0.29, Z:-0.21 [[ 9.99407372e-01 -3.43914388e-02 -1.46046350e-03 6.55505739e+01] [ 3.43914302e-02 9.99408439e-01 -3.09776820e-05 2.86020773e-01] [ 1.46066492e-03 -1.92681049e-05 9.99998933e-01 -2.09073348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:0.28, Z:-0.21 [[ 9.99422544e-01 -3.39476749e-02 -1.46045803e-03 6.55783152e+01] [ 3.39476655e-02 9.99423611e-01 -3.12336026e-05 2.84870664e-01] [ 1.46067655e-03 -1.83635742e-05 9.99998933e-01 -2.09826738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:0.28, Z:-0.21 [[ 9.99446830e-01 -3.32250040e-02 -1.46045255e-03 6.56064155e+01] [ 3.32249935e-02 9.99447897e-01 -3.14879931e-05 2.83130881e-01] [ 1.46069241e-03 -1.70529514e-05 9.99998933e-01 -2.10823818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:0.28, Z:-0.21 [[ 9.99484261e-01 -3.20792713e-02 -1.46045084e-03 6.56343166e+01] [ 3.20792594e-02 9.99485328e-01 -3.15670451e-05 2.79285265e-01] [ 1.46071183e-03 -1.52994166e-05 9.99998933e-01 -2.09938537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156000001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:65.66, Y:0.28, Z:-0.21 [[ 9.99478740e-01 -3.22508244e-02 -1.46044914e-03 6.56627826e+01] [ 3.22508126e-02 9.99479807e-01 -3.16455375e-05 2.78955792e-01] [ 1.46071001e-03 -1.54716295e-05 9.99998933e-01 -2.09618849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:0.28, Z:-0.21 [[ 9.99506138e-01 -3.13902312e-02 -1.46044433e-03 6.56917226e+01] [ 3.13902182e-02 9.99507205e-01 -3.18656146e-05 2.76909750e-01] [ 1.46072490e-03 -1.39937889e-05 9.99998933e-01 -2.06174615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:0.27, Z:-0.21 [[ 9.99554464e-01 -2.98117377e-02 -1.46043913e-03 6.57191869e+01] [ 2.98117226e-02 9.99555531e-01 -3.21022996e-05 2.73500245e-01] [ 1.46074704e-03 -1.14502094e-05 9.99998933e-01 -2.07241329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:0.27, Z:-0.21 [[ 9.99574642e-01 -2.91273537e-02 -1.46043728e-03 6.57478246e+01] [ 2.91273378e-02 9.99575709e-01 -3.21863847e-05 2.72076374e-01] [ 1.46075513e-03 -1.03659560e-05 9.99998933e-01 -2.07685267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:0.27, Z:-0.21 [[ 9.99606852e-01 -2.80001389e-02 -1.46043198e-03 6.57764502e+01] [ 2.80001214e-02 9.99607919e-01 -3.24250028e-05 2.70399087e-01] [ 1.46076728e-03 -8.48001777e-06 9.99998933e-01 -2.08732666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:0.27, Z:-0.21 [[ 9.99630765e-01 -2.71330341e-02 -1.46042666e-03 6.58057091e+01] [ 2.71330153e-02 9.99631831e-01 -3.26630186e-05 2.69105914e-01] [ 1.46077522e-03 -6.97482058e-06 9.99998933e-01 -2.08960964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:0.27, Z:-0.21 [[ 9.99680343e-01 -2.52404175e-02 -1.46042125e-03 6.58340399e+01] [ 2.52403964e-02 9.99681410e-01 -3.29030623e-05 2.66086894e-01] [ 1.46078646e-03 -3.96906660e-06 9.99998933e-01 -2.10613566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:0.27, Z:-0.21 [[ 9.99705744e-01 -2.42134751e-02 -1.46041933e-03 6.58632569e+01] [ 2.42134528e-02 9.99706811e-01 -3.29880901e-05 2.65158618e-01] [ 1.46078991e-03 -2.38341128e-06 9.99998933e-01 -2.09489112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:0.26, Z:-0.21 [[ 9.99728652e-01 -2.32484255e-02 -1.46041386e-03 6.58916955e+01] [ 2.32484018e-02 9.99729719e-01 -3.32286356e-05 2.64176935e-01] [ 1.46079165e-03 -7.32669000e-07 9.99998933e-01 -2.07996787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:65.92, Y:0.26, Z:-0.21 [[ 9.99760979e-01 -2.18140437e-02 -1.46040813e-03 6.59202740e+01] [ 2.18140180e-02 9.99762045e-01 -3.34783454e-05 2.64604707e-01] [ 1.46079092e-03 1.61297409e-06 9.99998933e-01 -2.08887628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:65.95, Y:0.27, Z:-0.21 [[ 9.99757353e-01 -2.19796073e-02 -1.46040692e-03 6.59495846e+01] [ 2.19795818e-02 9.99758419e-01 -3.35312953e-05 2.65430723e-01] [ 1.46079111e-03 1.42402588e-06 9.99998933e-01 -2.08844797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.98, Y:0.26, Z:-0.21 [[ 9.99837441e-01 -1.79710719e-02 -1.46040132e-03 6.59786131e+01] [ 1.79710417e-02 9.99838507e-01 -3.37731431e-05 2.64391172e-01] [ 1.46077242e-03 7.52271981e-06 9.99998933e-01 -2.07161537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.01, Y:0.26, Z:-0.21 [[ 9.99862781e-01 -1.65011106e-02 -1.46040013e-03 6.60073824e+01] [ 1.65010788e-02 9.99863847e-01 -3.38246479e-05 2.64827087e-01] [ 1.46075944e-03 9.72182886e-06 9.99998933e-01 -2.06725430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.04, Y:0.27, Z:-0.21 [[ 9.99900906e-01 -1.40016255e-02 -1.46039450e-03 6.60363992e+01] [ 1.40015907e-02 9.99901972e-01 -3.40660581e-05 2.65976508e-01] [ 1.46072832e-03 1.36148364e-05 9.99998933e-01 -2.05817694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:0.27, Z:-0.21 [[ 9.99917882e-01 -1.27316766e-02 -1.46038879e-03 6.60652417e+01] [ 1.27316401e-02 9.99918949e-01 -3.43089285e-05 2.66319750e-01] [ 1.46070724e-03 1.57129666e-05 9.99998933e-01 -2.06219275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:0.27, Z:-0.21 [[ 9.99921186e-01 -1.24695240e-02 -1.46038757e-03 6.60945591e+01] [ 1.24694871e-02 9.99922252e-01 -3.43608705e-05 2.66832284e-01] [ 1.46070249e-03 1.61478785e-05 9.99998933e-01 -2.06946571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:0.27, Z:-0.21 [[ 9.99919264e-01 -1.26227330e-02 -1.46038232e-03 6.61242118e+01] [ 1.26226960e-02 9.99920330e-01 -3.45826145e-05 2.66748005e-01] [ 1.46070250e-03 1.61458604e-05 9.99998933e-01 -2.07667473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:0.27, Z:-0.21 [[ 9.99904052e-01 -1.37750926e-02 -1.46038151e-03 6.61527728e+01] [ 1.37750567e-02 9.99905119e-01 -3.46167458e-05 2.67761776e-01] [ 1.46071980e-03 1.44965863e-05 9.99998933e-01 -2.11432638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:66.18, Y:0.27, Z:-0.21 [[ 9.99875128e-01 -1.57351953e-02 -1.46038030e-03 6.61816315e+01] [ 1.57351615e-02 9.99876194e-01 -3.46676868e-05 2.70274893e-01] [ 1.46074500e-03 1.16840379e-05 9.99998933e-01 -2.08416516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:0.27, Z:-0.21 [[ 9.99857450e-01 -1.68210440e-02 -1.46037452e-03 6.62104699e+01] [ 1.68210110e-02 9.99858516e-01 -3.49096763e-05 2.70574593e-01] [ 1.46075511e-03 1.03397241e-05 9.99998933e-01 -2.08830034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:0.27, Z:-0.21 [[ 9.99780180e-01 -2.09155317e-02 -1.46037328e-03 6.62390056e+01] [ 2.09155030e-02 9.99781246e-01 -3.49611978e-05 2.71003789e-01] [ 1.46078505e-03 4.40907092e-06 9.99998933e-01 -2.08392248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:0.27, Z:-0.21 [[ 9.99741040e-01 -2.27094716e-02 -1.46036743e-03 6.62678263e+01] [ 2.27094444e-02 9.99742107e-01 -3.52039173e-05 2.71388812e-01] [ 1.46079028e-03 2.03066798e-06 9.99998933e-01 -2.09161887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:0.27, Z:-0.21 [[ 9.99690497e-01 -2.48350167e-02 -1.46036585e-03 6.62967352e+01] [ 2.48349917e-02 9.99691563e-01 -3.52694122e-05 2.72141609e-01] [ 1.46079134e-03 -1.00967752e-06 9.99998933e-01 -2.07656915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:0.27, Z:-0.21 [[ 9.99586353e-01 -2.87226316e-02 -1.46035980e-03 6.63245709e+01] [ 2.87226103e-02 9.99587420e-01 -3.55183400e-05 2.71978170e-01] [ 1.46077746e-03 -6.44169744e-06 9.99998933e-01 -2.08731072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:0.27, Z:-0.21 [[ 9.99514153e-01 -3.11340042e-02 -1.46035656e-03 6.63527107e+01] [ 3.11339853e-02 9.99515219e-01 -3.56508357e-05 2.72565280e-01] [ 1.46075856e-03 -9.83320492e-06 9.99998933e-01 -2.08253018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:0.27, Z:-0.21 [[ 9.99453206e-01 -3.30326715e-02 -1.46034967e-03 6.63806187e+01] [ 3.30326543e-02 9.99454272e-01 -3.59309659e-05 2.73041911e-01] [ 1.46073961e-03 -1.23279066e-05 9.99998933e-01 -2.08897454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:0.27, Z:-0.21 [[ 9.99306477e-01 -3.72079550e-02 -1.46034653e-03 6.64088184e+01] [ 3.72079420e-02 9.99307544e-01 -3.60579704e-05 2.72104948e-01] [ 1.46067695e-03 -1.83035258e-05 9.99998933e-01 -2.06943596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:0.27, Z:-0.21 [[ 9.99235066e-01 -3.90787815e-02 -1.46033936e-03 6.64356249e+01] [ 3.90787701e-02 9.99236132e-01 -3.63460137e-05 2.71330805e-01] [ 1.46064422e-03 -2.07500549e-05 9.99998933e-01 -2.07201238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:0.27, Z:-0.21 [[ 9.99175331e-01 -4.05773902e-02 -1.46033623e-03 6.64631187e+01] [ 4.05773803e-02 9.99176398e-01 -3.64714076e-05 2.70570894e-01] [ 1.46061341e-03 -2.28152878e-05 9.99998933e-01 -2.09020059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.49, Y:0.27, Z:-0.21 [[ 9.99120550e-01 -4.19045827e-02 -1.46033313e-03 6.64906784e+01] [ 4.19045740e-02 9.99121617e-01 -3.65953004e-05 2.69976592e-01] [ 1.46058391e-03 -2.46315209e-05 9.99998933e-01 -2.08028612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:0.27, Z:-0.21 [[ 9.99103604e-01 -4.23067000e-02 -1.46032606e-03 6.65189401e+01] [ 4.23066913e-02 9.99104670e-01 -3.68751228e-05 2.67967373e-01] [ 1.46057865e-03 -2.49394958e-05 9.99998933e-01 -2.09246713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:0.27, Z:-0.21 [[ 9.99124566e-01 -4.18087086e-02 -1.46032386e-03 6.65472502e+01] [ 4.18086993e-02 9.99125633e-01 -3.69621582e-05 2.67354362e-01] [ 1.46059234e-03 -2.41244407e-05 9.99998933e-01 -2.08924179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:0.27, Z:-0.21 [[ 9.99190296e-01 -4.02072026e-02 -1.46031686e-03 6.65752042e+01] [ 4.02071911e-02 9.99191363e-01 -3.72364574e-05 2.66203754e-01] [ 1.46063317e-03 -2.15089324e-05 9.99998933e-01 -2.08665400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:0.27, Z:-0.21 [[ 9.99370254e-01 -3.54536720e-02 -1.46031469e-03 6.66040879e+01] [ 3.54536553e-02 9.99371321e-01 -3.73213803e-05 2.65233067e-01] [ 1.46071980e-03 -1.44756165e-05 9.99998933e-01 -2.07211510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:0.27, Z:-0.21 [[ 9.99478905e-01 -3.22457154e-02 -1.46030848e-03 6.66321040e+01] [ 3.22456949e-02 9.99479972e-01 -3.75629220e-05 2.65959064e-01] [ 1.46076032e-03 -9.54531364e-06 9.99998933e-01 -2.05699306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:0.27, Z:-0.21 [[ 9.99582506e-01 -2.88562139e-02 -1.46030115e-03 6.66602658e+01] [ 2.88561894e-02 9.99583573e-01 -3.78459637e-05 2.67074850e-01] [ 1.46078513e-03 -4.30856322e-06 9.99998933e-01 -2.05426535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:0.27, Z:-0.21 [[ 9.99753832e-01 -2.21391641e-02 -1.46029377e-03 6.66873873e+01] [ 2.21391320e-02 9.99754899e-01 -3.81282681e-05 2.66895784e-01] [ 1.46077998e-03 5.78924552e-06 9.99998933e-01 -2.07124153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.72, Y:0.27, Z:-0.21 [[ 9.99808407e-01 -1.95196447e-02 -1.46029057e-03 6.67160833e+01] [ 1.95196096e-02 9.99809474e-01 -3.82507529e-05 2.68166621e-01] [ 1.46075898e-03 9.73912259e-06 9.99998933e-01 -2.06440397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:0.27, Z:-0.21 [[ 9.99858614e-01 -1.67517221e-02 -1.46028409e-03 6.67440094e+01] [ 1.67516837e-02 9.99859680e-01 -3.84963545e-05 2.68853450e-01] [ 1.46072406e-03 1.40286944e-05 9.99998933e-01 -2.07064340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:0.27, Z:-0.21 [[ 9.99914954e-01 -1.29596551e-02 -1.46028179e-03 6.67727319e+01] [ 1.29596126e-02 9.99916020e-01 -3.85833141e-05 2.70624863e-01] [ 1.46065919e-03 1.96553464e-05 9.99998933e-01 -2.06639977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:0.27, Z:-0.21 [[ 9.99932708e-01 -1.15085769e-02 -1.46027542e-03 6.68013434e+01] [ 1.15085325e-02 9.99933774e-01 -3.88232256e-05 2.71882189e-01] [ 1.46062551e-03 2.20149861e-05 9.99998933e-01 -2.06461731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:0.27, Z:-0.21 [[ 9.99945269e-01 -1.03598535e-02 -1.46026900e-03 6.68298055e+01] [ 1.03598075e-02 9.99946335e-01 -3.90628855e-05 2.73586531e-01] [ 1.46059532e-03 2.39326418e-05 9.99998933e-01 -2.06156112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.86, Y:0.28, Z:-0.21 [[ 9.99966483e-01 -8.05605164e-03 -1.46026260e-03 6.68595600e+01] [ 8.05600284e-03 9.99967549e-01 -3.93008395e-05 2.76630328e-01] [ 1.46053182e-03 2.75356426e-05 9.99998933e-01 -2.05284967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:0.28, Z:-0.21 [[ 9.99974801e-01 -6.94728214e-03 -1.46026165e-03 6.68878423e+01] [ 6.94723210e-03 9.99975867e-01 -3.93361214e-05 2.78574410e-01] [ 1.46049969e-03 2.91903536e-05 9.99998933e-01 -2.06577714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:0.28, Z:-0.21 [[ 9.99980275e-01 -6.10881234e-03 -1.46026023e-03 6.69168026e+01] [ 6.10876133e-03 9.99981341e-01 -3.93887076e-05 2.81179453e-01] [ 1.46047360e-03 3.04675494e-05 9.99998933e-01 -2.06559898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:0.29, Z:-0.21 [[ 9.99987399e-01 -4.80298586e-03 -1.46025886e-03 6.69450635e+01] [ 4.80293338e-03 9.99988465e-01 -3.94395089e-05 2.85481843e-01] [ 1.46043144e-03 3.24254859e-05 9.99998933e-01 -2.06691743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:0.29, Z:-0.21 [[ 9.99987893e-01 -4.69901304e-03 -1.46025751e-03 6.69749115e+01] [ 4.69896038e-03 9.99988959e-01 -3.94894091e-05 2.88459045e-01] [ 1.46042695e-03 3.26272388e-05 9.99998933e-01 -2.06106257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:0.29, Z:-0.21 [[ 9.99986461e-01 -4.99455120e-03 -1.46025657e-03 6.70032090e+01] [ 4.99449881e-03 9.99987527e-01 -3.95243067e-05 2.91386345e-01] [ 1.46043576e-03 3.22305220e-05 9.99998933e-01 -2.06735742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:0.29, Z:-0.21 [[ 9.99981439e-01 -5.91512973e-03 -1.46025516e-03 6.70317366e+01] [ 5.91507824e-03 9.99982505e-01 -3.95763203e-05 2.94860437e-01] [ 1.46046371e-03 3.09380622e-05 9.99998933e-01 -2.07273417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:0.30, Z:-0.21 [[ 9.99959717e-01 -8.85619312e-03 -1.46025375e-03 6.70604990e+01] [ 8.85614469e-03 9.99960783e-01 -3.96280845e-05 3.00812258e-01] [ 1.46054744e-03 2.66942697e-05 9.99998933e-01 -2.06603795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:0.30, Z:-0.21 [[ 9.99937996e-01 -1.10395904e-02 -1.46024763e-03 6.70895061e+01] [ 1.10395439e-02 9.99939062e-01 -3.98523791e-05 3.03899626e-01] [ 1.46059860e-03 2.37294402e-05 9.99998933e-01 -2.09879106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:0.31, Z:-0.21 [[ 9.99902860e-01 -1.38614138e-02 -1.46024622e-03 6.71186503e+01] [ 1.38613703e-02 9.99903926e-01 -3.99041107e-05 3.06427610e-01] [ 1.46065905e-03 1.96592210e-05 9.99998933e-01 -2.07530295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:0.31, Z:-0.21 [[ 9.99796986e-01 -2.00961383e-02 -1.46024524e-03 6.71473681e+01] [ 2.00961014e-02 9.99798052e-01 -3.99398566e-05 3.08657462e-01] [ 1.46075298e-03 1.05865118e-05 9.99998933e-01 -2.09056567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:0.31, Z:-0.21 [[ 9.99714205e-01 -2.38616000e-02 -1.46024378e-03 6.71756901e+01] [ 2.38615670e-02 9.99715271e-01 -3.99931603e-05 3.10031785e-01] [ 1.46078231e-03 5.13802573e-06 9.99998933e-01 -2.09210592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:0.31, Z:-0.21 [[ 9.99616568e-01 -2.76511423e-02 -1.46023694e-03 6.72047901e+01] [ 2.76511130e-02 9.99617634e-01 -4.02411444e-05 3.11638989e-01] [ 1.46079131e-03 -1.51462142e-07 9.99998933e-01 -2.12345885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:0.31, Z:-0.21 [[ 9.99383494e-01 -3.50784781e-02 -1.46023516e-03 6.72339424e+01] [ 3.50784566e-02 9.99384561e-01 -4.03058226e-05 3.13491330e-01] [ 1.46075034e-03 -1.09418219e-05 9.99998933e-01 -2.12025031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:0.31, Z:-0.21 [[ 9.99256325e-01 -3.85313437e-02 -1.46022845e-03 6.72622360e+01] [ 3.85313256e-02 9.99257392e-01 -4.05473872e-05 3.14879605e-01] [ 1.46070642e-03 -1.57473048e-05 9.99998933e-01 -2.12138342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83587156 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:67.29, Y:0.32, Z:-0.21 [[ 9.99112873e-01 -4.20872237e-02 -1.46022494e-03 6.72903414e+01] [ 4.20872092e-02 9.99113940e-01 -4.06734800e-05 3.16577545e-01] [ 1.46064293e-03 -2.08193950e-05 9.99998933e-01 -2.11435412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:0.32, Z:-0.21 [[ 9.98846291e-01 -4.79995375e-02 -1.46021702e-03 6.73180176e+01] [ 4.79995289e-02 9.98847357e-01 -4.09556525e-05 3.16643496e-01] [ 1.46049977e-03 -2.91813278e-05 9.99998933e-01 -2.10155521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:0.32, Z:-0.21 [[ 9.98739378e-01 -5.01749256e-02 -1.46021456e-03 6.73460090e+01] [ 5.01749192e-02 9.98740445e-01 -4.10434006e-05 3.16162055e-01] [ 1.46043469e-03 -3.22744871e-05 9.99998933e-01 -2.09390700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:0.31, Z:-0.21 [[ 9.98604230e-01 -5.27963970e-02 -1.46021217e-03 6.73739457e+01] [ 5.27963933e-02 9.98605297e-01 -4.11280918e-05 3.14961764e-01] [ 1.46034703e-03 -3.60232498e-05 9.99998933e-01 -2.07465983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:67.40, Y:0.32, Z:-0.21 [[ 9.98576224e-01 -5.33234637e-02 -1.46020442e-03 6.74020169e+01] [ 5.33234601e-02 9.98577291e-01 -4.14016787e-05 3.16514300e-01] [ 1.46033465e-03 -3.65204199e-05 9.99998933e-01 -2.07027582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:0.32, Z:-0.21 [[ 9.98580805e-01 -5.32376157e-02 -1.46019633e-03 6.74295356e+01] [ 5.32376116e-02 9.98581872e-01 -4.16850104e-05 3.17738159e-01] [ 1.46034479e-03 -3.61115137e-05 9.99998933e-01 -2.06636887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:0.32, Z:-0.21 [[ 9.98602392e-01 -5.28311467e-02 -1.46019381e-03 6.74564977e+01] [ 5.28311421e-02 9.98603459e-01 -4.17729247e-05 3.19276567e-01] [ 1.46036150e-03 -3.54291642e-05 9.99998933e-01 -2.06556596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:0.32, Z:-0.21 [[ 9.98633446e-01 -5.22408641e-02 -1.46019039e-03 6.74840281e+01] [ 5.22408586e-02 9.98634513e-01 -4.18922744e-05 3.20343811e-01] [ 1.46038501e-03 -3.44465733e-05 9.99998933e-01 -2.05714088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:0.32, Z:-0.21 [[ 9.98714222e-01 -5.06731816e-02 -1.46018225e-03 6.75119035e+01] [ 5.06731741e-02 9.98715289e-01 -4.21739204e-05 3.19805526e-01] [ 1.46044343e-03 -3.18723755e-05 9.99998933e-01 -2.05365119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.54, Y:0.32, Z:-0.21 [[ 9.98757993e-01 -4.98030082e-02 -1.46017972e-03 6.75390181e+01] [ 4.98029996e-02 9.98759060e-01 -4.22615611e-05 3.19476189e-01] [ 1.46047247e-03 -3.05122579e-05 9.99998933e-01 -2.06493746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:0.32, Z:-0.21 [[ 9.98784456e-01 -4.92694470e-02 -1.46017625e-03 6.75674251e+01] [ 4.92694377e-02 9.98785523e-01 -4.23811230e-05 3.19015454e-01] [ 1.46049099e-03 -2.96124557e-05 9.99998933e-01 -2.05603964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:0.32, Z:-0.21 [[ 9.98854314e-01 -4.78322807e-02 -1.46016823e-03 6.75944794e+01] [ 4.78322694e-02 9.98855381e-01 -4.26555501e-05 3.19224567e-01] [ 1.46053721e-03 -2.72364800e-05 9.99998933e-01 -2.05894522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:0.32, Z:-0.21 [[ 9.98884379e-01 -4.72002758e-02 -1.46016268e-03 6.76226660e+01] [ 4.72002636e-02 9.98885446e-01 -4.28447534e-05 3.20741635e-01] [ 1.46055753e-03 -2.61231084e-05 9.99998933e-01 -2.05358119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:0.32, Z:-0.20 [[ 9.98915030e-01 -4.65470906e-02 -1.46015456e-03 6.76504226e+01] [ 4.65470772e-02 9.98916096e-01 -4.31197167e-05 3.22102242e-01] [ 1.46057899e-03 -2.48929939e-05 9.99998933e-01 -2.04311514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:0.32, Z:-0.20 [[ 9.98977170e-01 -4.51938173e-02 -1.46015204e-03 6.76786306e+01] [ 4.51938024e-02 9.98978237e-01 -4.32049621e-05 3.21537976e-01] [ 1.46061270e-03 -2.28290518e-05 9.99998933e-01 -2.02208827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.71, Y:0.32, Z:-0.20 [[ 9.98985727e-01 -4.50042825e-02 -1.46014953e-03 6.77065351e+01] [ 4.50042673e-02 9.98986794e-01 -4.32896264e-05 3.21411422e-01] [ 1.46061831e-03 -2.24672406e-05 9.99998933e-01 -2.00853298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.74, Y:0.32, Z:-0.20 [[ 9.98977364e-01 -4.51895396e-02 -1.46014148e-03 6.77350045e+01] [ 4.51895242e-02 9.98978431e-01 -4.35593408e-05 3.22458128e-01] [ 1.46061827e-03 -2.24683033e-05 9.99998933e-01 -2.00811691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:0.32, Z:-0.20 [[ 9.98992360e-01 -4.48568094e-02 -1.46013335e-03 6.77625670e+01] [ 4.48567932e-02 9.98993426e-01 -4.38301164e-05 3.22405461e-01] [ 1.46062970e-03 -2.17109485e-05 9.99998933e-01 -2.00440411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:0.32, Z:-0.20 [[ 9.99009531e-01 -4.44727494e-02 -1.46013082e-03 6.77902606e+01] [ 4.44727327e-02 9.99010598e-01 -4.39141609e-05 3.22341601e-01] [ 1.46063915e-03 -2.10653426e-05 9.99998933e-01 -2.03019500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:0.32, Z:-0.20 [[ 9.99019676e-01 -4.42442627e-02 -1.46012832e-03 6.78181440e+01] [ 4.42442456e-02 9.99020743e-01 -4.39973500e-05 3.23758284e-01] [ 1.46064511e-03 -2.06480576e-05 9.99998933e-01 -2.03733549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:0.33, Z:-0.20 [[ 9.99044014e-01 -4.36912632e-02 -1.46012016e-03 6.78463590e+01] [ 4.36912452e-02 9.99045081e-01 -4.42662618e-05 3.25321865e-01] [ 1.46065992e-03 -1.95705242e-05 9.99998933e-01 -2.04017249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.87, Y:0.33, Z:-0.21 [[ 9.99122909e-01 -4.18483071e-02 -1.46011181e-03 6.78748872e+01] [ 4.18482867e-02 9.99123976e-01 -4.45402317e-05 3.26948416e-01] [ 1.46069665e-03 -1.66020117e-05 9.99998933e-01 -2.06036511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:0.33, Z:-0.21 [[ 9.99161591e-01 -4.09143302e-02 -1.46010420e-03 6.79014164e+01] [ 4.09143084e-02 9.99162658e-01 -4.47880778e-05 3.27698205e-01] [ 1.46071407e-03 -1.49886267e-05 9.99998933e-01 -2.06759335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:0.33, Z:-0.21 [[ 9.99205112e-01 -3.98373351e-02 -1.46009794e-03 6.79283859e+01] [ 3.98373119e-02 9.99206178e-01 -4.49913286e-05 3.28758049e-01] [ 1.46073122e-03 -1.32108115e-05 9.99998933e-01 -2.06973129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:0.33, Z:-0.21 [[ 9.99294999e-01 -3.75149635e-02 -1.46009219e-03 6.79567173e+01] [ 3.75149375e-02 9.99296066e-01 -4.51773432e-05 3.32179287e-01] [ 1.46075920e-03 -9.62977399e-06 9.99998933e-01 -2.05954002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.98, Y:0.33, Z:-0.21 [[ 9.99346633e-01 -3.61133715e-02 -1.46008361e-03 6.79845169e+01] [ 3.61133437e-02 9.99347699e-01 -4.54529912e-05 3.34912458e-01] [ 1.46077265e-03 -7.30520728e-06 9.99998933e-01 -2.06667139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:0.34, Z:-0.21 [[ 9.99384013e-01 -3.50636820e-02 -1.46007456e-03 6.80120180e+01] [ 3.50636526e-02 9.99385080e-01 -4.57415983e-05 3.37033291e-01] [ 1.46078060e-03 -5.48212526e-06 9.99998933e-01 -2.06329308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:0.34, Z:-0.21 [[ 9.99462178e-01 -3.27600941e-02 -1.46007175e-03 6.80400181e+01] [ 3.27600621e-02 9.99463244e-01 -4.58312370e-05 3.40854831e-01] [ 1.46078948e-03 -2.02545329e-06 9.99998933e-01 -2.07427925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:0.34, Z:-0.20 [[ 9.99484084e-01 -3.20847798e-02 -1.46006896e-03 6.80685645e+01] [ 3.20847469e-02 9.99485151e-01 -4.59198777e-05 3.42958612e-01] [ 1.46079058e-03 -9.49756262e-07 9.99998933e-01 -2.04058192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:0.35, Z:-0.20 [[ 9.99498114e-01 -3.16447274e-02 -1.46006116e-03 6.80975689e+01] [ 3.16446937e-02 9.99499180e-01 -4.61666882e-05 3.45054736e-01] [ 1.46079086e-03 -5.96703759e-08 9.99998933e-01 -2.03045938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:0.35, Z:-0.20 [[ 9.99498115e-01 -3.16446888e-02 -1.46005334e-03 6.81258672e+01] [ 3.16446547e-02 9.99499181e-01 -4.64127026e-05 3.47518196e-01] [ 1.46079083e-03 1.86524977e-07 9.99998933e-01 -2.01936212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.15, Y:0.35, Z:-0.20 [[ 9.99507102e-01 -3.13595465e-02 -1.46004546e-03 6.81546091e+01] [ 3.13595118e-02 9.99508168e-01 -4.66591688e-05 3.53677402e-01] [ 1.46079058e-03 8.49857746e-07 9.99998933e-01 -2.03099395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.18, Y:0.36, Z:-0.20 [[ 9.99507824e-01 -3.13365249e-02 -1.46003760e-03 6.81832198e+01] [ 3.13364899e-02 9.99508891e-01 -4.69040175e-05 3.57662306e-01] [ 1.46079037e-03 1.12847913e-06 9.99998933e-01 -2.03282758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:68.21, Y:0.36, Z:-0.20 [[ 9.99498944e-01 -3.16184897e-02 -1.46002972e-03 6.82122009e+01] [ 3.16184546e-02 9.99500011e-01 -4.71480087e-05 3.60933854e-01] [ 1.46079047e-03 9.60501574e-07 9.99998933e-01 -2.03478232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:0.36, Z:-0.20 [[ 9.99470034e-01 -3.25195112e-02 -1.46002775e-03 6.82405859e+01] [ 3.25194770e-02 9.99471101e-01 -4.72087861e-05 3.64854738e-01] [ 1.46079075e-03 -2.95571780e-07 9.99998933e-01 -2.02698519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:0.37, Z:-0.20 [[ 9.99459810e-01 -3.28322611e-02 -1.46001992e-03 6.82687122e+01] [ 3.28322269e-02 9.99460876e-01 -4.74498809e-05 3.68693682e-01] [ 1.46079067e-03 -5.11456198e-07 9.99998933e-01 -2.03164030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:0.38, Z:-0.20 [[ 9.99432779e-01 -3.36450431e-02 -1.46001712e-03 6.82978065e+01] [ 3.36450095e-02 9.99433845e-01 -4.75356540e-05 3.75362290e-01] [ 1.46078987e-03 -1.61359929e-06 9.99998933e-01 -2.03905653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.33, Y:0.38, Z:-0.20 [[ 9.99406900e-01 -3.44051703e-02 -1.46000927e-03 6.83258869e+01] [ 3.44051372e-02 9.99407967e-01 -4.77755218e-05 3.78699293e-01] [ 1.46078863e-03 -2.48463327e-06 9.99998933e-01 -2.04860041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:0.38, Z:-0.20 [[ 9.99366721e-01 -3.55531265e-02 -1.46000505e-03 6.83534261e+01] [ 3.55530945e-02 9.99367788e-01 -4.79041806e-05 3.81875860e-01] [ 1.46078516e-03 -4.03385361e-06 9.99998933e-01 -2.04414507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:0.39, Z:-0.21 [[ 9.99262579e-01 -3.83688284e-02 -1.46000227e-03 6.83823206e+01] [ 3.83687992e-02 9.99263645e-01 -4.79887098e-05 3.88273297e-01] [ 1.46076847e-03 -8.06521217e-06 9.99998933e-01 -2.05007576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:68.41, Y:0.39, Z:-0.21 [[ 9.99203388e-01 -3.98805531e-02 -1.45999452e-03 6.84115249e+01] [ 3.98805252e-02 9.99204454e-01 -4.82234884e-05 3.91404047e-01] [ 1.46075621e-03 -1.00402752e-05 9.99998933e-01 -2.05277602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:68.44, Y:0.39, Z:-0.21 [[ 9.99138480e-01 -4.14748947e-02 -1.45998641e-03 6.84394475e+01] [ 4.14748681e-02 9.99139546e-01 -4.84678812e-05 3.94011592e-01] [ 1.46074036e-03 -1.21266186e-05 9.99998933e-01 -2.06067860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:0.40, Z:-0.20 [[ 9.99076374e-01 -4.29449348e-02 -1.45998352e-03 6.84684158e+01] [ 4.29449097e-02 9.99077441e-01 -4.85547138e-05 3.96310132e-01] [ 1.46072178e-03 -1.41889930e-05 9.99998933e-01 -2.04606582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:68.50, Y:0.40, Z:-0.21 [[ 9.98983458e-01 -4.50546144e-02 -1.45997546e-03 6.84961781e+01] [ 4.50545911e-02 9.98984525e-01 -4.87958372e-05 4.00735871e-01] [ 1.46069137e-03 -1.70323632e-05 9.99998933e-01 -2.06112452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:0.40, Z:-0.21 [[ 9.98931663e-01 -4.61887452e-02 -1.45997259e-03 6.85251884e+01] [ 4.61887231e-02 9.98932730e-01 -4.88814540e-05 4.02416797e-01] [ 1.46067218e-03 -1.86050377e-05 9.99998933e-01 -2.05093023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:0.40, Z:-0.20 [[ 9.98880051e-01 -4.72917754e-02 -1.45996455e-03 6.85527007e+01] [ 4.72917542e-02 9.98881118e-01 -4.91203866e-05 4.03721715e-01] [ 1.46065402e-03 -1.99789105e-05 9.99998933e-01 -2.04951070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:0.41, Z:-0.20 [[ 9.98757463e-01 -4.98136386e-02 -1.45996169e-03 6.85809140e+01] [ 4.98136199e-02 9.98758530e-01 -4.92055159e-05 4.06650704e-01] [ 1.46060029e-03 -2.35816002e-05 9.99998933e-01 -2.03552942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:0.41, Z:-0.20 [[ 9.98696172e-01 -5.10276895e-02 -1.45995233e-03 6.86081802e+01] [ 5.10276716e-02 9.98697239e-01 -4.94816827e-05 4.08853373e-01] [ 1.46057529e-03 -2.50808008e-05 9.99998933e-01 -2.03357601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:0.41, Z:-0.20 [[ 9.98559581e-01 -5.36342465e-02 -1.45994731e-03 6.86365658e+01] [ 5.36342312e-02 9.98560648e-01 -4.96293267e-05 4.10216584e-01] [ 1.46050776e-03 -2.87453118e-05 9.99998933e-01 -2.02911552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:0.41, Z:-0.20 [[ 9.98486230e-01 -5.49828751e-02 -1.45993808e-03 6.86643647e+01] [ 5.49828609e-02 9.98487297e-01 -4.98992415e-05 4.10825094e-01] [ 1.46047323e-03 -3.04478668e-05 9.99998933e-01 -2.01711247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:0.41, Z:-0.20 [[ 9.98429197e-01 -5.60089850e-02 -1.45992838e-03 6.86924328e+01] [ 5.60089715e-02 9.98430264e-01 -5.01815709e-05 4.11350532e-01] [ 1.46044729e-03 -3.16663412e-05 9.99998933e-01 -2.03643521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:0.41, Z:-0.20 [[ 9.98425303e-01 -5.60783601e-02 -1.45992536e-03 6.87203328e+01] [ 5.60783466e-02 9.98426370e-01 -5.02693076e-05 4.11879925e-01] [ 1.46044699e-03 -3.16800513e-05 9.99998933e-01 -2.02031884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:0.41, Z:-0.20 [[ 9.98465198e-01 -5.53635071e-02 -1.45991580e-03 6.87485635e+01] [ 5.53634923e-02 9.98466264e-01 -5.05452184e-05 4.11835072e-01] [ 1.46047504e-03 -3.03583959e-05 9.99998933e-01 -2.02771527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:0.41, Z:-0.20 [[ 9.98510642e-01 -5.45377499e-02 -1.45991145e-03 6.87763421e+01] [ 5.45377341e-02 9.98511709e-01 -5.06707078e-05 4.12246152e-01] [ 1.46050214e-03 -2.90250213e-05 9.99998933e-01 -2.02340786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:0.41, Z:-0.20 [[ 9.98711879e-01 -5.07193454e-02 -1.45990192e-03 6.88042397e+01] [ 5.07193251e-02 9.98712945e-01 -5.09436601e-05 4.13532670e-01] [ 1.46060678e-03 -2.31672018e-05 9.99998933e-01 -2.01553752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:0.42, Z:-0.20 [[ 9.98827722e-01 -4.83843997e-02 -1.45989235e-03 6.88331478e+01] [ 4.83843765e-02 9.98828789e-01 -5.12165211e-05 4.15337994e-01] [ 1.46066059e-03 -1.94794999e-05 9.99998933e-01 -2.01162816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:0.42, Z:-0.20 [[ 9.99061775e-01 -4.32832269e-02 -1.45988367e-03 6.88610763e+01] [ 4.32831979e-02 9.99062842e-01 -5.14626957e-05 4.18283426e-01] [ 1.46074300e-03 -1.17740217e-05 9.99998933e-01 -2.03179875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:0.42, Z:-0.20 [[ 9.99169167e-01 -4.07289129e-02 -1.45988058e-03 6.88900599e+01] [ 4.07288811e-02 9.99170234e-01 -5.15502382e-05 4.20599459e-01] [ 1.46076881e-03 -7.95189397e-06 9.99998933e-01 -2.03553471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:0.42, Z:-0.20 [[ 9.99267668e-01 -3.82360553e-02 -1.45987215e-03 6.89187883e+01] [ 3.82360204e-02 9.99268735e-01 -5.17879522e-05 4.23333643e-01] [ 1.46078476e-03 -4.06967499e-06 9.99998933e-01 -2.03379363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:0.43, Z:-0.20 [[ 9.99352243e-01 -3.59577916e-02 -1.45986362e-03 6.89471217e+01] [ 3.59577539e-02 9.99353310e-01 -5.20273668e-05 4.26249407e-01] [ 1.46079032e-03 -4.99750973e-07 9.99998933e-01 -2.03282673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:0.43, Z:-0.21 [[ 9.99490342e-01 -3.18892640e-02 -1.45985481e-03 6.89756493e+01] [ 3.18892217e-02 9.99491408e-01 -5.22733102e-05 4.29599939e-01] [ 1.46077930e-03 5.69303502e-06 9.99998933e-01 -2.05336218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:0.43, Z:-0.21 [[ 9.99539278e-01 -3.03166771e-02 -1.45985293e-03 6.90038338e+01] [ 3.03166330e-02 9.99540344e-01 -5.23257374e-05 4.31458082e-01] [ 1.46076824e-03 8.04380419e-06 9.99998933e-01 -2.06150223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:0.43, Z:-0.21 [[ 9.99560089e-01 -2.96225758e-02 -1.45985112e-03 6.90337103e+01] [ 2.96225309e-02 9.99561155e-01 -5.23761671e-05 4.34517255e-01] [ 1.46076199e-03 9.10864135e-06 9.99998933e-01 -2.05000021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.06, Y:0.44, Z:-0.21 [[ 9.99574661e-01 -2.91267117e-02 -1.45984985e-03 6.90620461e+01] [ 2.91266662e-02 9.99575727e-01 -5.24114190e-05 4.40904598e-01] [ 1.46075705e-03 9.86856693e-06 9.99998933e-01 -2.05806440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:0.44, Z:-0.21 [[ 9.99563856e-01 -2.94951939e-02 -1.45984796e-03 6.90918355e+01] [ 2.94951488e-02 9.99564922e-01 -5.24641018e-05 4.43511747e-01] [ 1.46076025e-03 9.38278712e-06 9.99998933e-01 -2.05667552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:0.45, Z:-0.21 [[ 9.99517920e-01 -3.10128498e-02 -1.45984672e-03 6.91212020e+01] [ 3.10128062e-02 9.99518986e-01 -5.24985257e-05 4.47481673e-01] [ 1.46077265e-03 7.19927372e-06 9.99998933e-01 -2.05504807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:0.45, Z:-0.21 [[ 9.99492236e-01 -3.18298554e-02 -1.45984549e-03 6.91499457e+01] [ 3.18298126e-02 9.99493302e-01 -5.25328473e-05 4.50566578e-01] [ 1.46077790e-03 6.03956466e-06 9.99998933e-01 -2.05784498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:0.45, Z:-0.21 [[ 9.99462132e-01 -3.27614941e-02 -1.45984364e-03 6.91798920e+01] [ 3.27614522e-02 9.99463198e-01 -5.25840881e-05 4.54099834e-01] [ 1.46078273e-03 4.72920704e-06 9.99998933e-01 -2.05718182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.21, Y:0.46, Z:-0.21 [[ 9.99417633e-01 -3.40919897e-02 -1.45984241e-03 6.92092226e+01] [ 3.40919493e-02 9.99418699e-01 -5.26182584e-05 4.60887103e-01] [ 1.46078766e-03 2.81874186e-06 9.99998933e-01 -2.05813138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:0.46, Z:-0.21 [[ 9.99412495e-01 -3.42422940e-02 -1.45984110e-03 6.92390895e+01] [ 3.42422536e-02 9.99413561e-01 -5.26545691e-05 4.64015466e-01] [ 1.46078801e-03 2.63538503e-06 9.99998933e-01 -2.06736184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:0.47, Z:-0.21 [[ 9.99405407e-01 -3.44485301e-02 -1.45984045e-03 6.92683112e+01] [ 3.44484899e-02 9.99406473e-01 -5.26726805e-05 4.67018928e-01] [ 1.46078849e-03 2.35206281e-06 9.99998933e-01 -2.07775096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:0.47, Z:-0.21 [[ 9.99403871e-01 -3.44930643e-02 -1.45983920e-03 6.92979641e+01] [ 3.44930241e-02 9.99404937e-01 -5.27072719e-05 4.72403225e-01] [ 1.46078854e-03 2.32158284e-06 9.99998933e-01 -2.08605186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:0.48, Z:-0.21 [[ 9.99394575e-01 -3.47613698e-02 -1.45983930e-03 6.93278409e+01] [ 3.47613299e-02 9.99395641e-01 -5.27043840e-05 4.76576232e-01] [ 1.46078911e-03 1.92651990e-06 9.99998933e-01 -2.07650412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:0.48, Z:-0.21 [[ 9.99376893e-01 -3.52660633e-02 -1.45983803e-03 6.93571279e+01] [ 3.52660239e-02 9.99377959e-01 -5.27396031e-05 4.80939942e-01] [ 1.46078987e-03 1.22405786e-06 9.99998933e-01 -2.08305866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:0.49, Z:-0.21 [[ 9.99305642e-01 -3.72303939e-02 -1.45983740e-03 6.93878667e+01] [ 3.72303566e-02 9.99306709e-01 -5.27570517e-05 4.86626131e-01] [ 1.46078947e-03 -1.62984752e-06 9.99998933e-01 -2.05680717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:0.49, Z:-0.21 [[ 9.99270648e-01 -3.81581142e-02 -1.45983740e-03 6.94170239e+01] [ 3.81580779e-02 9.99271714e-01 -5.27570517e-05 4.89056492e-01] [ 1.46078733e-03 -2.98601597e-06 9.99998933e-01 -2.06628083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:0.49, Z:-0.21 [[ 9.99191099e-01 -4.01872766e-02 -1.45983753e-03 6.94460327e+01] [ 4.01872424e-02 9.99192165e-01 -5.27535997e-05 4.93508456e-01] [ 1.46077824e-03 -5.95591724e-06 9.99998933e-01 -2.06872681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:0.50, Z:-0.21 [[ 9.99159891e-01 -4.09558477e-02 -1.45983690e-03 6.94759214e+01] [ 4.09558143e-02 9.99160957e-01 -5.27710226e-05 4.96622854e-01] [ 1.46077331e-03 -7.06211955e-06 9.99998933e-01 -2.06371836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:0.50, Z:-0.20 [[ 9.99115722e-01 -4.20195644e-02 -1.45983882e-03 6.95059586e+01] [ 4.20195323e-02 9.99116788e-01 -5.27176480e-05 5.00000752e-01] [ 1.46076465e-03 -8.67071354e-06 9.99998933e-01 -2.04740174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:0.50, Z:-0.21 [[ 9.99074261e-01 -4.29940705e-02 -1.45983882e-03 6.95361187e+01] [ 4.29940394e-02 9.99075327e-01 -5.27176480e-05 5.02889426e-01] [ 1.46075550e-03 -1.00955226e-05 9.99998933e-01 -2.05872688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:0.50, Z:-0.21 [[ 9.99074261e-01 -4.29940705e-02 -1.45983946e-03 6.95670972e+01] [ 4.29940394e-02 9.99075327e-01 -5.26999479e-05 5.04007736e-01] [ 1.46075537e-03 -1.01132338e-05 9.99998933e-01 -2.05827406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:0.51, Z:-0.21 [[ 9.98952645e-01 -4.57327297e-02 -1.45983946e-03 6.95978387e+01] [ 4.57327015e-02 9.98953711e-01 -5.26999479e-05 5.09423307e-01] [ 1.46072216e-03 -1.41176501e-05 9.99998933e-01 -2.05507285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:0.51, Z:-0.21 [[ 9.98891455e-01 -4.70503015e-02 -1.45983946e-03 6.96286953e+01] [ 4.70502748e-02 9.98892521e-01 -5.26999479e-05 5.12411314e-01] [ 1.46070227e-03 -1.60443202e-05 9.99998933e-01 -2.05228705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:0.52, Z:-0.21 [[ 9.98832148e-01 -4.82929426e-02 -1.45983946e-03 6.96578968e+01] [ 4.82929171e-02 9.98833215e-01 -5.26999479e-05 5.15157295e-01] [ 1.46068118e-03 -1.78615040e-05 9.99998933e-01 -2.06565704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:0.52, Z:-0.21 [[ 9.98742822e-01 -5.01063255e-02 -1.45983883e-03 6.96885221e+01] [ 5.01063020e-02 9.98743889e-01 -5.27174778e-05 5.18101401e-01] [ 1.46064659e-03 -2.04959227e-05 9.99998933e-01 -2.06310260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:0.52, Z:-0.21 [[ 9.98709318e-01 -5.07697472e-02 -1.45983883e-03 6.97191186e+01] [ 5.07697243e-02 9.98710385e-01 -5.27174778e-05 5.20881898e-01] [ 1.46063265e-03 -2.14661786e-05 9.99998933e-01 -2.05220829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:0.53, Z:-0.21 [[ 9.98695948e-01 -5.10320773e-02 -1.45983883e-03 6.97480201e+01] [ 5.10320548e-02 9.98697014e-01 -5.27174778e-05 5.25039176e-01] [ 1.46062696e-03 -2.18498437e-05 9.99998933e-01 -2.05305706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.78, Y:0.53, Z:-0.21 [[ 9.98698195e-01 -5.09880777e-02 -1.45983820e-03 6.97772178e+01] [ 5.09880551e-02 9.98699262e-01 -5.27348167e-05 5.27884208e-01] [ 1.46062818e-03 -2.17681444e-05 9.99998933e-01 -2.06581866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:0.53, Z:-0.21 [[ 9.98720191e-01 -5.05554042e-02 -1.45983759e-03 6.98076201e+01] [ 5.05553811e-02 9.98721258e-01 -5.27518058e-05 5.30178463e-01] [ 1.46063772e-03 -2.11183521e-05 9.99998933e-01 -2.05005998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:0.54, Z:-0.21 [[ 9.98769826e-01 -4.95651501e-02 -1.45983759e-03 6.98379936e+01] [ 4.95651259e-02 9.98770892e-01 -5.27518058e-05 5.35065553e-01] [ 1.46065794e-03 -1.96701219e-05 9.99998933e-01 -2.05116340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:0.54, Z:-0.20 [[ 9.98777592e-01 -4.94084111e-02 -1.45983759e-03 6.98685381e+01] [ 4.94083868e-02 9.98778658e-01 -5.27518058e-05 5.37952787e-01] [ 1.46066101e-03 -1.94408986e-05 9.99998933e-01 -2.04891309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:0.54, Z:-0.20 [[ 9.98772495e-01 -4.95113424e-02 -1.45983759e-03 6.98988110e+01] [ 4.95113181e-02 9.98773561e-01 -5.27518058e-05 5.40371766e-01] [ 1.46065900e-03 -1.95914306e-05 9.99998933e-01 -2.03587216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:0.54, Z:-0.20 [[ 9.98686053e-01 -5.12253422e-02 -1.45983759e-03 6.99286579e+01] [ 5.12253198e-02 9.98687120e-01 -5.27518058e-05 5.44006523e-01] [ 1.46062323e-03 -2.20981545e-05 9.99998933e-01 -2.01974946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.96, Y:0.55, Z:-0.20 [[ 9.98613372e-01 -5.26232002e-02 -1.45983821e-03 6.99579231e+01] [ 5.26231793e-02 9.98614439e-01 -5.27347017e-05 5.45863875e-01] [ 1.46059058e-03 -2.41597493e-05 9.99998933e-01 -2.04444910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:0.55, Z:-0.20 [[ 9.98518893e-01 -5.43864844e-02 -1.45983760e-03 6.99886606e+01] [ 5.43864654e-02 9.98519960e-01 -5.27515514e-05 5.46804345e-01] [ 1.46054595e-03 -2.67219863e-05 9.99998933e-01 -2.03549363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:0.55, Z:-0.20 [[ 9.98324495e-01 -5.78452426e-02 -1.45983760e-03 7.00186307e+01] [ 5.78452273e-02 9.98325562e-01 -5.27515514e-05 5.46255365e-01] [ 1.46044462e-03 -3.17814717e-05 9.99998933e-01 -2.03700654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:0.55, Z:-0.20 [[ 9.98238142e-01 -5.93167906e-02 -1.45983699e-03 7.00490271e+01] [ 5.93167768e-02 9.98239208e-01 -5.27682684e-05 5.46803691e-01] [ 1.46039657e-03 -3.39175269e-05 9.99998933e-01 -2.03830686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.08, Y:0.55, Z:-0.21 [[ 9.98117360e-01 -6.13156184e-02 -1.45983699e-03 7.00791567e+01] [ 6.13156068e-02 9.98118427e-01 -5.27682684e-05 5.47498506e-01] [ 1.46032572e-03 -3.68418663e-05 9.99998933e-01 -2.06058966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:0.55, Z:-0.21 [[ 9.98096770e-01 -6.16498671e-02 -1.45983699e-03 7.01096417e+01] [ 6.16498558e-02 9.98097837e-01 -5.27682684e-05 5.47851986e-01] [ 1.46031330e-03 -3.73309019e-05 9.99998933e-01 -2.05166691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:0.55, Z:-0.21 [[ 9.98095828e-01 -6.16651201e-02 -1.45983699e-03 7.01402709e+01] [ 6.16651089e-02 9.98096895e-01 -5.27682684e-05 5.48199865e-01] [ 1.46031273e-03 -3.73532186e-05 9.99998933e-01 -2.06334038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:70.17, Y:0.55, Z:-0.21 [[ 9.98131799e-01 -6.10801090e-02 -1.45983909e-03 7.01709105e+01] [ 6.10800972e-02 9.98132866e-01 -5.27101025e-05 5.48704949e-01] [ 1.46033292e-03 -3.65554842e-05 9.99998933e-01 -2.08271588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:0.55, Z:-0.21 [[ 9.98244038e-01 -5.92174714e-02 -1.45983909e-03 7.02015380e+01] [ 5.92174576e-02 9.98245105e-01 -5.27101025e-05 5.48517993e-01] [ 1.46039859e-03 -3.38304141e-05 9.99998933e-01 -2.05173929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:0.55, Z:-0.21 [[ 9.98319185e-01 -5.79368142e-02 -1.45983909e-03 7.02321278e+01] [ 5.79367990e-02 9.98320251e-01 -5.27101025e-05 5.48685186e-01] [ 1.46044079e-03 -3.19568976e-05 9.99998933e-01 -2.08060602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:0.55, Z:-0.21 [[ 9.98523664e-01 -5.42988170e-02 -1.45983973e-03 7.02621971e+01] [ 5.42987980e-02 9.98524731e-01 -5.26924464e-05 5.48334847e-01] [ 1.46054721e-03 -2.66528880e-05 9.99998933e-01 -2.05167638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:0.55, Z:-0.21 [[ 9.98625741e-01 -5.23879610e-02 -1.45983973e-03 7.02915137e+01] [ 5.23879399e-02 9.98626808e-01 -5.26924464e-05 5.49639383e-01] [ 1.46059554e-03 -2.38579628e-05 9.99998933e-01 -2.06555700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:0.55, Z:-0.21 [[ 9.98747235e-01 -5.00182980e-02 -1.45983910e-03 7.03217519e+01] [ 5.00182743e-02 9.98748301e-01 -5.27100458e-05 5.50639119e-01] [ 1.46064828e-03 -2.03746199e-05 9.99998933e-01 -2.05872360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:0.55, Z:-0.21 [[ 9.98949425e-01 -4.58030007e-02 -1.45983910e-03 7.03510759e+01] [ 4.58029726e-02 9.98950492e-01 -5.27100458e-05 5.50628229e-01] [ 1.46072126e-03 -1.42103001e-05 9.99998933e-01 -2.05699165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:0.55, Z:-0.21 [[ 9.99040054e-01 -4.37817264e-02 -1.45983846e-03 7.03807243e+01] [ 4.37816961e-02 9.99041120e-01 -5.27276889e-05 5.51581151e-01] [ 1.46074716e-03 -1.12371306e-05 9.99998933e-01 -2.06278901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:70.41, Y:0.55, Z:-0.21 [[ 9.99122831e-01 -4.18501847e-02 -1.45983783e-03 7.04101041e+01] [ 4.18501523e-02 9.99123897e-01 -5.27451375e-05 5.53136994e-01] [ 1.46076625e-03 -8.39556431e-06 9.99998933e-01 -2.07546460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:0.55, Z:-0.20 [[ 9.99205069e-01 -3.98384025e-02 -1.45983722e-03 7.04404418e+01] [ 3.98383679e-02 9.99206136e-01 -5.27620216e-05 5.53627788e-01] [ 1.46078026e-03 -5.43745274e-06 9.99998933e-01 -2.03868916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:0.55, Z:-0.20 [[ 9.99362170e-01 -3.56808384e-02 -1.45983722e-03 7.04702531e+01] [ 3.56807994e-02 9.99363236e-01 -5.27620216e-05 5.53996274e-01] [ 1.46079024e-03 6.40209448e-07 9.99998933e-01 -2.02824420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:0.56, Z:-0.20 [[ 9.99524659e-01 -3.07948944e-02 -1.45983660e-03 7.05004566e+01] [ 3.07948502e-02 9.99525725e-01 -5.27790200e-05 5.55257350e-01] [ 1.46076956e-03 7.79848253e-06 9.99998933e-01 -2.01648520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:70.53, Y:0.56, Z:-0.20 [[ 9.99608955e-01 -2.79250073e-02 -1.45983660e-03 7.05318469e+01] [ 2.79249600e-02 9.99610021e-01 -5.27790200e-05 5.57591851e-01] [ 1.46074115e-03 1.19925023e-05 9.99998933e-01 -2.02478316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:0.56, Z:-0.20 [[ 9.99698099e-01 -2.45271201e-02 -1.45983782e-03 7.05619911e+01] [ 2.45270692e-02 9.99699165e-01 -5.27452823e-05 5.58778770e-01] [ 1.46069234e-03 1.69238152e-05 9.99998933e-01 -2.01017271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:0.56, Z:-0.20 [[ 9.99839086e-01 -1.78793319e-02 -1.45983843e-03 7.05927664e+01] [ 1.78792740e-02 9.99840152e-01 -5.27285288e-05 5.62245504e-01] [ 1.46054782e-03 2.66191928e-05 9.99998933e-01 -2.01233145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:0.57, Z:-0.20 [[ 9.99887635e-01 -1.49193255e-02 -1.45983843e-03 7.06224066e+01] [ 1.49192644e-02 9.99888700e-01 -5.27285288e-05 5.65338502e-01] [ 1.46046262e-03 3.09428885e-05 9.99998933e-01 -2.01673943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:0.57, Z:-0.20 [[ 9.99947175e-01 -1.01743156e-02 -1.45983856e-03 7.06523128e+01] [ 1.01742495e-02 9.99948240e-01 -5.27247993e-05 5.70191601e-01] [ 1.46029944e-03 3.78692524e-05 9.99998933e-01 -2.00815495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:0.57, Z:-0.20 [[ 9.99961090e-01 -8.69987878e-03 -1.45983856e-03 7.06830068e+01] [ 8.69981107e-03 9.99962155e-01 -5.27247993e-05 5.73349633e-01] [ 1.46024201e-03 4.00224281e-05 9.99998933e-01 -2.01126835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:0.58, Z:-0.20 [[ 9.99968598e-01 -7.78924040e-03 -1.45983917e-03 7.07131292e+01] [ 7.78917175e-03 9.99969663e-01 -5.27079023e-05 5.76889269e-01] [ 1.46020544e-03 4.13353091e-05 9.99998933e-01 -2.01140768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:0.58, Z:-0.20 [[ 9.99967764e-01 -7.89551772e-03 -1.45983917e-03 7.07429594e+01] [ 7.89544918e-03 9.99968829e-01 -5.27079023e-05 5.83295548e-01] [ 1.46020982e-03 4.11801172e-05 9.99998933e-01 -2.00030713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:0.59, Z:-0.20 [[ 9.99961644e-01 -8.63593401e-03 -1.45983917e-03 7.07734420e+01] [ 8.63586625e-03 9.99962709e-01 -5.27079023e-05 5.86429383e-01] [ 1.46023991e-03 4.00989048e-05 9.99998933e-01 -2.00064156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:0.59, Z:-0.20 [[ 9.99932947e-01 -1.14878459e-02 -1.45983978e-03 7.08034515e+01] [ 1.14877812e-02 9.99934012e-01 -5.26911726e-05 5.91642714e-01] [ 1.46034875e-03 3.59173195e-05 9.99998933e-01 -2.01131633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:0.59, Z:-0.20 [[ 9.99913188e-01 -1.30952682e-02 -1.45983978e-03 7.08336169e+01] [ 1.30952052e-02 9.99914253e-01 -5.26911726e-05 5.94724862e-01] [ 1.46040460e-03 3.35696968e-05 9.99998933e-01 -2.00368243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:0.60, Z:-0.20 [[ 9.99887533e-01 -1.49261877e-02 -1.45984037e-03 7.08652575e+01] [ 1.49261267e-02 9.99888598e-01 -5.26746464e-05 5.97917054e-01] [ 1.46046397e-03 3.08789598e-05 9.99998933e-01 -2.00028181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:0.60, Z:-0.20 [[ 9.99829472e-01 -1.84091116e-02 -1.45984156e-03 7.08966778e+01] [ 1.84090543e-02 9.99830538e-01 -5.26417704e-05 6.03229343e-01] [ 1.46056326e-03 2.57584910e-05 9.99998933e-01 -1.99427176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:0.61, Z:-0.20 [[ 9.99799591e-01 -1.99661267e-02 -1.45984280e-03 7.09272948e+01] [ 1.99660711e-02 9.99800657e-01 -5.26072087e-05 6.06811118e-01] [ 1.46060216e-03 2.34493405e-05 9.99998933e-01 -2.00848108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:0.61, Z:-0.20 [[ 9.99775498e-01 -2.11381828e-02 -1.45984486e-03 7.09580676e+01] [ 2.11381286e-02 9.99776563e-01 -5.25501765e-05 6.10258882e-01] [ 1.46062949e-03 2.16799906e-05 9.99998933e-01 -2.01034772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:0.61, Z:-0.20 [[ 9.99751878e-01 -2.22272431e-02 -1.45984610e-03 7.09894391e+01] [ 2.22271901e-02 9.99752944e-01 -5.25157083e-05 6.13972171e-01] [ 1.46065271e-03 2.00544014e-05 9.99998933e-01 -2.01751199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:0.62, Z:-0.20 [[ 9.99712365e-01 -2.39386061e-02 -1.45984737e-03 7.10205452e+01] [ 2.39385550e-02 9.99713430e-01 -5.24803898e-05 6.20626808e-01] [ 1.46068532e-03 1.75186581e-05 9.99998933e-01 -2.03038578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:0.62, Z:-0.20 [[ 9.99691743e-01 -2.47848210e-02 -1.45984927e-03 7.10505799e+01] [ 2.47847708e-02 9.99692809e-01 -5.24274695e-05 6.24343161e-01] [ 1.46070022e-03 1.62292788e-05 9.99998933e-01 -2.03733196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:0.63, Z:-0.20 [[ 9.99652115e-01 -2.63347091e-02 -1.45985051e-03 7.10821596e+01] [ 2.63346607e-02 9.99653181e-01 -5.23928039e-05 6.30146228e-01] [ 1.46072396e-03 1.39299094e-05 9.99998933e-01 -2.02654155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:0.63, Z:-0.20 [[ 9.99628756e-01 -2.72069717e-02 -1.45985175e-03 7.11120889e+01] [ 2.72069242e-02 9.99629822e-01 -5.23581890e-05 6.34162691e-01] [ 1.46073585e-03 1.26206754e-05 9.99998933e-01 -2.03030674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:0.64, Z:-0.20 [[ 9.99561932e-01 -2.95603334e-02 -1.45985382e-03 7.11421783e+01] [ 2.95602885e-02 9.99562998e-01 -5.23004592e-05 6.41737785e-01] [ 1.46076188e-03 9.12384788e-06 9.99998933e-01 -2.02975961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:71.17, Y:0.65, Z:-0.21 [[ 9.99514983e-01 -3.11073572e-02 -1.45985442e-03 7.11730498e+01] [ 3.11073140e-02 9.99516049e-01 -5.22836409e-05 6.46750848e-01] [ 1.46077433e-03 6.84613258e-06 9.99998933e-01 -2.05273843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:0.65, Z:-0.20 [[ 9.99465410e-01 -3.26613501e-02 -1.45985620e-03 7.12054105e+01] [ 3.26613087e-02 9.99466476e-01 -5.22338295e-05 6.48973796e-01] [ 1.46078336e-03 4.52509172e-06 9.99998933e-01 -2.04781962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:71.24, Y:0.65, Z:-0.21 [[ 9.99307631e-01 -3.71769828e-02 -1.45985856e-03 7.12364872e+01] [ 3.71769463e-02 9.99308697e-01 -5.21679329e-05 6.54503037e-01] [ 1.46078880e-03 -2.14126987e-06 9.99998933e-01 -2.07136615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.27, Y:0.66, Z:-0.20 [[ 9.99215700e-01 -3.95708789e-02 -1.45986031e-03 7.12688177e+01] [ 3.95708450e-02 9.99216766e-01 -5.21187655e-05 6.56989231e-01] [ 1.46077929e-03 -5.69001739e-06 9.99998933e-01 -2.04021462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:71.30, Y:0.66, Z:-0.20 [[ 9.99004146e-01 -4.45935553e-02 -1.45986274e-03 7.13004376e+01] [ 4.45935269e-02 9.99005213e-01 -5.20508183e-05 6.61244468e-01] [ 1.46073161e-03 -1.31014449e-05 9.99998933e-01 -2.03137730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:0.66, Z:-0.20 [[ 9.98900015e-01 -4.68682061e-02 -1.45986521e-03 7.13320708e+01] [ 4.68681801e-02 9.98901082e-01 -5.19813072e-05 6.62062613e-01] [ 1.46069721e-03 -1.64970972e-05 9.99998933e-01 -2.03218444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.36, Y:0.66, Z:-0.20 [[ 9.98779332e-01 -4.93732098e-02 -1.45986705e-03 7.13642618e+01] [ 4.93731866e-02 9.98780399e-01 -5.19295153e-05 6.64900031e-01] [ 1.46065053e-03 -2.02121619e-05 9.99998933e-01 -2.02885193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:0.67, Z:-0.20 [[ 9.98598224e-01 -5.29098900e-02 -1.45986949e-03 7.13949791e+01] [ 5.29098707e-02 9.98599290e-01 -5.18609583e-05 6.66185623e-01] [ 1.46056859e-03 -2.54532450e-05 9.99998933e-01 -2.01257912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:0.67, Z:-0.20 [[ 9.98531744e-01 -5.41500238e-02 -1.45987130e-03 7.14266360e+01] [ 5.41500059e-02 9.98532811e-01 -5.18100125e-05 6.67372257e-01] [ 1.46053490e-03 -2.73180973e-05 9.99998933e-01 -2.01071028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:0.67, Z:-0.20 [[ 9.98469021e-01 -5.52945159e-02 -1.45987310e-03 7.14588879e+01] [ 5.52944993e-02 9.98470088e-01 -5.17592471e-05 6.68238704e-01] [ 1.46050162e-03 -2.90429472e-05 9.99998933e-01 -2.01556513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:0.67, Z:-0.20 [[ 9.98471566e-01 -5.52485371e-02 -1.45987547e-03 7.14915480e+01] [ 5.52485206e-02 9.98472633e-01 -5.16921346e-05 6.69309278e-01] [ 1.46050162e-03 -2.90428336e-05 9.99998933e-01 -2.01508790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:0.67, Z:-0.20 [[ 9.98399272e-01 -5.65399217e-02 -1.45987785e-03 7.15235675e+01] [ 5.65399066e-02 9.98400339e-01 -5.16249084e-05 6.69307285e-01] [ 1.46046141e-03 -3.09990864e-05 9.99998933e-01 -2.02552596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:0.67, Z:-0.20 [[ 9.98387172e-01 -5.67531827e-02 -1.45988023e-03 7.15547810e+01] [ 5.67531680e-02 9.98388239e-01 -5.15576594e-05 6.70107409e-01] [ 1.46045331e-03 -3.13783219e-05 9.99998933e-01 -2.03641363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:0.67, Z:-0.20 [[ 9.98396022e-01 -5.65972864e-02 -1.45988200e-03 7.15860137e+01] [ 5.65972716e-02 9.98397088e-01 -5.15074850e-05 6.70546589e-01] [ 1.46045712e-03 -3.12004697e-05 9.99998933e-01 -2.03772237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:0.67, Z:-0.20 [[ 9.98413691e-01 -5.62847241e-02 -1.45988375e-03 7.16183680e+01] [ 5.62847090e-02 9.98414758e-01 -5.14576894e-05 6.70512373e-01] [ 1.46046576e-03 -3.07930706e-05 9.99998933e-01 -2.04142852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:71.65, Y:0.67, Z:-0.20 [[ 9.98435712e-01 -5.58927417e-02 -1.45988607e-03 7.16503963e+01] [ 5.58927263e-02 9.98436778e-01 -5.13917521e-05 6.71288187e-01] [ 1.46047637e-03 -3.02856521e-05 9.99998933e-01 -2.04847682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:71.68, Y:0.67, Z:-0.21 [[ 9.98491211e-01 -5.48923497e-02 -1.45988847e-03 7.16820035e+01] [ 5.48923333e-02 9.98492278e-01 -5.13234393e-05 6.71507634e-01] [ 1.46050463e-03 -2.88906817e-05 9.99998933e-01 -2.06275079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:71.71, Y:0.67, Z:-0.21 [[ 9.98634786e-01 -5.22152557e-02 -1.45989027e-03 7.17128664e+01] [ 5.22152365e-02 9.98635853e-01 -5.12724021e-05 6.72010655e-01] [ 1.46057596e-03 -2.50261113e-05 9.99998933e-01 -2.07058020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:0.67, Z:-0.21 [[ 9.98749697e-01 -4.99690968e-02 -1.45989421e-03 7.17446799e+01] [ 4.99690754e-02 9.98750764e-01 -5.11599640e-05 6.71566325e-01] [ 1.46062687e-03 -2.18535652e-05 9.99998933e-01 -2.05784896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:0.67, Z:-0.21 [[ 9.98951282e-01 -4.57624899e-02 -1.45989646e-03 7.17755168e+01] [ 4.57624641e-02 9.98952348e-01 -5.10954769e-05 6.71410140e-01] [ 1.46070526e-03 -1.57665674e-05 9.99998933e-01 -2.06503419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:0.67, Z:-0.21 [[ 9.99051019e-01 -4.35307961e-02 -1.45989816e-03 7.18065186e+01] [ 4.35307679e-02 9.99052086e-01 -5.10470967e-05 6.72313265e-01] [ 1.46073642e-03 -1.25518338e-05 9.99998933e-01 -2.07236590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:0.67, Z:-0.21 [[ 9.99138342e-01 -4.14782194e-02 -1.45990165e-03 7.18376788e+01] [ 4.14781892e-02 9.99139408e-01 -5.09468398e-05 6.73515543e-01] [ 1.46075846e-03 -9.65113606e-06 9.99998933e-01 -2.07062854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:0.67, Z:-0.21 [[ 9.99297620e-01 -3.74450997e-02 -1.45990278e-03 7.18699981e+01] [ 3.74450653e-02 9.99298686e-01 -5.09146713e-05 6.73562055e-01] [ 1.46078543e-03 -3.78724502e-06 9.99998933e-01 -2.05164279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:0.67, Z:-0.21 [[ 9.99349076e-01 -3.60457115e-02 -1.45990579e-03 7.19007353e+01] [ 3.60456757e-02 9.99350142e-01 -5.08280481e-05 6.74342648e-01] [ 1.46078919e-03 -1.82832784e-06 9.99998933e-01 -2.08379675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:0.68, Z:-0.21 [[ 9.99401965e-01 -3.45482302e-02 -1.45990760e-03 7.19327368e+01] [ 3.45481929e-02 9.99403032e-01 -5.07759762e-05 6.75689939e-01] [ 1.46079031e-03 3.08440873e-07 9.99998933e-01 -2.05192461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:0.68, Z:-0.21 [[ 9.99467054e-01 -3.26109872e-02 -1.45991000e-03 7.19652572e+01] [ 3.26109480e-02 9.99468120e-01 -5.07070033e-05 6.78147061e-01] [ 1.46078711e-03 3.07093021e-06 9.99998933e-01 -2.05547485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:0.68, Z:-0.20 [[ 9.99487111e-01 -3.19903531e-02 -1.45991238e-03 7.19973464e+01] [ 3.19903132e-02 9.99488178e-01 -5.06383875e-05 6.79907545e-01] [ 1.46078510e-03 3.90936139e-06 9.99998933e-01 -2.04578273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:0.68, Z:-0.21 [[ 9.99497700e-01 -3.16577910e-02 -1.45991479e-03 7.20271105e+01] [ 3.16577509e-02 9.99498767e-01 -5.05687083e-05 6.81955537e-01] [ 1.46078393e-03 4.32568887e-06 9.99998933e-01 -2.05276238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:0.68, Z:-0.20 [[ 9.99522645e-01 -3.08601749e-02 -1.45983300e-03 7.20589641e+01] [ 3.08601305e-02 9.99523711e-01 -5.29238563e-05 6.83272603e-01] [ 1.46077093e-03 7.84795610e-06 9.99998933e-01 -2.01514491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:0.68, Z:-0.20 [[ 9.99533820e-01 -3.04960918e-02 -1.45991156e-03 7.20910725e+01] [ 3.04960504e-02 9.99534886e-01 -5.06598555e-05 6.84817227e-01] [ 1.46077746e-03 6.11470252e-06 9.99998933e-01 -2.00664286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:0.69, Z:-0.20 [[ 9.99544742e-01 -3.01359821e-02 -1.45991397e-03 7.21224038e+01] [ 3.01359404e-02 9.99545808e-01 -5.05903615e-05 6.87285180e-01] [ 1.46077547e-03 6.57144955e-06 9.99998933e-01 -2.01217562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:0.69, Z:-0.20 [[ 9.99539354e-01 -3.03141714e-02 -1.45991795e-03 7.21540221e+01] [ 3.03141300e-02 9.99540420e-01 -5.04750313e-05 6.89343797e-01] [ 1.46077711e-03 6.19563754e-06 9.99998933e-01 -2.01678483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:0.69, Z:-0.20 [[ 9.99521190e-01 -3.09072593e-02 -1.45992189e-03 7.21851546e+01] [ 3.09072187e-02 9.99522257e-01 -5.03610006e-05 6.91694127e-01] [ 1.46078094e-03 5.21476228e-06 9.99998933e-01 -2.01435895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.22, Y:0.70, Z:-0.20 [[ 9.99440310e-01 -3.34205955e-02 -1.45992362e-03 7.22174570e+01] [ 3.34205577e-02 9.99441376e-01 -5.03107062e-05 6.95389564e-01] [ 1.46078949e-03 1.49108627e-06 9.99998933e-01 -2.02813230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:0.70, Z:-0.20 [[ 9.99378657e-01 -3.52160250e-02 -1.45992598e-03 7.22494354e+01] [ 3.52159892e-02 9.99379723e-01 -5.02421655e-05 6.96154142e-01] [ 1.46078975e-03 -1.20178964e-06 9.99998933e-01 -2.01748297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:0.70, Z:-0.20 [[ 9.99308277e-01 -3.71595985e-02 -1.45992833e-03 7.22803299e+01] [ 3.71595648e-02 9.99309344e-01 -5.01737945e-05 6.97506346e-01] [ 1.46078446e-03 -4.11121321e-06 9.99998933e-01 -2.01998974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:0.70, Z:-0.20 [[ 9.99162741e-01 -4.08862570e-02 -1.45993008e-03 7.23123303e+01] [ 4.08862274e-02 9.99163807e-01 -5.01227244e-05 6.98771430e-01] [ 1.46075863e-03 -9.61027453e-06 9.99998933e-01 -2.01647289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:0.70, Z:-0.20 [[ 9.99103561e-01 -4.23077176e-02 -1.45993243e-03 7.23442243e+01] [ 4.23076896e-02 9.99104628e-01 -5.00543061e-05 6.99233837e-01] [ 1.46074293e-03 -1.17569325e-05 9.99998933e-01 -2.01193114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:0.70, Z:-0.20 [[ 9.99011629e-01 -4.44255944e-02 -1.45993477e-03 7.23767109e+01] [ 4.44255688e-02 9.99012696e-01 -4.99857508e-05 7.00429829e-01] [ 1.46071402e-03 -1.49220863e-05 9.99998933e-01 -2.01657634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:0.70, Z:-0.20 [[ 9.98987941e-01 -4.49551091e-02 -1.45993711e-03 7.24080211e+01] [ 4.49550842e-02 9.98989008e-01 -4.99173935e-05 7.02354662e-01] [ 1.46070517e-03 -1.57647216e-05 9.99998933e-01 -2.02611156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:0.70, Z:-0.20 [[ 9.98977816e-01 -4.51795534e-02 -1.45993885e-03 7.24399492e+01] [ 4.51795288e-02 9.98978883e-01 -4.98663686e-05 7.04354497e-01] [ 1.46070103e-03 -1.61439536e-05 9.99998933e-01 -2.00957966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.47, Y:0.71, Z:-0.20 [[ 9.98966735e-01 -4.54238935e-02 -1.45994118e-03 7.24714326e+01] [ 4.54238693e-02 9.98967802e-01 -4.97980721e-05 7.06889094e-01] [ 1.46069626e-03 -1.65695599e-05 9.99998933e-01 -2.01947334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:72.50, Y:0.71, Z:-0.20 [[ 9.98974259e-01 -4.52581242e-02 -1.45994292e-03 7.25033703e+01] [ 4.52580999e-02 9.98975326e-01 -4.97470156e-05 7.07890779e-01] [ 1.46069842e-03 -1.63782546e-05 9.99998933e-01 -2.02932025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:0.71, Z:-0.20 [[ 9.98973418e-01 -4.52766826e-02 -1.45994525e-03 7.25345454e+01] [ 4.52766584e-02 9.98974485e-01 -4.96787190e-05 7.07401954e-01] [ 1.46069734e-03 -1.64737225e-05 9.99998933e-01 -2.02196947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:0.71, Z:-0.20 [[ 9.99003579e-01 -4.46062482e-02 -1.45994698e-03 7.25663394e+01] [ 4.46062233e-02 9.99004646e-01 -4.96276938e-05 7.07971177e-01] [ 1.46070752e-03 -1.55444774e-05 9.99998933e-01 -1.99765943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:0.71, Z:-0.20 [[ 9.99028208e-01 -4.40511921e-02 -1.45994930e-03 7.25971548e+01] [ 4.40511668e-02 9.99029275e-01 -4.95593358e-05 7.08999482e-01] [ 1.46071524e-03 -1.48012957e-05 9.99998933e-01 -1.98988521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:0.71, Z:-0.20 [[ 9.99047178e-01 -4.36188461e-02 -1.45995104e-03 7.26292494e+01] [ 4.36188204e-02 9.99048245e-01 -4.95081879e-05 7.10319557e-01] [ 1.46072101e-03 -1.42203266e-05 9.99998933e-01 -1.98279500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:72.66, Y:0.71, Z:-0.20 [[ 9.99119012e-01 -4.19412462e-02 -1.45995337e-03 7.26601268e+01] [ 4.19412187e-02 9.99120079e-01 -4.94392800e-05 7.11966408e-01] [ 1.46074227e-03 -1.18364991e-05 9.99998933e-01 -1.99874680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:0.71, Z:-0.20 [[ 9.99135715e-01 -4.15414468e-02 -1.45995511e-03 7.26928073e+01] [ 4.15414190e-02 9.99136781e-01 -4.93877962e-05 7.12945616e-01] [ 1.46074649e-03 -1.13034959e-05 9.99998933e-01 -1.98506075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:0.71, Z:-0.20 [[ 9.99174832e-01 -4.05896904e-02 -1.45995802e-03 7.27240802e+01] [ 4.05896617e-02 9.99175899e-01 -4.93017938e-05 7.13957788e-01] [ 1.46075601e-03 -9.99809050e-06 9.99998933e-01 -1.99613695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:0.72, Z:-0.20 [[ 9.99229796e-01 -3.92133018e-02 -1.45995975e-03 7.27566261e+01] [ 3.92132717e-02 9.99230863e-01 -4.92504163e-05 7.15114141e-01] [ 1.46076811e-03 -8.03731491e-06 9.99998933e-01 -2.01380193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.79, Y:0.72, Z:-0.20 [[ 9.99277127e-01 -3.79880550e-02 -1.45996208e-03 7.27889439e+01] [ 3.79880236e-02 9.99278193e-01 -4.91811718e-05 7.16453704e-01] [ 1.46077657e-03 -6.31545402e-06 9.99998933e-01 -2.03526891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:0.72, Z:-0.20 [[ 9.99325848e-01 -3.66840234e-02 -1.45996441e-03 7.28202083e+01] [ 3.66839908e-02 9.99326915e-01 -4.91119947e-05 7.18374210e-01] [ 1.46078335e-03 -4.47843514e-06 9.99998933e-01 -2.03413977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:0.72, Z:-0.20 [[ 9.99364238e-01 -3.56228699e-02 -1.45996843e-03 7.28510972e+01] [ 3.56228363e-02 9.99365304e-01 -4.89921859e-05 7.19780980e-01] [ 1.46078704e-03 -3.04717784e-06 9.99998933e-01 -2.03409213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:0.72, Z:-0.20 [[ 9.99393087e-01 -3.48041044e-02 -1.45997015e-03 7.28828605e+01] [ 3.48040700e-02 9.99394154e-01 -4.89409776e-05 7.21117260e-01] [ 1.46078898e-03 -1.90162850e-06 9.99998933e-01 -2.02258946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:0.72, Z:-0.20 [[ 9.99428684e-01 -3.37664671e-02 -1.45997243e-03 7.29139810e+01] [ 3.37664317e-02 9.99429750e-01 -4.88728436e-05 7.22204992e-01] [ 1.46079014e-03 -4.53137555e-07 9.99998933e-01 -2.01832360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:0.72, Z:-0.20 [[ 9.99451367e-01 -3.30882699e-02 -1.45997413e-03 7.29452426e+01] [ 3.30882339e-02 9.99452433e-01 -4.88219220e-05 7.23702575e-01] [ 1.46079013e-03 4.87171227e-07 9.99998933e-01 -2.01893212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:0.72, Z:-0.20 [[ 9.99451615e-01 -3.30807883e-02 -1.45997578e-03 7.29774680e+01] [ 3.30807523e-02 9.99452681e-01 -4.87724504e-05 7.24541064e-01] [ 1.46079014e-03 4.48607043e-07 9.99998933e-01 -1.99912807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:0.73, Z:-0.20 [[ 9.99423219e-01 -3.39278404e-02 -1.45997811e-03 7.30094990e+01] [ 3.39278054e-02 9.99424285e-01 -4.87028072e-05 7.25469651e-01] [ 1.46078996e-03 -8.59136710e-07 9.99998933e-01 -1.99162372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.04, Y:0.73, Z:-0.20 [[ 9.99396425e-01 -3.47081393e-02 -1.45998042e-03 7.30406766e+01] [ 3.47081053e-02 9.99397491e-01 -4.86334410e-05 7.26997561e-01] [ 1.46078874e-03 -2.06906690e-06 9.99998933e-01 -2.00387596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:0.73, Z:-0.20 [[ 9.99345546e-01 -3.61434383e-02 -1.45998214e-03 7.30714987e+01] [ 3.61434059e-02 9.99346612e-01 -4.85817708e-05 7.28026703e-01] [ 1.46078411e-03 -4.21875075e-06 9.99998933e-01 -2.00834962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.10, Y:0.73, Z:-0.20 [[ 9.99304616e-01 -3.72579204e-02 -1.45998381e-03 7.31040617e+01] [ 3.72578893e-02 9.99305683e-01 -4.85313893e-05 7.28849262e-01] [ 1.46077830e-03 -5.89827377e-06 9.99998933e-01 -2.01117149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:0.73, Z:-0.20 [[ 9.99232391e-01 -3.91471335e-02 -1.45998608e-03 7.31358995e+01] [ 3.91471045e-02 9.99233457e-01 -4.84630908e-05 7.29166100e-01] [ 1.46076413e-03 -8.72833752e-06 9.99998933e-01 -2.00247605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:0.73, Z:-0.20 [[ 9.99134131e-01 -4.15795223e-02 -1.45998834e-03 7.31674483e+01] [ 4.15794960e-02 9.99135198e-01 -4.83947781e-05 7.27983988e-01] [ 1.46073797e-03 -1.23527049e-05 9.99998933e-01 -2.01503761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:0.73, Z:-0.20 [[ 9.99102595e-01 -4.23305326e-02 -1.45999002e-03 7.31986722e+01] [ 4.23305071e-02 9.99103661e-01 -4.83439774e-05 7.28015605e-01] [ 1.46072781e-03 -1.35015249e-05 9.99998933e-01 -2.02960406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:0.73, Z:-0.20 [[ 9.99075367e-01 -4.29683636e-02 -1.45999374e-03 7.32306037e+01] [ 4.29683390e-02 9.99076433e-01 -4.82315316e-05 7.27300420e-01] [ 1.46071777e-03 -1.45465708e-05 9.99998933e-01 -2.03333657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:73.26, Y:0.73, Z:-0.20 [[ 9.99086890e-01 -4.26995871e-02 -1.45999588e-03 7.32624398e+01] [ 4.26995623e-02 9.99087957e-01 -4.81667628e-05 7.27815256e-01] [ 1.46072100e-03 -1.42184036e-05 9.99998933e-01 -2.03736215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:0.73, Z:-0.20 [[ 9.99083507e-01 -4.27786691e-02 -1.45999811e-03 7.32942427e+01] [ 4.27786444e-02 9.99084574e-01 -4.80990316e-05 7.28548147e-01] [ 1.46071920e-03 -1.44017908e-05 9.99998933e-01 -2.01323472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:0.73, Z:-0.20 [[ 9.99118982e-01 -4.19419696e-02 -1.46000039e-03 7.33254235e+01] [ 4.19419442e-02 9.99120048e-01 -4.80297660e-05 7.27881534e-01] [ 1.46073012e-03 -1.32478038e-05 9.99998933e-01 -2.02621027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:0.73, Z:-0.20 [[ 9.99147610e-01 -4.12543673e-02 -1.46000208e-03 7.33570691e+01] [ 4.12543413e-02 9.99148676e-01 -4.79782522e-05 7.28609814e-01] [ 1.46073846e-03 -1.22940681e-05 9.99998933e-01 -2.03190907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.39, Y:0.73, Z:-0.20 [[ 9.99224813e-01 -3.93400795e-02 -1.46000374e-03 7.33889484e+01] [ 3.93400515e-02 9.99225879e-01 -4.79277334e-05 7.29026888e-01] [ 1.46075900e-03 -9.54604173e-06 9.99998933e-01 -2.04595348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:0.73, Z:-0.20 [[ 9.99243796e-01 -3.88549206e-02 -1.46000591e-03 7.34209328e+01] [ 3.88548922e-02 9.99244862e-01 -4.78614520e-05 7.28605175e-01] [ 1.46076306e-03 -8.90311320e-06 9.99998933e-01 -2.03137182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:0.73, Z:-0.20 [[ 9.99280918e-01 -3.78881858e-02 -1.46000808e-03 7.34531468e+01] [ 3.78881564e-02 9.99281985e-01 -4.77952280e-05 7.28571886e-01] [ 1.46077064e-03 -7.55615510e-06 9.99998933e-01 -2.02073857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.48, Y:0.73, Z:-0.20 [[ 9.99326593e-01 -3.66637348e-02 -1.46001032e-03 7.34839541e+01] [ 3.66637042e-02 9.99327659e-01 -4.77266644e-05 7.29120723e-01] [ 1.46077853e-03 -5.83486150e-06 9.99998933e-01 -2.04359121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.52, Y:0.73, Z:-0.20 [[ 9.99328268e-01 -3.66180473e-02 -1.46001254e-03 7.35166164e+01] [ 3.66180167e-02 9.99329334e-01 -4.76585519e-05 7.30097181e-01] [ 1.46077853e-03 -5.83622558e-06 9.99998933e-01 -2.04311399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:0.73, Z:-0.20 [[ 9.99390040e-01 -3.48914942e-02 -1.46001472e-03 7.35490080e+01] [ 3.48914619e-02 9.99391106e-01 -4.75918027e-05 7.30452057e-01] [ 1.46078627e-03 -3.37927443e-06 9.99998933e-01 -2.03233525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.58, Y:0.73, Z:-0.21 [[ 9.99431703e-01 -3.36769763e-02 -1.46001694e-03 7.35801766e+01] [ 3.36769428e-02 9.99432770e-01 -4.75234228e-05 7.30939702e-01] [ 1.46078922e-03 -1.67249180e-06 9.99998933e-01 -2.05159489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:0.73, Z:-0.21 [[ 9.99460570e-01 -3.28091044e-02 -1.46001860e-03 7.36114886e+01] [ 3.28090701e-02 9.99461636e-01 -4.74725622e-05 7.30850369e-01] [ 1.46079011e-03 -4.54898357e-07 9.99998933e-01 -2.05916370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:0.73, Z:-0.21 [[ 9.99471525e-01 -3.24736529e-02 -1.46002021e-03 7.36422906e+01] [ 3.24736183e-02 9.99472592e-01 -4.74228184e-05 7.31290091e-01] [ 1.46079018e-03 -1.43824739e-08 9.99998933e-01 -2.06353641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:0.73, Z:-0.21 [[ 9.99471486e-01 -3.24748708e-02 -1.46002182e-03 7.36734691e+01] [ 3.24748363e-02 9.99472552e-01 -4.73733880e-05 7.31565345e-01] [ 1.46079018e-03 -6.56190604e-08 9.99998933e-01 -2.06119300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:0.73, Z:-0.20 [[ 9.99440379e-01 -3.34185173e-02 -1.46002341e-03 7.37054015e+01] [ 3.34184838e-02 9.99441445e-01 -4.73241989e-05 7.30622082e-01] [ 1.46078941e-03 -1.49405348e-06 9.99998933e-01 -2.04727379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:0.73, Z:-0.21 [[ 9.99434464e-01 -3.35949486e-02 -1.46002564e-03 7.37379680e+01] [ 3.35949154e-02 9.99435530e-01 -4.72552445e-05 7.30702535e-01] [ 1.46078904e-03 -1.82091807e-06 9.99998933e-01 -2.05501735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:0.73, Z:-0.21 [[ 9.99413921e-01 -3.42006229e-02 -1.46002788e-03 7.37695222e+01] [ 3.42005904e-02 9.99414988e-01 -4.71861845e-05 7.30612973e-01] [ 1.46078754e-03 -2.77528571e-06 9.99998933e-01 -2.07720726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:0.73, Z:-0.21 [[ 9.99387391e-01 -3.49672730e-02 -1.46002954e-03 7.38021919e+01] [ 3.49672414e-02 9.99388458e-01 -4.71344803e-05 7.30329255e-01] [ 1.46078484e-03 -3.94760032e-06 9.99998933e-01 -2.07849617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:0.73, Z:-0.21 [[ 9.99339655e-01 -3.63059669e-02 -1.46003167e-03 7.38342190e+01] [ 3.63059369e-02 9.99340721e-01 -4.70685408e-05 7.29564669e-01] [ 1.46077797e-03 -5.97035839e-06 9.99998933e-01 -2.05445989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:0.73, Z:-0.20 [[ 9.99291580e-01 -3.76059275e-02 -1.46003387e-03 7.38656259e+01] [ 3.76058990e-02 9.99292647e-01 -4.70002635e-05 7.28375215e-01] [ 1.46076860e-03 -7.93891856e-06 9.99998933e-01 -2.04737169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:0.73, Z:-0.20 [[ 9.99265171e-01 -3.83012567e-02 -1.46003551e-03 7.38978442e+01] [ 3.83012290e-02 9.99266238e-01 -4.69492491e-05 7.28473819e-01] [ 1.46076241e-03 -9.00640485e-06 9.99998933e-01 -2.04893529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:0.73, Z:-0.21 [[ 9.99239992e-01 -3.89526156e-02 -1.46003767e-03 7.39295121e+01] [ 3.89525886e-02 9.99241059e-01 -4.68818332e-05 7.28169060e-01] [ 1.46075576e-03 -1.00260443e-05 9.99998933e-01 -2.05395087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:0.73, Z:-0.20 [[ 9.99219189e-01 -3.94826687e-02 -1.46003929e-03 7.39613049e+01] [ 3.94826424e-02 9.99220255e-01 -4.68313167e-05 7.27783708e-01] [ 1.46074986e-03 -1.08514591e-05 9.99998933e-01 -2.04327012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:0.73, Z:-0.20 [[ 9.99198714e-01 -3.99974659e-02 -1.46004148e-03 7.39933569e+01] [ 3.99974403e-02 9.99199781e-01 -4.67629403e-05 7.25251966e-01] [ 1.46074353e-03 -1.16724522e-05 9.99998933e-01 -2.02704474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:0.72, Z:-0.20 [[ 9.99197699e-01 -4.00228201e-02 -1.46004367e-03 7.40249317e+01] [ 4.00227946e-02 9.99198766e-01 -4.66946203e-05 7.24728374e-01] [ 1.46074268e-03 -1.17778706e-05 9.99998933e-01 -2.02654558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:0.72, Z:-0.20 [[ 9.99197580e-01 -4.00258052e-02 -1.46004530e-03 7.40561467e+01] [ 4.00257797e-02 9.99198646e-01 -4.66435602e-05 7.24904134e-01] [ 1.46074223e-03 -1.18333191e-05 9.99998933e-01 -2.01668813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:0.72, Z:-0.20 [[ 9.99196065e-01 -4.00636083e-02 -1.46004638e-03 7.40883151e+01] [ 4.00635830e-02 9.99197131e-01 -4.66098062e-05 7.23604212e-01] [ 1.46074151e-03 -1.19223542e-05 9.99998933e-01 -1.99115090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:0.72, Z:-0.20 [[ 9.99203521e-01 -3.98772199e-02 -1.46004862e-03 7.41192580e+01] [ 3.98771945e-02 9.99204587e-01 -4.65394994e-05 7.22864924e-01] [ 1.46074314e-03 -1.17202111e-05 9.99998933e-01 -2.00477496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:0.72, Z:-0.20 [[ 9.99204860e-01 -3.98436365e-02 -1.46005029e-03 7.41516782e+01] [ 3.98436111e-02 9.99205927e-01 -4.64869746e-05 7.21324288e-01] [ 1.46074311e-03 -1.17236650e-05 9.99998933e-01 -2.00330007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:0.72, Z:-0.20 [[ 9.99217549e-01 -3.95241399e-02 -1.46005249e-03 7.41841054e+01] [ 3.95241142e-02 9.99218616e-01 -4.64179183e-05 7.21350435e-01] [ 1.46074625e-03 -1.13256827e-05 9.99998933e-01 -2.00971871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:0.72, Z:-0.20 [[ 9.99229955e-01 -3.92092547e-02 -1.46005467e-03 7.42160135e+01] [ 3.92092288e-02 9.99231021e-01 -4.63491914e-05 7.21257050e-01] [ 1.46074923e-03 -1.09341171e-05 9.99998933e-01 -2.00943052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:0.72, Z:-0.20 [[ 9.99245508e-01 -3.88108711e-02 -1.46005685e-03 7.42480765e+01] [ 3.88108449e-02 9.99246574e-01 -4.62804835e-05 7.20187117e-01] [ 1.46075299e-03 -1.04204746e-05 9.99998933e-01 -2.00703952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:0.72, Z:-0.20 [[ 9.99254398e-01 -3.85812865e-02 -1.46005905e-03 7.42804126e+01] [ 3.85812601e-02 9.99255465e-01 -4.62108120e-05 7.20052836e-01] [ 1.46075486e-03 -1.01545609e-05 9.99998933e-01 -2.00880597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:0.72, Z:-0.20 [[ 9.99261094e-01 -3.84074809e-02 -1.46006126e-03 7.43125662e+01] [ 3.84074545e-02 9.99262160e-01 -4.61409985e-05 7.19831240e-01] [ 1.46075613e-03 -9.97033166e-06 9.99998933e-01 -2.00216269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:0.72, Z:-0.20 [[ 9.99238320e-01 -3.89954852e-02 -1.46006351e-03 7.43442152e+01] [ 3.89954595e-02 9.99239387e-01 -4.60697074e-05 7.18825309e-01] [ 1.46074947e-03 -1.09012304e-05 9.99998933e-01 -2.02421129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:0.72, Z:-0.20 [[ 9.99228403e-01 -3.92487785e-02 -1.46006519e-03 7.43759062e+01] [ 3.92487532e-02 9.99229470e-01 -4.60163702e-05 7.19043052e-01] [ 1.46074625e-03 -1.13248741e-05 9.99998933e-01 -2.04384036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:0.72, Z:-0.20 [[ 9.99213994e-01 -3.96139144e-02 -1.46006734e-03 7.44075226e+01] [ 3.96138895e-02 9.99215061e-01 -4.59478465e-05 7.18906175e-01] [ 1.46074145e-03 -1.19272153e-05 9.99998933e-01 -2.04608785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:0.72, Z:-0.20 [[ 9.99199706e-01 -3.99726761e-02 -1.46006840e-03 7.44402107e+01] [ 3.99726517e-02 9.99200773e-01 -4.59143966e-05 7.18600720e-01] [ 1.46073679e-03 -1.24851539e-05 9.99998933e-01 -2.02887093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:0.72, Z:-0.20 [[ 9.99152508e-01 -4.11355516e-02 -1.46007060e-03 7.44718629e+01] [ 4.11355285e-02 9.99153575e-01 -4.58441930e-05 7.15858669e-01] [ 1.46072059e-03 -1.42554354e-05 9.99998933e-01 -2.02333480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:0.72, Z:-0.20 [[ 9.99117261e-01 -4.19829388e-02 -1.46007224e-03 7.45036126e+01] [ 4.19829167e-02 9.99118328e-01 -4.57917819e-05 7.15153860e-01] [ 1.46070741e-03 -1.55467317e-05 9.99998933e-01 -2.01853468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:0.71, Z:-0.20 [[ 9.99021658e-01 -4.41994898e-02 -1.46007333e-03 7.45346825e+01] [ 4.41994702e-02 9.99022725e-01 -4.57570772e-05 7.12668591e-01] [ 1.46066888e-03 -1.88221565e-05 9.99998933e-01 -2.00948985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:0.71, Z:-0.20 [[ 9.98957915e-01 -4.56174490e-02 -1.46007496e-03 7.45660573e+01] [ 4.56174309e-02 9.98958982e-01 -4.57051553e-05 7.10779945e-01] [ 1.46063995e-03 -2.09473418e-05 9.99998933e-01 -2.00014334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.60, Y:0.71, Z:-0.20 [[ 9.98889231e-01 -4.70974800e-02 -1.46007605e-03 7.45962692e+01] [ 4.70974636e-02 9.98890298e-01 -4.56702946e-05 7.08770259e-01] [ 1.46060675e-03 -2.31463130e-05 9.99998933e-01 -2.00075702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:0.71, Z:-0.20 [[ 9.98768343e-01 -4.95950127e-02 -1.46007659e-03 7.46268380e+01] [ 4.95949990e-02 9.98769410e-01 -4.56529245e-05 7.05389330e-01] [ 1.46054399e-03 -2.68158012e-05 9.99998933e-01 -2.00158065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:0.70, Z:-0.20 [[ 9.98742746e-01 -5.01078450e-02 -1.46000177e-03 7.46582233e+01] [ 5.01078283e-02 9.98743813e-01 -4.80380253e-05 7.02814048e-01] [ 1.46057482e-03 -2.51798888e-05 9.99998933e-01 -2.01873815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.69, Y:0.70, Z:-0.20 [[ 9.98712530e-01 -5.07065242e-02 -1.46007315e-03 7.46883849e+01] [ 5.07065115e-02 9.98713596e-01 -4.57607141e-05 7.00998297e-01] [ 1.46051527e-03 -2.83334172e-05 9.99998933e-01 -2.02658329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:0.70, Z:-0.20 [[ 9.98622538e-01 -5.24489759e-02 -1.46007315e-03 7.47187549e+01] [ 5.24489650e-02 9.98623605e-01 -4.57607141e-05 6.97680645e-01] [ 1.46046361e-03 -3.08816449e-05 9.99998933e-01 -1.99365788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.75, Y:0.69, Z:-0.20 [[ 9.98636210e-01 -5.21880172e-02 -1.45996986e-03 7.47496776e+01] [ 5.21880013e-02 9.98637277e-01 -4.90510952e-05 6.94840575e-01] [ 1.46054021e-03 -2.72087093e-05 9.99998933e-01 -1.98912415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:0.69, Z:-0.20 [[ 9.98642857e-01 -5.20606647e-02 -1.46007362e-03 7.47793993e+01] [ 5.20606535e-02 9.98643924e-01 -4.57388823e-05 6.92986538e-01] [ 1.46047485e-03 -3.03355788e-05 9.99998933e-01 -1.99048728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:0.69, Z:-0.20 [[ 9.98724191e-01 -5.04763087e-02 -1.46007308e-03 7.48102412e+01] [ 5.04762957e-02 9.98725258e-01 -4.57562071e-05 6.87753184e-01] [ 1.46052147e-03 -2.80012495e-05 9.99998933e-01 -1.99546807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:0.69, Z:-0.20 [[ 9.98780690e-01 -4.93457293e-02 -1.46007308e-03 7.48396837e+01] [ 4.93457151e-02 9.98781757e-01 -4.57562071e-05 6.86174067e-01] [ 1.46055223e-03 -2.63479341e-05 9.99998933e-01 -2.00058507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.87, Y:0.68, Z:-0.20 [[ 9.98878686e-01 -4.73206000e-02 -1.45998048e-03 7.48703308e+01] [ 4.73205793e-02 9.98879753e-01 -4.87033219e-05 6.83076892e-01] [ 1.46064961e-03 -2.04384120e-05 9.99998933e-01 -1.99976218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:0.68, Z:-0.20 [[ 9.98948191e-01 -4.58298929e-02 -1.46007284e-03 7.48996063e+01] [ 4.58298749e-02 9.98949258e-01 -4.57563253e-05 6.81189187e-01] [ 1.46063568e-03 -2.12067570e-05 9.99998933e-01 -1.99679404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:0.68, Z:-0.20 [[ 9.99122894e-01 -4.18486644e-02 -1.46007230e-03 7.49302142e+01] [ 4.18486422e-02 9.99123961e-01 -4.57734945e-05 6.78313340e-01] [ 1.46070878e-03 -1.53686968e-05 9.99998933e-01 -1.98723559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:0.68, Z:-0.20 [[ 9.99212266e-01 -3.96574773e-02 -1.46007230e-03 7.49607108e+01] [ 3.96574528e-02 9.99213333e-01 -4.57734945e-05 6.77445938e-01] [ 1.46073897e-03 -1.21653110e-05 9.99998933e-01 -1.98278531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:0.67, Z:-0.20 [[ 9.99367135e-01 -3.55414953e-02 -1.46007230e-03 7.49901777e+01] [ 3.55414664e-02 9.99368201e-01 -4.57734945e-05 6.73736067e-01] [ 1.46077668e-03 -6.14858436e-06 9.99998933e-01 -1.98265071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:0.67, Z:-0.20 [[ 9.99426635e-01 -3.38270666e-02 -1.46007176e-03 7.50194691e+01] [ 3.38270358e-02 9.99427701e-01 -4.57906341e-05 6.73060772e-01] [ 1.46078513e-03 -3.62552034e-06 9.99998933e-01 -1.99165476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:0.67, Z:-0.20 [[ 9.99483366e-01 -3.21071609e-02 -1.46007122e-03 7.50488055e+01] [ 3.21071282e-02 9.99484432e-01 -4.58077065e-05 6.72668644e-01] [ 1.46078921e-03 -1.09465337e-06 9.99998933e-01 -2.03531736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:75.08, Y:0.67, Z:-0.20 [[ 9.99580669e-01 -2.89198085e-02 -1.45998099e-03 7.50789771e+01] [ 2.89197682e-02 9.99581735e-01 -4.86759676e-05 6.69503822e-01] [ 1.46077803e-03 6.43324441e-06 9.99998933e-01 -2.04003708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:0.67, Z:-0.20 [[ 9.99612709e-01 -2.77902993e-02 -1.46006992e-03 7.51092602e+01] [ 2.77902620e-02 9.99613775e-01 -4.58434905e-05 6.69471887e-01] [ 1.46078001e-03 5.25000998e-06 9.99998933e-01 -2.02054237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:0.67, Z:-0.20 [[ 9.99644247e-01 -2.66316981e-02 -1.46006992e-03 7.51387401e+01] [ 2.66316596e-02 9.99645313e-01 -4.58434905e-05 6.69979466e-01] [ 1.46077295e-03 6.94309637e-06 9.99998933e-01 -2.04299639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:0.67, Z:-0.20 [[ 9.99683420e-01 -2.51182974e-02 -1.46003583e-03 7.51684102e+01] [ 2.51182556e-02 9.99684486e-01 -4.69267489e-05 6.69364168e-01] [ 1.46075389e-03 1.02383396e-05 9.99998933e-01 -2.00363241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:0.67, Z:-0.20 [[ 9.99696657e-01 -2.45858022e-02 -1.46006365e-03 7.51984074e+01] [ 2.45857612e-02 9.99697723e-01 -4.60444825e-05 6.69139689e-01] [ 1.46075435e-03 1.01337390e-05 9.99998933e-01 -1.98971812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:0.67, Z:-0.20 [[ 9.99703273e-01 -2.43152940e-02 -1.46006257e-03 7.52289515e+01] [ 2.43152527e-02 9.99704339e-01 -4.60787879e-05 6.68890473e-01] [ 1.46075131e-03 1.05633248e-05 9.99998933e-01 -1.98529891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:0.67, Z:-0.20 [[ 9.99709095e-01 -2.40747635e-02 -1.46006257e-03 7.52586787e+01] [ 2.40747218e-02 9.99710161e-01 -4.60787879e-05 6.67963472e-01] [ 1.46074872e-03 1.09147831e-05 9.99998933e-01 -1.98870603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.29, Y:0.67, Z:-0.20 [[ 9.99706557e-01 -2.41798991e-02 -1.46006202e-03 7.52888357e+01] [ 2.41798576e-02 9.99707623e-01 -4.60961817e-05 6.68732673e-01] [ 1.46074973e-03 1.07785634e-05 9.99998933e-01 -2.00543071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:0.67, Z:-0.20 [[ 9.99704414e-01 -2.42683315e-02 -1.46006202e-03 7.53185345e+01] [ 2.42682901e-02 9.99705481e-01 -4.60961817e-05 6.68064631e-01] [ 1.46075068e-03 1.06493477e-05 9.99998933e-01 -2.00534809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:0.67, Z:-0.20 [[ 9.99691801e-01 -2.47824589e-02 -1.46006147e-03 7.53481108e+01] [ 2.47824180e-02 9.99692868e-01 -4.61135016e-05 6.68432188e-01] [ 1.46075585e-03 9.91543569e-06 9.99998933e-01 -1.98539439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:0.67, Z:-0.20 [[ 9.99679806e-01 -2.52616987e-02 -1.45998969e-03 7.53783789e+01] [ 2.52616550e-02 9.99680872e-01 -4.83774600e-05 6.68038843e-01] [ 1.46074586e-03 1.14802140e-05 9.99998933e-01 -1.98175487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:0.67, Z:-0.20 [[ 9.99656422e-01 -2.61707096e-02 -1.45999855e-03 7.54088277e+01] [ 2.61706673e-02 9.99657488e-01 -4.80978585e-05 6.67291331e-01] [ 1.46075724e-03 9.87219678e-06 9.99998933e-01 -1.98409057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:0.67, Z:-0.20 [[ 9.99599538e-01 -2.82600930e-02 -1.46005697e-03 7.54391029e+01] [ 2.82600555e-02 9.99600604e-01 -4.62539697e-05 6.65525174e-01] [ 1.46078097e-03 4.97415569e-06 9.99998933e-01 -1.96496600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:0.67, Z:-0.20 [[ 9.99598852e-01 -2.82843410e-02 -1.46005697e-03 7.54692480e+01] [ 2.82843037e-02 9.99599918e-01 -4.62539697e-05 6.66524262e-01] [ 1.46078109e-03 4.93872033e-06 9.99998933e-01 -1.96452540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:0.67, Z:-0.20 [[ 9.99575683e-01 -2.90916179e-02 -1.46005585e-03 7.54989408e+01] [ 2.90915813e-02 9.99576749e-01 -4.62893875e-05 6.66512641e-01] [ 1.46078451e-03 3.79441276e-06 9.99998933e-01 -1.96370149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:0.67, Z:-0.20 [[ 9.99558069e-01 -2.96906539e-02 -1.46005529e-03 7.55280665e+01] [ 2.96906180e-02 9.99559135e-01 -4.63069995e-05 6.66835040e-01] [ 1.46078649e-03 2.93659129e-06 9.99998933e-01 -1.96644533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:0.67, Z:-0.19 [[ 9.99546229e-01 -3.00866063e-02 -1.46005474e-03 7.55581751e+01] [ 3.00865708e-02 9.99547296e-01 -4.63241330e-05 6.65685353e-01] [ 1.46078751e-03 2.37507210e-06 9.99998933e-01 -1.94675371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:75.59, Y:0.67, Z:-0.20 [[ 9.99543843e-01 -3.01657806e-02 -1.46005362e-03 7.55882969e+01] [ 3.01657451e-02 9.99544909e-01 -4.63596495e-05 6.65619390e-01] [ 1.46078763e-03 2.29489698e-06 9.99998933e-01 -1.96560266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:0.66, Z:-0.19 [[ 9.99543711e-01 -3.01701608e-02 -1.46005248e-03 7.56171275e+01] [ 3.01701252e-02 9.99544777e-01 -4.63954448e-05 6.63395116e-01] [ 1.46078759e-03 2.32430898e-06 9.99998933e-01 -1.93123828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:0.66, Z:-0.19 [[ 9.99542312e-01 -3.02164576e-02 -1.46005077e-03 7.56461172e+01] [ 3.02164220e-02 9.99543379e-01 -4.64490212e-05 6.63089538e-01] [ 1.46078761e-03 2.31025171e-06 9.99998933e-01 -1.93885756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:0.66, Z:-0.19 [[ 9.99540391e-01 -3.02799395e-02 -1.46004908e-03 7.56758753e+01] [ 3.02799038e-02 9.99541458e-01 -4.65022989e-05 6.62772933e-01] [ 1.46078767e-03 2.27078039e-06 9.99998933e-01 -1.94030742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:0.66, Z:-0.20 [[ 9.99538254e-01 -3.03504170e-02 -1.46004798e-03 7.57043025e+01] [ 3.03503814e-02 9.99539320e-01 -4.65366465e-05 6.61304372e-01] [ 1.46078777e-03 2.20214535e-06 9.99998933e-01 -1.96637119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:0.66, Z:-0.20 [[ 9.99526104e-01 -3.07479444e-02 -1.45993744e-03 7.57341903e+01] [ 3.07479042e-02 9.99527170e-01 -4.99898664e-05 6.60414173e-01] [ 1.46078423e-03 5.07615976e-06 9.99998933e-01 -1.95130277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:0.66, Z:-0.19 [[ 9.99533475e-01 -3.05073971e-02 -1.46004269e-03 7.57638577e+01] [ 3.05073614e-02 9.99534541e-01 -4.66994177e-05 6.59214566e-01] [ 1.46078778e-03 2.13558128e-06 9.99998933e-01 -1.94936071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:0.66, Z:-0.20 [[ 9.99543376e-01 -3.01812602e-02 -1.46004155e-03 7.57929285e+01] [ 3.01812242e-02 9.99544442e-01 -4.67348251e-05 6.58920998e-01] [ 1.46078694e-03 2.64764337e-06 9.99998933e-01 -1.95800624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.82, Y:0.66, Z:-0.20 [[ 9.99586789e-01 -2.87074926e-02 -1.45996075e-03 7.58223475e+01] [ 2.87074513e-02 9.99587855e-01 -4.92484527e-05 6.56976018e-01] [ 1.46077283e-03 7.31635061e-06 9.99998933e-01 -2.00550306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:0.66, Z:-0.20 [[ 9.99629309e-01 -2.71866168e-02 -1.46003390e-03 7.58517236e+01] [ 2.71865772e-02 9.99630376e-01 -4.69746411e-05 6.56233631e-01] [ 1.46077132e-03 7.26390356e-06 9.99998933e-01 -1.97960585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.88, Y:0.66, Z:-0.20 [[ 9.99669768e-01 -2.56558789e-02 -1.46003279e-03 7.58816095e+01] [ 2.56558376e-02 9.99670834e-01 -4.70093096e-05 6.56348697e-01] [ 1.46075826e-03 9.53542149e-06 9.99998933e-01 -1.98084939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:0.66, Z:-0.20 [[ 9.99749182e-01 -2.23482021e-02 -1.46003168e-03 7.59111866e+01] [ 2.23481573e-02 9.99750248e-01 -4.70438238e-05 6.56755550e-01] [ 1.46071837e-03 1.44030068e-05 9.99998933e-01 -1.97043259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:0.66, Z:-0.20 [[ 9.99785106e-01 -2.06787471e-02 -1.46003055e-03 7.59404281e+01] [ 2.06787003e-02 9.99786172e-01 -4.70787897e-05 6.57202591e-01] [ 1.46069188e-03 1.68771386e-05 9.99998933e-01 -1.96907335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:0.66, Z:-0.20 [[ 9.99848089e-01 -1.73685492e-02 -1.46002942e-03 7.59698454e+01] [ 1.73684989e-02 9.99849155e-01 -4.71136796e-05 6.57481841e-01] [ 1.46062748e-03 2.17480031e-05 9.99998933e-01 -1.96328877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:0.66, Z:-0.20 [[ 9.99877850e-01 -1.55612612e-02 -1.46002830e-03 7.59999402e+01] [ 1.55612090e-02 9.99878916e-01 -4.71484863e-05 6.58848027e-01] [ 1.46058520e-03 2.44229217e-05 9.99998933e-01 -1.96513982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:0.66, Z:-0.20 [[ 9.99906676e-01 -1.35833583e-02 -1.46002718e-03 7.60293372e+01] [ 1.35833039e-02 9.99907742e-01 -4.71831232e-05 6.60302124e-01] [ 1.46053338e-03 2.73467270e-05 9.99998933e-01 -1.96606196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:0.66, Z:-0.20 [[ 9.99953540e-01 -9.52814024e-03 -1.46002662e-03 7.60590801e+01] [ 9.52808147e-03 9.99954606e-01 -4.72003753e-05 6.63211777e-01] [ 1.46041008e-03 3.32869298e-05 9.99998933e-01 -1.96891560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:0.67, Z:-0.20 [[ 9.99966581e-01 -8.04401401e-03 -1.46002607e-03 7.60881813e+01] [ 8.04395364e-03 9.99967646e-01 -4.72173760e-05 6.65824091e-01] [ 1.46035865e-03 3.54714159e-05 9.99998933e-01 -1.96221103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:0.67, Z:-0.20 [[ 9.99974816e-01 -6.94522339e-03 -1.46002496e-03 7.61174008e+01] [ 6.94516180e-03 9.99975881e-01 -4.72515811e-05 6.68598246e-01] [ 1.46031792e-03 3.71102815e-05 9.99998933e-01 -1.98409245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:76.15, Y:0.67, Z:-0.20 [[ 9.99978416e-01 -6.40598601e-03 -1.46002441e-03 7.61472128e+01] [ 6.40592382e-03 9.99979481e-01 -4.72685980e-05 6.70981366e-01] [ 1.46029726e-03 3.79147726e-05 9.99998933e-01 -1.98456479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:0.67, Z:-0.20 [[ 9.99973810e-01 -7.08856702e-03 -1.46002326e-03 7.61763179e+01] [ 7.08850550e-03 9.99974875e-01 -4.73042717e-05 6.74055583e-01] [ 1.46032189e-03 3.69536499e-05 9.99998933e-01 -1.98099211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:0.68, Z:-0.20 [[ 9.99965528e-01 -8.17376067e-03 -1.46002339e-03 7.62059459e+01] [ 8.17370031e-03 9.99966594e-01 -4.73001097e-05 6.76843266e-01] [ 1.46036124e-03 3.53646856e-05 9.99998933e-01 -1.97349074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.24, Y:0.68, Z:-0.20 [[ 9.99961240e-01 -8.68257330e-03 -1.46002227e-03 7.62354226e+01] [ 8.68251343e-03 9.99962305e-01 -4.73348191e-05 6.79370959e-01] [ 1.46037822e-03 3.46563215e-05 9.99998933e-01 -1.97845524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:0.68, Z:-0.20 [[ 9.99941389e-01 -1.07278830e-02 -1.45986042e-03 7.62648667e+01] [ 1.07278180e-02 9.99942454e-01 -5.23109800e-05 6.84246191e-01] [ 1.46033760e-03 3.66467971e-05 9.99998933e-01 -1.97660036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:76.29, Y:0.69, Z:-0.20 [[ 9.99935287e-01 -1.12822851e-02 -1.46001854e-03 7.62942954e+01] [ 1.12822278e-02 9.99936353e-01 -4.74454256e-05 6.87057567e-01] [ 1.46046090e-03 3.09700935e-05 9.99998933e-01 -2.00362064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:0.69, Z:-0.20 [[ 9.99931576e-01 -1.16065654e-02 -1.46001798e-03 7.63243853e+01] [ 1.16065085e-02 9.99932641e-01 -4.74624775e-05 6.90018040e-01] [ 1.46047051e-03 3.05135188e-05 9.99998933e-01 -1.97785188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:0.70, Z:-0.20 [[ 9.99924914e-01 -1.21669297e-02 -1.46001798e-03 7.63540967e+01] [ 1.21668734e-02 9.99925980e-01 -4.74624775e-05 6.95336774e-01] [ 1.46048738e-03 2.96950598e-05 9.99998933e-01 -1.97809969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:0.70, Z:-0.20 [[ 9.99920039e-01 -1.25612139e-02 -1.46001743e-03 7.63841510e+01] [ 1.25611579e-02 9.99921104e-01 -4.74794687e-05 6.99268134e-01] [ 1.46049864e-03 2.91361627e-05 9.99998933e-01 -1.96557411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:0.71, Z:-0.20 [[ 9.99902284e-01 -1.39029178e-02 -1.46001743e-03 7.64136707e+01] [ 1.39028633e-02 9.99903349e-01 -4.74794687e-05 7.05899069e-01] [ 1.46053642e-03 2.71764065e-05 9.99998933e-01 -1.98091126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:0.71, Z:-0.20 [[ 9.99884031e-01 -1.51589390e-02 -1.46001687e-03 7.64441050e+01] [ 1.51588858e-02 9.99885096e-01 -4.74967880e-05 7.09002217e-01] [ 1.46056911e-03 2.53590509e-05 9.99998933e-01 -1.97903920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.47, Y:0.71, Z:-0.20 [[ 9.99858036e-01 -1.67861842e-02 -1.46001687e-03 7.64735518e+01] [ 1.67861327e-02 9.99859102e-01 -4.74967880e-05 7.11580671e-01] [ 1.46060844e-03 2.29820083e-05 9.99998933e-01 -2.00679034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.50, Y:0.71, Z:-0.20 [[ 9.99821505e-01 -1.88368318e-02 -1.46001631e-03 7.65043900e+01] [ 1.88367825e-02 9.99822571e-01 -4.75138951e-05 7.14269270e-01] [ 1.46065227e-03 2.00034045e-05 9.99998933e-01 -2.00359256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:0.72, Z:-0.20 [[ 9.99722535e-01 -2.35100112e-02 -1.46001631e-03 7.65352216e+01] [ 2.35099669e-02 9.99723601e-01 -4.75138951e-05 7.19527331e-01] [ 1.46072981e-03 1.31757766e-05 9.99998933e-01 -1.98232321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:0.72, Z:-0.20 [[ 9.99654415e-01 -2.62472529e-02 -1.46001631e-03 7.65651165e+01] [ 2.62472115e-02 9.99655481e-01 -4.75138951e-05 7.22197668e-01] [ 1.46076042e-03 9.17611824e-06 9.99998933e-01 -1.99965224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.60, Y:0.72, Z:-0.20 [[ 9.99573250e-01 -2.91751005e-02 -1.46001688e-03 7.65955328e+01] [ 2.91750623e-02 9.99574316e-01 -4.74961928e-05 7.24404787e-01] [ 1.46078109e-03 4.87984029e-06 9.99998933e-01 -2.00565717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:0.73, Z:-0.20 [[ 9.99405528e-01 -3.44450070e-02 -1.46001688e-03 7.66252054e+01] [ 3.44449744e-02 9.99406595e-01 -4.74961928e-05 7.27380018e-01] [ 1.46078651e-03 -2.82228650e-06 9.99998933e-01 -1.98287650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:0.73, Z:-0.20 [[ 9.99328118e-01 -3.66221324e-02 -1.46001633e-03 7.66556606e+01] [ 3.66221021e-02 9.99329185e-01 -4.75133317e-05 7.29286621e-01] [ 1.46077697e-03 -5.98745865e-06 9.99998933e-01 -1.96797403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:0.73, Z:-0.20 [[ 9.99259681e-01 -3.84442127e-02 -1.46001633e-03 7.66865950e+01] [ 3.84441843e-02 9.99260748e-01 -4.75133317e-05 7.31111340e-01] [ 1.46076362e-03 -8.65098004e-06 9.99998933e-01 -1.96595269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:76.72, Y:0.73, Z:-0.20 [[ 9.99172431e-01 -4.06487558e-02 -1.46001633e-03 7.67170467e+01] [ 4.06487298e-02 9.99173498e-01 -4.75133317e-05 7.33074477e-01] [ 1.46074098e-03 -1.18737980e-05 9.99998933e-01 -1.96965516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:0.74, Z:-0.19 [[ 9.99151461e-01 -4.11609805e-02 -1.46001633e-03 7.67473078e+01] [ 4.11609550e-02 9.99152528e-01 -4.75133317e-05 7.35116682e-01] [ 1.46073470e-03 -1.26226516e-05 9.99998933e-01 -1.94713621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:76.78, Y:0.74, Z:-0.20 [[ 9.99170358e-01 -4.06996884e-02 -1.46001689e-03 7.67773134e+01] [ 4.06996624e-02 9.99171424e-01 -4.74958769e-05 7.39323491e-01] [ 1.46074023e-03 -1.19657224e-05 9.99998933e-01 -1.97431899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:0.74, Z:-0.20 [[ 9.99193256e-01 -4.01335872e-02 -1.46001689e-03 7.68076448e+01] [ 4.01335606e-02 9.99194323e-01 -4.74958769e-05 7.40905929e-01] [ 1.46074677e-03 -1.11381166e-05 9.99998933e-01 -1.95880846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:0.74, Z:-0.20 [[ 9.99216044e-01 -3.95621812e-02 -1.46001689e-03 7.68369877e+01] [ 3.95621541e-02 9.99217110e-01 -4.74958769e-05 7.42319185e-01] [ 1.46075290e-03 -1.03027711e-05 9.99998933e-01 -1.96583894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:0.74, Z:-0.20 [[ 9.99280805e-01 -3.78911728e-02 -1.46001633e-03 7.68678613e+01] [ 3.78911438e-02 9.99281872e-01 -4.75132751e-05 7.44142972e-01] [ 1.46076818e-03 -7.84258486e-06 9.99998933e-01 -1.95753989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:0.75, Z:-0.20 [[ 9.99311135e-01 -3.70826514e-02 -1.46001633e-03 7.68979157e+01] [ 3.70826215e-02 9.99312202e-01 -4.75132751e-05 7.46163643e-01] [ 1.46077405e-03 -6.66068804e-06 9.99998933e-01 -1.98651314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:0.75, Z:-0.19 [[ 9.99348106e-01 -3.60725737e-02 -1.46001689e-03 7.69287265e+01] [ 3.60725428e-02 9.99349173e-01 -4.74960252e-05 7.48330308e-01] [ 1.46077997e-03 -5.20145896e-06 9.99998933e-01 -1.93992825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:76.96, Y:0.75, Z:-0.20 [[ 9.99388749e-01 -3.49284431e-02 -1.46001689e-03 7.69590601e+01] [ 3.49284109e-02 9.99389816e-01 -4.74960252e-05 7.50043880e-01] [ 1.46078497e-03 -3.52907671e-06 9.99998933e-01 -1.95028471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:0.75, Z:-0.19 [[ 9.99465557e-01 -3.26568344e-02 -1.46001745e-03 7.69895643e+01] [ 3.26567999e-02 9.99466623e-01 -4.74788527e-05 7.52499918e-01] [ 1.46078922e-03 -2.26019603e-07 9.99998933e-01 -1.93337958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:0.76, Z:-0.19 [[ 9.99510242e-01 -3.12593153e-02 -1.46001745e-03 7.70202570e+01] [ 3.12592793e-02 9.99511308e-01 -4.74788527e-05 7.55476761e-01] [ 1.46078811e-03 1.81650632e-06 9.99998933e-01 -1.93206441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:0.76, Z:-0.19 [[ 9.99563690e-01 -2.95008137e-02 -1.46001745e-03 7.70505073e+01] [ 2.95007758e-02 9.99564756e-01 -4.74788527e-05 7.58329780e-01] [ 1.46078265e-03 4.38648983e-06 9.99998933e-01 -1.92715997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:0.76, Z:-0.19 [[ 9.99666095e-01 -2.57985958e-02 -1.46001745e-03 7.70803843e+01] [ 2.57985540e-02 9.99667161e-01 -4.74788527e-05 7.62507818e-01] [ 1.46075638e-03 9.79666034e-06 9.99998933e-01 -1.91821336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:77.11, Y:0.77, Z:-0.19 [[ 9.99711181e-01 -2.39879808e-02 -1.46001800e-03 7.71107524e+01] [ 2.39879371e-02 9.99712247e-01 -4.74619237e-05 7.65923645e-01] [ 1.46073639e-03 1.24253959e-05 9.99998933e-01 -1.93445604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:0.77, Z:-0.19 [[ 9.99790796e-01 -2.04017574e-02 -1.46001800e-03 7.71408648e+01] [ 2.04017099e-02 9.99791862e-01 -4.74619237e-05 7.70845128e-01] [ 1.46068242e-03 1.76651309e-05 9.99998933e-01 -1.91326668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:0.77, Z:-0.19 [[ 9.99818882e-01 -1.89755660e-02 -1.46001854e-03 7.71707894e+01] [ 1.89755170e-02 9.99819948e-01 -4.74452121e-05 7.74013953e-01] [ 1.46065596e-03 1.97320123e-05 9.99998933e-01 -1.91358487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:0.78, Z:-0.19 [[ 9.99836381e-01 -1.80299882e-02 -1.46001854e-03 7.72012217e+01] [ 1.80299382e-02 9.99837446e-01 -4.74452121e-05 7.77655064e-01] [ 1.46063665e-03 2.11134051e-05 9.99998933e-01 -1.91769784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:0.79, Z:-0.19 [[ 9.99855107e-01 -1.69597569e-02 -1.46001854e-03 7.72316774e+01] [ 1.69597057e-02 9.99856173e-01 -4.74452121e-05 7.85420446e-01] [ 1.46061321e-03 2.26768529e-05 9.99998933e-01 -1.91148599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:0.79, Z:-0.19 [[ 9.99851171e-01 -1.71902346e-02 -1.46002034e-03 7.72621259e+01] [ 1.71901837e-02 9.99852237e-01 -4.73897741e-05 7.89200004e-01] [ 1.46061924e-03 2.22847032e-05 9.99998933e-01 -1.91435217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:0.79, Z:-0.19 [[ 9.99837710e-01 -1.79561241e-02 -1.46002034e-03 7.72938408e+01] [ 1.79560741e-02 9.99838776e-01 -4.73897741e-05 7.91841700e-01] [ 1.46063589e-03 2.11658498e-05 9.99998933e-01 -1.92298258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:0.79, Z:-0.19 [[ 9.99817711e-01 -1.90371276e-02 -1.46002140e-03 7.73253911e+01] [ 1.90370787e-02 9.99818777e-01 -4.73569960e-05 7.94818641e-01] [ 1.46065836e-03 1.95538209e-05 9.99998933e-01 -1.92579993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:0.80, Z:-0.19 [[ 9.99794662e-01 -2.02114550e-02 -1.46002246e-03 7.73554039e+01] [ 2.02114074e-02 9.99795728e-01 -4.73242913e-05 7.98498326e-01] [ 1.46068071e-03 1.78054649e-05 9.99998933e-01 -1.92719081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:0.80, Z:-0.19 [[ 9.99794662e-01 -2.02114549e-02 -1.46002299e-03 7.73863863e+01] [ 2.02114074e-02 9.99795728e-01 -4.73079930e-05 7.99502214e-01] [ 1.46068091e-03 1.77891593e-05 9.99998933e-01 -1.92673801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:0.81, Z:-0.19 [[ 9.99726862e-01 -2.33253158e-02 -1.46002299e-03 7.74163953e+01] [ 2.33252716e-02 9.99727928e-01 -4.73079930e-05 8.05524884e-01] [ 1.46072923e-03 1.32396385e-05 9.99998933e-01 -1.90712567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:0.81, Z:-0.19 [[ 9.99677001e-01 -2.53724796e-02 -1.46002352e-03 7.74476167e+01] [ 2.53724375e-02 9.99678067e-01 -4.72918093e-05 8.07994456e-01] [ 1.46075340e-03 1.02321786e-05 9.99998933e-01 -1.88687470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:0.81, Z:-0.19 [[ 9.99557381e-01 -2.97138186e-02 -1.46002460e-03 7.74785428e+01] [ 2.97137812e-02 9.99558447e-01 -4.72584300e-05 8.12151303e-01] [ 1.46078415e-03 3.85466104e-06 9.99998933e-01 -1.88319796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:0.81, Z:-0.19 [[ 9.99492182e-01 -3.18315285e-02 -1.46002569e-03 7.75097216e+01] [ 3.18314934e-02 9.99493249e-01 -4.72247085e-05 8.14666720e-01] [ 1.46078905e-03 7.25928827e-07 9.99998933e-01 -1.88371725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:0.82, Z:-0.19 [[ 9.99424888e-01 -3.38786368e-02 -1.46002681e-03 7.75402645e+01] [ 3.38786040e-02 9.99425954e-01 -4.71898368e-05 8.16751927e-01] [ 1.46078742e-03 -2.30097289e-06 9.99998933e-01 -1.91784562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:0.82, Z:-0.19 [[ 9.99303320e-01 -3.72926788e-02 -1.46002738e-03 7.75715908e+01] [ 3.72926497e-02 9.99304386e-01 -4.71724831e-05 8.18647948e-01] [ 1.46077095e-03 -7.30867049e-06 9.99998933e-01 -1.91296192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.60, Y:0.82, Z:-0.19 [[ 9.99239855e-01 -3.89561335e-02 -1.46002848e-03 7.76027233e+01] [ 3.89561062e-02 9.99240922e-01 -4.71383092e-05 8.21275929e-01] [ 1.46075653e-03 -9.77454713e-06 9.99998933e-01 -1.93716565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:0.82, Z:-0.20 [[ 9.99151277e-01 -4.11654352e-02 -1.46003013e-03 7.76340533e+01] [ 4.11654103e-02 9.99152344e-01 -4.70872496e-05 8.22594603e-01] [ 1.46073089e-03 -1.30554535e-05 9.99998933e-01 -1.96250324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:77.67, Y:0.82, Z:-0.20 [[ 9.99107957e-01 -4.22037651e-02 -1.46003176e-03 7.76652059e+01] [ 4.22037414e-02 9.99109024e-01 -4.70364649e-05 8.24958362e-01] [ 1.46071602e-03 -1.46242966e-05 9.99998933e-01 -1.97479225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:0.83, Z:-0.20 [[ 9.99102481e-01 -4.23332056e-02 -1.46003281e-03 7.76963675e+01] [ 4.23331821e-02 9.99103548e-01 -4.70038265e-05 8.25005223e-01] [ 1.46071379e-03 -1.48461952e-05 9.99998933e-01 -1.95439009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:0.83, Z:-0.20 [[ 9.99089685e-01 -4.26341395e-02 -1.46003390e-03 7.77281540e+01] [ 4.26341164e-02 9.99090752e-01 -4.69701140e-05 8.26167541e-01] [ 1.46070889e-03 -1.53198987e-05 9.99998933e-01 -1.95304231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:0.83, Z:-0.20 [[ 9.99068325e-01 -4.31317678e-02 -1.46003612e-03 7.77585564e+01] [ 4.31317453e-02 9.99069392e-01 -4.69009093e-05 8.27599123e-01] [ 1.46070032e-03 -1.61166931e-05 9.99998933e-01 -2.00542141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:0.83, Z:-0.20 [[ 9.99073583e-01 -4.30098061e-02 -1.46003667e-03 7.77903111e+01] [ 4.30097835e-02 9.99074650e-01 -4.68837260e-05 8.28811171e-01] [ 1.46070209e-03 -1.59555691e-05 9.99998933e-01 -2.00434819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:77.82, Y:0.83, Z:-0.20 [[ 9.99079625e-01 -4.28692295e-02 -1.46003763e-03 7.78212964e+01] [ 4.28692068e-02 9.99080692e-01 -4.68537189e-05 8.31249096e-01] [ 1.46070399e-03 -1.57800594e-05 9.99998933e-01 -1.96838611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.85, Y:0.83, Z:-0.20 [[ 9.99100238e-01 -4.23861053e-02 -1.46003874e-03 7.78525886e+01] [ 4.23860821e-02 9.99101305e-01 -4.68193081e-05 8.32545170e-01] [ 1.46071110e-03 -1.51081399e-05 9.99998933e-01 -1.95726988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:0.83, Z:-0.19 [[ 9.99148311e-01 -4.12373769e-02 -1.46004039e-03 7.78843886e+01] [ 4.12373525e-02 9.99149378e-01 -4.67678534e-05 8.33287157e-01] [ 1.46072703e-03 -1.34801784e-05 9.99998933e-01 -1.93337128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:0.83, Z:-0.19 [[ 9.99166563e-01 -4.07927508e-02 -1.46004147e-03 7.79161438e+01] [ 4.07927260e-02 9.99167629e-01 -4.67339220e-05 8.34578516e-01] [ 1.46073258e-03 -1.28640996e-05 9.99998933e-01 -1.92795409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:0.84, Z:-0.19 [[ 9.99188283e-01 -4.02572095e-02 -1.46004256e-03 7.79460995e+01] [ 4.02571842e-02 9.99189350e-01 -4.66998160e-05 8.35156466e-01] [ 1.46073898e-03 -1.21152934e-05 9.99998933e-01 -1.93028592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:77.98, Y:0.84, Z:-0.19 [[ 9.99212305e-01 -3.96564933e-02 -1.46004311e-03 7.79774048e+01] [ 3.96564674e-02 9.99213372e-01 -4.66828462e-05 8.35636232e-01] [ 1.46074587e-03 -1.12540775e-05 9.99998933e-01 -1.94741533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:0.83, Z:-0.19 [[ 9.99232227e-01 -3.91513155e-02 -1.46004419e-03 7.80086680e+01] [ 3.91512891e-02 9.99233293e-01 -4.66488521e-05 8.34933662e-01] [ 1.46075113e-03 -1.05495759e-05 9.99998933e-01 -1.92961805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:0.84, Z:-0.19 [[ 9.99264822e-01 -3.83103635e-02 -1.46004527e-03 7.80403594e+01] [ 3.83103363e-02 9.99265889e-01 -4.66150292e-05 8.36033434e-01] [ 1.46075927e-03 -9.35406657e-06 9.99998933e-01 -1.91221992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:0.84, Z:-0.19 [[ 9.99287686e-01 -3.77092677e-02 -1.46004653e-03 7.80718697e+01] [ 3.77092399e-02 9.99288753e-01 -4.65757192e-05 8.36865259e-01] [ 1.46076441e-03 -8.51470201e-06 9.99998933e-01 -1.91932167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:0.84, Z:-0.20 [[ 9.99290676e-01 -3.76299431e-02 -1.46005035e-03 7.81018963e+01] [ 3.76299154e-02 9.99291743e-01 -4.64555572e-05 8.37660400e-01] [ 1.46076438e-03 -8.51896604e-06 9.99998933e-01 -1.95976953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:0.84, Z:-0.19 [[ 9.99327411e-01 -3.66414200e-02 -1.46008603e-03 7.81330181e+01] [ 3.66413929e-02 9.99328478e-01 -4.53357372e-05 8.36509797e-01] [ 1.46076672e-03 -8.19434099e-06 9.99998933e-01 -1.91924028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:0.84, Z:-0.19 [[ 9.99354233e-01 -3.59024288e-02 -1.46004728e-03 7.81645442e+01] [ 3.59023991e-02 9.99355300e-01 -4.65511360e-05 8.36664329e-01] [ 1.46077729e-03 -5.89812544e-06 9.99998933e-01 -1.90622428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63587156000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:78.20, Y:0.84, Z:-0.19 [[ 9.99366651e-01 -3.55550952e-02 -1.46004841e-03 7.81957691e+01] [ 3.55550652e-02 9.99367718e-01 -4.65157900e-05 8.38175795e-01] [ 1.46077912e-03 -5.42578701e-06 9.99998933e-01 -1.93511634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:0.84, Z:-0.19 [[ 9.99412672e-01 -3.42370997e-02 -1.46005009e-03 7.82271128e+01] [ 3.42370683e-02 9.99413739e-01 -4.64629112e-05 8.35728812e-01] [ 1.46078487e-03 -3.55221243e-06 9.99998933e-01 -1.93574839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:0.84, Z:-0.19 [[ 9.99418405e-01 -3.40693544e-02 -1.46005172e-03 7.82581849e+01] [ 3.40693229e-02 9.99419471e-01 -4.64117176e-05 8.35992502e-01] [ 1.46078533e-03 -3.35824862e-06 9.99998933e-01 -1.92738993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:0.84, Z:-0.19 [[ 9.99422851e-01 -3.39386573e-02 -1.46005276e-03 7.82880886e+01] [ 3.39386257e-02 9.99423918e-01 -4.63787977e-05 8.36526617e-01] [ 1.46078569e-03 -3.20015409e-06 9.99998933e-01 -1.92696672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.32, Y:0.84, Z:-0.19 [[ 9.99434335e-01 -3.35987868e-02 -1.46005328e-03 7.83192860e+01] [ 3.35987549e-02 9.99435401e-01 -4.63623914e-05 8.37679609e-01] [ 1.46078666e-03 -2.71980664e-06 9.99998933e-01 -1.92488474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:0.83, Z:-0.19 [[ 9.99470724e-01 -3.24983158e-02 -1.46005439e-03 7.83510009e+01] [ 3.24982828e-02 9.99471790e-01 -4.63274332e-05 8.34933475e-01] [ 1.46078874e-03 -1.14634735e-06 9.99998933e-01 -1.90772855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:0.83, Z:-0.19 [[ 9.99485145e-01 -3.20517343e-02 -1.46005550e-03 7.83819410e+01] [ 3.20517008e-02 9.99486211e-01 -4.62924430e-05 8.34861145e-01] [ 1.46078909e-03 -5.28653045e-07 9.99998933e-01 -1.90104349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:0.84, Z:-0.19 [[ 9.99511989e-01 -3.12033935e-02 -1.46005662e-03 7.84126268e+01] [ 3.12033592e-02 9.99513056e-01 -4.62571295e-05 8.35193941e-01] [ 1.46078903e-03 6.75884298e-07 9.99998933e-01 -1.90164621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:0.84, Z:-0.19 [[ 9.99537048e-01 -3.03901009e-02 -1.46006050e-03 7.84429695e+01] [ 3.03900660e-02 9.99538114e-01 -4.61342724e-05 8.35682654e-01] [ 1.46078815e-03 1.74157947e-06 9.99998933e-01 -1.90841161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:0.84, Z:-0.19 [[ 9.99602638e-01 -2.81502190e-02 -1.46006232e-03 7.84745324e+01] [ 2.81501818e-02 9.99603704e-01 -4.60765623e-05 8.35444425e-01] [ 1.46078077e-03 4.95723338e-06 9.99998933e-01 -1.91960845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:78.51, Y:0.84, Z:-0.19 [[ 9.99627852e-01 -2.72401617e-02 -1.46006340e-03 7.85061503e+01] [ 2.72401235e-02 9.99628918e-01 -4.60423570e-05 8.37397638e-01] [ 1.46077580e-03 6.25291509e-06 9.99998933e-01 -1.94327810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:0.84, Z:-0.19 [[ 9.99668503e-01 -2.57050954e-02 -1.46006448e-03 7.85375932e+01] [ 2.57050556e-02 9.99669569e-01 -4.60081612e-05 8.36786901e-01] [ 1.46076467e-03 8.46187102e-06 9.99998933e-01 -1.91844268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:0.84, Z:-0.19 [[ 9.99672259e-01 -2.55586135e-02 -1.46006555e-03 7.85688292e+01] [ 2.55585736e-02 9.99673325e-01 -4.59740453e-05 8.36809807e-01] [ 1.46076362e-03 8.64178476e-06 9.99998933e-01 -1.90750596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:0.84, Z:-0.19 [[ 9.99668584e-01 -2.57019435e-02 -1.46006664e-03 7.86002307e+01] [ 2.57019038e-02 9.99669650e-01 -4.59396220e-05 8.36951854e-01] [ 1.46076504e-03 8.39790464e-06 9.99998933e-01 -1.89744402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:0.84, Z:-0.19 [[ 9.99663214e-01 -2.59099578e-02 -1.46006773e-03 7.86320119e+01] [ 2.59099183e-02 9.99664281e-01 -4.59048980e-05 8.36982969e-01] [ 1.46076695e-03 8.05920224e-06 9.99998933e-01 -1.89128182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.66, Y:0.84, Z:-0.19 [[ 9.99645405e-01 -2.65881900e-02 -1.46006883e-03 7.86618719e+01] [ 2.65881513e-02 9.99646472e-01 -4.58698211e-05 8.38405196e-01] [ 1.46077225e-03 7.03302482e-06 9.99998933e-01 -1.92087229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:0.84, Z:-0.19 [[ 9.99639886e-01 -2.67949134e-02 -1.46006938e-03 7.86936297e+01] [ 2.67948750e-02 9.99640952e-01 -4.58523066e-05 8.36740517e-01] [ 1.46077375e-03 6.71341800e-06 9.99998933e-01 -1.90960753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:0.84, Z:-0.19 [[ 9.99643434e-01 -2.66621850e-02 -1.46007046e-03 7.87241589e+01] [ 2.66621465e-02 9.99644501e-01 -4.58177900e-05 8.36765371e-01] [ 1.46077301e-03 6.87284040e-06 9.99998933e-01 -1.91973067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:0.84, Z:-0.19 [[ 9.99657258e-01 -2.61387477e-02 -1.46007100e-03 7.87549375e+01] [ 2.61387087e-02 9.99658325e-01 -4.58006324e-05 8.37114018e-01] [ 1.46076930e-03 7.62056394e-06 9.99998933e-01 -1.92489301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:0.84, Z:-0.19 [[ 9.99691942e-01 -2.47767764e-02 -1.46007154e-03 7.87863241e+01] [ 2.47767359e-02 9.99693009e-01 -4.57835725e-05 8.37445920e-01] [ 1.46075768e-03 9.59366153e-06 9.99998933e-01 -1.91931439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:0.84, Z:-0.19 [[ 9.99708392e-01 -2.41039274e-02 -1.46007262e-03 7.88180450e+01] [ 2.41038863e-02 9.99709458e-01 -4.57489016e-05 8.38154833e-01] [ 1.46075114e-03 1.05421363e-05 9.99998933e-01 -1.91997896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:0.84, Z:-0.19 [[ 9.99723525e-01 -2.34678681e-02 -1.46007371e-03 7.88479879e+01] [ 2.34678264e-02 9.99724592e-01 -4.57143344e-05 8.37708953e-01] [ 1.46074441e-03 1.14369393e-05 9.99998933e-01 -1.92848995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:78.88, Y:0.84, Z:-0.19 [[ 9.99748239e-01 -2.23903090e-02 -1.46007425e-03 7.88782521e+01] [ 2.23902661e-02 9.99749306e-01 -4.56970730e-05 8.36069603e-01] [ 1.46073139e-03 1.29941174e-05 9.99998933e-01 -1.94529132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:0.83, Z:-0.19 [[ 9.99757477e-01 -2.19739850e-02 -1.46007425e-03 7.89085851e+01] [ 2.19739417e-02 9.99758543e-01 -4.56970730e-05 8.34966212e-01] [ 1.46072585e-03 1.36024040e-05 9.99998933e-01 -1.91692167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:0.84, Z:-0.19 [[ 9.99770298e-01 -2.13826959e-02 -1.46007425e-03 7.89390976e+01] [ 2.13826519e-02 9.99771364e-01 -4.56970730e-05 8.35569612e-01] [ 1.46071755e-03 1.44663169e-05 9.99998933e-01 -1.92733269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:0.84, Z:-0.19 [[ 9.99792880e-01 -2.02993759e-02 -1.46007479e-03 7.89695809e+01] [ 2.02993308e-02 9.99793946e-01 -4.56795696e-05 8.36409395e-01] [ 1.46070121e-03 1.60315672e-05 9.99998933e-01 -1.90779159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:0.84, Z:-0.19 [[ 9.99814034e-01 -1.92293042e-02 -1.46007479e-03 7.90003841e+01] [ 1.92292580e-02 9.99815100e-01 -4.56795696e-05 8.37441541e-01] [ 1.46068321e-03 1.75949199e-05 9.99998933e-01 -1.89882129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:0.84, Z:-0.19 [[ 9.99863509e-01 -1.64569547e-02 -1.46007479e-03 7.90312214e+01] [ 1.64569056e-02 9.99864575e-01 -4.56795696e-05 8.37289436e-01] [ 1.46062881e-03 2.16450218e-05 9.99998933e-01 -1.89393696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:0.84, Z:-0.19 [[ 9.99884409e-01 -1.51339726e-02 -1.46007479e-03 7.90611506e+01] [ 1.51339220e-02 9.99885475e-01 -4.56795696e-05 8.37471306e-01] [ 1.46059889e-03 2.35776314e-05 9.99998933e-01 -1.89443124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:0.84, Z:-0.19 [[ 9.99904745e-01 -1.37247599e-02 -1.46007425e-03 7.90925022e+01] [ 1.37247078e-02 9.99905811e-01 -4.56969054e-05 8.37843993e-01] [ 1.46056391e-03 2.56534601e-05 9.99998933e-01 -1.88010750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:0.84, Z:-0.19 [[ 9.99941062e-01 -1.07582811e-02 -1.46007536e-03 7.91224438e+01] [ 1.07582259e-02 9.99942128e-01 -4.56614604e-05 8.39965635e-01] [ 1.46048210e-03 2.99509486e-05 9.99998933e-01 -1.87175391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:0.84, Z:-0.19 [[ 9.99957583e-01 -9.09399571e-03 -1.46007481e-03 7.91530239e+01] [ 9.09393870e-03 9.99958648e-01 -4.56791391e-05 8.41769715e-01] [ 1.46042984e-03 3.23993707e-05 9.99998933e-01 -1.86862946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:0.84, Z:-0.19 [[ 9.99972071e-01 -7.32971170e-03 -1.46007481e-03 7.91836935e+01] [ 7.32965281e-03 9.99973137e-01 -4.56791391e-05 8.43365414e-01] [ 1.46037040e-03 3.49760219e-05 9.99998933e-01 -1.86109717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:0.85, Z:-0.19 [[ 9.99982370e-01 -5.75572726e-03 -1.46007481e-03 7.92132609e+01] [ 5.75566670e-03 9.99983435e-01 -4.56791391e-05 8.45495337e-01] [ 1.46031354e-03 3.72746298e-05 9.99998933e-01 -1.87007586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:0.85, Z:-0.19 [[ 9.99995235e-01 -2.71978094e-03 -1.46007425e-03 7.92433632e+01] [ 2.71971712e-03 9.99996301e-01 -4.56970497e-05 8.50794978e-01] [ 1.46019313e-03 4.17258430e-05 9.99998933e-01 -1.86205546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:79.27, Y:0.85, Z:-0.19 [[ 9.99997934e-01 -1.41437576e-03 -1.46007425e-03 7.92732424e+01] [ 1.41431055e-03 9.99998999e-01 -4.56970497e-05 8.54411988e-01] [ 1.46013742e-03 4.36319568e-05 9.99998933e-01 -1.87841390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:0.86, Z:-0.19 [[ 9.99998768e-01 -5.76643499e-04 -1.46007315e-03 7.93022091e+01] [ 5.76577340e-04 9.99999833e-01 -4.57321006e-05 8.56230385e-01] [ 1.46009928e-03 4.48901991e-05 9.99998933e-01 -1.86902863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:0.86, Z:-0.19 [[ 9.99998754e-01 -5.99678061e-04 -1.46007260e-03 7.93323535e+01] [ 5.99611902e-04 9.99999819e-01 -4.57494569e-05 8.57221527e-01] [ 1.46009978e-03 4.48739230e-05 9.99998933e-01 -1.86858802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:0.86, Z:-0.19 [[ 9.99998933e-01 5.22886863e-05 -1.46007155e-03 7.93614539e+01] [-5.23555887e-05 9.99999998e-01 -4.57830890e-05 8.59687664e-01] [ 1.46006915e-03 4.58594831e-05 9.99998933e-01 -1.86091926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:0.86, Z:-0.19 [[ 9.99998872e-01 3.51555499e-04 -1.46007046e-03 7.93913509e+01] [-3.51622771e-04 9.99999937e-01 -4.58177053e-05 8.62825296e-01] [ 1.46005426e-03 4.63310476e-05 9.99998933e-01 -1.85662156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:0.87, Z:-0.19 [[ 9.99998916e-01 -1.92365730e-04 -1.46006936e-03 7.94210031e+01] [ 1.92298987e-04 9.99999980e-01 -4.58528106e-05 8.69380406e-01] [ 1.46007815e-03 4.55719910e-05 9.99998933e-01 -1.87308518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:0.87, Z:-0.19 [[ 9.99998368e-01 -1.06383016e-03 -1.46006825e-03 7.94499251e+01] [ 1.06376429e-03 9.99999433e-01 -4.58881329e-05 8.72814226e-01] [ 1.46011624e-03 4.43348895e-05 9.99998933e-01 -1.89822546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:0.88, Z:-0.19 [[ 9.99996797e-01 -2.06720599e-03 -1.46006770e-03 7.94794318e+01] [ 2.06714116e-03 9.99997862e-01 -4.59057077e-05 8.75762566e-01] [ 1.46015947e-03 4.28873946e-05 9.99998933e-01 -1.90108655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:0.88, Z:-0.19 [[ 9.99991695e-01 -3.80499980e-03 -1.46006662e-03 7.95091492e+01] [ 3.80493678e-03 9.99992760e-01 -4.59399539e-05 8.79041502e-01] [ 1.46023085e-03 4.03841112e-05 9.99998933e-01 -1.90313667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:0.88, Z:-0.19 [[ 9.99963807e-01 -8.38167696e-03 -1.46006555e-03 7.95380669e+01] [ 8.38161877e-03 9.99964873e-01 -4.59740967e-05 8.83389057e-01] [ 1.46039960e-03 3.37347200e-05 9.99998933e-01 -1.91898547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.57, Y:0.89, Z:-0.19 [[ 9.99937694e-01 -1.10669416e-02 -1.46006501e-03 7.95689078e+01] [ 1.10668862e-02 9.99938759e-01 -4.59910525e-05 8.86426016e-01] [ 1.46048458e-03 2.98298136e-05 9.99998933e-01 -1.90121583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:0.89, Z:-0.19 [[ 9.99900508e-01 -1.40300782e-02 -1.46006501e-03 7.95995304e+01] [ 1.40300260e-02 9.99901573e-01 -4.59910525e-05 8.87923935e-01] [ 1.46056656e-03 2.55017267e-05 9.99998933e-01 -1.90264616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:0.89, Z:-0.19 [[ 9.99808744e-01 -1.95023842e-02 -1.46006557e-03 7.96304528e+01] [ 1.95023378e-02 9.99809810e-01 -4.59732952e-05 8.92966031e-01] [ 1.46068447e-03 1.74898106e-05 9.99998933e-01 -1.88942668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:0.90, Z:-0.19 [[ 9.99757072e-01 -2.19923842e-02 -1.46006665e-03 7.96620398e+01] [ 2.19923406e-02 9.99758138e-01 -4.59389148e-05 8.95848881e-01] [ 1.46072382e-03 1.38174718e-05 9.99998933e-01 -1.89880433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:0.90, Z:-0.19 [[ 9.99695347e-01 -2.46390196e-02 -1.46006773e-03 7.96933484e+01] [ 2.46389788e-02 9.99696413e-01 -4.59045225e-05 8.98443310e-01] [ 1.46075552e-03 9.91595956e-06 9.99998933e-01 -1.89169904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:0.90, Z:-0.19 [[ 9.99632713e-01 -2.70611647e-02 -1.46006885e-03 7.97248195e+01] [ 2.70611266e-02 9.99633780e-01 -4.58691332e-05 9.00394242e-01] [ 1.46077541e-03 6.34117819e-06 9.99998933e-01 -1.89257519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:0.90, Z:-0.19 [[ 9.99474469e-01 -3.23829279e-02 -1.46007051e-03 7.97561494e+01] [ 3.23828955e-02 9.99475535e-01 -4.58160730e-05 9.02476260e-01] [ 1.46078841e-03 -1.48931565e-06 9.99998933e-01 -1.88238556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:0.90, Z:-0.19 [[ 9.99398041e-01 -3.46615491e-02 -1.46007413e-03 7.97870697e+01] [ 3.46615193e-02 9.99399108e-01 -4.57005786e-05 9.03770767e-01] [ 1.46078083e-03 -4.93531882e-06 9.99998933e-01 -1.88745436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:0.91, Z:-0.19 [[ 9.99322519e-01 -3.67745959e-02 -1.46007574e-03 7.98196550e+01] [ 3.67745684e-02 9.99323586e-01 -4.56488440e-05 9.05087972e-01] [ 1.46076685e-03 -8.07573750e-06 9.99998933e-01 -1.89023456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.85, Y:0.91, Z:-0.19 [[ 9.99265094e-01 -3.83032739e-02 -1.46007789e-03 7.98505035e+01] [ 3.83032481e-02 9.99266160e-01 -4.55800304e-05 9.07048127e-01] [ 1.46075229e-03 -1.03791924e-05 9.99998933e-01 -1.90987250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.88, Y:0.91, Z:-0.19 [[ 9.99156932e-01 -4.10279622e-02 -1.46007950e-03 7.98830654e+01] [ 4.10279395e-02 9.99157999e-01 -4.55286027e-05 9.09037102e-01] [ 1.46071805e-03 -1.44138342e-05 9.99998933e-01 -1.89522066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:0.91, Z:-0.19 [[ 9.99107490e-01 -4.22148188e-02 -1.46008161e-03 7.99154075e+01] [ 4.22147975e-02 9.99108557e-01 -4.54606081e-05 9.09191560e-01] [ 1.46069914e-03 -1.62170155e-05 9.99998933e-01 -1.87400092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:0.91, Z:-0.19 [[ 9.99066945e-01 -4.31637312e-02 -1.46008374e-03 7.99461691e+01] [ 4.31637109e-02 9.99068012e-01 -4.53923050e-05 9.09453823e-01] [ 1.46068226e-03 -1.76726808e-05 9.99998933e-01 -1.87285562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:0.91, Z:-0.19 [[ 9.98987213e-01 -4.49712738e-02 -1.46008532e-03 7.99784956e+01] [ 4.49712556e-02 9.98988280e-01 -4.53412889e-05 9.08433658e-01] [ 1.46064718e-03 -2.03665022e-05 9.99998933e-01 -1.86119653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:80.01, Y:0.91, Z:-0.19 [[ 9.98968047e-01 -4.53950403e-02 -1.46008745e-03 8.00091917e+01] [ 4.53950226e-02 9.98969114e-01 -4.52724796e-05 9.08995151e-01] [ 1.46063742e-03 -2.10549424e-05 9.99998933e-01 -1.87291680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:0.91, Z:-0.19 [[ 9.98959471e-01 -4.55833623e-02 -1.46008905e-03 8.00399519e+01] [ 4.55833449e-02 9.98960538e-01 -4.52210693e-05 9.08256189e-01] [ 1.46063267e-03 -2.13817271e-05 9.99998933e-01 -1.86333312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:0.91, Z:-0.19 [[ 9.98966429e-01 -4.54306176e-02 -1.46009061e-03 8.00724011e+01] [ 4.54306001e-02 9.98967496e-01 -4.51705065e-05 9.08390545e-01] [ 1.46063518e-03 -2.12089730e-05 9.99998933e-01 -1.86987070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:0.91, Z:-0.19 [[ 9.98987003e-01 -4.49759495e-02 -1.46009266e-03 8.01038026e+01] [ 4.49759316e-02 9.98988070e-01 -4.51040083e-05 9.08353429e-01] [ 1.46064375e-03 -2.06107097e-05 9.99998933e-01 -1.87693447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:0.91, Z:-0.19 [[ 9.99066593e-01 -4.31718848e-02 -1.46009369e-03 8.01346014e+01] [ 4.31718650e-02 9.99067659e-01 -4.50707146e-05 9.07205961e-01] [ 1.46067817e-03 -1.80063225e-05 9.99998933e-01 -1.89542005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.17, Y:0.91, Z:-0.19 [[ 9.99135892e-01 -4.15371886e-02 -1.46009420e-03 8.01661373e+01] [ 4.15371671e-02 9.99136958e-01 -4.50541138e-05 9.07502448e-01] [ 1.46070550e-03 -1.56329948e-05 9.99998933e-01 -1.89403286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:80.20, Y:0.91, Z:-0.19 [[ 9.99216860e-01 -3.95415653e-02 -1.46009528e-03 8.01973949e+01] [ 3.95415417e-02 9.99217926e-01 -4.50193766e-05 9.07516507e-01] [ 1.46073351e-03 -1.27502982e-05 9.99998933e-01 -1.88745799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:0.91, Z:-0.19 [[ 9.99281694e-01 -3.78677244e-02 -1.46009630e-03 8.02289030e+01] [ 3.78676991e-02 9.99282760e-01 -4.49861228e-05 9.07341643e-01] [ 1.46075258e-03 -1.03366783e-05 9.99998933e-01 -1.86420812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:0.91, Z:-0.19 [[ 9.99439851e-01 -3.34343059e-02 -1.46009733e-03 8.02602573e+01] [ 3.34342759e-02 9.99440917e-01 -4.49527710e-05 9.07021379e-01] [ 1.46078398e-03 -3.88970617e-06 9.99998933e-01 -1.86262751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:0.91, Z:-0.19 [[ 9.99506955e-01 -3.13642344e-02 -1.46009836e-03 8.02917353e+01] [ 3.13642022e-02 9.99508021e-01 -4.49191255e-05 9.07802298e-01] [ 1.46078888e-03 -8.97841951e-07 9.99998933e-01 -1.86632809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:0.91, Z:-0.19 [[ 9.99564472e-01 -2.94743128e-02 -1.46009991e-03 8.03227657e+01] [ 2.94742787e-02 9.99565538e-01 -4.48686513e-05 9.08711006e-01] [ 1.46078803e-03 1.81371800e-06 9.99998933e-01 -1.85497641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:0.91, Z:-0.19 [[ 9.99609904e-01 -2.78910012e-02 -1.46010096e-03 8.03526807e+01] [ 2.78909654e-02 9.99610970e-01 -4.48345041e-05 9.09802663e-01] [ 1.46078342e-03 4.09338886e-06 9.99998933e-01 -1.86051271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:0.91, Z:-0.19 [[ 9.99659028e-01 -2.60709583e-02 -1.46010148e-03 8.03838229e+01] [ 2.60709207e-02 9.99660095e-01 -4.48175590e-05 9.10119549e-01] [ 1.46077362e-03 6.73608766e-06 9.99998933e-01 -1.88306164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:0.91, Z:-0.19 [[ 9.99669884e-01 -2.56513405e-02 -1.46010252e-03 8.04147643e+01] [ 2.56513024e-02 9.99670950e-01 -4.47836748e-05 9.11035924e-01] [ 1.46077084e-03 7.31535969e-06 9.99998933e-01 -1.88570610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:0.91, Z:-0.19 [[ 9.99679033e-01 -2.52922761e-02 -1.46010355e-03 8.04456456e+01] [ 2.52922377e-02 9.99680099e-01 -4.47499813e-05 9.12425962e-01] [ 1.46076829e-03 7.80633183e-06 9.99998933e-01 -1.88011025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:0.91, Z:-0.19 [[ 9.99681597e-01 -2.51907135e-02 -1.46010459e-03 8.04769576e+01] [ 2.51906751e-02 9.99682664e-01 -4.47162855e-05 9.14126264e-01] [ 1.46076768e-03 7.92102748e-06 9.99998933e-01 -1.86529219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:0.92, Z:-0.18 [[ 9.99687081e-01 -2.49721645e-02 -1.46010564e-03 8.05080594e+01] [ 2.49721259e-02 9.99688147e-01 -4.46817465e-05 9.17002892e-01] [ 1.46076610e-03 8.20582280e-06 9.99998933e-01 -1.84561300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:80.54, Y:0.92, Z:-0.19 [[ 9.99688297e-01 -2.49234038e-02 -1.46010670e-03 8.05388403e+01] [ 2.49233652e-02 9.99689364e-01 -4.46470845e-05 9.19356210e-01] [ 1.46076590e-03 8.24239537e-06 9.99998933e-01 -1.86975733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:0.92, Z:-0.19 [[ 9.99680600e-01 -2.52302779e-02 -1.46010782e-03 8.05690478e+01] [ 2.52302397e-02 9.99681666e-01 -4.46104086e-05 9.19508695e-01] [ 1.46076855e-03 7.75728974e-06 9.99998933e-01 -1.87009061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.60, Y:0.92, Z:-0.19 [[ 9.99665430e-01 -2.58243144e-02 -1.46010962e-03 8.05993617e+01] [ 2.58242769e-02 9.99666497e-01 -4.45513982e-05 9.21452326e-01] [ 1.46077318e-03 6.83021750e-06 9.99998933e-01 -1.90668222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.63, Y:0.92, Z:-0.19 [[ 9.99640851e-01 -2.67588657e-02 -1.46011141e-03 8.06303730e+01] [ 2.67588292e-02 9.99641917e-01 -4.44926643e-05 9.23285572e-01] [ 1.46077915e-03 5.40581285e-06 9.99998933e-01 -1.90255220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:0.92, Z:-0.19 [[ 9.99570199e-01 -2.92794279e-02 -1.46011246e-03 8.06611342e+01] [ 2.92793942e-02 9.99571266e-01 -4.44583423e-05 9.24626630e-01] [ 1.46078817e-03 1.68802589e-06 9.99998933e-01 -1.90124963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:0.93, Z:-0.19 [[ 9.99525688e-01 -3.07614656e-02 -1.46011402e-03 8.06914450e+01] [ 3.07614335e-02 9.99526754e-01 -4.44070090e-05 9.25845419e-01] [ 1.46078905e-03 -5.29254098e-07 9.99998933e-01 -1.91735858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:0.93, Z:-0.19 [[ 9.99476845e-01 -3.23095059e-02 -1.46011453e-03 8.07225907e+01] [ 3.23094755e-02 9.99477912e-01 -4.43901592e-05 9.27229791e-01] [ 1.46078645e-03 -2.80859838e-06 9.99998933e-01 -1.90072752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:0.93, Z:-0.19 [[ 9.99430142e-01 -3.37232766e-02 -1.46011555e-03 8.07538977e+01] [ 3.37232478e-02 9.99431209e-01 -4.43567013e-05 9.28036532e-01] [ 1.46078090e-03 -4.90841414e-06 9.99998933e-01 -1.89268401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.79, Y:0.93, Z:-0.19 [[ 9.99325317e-01 -3.66984849e-02 -1.46011659e-03 8.07852473e+01] [ 3.66984593e-02 9.99326384e-01 -4.43222888e-05 9.28537117e-01] [ 1.46075960e-03 -9.29164404e-06 9.99998933e-01 -1.91276225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.82, Y:0.93, Z:-0.19 [[ 9.99292224e-01 -3.75888149e-02 -1.46011815e-03 8.08178038e+01] [ 3.75887903e-02 9.99293291e-01 -4.42709244e-05 9.29587425e-01] [ 1.46075036e-03 -1.06444845e-05 9.99998933e-01 -1.92862240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.85, Y:0.93, Z:-0.19 [[ 9.99272946e-01 -3.80978696e-02 -1.46012023e-03 8.08491231e+01] [ 3.80978457e-02 9.99274013e-01 -4.42021707e-05 9.30279786e-01] [ 1.46074421e-03 -1.14574019e-05 9.99998933e-01 -1.93255470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:0.93, Z:-0.19 [[ 9.99265258e-01 -3.82989797e-02 -1.46005008e-03 8.08809101e+01] [ 3.82989526e-02 9.99266325e-01 -4.65190422e-05 9.31448932e-01] [ 1.46076051e-03 -9.43352625e-06 9.99998933e-01 -1.91981942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.91, Y:0.93, Z:-0.19 [[ 9.99290455e-01 -3.76358031e-02 -1.46012330e-03 8.09131480e+01] [ 3.76357788e-02 9.99291522e-01 -4.40946732e-05 9.33596015e-01] [ 1.46074837e-03 -1.08894914e-05 9.99998933e-01 -1.90839084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:0.93, Z:-0.19 [[ 9.99319287e-01 -3.68623298e-02 -1.46012542e-03 8.09438751e+01] [ 3.68623048e-02 9.99320353e-01 -4.40244272e-05 9.34792009e-01] [ 1.46075589e-03 -9.82912890e-06 9.99998933e-01 -1.90214440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:0.94, Z:-0.19 [[ 9.99350566e-01 -3.60043591e-02 -1.46012700e-03 8.09762237e+01] [ 3.60043333e-02 9.99351633e-01 -4.39717549e-05 9.36667850e-01] [ 1.46076348e-03 -8.62770107e-06 9.99998933e-01 -1.89037765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:81.01, Y:0.94, Z:-0.19 [[ 9.99436253e-01 -3.35416914e-02 -1.46012906e-03 8.10076333e+01] [ 3.35416630e-02 9.99437319e-01 -4.39032283e-05 9.39357371e-01] [ 1.46078006e-03 -5.09667895e-06 9.99998933e-01 -1.89730762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:0.94, Z:-0.19 [[ 9.99455106e-01 -3.29751358e-02 -1.46013009e-03 8.10385630e+01] [ 3.29751069e-02 9.99456172e-01 -4.38691109e-05 9.40438043e-01] [ 1.46078262e-03 -4.30273888e-06 9.99998933e-01 -1.89181578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:0.94, Z:-0.19 [[ 9.99490061e-01 -3.18980656e-02 -1.46013162e-03 8.10701867e+01] [ 3.18980357e-02 9.99491127e-01 -4.38179566e-05 9.42403164e-01] [ 1.46078631e-03 -2.77971846e-06 9.99998933e-01 -1.88055671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:0.94, Z:-0.19 [[ 9.99523921e-01 -3.08188033e-02 -1.46013310e-03 8.11021303e+01] [ 3.08187723e-02 9.99524988e-01 -4.37685093e-05 9.44298160e-01] [ 1.46078842e-03 -1.25183764e-06 9.99998933e-01 -1.86080475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.13, Y:0.95, Z:-0.19 [[ 9.99579036e-01 -2.89761757e-02 -1.46013515e-03 8.11335533e+01] [ 2.89761428e-02 9.99580102e-01 -4.37001897e-05 9.46435123e-01] [ 1.46078831e-03 1.37270886e-06 9.99998933e-01 -1.86422364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:0.95, Z:-0.18 [[ 9.99587637e-01 -2.86779496e-02 -1.46013617e-03 8.11649874e+01] [ 2.86779164e-02 9.99588703e-01 -4.36661235e-05 9.48378089e-01] [ 1.46078787e-03 1.77445421e-06 9.99998933e-01 -1.83222753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:0.95, Z:-0.18 [[ 9.99601709e-01 -2.81831719e-02 -1.46013721e-03 8.11960928e+01] [ 2.81831382e-02 9.99602776e-01 -4.36312688e-05 9.51176038e-01] [ 1.46078687e-03 2.46264211e-06 9.99998933e-01 -1.83414167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:0.95, Z:-0.18 [[ 9.99634825e-01 -2.69830538e-02 -1.46013877e-03 8.12270008e+01] [ 2.69830189e-02 9.99635891e-01 -4.35790939e-05 9.54477781e-01] [ 1.46078301e-03 4.16422789e-06 9.99998933e-01 -1.82636687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:0.96, Z:-0.18 [[ 9.99643230e-01 -2.66698399e-02 -1.46013979e-03 8.12581811e+01] [ 2.66698048e-02 9.99644297e-01 -4.35446402e-05 9.56238991e-01] [ 1.46078175e-03 4.58746152e-06 9.99998933e-01 -1.84612691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:0.96, Z:-0.18 [[ 9.99654129e-01 -2.62581598e-02 -1.46014133e-03 8.12890200e+01] [ 2.62581242e-02 9.99655195e-01 -4.34931819e-05 9.58648739e-01] [ 1.46077991e-03 5.13756649e-06 9.99998933e-01 -1.82703226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:0.96, Z:-0.18 [[ 9.99654749e-01 -2.62345357e-02 -1.46014235e-03 8.13208450e+01] [ 2.62345002e-02 9.99655815e-01 -4.34586444e-05 9.59552543e-01] [ 1.46077991e-03 5.13753530e-06 9.99998933e-01 -1.82656724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:0.96, Z:-0.18 [[ 9.99679107e-01 -2.52893608e-02 -1.46014338e-03 8.13515529e+01] [ 2.52893243e-02 9.99680173e-01 -4.34241380e-05 9.64990862e-01] [ 1.46077456e-03 6.48416395e-06 9.99998933e-01 -1.84103992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.38, Y:0.97, Z:-0.19 [[ 9.99691554e-01 -2.47924357e-02 -1.46014491e-03 8.13827604e+01] [ 2.47923988e-02 9.99692620e-01 -4.33724942e-05 9.67105365e-01] [ 1.46077141e-03 7.15862113e-06 9.99998933e-01 -1.85562124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:0.97, Z:-0.18 [[ 9.99674868e-01 -2.54563472e-02 -1.46014594e-03 8.14143163e+01] [ 2.54563111e-02 9.99675935e-01 -4.33380476e-05 9.69020048e-01] [ 1.46077598e-03 6.15402787e-06 9.99998933e-01 -1.84767442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:0.97, Z:-0.18 [[ 9.99663121e-01 -2.59135425e-02 -1.46014696e-03 8.14454963e+01] [ 2.59135069e-02 9.99664188e-01 -4.33034884e-05 9.70755889e-01] [ 1.46077877e-03 5.45137196e-06 9.99998933e-01 -1.84798904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:0.97, Z:-0.18 [[ 9.99607471e-01 -2.79780565e-02 -1.46014799e-03 8.14767831e+01] [ 2.79780231e-02 9.99608538e-01 -4.32688037e-05 9.73911400e-01] [ 1.46078697e-03 2.39976525e-06 9.99998933e-01 -1.84206284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:0.97, Z:-0.18 [[ 9.99608787e-01 -2.79309904e-02 -1.46014953e-03 8.15094489e+01] [ 2.79309571e-02 9.99609854e-01 -4.32168321e-05 9.74790465e-01] [ 1.46078695e-03 2.41655126e-06 9.99998933e-01 -1.84158558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:0.98, Z:-0.18 [[ 9.99523102e-01 -3.08453717e-02 -1.46015156e-03 8.15418480e+01] [ 3.08453416e-02 9.99524168e-01 -4.31480816e-05 9.77305872e-01] [ 1.46078769e-03 -1.91136924e-06 9.99998933e-01 -1.81783751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:0.98, Z:-0.18 [[ 9.99478371e-01 -3.22622562e-02 -1.46015361e-03 8.15729086e+01] [ 3.22622277e-02 9.99479438e-01 -4.30786636e-05 9.79067804e-01] [ 1.46078332e-03 -4.05161571e-06 9.99998933e-01 -1.81638568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:0.98, Z:-0.18 [[ 9.99433256e-01 -3.36308623e-02 -1.46015513e-03 8.16054855e+01] [ 3.36308353e-02 9.99434323e-01 -4.30270480e-05 9.80891102e-01] [ 1.46077619e-03 -6.10357397e-06 9.99998933e-01 -1.80699874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:0.98, Z:-0.18 [[ 9.99386772e-01 -3.49849632e-02 -1.46015717e-03 8.16361885e+01] [ 3.49849378e-02 9.99387839e-01 -4.29577942e-05 9.82927575e-01] [ 1.46076619e-03 -8.15205630e-06 9.99998933e-01 -1.79996086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.67, Y:0.99, Z:-0.18 [[ 9.99313322e-01 -3.70236693e-02 -1.46016052e-03 8.16669107e+01] [ 3.70236462e-02 9.99314389e-01 -4.28435349e-05 9.85813446e-01] [ 1.46074564e-03 -1.12463513e-05 9.99998933e-01 -1.80378406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:0.99, Z:-0.18 [[ 9.99291812e-01 -3.75997679e-02 -1.46016202e-03 8.16988374e+01] [ 3.75997455e-02 9.99292879e-01 -4.27923199e-05 9.87345607e-01] [ 1.46073849e-03 -1.21397055e-05 9.99998933e-01 -1.80142792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:81.73, Y:0.99, Z:-0.18 [[ 9.99285437e-01 -3.77688225e-02 -1.46016404e-03 8.17306703e+01] [ 3.77688004e-02 9.99286503e-01 -4.27231477e-05 9.88903014e-01] [ 1.46073582e-03 -1.24560250e-05 9.99998933e-01 -1.82538537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:0.99, Z:-0.18 [[ 9.99251814e-01 -3.86481491e-02 -1.46016607e-03 8.17617064e+01] [ 3.86481280e-02 9.99252881e-01 -4.26538501e-05 9.92333615e-01] [ 1.46072364e-03 -1.38107480e-05 9.99998933e-01 -1.84158331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:0.99, Z:-0.18 [[ 9.99245626e-01 -3.88078205e-02 -1.46016960e-03 8.17938673e+01] [ 3.88077998e-02 9.99246693e-01 -4.25326960e-05 9.94418533e-01] [ 1.46072024e-03 -1.41653589e-05 9.99998933e-01 -1.84780188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:1.00, Z:-0.19 [[ 9.99233345e-01 -3.91227448e-02 -1.46017162e-03 8.18250441e+01] [ 3.91227245e-02 9.99234412e-01 -4.24631460e-05 9.96786346e-01] [ 1.46071501e-03 -1.46953006e-05 9.99998933e-01 -1.85949672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:1.00, Z:-0.19 [[ 9.99224767e-01 -3.93412319e-02 -1.46017313e-03 8.18565699e+01] [ 3.93412119e-02 9.99225834e-01 -4.24111590e-05 9.99340917e-01] [ 1.46071122e-03 -1.50667000e-05 9.99998933e-01 -1.87577538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:1.00, Z:-0.19 [[ 9.99208988e-01 -3.97399719e-02 -1.46017462e-03 8.18875107e+01] [ 3.97399524e-02 9.99210055e-01 -4.23596213e-05 1.00218770e+00] [ 1.46070454e-03 -1.57011558e-05 9.99998933e-01 -1.88779876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:1.01, Z:-0.19 [[ 9.99161374e-01 -4.09196477e-02 -1.46017605e-03 8.19199571e+01] [ 4.09196296e-02 9.99162440e-01 -4.23103848e-05 1.00668447e+00] [ 1.46068439e-03 -1.74749610e-05 9.99998933e-01 -1.86691732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:81.95, Y:1.01, Z:-0.19 [[ 9.99151486e-01 -4.11603781e-02 -1.46017805e-03 8.19509104e+01] [ 4.11603603e-02 9.99152552e-01 -4.22412601e-05 1.00788321e+00] [ 1.46067929e-03 -1.78960369e-05 9.99998933e-01 -1.91989656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:1.01, Z:-0.19 [[ 9.99086306e-01 -4.27132529e-02 -1.46017954e-03 8.19826086e+01] [ 4.27132368e-02 9.99087372e-01 -4.21897863e-05 1.00948727e+00] [ 1.46064900e-03 -2.02177567e-05 9.99998933e-01 -1.87835917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:1.01, Z:-0.19 [[ 9.98958208e-01 -4.56110423e-02 -1.46018150e-03 8.20149935e+01] [ 4.56110294e-02 9.98959275e-01 -4.21219264e-05 1.01155132e+00] [ 1.46058307e-03 -2.45223371e-05 9.99998933e-01 -1.86572139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:82.05, Y:1.01, Z:-0.19 [[ 9.98911008e-01 -4.66333168e-02 -1.46018349e-03 8.20472308e+01] [ 4.66333052e-02 9.98912075e-01 -4.20526134e-05 1.01286060e+00] [ 1.46055597e-03 -2.60863639e-05 9.99998933e-01 -1.86953422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:1.01, Z:-0.19 [[ 9.98808058e-01 -4.87886312e-02 -1.46018553e-03 8.20782826e+01] [ 4.87886220e-02 9.98809125e-01 -4.19816270e-05 1.01486372e+00] [ 1.46049486e-03 -2.93088526e-05 9.99998933e-01 -1.86563777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:1.02, Z:-0.19 [[ 9.98730207e-01 -5.03571444e-02 -1.46018705e-03 8.21107069e+01] [ 5.03571369e-02 9.98731274e-01 -4.19286945e-05 1.01650180e+00] [ 1.46044588e-03 -3.16553856e-05 9.99998933e-01 -1.85563299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:1.02, Z:-0.19 [[ 9.98661921e-01 -5.16936646e-02 -1.46018900e-03 8.21415433e+01] [ 5.16936586e-02 9.98662988e-01 -4.18608944e-05 1.01781818e+00] [ 1.46040065e-03 -3.36776303e-05 9.99998933e-01 -1.85619663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47587156 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:82.17, Y:1.02, Z:-0.19 [[ 9.98574035e-01 -5.33644573e-02 -1.46019045e-03 8.21738042e+01] [ 5.33644531e-02 9.98575102e-01 -4.18101318e-05 1.01747826e+00] [ 1.46034100e-03 -3.61717529e-05 9.99998933e-01 -1.86318235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:82.21, Y:1.02, Z:-0.19 [[ 9.98554999e-01 -5.37194749e-02 -1.46019240e-03 8.22064768e+01] [ 5.37194713e-02 9.98556066e-01 -4.17420295e-05 1.01747870e+00] [ 1.46032634e-03 -3.67590514e-05 9.99998933e-01 -1.85384202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:1.02, Z:-0.18 [[ 9.98539556e-01 -5.40057608e-02 -1.46019436e-03 8.22372307e+01] [ 5.40057575e-02 9.98540623e-01 -4.16732532e-05 1.01836490e+00] [ 1.46031398e-03 -3.72465107e-05 9.99998933e-01 -1.84067169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:1.02, Z:-0.18 [[ 9.98570661e-01 -5.34275455e-02 -1.46019582e-03 8.22698748e+01] [ 5.34275417e-02 9.98571728e-01 -4.16218853e-05 1.01913775e+00] [ 1.46033402e-03 -3.64522799e-05 9.99998933e-01 -1.83394991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:1.02, Z:-0.18 [[ 9.98670442e-01 -5.15287814e-02 -1.46019778e-03 8.23010646e+01] [ 5.15287757e-02 9.98671509e-01 -4.15532750e-05 1.02107970e+00] [ 1.46039911e-03 -3.37441762e-05 9.99998933e-01 -1.82937468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:1.02, Z:-0.18 [[ 9.98741631e-01 -5.01300630e-02 -1.46019971e-03 8.23334363e+01] [ 5.01300559e-02 9.98742697e-01 -4.14850696e-05 1.02210428e+00] [ 1.46044345e-03 -3.17670273e-05 9.99998933e-01 -1.81856909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:1.02, Z:-0.18 [[ 9.98804938e-01 -4.88524756e-02 -1.46020167e-03 8.23644381e+01] [ 4.88524672e-02 9.98806005e-01 -4.14160063e-05 1.02288671e+00] [ 1.46048147e-03 -2.99679428e-05 9.99998933e-01 -1.81894176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:1.02, Z:-0.18 [[ 9.98869387e-01 -4.75164759e-02 -1.46020313e-03 8.23968554e+01] [ 4.75164662e-02 9.98870454e-01 -4.13645280e-05 1.02298554e+00] [ 1.46051926e-03 -2.80659320e-05 9.99998933e-01 -1.82204443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:1.02, Z:-0.18 [[ 9.98956014e-01 -4.56590667e-02 -1.46020506e-03 8.24285351e+01] [ 4.56590551e-02 9.98957081e-01 -4.12962051e-05 1.02418708e+00] [ 1.46056773e-03 -2.54184910e-05 9.99998933e-01 -1.81984743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.46, Y:1.03, Z:-0.18 [[ 9.99001173e-01 -4.46600997e-02 -1.46020700e-03 8.24593350e+01] [ 4.46600872e-02 9.99002240e-01 -4.12274663e-05 1.02571184e+00] [ 1.46059129e-03 -2.40266849e-05 9.99998933e-01 -1.83774603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.49, Y:1.03, Z:-0.18 [[ 9.99030353e-01 -4.40025112e-02 -1.46020846e-03 8.24913423e+01] [ 4.40024981e-02 9.99031420e-01 -4.11760057e-05 1.02712692e+00] [ 1.46060597e-03 -2.31167402e-05 9.99998933e-01 -1.84198176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.52, Y:1.03, Z:-0.18 [[ 9.99050679e-01 -4.35385881e-02 -1.46021037e-03 8.25232100e+01] [ 4.35385745e-02 9.99051746e-01 -4.11080609e-05 1.02854716e+00] [ 1.46061550e-03 -2.25064418e-05 9.99998933e-01 -1.84379801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:1.03, Z:-0.18 [[ 9.99062637e-01 -4.32633343e-02 -1.46021227e-03 8.25557958e+01] [ 4.32633205e-02 9.99063703e-01 -4.10402366e-05 1.02976724e+00] [ 1.46062062e-03 -2.21718647e-05 9.99998933e-01 -1.82900829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:1.03, Z:-0.18 [[ 9.99118347e-01 -4.19570855e-02 -1.46021419e-03 8.25873035e+01] [ 4.19570705e-02 9.99119414e-01 -4.09720492e-05 1.03075725e+00] [ 1.46064741e-03 -2.03303835e-05 9.99998933e-01 -1.83162523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:1.03, Z:-0.18 [[ 9.99148158e-01 -4.12410674e-02 -1.46021562e-03 8.26190358e+01] [ 4.12410516e-02 9.99149225e-01 -4.09210007e-05 1.03218154e+00] [ 1.46066093e-03 -1.93346853e-05 9.99998933e-01 -1.82951020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.65, Y:1.03, Z:-0.19 [[ 9.99178494e-01 -4.04994397e-02 -1.46021754e-03 8.26506515e+01] [ 4.04994232e-02 9.99179561e-01 -4.08524463e-05 1.03363587e+00] [ 1.46067402e-03 -1.83190822e-05 9.99998933e-01 -1.85277694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:1.04, Z:-0.18 [[ 9.99216967e-01 -3.95388492e-02 -1.46028173e-03 8.26821437e+01] [ 3.95388351e-02 9.99218034e-01 -3.85525841e-05 1.03538708e+00] [ 1.46066417e-03 -1.92154425e-05 9.99998933e-01 -1.83961371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:1.04, Z:-0.18 [[ 9.99269686e-01 -3.81832730e-02 -1.46021686e-03 8.27127924e+01] [ 3.81832540e-02 9.99270753e-01 -4.08703019e-05 1.03923572e+00] [ 1.46071257e-03 -1.49153777e-05 9.99998933e-01 -1.84095535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:1.04, Z:-0.18 [[ 9.99275118e-01 -3.80408386e-02 -1.46021999e-03 8.27448674e+01] [ 3.80408197e-02 9.99276185e-01 -4.07582002e-05 1.04177974e+00] [ 1.46071354e-03 -1.48193100e-05 9.99998933e-01 -1.82608365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:1.04, Z:-0.18 [[ 9.99273032e-01 -3.80956033e-02 -1.46022190e-03 8.27773226e+01] [ 3.80955845e-02 9.99274099e-01 -4.06898296e-05 1.04331418e+00] [ 1.46071202e-03 -1.49677573e-05 9.99998933e-01 -1.81480450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:1.04, Z:-0.18 [[ 9.99218714e-01 -3.94946703e-02 -1.46022380e-03 8.28086712e+01] [ 3.94946531e-02 9.99219781e-01 -4.06214588e-05 1.04479561e+00] [ 1.46068884e-03 -1.70813106e-05 9.99998933e-01 -1.82989969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:1.05, Z:-0.18 [[ 9.99181523e-01 -4.04246403e-02 -1.46024658e-03 8.28403930e+01] [ 4.04246253e-02 9.99182590e-01 -3.98022752e-05 1.04612490e+00] [ 1.46066195e-03 -1.92602229e-05 9.99998933e-01 -1.81963093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:1.05, Z:-0.18 [[ 9.99128053e-01 -4.17252977e-02 -1.46022338e-03 8.28711659e+01] [ 4.17252829e-02 9.99129120e-01 -4.06359085e-05 1.04759495e+00] [ 1.46064725e-03 -2.03277575e-05 9.99998933e-01 -1.82803041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:82.90, Y:1.05, Z:-0.18 [[ 9.99074378e-01 -4.29913321e-02 -1.46022476e-03 8.29037248e+01] [ 4.29913187e-02 9.99075445e-01 -4.05862307e-05 1.04858810e+00] [ 1.46061956e-03 -2.22283249e-05 9.99998933e-01 -1.84786582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:82.94, Y:1.05, Z:-0.19 [[ 9.98906798e-01 -4.67234164e-02 -1.46022659e-03 8.29358563e+01] [ 4.67234071e-02 9.98907864e-01 -4.05202649e-05 1.04849131e+00] [ 1.46052507e-03 -2.77507935e-05 9.99998933e-01 -1.85698295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:1.05, Z:-0.18 [[ 9.98788043e-01 -4.91966765e-02 -1.46022842e-03 8.29678064e+01] [ 4.91966699e-02 9.98789110e-01 -4.04545042e-05 1.04870176e+00] [ 1.46045047e-03 -3.14329003e-05 9.99998933e-01 -1.83221134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:1.05, Z:-0.18 [[ 9.98675387e-01 -5.14328560e-02 -1.46023031e-03 8.29999055e+01] [ 5.14328519e-02 9.98676454e-01 -4.03861190e-05 1.04819742e+00] [ 1.46037480e-03 -3.47711861e-05 9.99998933e-01 -1.83347152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:1.05, Z:-0.19 [[ 9.98555607e-01 -5.37081762e-02 -1.46023222e-03 8.30313748e+01] [ 5.37081747e-02 9.98556674e-01 -4.03169292e-05 1.04748521e+00] [ 1.46028997e-03 -3.81677112e-05 9.99998933e-01 -1.85983399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:1.05, Z:-0.18 [[ 9.98348355e-01 -5.74319556e-02 -1.46023364e-03 8.30634758e+01] [ 5.74319580e-02 9.98349422e-01 -4.02654819e-05 1.04521020e+00] [ 1.46013593e-03 -4.36650993e-05 9.99998933e-01 -1.83227423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.10, Y:1.04, Z:-0.18 [[ 9.98283105e-01 -5.85551917e-02 -1.46023553e-03 8.30954999e+01] [ 5.85551954e-02 9.98284172e-01 -4.01966799e-05 1.04440688e+00] [ 1.46008374e-03 -4.53767105e-05 9.99998933e-01 -1.84070872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.13, Y:1.04, Z:-0.18 [[ 9.98250515e-01 -5.91081878e-02 -1.46023740e-03 8.31264933e+01] [ 5.91081923e-02 9.98251582e-01 -4.01285755e-05 1.04280904e+00] [ 1.46005622e-03 -4.62536219e-05 9.99998933e-01 -1.83404882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:1.04, Z:-0.18 [[ 9.98303163e-01 -5.82122190e-02 -1.46023880e-03 8.31588764e+01] [ 5.82122226e-02 9.98304230e-01 -4.00777212e-05 1.04207476e+00] [ 1.46009558e-03 -4.49940300e-05 9.99998933e-01 -1.80273813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:1.04, Z:-0.18 [[ 9.98386274e-01 -5.67689653e-02 -1.46024113e-03 8.31901092e+01] [ 5.67689675e-02 9.98387341e-01 -3.99924402e-05 1.04068267e+00] [ 1.46015659e-03 -4.29684780e-05 9.99998933e-01 -1.79310362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.22, Y:1.04, Z:-0.18 [[ 9.98483788e-01 -5.50272076e-02 -1.46024253e-03 8.32213844e+01] [ 5.50272079e-02 9.98484855e-01 -3.99411765e-05 1.03965434e+00] [ 1.46022791e-03 -4.04724524e-05 9.99998933e-01 -1.80221330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.25, Y:1.04, Z:-0.18 [[ 9.98598650e-01 -5.29018265e-02 -1.46024551e-03 8.32530799e+01] [ 5.29018248e-02 9.98599717e-01 -3.98321671e-05 1.03917425e+00] [ 1.46030795e-03 -3.74733038e-05 9.99998933e-01 -1.80178726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.29, Y:1.04, Z:-0.18 [[ 9.98601078e-01 -5.28559752e-02 -1.46024688e-03 8.32857488e+01] [ 5.28559735e-02 9.98602145e-01 -3.97818209e-05 1.03997924e+00] [ 1.46030837e-03 -3.74566012e-05 9.99998933e-01 -1.80130999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:1.04, Z:-0.18 [[ 9.98853849e-01 -4.78419952e-02 -1.46024870e-03 8.33177817e+01] [ 4.78419883e-02 9.98854916e-01 -3.97147727e-05 1.03914037e+00] [ 1.46047663e-03 -3.01919478e-05 9.99998933e-01 -1.79546424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:1.04, Z:-0.18 [[ 9.98980996e-01 -4.51091711e-02 -1.46025053e-03 8.33500080e+01] [ 4.51091613e-02 9.98982063e-01 -3.96475885e-05 1.03951137e+00] [ 1.46055255e-03 -2.62634892e-05 9.99998933e-01 -1.78782966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:1.04, Z:-0.18 [[ 9.99108176e-01 -4.21985930e-02 -1.46025244e-03 8.33812868e+01] [ 4.21985802e-02 9.99109242e-01 -3.95770773e-05 1.04055729e+00] [ 1.46062180e-03 -2.20787981e-05 9.99998933e-01 -1.80688632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:1.04, Z:-0.18 [[ 9.99333818e-01 -3.64662552e-02 -1.46025387e-03 8.34123706e+01] [ 3.64662364e-02 9.99334885e-01 -3.95243222e-05 1.04239752e+00] [ 1.46072393e-03 -1.37519709e-05 9.99998933e-01 -1.80945327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:1.04, Z:-0.18 [[ 9.99431797e-01 -3.36741876e-02 -1.46025522e-03 8.34447424e+01] [ 3.36741659e-02 9.99432864e-01 -3.94743971e-05 1.04316291e+00] [ 1.46075632e-03 -9.72090875e-06 9.99998933e-01 -1.80397834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:1.04, Z:-0.18 [[ 9.99522218e-01 -3.08740031e-02 -1.46025704e-03 8.34763705e+01] [ 3.08739785e-02 9.99523284e-01 -3.94068335e-05 1.04403591e+00] [ 1.46077756e-03 -5.69593888e-06 9.99998933e-01 -1.81994132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:1.05, Z:-0.18 [[ 9.99606589e-01 -2.80095668e-02 -1.46026796e-03 8.35085213e+01] [ 2.80095397e-02 9.99607655e-01 -3.90019526e-05 1.04567497e+00] [ 1.46078746e-03 -1.91482461e-06 9.99998933e-01 -1.80285529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:1.05, Z:-0.18 [[ 9.99727089e-01 -2.33155540e-02 -1.46026058e-03 8.35407850e+01] [ 2.33155215e-02 9.99728156e-01 -3.92763872e-05 1.04936309e+00] [ 1.46077936e-03 5.21893135e-06 9.99998933e-01 -1.81390594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:1.05, Z:-0.18 [[ 9.99764051e-01 -2.16727837e-02 -1.46026242e-03 8.35728210e+01] [ 2.16727495e-02 9.99765118e-01 -3.92077123e-05 1.05166741e+00] [ 1.46076917e-03 7.55055961e-06 9.99998933e-01 -1.82297013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.60, Y:1.05, Z:-0.18 [[ 9.99776911e-01 -2.10711876e-02 -1.46026427e-03 8.36042279e+01] [ 2.10711529e-02 9.99777978e-01 -3.91388518e-05 1.05429557e+00] [ 1.46076476e-03 8.36066870e-06 9.99998933e-01 -1.84375168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:1.06, Z:-0.19 [[ 9.99781138e-01 -2.08697028e-02 -1.46026520e-03 8.36352354e+01] [ 2.08696679e-02 9.99782204e-01 -3.91040160e-05 1.05643690e+00] [ 1.46076325e-03 8.62020781e-06 9.99998933e-01 -1.85686987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:1.06, Z:-0.18 [[ 9.99768824e-01 -2.14514855e-02 -1.46026659e-03 8.36671620e+01] [ 2.14514514e-02 9.99769890e-01 -3.90520220e-05 1.05844644e+00] [ 1.46076829e-03 7.71815640e-06 9.99998933e-01 -1.84531799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:1.06, Z:-0.18 [[ 9.99701286e-01 -2.43968442e-02 -1.46026843e-03 8.36987742e+01] [ 2.43968132e-02 9.99702353e-01 -3.89829123e-05 1.06045054e+00] [ 1.46078485e-03 3.34537127e-06 9.99998933e-01 -1.84277103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:1.06, Z:-0.18 [[ 9.99655596e-01 -2.62022168e-02 -1.46027147e-03 8.37309470e+01] [ 2.62021879e-02 9.99656663e-01 -3.88688797e-05 1.06142616e+00] [ 1.46078856e-03 5.93185638e-07 9.99998933e-01 -1.83887502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:1.06, Z:-0.19 [[ 9.99600723e-01 -2.82181209e-02 -1.46027331e-03 8.37625351e+01] [ 2.82180943e-02 9.99601790e-01 -3.87995625e-05 1.06297485e+00] [ 1.46078667e-03 -2.42205925e-06 9.99998933e-01 -1.85512417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:1.07, Z:-0.18 [[ 9.99549511e-01 -2.99773855e-02 -1.46027626e-03 8.37943967e+01] [ 2.99773610e-02 9.99550577e-01 -3.86884473e-05 1.06537734e+00] [ 1.46077975e-03 -5.10420994e-06 9.99998933e-01 -1.84006457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:1.07, Z:-0.18 [[ 9.99445567e-01 -3.32629848e-02 -1.46027808e-03 8.38262882e+01] [ 3.32629639e-02 9.99446634e-01 -3.86193563e-05 1.06847193e+00] [ 1.46075461e-03 -9.97523265e-06 9.99998933e-01 -1.83575343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:1.07, Z:-0.18 [[ 9.99397002e-01 -3.46915053e-02 -1.46027989e-03 8.38583859e+01] [ 3.46914860e-02 9.99398068e-01 -3.85509453e-05 1.06977844e+00] [ 1.46073829e-03 -1.21315802e-05 9.99998933e-01 -1.83673492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.89, Y:1.07, Z:-0.18 [[ 9.99338820e-01 -3.63289137e-02 -1.46028168e-03 8.38900979e+01] [ 3.63288962e-02 9.99339887e-01 -3.84829181e-05 1.07182396e+00] [ 1.46071577e-03 -1.45929477e-05 9.99998933e-01 -1.84932289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:1.07, Z:-0.18 [[ 9.99248762e-01 -3.87269923e-02 -1.46028347e-03 8.39214549e+01] [ 3.87269775e-02 9.99249828e-01 -3.84150164e-05 1.07476911e+00] [ 1.46067570e-03 -1.81662074e-05 9.99998933e-01 -1.83067781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.95, Y:1.08, Z:-0.18 [[ 9.99178007e-01 -4.05114611e-02 -1.46028480e-03 8.39533065e+01] [ 4.05114483e-02 9.99179074e-01 -3.83644022e-05 1.07651472e+00] [ 1.46064021e-03 -2.08253852e-05 9.99998933e-01 -1.84131137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:1.08, Z:-0.18 [[ 9.99116039e-01 -4.20119996e-02 -1.46028655e-03 8.39857867e+01] [ 4.20119885e-02 9.99117106e-01 -3.82977032e-05 1.07793959e+00] [ 1.46060623e-03 -2.30856921e-05 9.99998933e-01 -1.81672647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:1.08, Z:-0.18 [[ 9.99028613e-01 -4.40420058e-02 -1.46028829e-03 8.40182083e+01] [ 4.40419970e-02 9.99029680e-01 -3.82311605e-05 1.07906850e+00] [ 1.46055512e-03 -2.61199891e-05 9.99998933e-01 -1.80150384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:1.08, Z:-0.18 [[ 9.98843675e-01 -4.80539326e-02 -1.46029005e-03 8.40507540e+01] [ 4.80539281e-02 9.98844742e-01 -3.81637146e-05 1.08025774e+00] [ 1.46043696e-03 -3.20530882e-05 9.99998933e-01 -1.79473286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:1.08, Z:-0.18 [[ 9.98746513e-01 -5.00326855e-02 -1.46029182e-03 8.40828078e+01] [ 5.00326832e-02 9.98747580e-01 -3.80960113e-05 1.08134601e+00] [ 1.46036897e-03 -3.50140594e-05 9.99998933e-01 -1.78901703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:84.11, Y:1.08, Z:-0.18 [[ 9.98547387e-01 -5.38607701e-02 -1.46029360e-03 8.41149500e+01] [ 5.38607720e-02 9.98548454e-01 -3.80275997e-05 1.08268710e+00] [ 1.46022211e-03 -4.06801804e-05 9.99998933e-01 -1.81391496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:1.08, Z:-0.18 [[ 9.98495073e-01 -5.48220524e-02 -1.46029538e-03 8.41456332e+01] [ 5.48220555e-02 9.98496140e-01 -3.79591455e-05 1.08257518e+00] [ 1.46018030e-03 -4.21543746e-05 9.99998933e-01 -1.80604075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:84.18, Y:1.08, Z:-0.18 [[ 9.98398837e-01 -5.65475825e-02 -1.46029627e-03 8.41777717e+01] [ 5.65475874e-02 9.98399904e-01 -3.79250228e-05 1.08360769e+00] [ 1.46010422e-03 -4.47119321e-05 9.99998933e-01 -1.81612473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:1.08, Z:-0.18 [[ 9.98372906e-01 -5.70035719e-02 -1.46029799e-03 8.42086332e+01] [ 5.70035774e-02 9.98373973e-01 -3.78584395e-05 1.08402861e+00] [ 1.46008157e-03 -4.54453693e-05 9.99998933e-01 -1.80808363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:1.08, Z:-0.18 [[ 9.98285874e-01 -5.85079567e-02 -1.46030070e-03 8.42407650e+01] [ 5.85079640e-02 9.98286941e-01 -3.77538010e-05 1.08421289e+00] [ 1.46000801e-03 -4.77501343e-05 9.99998933e-01 -1.81743755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:1.08, Z:-0.18 [[ 9.98252840e-01 -5.90688922e-02 -1.46030236e-03 8.42729510e+01] [ 5.90689002e-02 9.98253907e-01 -3.76893462e-05 1.08397793e+00] [ 1.45997880e-03 -4.86349574e-05 9.99998933e-01 -1.81945615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.30, Y:1.08, Z:-0.18 [[ 9.98218426e-01 -5.96476508e-02 -1.46030405e-03 8.43041023e+01] [ 5.96476595e-02 9.98219493e-01 -3.76236169e-05 1.08401449e+00] [ 1.45994813e-03 -4.95471314e-05 9.99998933e-01 -1.84311550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:1.08, Z:-0.18 [[ 9.98241475e-01 -5.92606617e-02 -1.46030531e-03 8.43365487e+01] [ 5.92606701e-02 9.98242541e-01 -3.75746992e-05 1.08355908e+00] [ 1.45996559e-03 -4.90300482e-05 9.99998933e-01 -1.81055188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:1.08, Z:-0.18 [[ 9.98287297e-01 -5.84836734e-02 -1.46030705e-03 8.43678261e+01] [ 5.84836811e-02 9.98288364e-01 -3.75070321e-05 1.08227542e+00] [ 1.46000109e-03 -4.79613381e-05 9.99998933e-01 -1.82039326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:1.08, Z:-0.18 [[ 9.98354277e-01 -5.73289148e-02 -1.46030835e-03 8.43999943e+01] [ 5.73289213e-02 9.98355344e-01 -3.74562654e-05 1.08215150e+00] [ 1.46005397e-03 -4.63232799e-05 9.99998933e-01 -1.80039471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.43, Y:1.08, Z:-0.18 [[ 9.98430622e-01 -5.59835819e-02 -1.46031009e-03 8.44308959e+01] [ 5.59835870e-02 9.98431688e-01 -3.73882415e-05 1.08258620e+00] [ 1.46011300e-03 -4.44238319e-05 9.99998933e-01 -1.81072411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:1.08, Z:-0.18 [[ 9.98574478e-01 -5.33561612e-02 -1.46031139e-03 8.44621159e+01] [ 5.33561636e-02 9.98575545e-01 -3.73375058e-05 1.08244626e+00] [ 1.46022343e-03 -4.06323332e-05 9.99998933e-01 -1.80176041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:1.08, Z:-0.18 [[ 9.98854162e-01 -4.78354568e-02 -1.46031410e-03 8.44938586e+01] [ 4.78354535e-02 9.98855229e-01 -3.72312126e-05 1.08250441e+00] [ 1.46042335e-03 -3.26662357e-05 9.99998933e-01 -1.79082929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:1.08, Z:-0.18 [[ 9.98999021e-01 -4.47082078e-02 -1.46031627e-03 8.45262847e+01] [ 4.47082013e-02 9.99000088e-01 -3.71460558e-05 1.08256921e+00] [ 1.46051681e-03 -2.81792403e-05 9.99998933e-01 -1.79263545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:1.08, Z:-0.18 [[ 9.99128822e-01 -4.17068839e-02 -1.46031800e-03 8.45572269e+01] [ 4.17068742e-02 9.99129889e-01 -3.70777417e-05 1.08302392e+00] [ 1.46059376e-03 -2.38598589e-05 9.99998933e-01 -1.79724378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:1.08, Z:-0.18 [[ 9.99232278e-01 -3.91499835e-02 -1.46031929e-03 8.45896377e+01] [ 3.91499712e-02 9.99233345e-01 -3.70268568e-05 1.08401708e+00] [ 1.46064933e-03 -2.01730278e-05 9.99998933e-01 -1.80003082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:1.09, Z:-0.18 [[ 9.99380984e-01 -3.51499019e-02 -1.46032100e-03 8.46218941e+01] [ 3.51498854e-02 9.99382051e-01 -3.69591890e-05 1.08612261e+00] [ 1.46071771e-03 -1.43938052e-05 9.99998933e-01 -1.79063351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:1.09, Z:-0.18 [[ 9.99427607e-01 -3.37983036e-02 -1.46032273e-03 8.46538888e+01] [ 3.37982858e-02 9.99428674e-01 -3.68909170e-05 1.08703673e+00] [ 1.46073526e-03 -1.24866040e-05 9.99998933e-01 -1.78617271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:1.09, Z:-0.18 [[ 9.99453888e-01 -3.30120124e-02 -1.46032446e-03 8.46848364e+01] [ 3.30119938e-02 9.99454955e-01 -3.68222581e-05 1.08762441e+00] [ 1.46074409e-03 -1.14060730e-05 9.99998933e-01 -1.78087948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:84.72, Y:1.09, Z:-0.18 [[ 9.99451235e-01 -3.30922507e-02 -1.46032576e-03 8.47158191e+01] [ 3.30922323e-02 9.99452301e-01 -3.67708395e-05 1.08825658e+00] [ 1.46074277e-03 -1.15747782e-05 9.99998933e-01 -1.78882995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:1.09, Z:-0.18 [[ 9.99461976e-01 -3.27662365e-02 -1.46032703e-03 8.47466456e+01] [ 3.27662178e-02 9.99463043e-01 -3.67199508e-05 1.08784151e+00] [ 1.46074608e-03 -1.11491991e-05 9.99998933e-01 -1.77972555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:1.09, Z:-0.18 [[ 9.99450946e-01 -3.31009748e-02 -1.46032983e-03 8.47785520e+01] [ 3.31009566e-02 9.99452013e-01 -3.66083426e-05 1.08801829e+00] [ 1.46074136e-03 -1.17500718e-05 9.99998933e-01 -1.76310192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:1.09, Z:-0.18 [[ 9.99442533e-01 -3.33540085e-02 -1.46033154e-03 8.48096045e+01] [ 3.33539907e-02 9.99443600e-01 -3.65399292e-05 1.08824855e+00] [ 1.46073777e-03 -1.21883253e-05 9.99998933e-01 -1.76205749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:1.09, Z:-0.18 [[ 9.99407603e-01 -3.43847418e-02 -1.46033282e-03 8.48413515e+01] [ 3.43847252e-02 9.99408670e-01 -3.64886941e-05 1.08942925e+00] [ 1.46072394e-03 -1.37460645e-05 9.99998933e-01 -1.75365374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:1.09, Z:-0.18 [[ 9.99388273e-01 -3.49420507e-02 -1.46033456e-03 8.48728814e+01] [ 3.49420348e-02 9.99389340e-01 -3.64189948e-05 1.09028422e+00] [ 1.46071535e-03 -1.46303447e-05 9.99998933e-01 -1.76731328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:1.09, Z:-0.18 [[ 9.99350090e-01 -3.60175794e-02 -1.46033748e-03 8.49050466e+01] [ 3.60175648e-02 9.99351156e-01 -3.63016350e-05 1.09142443e+00] [ 1.46069745e-03 -1.63197576e-05 9.99998933e-01 -1.77747199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:1.09, Z:-0.18 [[ 9.99308623e-01 -3.71502751e-02 -1.46033916e-03 8.49372007e+01] [ 3.71502618e-02 9.99309690e-01 -3.62339664e-05 1.09154066e+00] [ 1.46067717e-03 -1.80430670e-05 9.99998933e-01 -1.78197456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:1.09, Z:-0.18 [[ 9.99189928e-01 -4.02163449e-02 -1.46034084e-03 8.49697036e+01] [ 4.02163350e-02 9.99190995e-01 -3.61660573e-05 1.08996464e+00] [ 1.46061389e-03 -2.25927962e-05 9.99998933e-01 -1.77890294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.00, Y:1.09, Z:-0.18 [[ 9.99122134e-01 -4.18667936e-02 -1.46034253e-03 8.50023648e+01] [ 4.18667855e-02 9.99123201e-01 -3.60978031e-05 1.09013464e+00] [ 1.46057340e-03 -2.50737334e-05 9.99998933e-01 -1.79170938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:1.09, Z:-0.18 [[ 9.99086125e-01 -4.27174694e-02 -1.46034421e-03 8.50335299e+01] [ 4.27174623e-02 9.99087192e-01 -3.60294878e-05 1.08927691e+00] [ 1.46055029e-03 -2.63856376e-05 9.99998933e-01 -1.76593950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:1.09, Z:-0.18 [[ 9.98979741e-01 -4.51369516e-02 -1.46034546e-03 8.50651867e+01] [ 4.51369472e-02 9.98980808e-01 -3.59787647e-05 1.08730197e+00] [ 1.46048106e-03 -2.99734790e-05 9.99998933e-01 -1.77204142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:1.09, Z:-0.18 [[ 9.98932210e-01 -4.61769198e-02 -1.46034671e-03 8.50975500e+01] [ 4.61769166e-02 9.98933277e-01 -3.59281448e-05 1.08609114e+00] [ 1.46044797e-03 -3.15445271e-05 9.99998933e-01 -1.77301358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:1.09, Z:-0.18 [[ 9.98880622e-01 -4.72797124e-02 -1.46034831e-03 8.51293737e+01] [ 4.72797105e-02 9.98881689e-01 -3.58627551e-05 1.08546226e+00] [ 1.46041077e-03 -3.32222344e-05 9.99998933e-01 -1.76590743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:1.08, Z:-0.18 [[ 9.98840986e-01 -4.81097987e-02 -1.46034995e-03 8.51611402e+01] [ 4.81097977e-02 9.98842053e-01 -3.57960712e-05 1.08390643e+00] [ 1.46038108e-03 -3.45025577e-05 9.99998933e-01 -1.77068295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:1.08, Z:-0.18 [[ 9.98733120e-01 -5.02993315e-02 -1.46035158e-03 8.51920655e+01] [ 5.02993330e-02 9.98734187e-01 -3.57293469e-05 1.08000674e+00] [ 1.46030021e-03 -3.77706285e-05 9.99998933e-01 -1.79597069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:1.08, Z:-0.18 [[ 9.98696544e-01 -5.10203933e-02 -1.46035280e-03 8.52245697e+01] [ 5.10203956e-02 9.98697611e-01 -3.56795618e-05 1.07840348e+00] [ 1.46027124e-03 -3.88747225e-05 9.99998933e-01 -1.79269172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:1.08, Z:-0.18 [[ 9.98686250e-01 -5.12214956e-02 -1.46035444e-03 8.52555354e+01] [ 5.12214982e-02 9.98687317e-01 -3.56124091e-05 1.07740790e+00] [ 1.46026157e-03 -3.92359188e-05 9.99998933e-01 -1.80359314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.29, Y:1.08, Z:-0.18 [[ 9.98677022e-01 -5.14011048e-02 -1.46035566e-03 8.52876507e+01] [ 5.14011077e-02 9.98678089e-01 -3.55623196e-05 1.07729777e+00] [ 1.46025314e-03 -3.95486269e-05 9.99998933e-01 -1.82120198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.32, Y:1.08, Z:-0.18 [[ 9.98679334e-01 -5.13561535e-02 -1.46035725e-03 8.53203211e+01] [ 5.13561565e-02 9.98680401e-01 -3.54967050e-05 1.07800512e+00] [ 1.46025314e-03 -3.95485097e-05 9.99998933e-01 -1.82072475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:85.35, Y:1.08, Z:-0.18 [[ 9.98718374e-01 -5.05912786e-02 -1.46035885e-03 8.53527668e+01] [ 5.05912808e-02 9.98719441e-01 -3.54309732e-05 1.07746891e+00] [ 1.46028127e-03 -3.84958605e-05 9.99998933e-01 -1.81221354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:1.07, Z:-0.18 [[ 9.98924671e-01 -4.63397216e-02 -1.46036046e-03 8.53836340e+01] [ 4.63397194e-02 9.98925738e-01 -3.53641363e-05 1.07356517e+00] [ 1.46043042e-03 -3.23465859e-05 9.99998933e-01 -1.79135997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:1.07, Z:-0.18 [[ 9.99046533e-01 -4.36336175e-02 -1.46036167e-03 8.54162426e+01] [ 4.36336125e-02 9.99047600e-01 -3.53141641e-05 1.07232188e+00] [ 1.46051171e-03 -2.84403621e-05 9.99998933e-01 -1.77692437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:1.07, Z:-0.18 [[ 9.99183906e-01 -4.03657032e-02 -1.46036326e-03 8.54475067e+01] [ 4.03656948e-02 9.99184973e-01 -3.52481921e-05 1.07158067e+00] [ 1.46059585e-03 -2.37291515e-05 9.99998933e-01 -1.77736620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:1.07, Z:-0.18 [[ 9.99316786e-01 -3.69300433e-02 -1.46036574e-03 8.54801536e+01] [ 3.69300313e-02 9.99317853e-01 -3.51454885e-05 1.07164363e+00] [ 1.46066748e-03 -1.88098758e-05 9.99998933e-01 -1.77318613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.51, Y:1.07, Z:-0.18 [[ 9.99504365e-01 -3.14466533e-02 -1.46036728e-03 8.55116319e+01] [ 3.14466356e-02 9.99505432e-01 -3.50810726e-05 1.07320569e+00] [ 1.46074821e-03 -1.08599526e-05 9.99998933e-01 -1.79052630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:1.07, Z:-0.18 [[ 9.99592353e-01 -2.85130625e-02 -1.46036806e-03 8.55433662e+01] [ 2.85130417e-02 9.99593420e-01 -3.50486121e-05 1.07378401e+00] [ 1.46077365e-03 -6.60521077e-06 9.99998933e-01 -1.76471953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:1.07, Z:-0.18 [[ 9.99655439e-01 -2.62082288e-02 -1.46036970e-03 8.55747447e+01] [ 2.62082057e-02 9.99656505e-01 -3.49804175e-05 1.07481724e+00] [ 1.46078484e-03 -3.30530474e-06 9.99998933e-01 -1.77220836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:1.08, Z:-0.18 [[ 9.99736394e-01 -2.29130869e-02 -1.46037132e-03 8.56065141e+01] [ 2.29130603e-02 9.99737461e-01 -3.49125302e-05 1.07550458e+00] [ 1.46078787e-03 1.44175098e-06 9.99998933e-01 -1.76772146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.64, Y:1.08, Z:-0.18 [[ 9.99756619e-01 -2.20129573e-02 -1.46037214e-03 8.56377622e+01] [ 2.20129299e-02 9.99757685e-01 -3.48781617e-05 1.07613025e+00] [ 1.46078604e-03 2.72260350e-06 9.99998933e-01 -1.78294978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.67, Y:1.08, Z:-0.18 [[ 9.99773030e-01 -2.12545465e-02 -1.46037296e-03 8.56684819e+01] [ 2.12545182e-02 9.99774097e-01 -3.48437098e-05 1.07672024e+00] [ 1.46078365e-03 3.79627756e-06 9.99998933e-01 -1.79147791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:1.08, Z:-0.18 [[ 9.99785277e-01 -2.06704379e-02 -1.46037337e-03 8.56993648e+01] [ 2.06704091e-02 9.99786344e-01 -3.48265640e-05 1.07686394e+00] [ 1.46078123e-03 4.63257088e-06 9.99998933e-01 -1.78343154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:1.08, Z:-0.18 [[ 9.99775880e-01 -2.11200682e-02 -1.46037592e-03 8.57306629e+01] [ 2.11200400e-02 9.99776946e-01 -3.47195050e-05 1.07721922e+00] [ 1.46078345e-03 3.86852588e-06 9.99998933e-01 -1.78597675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:1.08, Z:-0.18 [[ 9.99762520e-01 -2.17432999e-02 -1.46037709e-03 8.57625311e+01] [ 2.17432724e-02 9.99763587e-01 -3.46701934e-05 1.07761008e+00] [ 1.46078568e-03 2.90858304e-06 9.99998933e-01 -1.77575087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:1.08, Z:-0.18 [[ 9.99745408e-01 -2.25163478e-02 -1.46037871e-03 8.57945886e+01] [ 2.25163213e-02 9.99746475e-01 -3.46016314e-05 1.07768159e+00] [ 1.46078757e-03 1.71046593e-06 9.99998933e-01 -1.77737510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:1.08, Z:-0.18 [[ 9.99710461e-01 -2.40179413e-02 -1.46038035e-03 8.58257906e+01] [ 2.40179165e-02 9.99711528e-01 -3.45324539e-05 1.07860052e+00] [ 1.46078847e-03 -5.52837856e-07 9.99998933e-01 -1.77887862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:1.08, Z:-0.18 [[ 9.99694303e-01 -2.46813452e-02 -1.46038156e-03 8.58575501e+01] [ 2.46813212e-02 9.99695369e-01 -3.44808625e-05 1.07976245e+00] [ 1.46078772e-03 -1.57382472e-06 9.99998933e-01 -1.77633365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:1.08, Z:-0.18 [[ 9.99685587e-01 -2.50318828e-02 -1.46038318e-03 8.58889981e+01] [ 2.50318592e-02 9.99686653e-01 -3.44122814e-05 1.08026611e+00] [ 1.46078698e-03 -2.15464449e-06 9.99998933e-01 -1.78683056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:1.08, Z:-0.18 [[ 9.99666852e-01 -2.57692291e-02 -1.46038439e-03 8.59200370e+01] [ 2.57692064e-02 9.99667918e-01 -3.43611042e-05 1.08154971e+00] [ 1.46078488e-03 -3.28328970e-06 9.99998933e-01 -1.76532301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:85.95, Y:1.08, Z:-0.18 [[ 9.99663350e-01 -2.59046908e-02 -1.46038519e-03 8.59511246e+01] [ 2.59046683e-02 9.99664417e-01 -3.43269292e-05 1.08305389e+00] [ 1.46078434e-03 -3.51542084e-06 9.99998933e-01 -1.77472580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.98, Y:1.08, Z:-0.18 [[ 9.99658833e-01 -2.60784182e-02 -1.46038769e-03 8.59828621e+01] [ 2.60783960e-02 9.99659900e-01 -3.42201956e-05 1.08435323e+00] [ 1.46078342e-03 -3.87604768e-06 9.99998933e-01 -1.77515072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:1.08, Z:-0.18 [[ 9.99639281e-01 -2.68174311e-02 -1.46038848e-03 8.60140451e+01] [ 2.68174098e-02 9.99640348e-01 -3.41864131e-05 1.08442137e+00] [ 1.46078004e-03 -4.98975493e-06 9.99998933e-01 -1.77629405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:1.09, Z:-0.18 [[ 9.99624113e-01 -2.73769880e-02 -1.46038966e-03 8.60458227e+01] [ 2.73769674e-02 9.99625180e-01 -3.41359289e-05 1.08549321e+00] [ 1.46077682e-03 -5.85794243e-06 9.99998933e-01 -1.78017380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:1.09, Z:-0.18 [[ 9.99605100e-01 -2.80626170e-02 -1.46039043e-03 8.60780442e+01] [ 2.80625972e-02 9.99606167e-01 -3.41028480e-05 1.08702269e+00] [ 1.46077230e-03 -6.89296766e-06 9.99998933e-01 -1.78009199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:1.09, Z:-0.18 [[ 9.99583499e-01 -2.88217842e-02 -1.46039198e-03 8.61097755e+01] [ 2.88217653e-02 9.99584566e-01 -3.40363539e-05 1.08879461e+00] [ 1.46076627e-03 -8.06889715e-06 9.99998933e-01 -1.78293087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:1.09, Z:-0.18 [[ 9.99567412e-01 -2.93744018e-02 -1.46039354e-03 8.61412256e+01] [ 2.93743836e-02 9.99568479e-01 -3.39695515e-05 1.09018463e+00] [ 1.46076118e-03 -8.94330324e-06 9.99998933e-01 -1.78170509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:1.09, Z:-0.18 [[ 9.99521754e-01 -3.08889928e-02 -1.46039470e-03 8.61722699e+01] [ 3.08889762e-02 9.99522821e-01 -3.39196517e-05 1.09279458e+00] [ 1.46074557e-03 -1.12066672e-05 9.99998933e-01 -1.78429752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:1.09, Z:-0.18 [[ 9.99492520e-01 -3.18209091e-02 -1.46039584e-03 8.62041724e+01] [ 3.18208936e-02 9.99493587e-01 -3.38702381e-05 1.09453850e+00] [ 1.46073406e-03 -1.26180511e-05 9.99998933e-01 -1.77264041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:1.10, Z:-0.18 [[ 9.99456240e-01 -3.29407248e-02 -1.46039741e-03 8.62363704e+01] [ 3.29407105e-02 9.99457307e-01 -3.38024653e-05 1.09565364e+00] [ 1.46071834e-03 -1.43224435e-05 9.99998933e-01 -1.77042930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:1.10, Z:-0.18 [[ 9.99350531e-01 -3.60053210e-02 -1.46039898e-03 8.62672319e+01] [ 3.60053102e-02 9.99351598e-01 -3.37346138e-05 1.09522042e+00] [ 1.46066668e-03 -1.88694140e-05 9.99998933e-01 -1.77194389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:1.10, Z:-0.18 [[ 9.99273980e-01 -3.80707164e-02 -1.46040014e-03 8.62997612e+01] [ 3.80707079e-02 9.99275047e-01 -3.36840230e-05 1.09530472e+00] [ 1.46062380e-03 -2.19388995e-05 9.99998933e-01 -1.76962374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.33, Y:1.10, Z:-0.18 [[ 9.99184076e-01 -4.03614872e-02 -1.46040167e-03 8.63319097e+01] [ 4.03614812e-02 9.99185143e-01 -3.36177635e-05 1.09557802e+00] [ 1.46056851e-03 -2.53536406e-05 9.99998933e-01 -1.77614739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:1.10, Z:-0.18 [[ 9.99094725e-01 -4.25158640e-02 -1.46040321e-03 8.63642036e+01] [ 4.25158603e-02 9.99095791e-01 -3.35509022e-05 1.09538295e+00] [ 1.46050914e-03 -2.85697694e-05 9.99998933e-01 -1.76587278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:1.09, Z:-0.18 [[ 9.98917211e-01 -4.65002531e-02 -1.46040475e-03 8.63961010e+01] [ 4.65002538e-02 9.98918278e-01 -3.34833914e-05 1.09407457e+00] [ 1.46038199e-03 -3.44620558e-05 9.99998933e-01 -1.75571448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:1.09, Z:-0.18 [[ 9.98844780e-01 -4.80309626e-02 -1.46040630e-03 8.64274537e+01] [ 4.80309650e-02 9.98845847e-01 -3.34159584e-05 1.09350218e+00] [ 1.46032576e-03 -3.67673681e-05 9.99998933e-01 -1.76024224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:1.09, Z:-0.18 [[ 9.98781705e-01 -4.93251658e-02 -1.46040744e-03 8.64592161e+01] [ 4.93251698e-02 9.98782772e-01 -3.33657355e-05 1.09289055e+00] [ 1.46027557e-03 -3.87097589e-05 9.99998933e-01 -1.76441025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:1.09, Z:-0.18 [[ 9.98747840e-01 -5.00061956e-02 -1.46040890e-03 8.64918066e+01] [ 5.00062003e-02 9.98748907e-01 -3.33018723e-05 1.09184623e+00] [ 1.46024709e-03 -3.97693269e-05 9.99998933e-01 -1.76856100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:1.09, Z:-0.18 [[ 9.98731662e-01 -5.03282727e-02 -1.46041038e-03 8.65242227e+01] [ 5.03282779e-02 9.98732729e-01 -3.32367924e-05 1.08847618e+00] [ 1.46023240e-03 -4.03053026e-05 9.99998933e-01 -1.78745197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:1.09, Z:-0.18 [[ 9.98751487e-01 -4.99332933e-02 -1.46041185e-03 8.65558848e+01] [ 4.99332982e-02 9.98752554e-01 -3.31720810e-05 1.08700911e+00] [ 1.46024646e-03 -3.97925152e-05 9.99998933e-01 -1.79466139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:1.09, Z:-0.18 [[ 9.98781540e-01 -4.93285168e-02 -1.46041415e-03 8.65880203e+01] [ 4.93285211e-02 9.98782607e-01 -3.30704041e-05 1.08570056e+00] [ 1.46026757e-03 -3.90099613e-05 9.99998933e-01 -1.78221407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:1.08, Z:-0.18 [[ 9.98844328e-01 -4.80403520e-02 -1.46041564e-03 8.66202157e+01] [ 4.80403551e-02 9.98845395e-01 -3.30044473e-05 1.08335436e+00] [ 1.46031499e-03 -3.71925811e-05 9.99998933e-01 -1.77773170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:1.08, Z:-0.18 [[ 9.98871275e-01 -4.74767631e-02 -1.46041714e-03 8.66517910e+01] [ 4.74767657e-02 9.98872342e-01 -3.29381870e-05 1.08169569e+00] [ 1.46033409e-03 -3.64348734e-05 9.99998933e-01 -1.78595871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:1.08, Z:-0.18 [[ 9.98906467e-01 -4.67304693e-02 -1.46041825e-03 8.66827608e+01] [ 4.67304711e-02 9.98907534e-01 -3.28887432e-05 1.07925209e+00] [ 1.46035970e-03 -3.53932547e-05 9.99998933e-01 -1.79568792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:86.72, Y:1.08, Z:-0.18 [[ 9.98941864e-01 -4.59675864e-02 -1.46041935e-03 8.67150413e+01] [ 4.59675875e-02 9.98942931e-01 -3.28401247e-05 1.07688828e+00] [ 1.46038516e-03 -3.43265786e-05 9.99998933e-01 -1.79254015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.75, Y:1.07, Z:-0.18 [[ 9.99004508e-01 -4.45854179e-02 -1.46042089e-03 8.67460444e+01] [ 4.45854176e-02 9.99005575e-01 -3.27710702e-05 1.07194186e+00] [ 1.46042973e-03 -3.23750286e-05 9.99998933e-01 -1.80504597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:1.07, Z:-0.18 [[ 9.99035156e-01 -4.38933192e-02 -1.46042205e-03 8.67779354e+01] [ 4.38933182e-02 9.99036223e-01 -3.27194023e-05 1.06936344e+00] [ 1.46045069e-03 -3.14149367e-05 9.99998933e-01 -1.78978845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:1.07, Z:-0.18 [[ 9.99071948e-01 -4.30477682e-02 -1.46042359e-03 8.68091780e+01] [ 4.30477664e-02 9.99073015e-01 -3.26504721e-05 1.06705027e+00] [ 1.46047533e-03 -3.02478029e-05 9.99998933e-01 -1.81037128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:1.07, Z:-0.18 [[ 9.99138827e-01 -4.14665222e-02 -1.46042474e-03 8.68409032e+01] [ 4.14665188e-02 9.99139893e-01 -3.25988935e-05 1.06520023e+00] [ 1.46052039e-03 -2.79879100e-05 9.99998933e-01 -1.80461557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:1.06, Z:-0.18 [[ 9.99307708e-01 -3.71748761e-02 -1.46042548e-03 8.68719922e+01] [ 3.71748681e-02 9.99308775e-01 -3.25656989e-05 1.06058374e+00] [ 1.46062663e-03 -2.17479709e-05 9.99998933e-01 -1.80604334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:86.90, Y:1.06, Z:-0.18 [[ 9.99403025e-01 -3.45175415e-02 -1.46042624e-03 8.69018758e+01] [ 3.45175308e-02 9.99404092e-01 -3.25317886e-05 1.05923011e+00] [ 1.46067888e-03 -1.78979397e-05 9.99998933e-01 -1.81955223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:86.93, Y:1.06, Z:-0.18 [[ 9.99508940e-01 -3.13008841e-02 -1.46042662e-03 8.69334160e+01] [ 3.13008700e-02 9.99510007e-01 -3.25148306e-05 1.05833819e+00] [ 1.46072876e-03 -1.32137599e-05 9.99998933e-01 -1.81900716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:1.06, Z:-0.18 [[ 9.99699234e-01 -2.44807997e-02 -1.46042737e-03 8.69633618e+01] [ 2.44807784e-02 9.99700300e-01 -3.24812275e-05 1.05666016e+00] [ 1.46078484e-03 -3.28094038e-06 9.99998933e-01 -1.80691672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:1.06, Z:-0.18 [[ 9.99782735e-01 -2.07930146e-02 -1.46042811e-03 8.69939369e+01] [ 2.07929894e-02 9.99783802e-01 -3.24477107e-05 1.05586753e+00] [ 1.46078705e-03 2.07399470e-06 9.99998933e-01 -1.80926540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:1.06, Z:-0.18 [[ 9.99855309e-01 -1.69477974e-02 -1.46042934e-03 8.70256275e+01] [ 1.69477682e-02 9.99856376e-01 -3.23922476e-05 1.05516057e+00] [ 1.46076856e-03 7.63654286e-06 9.99998933e-01 -1.80184416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:1.05, Z:-0.18 [[ 9.99942364e-01 -1.06365321e-02 -1.46043008e-03 8.70560190e+01] [ 1.06364962e-02 9.99943430e-01 -3.23587307e-05 1.05441466e+00] [ 1.46069165e-03 1.68230067e-05 9.99998933e-01 -1.80653071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:1.06, Z:-0.18 [[ 9.99965254e-01 -8.20723214e-03 -1.46043045e-03 8.70868999e+01] [ 8.20719366e-03 9.99966320e-01 -3.23420235e-05 1.05504029e+00] [ 1.46064670e-03 2.03548642e-05 9.99998933e-01 -1.80567853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:1.06, Z:-0.18 [[ 9.99979665e-01 -6.20779486e-03 -1.46043045e-03 8.71171509e+01] [ 6.20775424e-03 9.99980731e-01 -3.23420235e-05 1.05643601e+00] [ 1.46060308e-03 2.32753725e-05 9.99998933e-01 -1.80590271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:1.06, Z:-0.18 [[ 9.99989253e-01 -4.40016162e-03 -1.46043167e-03 8.71474779e+01] [ 4.40011915e-03 9.99990319e-01 -3.22867984e-05 1.05817322e+00] [ 1.46055960e-03 2.58603780e-05 9.99998933e-01 -1.80329512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:1.06, Z:-0.18 [[ 9.99997908e-01 -1.43239067e-03 -1.46043167e-03 8.71771472e+01] [ 1.43234504e-03 9.99998974e-01 -3.22867984e-05 1.05947281e+00] [ 1.46047642e-03 3.01948888e-05 9.99998933e-01 -1.81545426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:1.06, Z:-0.18 [[ 9.99998873e-01 -3.47653695e-04 -1.46043131e-03 8.72071012e+01] [ 3.47606888e-04 9.99999939e-01 -3.23032390e-05 1.05983539e+00] [ 1.46044245e-03 3.17955466e-05 9.99998933e-01 -1.81889154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:1.06, Z:-0.18 [[ 9.99998863e-01 3.76950177e-04 -1.46043058e-03 8.72371794e+01] [-3.76997803e-04 9.99999928e-01 -3.23360055e-05 1.06101074e+00] [ 1.46041829e-03 3.28865479e-05 9.99998933e-01 -1.82202195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:1.06, Z:-0.18 [[ 9.99998414e-01 1.01963254e-03 -1.46042986e-03 8.72668701e+01] [-1.01968090e-03 9.99999480e-01 -3.23686515e-05 1.06272689e+00] [ 1.46039610e-03 3.38577726e-05 9.99998933e-01 -1.82083869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:1.06, Z:-0.18 [[ 9.99998436e-01 9.97196321e-04 -1.46042914e-03 8.72970224e+01] [-9.97244704e-04 9.99999502e-01 -3.24013254e-05 1.06344298e+00] [ 1.46039610e-03 3.38576799e-05 9.99998933e-01 -1.82039806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:1.07, Z:-0.18 [[ 9.99998185e-01 1.22387128e-03 -1.46042841e-03 8.73263503e+01] [-1.22391995e-03 9.99999250e-01 -3.24340919e-05 1.06676794e+00] [ 1.46038762e-03 3.42214805e-05 9.99998933e-01 -1.80228518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:1.07, Z:-0.18 [[ 9.99998666e-01 7.31605846e-04 -1.46042764e-03 8.73551799e+01] [-7.31654044e-04 9.99999732e-01 -3.24687383e-05 1.06837129e+00] [ 1.46040349e-03 3.35372228e-05 9.99998933e-01 -1.81566777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:1.07, Z:-0.18 [[ 9.99998925e-01 -1.30093444e-04 -1.46042649e-03 8.73844489e+01] [ 1.30046089e-04 9.99999991e-01 -3.25202440e-05 1.06963958e+00] [ 1.46043071e-03 3.23302863e-05 9.99998933e-01 -1.79833822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:1.07, Z:-0.18 [[ 9.99995508e-01 -2.61762693e-03 -1.46042572e-03 8.74137345e+01] [ 2.61758218e-03 9.99996574e-01 -3.25546838e-05 1.07113702e+00] [ 1.46050594e-03 2.87317532e-05 9.99998933e-01 -1.80510722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:1.07, Z:-0.18 [[ 9.99990609e-01 -4.08032511e-03 -1.46042534e-03 8.74433048e+01] [ 4.08028189e-03 9.99991675e-01 -3.25718524e-05 1.07264313e+00] [ 1.46054609e-03 2.66125995e-05 9.99998933e-01 -1.77859677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:1.07, Z:-0.18 [[ 9.99983969e-01 -5.47073953e-03 -1.46042457e-03 8.74723972e+01] [ 5.47069774e-03 9.99985035e-01 -3.26062826e-05 1.07469430e+00] [ 1.46058110e-03 2.46162185e-05 9.99998933e-01 -1.77930665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.50, Y:1.08, Z:-0.18 [[ 9.99967228e-01 -7.96306812e-03 -1.46042419e-03 8.75030349e+01] [ 7.96302896e-03 9.99968294e-01 -3.26234157e-05 1.07824207e+00] [ 1.46063767e-03 2.09929464e-05 9.99998933e-01 -1.79060597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:1.08, Z:-0.18 [[ 9.99957367e-01 -9.11763090e-03 -1.46042419e-03 8.75335932e+01] [ 9.11759297e-03 9.99958433e-01 -3.26234157e-05 1.07972530e+00] [ 1.46066093e-03 1.93064715e-05 9.99998933e-01 -1.80990097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:1.08, Z:-0.18 [[ 9.99945148e-01 -1.03715309e-02 -1.46042459e-03 8.75643207e+01] [ 1.03714943e-02 9.99946214e-01 -3.26054642e-05 1.08083848e+00] [ 1.46068421e-03 1.74568903e-05 9.99998933e-01 -1.82341599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:1.08, Z:-0.18 [[ 9.99932617e-01 -1.15164164e-02 -1.46042459e-03 8.75957853e+01] [ 1.15163810e-02 9.99933684e-01 -3.26054642e-05 1.08221935e+00] [ 1.46070324e-03 1.57844610e-05 9.99998933e-01 -1.82548651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:1.08, Z:-0.18 [[ 9.99898900e-01 -1.41441444e-02 -1.46042534e-03 8.76274518e+01] [ 1.41441119e-02 9.99899967e-01 -3.25718294e-05 1.08478904e+00] [ 1.46073995e-03 1.19121170e-05 9.99998933e-01 -1.83199000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:1.09, Z:-0.18 [[ 9.99872892e-01 -1.58765937e-02 -1.46042608e-03 8.76588981e+01] [ 1.58765631e-02 9.99873959e-01 -3.25384319e-05 1.08676581e+00] [ 1.46075861e-03 9.34774917e-06 9.99998933e-01 -1.81636894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:1.09, Z:-0.18 [[ 9.99843386e-01 -1.76371895e-02 -1.46042686e-03 8.76887317e+01] [ 1.76371608e-02 9.99844453e-01 -3.25036654e-05 1.08827880e+00] [ 1.46077297e-03 6.74079150e-06 9.99998933e-01 -1.82240336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:1.09, Z:-0.18 [[ 9.99759778e-01 -2.18690005e-02 -1.46042724e-03 8.77201369e+01] [ 2.18689764e-02 9.99760845e-01 -3.24863902e-05 1.08931888e+00] [ 1.46078842e-03 5.40537331e-07 9.99998933e-01 -1.81354159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:1.09, Z:-0.18 [[ 9.99706826e-01 -2.41687849e-02 -1.46042799e-03 8.77500573e+01] [ 2.41687633e-02 9.99707892e-01 -3.24527850e-05 1.08974127e+00] [ 1.46078573e-03 -2.85346778e-06 9.99998933e-01 -1.81899616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:1.09, Z:-0.18 [[ 9.99660515e-01 -2.60138778e-02 -1.46042836e-03 8.77809137e+01] [ 2.60138582e-02 9.99661582e-01 -3.24360687e-05 1.08990917e+00] [ 1.46077791e-03 -5.56631906e-06 9.99998933e-01 -1.80818783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:1.09, Z:-0.18 [[ 9.99612654e-01 -2.77922376e-02 -1.46042912e-03 8.78122226e+01] [ 2.77922199e-02 9.99613721e-01 -3.24018220e-05 1.09068189e+00] [ 1.46076551e-03 -8.19929599e-06 9.99998933e-01 -1.80258527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:1.09, Z:-0.18 [[ 9.99571952e-01 -2.92195046e-02 -1.46043026e-03 8.78439391e+01] [ 2.92194886e-02 9.99573019e-01 -3.23505376e-05 1.09165681e+00] [ 1.46075195e-03 -1.03363351e-05 9.99998933e-01 -1.79202673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:1.09, Z:-0.18 [[ 9.99533343e-01 -3.05116775e-02 -1.46043102e-03 8.78743217e+01] [ 3.05116629e-02 9.99534410e-01 -3.23161154e-05 1.09372172e+00] [ 1.46073707e-03 -1.22591440e-05 9.99998933e-01 -1.79250749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:1.09, Z:-0.18 [[ 9.99527905e-01 -3.06893159e-02 -1.46043140e-03 8.79055352e+01] [ 3.06893014e-02 9.99528972e-01 -3.22989641e-05 1.09423035e+00] [ 1.46073473e-03 -1.25359034e-05 9.99998933e-01 -1.81620124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:1.10, Z:-0.18 [[ 9.99526543e-01 -3.07336467e-02 -1.46043253e-03 8.79367436e+01] [ 3.07336324e-02 9.99527610e-01 -3.22478449e-05 1.09529231e+00] [ 1.46073373e-03 -1.26518195e-05 9.99998933e-01 -1.80078201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:1.10, Z:-0.18 [[ 9.99526200e-01 -3.07447891e-02 -1.46043364e-03 8.79674345e+01] [ 3.07447749e-02 9.99527267e-01 -3.21971955e-05 1.09656884e+00] [ 1.46073314e-03 -1.27187631e-05 9.99998933e-01 -1.80194807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156000001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:88.00, Y:1.10, Z:-0.18 [[ 9.99506836e-01 -3.13680235e-02 -1.46043476e-03 8.79984906e+01] [ 3.13680100e-02 9.99507902e-01 -3.21463656e-05 1.09768287e+00] [ 1.46072445e-03 -1.36804201e-05 9.99998933e-01 -1.80049067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:1.10, Z:-0.18 [[ 9.99494796e-01 -3.17493325e-02 -1.46043554e-03 8.80294028e+01] [ 3.17493195e-02 9.99495863e-01 -3.21109799e-05 1.09840257e+00] [ 1.46071878e-03 -1.42730772e-05 9.99998933e-01 -1.79625386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:1.10, Z:-0.18 [[ 9.99464636e-01 -3.26849739e-02 -1.46043670e-03 8.80611611e+01] [ 3.26849619e-02 9.99465703e-01 -3.20580871e-05 1.09890127e+00] [ 1.46070421e-03 -1.56933935e-05 9.99998933e-01 -1.78536380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:1.10, Z:-0.18 [[ 9.99449042e-01 -3.31584073e-02 -1.46043745e-03 8.80921808e+01] [ 3.31583959e-02 9.99450109e-01 -3.20237597e-05 1.09960294e+00] [ 1.46069623e-03 -1.64196473e-05 9.99998933e-01 -1.79797154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:1.10, Z:-0.18 [[ 9.99432233e-01 -3.36612261e-02 -1.46043858e-03 8.81234833e+01] [ 3.36612153e-02 9.99433300e-01 -3.19723194e-05 1.10010357e+00] [ 1.46068718e-03 -1.72059709e-05 9.99998933e-01 -1.80804034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:1.10, Z:-0.18 [[ 9.99424822e-01 -3.38805606e-02 -1.46043933e-03 8.81544052e+01] [ 3.38805501e-02 9.99425889e-01 -3.19380629e-05 1.09930575e+00] [ 1.46068295e-03 -1.75607951e-05 9.99998933e-01 -1.81032587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:1.10, Z:-0.18 [[ 9.99415276e-01 -3.41609933e-02 -1.46044009e-03 8.81853412e+01] [ 3.41609832e-02 9.99416343e-01 -3.19033203e-05 1.09815383e+00] [ 1.46067754e-03 -1.80054036e-05 9.99998933e-01 -1.82343966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:1.10, Z:-0.18 [[ 9.99398934e-01 -3.46357906e-02 -1.46044122e-03 8.82165234e+01] [ 3.46357810e-02 9.99400001e-01 -3.18515728e-05 1.09666303e+00] [ 1.46066816e-03 -1.87510942e-05 9.99998933e-01 -1.81797796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.25, Y:1.10, Z:-0.18 [[ 9.99392970e-01 -3.48074630e-02 -1.46044196e-03 8.82473825e+01] [ 3.48074536e-02 9.99394036e-01 -3.18174503e-05 1.09651083e+00] [ 1.46066447e-03 -1.90361296e-05 9.99998933e-01 -1.82684494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:1.10, Z:-0.18 [[ 9.99410697e-01 -3.42946764e-02 -1.46044444e-03 8.82780883e+01] [ 3.42946667e-02 9.99411764e-01 -3.17033920e-05 1.09515714e+00] [ 1.46067261e-03 -1.84007461e-05 9.99998933e-01 -1.80904025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.31, Y:1.09, Z:-0.18 [[ 9.99417956e-01 -3.40825022e-02 -1.46036985e-03 8.83104730e+01] [ 3.40824872e-02 9.99419023e-01 -3.51317313e-05 1.09438337e+00] [ 1.46071879e-03 -1.46617538e-05 9.99998933e-01 -1.80030308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:1.09, Z:-0.18 [[ 9.99452900e-01 -3.30419066e-02 -1.46044522e-03 8.83414846e+01] [ 3.30418956e-02 9.99453967e-01 -3.16546572e-05 1.09329470e+00] [ 1.46069370e-03 -1.66185395e-05 9.99998933e-01 -1.79323684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:1.09, Z:-0.18 [[ 9.99494592e-01 -3.17557509e-02 -1.46044633e-03 8.83731727e+01] [ 3.17557386e-02 9.99495659e-01 -3.16034463e-05 1.09219910e+00] [ 1.46071335e-03 -1.47900782e-05 9.99998933e-01 -1.78745022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:1.09, Z:-0.18 [[ 9.99596392e-01 -2.83710992e-02 -1.46044706e-03 8.84035540e+01] [ 2.83710834e-02 9.99597459e-01 -3.15694148e-05 1.08997632e+00] [ 1.46075483e-03 -9.87779228e-06 9.99998933e-01 -1.78643323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:1.09, Z:-0.18 [[ 9.99659244e-01 -2.60626919e-02 -1.46044824e-03 8.84346284e+01] [ 2.60626737e-02 9.99660310e-01 -3.15150458e-05 1.08988195e+00] [ 1.46077350e-03 -6.55887892e-06 9.99998933e-01 -1.79360815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:1.09, Z:-0.18 [[ 9.99711036e-01 -2.39939816e-02 -1.46044896e-03 8.84661837e+01] [ 2.39939612e-02 9.99712103e-01 -3.14813534e-05 1.08960948e+00] [ 1.46078387e-03 -3.56969928e-06 9.99998933e-01 -1.80755143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:1.09, Z:-0.18 [[ 9.99760056e-01 -2.18562930e-02 -1.46044969e-03 8.84978886e+01] [ 2.18562704e-02 9.99761123e-01 -3.14475923e-05 1.08882665e+00] [ 1.46078815e-03 -4.79936642e-07 9.99998933e-01 -1.81878537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.53, Y:1.09, Z:-0.18 [[ 9.99832223e-01 -1.82590662e-02 -1.46045041e-03 8.85281066e+01] [ 1.82590398e-02 9.99833289e-01 -3.14139775e-05 1.08853134e+00] [ 1.46078053e-03 4.74228477e-06 9.99998933e-01 -1.82669971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:1.09, Z:-0.18 [[ 9.99860298e-01 -1.66508933e-02 -1.46045162e-03 8.85586176e+01] [ 1.66508653e-02 9.99861364e-01 -3.13579261e-05 1.08855098e+00] [ 1.46077128e-03 7.03576224e-06 9.99998933e-01 -1.81845476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:1.09, Z:-0.18 [[ 9.99882101e-01 -1.52856808e-02 -1.46045162e-03 8.85894198e+01] [ 1.52856513e-02 9.99883167e-01 -3.13579261e-05 1.08816867e+00] [ 1.46076031e-03 9.03027484e-06 9.99998933e-01 -1.81373979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:1.09, Z:-0.18 [[ 9.99906200e-01 -1.36183436e-02 -1.46045162e-03 8.86194310e+01] [ 1.36183123e-02 9.99907266e-01 -3.13579261e-05 1.08624934e+00] [ 1.46074323e-03 1.14660984e-05 9.99998933e-01 -1.81814847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.65, Y:1.09, Z:-0.18 [[ 9.99915355e-01 -1.29286292e-02 -1.46045126e-03 8.86503470e+01] [ 1.29285972e-02 9.99916422e-01 -3.13744620e-05 1.08627291e+00] [ 1.46073483e-03 1.24902203e-05 9.99998933e-01 -1.82568673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.68, Y:1.09, Z:-0.18 [[ 9.99925099e-01 -1.21517229e-02 -1.46045196e-03 8.86815538e+01] [ 1.21516900e-02 9.99926165e-01 -3.13416569e-05 1.08568660e+00] [ 1.46072499e-03 1.35923497e-05 9.99998933e-01 -1.83261250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:1.08, Z:-0.18 [[ 9.99946164e-01 -1.02730880e-02 -1.46045267e-03 8.87124968e+01] [ 1.02730532e-02 9.99947230e-01 -3.13087845e-05 1.08445890e+00] [ 1.46069724e-03 1.63037910e-05 9.99998933e-01 -1.80875872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:1.09, Z:-0.18 [[ 9.99958115e-01 -9.03519842e-03 -1.46045343e-03 8.87429786e+01] [ 9.03516238e-03 9.99959182e-01 -3.12734638e-05 1.08517789e+00] [ 1.46067637e-03 1.80767201e-05 9.99998933e-01 -1.82263206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:1.09, Z:-0.18 [[ 9.99971402e-01 -7.42035900e-03 -1.46045380e-03 8.87732242e+01] [ 7.42032127e-03 9.99972469e-01 -3.12558803e-05 1.08599442e+00] [ 1.46064552e-03 2.04179500e-05 9.99998933e-01 -1.80580262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:1.09, Z:-0.18 [[ 9.99983015e-01 -5.64239875e-03 -1.46045380e-03 8.88034559e+01] [ 5.64235911e-03 9.99984081e-01 -3.12558803e-05 1.08627618e+00] [ 1.46060691e-03 2.30149446e-05 9.99998933e-01 -1.79881604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:1.09, Z:-0.18 [[ 9.99997733e-01 -1.54972689e-03 -1.46045380e-03 8.88331060e+01] [ 1.54968290e-03 9.99998799e-01 -3.12558803e-05 1.08639069e+00] [ 1.46050049e-03 2.89925691e-05 9.99998933e-01 -1.81593036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:1.09, Z:-0.18 [[ 9.99998869e-01 3.60331238e-04 -1.46045342e-03 8.88629383e+01] [-3.60377296e-04 9.99999935e-01 -3.12739126e-05 1.08751088e+00] [ 1.46044205e-03 3.18001915e-05 9.99998933e-01 -1.82359482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:1.09, Z:-0.18 [[ 9.99993685e-01 3.23992758e-03 -1.46045304e-03 8.88929776e+01] [-3.23997673e-03 9.99994751e-01 -3.12912637e-05 1.09083308e+00] [ 1.46034400e-03 3.60229000e-05 9.99998933e-01 -1.81605814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:1.09, Z:-0.18 [[ 9.99990717e-01 4.05385910e-03 -1.46045227e-03 8.89215568e+01] [-4.05390917e-03 9.99991782e-01 -3.13274521e-05 1.09254434e+00] [ 1.46031327e-03 3.72477021e-05 9.99998933e-01 -1.83260361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:1.09, Z:-0.18 [[ 9.99990705e-01 4.05684352e-03 -1.46045111e-03 8.89502382e+01] [-4.05689368e-03 9.99991770e-01 -3.13815173e-05 1.09409748e+00] [ 1.46031178e-03 3.73061204e-05 9.99998933e-01 -1.84443852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:1.10, Z:-0.19 [[ 9.99995873e-01 2.47393757e-03 -1.46044999e-03 8.89801073e+01] [-2.47398612e-03 9.99996939e-01 -3.14333173e-05 1.09626505e+00] [ 1.46036776e-03 3.50463206e-05 9.99998933e-01 -1.85327142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:1.10, Z:-0.19 [[ 9.99998464e-01 9.68956338e-04 -1.46044925e-03 8.90092390e+01] [-9.69003328e-04 9.99999530e-01 -3.14678198e-05 1.09772350e+00] [ 1.46041807e-03 3.28829517e-05 9.99998933e-01 -1.87524897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.04, Y:1.10, Z:-0.19 [[ 9.99998277e-01 -1.14590834e-03 -1.46044814e-03 8.90392008e+01] [ 1.14586353e-03 9.99999343e-01 -3.15193263e-05 1.09935755e+00] [ 1.46048329e-03 2.98457978e-05 9.99998933e-01 -1.85449114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:1.10, Z:-0.18 [[ 9.99995115e-01 -2.76345072e-03 -1.46044737e-03 8.90686342e+01] [ 2.76340758e-03 9.99996181e-01 -3.15546027e-05 1.10011093e+00] [ 1.46052900e-03 2.75186372e-05 9.99998933e-01 -1.84761328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:1.10, Z:-0.18 [[ 9.99974750e-01 -6.95462629e-03 -1.46044661e-03 8.90976646e+01] [ 6.95458757e-03 9.99975816e-01 -3.15898991e-05 1.10120846e+00] [ 1.46063099e-03 2.14322976e-05 9.99998933e-01 -1.84287042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:1.10, Z:-0.18 [[ 9.99958840e-01 -8.95459928e-03 -1.46044623e-03 8.91275072e+01] [ 8.95456266e-03 9.99959907e-01 -3.16074685e-05 1.10235617e+00] [ 1.46067071e-03 1.85285103e-05 9.99998933e-01 -1.83226671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:1.11, Z:-0.18 [[ 9.99911550e-01 -1.32196394e-02 -1.46044808e-03 8.91583520e+01] [ 1.32196074e-02 9.99912617e-01 -3.15219264e-05 1.10580847e+00] [ 1.46073717e-03 1.22125881e-05 9.99998933e-01 -1.82980666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:1.11, Z:-0.18 [[ 9.99881641e-01 -1.53156938e-02 -1.46044808e-03 8.91898792e+01] [ 1.53156641e-02 9.99882708e-01 -3.15219264e-05 1.10750448e+00] [ 1.46075956e-03 9.15046340e-06 9.99998933e-01 -1.82500588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:1.11, Z:-0.18 [[ 9.99843112e-01 -1.76527306e-02 -1.46044882e-03 8.92208173e+01] [ 1.76527034e-02 9.99844178e-01 -3.14875370e-05 1.10887375e+00] [ 1.46077709e-03 5.70172709e-06 9.99998933e-01 -1.81451934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:1.11, Z:-0.18 [[ 9.99843535e-01 -1.76287186e-02 -1.46044958e-03 8.92526482e+01] [ 1.76286915e-02 9.99844602e-01 -3.14523664e-05 1.10951601e+00] [ 1.46077709e-03 5.70163027e-06 9.99998933e-01 -1.81405431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.28, Y:1.11, Z:-0.18 [[ 9.99792580e-01 -2.03141169e-02 -1.46045033e-03 8.92829550e+01] [ 2.03140927e-02 9.99793647e-01 -3.14172926e-05 1.11032847e+00] [ 1.46078718e-03 1.74305272e-06 9.99998933e-01 -1.82762959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:89.31, Y:1.11, Z:-0.18 [[ 9.99730472e-01 -2.31700119e-02 -1.46045070e-03 8.93145063e+01] [ 2.31699908e-02 9.99731539e-01 -3.13998486e-05 1.11052956e+00] [ 1.46078617e-03 -2.44724390e-06 9.99998933e-01 -1.83417538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:1.11, Z:-0.18 [[ 9.99579943e-01 -2.89448717e-02 -1.46045145e-03 8.93450624e+01] [ 2.89448568e-02 9.99581009e-01 -3.13652098e-05 1.11058640e+00] [ 1.46074740e-03 -1.09205233e-05 9.99998933e-01 -1.84402576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:1.11, Z:-0.19 [[ 9.99485290e-01 -3.20471711e-02 -1.46045271e-03 8.93756254e+01] [ 3.20471596e-02 9.99486357e-01 -3.13062714e-05 1.11042170e+00] [ 1.46070584e-03 -1.55132034e-05 9.99998933e-01 -1.85396543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:1.11, Z:-0.18 [[ 9.99383039e-01 -3.50914343e-02 -1.46045308e-03 8.94074076e+01] [ 3.50914260e-02 9.99384106e-01 -3.12892980e-05 1.11010345e+00] [ 1.46065158e-03 -1.99793874e-05 9.99998933e-01 -1.84929737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:1.11, Z:-0.18 [[ 9.99186480e-01 -4.03019315e-02 -1.46045381e-03 8.94375466e+01] [ 4.03019288e-02 9.99187547e-01 -3.12547938e-05 1.10795164e+00] [ 1.46052689e-03 -2.76297382e-05 9.99998933e-01 -1.84805576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156000001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:89.47, Y:1.11, Z:-0.18 [[ 9.99098362e-01 -4.24303002e-02 -1.46045505e-03 8.94685732e+01] [ 4.24302999e-02 9.99099429e-01 -3.11969702e-05 1.10718788e+00] [ 1.46046350e-03 -3.07987040e-05 9.99998933e-01 -1.84152536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:1.10, Z:-0.18 [[ 9.99011680e-01 -4.44244318e-02 -1.46045580e-03 8.94995479e+01] [ 4.44244337e-02 9.99012747e-01 -3.11616370e-05 1.10471036e+00] [ 1.46039830e-03 -3.37490827e-05 9.99998933e-01 -1.83040665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.53, Y:1.10, Z:-0.18 [[ 9.98993715e-01 -4.48266122e-02 -1.46045693e-03 8.95301540e+01] [ 4.48266146e-02 9.98994782e-01 -3.11089379e-05 1.10417015e+00] [ 1.46038336e-03 -3.43897064e-05 9.99998933e-01 -1.83511475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.56, Y:1.10, Z:-0.18 [[ 9.99012764e-01 -4.44000582e-02 -1.46045810e-03 8.95603390e+01] [ 4.44000603e-02 9.99013831e-01 -3.10537757e-05 1.10339758e+00] [ 1.46039663e-03 -3.38213093e-05 9.99998933e-01 -1.83240608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.59, Y:1.10, Z:-0.18 [[ 9.99106807e-01 -4.22309786e-02 -1.46045919e-03 8.95899250e+01] [ 4.22309783e-02 9.99107874e-01 -3.10025553e-05 1.10024493e+00] [ 1.46046554e-03 -3.07017563e-05 9.99998933e-01 -1.84120245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:1.10, Z:-0.18 [[ 9.99176753e-01 -4.05423675e-02 -1.46045919e-03 8.96216093e+01] [ 4.05423655e-02 9.99177820e-01 -3.10025553e-05 1.09893682e+00] [ 1.46051534e-03 -2.82334377e-05 9.99998933e-01 -1.82633381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:1.10, Z:-0.18 [[ 9.99245361e-01 -3.88146430e-02 -1.46045991e-03 8.96530397e+01] [ 3.88146392e-02 9.99246427e-01 -3.09683596e-05 1.09860294e+00] [ 1.46056137e-03 -2.57422349e-05 9.99998933e-01 -1.82621041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:1.10, Z:-0.18 [[ 9.99369501e-01 -3.54748807e-02 -1.46046064e-03 8.96835658e+01] [ 3.54748734e-02 9.99370568e-01 -3.09340625e-05 1.09708227e+00] [ 1.46063876e-03 -2.08950976e-05 9.99998933e-01 -1.83730041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.71, Y:1.10, Z:-0.19 [[ 9.99421911e-01 -3.39663088e-02 -1.46046189e-03 8.97148524e+01] [ 3.39662999e-02 9.99422978e-01 -3.08749415e-05 1.09651890e+00] [ 1.46066788e-03 -1.87493934e-05 9.99998933e-01 -1.85347980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:1.10, Z:-0.18 [[ 9.99472968e-01 -3.24292078e-02 -1.46046260e-03 8.97460388e+01] [ 3.24291974e-02 9.99474035e-01 -3.08411274e-05 1.09534654e+00] [ 1.46069460e-03 -1.65367568e-05 9.99998933e-01 -1.84979467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:1.09, Z:-0.19 [[ 9.99512378e-01 -3.11909062e-02 -1.46046332e-03 8.97778510e+01] [ 3.11908945e-02 9.99513445e-01 -3.08071258e-05 1.09463565e+00] [ 1.46071363e-03 -1.47610536e-05 9.99998933e-01 -1.85820941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:1.09, Z:-0.19 [[ 9.99537547e-01 -3.03736605e-02 -1.46046403e-03 8.98087050e+01] [ 3.03736479e-02 9.99538614e-01 -3.07732032e-05 1.09389172e+00] [ 1.46072489e-03 -1.36006484e-05 9.99998933e-01 -1.85828940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:1.09, Z:-0.19 [[ 9.99576298e-01 -2.90704423e-02 -1.46046522e-03 8.98403694e+01] [ 2.90704284e-02 9.99577365e-01 -3.07167535e-05 1.09238457e+00] [ 1.46074093e-03 -1.17526109e-05 9.99998933e-01 -1.85359323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.87, Y:1.09, Z:-0.19 [[ 9.99584560e-01 -2.87849576e-02 -1.46046593e-03 8.98702434e+01] [ 2.87849435e-02 9.99585627e-01 -3.06827891e-05 1.09236577e+00] [ 1.46074396e-03 -1.13693872e-05 9.99998933e-01 -1.85634868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.90, Y:1.09, Z:-0.18 [[ 9.99614678e-01 -2.77193697e-02 -1.46046629e-03 8.99014220e+01] [ 2.77193545e-02 9.99615744e-01 -3.06658745e-05 1.09120391e+00] [ 1.46075514e-03 -9.82912461e-06 9.99998933e-01 -1.84206165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:1.09, Z:-0.18 [[ 9.99633882e-01 -2.70179289e-02 -1.46046700e-03 8.99313033e+01] [ 2.70179129e-02 9.99634949e-01 -3.06319425e-05 1.09075564e+00] [ 1.46076147e-03 -8.83804272e-06 9.99998933e-01 -1.83100039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:89.96, Y:1.09, Z:-0.18 [[ 9.99656637e-01 -2.61624750e-02 -1.46046736e-03 8.99620034e+01] [ 2.61624581e-02 9.99657704e-01 -3.06150278e-05 1.09087692e+00] [ 1.46076841e-03 -7.60490033e-06 9.99998933e-01 -1.82665598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:1.09, Z:-0.18 [[ 9.99687072e-01 -2.49724828e-02 -1.46046736e-03 8.99926621e+01] [ 2.49724647e-02 9.99688139e-01 -3.06150278e-05 1.09014054e+00] [ 1.46077643e-03 -5.86602199e-06 9.99998933e-01 -1.81388726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:1.09, Z:-0.18 [[ 9.99736334e-01 -2.29156855e-02 -1.46046736e-03 9.00235665e+01] [ 2.29156652e-02 9.99737401e-01 -3.06150278e-05 1.08919273e+00] [ 1.46078540e-03 -2.86062526e-06 9.99998933e-01 -1.82973469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:1.09, Z:-0.18 [[ 9.99751698e-01 -2.22353315e-02 -1.46046736e-03 9.00542693e+01] [ 2.22353105e-02 9.99752764e-01 -3.06150278e-05 1.08982476e+00] [ 1.46078701e-03 -1.86651914e-06 9.99998933e-01 -1.84493776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.08, Y:1.09, Z:-0.18 [[ 9.99763517e-01 -2.16973840e-02 -1.46046864e-03 9.00846439e+01] [ 2.16973625e-02 9.99764584e-01 -3.05534986e-05 1.09058555e+00] [ 1.46078776e-03 -1.14204445e-06 9.99998933e-01 -1.84884219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:1.09, Z:-0.18 [[ 9.99775305e-01 -2.11472597e-02 -1.46046864e-03 9.01148163e+01] [ 2.11472376e-02 9.99776372e-01 -3.05534986e-05 1.09050153e+00] [ 1.46078816e-03 -3.38244079e-07 9.99998933e-01 -1.83653813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:1.09, Z:-0.18 [[ 9.99786592e-01 -2.06067265e-02 -1.46046864e-03 9.01456518e+01] [ 2.06067039e-02 9.99787659e-01 -3.05534986e-05 1.08877807e+00] [ 1.46078813e-03 4.51533364e-07 9.99998933e-01 -1.82084973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:1.09, Z:-0.18 [[ 9.99788632e-01 -2.05075412e-02 -1.46046864e-03 9.01748408e+01] [ 2.05075184e-02 9.99789698e-01 -3.05534986e-05 1.08838855e+00] [ 1.46078808e-03 5.96452905e-07 9.99998933e-01 -1.81887583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:1.09, Z:-0.18 [[ 9.99794099e-01 -2.02392374e-02 -1.46046828e-03 9.02046183e+01] [ 2.02392143e-02 9.99795166e-01 -3.05707919e-05 1.08841792e+00] [ 1.46078786e-03 1.00576682e-06 9.99998933e-01 -1.82209355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:1.09, Z:-0.18 [[ 9.99816548e-01 -1.90981022e-02 -1.46046792e-03 9.02353884e+01] [ 1.90980779e-02 9.99817615e-01 -3.05879408e-05 1.08854048e+00] [ 1.46078573e-03 2.69019927e-06 9.99998933e-01 -1.78499528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:1.09, Z:-0.18 [[ 9.99831473e-01 -1.83000662e-02 -1.46046792e-03 9.02657450e+01] [ 1.83000410e-02 9.99832540e-01 -3.05879408e-05 1.08908402e+00] [ 1.46078311e-03 3.85616307e-06 9.99998933e-01 -1.78168093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:1.09, Z:-0.18 [[ 9.99843870e-01 -1.76097194e-02 -1.46046792e-03 9.02951078e+01] [ 1.76096935e-02 9.99844937e-01 -3.05879408e-05 1.08925358e+00] [ 1.46078010e-03 4.86477273e-06 9.99998933e-01 -1.79802071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:1.09, Z:-0.18 [[ 9.99863375e-01 -1.64650410e-02 -1.46046756e-03 9.03243784e+01] [ 1.64650139e-02 9.99864442e-01 -3.06053921e-05 1.08950192e+00] [ 1.46077350e-03 6.55459204e-06 9.99998933e-01 -1.82757993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:1.09, Z:-0.18 [[ 9.99872379e-01 -1.59088795e-02 -1.46046720e-03 9.03546785e+01] [ 1.59088517e-02 9.99873446e-01 -3.06223990e-05 1.09014319e+00] [ 1.46076954e-03 7.38413481e-06 9.99998933e-01 -1.81911893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:1.09, Z:-0.18 [[ 9.99881904e-01 -1.52985069e-02 -1.46046720e-03 9.03853285e+01] [ 1.52984784e-02 9.99882971e-01 -3.06223990e-05 1.09092519e+00] [ 1.46076476e-03 8.27585664e-06 9.99998933e-01 -1.81641974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:1.09, Z:-0.18 [[ 9.99890955e-01 -1.46950390e-02 -1.46046720e-03 9.04155411e+01] [ 1.46950099e-02 9.99892022e-01 -3.06223990e-05 1.09321505e+00] [ 1.46075950e-03 9.15747979e-06 9.99998933e-01 -1.82337620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:1.09, Z:-0.18 [[ 9.99896744e-01 -1.42957593e-02 -1.46046720e-03 9.04459345e+01] [ 1.42957298e-02 9.99897810e-01 -3.06223990e-05 1.09421051e+00] [ 1.46075573e-03 9.74079251e-06 9.99998933e-01 -1.81990241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:1.10, Z:-0.18 [[ 9.99898453e-01 -1.41756874e-02 -1.46046720e-03 9.04760893e+01] [ 1.41756578e-02 9.99899520e-01 -3.06223990e-05 1.09521155e+00] [ 1.46075454e-03 9.91620616e-06 9.99998933e-01 -1.84262358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:1.10, Z:-0.18 [[ 9.99895508e-01 -1.43819551e-02 -1.46046842e-03 9.05062736e+01] [ 1.43819258e-02 9.99896574e-01 -3.05640652e-05 1.09643596e+00] [ 1.46075694e-03 9.55652307e-06 9.99998933e-01 -1.82405026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:1.10, Z:-0.18 [[ 9.99892447e-01 -1.45931935e-02 -1.46046842e-03 9.05365604e+01] [ 1.45931644e-02 9.99893514e-01 -3.05640652e-05 1.09768508e+00] [ 1.46075893e-03 9.24792218e-06 9.99998933e-01 -1.81253138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.57, Y:1.10, Z:-0.18 [[ 9.99889569e-01 -1.47890715e-02 -1.46046842e-03 9.05666969e+01] [ 1.47890426e-02 9.99890636e-01 -3.05640652e-05 1.09925357e+00] [ 1.46076071e-03 8.96176026e-06 9.99998933e-01 -1.81627448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:1.10, Z:-0.18 [[ 9.99883936e-01 -1.51651245e-02 -1.46046842e-03 9.05968644e+01] [ 1.51650961e-02 9.99885003e-01 -3.05640652e-05 1.10096560e+00] [ 1.46076398e-03 8.41237393e-06 9.99998933e-01 -1.81918510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:1.10, Z:-0.18 [[ 9.99871656e-01 -1.59542612e-02 -1.46046964e-03 9.06272323e+01] [ 1.59542337e-02 9.99872723e-01 -3.05054789e-05 1.10205717e+00] [ 1.46077045e-03 7.20088977e-06 9.99998933e-01 -1.82595763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:90.66, Y:1.10, Z:-0.18 [[ 9.99855328e-01 -1.69467008e-02 -1.46046964e-03 9.06584944e+01] [ 1.69466743e-02 9.99856394e-01 -3.05054789e-05 1.10316323e+00] [ 1.46077688e-03 5.75096228e-06 9.99998933e-01 -1.84039798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:90.69, Y:1.10, Z:-0.18 [[ 9.99808053e-01 -1.95377387e-02 -1.46047037e-03 9.06895739e+01] [ 1.95377150e-02 9.99809120e-01 -3.04706700e-05 1.10461738e+00] [ 1.46078692e-03 1.93056742e-06 9.99998933e-01 -1.84296811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:90.72, Y:1.11, Z:-0.18 [[ 9.99774481e-01 -2.11861629e-02 -1.46047110e-03 9.07213321e+01] [ 2.11861411e-02 9.99775548e-01 -3.04356279e-05 1.10554361e+00] [ 1.46078811e-03 -5.12982740e-07 9.99998933e-01 -1.83511370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:90.75, Y:1.11, Z:-0.18 [[ 9.99736288e-01 -2.29177080e-02 -1.46047183e-03 9.07514802e+01] [ 2.29176880e-02 9.99737355e-01 -3.04007993e-05 1.10625116e+00] [ 1.46078496e-03 -3.07785542e-06 9.99998933e-01 -1.83635499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:1.11, Z:-0.18 [[ 9.99657489e-01 -2.61298823e-02 -1.46047218e-03 9.07827732e+01] [ 2.61298658e-02 9.99658556e-01 -3.03835810e-05 1.10597889e+00] [ 1.46076743e-03 -7.78876784e-06 9.99998933e-01 -1.81985996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:1.11, Z:-0.18 [[ 9.99620853e-01 -2.74957622e-02 -1.46047289e-03 9.08135530e+01] [ 2.74957472e-02 9.99621920e-01 -3.03494273e-05 1.10593863e+00] [ 1.46075520e-03 -9.81887303e-06 9.99998933e-01 -1.82099492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:1.11, Z:-0.18 [[ 9.99583024e-01 -2.88382740e-02 -1.46047289e-03 9.08436295e+01] [ 2.88382604e-02 9.99584090e-01 -3.03494273e-05 1.10612010e+00] [ 1.46074069e-03 -1.17807254e-05 9.99998933e-01 -1.81636929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:1.11, Z:-0.18 [[ 9.99538085e-01 -3.03559364e-02 -1.46047289e-03 9.08738535e+01] [ 3.03559244e-02 9.99539152e-01 -3.03494273e-05 1.10525077e+00] [ 1.46072112e-03 -1.39985963e-05 9.99998933e-01 -1.80716583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:1.10, Z:-0.18 [[ 9.99525789e-01 -3.07581609e-02 -1.46047289e-03 9.09040302e+01] [ 3.07581494e-02 9.99526856e-01 -3.03494273e-05 1.10495758e+00] [ 1.46071537e-03 -1.45864082e-05 9.99998933e-01 -1.80873603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:1.10, Z:-0.18 [[ 9.99510032e-01 -3.12660054e-02 -1.46047326e-03 9.09348061e+01] [ 3.12659945e-02 9.99511099e-01 -3.03319621e-05 1.10340795e+00] [ 1.46070759e-03 -1.53460483e-05 9.99998933e-01 -1.78137296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.97, Y:1.10, Z:-0.18 [[ 9.99506842e-01 -3.13678058e-02 -1.46047326e-03 9.09656018e+01] [ 3.13677949e-02 9.99507909e-01 -3.03319621e-05 1.10278374e+00] [ 1.46070602e-03 -1.54948219e-05 9.99998933e-01 -1.79295440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:1.10, Z:-0.18 [[ 9.99501933e-01 -3.15238406e-02 -1.46047362e-03 9.09962163e+01] [ 3.15238299e-02 9.99503000e-01 -3.03144589e-05 1.10167058e+00] [ 1.46070339e-03 -1.57403617e-05 9.99998933e-01 -1.77329711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:91.03, Y:1.10, Z:-0.18 [[ 9.99506677e-01 -3.13730714e-02 -1.46047362e-03 9.10269787e+01] [ 3.13730606e-02 9.99507744e-01 -3.03144589e-05 1.10098362e+00] [ 1.46070575e-03 -1.55200233e-05 9.99998933e-01 -1.77433041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:1.10, Z:-0.18 [[ 9.99530016e-01 -3.06204894e-02 -1.46047362e-03 9.10575294e+01] [ 3.06204778e-02 9.99531083e-01 -3.03144589e-05 1.09858340e+00] [ 1.46071702e-03 -1.44201884e-05 9.99998933e-01 -1.75341848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:1.10, Z:-0.18 [[ 9.99558556e-01 -2.96742220e-02 -1.46047362e-03 9.10883177e+01] [ 2.96742094e-02 9.99559623e-01 -3.03144589e-05 1.09798203e+00] [ 1.46073002e-03 -1.30373232e-05 9.99998933e-01 -1.76138092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:1.10, Z:-0.18 [[ 9.99594017e-01 -2.84546762e-02 -1.46047362e-03 9.11189464e+01] [ 2.84546623e-02 9.99595084e-01 -3.03144589e-05 1.09750098e+00] [ 1.46074484e-03 -1.12551319e-05 9.99998933e-01 -1.77207095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:91.15, Y:1.10, Z:-0.18 [[ 9.99639119e-01 -2.68234724e-02 -1.46047362e-03 9.11491543e+01] [ 2.68234567e-02 9.99640186e-01 -3.03144589e-05 1.09721766e+00] [ 1.46076126e-03 -8.87143198e-06 9.99998933e-01 -1.80010880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:1.10, Z:-0.18 [[ 9.99727567e-01 -2.32950486e-02 -1.46047398e-03 9.11784104e+01] [ 2.32950292e-02 9.99728634e-01 -3.02971253e-05 1.09511868e+00] [ 1.46078343e-03 -3.73291268e-06 9.99998933e-01 -1.80023243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:1.10, Z:-0.18 [[ 9.99727567e-01 -2.32950487e-02 -1.46047362e-03 9.12094021e+01] [ 2.32950292e-02 9.99728634e-01 -3.03142483e-05 1.09576196e+00] [ 1.46078347e-03 -3.71578604e-06 9.99998933e-01 -1.79977959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:1.10, Z:-0.18 [[ 9.99772070e-01 -2.12996276e-02 -1.46047362e-03 9.12394943e+01] [ 2.12996060e-02 9.99773137e-01 -3.03142483e-05 1.09606240e+00] [ 1.46078798e-03 -8.00173954e-07 9.99998933e-01 -1.79174198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.27, Y:1.10, Z:-0.18 [[ 9.99855521e-01 -1.69352849e-02 -1.46047362e-03 9.12690765e+01] [ 1.69352587e-02 9.99856588e-01 -3.03142483e-05 1.09775582e+00] [ 1.46077755e-03 5.57636993e-06 9.99998933e-01 -1.81487417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:1.10, Z:-0.18 [[ 9.99886011e-01 -1.50276991e-02 -1.46047326e-03 9.12992442e+01] [ 1.50276708e-02 9.99887078e-01 -3.03315321e-05 1.09805937e+00] [ 1.46076416e-03 8.38056324e-06 9.99998933e-01 -1.80880078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.33, Y:1.10, Z:-0.18 [[ 9.99914076e-01 -1.30271917e-02 -1.46047326e-03 9.13300369e+01] [ 1.30271613e-02 9.99915142e-01 -3.03315321e-05 1.09881617e+00] [ 1.46074447e-03 1.13031051e-05 9.99998933e-01 -1.82333100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:1.10, Z:-0.18 [[ 9.99948356e-01 -1.00574676e-02 -1.46047326e-03 9.13596543e+01] [ 1.00574341e-02 9.99949422e-01 -3.03315321e-05 1.10035223e+00] [ 1.46070446e-03 1.56413521e-05 9.99998933e-01 -1.82585420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:1.10, Z:-0.18 [[ 9.99960390e-01 -8.77979163e-03 -1.46047327e-03 9.13898697e+01] [ 8.77975670e-03 9.99961457e-01 -3.03310818e-05 1.10102489e+00] [ 1.46068328e-03 1.75072804e-05 9.99998933e-01 -1.80320987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:1.10, Z:-0.18 [[ 9.99967480e-01 -7.93126777e-03 -1.46047327e-03 9.14192230e+01] [ 7.93123193e-03 9.99968547e-01 -3.03310818e-05 1.10094206e+00] [ 1.46066790e-03 1.87467432e-05 9.99998933e-01 -1.81243237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.45, Y:1.10, Z:-0.18 [[ 9.99971810e-01 -7.36517289e-03 -1.46047290e-03 9.14497837e+01] [ 7.36513642e-03 9.99972877e-01 -3.03489355e-05 1.10092107e+00] [ 1.46065682e-03 1.95914978e-05 9.99998933e-01 -1.81440745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:1.10, Z:-0.18 [[ 9.99974327e-01 -7.01512567e-03 -1.46047290e-03 9.14799013e+01] [ 7.01508882e-03 9.99975394e-01 -3.03489355e-05 1.10194112e+00] [ 1.46064987e-03 2.01028093e-05 9.99998933e-01 -1.78693005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:1.10, Z:-0.18 [[ 9.99973509e-01 -7.13077956e-03 -1.46047290e-03 9.15091825e+01] [ 7.13074284e-03 9.99974575e-01 -3.03489355e-05 1.10315041e+00] [ 1.46065218e-03 1.99338749e-05 9.99998933e-01 -1.78813484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:1.10, Z:-0.18 [[ 9.99969653e-01 -7.65248700e-03 -1.46047253e-03 9.15396711e+01] [ 7.65245080e-03 9.99970719e-01 -3.03667343e-05 1.10447099e+00] [ 1.46066215e-03 1.91896185e-05 9.99998933e-01 -1.77480348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:1.11, Z:-0.18 [[ 9.99949417e-01 -9.95137690e-03 -1.46047253e-03 9.15693259e+01] [ 9.95134316e-03 9.99950484e-01 -3.03667343e-05 1.10579623e+00] [ 1.46070241e-03 1.58315349e-05 9.99998933e-01 -1.78277962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:1.11, Z:-0.18 [[ 9.99934359e-01 -1.13641579e-02 -1.46047217e-03 9.15999180e+01] [ 1.13641256e-02 9.99935426e-01 -3.03841123e-05 1.10633566e+00] [ 1.46072315e-03 1.37851286e-05 9.99998933e-01 -1.79058738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:1.11, Z:-0.18 [[ 9.99915367e-01 -1.29276866e-02 -1.46047217e-03 9.16304540e+01] [ 1.29276560e-02 9.99916434e-01 -3.03841123e-05 1.10663632e+00] [ 1.46074292e-03 1.15010589e-05 9.99998933e-01 -1.78589500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.66, Y:1.11, Z:-0.18 [[ 9.99878508e-01 -1.55188737e-02 -1.46047217e-03 9.16611566e+01] [ 1.55188458e-02 9.99879575e-01 -3.03841123e-05 1.10767695e+00] [ 1.46076782e-03 7.71557838e-06 9.99998933e-01 -1.81718960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:1.11, Z:-0.18 [[ 9.99855585e-01 -1.69315302e-02 -1.46047254e-03 9.16914254e+01] [ 1.69315039e-02 9.99856651e-01 -3.03663602e-05 1.10776174e+00] [ 1.46077733e-03 5.63397838e-06 9.99998933e-01 -1.78855030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:1.11, Z:-0.18 [[ 9.99820229e-01 -1.89044253e-02 -1.46047254e-03 9.17216723e+01] [ 1.89044011e-02 9.99821295e-01 -3.03663602e-05 1.10760508e+00] [ 1.46078561e-03 2.75154247e-06 9.99998933e-01 -1.79914002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:1.11, Z:-0.18 [[ 9.99734299e-01 -2.30043228e-02 -1.46047290e-03 9.17522386e+01] [ 2.30043030e-02 9.99735366e-01 -3.03489526e-05 1.10638658e+00] [ 1.46078457e-03 -3.25627230e-06 9.99998933e-01 -1.78494298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.78, Y:1.11, Z:-0.18 [[ 9.99687202e-01 -2.49672902e-02 -1.46047290e-03 9.17814621e+01] [ 2.49672725e-02 9.99688269e-01 -3.03489526e-05 1.10642297e+00] [ 1.46077536e-03 -6.12456541e-06 9.99998933e-01 -1.79244846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.81, Y:1.10, Z:-0.18 [[ 9.99579684e-01 -2.89538033e-02 -1.46047254e-03 9.18125405e+01] [ 2.89537898e-02 9.99580751e-01 -3.03661574e-05 1.10453564e+00] [ 1.46073946e-03 -1.19328210e-05 9.99998933e-01 -1.77951608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:1.10, Z:-0.18 [[ 9.99520793e-01 -3.09200910e-02 -1.46047325e-03 9.18424222e+01] [ 3.09200796e-02 9.99521860e-01 -3.03320530e-05 1.10305625e+00] [ 1.46071281e-03 -1.48404316e-05 9.99998933e-01 -1.76630657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:1.10, Z:-0.18 [[ 9.99480072e-01 -3.22095058e-02 -1.46047290e-03 9.18732579e+01] [ 3.22094958e-02 9.99481139e-01 -3.03489743e-05 1.10153723e+00] [ 1.46069264e-03 -1.67079008e-05 9.99998933e-01 -1.76003037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.90, Y:1.10, Z:-0.18 [[ 9.99452633e-01 -3.30499687e-02 -1.46047290e-03 9.19042724e+01] [ 3.30499596e-02 9.99453700e-01 -3.03489743e-05 1.10039103e+00] [ 1.46067808e-03 -1.79362082e-05 9.99998933e-01 -1.76332863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:1.10, Z:-0.18 [[ 9.99430560e-01 -3.37108555e-02 -1.46047290e-03 9.19336763e+01] [ 3.37108472e-02 9.99431627e-01 -3.03489743e-05 1.09726730e+00] [ 1.46066590e-03 -1.89020864e-05 9.99998933e-01 -1.75649165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:1.10, Z:-0.18 [[ 9.99449606e-01 -3.31413963e-02 -1.46047254e-03 9.19634430e+01] [ 3.31413873e-02 9.99450673e-01 -3.03664705e-05 1.09635613e+00] [ 1.46067665e-03 -1.80523290e-05 9.99998933e-01 -1.77399683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:1.10, Z:-0.18 [[ 9.99476810e-01 -3.23105821e-02 -1.46047217e-03 9.19941801e+01] [ 3.23105722e-02 9.99477877e-01 -3.03839758e-05 1.09578079e+00] [ 1.46069135e-03 -1.68206124e-05 9.99998933e-01 -1.76504483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:1.09, Z:-0.18 [[ 9.99561337e-01 -2.95804252e-02 -1.46047217e-03 9.20233007e+01] [ 2.95804124e-02 9.99562403e-01 -3.03839758e-05 1.09271197e+00] [ 1.46073185e-03 -1.28307217e-05 9.99998933e-01 -1.78715418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:1.09, Z:-0.18 [[ 9.99608962e-01 -2.79247059e-02 -1.46047181e-03 9.20529417e+01] [ 2.79246913e-02 9.99610029e-01 -3.04012117e-05 1.09074776e+00] [ 1.46075122e-03 -1.03939010e-05 9.99998933e-01 -1.77344333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:1.09, Z:-0.18 [[ 9.99708516e-01 -2.40987675e-02 -1.46047108e-03 9.20827690e+01] [ 2.40987487e-02 9.99709583e-01 -3.04365639e-05 1.08708616e+00] [ 1.46078041e-03 -4.76783338e-06 9.99998933e-01 -1.77341392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:1.09, Z:-0.18 [[ 9.99757029e-01 -2.19943348e-02 -1.46047034e-03 9.21120558e+01] [ 2.19943137e-02 9.99758095e-01 -3.04717311e-05 1.08695857e+00] [ 1.46078725e-03 -1.65771566e-06 9.99998933e-01 -1.77313251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:1.09, Z:-0.18 [[ 9.99807386e-01 -1.95718759e-02 -1.46046998e-03 9.21419065e+01] [ 1.95718522e-02 9.99808452e-01 -3.04892512e-05 1.08689104e+00] [ 1.46078696e-03 1.89927594e-06 9.99998933e-01 -1.77917870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:1.09, Z:-0.18 [[ 9.99895035e-01 -1.44147899e-02 -1.46046961e-03 9.21715835e+01] [ 1.44147608e-02 9.99896101e-01 -3.05067135e-05 1.08542715e+00] [ 1.46075762e-03 9.45119129e-06 9.99998933e-01 -1.77074070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:1.09, Z:-0.18 [[ 9.99930668e-01 -1.16844011e-02 -1.46046926e-03 9.22010833e+01] [ 1.16843690e-02 9.99931735e-01 -3.05238164e-05 1.08540591e+00] [ 1.46072621e-03 1.34570385e-05 9.99998933e-01 -1.77151574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:1.09, Z:-0.18 [[ 9.99959498e-01 -8.88085650e-03 -1.46046890e-03 9.22312109e+01] [ 8.88082137e-03 9.99960564e-01 -3.05407423e-05 1.08651692e+00] [ 1.46068254e-03 1.75693419e-05 9.99998933e-01 -1.76702380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:1.09, Z:-0.18 [[ 9.99992104e-01 -3.69569691e-03 -1.46046890e-03 9.22608949e+01] [ 3.69565624e-03 9.99993171e-01 -3.05407423e-05 1.08803560e+00] [ 1.46057180e-03 2.51431101e-05 9.99998933e-01 -1.79809975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.29, Y:1.09, Z:-0.18 [[ 9.99997845e-01 -1.47516004e-03 -1.46046896e-03 9.22908632e+01] [ 1.47511702e-03 9.99998912e-01 -3.05381170e-05 1.08799975e+00] [ 1.46051242e-03 2.83836886e-05 9.99998933e-01 -1.81085265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:1.09, Z:-0.18 [[ 9.99998923e-01 -1.47516614e-04 -1.46046823e-03 9.23206964e+01] [ 1.47472120e-04 9.99999989e-01 -3.05729538e-05 1.08881831e+00] [ 1.46047272e-03 3.03575425e-05 9.99998933e-01 -1.80297817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:1.09, Z:-0.18 [[ 9.99997809e-01 1.49943626e-03 -1.46046750e-03 9.23506893e+01] [-1.49948256e-03 9.99998875e-01 -3.06078565e-05 1.09133237e+00] [ 1.46041996e-03 3.27977350e-05 9.99998933e-01 -1.79845781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:1.09, Z:-0.18 [[ 9.99997412e-01 1.74429737e-03 -1.46046674e-03 9.23797246e+01] [-1.74434398e-03 9.99998478e-01 -3.06436748e-05 1.09273156e+00] [ 1.46041107e-03 3.31911518e-05 9.99998933e-01 -1.81266977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:1.09, Z:-0.18 [[ 9.99997445e-01 1.72547968e-03 -1.46046637e-03 9.24087760e+01] [-1.72552630e-03 9.99998511e-01 -3.06615066e-05 1.09420598e+00] [ 1.46041129e-03 3.31815014e-05 9.99998933e-01 -1.81440379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:1.10, Z:-0.18 [[ 9.99998701e-01 6.82523392e-04 -1.46042418e-03 9.24381302e+01] [-6.82571831e-04 9.99999767e-01 -3.26696625e-05 1.09665785e+00] [ 1.46040154e-03 3.36664645e-05 9.99998933e-01 -1.79285696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:1.10, Z:-0.18 [[ 9.99998916e-01 -1.86821137e-04 -1.46046916e-03 9.24679861e+01] [ 1.86776767e-04 9.99999982e-01 -3.05169038e-05 1.09798867e+00] [ 1.46047483e-03 3.02440890e-05 9.99998933e-01 -1.78483852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:1.10, Z:-0.18 [[ 9.99997990e-01 -1.37371906e-03 -1.46046844e-03 9.24972191e+01] [ 1.37367591e-03 9.99999056e-01 -3.05510865e-05 1.09919879e+00] [ 1.46050903e-03 2.85448148e-05 9.99998933e-01 -1.77210171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:1.10, Z:-0.18 [[ 9.99990813e-01 -4.02990900e-03 -1.46046772e-03 9.25269956e+01] [ 4.02986862e-03 9.99991880e-01 -3.05857048e-05 1.10055144e+00] [ 1.46057912e-03 2.46999307e-05 9.99998933e-01 -1.76147734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:1.10, Z:-0.18 [[ 9.99982298e-01 -5.76812960e-03 -1.46046698e-03 9.25566488e+01] [ 5.76809103e-03 9.99983364e-01 -3.06211552e-05 1.10111934e+00] [ 1.46061931e-03 2.21965067e-05 9.99998933e-01 -1.78104006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:1.10, Z:-0.18 [[ 9.99968812e-01 -7.76158022e-03 -1.46046661e-03 9.25861142e+01] [ 7.76154375e-03 9.99969878e-01 -3.06387398e-05 1.10214408e+00] [ 1.46066042e-03 1.93023088e-05 9.99998933e-01 -1.76870500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:1.10, Z:-0.18 [[ 9.99948777e-01 -1.00155241e-02 -1.46046586e-03 9.26156066e+01] [ 1.00154900e-02 9.99949843e-01 -3.06741247e-05 1.10295483e+00] [ 1.46069983e-03 1.60452722e-05 9.99998933e-01 -1.77779905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:1.10, Z:-0.18 [[ 9.99886704e-01 -1.49815167e-02 -1.46046549e-03 9.26462750e+01] [ 1.49814879e-02 9.99887771e-01 -3.06917429e-05 1.10250272e+00] [ 1.46076140e-03 8.80831950e-06 9.99998933e-01 -1.78216785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:1.10, Z:-0.18 [[ 9.99846615e-01 -1.74531880e-02 -1.46046549e-03 9.26766661e+01] [ 1.74531618e-02 9.99847682e-01 -3.06917429e-05 1.10207409e+00] [ 1.46077871e-03 5.19729460e-06 9.99998933e-01 -1.77962130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:1.10, Z:-0.18 [[ 9.99746925e-01 -2.24488780e-02 -1.46046549e-03 9.27070061e+01] [ 2.24488572e-02 9.99747992e-01 -3.06917429e-05 1.10049472e+00] [ 1.46078644e-03 -2.10180570e-06 9.99998933e-01 -1.77129006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:1.10, Z:-0.18 [[ 9.99690209e-01 -2.48465940e-02 -1.46042868e-03 9.27369368e+01] [ 2.48465731e-02 9.99691276e-01 -3.24423521e-05 1.09943984e+00] [ 1.46078390e-03 -3.85434630e-06 9.99998933e-01 -1.78750352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.77, Y:1.10, Z:-0.18 [[ 9.99639391e-01 -2.68133490e-02 -1.46046525e-03 9.27676315e+01] [ 2.68133328e-02 9.99640457e-01 -3.07031655e-05 1.09828363e+00] [ 1.46076340e-03 -8.46784700e-06 9.99998933e-01 -1.79990290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:1.10, Z:-0.18 [[ 9.99566993e-01 -2.93886622e-02 -1.46046525e-03 9.27985527e+01] [ 2.93886487e-02 9.99568060e-01 -3.07031655e-05 1.09506501e+00] [ 1.46073674e-03 -1.22312293e-05 9.99998933e-01 -1.78695063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:1.09, Z:-0.18 [[ 9.99554421e-01 -2.98131938e-02 -1.46046525e-03 9.28273774e+01] [ 2.98131807e-02 9.99555488e-01 -3.07031655e-05 1.09406554e+00] [ 1.46073141e-03 -1.28516295e-05 9.99998933e-01 -1.78961230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.86, Y:1.09, Z:-0.18 [[ 9.99570847e-01 -2.92572880e-02 -1.46046415e-03 9.28567782e+01] [ 2.92572743e-02 9.99571914e-01 -3.07552992e-05 1.09308314e+00] [ 1.46073876e-03 -1.19870997e-05 9.99998933e-01 -1.79271852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.89, Y:1.09, Z:-0.18 [[ 9.99625003e-01 -2.73444630e-02 -1.46046342e-03 9.28858311e+01] [ 2.73444472e-02 9.99626070e-01 -3.07900748e-05 1.09079979e+00] [ 1.46075924e-03 -9.15703606e-06 9.99998933e-01 -1.77055416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:1.09, Z:-0.18 [[ 9.99666736e-01 -2.57737095e-02 -1.46046268e-03 9.29141498e+01] [ 2.57736919e-02 9.99667803e-01 -3.08247143e-05 1.08992772e+00] [ 1.46077199e-03 -6.82707379e-06 9.99998933e-01 -1.75935922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:92.94, Y:1.09, Z:-0.18 [[ 9.99718383e-01 -2.36859123e-02 -1.46046160e-03 9.29437530e+01] [ 2.36858925e-02 9.99719449e-01 -3.08760828e-05 1.08945435e+00] [ 1.46078319e-03 -3.72494877e-06 9.99998933e-01 -1.76337000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:1.09, Z:-0.17 [[ 9.99821218e-01 -1.88520087e-02 -1.46046088e-03 9.29738787e+01] [ 1.88519837e-02 9.99822285e-01 -3.09101435e-05 1.08800494e+00] [ 1.46078405e-03 3.37203271e-06 9.99998933e-01 -1.74370124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.00, Y:1.09, Z:-0.17 [[ 9.99872816e-01 -1.58813977e-02 -1.46046016e-03 9.30046049e+01] [ 1.58813695e-02 9.99873883e-01 -3.09440139e-05 1.08813759e+00] [ 1.46076740e-03 7.74597091e-06 9.99998933e-01 -1.73206871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:1.09, Z:-0.17 [[ 9.99915651e-01 -1.29056957e-02 -1.46046016e-03 9.30336644e+01] [ 1.29056643e-02 9.99916718e-01 -3.09440139e-05 1.08868452e+00] [ 1.46073788e-03 1.20931953e-05 9.99998933e-01 -1.72347815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:1.09, Z:-0.17 [[ 9.99976220e-01 -6.73988162e-03 -1.46045978e-03 9.30632706e+01] [ 6.73984359e-03 9.99977287e-01 -3.09617959e-05 1.08943184e+00] [ 1.46063529e-03 2.11177891e-05 9.99998933e-01 -1.71434742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:1.09, Z:-0.17 [[ 9.99991763e-01 -3.78684838e-03 -1.46045906e-03 9.30925959e+01] [ 3.78680715e-03 9.99992830e-01 -3.09957263e-05 1.09017904e+00] [ 1.46056597e-03 2.54649942e-05 9.99998933e-01 -1.71931102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:1.09, Z:-0.17 [[ 9.99991676e-01 -3.80989680e-03 -1.46045870e-03 9.31227510e+01] [ 3.80985557e-03 9.99992742e-01 -3.10126878e-05 1.09086533e+00] [ 1.46056626e-03 2.54482929e-05 9.99998933e-01 -1.71887039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:1.09, Z:-0.17 [[ 9.99998376e-01 -1.05641513e-03 -1.46045799e-03 9.31518938e+01] [ 1.05637091e-03 9.99999442e-01 -3.10463493e-05 1.09228940e+00] [ 1.46048997e-03 2.95035136e-05 9.99998933e-01 -1.71537290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:1.10, Z:-0.17 [[ 9.99993357e-01 3.33959645e-03 -1.46045726e-03 9.31816400e+01] [-3.33964540e-03 9.99994423e-01 -3.10803192e-05 1.09530961e+00] [ 1.46034532e-03 3.59575221e-05 9.99998933e-01 -1.72907216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:1.10, Z:-0.17 [[ 9.99985104e-01 5.25907749e-03 -1.46045654e-03 9.32117194e+01] [-5.25912854e-03 9.99986170e-01 -3.11144312e-05 1.09706535e+00] [ 1.46027271e-03 3.87946964e-05 9.99998933e-01 -1.73500101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:1.10, Z:-0.17 [[ 9.99963592e-01 8.40722127e-03 -1.46045581e-03 9.32416665e+01] [-8.40727572e-03 9.99964658e-01 -3.11484824e-05 1.10066673e+00] [ 1.46014232e-03 4.34258030e-05 9.99998933e-01 -1.73562100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:1.10, Z:-0.17 [[ 9.99952437e-01 9.64314498e-03 -1.46045509e-03 9.32714309e+01] [-9.64320080e-03 9.99953503e-01 -3.11824637e-05 1.10327978e+00] [ 1.46008648e-03 4.52644423e-05 9.99998933e-01 -1.73268177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:1.11, Z:-0.17 [[ 9.99942925e-01 1.05836266e-02 -1.46045433e-03 9.33003463e+01] [-1.05836834e-02 9.99943991e-01 -3.12176853e-05 1.10596803e+00] [ 1.46004214e-03 4.66728899e-05 9.99998933e-01 -1.74367822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.33, Y:1.11, Z:-0.18 [[ 9.99933825e-01 1.14110665e-02 -1.46045321e-03 9.33294772e+01] [-1.14111243e-02 9.99934891e-01 -3.12702933e-05 1.10915251e+00] [ 1.46000129e-03 4.79336371e-05 9.99998933e-01 -1.75047874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:1.11, Z:-0.18 [[ 9.99934197e-01 1.13784247e-02 -1.46045170e-03 9.33578194e+01] [-1.13784826e-02 9.99935262e-01 -3.13405489e-05 1.11132044e+00] [ 1.46000055e-03 4.79562108e-05 9.99998933e-01 -1.76103296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:1.11, Z:-0.17 [[ 9.99937633e-01 1.10723888e-02 -1.46045057e-03 9.33870125e+01] [-1.10724464e-02 9.99938698e-01 -3.13928688e-05 1.11467968e+00] [ 1.46001345e-03 4.75616717e-05 9.99998933e-01 -1.74922478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:1.12, Z:-0.17 [[ 9.99946428e-01 1.02473165e-02 -1.46044982e-03 9.34159743e+01] [-1.02473734e-02 9.99947494e-01 -3.14276735e-05 1.12044628e+00] [ 1.46005109e-03 4.63917645e-05 9.99998933e-01 -1.74767435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:1.12, Z:-0.17 [[ 9.99953332e-01 9.54987080e-03 -1.46044870e-03 9.34456886e+01] [-9.54992695e-03 9.99954398e-01 -3.14796322e-05 1.12360678e+00] [ 1.46008148e-03 4.54253416e-05 9.99998933e-01 -1.74042748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:1.13, Z:-0.17 [[ 9.99960558e-01 8.76070159e-03 -1.46044794e-03 9.34737996e+01] [-8.76075695e-03 9.99961623e-01 -3.15148537e-05 1.12685473e+00] [ 1.46011581e-03 4.43082401e-05 9.99998933e-01 -1.74518193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:1.13, Z:-0.17 [[ 9.99969004e-01 7.73683646e-03 -1.46044681e-03 9.35037808e+01] [-7.73689081e-03 9.99970069e-01 -3.15673502e-05 1.13033199e+00] [ 1.46015887e-03 4.28656893e-05 9.99998933e-01 -1.74208014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:1.14, Z:-0.17 [[ 9.99985001e-01 5.27871649e-03 -1.46044607e-03 9.35320849e+01] [-5.27876827e-03 9.99986067e-01 -3.16016266e-05 1.13585236e+00] [ 1.46025890e-03 3.93105090e-05 9.99998933e-01 -1.74639156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:1.14, Z:-0.17 [[ 9.99991974e-01 3.73085995e-03 -1.46044496e-03 9.35621436e+01] [-3.73091015e-03 9.99993040e-01 -3.16527515e-05 1.13906605e+00] [ 1.46031670e-03 3.71012863e-05 9.99998933e-01 -1.73950276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:1.14, Z:-0.17 [[ 9.99996772e-01 2.07932716e-03 -1.46044421e-03 9.35907809e+01] [-2.07937565e-03 9.99997838e-01 -3.16873379e-05 1.14202461e+00] [ 1.46037516e-03 3.47240477e-05 9.99998933e-01 -1.74541730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:1.15, Z:-0.17 [[ 9.99998659e-01 -7.41474871e-04 -1.46044308e-03 9.36191824e+01] [ 7.41429308e-04 9.99999725e-01 -3.17391088e-05 1.14750106e+00] [ 1.46046622e-03 3.06562509e-05 9.99998933e-01 -1.73719608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:1.15, Z:-0.17 [[ 9.99996799e-01 -2.06622631e-03 -1.46044197e-03 9.36482770e+01] [ 2.06618209e-03 9.99997865e-01 -3.17903531e-05 1.15126924e+00] [ 1.46050454e-03 2.87727123e-05 9.99998933e-01 -1.73748081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:1.16, Z:-0.17 [[ 9.99985121e-01 -5.25593742e-03 -1.46044160e-03 9.36781147e+01] [ 5.25589657e-03 9.99986187e-01 -3.18073540e-05 1.15745464e+00] [ 1.46058860e-03 2.41309507e-05 9.99998933e-01 -1.72414503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.71, Y:1.16, Z:-0.17 [[ 9.99973302e-01 -7.15982881e-03 -1.46044086e-03 9.37084540e+01] [ 7.15978994e-03 9.99974368e-01 -3.18411249e-05 1.16036520e+00] [ 1.46063141e-03 2.13838249e-05 9.99998933e-01 -1.72682120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:1.16, Z:-0.17 [[ 9.99956297e-01 -9.23429288e-03 -1.46044086e-03 9.37375190e+01] [ 9.23425623e-03 9.99957363e-01 -3.18411249e-05 1.16299397e+00] [ 1.46067262e-03 1.83536482e-05 9.99998933e-01 -1.72719697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:1.17, Z:-0.17 [[ 9.99934852e-01 -1.13207077e-02 -1.46044091e-03 9.37681191e+01] [ 1.13206732e-02 9.99935919e-01 -3.18391282e-05 1.16652832e+00] [ 1.46070776e-03 1.53038797e-05 9.99998933e-01 -1.71272450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:1.17, Z:-0.17 [[ 9.99875490e-01 -1.57121406e-02 -1.46044091e-03 9.37983564e+01] [ 1.57121108e-02 9.99876557e-01 -3.18391282e-05 1.17299742e+00] [ 1.46076089e-03 8.88855453e-06 9.99998933e-01 -1.71574333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:1.18, Z:-0.17 [[ 9.99836795e-01 -1.80069475e-02 -1.46044217e-03 9.38287303e+01] [ 1.80069203e-02 9.99837862e-01 -3.17810442e-05 1.17533925e+00] [ 1.46077766e-03 5.47779167e-06 9.99998933e-01 -1.71480311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:1.18, Z:-0.17 [[ 9.99752086e-01 -2.22178881e-02 -1.46044255e-03 9.38585352e+01] [ 2.22178654e-02 9.99753152e-01 -3.17636686e-05 1.17988724e+00] [ 1.46078776e-03 -6.92122016e-07 9.99998933e-01 -1.71350030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:1.18, Z:-0.17 [[ 9.99714076e-01 -2.38669918e-02 -1.46044292e-03 9.38891331e+01] [ 2.38669709e-02 9.99715143e-01 -3.17463980e-05 1.18319690e+00] [ 1.46078460e-03 -3.11902780e-06 9.99998933e-01 -1.72034528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:1.19, Z:-0.17 [[ 9.99681433e-01 -2.51972136e-02 -1.46044292e-03 9.39193897e+01] [ 2.51971941e-02 9.99682500e-01 -3.17463980e-05 1.18535322e+00] [ 1.46077915e-03 -5.06277921e-06 9.99998933e-01 -1.72099096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:1.19, Z:-0.17 [[ 9.99656198e-01 -2.61792291e-02 -1.46044292e-03 9.39494732e+01] [ 2.61792107e-02 9.99657265e-01 -3.17463980e-05 1.18707242e+00] [ 1.46077348e-03 -6.49775945e-06 9.99998933e-01 -1.72526176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.98, Y:1.19, Z:-0.17 [[ 9.99640342e-01 -2.67778664e-02 -1.46044329e-03 9.39794123e+01] [ 2.67778486e-02 9.99641409e-01 -3.17293782e-05 1.18886245e+00] [ 1.46076924e-03 -7.38956293e-06 9.99998933e-01 -1.72453106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:1.19, Z:-0.17 [[ 9.99626580e-01 -2.72867707e-02 -1.46044366e-03 9.40110729e+01] [ 2.72867535e-02 9.99627647e-01 -3.17124948e-05 1.19353537e+00] [ 1.46076519e-03 -8.15011343e-06 9.99998933e-01 -1.71967068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:1.20, Z:-0.17 [[ 9.99618806e-01 -2.75700831e-02 -1.46044441e-03 9.40414754e+01] [ 2.75700663e-02 9.99619873e-01 -3.16781341e-05 1.19599238e+00] [ 1.46076262e-03 -8.59849044e-06 9.99998933e-01 -1.72867852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05587156 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:94.07, Y:1.20, Z:-0.17 [[ 9.99599071e-01 -2.82765591e-02 -1.46044478e-03 9.40727380e+01] [ 2.82765430e-02 9.99600138e-01 -3.16610687e-05 1.19923576e+00] [ 1.46075607e-03 -9.64795459e-06 9.99998933e-01 -1.73586150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:1.20, Z:-0.17 [[ 9.99587049e-01 -2.86984212e-02 -1.46044550e-03 9.41039940e+01] [ 2.86984056e-02 9.99588115e-01 -3.16274244e-05 1.20130857e+00] [ 1.46075163e-03 -1.02980936e-05 9.99998933e-01 -1.72816969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:1.20, Z:-0.17 [[ 9.99565891e-01 -2.94261180e-02 -1.46044623e-03 9.41345489e+01] [ 2.94261033e-02 9.99566958e-01 -3.15940825e-05 1.20338967e+00] [ 1.46074348e-03 -1.13948742e-05 9.99998933e-01 -1.72904824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:1.20, Z:-0.17 [[ 9.99549688e-01 -2.99714612e-02 -1.46044658e-03 9.41648342e+01] [ 2.99714470e-02 9.99550755e-01 -3.15775154e-05 1.20469342e+00] [ 1.46073691e-03 -1.22084017e-05 9.99998933e-01 -1.72288276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:1.21, Z:-0.17 [[ 9.99527108e-01 -3.07152580e-02 -1.46044694e-03 9.41957879e+01] [ 3.07152446e-02 9.99528175e-01 -3.15610525e-05 1.20609483e+00] [ 1.46072727e-03 -1.33118574e-05 9.99998933e-01 -1.69800310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:1.21, Z:-0.17 [[ 9.99515950e-01 -3.10762321e-02 -1.46044765e-03 9.42265566e+01] [ 3.10762192e-02 9.99517017e-01 -3.15281128e-05 1.20727842e+00] [ 1.46072205e-03 -1.38723397e-05 9.99998933e-01 -1.69608523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:1.21, Z:-0.17 [[ 9.99513052e-01 -3.11693205e-02 -1.46044800e-03 9.42563956e+01] [ 3.11693078e-02 9.99514119e-01 -3.15117958e-05 1.20868185e+00] [ 1.46072060e-03 -1.40247020e-05 9.99998933e-01 -1.69018120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:1.21, Z:-0.17 [[ 9.99512497e-01 -3.11870881e-02 -1.46044835e-03 9.42880133e+01] [ 3.11870753e-02 9.99513564e-01 -3.14955853e-05 1.20952388e+00] [ 1.46072019e-03 -1.40668816e-05 9.99998933e-01 -1.68633525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:1.21, Z:-0.17 [[ 9.99514370e-01 -3.11270176e-02 -1.46044904e-03 9.43189966e+01] [ 3.11270049e-02 9.99515437e-01 -3.14634131e-05 1.20981218e+00] [ 1.46072073e-03 -1.40112710e-05 9.99998933e-01 -1.69265481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:1.21, Z:-0.17 [[ 9.99520697e-01 -3.09231855e-02 -1.46044978e-03 9.43496019e+01] [ 3.09231725e-02 9.99521764e-01 -3.14290759e-05 1.21025827e+00] [ 1.46072323e-03 -1.37477288e-05 9.99998933e-01 -1.70488129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:1.21, Z:-0.17 [[ 9.99524980e-01 -3.07844499e-02 -1.46045103e-03 9.43811776e+01] [ 3.07844369e-02 9.99526046e-01 -3.13710311e-05 1.21102217e+00] [ 1.46072458e-03 -1.36030334e-05 9.99998933e-01 -1.71247732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:1.21, Z:-0.17 [[ 9.99512345e-01 -3.11919817e-02 -1.46045176e-03 9.44123323e+01] [ 3.11919692e-02 9.99513412e-01 -3.13368873e-05 1.21067267e+00] [ 1.46071858e-03 -1.42327607e-05 9.99998933e-01 -1.71973140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:1.21, Z:-0.17 [[ 9.99497581e-01 -3.16615478e-02 -1.46045249e-03 9.44422387e+01] [ 3.16615358e-02 9.99498647e-01 -3.13028628e-05 1.21029658e+00] [ 1.46071139e-03 -1.49530333e-05 9.99998933e-01 -1.72119238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:1.21, Z:-0.17 [[ 9.99476547e-01 -3.23187035e-02 -1.46045369e-03 9.44731323e+01] [ 3.23186923e-02 9.99477614e-01 -3.12469934e-05 1.20975795e+00] [ 1.46070063e-03 -1.59693163e-05 9.99998933e-01 -1.71392167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:1.21, Z:-0.17 [[ 9.99432542e-01 -3.36520541e-02 -1.46045440e-03 9.45033707e+01] [ 3.36520444e-02 9.99433609e-01 -3.12135841e-05 1.20792597e+00] [ 1.46067762e-03 -1.79514047e-05 9.99998933e-01 -1.73714272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:1.21, Z:-0.17 [[ 9.99411258e-01 -3.42783462e-02 -1.46045560e-03 9.45350362e+01] [ 3.42783372e-02 9.99412325e-01 -3.11576364e-05 1.20771937e+00] [ 1.46066535e-03 -1.89226968e-05 9.99998933e-01 -1.72340467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:1.21, Z:-0.17 [[ 9.99404507e-01 -3.44745990e-02 -1.46045630e-03 9.45651911e+01] [ 3.44745903e-02 9.99405574e-01 -3.11245274e-05 1.20714756e+00] [ 1.46066117e-03 -1.92426397e-05 9.99998933e-01 -1.72657460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:94.60, Y:1.21, Z:-0.17 [[ 9.99396625e-01 -3.47023452e-02 -1.46045665e-03 9.45961696e+01] [ 3.47023368e-02 9.99397692e-01 -3.11079789e-05 1.20643768e+00] [ 1.46065653e-03 -1.95920495e-05 9.99998933e-01 -1.72848161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:1.20, Z:-0.17 [[ 9.99400779e-01 -3.45825075e-02 -1.46045738e-03 9.46270787e+01] [ 3.45824990e-02 9.99401846e-01 -3.10739566e-05 1.20390281e+00] [ 1.46065841e-03 -1.94509295e-05 9.99998933e-01 -1.71774279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:1.20, Z:-0.17 [[ 9.99411928e-01 -3.42588019e-02 -1.46045856e-03 9.46585165e+01] [ 3.42587931e-02 9.99412995e-01 -3.10181775e-05 1.20271030e+00] [ 1.46066391e-03 -1.90336112e-05 9.99998933e-01 -1.70457083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:94.69, Y:1.20, Z:-0.17 [[ 9.99423048e-01 -3.39328364e-02 -1.46045930e-03 9.46899704e+01] [ 3.39328273e-02 9.99424115e-01 -3.09832195e-05 1.20210931e+00] [ 1.46066960e-03 -1.85921697e-05 9.99998933e-01 -1.70524212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:1.20, Z:-0.17 [[ 9.99447508e-01 -3.32046069e-02 -1.46046005e-03 9.47204441e+01] [ 3.32045971e-02 9.99448575e-01 -3.09481232e-05 1.19998853e+00] [ 1.46068233e-03 -1.75629629e-05 9.99998933e-01 -1.69539855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:1.20, Z:-0.17 [[ 9.99460044e-01 -3.28250953e-02 -1.46046042e-03 9.47513146e+01] [ 3.28250851e-02 9.99461111e-01 -3.09306692e-05 1.19929698e+00] [ 1.46068869e-03 -1.70257694e-05 9.99998933e-01 -1.68953454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.78, Y:1.20, Z:-0.17 [[ 9.99471429e-01 -3.24766082e-02 -1.46046115e-03 9.47814683e+01] [ 3.24765977e-02 9.99472496e-01 -3.08960303e-05 1.19856370e+00] [ 1.46069415e-03 -1.65511098e-05 9.99998933e-01 -1.70197287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:1.20, Z:-0.17 [[ 9.99498121e-01 -3.16444697e-02 -1.46046151e-03 9.48116270e+01] [ 3.16444584e-02 9.99499188e-01 -3.08788633e-05 1.19661083e+00] [ 1.46070724e-03 -1.53521478e-05 9.99998933e-01 -1.70538818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:1.20, Z:-0.17 [[ 9.99498080e-01 -3.16457691e-02 -1.46046187e-03 9.48425020e+01] [ 3.16457578e-02 9.99499147e-01 -3.08617683e-05 1.19566436e+00] [ 1.46070704e-03 -1.53711445e-05 9.99998933e-01 -1.70198114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:94.87, Y:1.19, Z:-0.17 [[ 9.99494418e-01 -3.17612103e-02 -1.46046261e-03 9.48730646e+01] [ 3.17611991e-02 9.99495485e-01 -3.08270761e-05 1.19373779e+00] [ 1.46070489e-03 -1.55745532e-05 9.99998933e-01 -1.72080640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:1.19, Z:-0.17 [[ 9.99461308e-01 -3.27865840e-02 -1.46046297e-03 9.49045458e+01] [ 3.27865740e-02 9.99462375e-01 -3.08098782e-05 1.18809169e+00] [ 1.46068794e-03 -1.70902960e-05 9.99998933e-01 -1.70950382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:1.19, Z:-0.17 [[ 9.99451732e-01 -3.30772171e-02 -1.46046372e-03 9.49347275e+01] [ 3.30772075e-02 9.99452799e-01 -3.07742586e-05 1.18604747e+00] [ 1.46068248e-03 -1.75506754e-05 9.99998933e-01 -1.72139362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:94.97, Y:1.18, Z:-0.17 [[ 9.99450923e-01 -3.31016411e-02 -1.46046409e-03 9.49652469e+01] [ 3.31016315e-02 9.99451990e-01 -3.07565282e-05 1.18428026e+00] [ 1.46068184e-03 -1.76041036e-05 9.99998933e-01 -1.73031415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:1.18, Z:-0.17 [[ 9.99469576e-01 -3.25335915e-02 -1.46046409e-03 9.49958798e+01] [ 3.25335813e-02 9.99470642e-01 -3.07565282e-05 1.17922782e+00] [ 1.46069161e-03 -1.67739131e-05 9.99998933e-01 -1.71722582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:1.18, Z:-0.17 [[ 9.99469576e-01 -3.25335915e-02 -1.46046409e-03 9.50268714e+01] [ 3.25335813e-02 9.99470642e-01 -3.07565282e-05 1.17988048e+00] [ 1.46069161e-03 -1.67739131e-05 9.99998933e-01 -1.71677299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:1.18, Z:-0.17 [[ 9.99496998e-01 -3.16799246e-02 -1.46046409e-03 9.50575414e+01] [ 3.16799134e-02 9.99498065e-01 -3.07565282e-05 1.17821515e+00] [ 1.46070540e-03 -1.55263184e-05 9.99998933e-01 -1.72599088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:95.09, Y:1.18, Z:-0.17 [[ 9.99535713e-01 -3.04339510e-02 -1.46046533e-03 9.50882210e+01] [ 3.04339386e-02 9.99536780e-01 -3.06978477e-05 1.17672774e+00] [ 1.46072307e-03 -1.37641169e-05 9.99998933e-01 -1.74247998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.12, Y:1.18, Z:-0.18 [[ 9.99575226e-01 -2.91073074e-02 -1.46046533e-03 9.51179349e+01] [ 2.91072936e-02 9.99576292e-01 -3.06978477e-05 1.17522730e+00] [ 1.46074005e-03 -1.18253850e-05 9.99998933e-01 -1.75403225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.15, Y:1.17, Z:-0.18 [[ 9.99665229e-01 -2.58320915e-02 -1.46046497e-03 9.51481198e+01] [ 2.58320742e-02 9.99666296e-01 -3.07149142e-05 1.17183357e+00] [ 1.46077103e-03 -7.02220765e-06 9.99998933e-01 -1.75372175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:1.17, Z:-0.17 [[ 9.99717271e-01 -2.37327893e-02 -1.46046497e-03 9.51786580e+01] [ 2.37327698e-02 9.99718338e-01 -3.07149142e-05 1.17099284e+00] [ 1.46078256e-03 -3.95464862e-06 9.99998933e-01 -1.73903980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:95.21, Y:1.17, Z:-0.17 [[ 9.99772409e-01 -2.12837418e-02 -1.46046497e-03 9.52080471e+01] [ 2.12837196e-02 9.99773476e-01 -3.07149142e-05 1.17026995e+00] [ 1.46078786e-03 -3.76203077e-07 9.99998933e-01 -1.72668735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:1.17, Z:-0.17 [[ 9.99861477e-01 -1.65799342e-02 -1.46046459e-03 9.52370611e+01] [ 1.65799070e-02 9.99862543e-01 -3.07327802e-05 1.16940006e+00] [ 1.46077339e-03 6.51415586e-06 9.99998933e-01 -1.71666431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:1.17, Z:-0.17 [[ 9.99897890e-01 -1.42153721e-02 -1.46046384e-03 9.52675059e+01] [ 1.42153423e-02 9.99898956e-01 -3.07685413e-05 1.16974080e+00] [ 1.46075365e-03 1.00044061e-05 9.99998933e-01 -1.71169936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.30, Y:1.17, Z:-0.17 [[ 9.99926602e-01 -1.20273720e-02 -1.46046384e-03 9.52980032e+01] [ 1.20273399e-02 9.99927668e-01 -3.07685413e-05 1.17028374e+00] [ 1.46072827e-03 1.32007879e-05 9.99998933e-01 -1.72221143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.33, Y:1.17, Z:-0.17 [[ 9.99968703e-01 -7.77555110e-03 -1.46046384e-03 9.53277549e+01] [ 7.77551445e-03 9.99969770e-01 -3.07685413e-05 1.17077194e+00] [ 1.46065893e-03 1.94117207e-05 9.99998933e-01 -1.74208162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:1.17, Z:-0.17 [[ 9.99980716e-01 -6.03619656e-03 -1.46046348e-03 9.53580846e+01] [ 6.03615803e-03 9.99981782e-01 -3.07857615e-05 1.17188313e+00] [ 1.46062270e-03 2.19695795e-05 9.99998933e-01 -1.72423849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:1.17, Z:-0.17 [[ 9.99989167e-01 -4.41970131e-03 -1.46046348e-03 9.53872431e+01] [ 4.41966106e-03 9.99990233e-01 -3.07857615e-05 1.17314131e+00] [ 1.46058527e-03 2.43306744e-05 9.99998933e-01 -1.74195507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:1.17, Z:-0.17 [[ 9.99993038e-01 -3.43367301e-03 -1.46046310e-03 9.54165695e+01] [ 3.43363168e-03 9.99994105e-01 -3.08033684e-05 1.17449970e+00] [ 1.46056026e-03 2.57884616e-05 9.99998933e-01 -1.73937425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:1.18, Z:-0.17 [[ 9.99994304e-01 -3.04293262e-03 -1.46046238e-03 9.54459133e+01] [ 3.04289082e-03 9.99995370e-01 -3.08378283e-05 1.17607764e+00] [ 1.46054945e-03 2.63936251e-05 9.99998933e-01 -1.73261501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:1.18, Z:-0.17 [[ 9.99995169e-01 -2.74374354e-03 -1.46046164e-03 9.54748821e+01] [ 2.74370138e-03 9.99996236e-01 -3.08727089e-05 1.17880478e+00] [ 1.46054085e-03 2.68654891e-05 9.99998933e-01 -1.74831115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:1.18, Z:-0.17 [[ 9.99995297e-01 -2.69680197e-03 -1.46046127e-03 9.55041028e+01] [ 2.69675973e-03 9.99996363e-01 -3.08900178e-05 1.18025488e+00] [ 1.46053927e-03 2.69513594e-05 9.99998933e-01 -1.73125884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:1.18, Z:-0.17 [[ 9.99994830e-01 -2.86488577e-03 -1.46046054e-03 9.55334378e+01] [ 2.86484366e-03 9.99995896e-01 -3.09248227e-05 1.18190907e+00] [ 1.46054314e-03 2.67406717e-05 9.99998933e-01 -1.71939899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:1.19, Z:-0.17 [[ 9.99994629e-01 -2.93395043e-03 -1.46045977e-03 9.55632638e+01] [ 2.93390834e-03 9.99995696e-01 -3.09608068e-05 1.18539451e+00] [ 1.46054432e-03 2.66757854e-05 9.99998933e-01 -1.71424038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:1.19, Z:-0.17 [[ 9.99993235e-01 -3.37603394e-03 -1.46045939e-03 9.55929097e+01] [ 3.37599229e-03 9.99994301e-01 -3.09787209e-05 1.18778821e+00] [ 1.46055565e-03 2.60480117e-05 9.99998933e-01 -1.68768565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:1.19, Z:-0.17 [[ 9.99991125e-01 -3.95175813e-03 -1.46045863e-03 9.56225279e+01] [ 3.95171705e-03 9.99992191e-01 -3.10147390e-05 1.18976281e+00] [ 1.46056979e-03 2.52431444e-05 9.99998933e-01 -1.69466885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:1.19, Z:-0.17 [[ 9.99985987e-01 -5.08850420e-03 -1.46045825e-03 9.56517965e+01] [ 5.08846431e-03 9.99987053e-01 -3.10326143e-05 1.19205740e+00] [ 1.46059725e-03 2.36006898e-05 9.99998933e-01 -1.70647024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:1.20, Z:-0.17 [[ 9.99969181e-01 -7.71393457e-03 -1.46045788e-03 9.56824272e+01] [ 7.71389745e-03 9.99970247e-01 -3.10498047e-05 1.19557625e+00] [ 1.46065395e-03 1.97830254e-05 9.99998933e-01 -1.69833960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:1.20, Z:-0.17 [[ 9.99957307e-01 -9.12417529e-03 -1.46045788e-03 9.57131927e+01] [ 9.12413967e-03 9.99958374e-01 -3.10498047e-05 1.19752690e+00] [ 1.46068039e-03 1.77230574e-05 9.99998933e-01 -1.71407040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:95.74, Y:1.20, Z:-0.17 [[ 9.99940678e-01 -1.07939077e-02 -1.46045788e-03 9.57437540e+01] [ 1.07938739e-02 9.99941744e-01 -3.10498047e-05 1.19958850e+00] [ 1.46070795e-03 1.52839645e-05 9.99998933e-01 -1.73305525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:1.20, Z:-0.17 [[ 9.99899344e-01 -1.41127001e-02 -1.46045788e-03 9.57741307e+01] [ 1.41126698e-02 9.99900411e-01 -3.10498047e-05 1.20392895e+00] [ 1.46075063e-03 1.04357194e-05 9.99998933e-01 -1.73728049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:1.21, Z:-0.17 [[ 9.99877132e-01 -1.56073197e-02 -1.46045788e-03 9.58048089e+01] [ 1.56072910e-02 9.99878198e-01 -3.10498047e-05 1.20670404e+00] [ 1.46076460e-03 8.25219842e-06 9.99998933e-01 -1.74744538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.83, Y:1.21, Z:-0.17 [[ 9.99857992e-01 -1.67887961e-02 -1.46045824e-03 9.58348575e+01] [ 1.67887687e-02 9.99859058e-01 -3.10328405e-05 1.20836543e+00] [ 1.46077341e-03 6.50913789e-06 9.99998933e-01 -1.74823855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:95.87, Y:1.21, Z:-0.17 [[ 9.99825968e-01 -1.85984307e-02 -1.46045824e-03 9.58656709e+01] [ 1.85984052e-02 9.99827034e-01 -3.10328405e-05 1.20935903e+00] [ 1.46078280e-03 3.86524548e-06 9.99998933e-01 -1.73616607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:1.21, Z:-0.17 [[ 9.99809601e-01 -1.94583646e-02 -1.46045943e-03 9.58962148e+01] [ 1.94583402e-02 9.99810668e-01 -3.09770583e-05 1.21086666e+00] [ 1.46078568e-03 2.55304398e-06 9.99998933e-01 -1.73154458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:1.21, Z:-0.17 [[ 9.99798282e-01 -2.00315343e-02 -1.46045979e-03 9.59264771e+01] [ 2.00315104e-02 9.99799349e-01 -3.09598079e-05 1.21301359e+00] [ 1.46078692e-03 1.69834722e-06 9.99998933e-01 -1.72320957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:1.22, Z:-0.17 [[ 9.99787169e-01 -2.05787116e-02 -1.46045979e-03 9.59571968e+01] [ 2.05786883e-02 9.99788236e-01 -3.09598079e-05 1.21534893e+00] [ 1.46078763e-03 8.98871875e-07 9.99998933e-01 -1.70994549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:1.22, Z:-0.17 [[ 9.99769000e-01 -2.14432635e-02 -1.46045979e-03 9.59861860e+01] [ 2.14432412e-02 9.99770067e-01 -3.09598079e-05 1.21815428e+00] [ 1.46078786e-03 -3.64335350e-07 9.99998933e-01 -1.70793358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:1.22, Z:-0.17 [[ 9.99755448e-01 -2.20660518e-02 -1.46045943e-03 9.60162126e+01] [ 2.20660301e-02 9.99756515e-01 -3.09771217e-05 1.21933683e+00] [ 1.46078737e-03 -1.25699552e-06 9.99998933e-01 -1.70763717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:1.22, Z:-0.17 [[ 9.99748497e-01 -2.23787989e-02 -1.46045943e-03 9.60468937e+01] [ 2.23787775e-02 9.99749563e-01 -3.09771217e-05 1.22022372e+00] [ 1.46078690e-03 -1.71396576e-06 9.99998933e-01 -1.70709358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.08, Y:1.22, Z:-0.17 [[ 9.99730018e-01 -2.31896309e-02 -1.46045943e-03 9.60770974e+01] [ 2.31896104e-02 9.99731084e-01 -3.09771217e-05 1.22230932e+00] [ 1.46078503e-03 -2.89872673e-06 9.99998933e-01 -1.73324128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:1.22, Z:-0.17 [[ 9.99722552e-01 -2.35092660e-02 -1.46045979e-03 9.61075220e+01] [ 2.35092459e-02 9.99723619e-01 -3.09600055e-05 1.22323310e+00] [ 1.46078399e-03 -3.38289251e-06 9.99998933e-01 -1.71850315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:1.22, Z:-0.17 [[ 9.99714795e-01 -2.38368392e-02 -1.46045979e-03 9.61373110e+01] [ 2.38368195e-02 9.99715862e-01 -3.09600055e-05 1.22470934e+00] [ 1.46078280e-03 -3.86154070e-06 9.99998933e-01 -1.74006381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:1.23, Z:-0.17 [[ 9.99717962e-01 -2.37036547e-02 -1.46045979e-03 9.61673442e+01] [ 2.37036348e-02 9.99719029e-01 -3.09600055e-05 1.22612618e+00] [ 1.46078331e-03 -3.66693175e-06 9.99998933e-01 -1.73915260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:1.23, Z:-0.18 [[ 9.99723658e-01 -2.34622153e-02 -1.46045979e-03 9.61976049e+01] [ 2.34621952e-02 9.99724724e-01 -3.09600055e-05 1.22847006e+00] [ 1.46078415e-03 -3.31414259e-06 9.99998933e-01 -1.76489857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.23, Y:1.23, Z:-0.18 [[ 9.99733142e-01 -2.30545546e-02 -1.46046015e-03 9.62282425e+01] [ 2.30545340e-02 9.99734208e-01 -3.09430517e-05 1.22929867e+00] [ 1.46078535e-03 -2.73543381e-06 9.99998933e-01 -1.76758140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.26, Y:1.23, Z:-0.18 [[ 9.99741907e-01 -2.26712505e-02 -1.46046015e-03 9.62590966e+01] [ 2.26712294e-02 9.99742974e-01 -3.09430517e-05 1.23046390e+00] [ 1.46078629e-03 -2.17536157e-06 9.99998933e-01 -1.76783616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.29, Y:1.23, Z:-0.18 [[ 9.99762495e-01 -2.17444216e-02 -1.46046015e-03 9.62896365e+01] [ 2.17443996e-02 9.99763562e-01 -3.09430517e-05 1.23343035e+00] [ 1.46078768e-03 -8.21126439e-07 9.99998933e-01 -1.75128723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:1.23, Z:-0.17 [[ 9.99769232e-01 -2.14324667e-02 -1.46046015e-03 9.63198667e+01] [ 2.14324443e-02 9.99770298e-01 -3.09430517e-05 1.23465286e+00] [ 1.46078786e-03 -3.65319801e-07 9.99998933e-01 -1.74108746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:1.24, Z:-0.17 [[ 9.99775028e-01 -2.11603442e-02 -1.46046051e-03 9.63506475e+01] [ 2.11603216e-02 9.99776095e-01 -3.09258634e-05 1.23603025e+00] [ 1.46078791e-03 1.50917603e-08 9.99998933e-01 -1.71531131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:1.24, Z:-0.17 [[ 9.99778338e-01 -2.10033889e-02 -1.46046051e-03 9.63812666e+01] [ 2.10033662e-02 9.99779404e-01 -3.09258634e-05 1.23738183e+00] [ 1.46078789e-03 2.44421379e-07 9.99998933e-01 -1.69589492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:1.24, Z:-0.17 [[ 9.99791302e-01 -2.03769144e-02 -1.46046051e-03 9.64113331e+01] [ 2.03768910e-02 9.99792369e-01 -3.09258634e-05 1.23934156e+00] [ 1.46078745e-03 1.15976458e-06 9.99998933e-01 -1.70433005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:1.24, Z:-0.17 [[ 9.99790796e-01 -2.04017651e-02 -1.46046089e-03 9.64413569e+01] [ 2.04017417e-02 9.99791862e-01 -3.09081393e-05 1.24002832e+00] [ 1.46078749e-03 1.10572741e-06 9.99998933e-01 -1.68943743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:1.24, Z:-0.17 [[ 9.99789914e-01 -2.04449297e-02 -1.46046089e-03 9.64715982e+01] [ 2.04449064e-02 9.99790981e-01 -3.09081393e-05 1.24107740e+00] [ 1.46078754e-03 1.04265982e-06 9.99998933e-01 -1.70545986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:1.24, Z:-0.17 [[ 9.99781565e-01 -2.08492005e-02 -1.46046126e-03 9.65017278e+01] [ 2.08491776e-02 9.99782632e-01 -3.08905020e-05 1.24285944e+00] [ 1.46078784e-03 4.34338241e-07 9.99998933e-01 -1.68728623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:1.24, Z:-0.17 [[ 9.99761370e-01 -2.17961229e-02 -1.46046126e-03 9.65320055e+01] [ 2.17961010e-02 9.99762436e-01 -3.08905020e-05 1.24424652e+00] [ 1.46078760e-03 -9.49230545e-07 9.99998933e-01 -1.69103183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:1.24, Z:-0.17 [[ 9.99748161e-01 -2.23937788e-02 -1.46046163e-03 9.65622981e+01] [ 2.23937576e-02 9.99749228e-01 -3.08730149e-05 1.24462058e+00] [ 1.46078675e-03 -1.83998383e-06 9.99998933e-01 -1.69823118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:96.59, Y:1.25, Z:-0.17 [[ 9.99731603e-01 -2.31212001e-02 -1.46046289e-03 9.65928568e+01] [ 2.31211798e-02 9.99732669e-01 -3.08132458e-05 1.24574037e+00] [ 1.46078490e-03 -2.96264947e-06 9.99998933e-01 -1.70672105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:1.25, Z:-0.17 [[ 9.99676937e-01 -2.53749587e-02 -1.46046289e-03 9.66229280e+01] [ 2.53749408e-02 9.99678004e-01 -3.08132458e-05 1.24604531e+00] [ 1.46077451e-03 -6.25586820e-06 9.99998933e-01 -1.70828626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:1.25, Z:-0.17 [[ 9.99645356e-01 -2.65900258e-02 -1.46046415e-03 9.66532123e+01] [ 2.65900093e-02 9.99646423e-01 -3.07532772e-05 1.24633952e+00] [ 1.46076550e-03 -8.09138464e-06 9.99998933e-01 -1.72637007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:1.25, Z:-0.17 [[ 9.99605358e-01 -2.80534290e-02 -1.46046451e-03 9.66849340e+01] [ 2.80534140e-02 9.99606425e-01 -3.07364769e-05 1.24673545e+00] [ 1.46075197e-03 -1.02466684e-05 9.99998933e-01 -1.71617765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:1.25, Z:-0.17 [[ 9.99564593e-01 -2.94701928e-02 -1.46046521e-03 9.67158862e+01] [ 2.94701794e-02 9.99565659e-01 -3.07029411e-05 1.24717094e+00] [ 1.46073569e-03 -1.23505989e-05 9.99998933e-01 -1.71465624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:1.25, Z:-0.17 [[ 9.99466170e-01 -3.26380473e-02 -1.46046592e-03 9.67476364e+01] [ 3.26380373e-02 9.99467237e-01 -3.06690784e-05 1.24566286e+00] [ 1.46068882e-03 -1.70140348e-05 9.99998933e-01 -1.72392317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:1.24, Z:-0.17 [[ 9.99409327e-01 -3.43345808e-02 -1.46046663e-03 9.67792354e+01] [ 3.43345727e-02 9.99410394e-01 -3.06353835e-05 1.24486622e+00] [ 1.46065738e-03 -1.95272097e-05 9.99998933e-01 -1.73755157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:1.24, Z:-0.17 [[ 9.99332742e-01 -3.64957329e-02 -1.46044154e-03 9.68103202e+01] [ 3.64957253e-02 9.99333809e-01 -3.18322431e-05 1.24386531e+00] [ 1.46063035e-03 -2.14888704e-05 9.99998933e-01 -1.71745163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:1.24, Z:-0.17 [[ 9.99255057e-01 -3.85641964e-02 -1.46046555e-03 9.68408903e+01] [ 3.85641927e-02 9.99256124e-01 -3.06896489e-05 1.24307481e+00] [ 1.46056267e-03 -2.56548880e-05 9.99998933e-01 -1.72334881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:1.24, Z:-0.17 [[ 9.99097372e-01 -4.24536026e-02 -1.46046591e-03 9.68724728e+01] [ 4.24536031e-02 9.99098439e-01 -3.06725996e-05 1.23893223e+00] [ 1.46045137e-03 -3.13571262e-05 9.99998933e-01 -1.71280145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:1.24, Z:-0.17 [[ 9.99028213e-01 -4.40510796e-02 -1.46046661e-03 9.69034861e+01] [ 4.40510818e-02 9.99029279e-01 -3.06392774e-05 1.23696714e+00] [ 1.46039859e-03 -3.37256314e-05 9.99998933e-01 -1.70517973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.93, Y:1.23, Z:-0.17 [[ 9.98993831e-01 -4.48240105e-02 -1.46046730e-03 9.69329506e+01] [ 4.48240136e-02 9.98994898e-01 -3.06058969e-05 1.23485690e+00] [ 1.46037127e-03 -3.48889042e-05 9.99998933e-01 -1.72709358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.96, Y:1.24, Z:-0.17 [[ 9.98994005e-01 -4.48201339e-02 -1.46041967e-03 9.69629428e+01] [ 4.48201338e-02 9.98995072e-01 -3.28638044e-05 1.23547217e+00] [ 1.46042502e-03 -3.26254615e-05 9.99998933e-01 -1.72665306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:1.23, Z:-0.17 [[ 9.98907147e-01 -4.67159270e-02 -1.46042763e-03 9.69944988e+01] [ 4.67159294e-02 9.98908214e-01 -3.24842860e-05 1.23113439e+00] [ 1.46035069e-03 -3.57764484e-05 9.99998933e-01 -1.68288126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.02, Y:1.23, Z:-0.17 [[ 9.98911992e-01 -4.66122195e-02 -1.46046793e-03 9.70245596e+01] [ 4.66122246e-02 9.98913059e-01 -3.05580592e-05 1.22867727e+00] [ 1.46030487e-03 -3.75508474e-05 9.99998933e-01 -1.70357471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.05, Y:1.23, Z:-0.17 [[ 9.98923601e-01 -4.63627801e-02 -1.46046830e-03 9.70548663e+01] [ 4.63627850e-02 9.98924667e-01 -3.05404978e-05 1.22584888e+00] [ 1.46031375e-03 -3.72037536e-05 9.99998933e-01 -1.69009543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:1.22, Z:-0.17 [[ 9.98949229e-01 -4.58072680e-02 -1.46046830e-03 9.70846287e+01] [ 4.58072723e-02 9.98950295e-01 -3.05404978e-05 1.22279136e+00] [ 1.46033421e-03 -3.63916622e-05 9.99998933e-01 -1.71274470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:1.22, Z:-0.17 [[ 9.99047399e-01 -4.36137754e-02 -1.46046793e-03 9.71144600e+01] [ 4.36137773e-02 9.99048466e-01 -3.05580451e-05 1.21692544e+00] [ 1.46041100e-03 -3.31675875e-05 9.99998933e-01 -1.72402500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:1.21, Z:-0.17 [[ 9.99114189e-01 -4.20559576e-02 -1.46046803e-03 9.71449225e+01] [ 4.20559579e-02 9.99115256e-01 -3.05531914e-05 1.21485353e+00] [ 1.46046084e-03 -3.08952550e-05 9.99998933e-01 -1.73795775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:1.21, Z:-0.17 [[ 9.99201010e-01 -3.99400649e-02 -1.46046803e-03 9.71756719e+01] [ 3.99400629e-02 9.99202077e-01 -3.05531914e-05 1.21266502e+00] [ 1.46052299e-03 -2.78024053e-05 9.99998933e-01 -1.74918947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:1.21, Z:-0.17 [[ 9.99400116e-01 -3.46016552e-02 -1.46046803e-03 9.72051286e+01] [ 3.46016475e-02 9.99401183e-01 -3.05531914e-05 1.20839038e+00] [ 1.46065067e-03 -1.99997369e-05 9.99998933e-01 -1.74614773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:1.21, Z:-0.18 [[ 9.99515472e-01 -3.10915998e-02 -1.46046768e-03 9.72359922e+01] [ 3.10915883e-02 9.99516539e-01 -3.05698625e-05 1.20699774e+00] [ 1.46071207e-03 -1.48532094e-05 9.99998933e-01 -1.75024503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:1.21, Z:-0.17 [[ 9.99620120e-01 -2.75224168e-02 -1.46046768e-03 9.72662775e+01] [ 2.75224015e-02 9.99621186e-01 -3.05698625e-05 1.20605908e+00] [ 1.46075579e-03 -9.63732836e-06 9.99998933e-01 -1.72496225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:1.21, Z:-0.17 [[ 9.99714878e-01 -2.38333804e-02 -1.46046768e-03 9.72953252e+01] [ 2.38333611e-02 9.99715945e-01 -3.05698625e-05 1.20511534e+00] [ 1.46078141e-03 -4.24670738e-06 9.99998933e-01 -1.73921784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:1.20, Z:-0.17 [[ 9.99857863e-01 -1.67964532e-02 -1.46046731e-03 9.73246366e+01] [ 1.67964265e-02 9.99858930e-01 -3.05875132e-05 1.20289954e+00] [ 1.46077505e-03 6.05253378e-06 9.99998933e-01 -1.73128597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:1.20, Z:-0.17 [[ 9.99902437e-01 -1.38918545e-02 -1.46046660e-03 9.73547364e+01] [ 1.38918246e-02 9.99903503e-01 -3.06215157e-05 1.20271534e+00] [ 1.46075106e-03 1.03299824e-05 9.99998933e-01 -1.72427177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:1.20, Z:-0.17 [[ 9.99936430e-01 -1.11804608e-02 -1.46046660e-03 9.73856864e+01] [ 1.11804280e-02 9.99937497e-01 -3.06215157e-05 1.20260460e+00] [ 1.46071768e-03 1.42909274e-05 9.99998933e-01 -1.72348353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:1.20, Z:-0.17 [[ 9.99976225e-01 -6.73923786e-03 -1.46046660e-03 9.74166349e+01] [ 6.73920032e-03 9.99977291e-01 -3.06215157e-05 1.20213376e+00] [ 1.46063980e-03 2.07784107e-05 9.99998933e-01 -1.70514992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:1.20, Z:-0.17 [[ 9.99986367e-01 -5.01329662e-03 -1.46046660e-03 9.74464448e+01] [ 5.01325724e-03 9.99987433e-01 -3.06215157e-05 1.20223293e+00] [ 1.46060176e-03 2.32994035e-05 9.99998933e-01 -1.70931688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:1.20, Z:-0.17 [[ 9.99992431e-01 -3.60632611e-03 -1.46046656e-03 9.74762748e+01] [ 3.60628523e-03 9.99993497e-01 -3.06234351e-05 1.20289428e+00] [ 1.46056750e-03 2.53563444e-05 9.99998933e-01 -1.69913533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:1.20, Z:-0.17 [[ 9.99995855e-01 -2.48144805e-03 -1.46046583e-03 9.75058794e+01] [ 2.48140592e-03 9.99996921e-01 -3.06580534e-05 1.20345789e+00] [ 1.46053741e-03 2.70339177e-05 9.99998933e-01 -1.69806579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:1.20, Z:-0.17 [[ 9.99997703e-01 -1.56891730e-03 -1.46046511e-03 9.75353126e+01] [ 1.56887414e-03 9.99998769e-01 -3.06925659e-05 1.20412328e+00] [ 1.46051146e-03 2.84012094e-05 9.99998933e-01 -1.71153937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:1.20, Z:-0.17 [[ 9.99997820e-01 -1.49248213e-03 -1.46046475e-03 9.75654044e+01] [ 1.49243887e-03 9.99998886e-01 -3.07096794e-05 1.20464044e+00] [ 1.46050895e-03 2.85299580e-05 9.99998933e-01 -1.70656177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:1.21, Z:-0.17 [[ 9.99996987e-01 -1.97288317e-03 -1.46046403e-03 9.75955402e+01] [ 1.97284037e-03 9.99998053e-01 -3.07439634e-05 1.20531076e+00] [ 1.46052184e-03 2.78626084e-05 9.99998933e-01 -1.70233097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.63, Y:1.21, Z:-0.17 [[ 9.99995090e-01 -2.77240585e-03 -1.46046330e-03 9.76254617e+01] [ 2.77236385e-03 9.99996157e-01 -3.07784662e-05 1.20609047e+00] [ 1.46054302e-03 2.67293795e-05 9.99998933e-01 -1.69993168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:1.21, Z:-0.17 [[ 9.99983176e-01 -5.61382844e-03 -1.46046256e-03 9.76552481e+01] [ 5.61378942e-03 9.99984242e-01 -3.08136980e-05 1.20781616e+00] [ 1.46061252e-03 2.26144503e-05 9.99998933e-01 -1.70650742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:1.21, Z:-0.17 [[ 9.99969272e-01 -7.70209574e-03 -1.46046219e-03 9.76845656e+01] [ 7.70205892e-03 9.99970338e-01 -3.08312082e-05 1.20899506e+00] [ 1.46065633e-03 1.95816950e-05 9.99998933e-01 -1.68831491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:1.21, Z:-0.17 [[ 9.99943357e-01 -1.05427219e-02 -1.46046144e-03 9.77142444e+01] [ 1.05426880e-02 9.99944424e-01 -3.08663105e-05 1.20994931e+00] [ 1.46070569e-03 1.54673728e-05 9.99998933e-01 -1.69847894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:1.21, Z:-0.17 [[ 9.99850379e-01 -1.72361933e-02 -1.46046107e-03 9.77442673e+01] [ 1.72361666e-02 9.99851446e-01 -3.08837936e-05 1.20982735e+00] [ 1.46077644e-03 5.70642233e-06 9.99998933e-01 -1.68811561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:1.21, Z:-0.17 [[ 9.99780957e-01 -2.08783324e-02 -1.46046107e-03 9.77751014e+01] [ 2.08783095e-02 9.99782024e-01 -3.08837936e-05 1.20931276e+00] [ 1.46078753e-03 3.85070332e-07 9.99998933e-01 -1.69268502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:1.21, Z:-0.17 [[ 9.99703967e-01 -2.42867206e-02 -1.46046107e-03 9.78041726e+01] [ 2.42867014e-02 9.99705034e-01 -3.08837936e-05 1.20850029e+00] [ 1.46078035e-03 -4.59513098e-06 9.99998933e-01 -1.69621051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:1.21, Z:-0.17 [[ 9.99616404e-01 -2.76570286e-02 -1.46046113e-03 9.78350320e+01] [ 2.76570130e-02 9.99617471e-01 -3.08813832e-05 1.20803353e+00] [ 1.46075654e-03 -9.52245510e-06 9.99998933e-01 -1.67646890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:1.21, Z:-0.17 [[ 9.99460536e-01 -3.28101123e-02 -1.46046113e-03 9.78643385e+01] [ 3.28101022e-02 9.99461603e-01 -3.08813832e-05 1.20765519e+00] [ 1.46068804e-03 -1.70531550e-05 9.99998933e-01 -1.68338017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:1.21, Z:-0.17 [[ 9.99394390e-01 -3.47666603e-02 -1.46046076e-03 9.78941288e+01] [ 3.47666523e-02 9.99395457e-01 -3.08988184e-05 1.20747420e+00] [ 1.46065209e-03 -1.98952256e-05 9.99998933e-01 -1.67579365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:1.21, Z:-0.17 [[ 9.99336895e-01 -3.63818300e-02 -1.46046002e-03 9.79234299e+01] [ 3.63818236e-02 9.99337962e-01 -3.09335308e-05 1.20702862e+00] [ 1.46061856e-03 -2.22211803e-05 9.99998933e-01 -1.68499874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:1.21, Z:-0.17 [[ 9.99252440e-01 -3.86319558e-02 -1.46045966e-03 9.79522965e+01] [ 3.86319518e-02 9.99253507e-01 -3.09507617e-05 1.20638586e+00] [ 1.46056512e-03 -2.54927829e-05 9.99998933e-01 -1.69412203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:1.21, Z:-0.17 [[ 9.99224934e-01 -3.93369742e-02 -1.46045859e-03 9.79819336e+01] [ 3.93369709e-02 9.99226001e-01 -3.10009307e-05 1.20654979e+00] [ 1.46054768e-03 -2.64731142e-05 9.99998933e-01 -1.67841011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.01, Y:1.21, Z:-0.17 [[ 9.99210082e-01 -3.97124634e-02 -1.46045785e-03 9.80116016e+01] [ 3.97124604e-02 9.99211149e-01 -3.10359611e-05 1.20637801e+00] [ 1.46053828e-03 -2.69869293e-05 9.99998933e-01 -1.69067879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587156 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:98.04, Y:1.21, Z:-0.17 [[ 9.99204509e-01 -3.98524339e-02 -1.46045747e-03 9.80415029e+01] [ 3.98524311e-02 9.99205576e-01 -3.10534662e-05 1.20563197e+00] [ 1.46053481e-03 -2.71740174e-05 9.99998933e-01 -1.68502640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.07, Y:1.20, Z:-0.17 [[ 9.99200481e-01 -3.99532832e-02 -1.46045674e-03 9.80702779e+01] [ 3.99532805e-02 9.99201548e-01 -3.10879666e-05 1.20456426e+00] [ 1.46053270e-03 -2.72869265e-05 9.99998933e-01 -1.68359457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:1.20, Z:-0.17 [[ 9.99199889e-01 -3.99680934e-02 -1.46045565e-03 9.80995694e+01] [ 3.99680905e-02 9.99200956e-01 -3.11392290e-05 1.20385949e+00] [ 1.46053325e-03 -2.72573094e-05 9.99998933e-01 -1.67992260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.13, Y:1.20, Z:-0.17 [[ 9.99208031e-01 -3.97640379e-02 -1.46045491e-03 9.81288021e+01] [ 3.97640347e-02 9.99209098e-01 -3.11735766e-05 1.20337926e+00] [ 1.46053942e-03 -2.69246918e-05 9.99998933e-01 -1.68303233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:1.20, Z:-0.17 [[ 9.99218927e-01 -3.94892735e-02 -1.46045418e-03 9.81586389e+01] [ 3.94892700e-02 9.99219994e-01 -3.12080674e-05 1.20295291e+00] [ 1.46054740e-03 -2.64885778e-05 9.99998933e-01 -1.68339719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.19, Y:1.20, Z:-0.17 [[ 9.99310461e-01 -3.71007936e-02 -1.46045344e-03 9.81874243e+01] [ 3.71007876e-02 9.99311528e-01 -3.12423110e-05 1.20166228e+00] [ 1.46060708e-03 -2.29632048e-05 9.99998933e-01 -1.70175851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:1.20, Z:-0.17 [[ 9.99372869e-01 -3.53798854e-02 -1.46045208e-03 9.82167746e+01] [ 3.53798774e-02 9.99373936e-01 -3.13060474e-05 1.20140538e+00] [ 1.46064535e-03 -2.03842011e-05 9.99998933e-01 -1.70026539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:1.20, Z:-0.17 [[ 9.99447509e-01 -3.32045820e-02 -1.46045135e-03 9.82466933e+01] [ 3.32045717e-02 9.99448576e-01 -3.13400589e-05 1.20166273e+00] [ 1.46068665e-03 -1.71709177e-05 9.99998933e-01 -1.70560482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.27, Y:1.20, Z:-0.17 [[ 9.99537611e-01 -3.03715379e-02 -1.46045062e-03 9.82749829e+01] [ 3.03715245e-02 9.99538678e-01 -3.13739475e-05 1.20232697e+00] [ 1.46072976e-03 -1.29966712e-05 9.99998933e-01 -1.71351337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:1.20, Z:-0.17 [[ 9.99694367e-01 -2.46787211e-02 -1.46044953e-03 9.83036007e+01] [ 2.46787015e-02 9.99695434e-01 -3.14246966e-05 1.20433095e+00] [ 1.46078025e-03 -4.62690579e-06 9.99998933e-01 -1.70464336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:1.21, Z:-0.17 [[ 9.99760584e-01 -2.18321199e-02 -1.46044466e-03 9.83332043e+01] [ 2.18320970e-02 9.99761651e-01 -3.16491927e-05 1.20549605e+00] [ 1.46078754e-03 -2.42954174e-07 9.99998933e-01 -1.69792084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:1.21, Z:-0.17 [[ 9.99808075e-01 -1.95366332e-02 -1.46044390e-03 9.83621891e+01] [ 1.95366078e-02 9.99809142e-01 -3.16842105e-05 1.20646216e+00] [ 1.46078417e-03 3.14600975e-06 9.99998933e-01 -1.70784403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.39, Y:1.21, Z:-0.17 [[ 9.99846272e-01 -1.74728192e-02 -1.46044315e-03 9.83925242e+01] [ 1.74727915e-02 9.99847339e-01 -3.17189537e-05 1.20730735e+00] [ 1.46077442e-03 6.19605891e-06 9.99998933e-01 -1.69491994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:1.21, Z:-0.17 [[ 9.99878054e-01 -1.55481509e-02 -1.46044315e-03 9.84231729e+01] [ 1.55481211e-02 9.99879120e-01 -3.17189537e-05 1.20907462e+00] [ 1.46075978e-03 9.00793867e-06 9.99998933e-01 -1.67015267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.45, Y:1.21, Z:-0.17 [[ 9.99883215e-01 -1.52125874e-02 -1.46044315e-03 9.84540186e+01] [ 1.52125573e-02 9.99884282e-01 -3.17189537e-05 1.21049163e+00] [ 1.46075668e-03 9.49817428e-06 9.99998933e-01 -1.66700253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:1.21, Z:-0.17 [[ 9.99880396e-01 -1.53967940e-02 -1.46044315e-03 9.84832206e+01] [ 1.53967641e-02 9.99881462e-01 -3.17189537e-05 1.21194773e+00] [ 1.46075840e-03 9.22906125e-06 9.99998933e-01 -1.67503684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:1.21, Z:-0.17 [[ 9.99874517e-01 -1.57739382e-02 -1.46044322e-03 9.85124441e+01] [ 1.57739087e-02 9.99875584e-01 -3.17155416e-05 1.21318398e+00] [ 1.46076180e-03 8.67466376e-06 9.99998933e-01 -1.68258113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:1.22, Z:-0.17 [[ 9.99842723e-01 -1.76747170e-02 -1.46044285e-03 9.85425846e+01] [ 1.76746895e-02 9.99843790e-01 -3.17328142e-05 1.21523339e+00] [ 1.46077558e-03 5.91494949e-06 9.99998933e-01 -1.68204384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:1.22, Z:-0.17 [[ 9.99817659e-01 -1.90398624e-02 -1.46044285e-03 9.85724450e+01] [ 1.90398363e-02 9.99818725e-01 -3.17328142e-05 1.21626935e+00] [ 1.46078230e-03 3.92043517e-06 9.99998933e-01 -1.68082296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:1.22, Z:-0.17 [[ 9.99783769e-01 -2.07432345e-02 -1.46044248e-03 9.86025496e+01] [ 2.07432103e-02 9.99784836e-01 -3.17498046e-05 1.21709766e+00] [ 1.46078684e-03 1.44867389e-06 9.99998933e-01 -1.68461115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:1.22, Z:-0.17 [[ 9.99744015e-01 -2.25781250e-02 -1.46044248e-03 9.86329153e+01] [ 2.25781027e-02 9.99745082e-01 -3.17498046e-05 1.21761914e+00] [ 1.46078704e-03 -1.23234312e-06 9.99998933e-01 -1.69045891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.66, Y:1.22, Z:-0.17 [[ 9.99664093e-01 -2.58760239e-02 -1.46044248e-03 9.86628123e+01] [ 2.58760051e-02 9.99665160e-01 -3.17498046e-05 1.21800104e+00] [ 1.46077502e-03 -6.05127749e-06 9.99998933e-01 -1.69151217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:1.22, Z:-0.17 [[ 9.99603486e-01 -2.81200703e-02 -1.46044252e-03 9.86932821e+01] [ 2.81200540e-02 9.99604553e-01 -3.17480261e-05 1.21944621e+00] [ 1.46075775e-03 -9.33228479e-06 9.99998933e-01 -1.66198120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:1.22, Z:-0.17 [[ 9.99551270e-01 -2.99186649e-02 -1.46044252e-03 9.87232943e+01] [ 2.99186504e-02 9.99552336e-01 -3.17480261e-05 1.22002092e+00] [ 1.46073859e-03 -1.19606893e-05 9.99998933e-01 -1.66187765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.75, Y:1.22, Z:-0.17 [[ 9.99497298e-01 -3.16704648e-02 -1.46044252e-03 9.87523482e+01] [ 3.16704522e-02 9.99498365e-01 -3.17480261e-05 1.21972877e+00] [ 1.46071538e-03 -1.45208086e-05 9.99998933e-01 -1.66972550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.78, Y:1.22, Z:-0.17 [[ 9.99373660e-01 -3.53575378e-02 -1.46044137e-03 9.87833126e+01] [ 3.53575290e-02 9.99374727e-01 -3.18006856e-05 1.21693017e+00] [ 1.46065259e-03 -1.98568306e-05 9.99998933e-01 -1.65472714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:1.22, Z:-0.17 [[ 9.99300979e-01 -3.73553342e-02 -1.46044137e-03 9.88122673e+01] [ 3.73553276e-02 9.99302046e-01 -3.18006856e-05 1.21612585e+00] [ 1.46060997e-03 -2.27768096e-05 9.99998933e-01 -1.65283906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:1.22, Z:-0.17 [[ 9.99300112e-01 -3.73785159e-02 -1.46044026e-03 9.88424213e+01] [ 3.73785093e-02 9.99301179e-01 -3.18517473e-05 1.21682786e+00] [ 1.46061024e-03 -2.27596250e-05 9.99998933e-01 -1.65239844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.87, Y:1.22, Z:-0.17 [[ 9.99239082e-01 -3.89759449e-02 -1.46043952e-03 9.88725028e+01] [ 3.89759399e-02 9.99240149e-01 -3.18856265e-05 1.21586275e+00] [ 1.46057257e-03 -2.50606388e-05 9.99998933e-01 -1.65010138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:1.22, Z:-0.16 [[ 9.99163132e-01 -4.08766889e-02 -1.46043877e-03 9.89017526e+01] [ 4.08766859e-02 9.99164198e-01 -3.19198296e-05 1.21514524e+00] [ 1.46052291e-03 -2.78047800e-05 9.99998933e-01 -1.63258560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:1.21, Z:-0.16 [[ 9.99039226e-01 -4.38005889e-02 -1.46043800e-03 9.89303143e+01] [ 4.38005890e-02 9.99040293e-01 -3.19549115e-05 1.21191434e+00] [ 1.46043605e-03 -3.20438346e-05 9.99998933e-01 -1.62018061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.96, Y:1.21, Z:-0.16 [[ 9.98994534e-01 -4.48083496e-02 -1.46043252e-03 9.89585684e+01] [ 4.48083503e-02 9.98995601e-01 -3.22036969e-05 1.21049931e+00] [ 1.46040865e-03 -3.32682546e-05 9.99998933e-01 -1.62235289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:1.21, Z:-0.16 [[ 9.98948045e-01 -4.58330630e-02 -1.46043135e-03 9.89874001e+01] [ 4.58330647e-02 9.98949112e-01 -3.22566628e-05 1.20898879e+00] [ 1.46037502e-03 -3.47133142e-05 9.99998933e-01 -1.62565690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:1.21, Z:-0.16 [[ 9.98926163e-01 -4.63075463e-02 -1.46043020e-03 9.90148955e+01] [ 4.63075485e-02 9.98927230e-01 -3.23086064e-05 1.20672798e+00] [ 1.46035962e-03 -3.53550300e-05 9.99998933e-01 -1.63487957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.04, Y:1.20, Z:-0.16 [[ 9.98919026e-01 -4.64612346e-02 -1.46042829e-03 9.90438121e+01] [ 4.64612368e-02 9.98920093e-01 -3.23947072e-05 1.20248648e+00] [ 1.46035626e-03 -3.54936152e-05 9.99998933e-01 -1.62879708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:1.20, Z:-0.16 [[ 9.98924240e-01 -4.63490064e-02 -1.46042272e-03 9.90727422e+01] [ 4.63490082e-02 9.98925307e-01 -3.26437224e-05 1.20087475e+00] [ 1.46036622e-03 -3.50805391e-05 9.99998933e-01 -1.62343170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:1.20, Z:-0.16 [[ 9.98950503e-01 -4.57794615e-02 -1.46041713e-03 9.91014691e+01] [ 4.57794623e-02 9.98951570e-01 -3.28919671e-05 1.19887216e+00] [ 1.46039176e-03 -3.39996638e-05 9.99998933e-01 -1.61839055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:1.20, Z:-0.16 [[ 9.98995383e-01 -4.47894210e-02 -1.46041150e-03 9.91295918e+01] [ 4.47894204e-02 9.98996450e-01 -3.31400571e-05 1.19698638e+00] [ 1.46043023e-03 -3.23042206e-05 9.99998933e-01 -1.62729920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.16, Y:1.19, Z:-0.16 [[ 9.99090356e-01 -4.26183918e-02 -1.46040950e-03 9.91574246e+01] [ 4.26183887e-02 9.99091423e-01 -3.32280093e-05 1.19288488e+00] [ 1.46049873e-03 -2.90425160e-05 9.99998933e-01 -1.62809377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:1.19, Z:-0.16 [[ 9.99145967e-01 -4.12941208e-02 -1.46040327e-03 9.91854934e+01] [ 4.12941160e-02 9.99147034e-01 -3.34994038e-05 1.19131512e+00] [ 1.46054093e-03 -2.68352680e-05 9.99998933e-01 -1.62804053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.21, Y:1.19, Z:-0.16 [[ 9.99190189e-01 -4.02098550e-02 -1.46040133e-03 9.92133086e+01] [ 4.02098488e-02 9.99191256e-01 -3.35838297e-05 1.18951327e+00] [ 1.46057064e-03 -2.51658836e-05 9.99998933e-01 -1.63367171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:1.19, Z:-0.16 [[ 9.99241716e-01 -3.89083633e-02 -1.46039506e-03 9.92413655e+01] [ 3.89083554e-02 9.99242783e-01 -3.38545460e-05 1.18719451e+00] [ 1.46060645e-03 -2.29926952e-05 9.99998933e-01 -1.62927451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156000001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:99.27, Y:1.18, Z:-0.16 [[ 9.99326614e-01 -3.66631511e-02 -1.46038871e-03 9.92690860e+01] [ 3.66631404e-02 9.99327680e-01 -3.41261788e-05 1.18391108e+00] [ 1.46065803e-03 -1.94392376e-05 9.99998933e-01 -1.63335130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.30, Y:1.18, Z:-0.16 [[ 9.99357917e-01 -3.57997341e-02 -1.46038673e-03 9.92982075e+01] [ 3.57997223e-02 9.99358984e-01 -3.42107533e-05 1.18260337e+00] [ 1.46067533e-03 -1.80926522e-05 9.99998933e-01 -1.62184759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:1.18, Z:-0.16 [[ 9.99426369e-01 -3.38348955e-02 -1.46038101e-03 9.93256309e+01] [ 3.38348812e-02 9.99427436e-01 -3.44529992e-05 1.17882412e+00] [ 1.46071057e-03 -1.49785822e-05 9.99998933e-01 -1.61254599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.35, Y:1.18, Z:-0.16 [[ 9.99464227e-01 -3.26974987e-02 -1.46037749e-03 9.93544882e+01] [ 3.26974830e-02 9.99465294e-01 -3.46015156e-05 1.17793257e+00] [ 1.46072800e-03 -1.31676913e-05 9.99998933e-01 -1.60780938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:1.18, Z:-0.16 [[ 9.99501035e-01 -3.15523052e-02 -1.46037178e-03 9.93828442e+01] [ 3.15522879e-02 9.99502102e-01 -3.48411924e-05 1.17750490e+00] [ 1.46074398e-03 -1.12542629e-05 9.99998933e-01 -1.59188921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:1.18, Z:-0.16 [[ 9.99536155e-01 -3.04194298e-02 -1.46036588e-03 9.94104757e+01] [ 3.04194110e-02 9.99537222e-01 -3.50867704e-05 1.17701331e+00] [ 1.46075737e-03 -9.35297418e-06 9.99998933e-01 -1.59240113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.44, Y:1.18, Z:-0.16 [[ 9.99574456e-01 -2.91337421e-02 -1.46036377e-03 9.94397802e+01] [ 2.91337218e-02 9.99575522e-01 -3.51740466e-05 1.17614974e+00] [ 1.46076863e-03 -7.38675345e-06 9.99998933e-01 -1.59812468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:1.17, Z:-0.16 [[ 9.99632216e-01 -2.70794997e-02 -1.46035782e-03 9.94677839e+01] [ 2.70794768e-02 9.99633283e-01 -3.54195485e-05 1.17365689e+00] [ 1.46078143e-03 -4.13920395e-06 9.99998933e-01 -1.61703538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.50, Y:1.17, Z:-0.16 [[ 9.99643974e-01 -2.66419238e-02 -1.46035570e-03 9.94964892e+01] [ 2.66419004e-02 9.99645041e-01 -3.55068548e-05 1.17374854e+00] [ 1.46078330e-03 -3.41243757e-06 9.99998933e-01 -1.63458984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:1.17, Z:-0.16 [[ 9.99654334e-01 -2.62503484e-02 -1.46034983e-03 9.95257973e+01] [ 2.62503241e-02 9.99655400e-01 -3.57463491e-05 1.17362122e+00] [ 1.46078495e-03 -2.60066374e-06 9.99998933e-01 -1.64146050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:1.17, Z:-0.17 [[ 9.99660708e-01 -2.60064671e-02 -1.46034381e-03 9.95550190e+01] [ 2.60064423e-02 9.99661775e-01 -3.59906155e-05 1.17270417e+00] [ 1.46078588e-03 -1.99994288e-06 9.99998933e-01 -1.65155861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:1.17, Z:-0.17 [[ 9.99655737e-01 -2.61968659e-02 -1.46033775e-03 9.95840107e+01] [ 2.61968410e-02 9.99656803e-01 -3.62350301e-05 1.17260364e+00] [ 1.46078581e-03 -2.03368008e-06 9.99998933e-01 -1.65992487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:1.17, Z:-0.17 [[ 9.99643830e-01 -2.66473499e-02 -1.46033646e-03 9.96117930e+01] [ 2.66473253e-02 9.99644896e-01 -3.62870792e-05 1.17269857e+00] [ 1.46078484e-03 -2.63990579e-06 9.99998933e-01 -1.65674331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:1.17, Z:-0.17 [[ 9.99616129e-01 -2.76669752e-02 -1.46033341e-03 9.96397483e+01] [ 2.76669515e-02 9.99617196e-01 -3.64091858e-05 1.17159615e+00] [ 1.46078172e-03 -4.00776427e-06 9.99998933e-01 -1.65560048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:1.17, Z:-0.16 [[ 9.99607931e-01 -2.79616201e-02 -1.46033135e-03 9.96681780e+01] [ 2.79615966e-02 9.99608997e-01 -3.64917889e-05 1.17182820e+00] [ 1.46078072e-03 -4.35571438e-06 9.99998933e-01 -1.63461965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:1.17, Z:-0.16 [[ 9.99605421e-01 -2.80512022e-02 -1.46032519e-03 9.96968965e+01] [ 2.80511785e-02 9.99606488e-01 -3.67366487e-05 1.17208781e+00] [ 1.46078104e-03 -4.24168931e-06 9.99998933e-01 -1.62849769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:1.17, Z:-0.16 [[ 9.99602136e-01 -2.81680329e-02 -1.46031887e-03 9.97260678e+01] [ 2.81680089e-02 9.99603202e-01 -3.69859166e-05 1.17281071e+00] [ 1.46078124e-03 -4.16307383e-06 9.99998933e-01 -1.62055921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:1.17, Z:-0.17 [[ 9.99606636e-01 -2.80078534e-02 -1.46031236e-03 9.97541741e+01] [ 2.80078289e-02 9.99607703e-01 -3.72412894e-05 1.17316734e+00] [ 1.46078253e-03 -3.67353875e-06 9.99998933e-01 -1.65474191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:1.17, Z:-0.16 [[ 9.99610915e-01 -2.78547281e-02 -1.46031005e-03 9.97830566e+01] [ 2.78547033e-02 9.99611982e-01 -3.73317917e-05 1.17399330e+00] [ 1.46078329e-03 -3.35923655e-06 9.99998933e-01 -1.64524549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:1.17, Z:-0.16 [[ 9.99613483e-01 -2.77624096e-02 -1.46030401e-03 9.98120298e+01] [ 2.77623844e-02 9.99614550e-01 -3.75664483e-05 1.17476744e+00] [ 1.46078407e-03 -2.98959302e-06 9.99998933e-01 -1.62882149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:1.18, Z:-0.16 [[ 9.99614849e-01 -2.77132119e-02 -1.46029756e-03 9.98403387e+01] [ 2.77131862e-02 9.99615915e-01 -3.78157126e-05 1.17560279e+00] [ 1.46078467e-03 -2.66835030e-06 9.99998933e-01 -1.63810364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:1.18, Z:-0.16 [[ 9.99622052e-01 -2.74521708e-02 -1.46029526e-03 9.98689467e+01] [ 2.74521447e-02 9.99623118e-01 -3.79042029e-05 1.17619035e+00] [ 1.46078545e-03 -2.19835972e-06 9.99998933e-01 -1.62501158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:1.18, Z:-0.16 [[ 9.99619777e-01 -2.75348658e-02 -1.46028880e-03 9.98977397e+01] [ 2.75348394e-02 9.99620844e-01 -3.81513555e-05 1.17706241e+00] [ 1.46078562e-03 -2.07196819e-06 9.99998933e-01 -1.62965565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:1.18, Z:-0.16 [[ 9.99619822e-01 -2.75332222e-02 -1.46028233e-03 9.99257994e+01] [ 2.75331955e-02 9.99620889e-01 -3.83974459e-05 1.17744092e+00] [ 1.46078593e-03 -1.82339081e-06 9.99998933e-01 -1.64383095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:1.18, Z:-0.16 [[ 9.99604661e-01 -2.80782654e-02 -1.46028003e-03 9.99548598e+01] [ 2.80782391e-02 9.99605728e-01 -3.84847723e-05 1.17771127e+00] [ 1.46078487e-03 -2.53253411e-06 9.99998933e-01 -1.64374583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:1.18, Z:-0.16 [[ 9.99553188e-01 -2.98545077e-02 -1.46027369e-03 9.99832628e+01] [ 2.98544830e-02 9.99554255e-01 -3.87237555e-05 1.17699596e+00] [ 1.46077886e-03 -4.88926297e-06 9.99998933e-01 -1.62916130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:1.18, Z:-0.16 [[ 9.99511833e-01 -3.12083751e-02 -1.46026711e-03 1.00012362e+02] [ 3.12083514e-02 9.99512900e-01 -3.89704487e-05 1.17745952e+00] [ 1.46077202e-03 -6.62110450e-06 9.99998933e-01 -1.62882616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:1.18, Z:-0.16 [[ 9.99473636e-01 -3.24086087e-02 -1.46026052e-03 1.00040124e+02] [ 3.24085859e-02 9.99474703e-01 -3.92158584e-05 1.17777144e+00] [ 1.46076438e-03 -8.12976194e-06 9.99998933e-01 -1.63696643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:1.18, Z:-0.16 [[ 9.99426033e-01 -3.38448115e-02 -1.46025819e-03 1.00068068e+02] [ 3.38447902e-02 9.99427100e-01 -3.93025799e-05 1.17777274e+00] [ 1.46075179e-03 -1.01421105e-05 9.99998933e-01 -1.63143915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:1.18, Z:-0.16 [[ 9.99373600e-01 -3.53592248e-02 -1.46025044e-03 1.00096202e+02] [ 3.53592047e-02 9.99374667e-01 -3.95881847e-05 1.17740585e+00] [ 1.46073711e-03 -1.20699076e-05 9.99998933e-01 -1.63712933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.12, Y:1.17, Z:-0.16 [[ 9.99312753e-01 -3.70390323e-02 -1.46024264e-03 1.00124408e+02] [ 3.70390136e-02 9.99313820e-01 -3.98737880e-05 1.17476794e+00] [ 1.46071754e-03 -1.42395623e-05 9.99998933e-01 -1.63427804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.15, Y:1.17, Z:-0.16 [[ 9.99301638e-01 -3.73377007e-02 -1.46023481e-03 1.00151770e+02] [ 3.73376818e-02 9.99302705e-01 -4.01587598e-05 1.17419213e+00] [ 1.46071603e-03 -1.43910681e-05 9.99998933e-01 -1.64108029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:1.17, Z:-0.16 [[ 9.99303669e-01 -3.72833051e-02 -1.46023188e-03 1.00179617e+02] [ 3.72832861e-02 9.99304736e-01 -4.02648792e-05 1.17439139e+00] [ 1.46071784e-03 -1.42054015e-05 9.99998933e-01 -1.62969179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.21, Y:1.17, Z:-0.16 [[ 9.99324723e-01 -3.67146664e-02 -1.46022390e-03 1.00206189e+02] [ 3.67146463e-02 9.99325789e-01 -4.05520882e-05 1.17433261e+00] [ 1.46072826e-03 -1.30868999e-05 9.99998933e-01 -1.64570892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.23, Y:1.17, Z:-0.17 [[ 9.99374375e-01 -3.53373232e-02 -1.46022043e-03 1.00234155e+02] [ 3.53373015e-02 9.99375442e-01 -4.06767352e-05 1.17386714e+00] [ 1.46074585e-03 -1.09489628e-05 9.99998933e-01 -1.65326803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:1.17, Z:-0.17 [[ 9.99398486e-01 -3.46487260e-02 -1.46021256e-03 1.00261606e+02] [ 3.46487031e-02 9.99399553e-01 -4.09573060e-05 1.17440770e+00] [ 1.46075490e-03 -9.66180199e-06 9.99998933e-01 -1.67091504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:1.17, Z:-0.17 [[ 9.99422659e-01 -3.39443016e-02 -1.46021011e-03 1.00289853e+02] [ 3.39442779e-02 9.99423726e-01 -4.10446587e-05 1.17470664e+00] [ 1.46076186e-03 -8.54481567e-06 9.99998933e-01 -1.65518599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35587156000001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.32, Y:1.17, Z:-0.17 [[ 9.99479936e-01 -3.22137495e-02 -1.46020205e-03 1.00317907e+02] [ 3.22137235e-02 9.99481002e-01 -4.13291911e-05 1.17443041e+00] [ 1.46077558e-03 -5.73084790e-06 9.99998933e-01 -1.65080397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:1.17, Z:-0.17 [[ 9.99503812e-01 -3.14642343e-02 -1.46019381e-03 1.00345655e+02] [ 3.14642071e-02 9.99504878e-01 -4.16185182e-05 1.17471054e+00] [ 1.46078033e-03 -4.34597269e-06 9.99998933e-01 -1.65543968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.37, Y:1.17, Z:-0.17 [[ 9.99532221e-01 -3.05484325e-02 -1.46019124e-03 1.00373912e+02] [ 3.05484042e-02 9.99533288e-01 -4.17082484e-05 1.17459037e+00] [ 1.46078388e-03 -2.91777414e-06 9.99998933e-01 -1.66071115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:1.17, Z:-0.17 [[ 9.99571249e-01 -2.92435716e-02 -1.46018876e-03 1.00402146e+02] [ 2.92435417e-02 9.99572315e-01 -4.17949658e-05 1.17391499e+00] [ 1.46078650e-03 -9.24044868e-07 9.99998933e-01 -1.66169712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:1.17, Z:-0.17 [[ 9.99583829e-01 -2.88103664e-02 -1.46018632e-03 1.00430336e+02] [ 2.88103360e-02 9.99584895e-01 -4.18801082e-05 1.17441598e+00] [ 1.46078677e-03 -2.05779583e-07 9.99998933e-01 -1.68526577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.46, Y:1.17, Z:-0.17 [[ 9.99587834e-01 -2.86710654e-02 -1.46018389e-03 1.00457968e+02] [ 2.86710346e-02 9.99588901e-01 -4.19645215e-05 1.17475944e+00] [ 1.46078678e-03 8.22421715e-08 9.99998933e-01 -1.68523318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:1.18, Z:-0.17 [[ 9.99594853e-01 -2.84252853e-02 -1.46017586e-03 1.00485903e+02] [ 2.84252540e-02 9.99595920e-01 -4.22423955e-05 1.17528217e+00] [ 1.46078658e-03 7.19411598e-07 9.99998933e-01 -1.67892270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.51, Y:1.18, Z:-0.17 [[ 9.99596271e-01 -2.83753765e-02 -1.46016777e-03 1.00514512e+02] [ 2.83753447e-02 9.99597338e-01 -4.25199486e-05 1.17535086e+00] [ 1.46078634e-03 1.07001819e-06 9.99998933e-01 -1.66853387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.54, Y:1.18, Z:-0.17 [[ 9.99600794e-01 -2.82155992e-02 -1.46016069e-03 1.00542040e+02] [ 2.82155668e-02 9.99601861e-01 -4.27617564e-05 1.17571314e+00] [ 1.46078589e-03 1.54542416e-06 9.99998933e-01 -1.66887018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:100.57, Y:1.18, Z:-0.17 [[ 9.99601112e-01 -2.82043442e-02 -1.46015695e-03 1.00569727e+02] [ 2.82043117e-02 9.99602178e-01 -4.28892033e-05 1.17633636e+00] [ 1.46078573e-03 1.68937364e-06 9.99998933e-01 -1.66410628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:1.18, Z:-0.17 [[ 9.99603701e-01 -2.81124159e-02 -1.46014878e-03 1.00597052e+02] [ 2.81123828e-02 9.99604768e-01 -4.31656111e-05 1.17726240e+00] [ 1.46078517e-03 2.10024333e-06 9.99998933e-01 -1.67216514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:1.18, Z:-0.17 [[ 9.99638794e-01 -2.68356020e-02 -1.46014623e-03 1.00624800e+02] [ 2.68355675e-02 9.99639860e-01 -4.32514156e-05 1.17808722e+00] [ 1.46078106e-03 4.05194019e-06 9.99998933e-01 -1.66999097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:1.18, Z:-0.17 [[ 9.99633832e-01 -2.70198088e-02 -1.46013821e-03 1.00653271e+02] [ 2.70197740e-02 9.99634898e-01 -4.35208046e-05 1.17913981e+00] [ 1.46078103e-03 4.05226429e-06 9.99998933e-01 -1.66957492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:1.18, Z:-0.17 [[ 9.99643464e-01 -2.66610616e-02 -1.46013014e-03 1.00680914e+02] [ 2.66610261e-02 9.99644531e-01 -4.37898680e-05 1.18008055e+00] [ 1.46077859e-03 4.84568773e-06 9.99998933e-01 -1.65367454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.71, Y:1.18, Z:-0.17 [[ 9.99657328e-01 -2.61360896e-02 -1.46012176e-03 1.00708775e+02] [ 2.61360531e-02 9.99658394e-01 -4.40675257e-05 1.18074335e+00] [ 1.46077472e-03 5.89060515e-06 9.99998933e-01 -1.65878900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:1.18, Z:-0.17 [[ 9.99660038e-01 -2.60322385e-02 -1.46011793e-03 1.00736742e+02] [ 2.60322017e-02 9.99661104e-01 -4.41940956e-05 1.18271980e+00] [ 1.46077357e-03 6.16898696e-06 9.99998933e-01 -1.65338336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:1.18, Z:-0.17 [[ 9.99655923e-01 -2.61897513e-02 -1.46010959e-03 1.00764583e+02] [ 2.61897143e-02 9.99656990e-01 -4.44678648e-05 1.18484226e+00] [ 1.46077336e-03 6.21271151e-06 9.99998933e-01 -1.66261367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:1.19, Z:-0.17 [[ 9.99635165e-01 -2.69704448e-02 -1.46010700e-03 1.00793020e+02] [ 2.69704085e-02 9.99636231e-01 -4.45527291e-05 1.18521845e+00] [ 1.46077746e-03 5.15679243e-06 9.99998933e-01 -1.65973951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:1.19, Z:-0.16 [[ 9.99600956e-01 -2.82098775e-02 -1.46009852e-03 1.00820598e+02] [ 2.82098421e-02 9.99602022e-01 -4.48289693e-05 1.18584904e+00] [ 1.46078205e-03 3.62193198e-06 9.99998933e-01 -1.64942224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:1.19, Z:-0.17 [[ 9.99564032e-01 -2.94892122e-02 -1.46008968e-03 1.00848274e+02] [ 2.94891777e-02 9.99565099e-01 -4.51150771e-05 1.18680168e+00] [ 1.46078509e-03 2.03856442e-06 9.99998933e-01 -1.67180803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:1.19, Z:-0.17 [[ 9.99481737e-01 -3.21578350e-02 -1.46008693e-03 1.00876697e+02] [ 3.21578032e-02 9.99482803e-01 -4.52037951e-05 1.18765171e+00] [ 1.46078543e-03 -1.77282053e-06 9.99998933e-01 -1.66920620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:1.19, Z:-0.17 [[ 9.99430575e-01 -3.37104546e-02 -1.46007855e-03 1.00903452e+02] [ 3.37104242e-02 9.99431641e-01 -4.54729795e-05 1.18780615e+00] [ 1.46078161e-03 -3.77278112e-06 9.99998933e-01 -1.67261780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:1.19, Z:-0.17 [[ 9.99381892e-01 -3.51241085e-02 -1.46007489e-03 1.00931202e+02] [ 3.51240794e-02 9.99382958e-01 -4.55901568e-05 1.18781190e+00] [ 1.46077527e-03 -5.72180906e-06 9.99998933e-01 -1.66319672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:1.19, Z:-0.17 [[ 9.99352318e-01 -3.59556972e-02 -1.46006650e-03 1.00957973e+02] [ 3.59556685e-02 9.99353385e-01 -4.58572658e-05 1.18827333e+00] [ 1.46077123e-03 -6.67010219e-06 9.99998933e-01 -1.66132103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:1.19, Z:-0.17 [[ 9.99317459e-01 -3.69118475e-02 -1.46006284e-03 1.00984664e+02] [ 3.69118197e-02 9.99318526e-01 -4.59735955e-05 1.18881497e+00] [ 1.46076481e-03 -7.95135951e-06 9.99998933e-01 -1.65896179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:101.01, Y:1.19, Z:-0.16 [[ 9.99313018e-01 -3.70318733e-02 -1.46005921e-03 1.01012405e+02] [ 3.70318455e-02 9.99314085e-01 -4.60882911e-05 1.18957671e+00] [ 1.46076447e-03 -8.01205797e-06 9.99998933e-01 -1.61810127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:1.19, Z:-0.16 [[ 9.99324679e-01 -3.67158616e-02 -1.46005002e-03 1.01040065e+02] [ 3.67158330e-02 9.99325745e-01 -4.63778133e-05 1.19050197e+00] [ 1.46076837e-03 -7.26045930e-06 9.99998933e-01 -1.61631724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:1.19, Z:-0.16 [[ 9.99371131e-01 -3.54289416e-02 -1.46004715e-03 1.01067988e+02] [ 3.54289115e-02 9.99372198e-01 -4.64678143e-05 1.19069416e+00] [ 1.46077684e-03 -5.28928931e-06 9.99998933e-01 -1.61337140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.10, Y:1.19, Z:-0.16 [[ 9.99387730e-01 -3.49576021e-02 -1.46003837e-03 1.01096097e+02] [ 3.49575711e-02 9.99388796e-01 -4.67420612e-05 1.19156720e+00] [ 1.46077998e-03 -4.32595292e-06 9.99998933e-01 -1.60464640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:1.19, Z:-0.16 [[ 9.99425353e-01 -3.38649004e-02 -1.46002923e-03 1.01123692e+02] [ 3.38648679e-02 9.99426420e-01 -4.70261017e-05 1.19308585e+00] [ 1.46078432e-03 -2.44461849e-06 9.99998933e-01 -1.59563198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:1.19, Z:-0.16 [[ 9.99462482e-01 -3.27507955e-02 -1.46001989e-03 1.01150876e+02] [ 3.27507613e-02 9.99463549e-01 -4.73142538e-05 1.19426759e+00] [ 1.46078624e-03 -5.27941281e-07 9.99998933e-01 -1.59861802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:1.20, Z:-0.16 [[ 9.99529648e-01 -3.06325085e-02 -1.46001342e-03 1.01177926e+02] [ 3.06324717e-02 9.99530715e-01 -4.75130334e-05 1.19550650e+00] [ 1.46078370e-03 2.76686584e-06 9.99998933e-01 -1.60312358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.21, Y:1.20, Z:-0.16 [[ 9.99554947e-01 -2.97955911e-02 -1.46000706e-03 1.01205466e+02] [ 2.97955532e-02 9.99556013e-01 -4.77076295e-05 1.19677306e+00] [ 1.46078031e-03 4.18467914e-06 9.99998933e-01 -1.59483153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.23, Y:1.20, Z:-0.16 [[ 9.99583669e-01 -2.88159028e-02 -1.45999783e-03 1.01232084e+02] [ 2.88158634e-02 9.99584736e-01 -4.79884640e-05 1.19795697e+00] [ 1.46077437e-03 5.89738686e-06 9.99998933e-01 -1.60944790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.26, Y:1.20, Z:-0.16 [[ 9.99601064e-01 -2.82060602e-02 -1.45999381e-03 1.01260190e+02] [ 2.82060200e-02 9.99602130e-01 -4.81102892e-05 1.19931678e+00] [ 1.46076993e-03 6.91048151e-06 9.99998933e-01 -1.58854140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.29, Y:1.20, Z:-0.16 [[ 9.99616224e-01 -2.76635845e-02 -1.45998468e-03 1.01287654e+02] [ 2.76635434e-02 9.99617290e-01 -4.83858069e-05 1.20084101e+00] [ 1.46076446e-03 7.97888802e-06 9.99998933e-01 -1.57770321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:1.20, Z:-0.16 [[ 9.99618959e-01 -2.75645707e-02 -1.45997525e-03 1.01315723e+02] [ 2.75645290e-02 9.99620025e-01 -4.86687855e-05 1.20160257e+00] [ 1.46076203e-03 8.40671050e-06 9.99998933e-01 -1.58465751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:1.20, Z:-0.16 [[ 9.99616473e-01 -2.76545593e-02 -1.45997099e-03 1.01344154e+02] [ 2.76545175e-02 9.99617540e-01 -4.87963269e-05 1.20250659e+00] [ 1.46076205e-03 8.40281899e-06 9.99998933e-01 -1.59648601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:1.20, Z:-0.16 [[ 9.99612193e-01 -2.78088522e-02 -1.45996154e-03 1.01371725e+02] [ 2.78088101e-02 9.99613259e-01 -4.90772704e-05 1.20374329e+00] [ 1.46076170e-03 8.45844451e-06 9.99998933e-01 -1.60647870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:1.20, Z:-0.16 [[ 9.99606750e-01 -2.80038359e-02 -1.45995727e-03 1.01399956e+02] [ 2.80037939e-02 9.99607816e-01 -4.92039821e-05 1.20469363e+00] [ 1.46076260e-03 8.30029010e-06 9.99998933e-01 -1.60633522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:1.21, Z:-0.16 [[ 9.99597039e-01 -2.83483384e-02 -1.45994768e-03 1.01427741e+02] [ 2.83482964e-02 9.99598105e-01 -4.94868856e-05 1.20527579e+00] [ 1.46076381e-03 8.07991469e-06 9.99998933e-01 -1.64186303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:1.21, Z:-0.16 [[ 9.99585832e-01 -2.87407991e-02 -1.45994470e-03 1.01455803e+02] [ 2.87407573e-02 9.99586898e-01 -4.95746982e-05 1.20568825e+00] [ 1.46076641e-03 7.59424952e-06 9.99998933e-01 -1.61652406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:1.21, Z:-0.16 [[ 9.99573147e-01 -2.91786258e-02 -1.45993531e-03 1.01483526e+02] [ 2.91785841e-02 9.99574213e-01 -4.98496656e-05 1.20593311e+00] [ 1.46076824e-03 7.22954180e-06 9.99998933e-01 -1.62428277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.51, Y:1.21, Z:-0.16 [[ 9.99575781e-01 -2.90882513e-02 -1.45992587e-03 1.01511384e+02] [ 2.90882091e-02 9.99576847e-01 -5.01247878e-05 1.20625707e+00] [ 1.46076614e-03 7.63689503e-06 9.99998933e-01 -1.62569531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:1.21, Z:-0.16 [[ 9.99583177e-01 -2.88329735e-02 -1.45991636e-03 1.01539484e+02] [ 2.88329306e-02 9.99584243e-01 -5.04000446e-05 1.20715771e+00] [ 1.46076258e-03 8.28536948e-06 9.99998933e-01 -1.61748533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.57, Y:1.21, Z:-0.16 [[ 9.99595300e-01 -2.84095997e-02 -1.45990658e-03 1.01566388e+02] [ 2.84095560e-02 9.99596366e-01 -5.06820138e-05 1.20762609e+00] [ 1.46075716e-03 9.18620521e-06 9.99998933e-01 -1.62293483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:1.21, Z:-0.16 [[ 9.99631067e-01 -2.71219321e-02 -1.45989979e-03 1.01594015e+02] [ 2.71218868e-02 9.99632133e-01 -5.08765956e-05 1.20853465e+00] [ 1.46074262e-03 1.12625887e-05 9.99998933e-01 -1.62718617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:1.21, Z:-0.16 [[ 9.99647553e-01 -2.65073324e-02 -1.45989525e-03 1.01623044e+02] [ 2.65072861e-02 9.99648619e-01 -5.10067939e-05 1.20974542e+00] [ 1.46073432e-03 1.22909557e-05 9.99998933e-01 -1.58932184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.65, Y:1.21, Z:-0.16 [[ 9.99657268e-01 -2.61383938e-02 -1.45988677e-03 1.01651365e+02] [ 2.61383469e-02 9.99658334e-01 -5.12483020e-05 1.21062864e+00] [ 1.46072752e-03 1.30717108e-05 9.99998933e-01 -1.60077080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:1.21, Z:-0.16 [[ 9.99698546e-01 -2.45089065e-02 -1.45993798e-03 1.01679785e+02] [ 2.45088599e-02 9.99699612e-01 -4.97953590e-05 1.21055975e+00] [ 1.46071986e-03 1.39989325e-05 9.99998933e-01 -1.57444384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:1.21, Z:-0.16 [[ 9.99713676e-01 -2.38837658e-02 -1.45986923e-03 1.01707747e+02] [ 2.38837157e-02 9.99714742e-01 -5.17352586e-05 1.21163434e+00] [ 1.46068843e-03 1.68533438e-05 9.99998933e-01 -1.57258212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:1.21, Z:-0.16 [[ 9.99735865e-01 -2.29361924e-02 -1.45985945e-03 1.01735855e+02] [ 2.29361409e-02 9.99736931e-01 -5.20098741e-05 1.21288349e+00] [ 1.46066831e-03 1.85125945e-05 9.99998933e-01 -1.56478679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:1.21, Z:-0.16 [[ 9.99760088e-01 -2.18548901e-02 -1.45984910e-03 1.01764007e+02] [ 2.18548371e-02 9.99761153e-01 -5.22987593e-05 1.21467248e+00] [ 1.46064340e-03 2.03814479e-05 9.99998933e-01 -1.59410134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:1.22, Z:-0.16 [[ 9.99791837e-01 -2.03507103e-02 -1.45984443e-03 1.01792427e+02] [ 2.03506554e-02 9.99792903e-01 -5.24287327e-05 1.21686178e+00] [ 1.46060907e-03 2.27090279e-05 9.99998933e-01 -1.60931882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:101.82, Y:1.22, Z:-0.16 [[ 9.99800525e-01 -1.99193250e-02 -1.45983547e-03 1.01820105e+02] [ 1.99192693e-02 9.99801590e-01 -5.26771090e-05 1.21799915e+00] [ 1.46059512e-03 2.35877453e-05 9.99998933e-01 -1.62981101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:1.22, Z:-0.16 [[ 9.99806197e-01 -1.96325766e-02 -1.45983067e-03 1.01848569e+02] [ 1.96325204e-02 9.99807262e-01 -5.28098833e-05 1.21969168e+00] [ 1.46058610e-03 2.41394933e-05 9.99998933e-01 -1.61666125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.88, Y:1.22, Z:-0.16 [[ 9.99810040e-01 -1.94358671e-02 -1.45982189e-03 1.01876683e+02] [ 1.94358103e-02 9.99811105e-01 -5.30514530e-05 1.22116190e+00] [ 1.46057724e-03 2.46685540e-05 9.99998933e-01 -1.63183567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:1.22, Z:-0.16 [[ 9.99807410e-01 -1.95706820e-02 -1.45981876e-03 1.01905571e+02] [ 1.95706253e-02 9.99808476e-01 -5.31374164e-05 1.22386086e+00] [ 1.46057910e-03 2.45576168e-05 9.99998933e-01 -1.59053778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:1.23, Z:-0.16 [[ 9.99801847e-01 -1.98528420e-02 -1.45980974e-03 1.01932965e+02] [ 1.98527852e-02 9.99802913e-01 -5.33839571e-05 1.22569183e+00] [ 1.46058186e-03 2.43920895e-05 9.99998933e-01 -1.59467278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:1.23, Z:-0.16 [[ 9.99787812e-01 -2.05475098e-02 -1.45980654e-03 1.01961477e+02] [ 2.05474536e-02 9.99788877e-01 -5.34713902e-05 1.22755698e+00] [ 1.46059705e-03 2.34647370e-05 9.99998933e-01 -1.59091791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:101.99, Y:1.23, Z:-0.16 [[ 9.99763055e-01 -2.17187312e-02 -1.45979751e-03 1.01989028e+02] [ 2.17186759e-02 9.99764120e-01 -5.37167979e-05 1.22934489e+00] [ 1.46061983e-03 2.19992009e-05 9.99998933e-01 -1.60022825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:1.23, Z:-0.16 [[ 9.99683660e-01 -2.51087491e-02 -1.45979430e-03 1.02017002e+02] [ 2.51086973e-02 9.99684726e-01 -5.38039115e-05 1.23163263e+00] [ 1.46068501e-03 1.71333579e-05 9.99998933e-01 -1.59470336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:1.23, Z:-0.16 [[ 9.99623136e-01 -2.74126645e-02 -1.45979110e-03 1.02045131e+02] [ 2.74126151e-02 9.99624202e-01 -5.38904966e-05 1.23271864e+00] [ 1.46071980e-03 1.38534956e-05 9.99998933e-01 -1.58862557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.07, Y:1.23, Z:-0.16 [[ 9.99483729e-01 -3.20958565e-02 -1.45978076e-03 1.02072324e+02] [ 3.20958116e-02 9.99484795e-01 -5.41691945e-05 1.23324660e+00] [ 1.46076728e-03 7.28838017e-06 9.99998933e-01 -1.59730349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:1.23, Z:-0.16 [[ 9.99409037e-01 -3.43430561e-02 -1.45977334e-03 1.02100353e+02] [ 3.43430134e-02 9.99410103e-01 -5.43683474e-05 1.23400509e+00] [ 1.46077940e-03 4.20320229e-06 9.99998933e-01 -1.58553616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.13, Y:1.23, Z:-0.16 [[ 9.99332017e-01 -3.65155965e-02 -1.45976272e-03 1.02128397e+02] [ 3.65155557e-02 9.99333083e-01 -5.46520025e-05 1.23456554e+00] [ 1.46078483e-03 1.31144884e-06 9.99998933e-01 -1.59582556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:1.23, Z:-0.16 [[ 9.99269578e-01 -3.81861179e-02 -1.45975942e-03 1.02156265e+02] [ 3.81860787e-02 9.99270644e-01 -5.47400216e-05 1.23490920e+00] [ 1.46078505e-03 -1.04245000e-06 9.99998933e-01 -1.57883267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.18, Y:1.24, Z:-0.16 [[ 9.99169129e-01 -4.07298494e-02 -1.45974905e-03 1.02184196e+02] [ 4.07298125e-02 9.99170195e-01 -5.50152468e-05 1.23567327e+00] [ 1.46077851e-03 -4.48576887e-06 9.99998933e-01 -1.56932745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:102.21, Y:1.24, Z:-0.16 [[ 9.99150039e-01 -4.11954892e-02 -1.45973856e-03 1.02212000e+02] [ 4.11954524e-02 9.99151106e-01 -5.52923284e-05 1.23671304e+00] [ 1.46077719e-03 -4.88925811e-06 9.99998933e-01 -1.56838646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:1.24, Z:-0.16 [[ 9.99142735e-01 -4.13722766e-02 -1.45972803e-03 1.02239810e+02] [ 4.13722396e-02 9.99143801e-01 -5.55688607e-05 1.23760664e+00] [ 1.46077722e-03 -4.87099431e-06 9.99998933e-01 -1.58098648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:1.24, Z:-0.16 [[ 9.99147643e-01 -4.12535582e-02 -1.45969725e-03 1.02267880e+02] [ 4.12535199e-02 9.99148710e-01 -5.63744461e-05 1.23842570e+00] [ 1.46078027e-03 -3.89125433e-06 9.99998933e-01 -1.57222742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:1.24, Z:-0.16 [[ 9.99181002e-01 -4.04375360e-02 -1.45971471e-03 1.02295502e+02] [ 4.04374975e-02 9.99182068e-01 -5.59186570e-05 1.23978149e+00] [ 1.46078197e-03 -3.15435002e-06 9.99998933e-01 -1.55999477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:1.24, Z:-0.16 [[ 9.99194423e-01 -4.01045400e-02 -1.45970376e-03 1.02322552e+02] [ 4.01045007e-02 9.99195489e-01 -5.62028982e-05 1.24031282e+00] [ 1.46078341e-03 -2.38306810e-06 9.99998933e-01 -1.58260422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:1.24, Z:-0.16 [[ 9.99192497e-01 -4.01524971e-02 -1.45969900e-03 1.02350715e+02] [ 4.01524577e-02 9.99193563e-01 -5.63263154e-05 1.24057913e+00] [ 1.46078349e-03 -2.32967059e-06 9.99998933e-01 -1.58060773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:1.24, Z:-0.16 [[ 9.99183770e-01 -4.03690752e-02 -1.45968816e-03 1.02378951e+02] [ 4.03690356e-02 9.99184837e-01 -5.66058067e-05 1.24034197e+00] [ 1.46078340e-03 -2.36659993e-06 9.99998933e-01 -1.56829231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:1.24, Z:-0.16 [[ 9.99175693e-01 -4.05684960e-02 -1.45967682e-03 1.02407414e+02] [ 4.05684562e-02 9.99176760e-01 -5.68968071e-05 1.24163788e+00] [ 1.46078337e-03 -2.36692834e-06 9.99998933e-01 -1.56787627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:1.24, Z:-0.16 [[ 9.99172033e-01 -4.06585456e-02 -1.45966540e-03 1.02434855e+02] [ 4.06585054e-02 9.99173099e-01 -5.71881334e-05 1.24235522e+00] [ 1.46078359e-03 -2.20703016e-06 9.99998933e-01 -1.58953904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:1.24, Z:-0.16 [[ 9.99162428e-01 -4.08939089e-02 -1.45966044e-03 1.02463058e+02] [ 4.08938688e-02 9.99163494e-01 -5.73146639e-05 1.24315875e+00] [ 1.46078324e-03 -2.42450362e-06 9.99998933e-01 -1.57812924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:1.24, Z:-0.16 [[ 9.99156534e-01 -4.10376708e-02 -1.45964921e-03 1.02490420e+02] [ 4.10376305e-02 9.99157600e-01 -5.75992562e-05 1.24349762e+00] [ 1.46078334e-03 -2.34987152e-06 9.99998933e-01 -1.59196165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:1.24, Z:-0.16 [[ 9.99135695e-01 -4.15419473e-02 -1.45964431e-03 1.02517390e+02] [ 4.15419073e-02 9.99136761e-01 -5.77229323e-05 1.24249948e+00] [ 1.46078221e-03 -2.96336675e-06 9.99998933e-01 -1.59962044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:1.24, Z:-0.16 [[ 9.99121266e-01 -4.18875366e-02 -1.45963964e-03 1.02545631e+02] [ 4.18874968e-02 9.99122332e-01 -5.78407974e-05 1.24308390e+00] [ 1.46078137e-03 -3.35068015e-06 9.99998933e-01 -1.55404323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.57, Y:1.24, Z:-0.16 [[ 9.99111683e-01 -4.21154885e-02 -1.45962827e-03 1.02573794e+02] [ 4.21154485e-02 9.99112749e-01 -5.81263515e-05 1.24348751e+00] [ 1.46078124e-03 -3.39818242e-06 9.99998933e-01 -1.58684357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:1.24, Z:-0.16 [[ 9.99108285e-01 -4.21960159e-02 -1.45962473e-03 1.02602243e+02] [ 4.21959758e-02 9.99109351e-01 -5.82152380e-05 1.24351803e+00] [ 1.46078117e-03 -3.42696306e-06 9.99998933e-01 -1.56153637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:1.24, Z:-0.16 [[ 9.99110259e-01 -4.21492505e-02 -1.45961367e-03 1.02629806e+02] [ 4.21492100e-02 9.99111325e-01 -5.84912493e-05 1.24230472e+00] [ 1.46078191e-03 -3.08235564e-06 9.99998933e-01 -1.56229740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.66, Y:1.24, Z:-0.15 [[ 9.99079240e-01 -4.28782102e-02 -1.45961023e-03 1.02657295e+02] [ 4.28781704e-02 9.99080307e-01 -5.85768449e-05 1.24320495e+00] [ 1.46077951e-03 -4.06250654e-06 9.99998933e-01 -1.54737091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:1.24, Z:-0.15 [[ 9.99085055e-01 -4.27425185e-02 -1.45959862e-03 1.02683944e+02] [ 4.27424781e-02 9.99086121e-01 -5.88648640e-05 1.24301375e+00] [ 1.46078075e-03 -3.57585595e-06 9.99998933e-01 -1.54563717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:1.24, Z:-0.16 [[ 9.99034383e-01 -4.39109361e-02 -1.45959355e-03 1.02711960e+02] [ 4.39108968e-02 9.99035450e-01 -5.89901217e-05 1.24090786e+00] [ 1.46077601e-03 -5.15890196e-06 9.99998933e-01 -1.55746478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:1.24, Z:-0.16 [[ 9.98988820e-01 -4.49355889e-02 -1.45958996e-03 1.02739399e+02] [ 4.49355506e-02 9.98989886e-01 -5.90788095e-05 1.24058828e+00] [ 1.46077035e-03 -6.56840843e-06 9.99998933e-01 -1.56859556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.77, Y:1.24, Z:-0.16 [[ 9.98931621e-01 -4.61896843e-02 -1.45958163e-03 1.02767138e+02] [ 4.61896470e-02 9.98932687e-01 -5.92840397e-05 1.24005366e+00] [ 1.46076211e-03 -8.19685823e-06 9.99998933e-01 -1.59219158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:1.24, Z:-0.16 [[ 9.98852988e-01 -4.78599845e-02 -1.45957808e-03 1.02795435e+02] [ 4.78599489e-02 9.98854054e-01 -5.93711404e-05 1.23533271e+00] [ 1.46074699e-03 -1.05522916e-05 9.99998933e-01 -1.58598163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:1.23, Z:-0.16 [[ 9.98822651e-01 -4.84889773e-02 -1.45956671e-03 1.02824748e+02] [ 4.84889419e-02 9.98823718e-01 -5.96494506e-05 1.23425237e+00] [ 1.46074219e-03 -1.11936230e-05 9.99998933e-01 -1.56879191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:1.23, Z:-0.16 [[ 9.98799973e-01 -4.89538853e-02 -1.45955672e-03 1.02853052e+02] [ 4.89538501e-02 9.98801040e-01 -5.98930301e-05 1.23335000e+00] [ 1.46073876e-03 -1.16297637e-05 9.99998933e-01 -1.55820686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.88, Y:1.23, Z:-0.15 [[ 9.98769820e-01 -4.95652742e-02 -1.45955318e-03 1.02880897e+02] [ 4.95652395e-02 9.98770886e-01 -5.99791329e-05 1.23281774e+00] [ 1.46073210e-03 -1.24377550e-05 9.99998933e-01 -1.54562615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:1.23, Z:-0.15 [[ 9.98807409e-01 -4.88019356e-02 -1.45954139e-03 1.02908949e+02] [ 4.88018996e-02 9.98808476e-01 -6.02645501e-05 1.22891585e+00] [ 1.46074334e-03 -1.10357133e-05 9.99998933e-01 -1.53954439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.94, Y:1.23, Z:-0.15 [[ 9.98825595e-01 -4.84283058e-02 -1.45953772e-03 1.02935510e+02] [ 4.84282693e-02 9.98826661e-01 -6.03534058e-05 1.22868587e+00] [ 1.46074800e-03 -1.04003591e-05 9.99998933e-01 -1.54579910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:1.23, Z:-0.15 [[ 9.98871129e-01 -4.74798692e-02 -1.45953275e-03 1.02963443e+02] [ 4.74798315e-02 9.98872195e-01 -6.04734102e-05 1.22795658e+00] [ 1.46075795e-03 -8.89322537e-06 9.99998933e-01 -1.53829935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:1.23, Z:-0.15 [[ 9.98926609e-01 -4.62979385e-02 -1.45952094e-03 1.02990372e+02] [ 4.62978991e-02 9.98927675e-01 -6.07569218e-05 1.22742324e+00] [ 1.46076878e-03 -6.88104757e-06 9.99998933e-01 -1.54633270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:103.02, Y:1.22, Z:-0.15 [[ 9.99011256e-01 -4.44339973e-02 -1.45951581e-03 1.03018683e+02] [ 4.44339558e-02 9.99012322e-01 -6.08799478e-05 1.22465017e+00] [ 1.46077942e-03 -4.03230789e-06 9.99998933e-01 -1.54381712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.05, Y:1.22, Z:-0.15 [[ 9.99055145e-01 -4.34360041e-02 -1.45951218e-03 1.03046737e+02] [ 4.34359614e-02 9.99056211e-01 -6.09668069e-05 1.22378200e+00] [ 1.46078287e-03 -2.48611273e-06 9.99998933e-01 -1.53434031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:1.22, Z:-0.15 [[ 9.99096636e-01 -4.24709415e-02 -1.45950040e-03 1.03075146e+02] [ 4.24708974e-02 9.99097702e-01 -6.12477090e-05 1.22312095e+00] [ 1.46078474e-03 -7.93911414e-07 9.99998933e-01 -1.52812229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.10, Y:1.22, Z:-0.15 [[ 9.99160237e-01 -4.09474037e-02 -1.45948855e-03 1.03102955e+02] [ 4.09473575e-02 9.99161303e-01 -6.15287036e-05 1.22077832e+00] [ 1.46078392e-03 1.71483473e-06 9.99998933e-01 -1.53143009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:1.22, Z:-0.15 [[ 9.99186591e-01 -4.02992184e-02 -1.45948488e-03 1.03130628e+02] [ 4.02991714e-02 9.99187657e-01 -6.16157193e-05 1.22040738e+00] [ 1.46078234e-03 2.74956943e-06 9.99998933e-01 -1.51758467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:103.16, Y:1.22, Z:-0.15 [[ 9.99197160e-01 -4.00362944e-02 -1.45947317e-03 1.03158053e+02] [ 4.00362467e-02 9.99198226e-01 -6.18917498e-05 1.22093188e+00] [ 1.46078092e-03 3.41023270e-06 9.99998933e-01 -1.53394408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:1.22, Z:-0.15 [[ 9.99215212e-01 -3.95832052e-02 -1.45946809e-03 1.03185889e+02] [ 3.95831569e-02 9.99216278e-01 -6.20113606e-05 1.21980113e+00] [ 1.46077888e-03 4.19234052e-06 9.99998933e-01 -1.53257365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:1.22, Z:-0.15 [[ 9.99210900e-01 -3.96918981e-02 -1.45945640e-03 1.03213634e+02] [ 3.96918495e-02 9.99211966e-01 -6.22851625e-05 1.21931553e+00] [ 1.46077852e-03 4.30748933e-06 9.99998933e-01 -1.51393285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:103.24, Y:1.22, Z:-0.15 [[ 9.99187759e-01 -4.02702511e-02 -1.45944430e-03 1.03241768e+02] [ 4.02702027e-02 9.99188824e-01 -6.25673982e-05 1.21956090e+00] [ 1.46078004e-03 3.74446047e-06 9.99998933e-01 -1.51428689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:1.22, Z:-0.15 [[ 9.99198807e-01 -3.99951824e-02 -1.45944055e-03 1.03268855e+02] [ 3.99951336e-02 9.99199873e-01 -6.26549450e-05 1.21860561e+00] [ 1.46077870e-03 4.23422676e-06 9.99998933e-01 -1.50923937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.30, Y:1.22, Z:-0.15 [[ 9.99195765e-01 -4.00711101e-02 -1.45943191e-03 1.03296735e+02] [ 4.00710610e-02 9.99196831e-01 -6.28553729e-05 1.21811668e+00] [ 1.46077843e-03 4.32383720e-06 9.99998933e-01 -1.50618559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:1.22, Z:-0.15 [[ 9.99201177e-01 -3.99359322e-02 -1.45941993e-03 1.03324340e+02] [ 3.99358826e-02 9.99202242e-01 -6.31322812e-05 1.21858698e+00] [ 1.46077692e-03 4.79862645e-06 9.99998933e-01 -1.50700701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:1.22, Z:-0.15 [[ 9.99225067e-01 -3.93336572e-02 -1.45940798e-03 1.03352340e+02] [ 3.93336066e-02 9.99226132e-01 -6.34074421e-05 1.21925267e+00] [ 1.46077264e-03 5.95452632e-06 9.99998933e-01 -1.51627142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:1.22, Z:-0.15 [[ 9.99280868e-01 -3.78895475e-02 -1.45940425e-03 1.03381078e+02] [ 3.78894952e-02 9.99281933e-01 -6.34932030e-05 1.22079764e+00] [ 1.46076203e-03 8.15145278e-06 9.99998933e-01 -1.53943716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:1.22, Z:-0.16 [[ 9.99316451e-01 -3.69391446e-02 -1.45939459e-03 1.03409254e+02] [ 3.69390910e-02 9.99317517e-01 -6.37143413e-05 1.22214555e+00] [ 1.46075213e-03 9.76207984e-06 9.99998933e-01 -1.56069024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:1.22, Z:-0.16 [[ 9.99348773e-01 -3.60541345e-02 -1.45939088e-03 1.03437260e+02] [ 3.60540798e-02 9.99349838e-01 -6.37993382e-05 1.22334774e+00] [ 1.46074227e-03 1.11407952e-05 9.99998933e-01 -1.55771810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:1.22, Z:-0.15 [[ 9.99431036e-01 -3.36968132e-02 -1.45937904e-03 1.03465649e+02] [ 3.36967556e-02 9.99432101e-01 -6.40689118e-05 1.22482078e+00] [ 1.46070918e-03 1.48561199e-05 9.99998933e-01 -1.53461640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.49, Y:1.23, Z:-0.15 [[ 9.99466867e-01 -3.26167488e-02 -1.45936867e-03 1.03493496e+02] [ 3.26166897e-02 9.99467932e-01 -6.43043477e-05 1.22732353e+00] [ 1.46068958e-03 1.66702898e-05 9.99998933e-01 -1.52532960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.52, Y:1.23, Z:-0.15 [[ 9.99506751e-01 -3.13707620e-02 -1.45935631e-03 1.03521538e+02] [ 3.13707012e-02 9.99507816e-01 -6.45837286e-05 1.22998870e+00] [ 1.46066407e-03 1.87708422e-05 9.99998933e-01 -1.52108373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:1.23, Z:-0.15 [[ 9.99550598e-01 -2.99411503e-02 -1.45935247e-03 1.03550325e+02] [ 2.99410877e-02 9.99551663e-01 -6.46703419e-05 1.23362244e+00] [ 1.46063449e-03 2.09466787e-05 9.99998933e-01 -1.50334416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:1.24, Z:-0.15 [[ 9.99541240e-01 -3.02519381e-02 -1.45934168e-03 1.03577733e+02] [ 3.02518756e-02 9.99542305e-01 -6.49128180e-05 1.23544871e+00] [ 1.46063749e-03 2.07352157e-05 9.99998933e-01 -1.50416417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:1.24, Z:-0.15 [[ 9.99508297e-01 -3.13214824e-02 -1.45933587e-03 1.03605712e+02] [ 3.13214208e-02 9.99509362e-01 -6.50431892e-05 1.23741466e+00] [ 1.46065711e-03 1.93027344e-05 9.99998933e-01 -1.49145748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:1.24, Z:-0.15 [[ 9.99463050e-01 -3.27335024e-02 -1.45932380e-03 1.03633541e+02] [ 3.27334419e-02 9.99464115e-01 -6.53129032e-05 1.23914401e+00] [ 1.46067969e-03 1.75091426e-05 9.99998933e-01 -1.47999567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:1.24, Z:-0.15 [[ 9.99335768e-01 -3.64128130e-02 -1.45931154e-03 1.03661154e+02] [ 3.64127561e-02 9.99336834e-01 -6.55857003e-05 1.23812805e+00] [ 1.46073193e-03 1.24045811e-05 9.99998933e-01 -1.48370515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:1.24, Z:-0.15 [[ 9.99257188e-01 -3.85090004e-02 -1.45929887e-03 1.03688343e+02] [ 3.85089453e-02 9.99258253e-01 -6.58664003e-05 1.23889144e+00] [ 1.46075289e-03 9.62141367e-06 9.99998933e-01 -1.48546315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:1.24, Z:-0.15 [[ 9.99117705e-01 -4.19724007e-02 -1.45929334e-03 1.03716488e+02] [ 4.19723491e-02 9.99118770e-01 -6.59886206e-05 1.24144398e+00] [ 1.46077707e-03 4.68042948e-06 9.99998933e-01 -1.50362495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:1.24, Z:-0.15 [[ 9.99055023e-01 -4.34388242e-02 -1.45928070e-03 1.03744620e+02] [ 4.34387737e-02 9.99056089e-01 -6.62669692e-05 1.24249369e+00] [ 1.46078183e-03 2.81498422e-06 9.99998933e-01 -1.53377208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:1.24, Z:-0.15 [[ 9.99004472e-01 -4.45862676e-02 -1.45927677e-03 1.03772536e+02] [ 4.45862182e-02 9.99005538e-01 -6.63535238e-05 1.24298691e+00] [ 1.46078403e-03 1.22383464e-06 9.99998933e-01 -1.53645837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:1.24, Z:-0.15 [[ 9.98978130e-01 -4.51726378e-02 -1.45926442e-03 1.03800435e+02] [ 4.51725887e-02 9.98979195e-01 -6.66239866e-05 1.24385969e+00] [ 1.46078438e-03 6.37154164e-07 9.99998933e-01 -1.51261786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:1.24, Z:-0.15 [[ 9.98979424e-01 -4.51440038e-02 -1.45925146e-03 1.03828147e+02] [ 4.51439543e-02 9.98980490e-01 -6.69066593e-05 1.24454307e+00] [ 1.46078417e-03 9.61994840e-07 9.99998933e-01 -1.50849130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:1.25, Z:-0.15 [[ 9.98982373e-01 -4.50786925e-02 -1.45924531e-03 1.03855852e+02] [ 4.50786427e-02 9.98983439e-01 -6.70404227e-05 1.24518437e+00] [ 1.46078400e-03 1.19140247e-06 9.99998933e-01 -1.50075776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:1.25, Z:-0.15 [[ 9.98968508e-01 -4.53849101e-02 -1.45924144e-03 1.03884945e+02] [ 4.53848605e-02 9.98969574e-01 -6.71245586e-05 1.24586088e+00] [ 1.46078424e-03 8.27850952e-07 9.99998933e-01 -1.48945854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:1.25, Z:-0.15 [[ 9.98959391e-01 -4.55851554e-02 -1.45923059e-03 1.03913044e+02] [ 4.55851056e-02 9.98960456e-01 -6.73597652e-05 1.24719320e+00] [ 1.46078426e-03 7.70489577e-07 9.99998933e-01 -1.47836069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:1.25, Z:-0.15 [[ 9.98954086e-01 -4.57012524e-02 -1.45921812e-03 1.03940578e+02] [ 4.57012024e-02 9.98955152e-01 -6.76287909e-05 1.24793047e+00] [ 1.46078418e-03 8.70034467e-07 9.99998933e-01 -1.47467488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:1.25, Z:-0.15 [[ 9.98946045e-01 -4.58766777e-02 -1.45920527e-03 1.03968257e+02] [ 4.58766274e-02 9.98947111e-01 -6.79048622e-05 1.24792082e+00] [ 1.46078414e-03 8.89876964e-07 9.99998933e-01 -1.47621984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:104.00, Y:1.25, Z:-0.15 [[ 9.98917278e-01 -4.64988385e-02 -1.45919239e-03 1.03996325e+02] [ 4.64987885e-02 9.98918344e-01 -6.81804331e-05 1.24816284e+00] [ 1.46078436e-03 2.55934110e-07 9.99998933e-01 -1.47566425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:1.25, Z:-0.15 [[ 9.98903727e-01 -4.67890470e-02 -1.45917926e-03 1.04022967e+02] [ 4.67889969e-02 9.98904793e-01 -6.84604071e-05 1.24648767e+00] [ 1.46078435e-03 1.11821944e-07 9.99998933e-01 -1.47874797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:1.25, Z:-0.15 [[ 9.98897214e-01 -4.69278921e-02 -1.45917355e-03 1.04050062e+02] [ 4.69278420e-02 9.98898280e-01 -6.85818321e-05 1.24653706e+00] [ 1.46078435e-03 3.03351930e-08 9.99998933e-01 -1.48640191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:1.25, Z:-0.15 [[ 9.98879783e-01 -4.72974573e-02 -1.45916818e-03 1.04078418e+02] [ 4.72974075e-02 9.98880849e-01 -6.86958710e-05 1.24642944e+00] [ 1.46078429e-03 -3.95955373e-07 9.99998933e-01 -1.48330562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:1.25, Z:-0.15 [[ 9.98887951e-01 -4.71246545e-02 -1.45915556e-03 1.04105690e+02] [ 4.71246041e-02 9.98889016e-01 -6.89628753e-05 1.24594161e+00] [ 1.46078432e-03 1.24056993e-07 9.99998933e-01 -1.49248484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:1.24, Z:-0.15 [[ 9.98915544e-01 -4.65360783e-02 -1.45915006e-03 1.04134224e+02] [ 4.65360270e-02 9.98916610e-01 -6.90790625e-05 1.24485962e+00] [ 1.46078390e-03 1.10110257e-06 9.99998933e-01 -1.50172779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:1.25, Z:-0.15 [[ 9.98937380e-01 -4.60649699e-02 -1.45913712e-03 1.04162316e+02] [ 4.60649177e-02 9.98938446e-01 -6.93512939e-05 1.24545251e+00] [ 1.46078284e-03 2.06256831e-06 9.99998933e-01 -1.49714796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:1.25, Z:-0.15 [[ 9.98928610e-01 -4.62547554e-02 -1.45912389e-03 1.04190783e+02] [ 4.62547031e-02 9.98929676e-01 -6.96287156e-05 1.24700176e+00] [ 1.46078281e-03 2.06277400e-06 9.99998933e-01 -1.49673190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:1.25, Z:-0.15 [[ 9.98963985e-01 -4.54843587e-02 -1.45911060e-03 1.04218787e+02] [ 4.54843051e-02 9.98965051e-01 -6.99059292e-05 1.24711608e+00] [ 1.46078013e-03 3.46687375e-06 9.99998933e-01 -1.49696597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:1.25, Z:-0.15 [[ 9.99004548e-01 -4.45845788e-02 -1.45909722e-03 1.04246442e+02] [ 4.45845239e-02 9.99005613e-01 -7.01841499e-05 1.24717851e+00] [ 1.46077545e-03 5.06112999e-06 9.99998933e-01 -1.48970266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.27, Y:1.25, Z:-0.15 [[ 9.99072582e-01 -4.30330801e-02 -1.45908368e-03 1.04274185e+02] [ 4.30330231e-02 9.99073648e-01 -7.04645509e-05 1.24644075e+00] [ 1.46076436e-03 7.61041916e-06 9.99998933e-01 -1.49188472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:1.25, Z:-0.15 [[ 9.99100853e-01 -4.23716491e-02 -1.45906992e-03 1.04301416e+02] [ 4.23715910e-02 9.99101918e-01 -7.07484048e-05 1.24657020e+00] [ 1.46075728e-03 8.86167788e-06 9.99998933e-01 -1.48246309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:1.25, Z:-0.15 [[ 9.99136247e-01 -4.15286818e-02 -1.45906391e-03 1.04328629e+02] [ 4.15286226e-02 9.99137312e-01 -7.08719612e-05 1.24655777e+00] [ 1.46074842e-03 1.02178307e-05 9.99998933e-01 -1.48666401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:1.25, Z:-0.15 [[ 9.99169300e-01 -4.07256786e-02 -1.45905806e-03 1.04356428e+02] [ 4.07256184e-02 9.99170365e-01 -7.09922918e-05 1.24670377e+00] [ 1.46073878e-03 1.15122768e-05 9.99998933e-01 -1.48424054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:1.25, Z:-0.15 [[ 9.99243670e-01 -3.88581803e-02 -1.45904471e-03 1.04383148e+02] [ 3.88581177e-02 9.99244736e-01 -7.12655269e-05 1.24598071e+00] [ 1.46071200e-03 1.45158954e-05 9.99998933e-01 -1.49192944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.41, Y:1.25, Z:-0.15 [[ 9.99266602e-01 -3.82639395e-02 -1.45903889e-03 1.04411335e+02] [ 3.82638760e-02 9.99267667e-01 -7.13846028e-05 1.24708809e+00] [ 1.46070184e-03 1.55037663e-05 9.99998933e-01 -1.49640150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:1.25, Z:-0.15 [[ 9.99302440e-01 -3.73162902e-02 -1.45902545e-03 1.04437927e+02] [ 3.73162253e-02 9.99303505e-01 -7.16582788e-05 1.24709973e+00] [ 1.46068326e-03 1.71629705e-05 9.99998933e-01 -1.49841012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:1.25, Z:-0.15 [[ 9.99339213e-01 -3.63181673e-02 -1.45901960e-03 1.04465879e+02] [ 3.63181012e-02 9.99340278e-01 -7.17771741e-05 1.24694862e+00] [ 1.46066387e-03 1.87409232e-05 9.99998933e-01 -1.51219694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:1.25, Z:-0.15 [[ 9.99405995e-01 -3.44314895e-02 -1.45901547e-03 1.04493963e+02] [ 3.44314213e-02 9.99407060e-01 -7.18609281e-05 1.24596939e+00] [ 1.46062464e-03 2.15822659e-05 9.99998933e-01 -1.51150110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:1.25, Z:-0.15 [[ 9.99436080e-01 -3.35468870e-02 -1.45900195e-03 1.04522271e+02] [ 3.35468174e-02 9.99437145e-01 -7.21343548e-05 1.24755605e+00] [ 1.46060063e-03 2.31488046e-05 9.99998933e-01 -1.50360731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:1.25, Z:-0.15 [[ 9.99464078e-01 -3.27021200e-02 -1.45898792e-03 1.04550227e+02] [ 3.27020492e-02 9.99465142e-01 -7.24170723e-05 1.24955268e+00] [ 1.46057576e-03 2.46663677e-05 9.99998933e-01 -1.49848136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:1.25, Z:-0.15 [[ 9.99508546e-01 -3.13135264e-02 -1.45897389e-03 1.04577760e+02] [ 3.13134537e-02 9.99509611e-01 -7.26986018e-05 1.25047776e+00] [ 1.46053488e-03 2.69773624e-05 9.99998933e-01 -1.49276921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:1.25, Z:-0.15 [[ 9.99508373e-01 -3.13190611e-02 -1.45895979e-03 1.04605380e+02] [ 3.13189879e-02 9.99509438e-01 -7.29806005e-05 1.25149711e+00] [ 1.46052976e-03 2.72515774e-05 9.99998933e-01 -1.48621186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:1.25, Z:-0.15 [[ 9.99500920e-01 -3.15560096e-02 -1.45894573e-03 1.04632760e+02] [ 3.15559363e-02 9.99501985e-01 -7.32604615e-05 1.25300396e+00] [ 1.46053096e-03 2.71855001e-05 9.99998933e-01 -1.48083355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:1.25, Z:-0.15 [[ 9.99471049e-01 -3.24883680e-02 -1.45894137e-03 1.04661180e+02] [ 3.24882956e-02 9.99472113e-01 -7.33472321e-05 1.25467590e+00] [ 1.46055415e-03 2.59099165e-05 9.99998933e-01 -1.47711738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.69, Y:1.25, Z:-0.15 [[ 9.99380431e-01 -3.51656918e-02 -1.45892764e-03 1.04689498e+02] [ 3.51656218e-02 9.99381496e-01 -7.36192736e-05 1.25454575e+00] [ 1.46061416e-03 2.22695636e-05 9.99998933e-01 -1.49138449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.72, Y:1.25, Z:-0.15 [[ 9.99321501e-01 -3.68022967e-02 -1.45891387e-03 1.04716651e+02] [ 3.68022280e-02 9.99322566e-01 -7.38913125e-05 1.25452594e+00] [ 1.46064492e-03 2.01498966e-05 9.99998933e-01 -1.49038402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:1.25, Z:-0.15 [[ 9.99248288e-01 -3.87392575e-02 -1.45890784e-03 1.04743336e+02] [ 3.87391908e-02 9.99249353e-01 -7.40101256e-05 1.25499650e+00] [ 1.46067981e-03 1.74375823e-05 9.99998933e-01 -1.49452311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.77, Y:1.26, Z:-0.15 [[ 9.99087476e-01 -4.26858996e-02 -1.45890186e-03 1.04771256e+02] [ 4.26858368e-02 9.99088542e-01 -7.41277878e-05 1.25519052e+00] [ 1.46073634e-03 1.17856977e-05 9.99998933e-01 -1.50526892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:1.26, Z:-0.15 [[ 9.98996618e-01 -4.47619191e-02 -1.45888799e-03 1.04799563e+02] [ 4.47618582e-02 9.98997683e-01 -7.43997775e-05 1.25560668e+00] [ 1.46075600e-03 9.02258871e-06 9.99998933e-01 -1.49229171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:1.26, Z:-0.15 [[ 9.98922484e-01 -4.63868836e-02 -1.45887391e-03 1.04827617e+02] [ 4.63868240e-02 9.98923549e-01 -7.46749036e-05 1.25549841e+00] [ 1.46076744e-03 6.92191305e-06 9.99998933e-01 -1.48828364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:104.86, Y:1.25, Z:-0.15 [[ 9.98790094e-01 -4.91550646e-02 -1.45885946e-03 1.04855082e+02] [ 4.91550075e-02 9.98791159e-01 -7.49559881e-05 1.25346526e+00] [ 1.46078040e-03 3.15505037e-06 9.99998933e-01 -1.49868792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:1.25, Z:-0.15 [[ 9.98734223e-01 -5.02774650e-02 -1.45885319e-03 1.04883651e+02] [ 5.02774090e-02 9.98735289e-01 -7.50779402e-05 1.25290553e+00] [ 1.46078289e-03 1.63554990e-06 9.99998933e-01 -1.48420116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:1.25, Z:-0.15 [[ 9.98702435e-01 -5.09049941e-02 -1.45883937e-03 1.04912204e+02] [ 5.09049383e-02 9.98703500e-01 -7.53454400e-05 1.25183306e+00] [ 1.46078345e-03 9.85546052e-07 9.99998933e-01 -1.47062287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.94, Y:1.25, Z:-0.15 [[ 9.98678140e-01 -5.13794249e-02 -1.45882549e-03 1.04940001e+02] [ 5.13793692e-02 9.98679205e-01 -7.56133201e-05 1.25116950e+00] [ 1.46078365e-03 5.59836489e-07 9.99998933e-01 -1.46851631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:1.25, Z:-0.14 [[ 9.98677542e-01 -5.13910444e-02 -1.45881148e-03 1.04968273e+02] [ 5.13909884e-02 9.98678607e-01 -7.58826145e-05 1.24864861e+00] [ 1.46078350e-03 8.12499043e-07 9.99998933e-01 -1.44666065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:1.25, Z:-0.14 [[ 9.98698673e-01 -5.09787511e-02 -1.45879724e-03 1.04994995e+02] [ 5.09786942e-02 9.98699738e-01 -7.61554049e-05 1.24846145e+00] [ 1.46078273e-03 1.68872339e-06 9.99998933e-01 -1.44271906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:1.25, Z:-0.15 [[ 9.98711947e-01 -5.07180254e-02 -1.45879104e-03 1.05022751e+02] [ 5.07179681e-02 9.98713013e-01 -7.62739977e-05 1.24809026e+00] [ 1.46078206e-03 2.18883540e-06 9.99998933e-01 -1.45082320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:1.24, Z:-0.15 [[ 9.98775282e-01 -4.94551196e-02 -1.45877667e-03 1.05051753e+02] [ 4.94550606e-02 9.98776347e-01 -7.65478070e-05 1.24461894e+00] [ 1.46077731e-03 4.31016889e-06 9.99998933e-01 -1.48304439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:1.24, Z:-0.15 [[ 9.98806475e-01 -4.88210755e-02 -1.45876399e-03 1.05079126e+02] [ 4.88210154e-02 9.98807540e-01 -7.67887664e-05 1.24374275e+00] [ 1.46077338e-03 5.47877808e-06 9.99998933e-01 -1.49736457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:1.24, Z:-0.15 [[ 9.98837643e-01 -4.81791956e-02 -1.45875766e-03 1.05107499e+02] [ 4.81791346e-02 9.98838708e-01 -7.69088148e-05 1.24321368e+00] [ 1.46076902e-03 6.53773778e-06 9.99998933e-01 -1.49965112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:1.24, Z:-0.15 [[ 9.98894214e-01 -4.69917158e-02 -1.45874307e-03 1.05134296e+02] [ 4.69916532e-02 9.98895279e-01 -7.71845952e-05 1.24268861e+00] [ 1.46075860e-03 8.55049731e-06 9.99998933e-01 -1.49696766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:1.24, Z:-0.15 [[ 9.99040430e-01 -4.37731886e-02 -1.45873303e-03 1.05162403e+02] [ 4.37731223e-02 9.99041495e-01 -7.73737651e-05 1.24111922e+00] [ 1.46072172e-03 1.34462201e-05 9.99998933e-01 -1.48050316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:1.24, Z:-0.15 [[ 9.99133279e-01 -4.16000269e-02 -1.45871866e-03 1.05189258e+02] [ 4.15999578e-02 9.99134344e-01 -7.76438439e-05 1.24147569e+00] [ 1.46068589e-03 1.68939138e-05 9.99998933e-01 -1.48034024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:1.24, Z:-0.15 [[ 9.99219447e-01 -3.94761909e-02 -1.45871240e-03 1.05217524e+02] [ 3.94761194e-02 9.99220511e-01 -7.77612522e-05 1.24199644e+00] [ 1.46064507e-03 2.01162505e-05 9.99998933e-01 -1.47811206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:1.24, Z:-0.15 [[ 9.99306880e-01 -3.71971908e-02 -1.45869809e-03 1.05245706e+02] [ 3.71971165e-02 9.99307945e-01 -7.80286401e-05 1.24249068e+00] [ 1.46059104e-03 2.37151940e-05 9.99998933e-01 -1.46891890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:1.24, Z:-0.15 [[ 9.99503304e-01 -3.14804241e-02 -1.45868380e-03 1.05272577e+02] [ 3.14803433e-02 9.99504368e-01 -7.82949880e-05 1.24206465e+00] [ 1.46042559e-03 3.23362325e-05 9.99998933e-01 -1.47250640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:1.24, Z:-0.15 [[ 9.99581782e-01 -2.88813569e-02 -1.45867758e-03 1.05300495e+02] [ 2.88812732e-02 9.99582846e-01 -7.84106660e-05 1.24304863e+00] [ 1.46033369e-03 3.62494075e-05 9.99998933e-01 -1.47080383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:1.24, Z:-0.15 [[ 9.99653399e-01 -2.62860226e-02 -1.45866290e-03 1.05328853e+02] [ 2.62859357e-02 9.99654462e-01 -7.86827470e-05 1.24450079e+00] [ 1.46022714e-03 4.03131562e-05 9.99998933e-01 -1.47621515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:1.25, Z:-0.15 [[ 9.99772194e-01 -2.12939440e-02 -1.45864822e-03 1.05356815e+02] [ 2.12938515e-02 9.99773257e-01 -7.89540561e-05 1.24749195e+00] [ 1.45999872e-03 4.78758314e-05 9.99998933e-01 -1.47997419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:1.25, Z:-0.15 [[ 9.99812931e-01 -1.92866413e-02 -1.45863359e-03 1.05383728e+02] [ 1.92865463e-02 9.99813994e-01 -7.92234047e-05 1.25053554e+00] [ 1.45989023e-03 5.10765803e-05 9.99998933e-01 -1.49963364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:1.25, Z:-0.15 [[ 9.99842477e-01 -1.76887966e-02 -1.45862350e-03 1.05411866e+02] [ 1.76886995e-02 9.99843540e-01 -7.94086197e-05 1.25325389e+00] [ 1.45979993e-03 5.35949582e-05 9.99998933e-01 -1.50353700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:1.26, Z:-0.15 [[ 9.99856174e-01 -1.68968369e-02 -1.45860985e-03 1.05439945e+02] [ 1.68967386e-02 9.99857237e-01 -7.96587367e-05 1.25561202e+00] [ 1.45974759e-03 5.50015305e-05 9.99998933e-01 -1.49737170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:1.26, Z:-0.15 [[ 9.99873972e-01 -1.58086231e-02 -1.45859560e-03 1.05467643e+02] [ 1.58085233e-02 9.99875034e-01 -7.99187216e-05 1.25886882e+00] [ 1.45967673e-03 5.68504070e-05 9.99998933e-01 -1.48922600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:1.26, Z:-0.15 [[ 9.99875268e-01 -1.57264529e-02 -1.45858138e-03 1.05494872e+02] [ 1.57263527e-02 9.99876330e-01 -8.01773429e-05 1.26255733e+00] [ 1.45966191e-03 5.72291770e-05 9.99998933e-01 -1.48394454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:1.27, Z:-0.15 [[ 9.99871011e-01 -1.59948103e-02 -1.45857520e-03 1.05523050e+02] [ 1.59947102e-02 9.99872073e-01 -8.02896408e-05 1.26639137e+00] [ 1.45967283e-03 5.69497967e-05 9.99998933e-01 -1.46967291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:1.27, Z:-0.15 [[ 9.99860019e-01 -1.66678001e-02 -1.45857057e-03 1.05549980e+02] [ 1.66677006e-02 9.99861081e-01 -8.03737664e-05 1.26972999e+00] [ 1.45970760e-03 5.60514981e-05 9.99998933e-01 -1.48671901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:1.28, Z:-0.15 [[ 9.99821385e-01 -1.88433009e-02 -1.45856408e-03 1.05578140e+02] [ 1.88432035e-02 9.99822448e-01 -8.04912979e-05 1.27513461e+00] [ 1.45982183e-03 5.29929011e-05 9.99998933e-01 -1.47697866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:1.28, Z:-0.15 [[ 9.99791305e-01 -2.03769144e-02 -1.45854893e-03 1.05605476e+02] [ 2.03768183e-02 9.99792368e-01 -8.07649745e-05 1.27852777e+00] [ 1.45989183e-03 5.10275329e-05 9.99998933e-01 -1.48256984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:105.63, Y:1.28, Z:-0.15 [[ 9.99746889e-01 -2.24506108e-02 -1.45854236e-03 1.05633767e+02] [ 2.24505166e-02 9.99747952e-01 -8.08833046e-05 1.28160655e+00] [ 1.45999062e-03 4.81178026e-05 9.99998933e-01 -1.48857921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.66, Y:1.28, Z:-0.15 [[ 9.99644943e-01 -2.66056541e-02 -1.45852740e-03 1.05661264e+02] [ 2.66055640e-02 9.99646006e-01 -8.11522464e-05 1.28437006e+00] [ 1.46017020e-03 4.23184887e-05 9.99998933e-01 -1.47962777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:1.29, Z:-0.15 [[ 9.99583101e-01 -2.88356814e-02 -1.45851294e-03 1.05688243e+02] [ 2.88355933e-02 9.99584165e-01 -8.14113133e-05 1.28719325e+00] [ 1.46025399e-03 3.93202871e-05 9.99998933e-01 -1.47924462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:1.29, Z:-0.15 [[ 9.99514512e-01 -3.11225572e-02 -1.45850619e-03 1.05714976e+02] [ 3.11224713e-02 9.99515575e-01 -8.15320667e-05 1.29001994e+00] [ 1.46033714e-03 3.61001668e-05 9.99998933e-01 -1.48085279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:1.29, Z:-0.15 [[ 9.99321155e-01 -3.68117055e-02 -1.45839750e-03 1.05743949e+02] [ 3.68116228e-02 9.99322219e-01 -8.34702451e-05 1.29339192e+00] [ 1.46048171e-03 2.97276029e-05 9.99998933e-01 -1.48324355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:1.30, Z:-0.15 [[ 9.99210091e-01 -3.97122991e-02 -1.45847980e-03 1.05771527e+02] [ 3.97122217e-02 9.99211155e-01 -8.20066495e-05 1.29564099e+00] [ 1.46058596e-03 2.40223986e-05 9.99998933e-01 -1.48045761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:1.30, Z:-0.15 [[ 9.99098925e-01 -4.24170953e-02 -1.45846423e-03 1.05799309e+02] [ 4.24170204e-02 9.99099990e-01 -8.22825348e-05 1.29791790e+00] [ 1.46064179e-03 2.03446850e-05 9.99998933e-01 -1.48020894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.83, Y:1.30, Z:-0.15 [[ 9.98984586e-01 -4.50296537e-02 -1.45845938e-03 1.05825733e+02] [ 4.50295815e-02 9.98985651e-01 -8.23684183e-05 1.30028618e+00] [ 1.46068902e-03 1.66109646e-05 9.99998933e-01 -1.48068191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:105.85, Y:1.30, Z:-0.15 [[ 9.98769358e-01 -4.95746050e-02 -1.45844904e-03 1.05853497e+02] [ 4.95745373e-02 9.98770423e-01 -8.25511195e-05 1.30216036e+00] [ 1.46074820e-03 1.01475923e-05 9.99998933e-01 -1.48092874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:1.30, Z:-0.15 [[ 9.98661357e-01 -5.17046140e-02 -1.45843375e-03 1.05881425e+02] [ 5.17045482e-02 9.98662422e-01 -8.28204312e-05 1.30427912e+00] [ 1.46076518e-03 7.30190632e-06 9.99998933e-01 -1.48060253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.91, Y:1.31, Z:-0.15 [[ 9.98533548e-01 -5.41167810e-02 -1.45841793e-03 1.05909424e+02] [ 5.41167174e-02 9.98534613e-01 -8.30981095e-05 1.30604442e+00] [ 1.46077778e-03 4.05145947e-06 9.99998933e-01 -1.47843023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.94, Y:1.31, Z:-0.15 [[ 9.98523122e-01 -5.43088184e-02 -1.45840188e-03 1.05937884e+02] [ 5.43087546e-02 9.98524187e-01 -8.33788002e-05 1.30785487e+00] [ 1.46077775e-03 4.05167021e-06 9.99998933e-01 -1.47801416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:1.31, Z:-0.15 [[ 9.98495407e-01 -5.48160224e-02 -1.45838579e-03 1.05965579e+02] [ 5.48159587e-02 9.98496472e-01 -8.36592773e-05 1.30972802e+00] [ 1.46077893e-03 3.59058898e-06 9.99998933e-01 -1.47022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:1.31, Z:-0.15 [[ 9.98498478e-01 -5.47600477e-02 -1.45838079e-03 1.05993387e+02] [ 5.47599838e-02 9.98499543e-01 -8.37463310e-05 1.31133959e+00] [ 1.46077851e-03 3.75967561e-06 9.99998933e-01 -1.47107471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:1.31, Z:-0.15 [[ 9.98519485e-01 -5.43756487e-02 -1.45836487e-03 1.06020406e+02] [ 5.43755840e-02 9.98520550e-01 -8.40226509e-05 1.31304800e+00] [ 1.46077608e-03 4.59881270e-06 9.99998933e-01 -1.47127379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.05, Y:1.31, Z:-0.15 [[ 9.98629195e-01 -5.23221147e-02 -1.45835793e-03 1.06048845e+02] [ 5.23220477e-02 9.98630260e-01 -8.41428490e-05 1.31477913e+00] [ 1.46076290e-03 7.72323222e-06 9.99998933e-01 -1.48256003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:1.32, Z:-0.15 [[ 9.98687112e-01 -5.12047346e-02 -1.45834192e-03 1.06076157e+02] [ 5.12046659e-02 9.98688177e-01 -8.44195067e-05 1.31685822e+00] [ 1.46075151e-03 9.63476262e-06 9.99998933e-01 -1.49582185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:106.10, Y:1.32, Z:-0.15 [[ 9.98761259e-01 -4.97375242e-02 -1.45833100e-03 1.06104106e+02] [ 4.97374537e-02 9.98762323e-01 -8.46077187e-05 1.31944754e+00] [ 1.46073424e-03 1.19692411e-05 9.99998933e-01 -1.50467451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:1.32, Z:-0.15 [[ 9.98828939e-01 -4.83593276e-02 -1.45831517e-03 1.06131743e+02] [ 4.83592552e-02 9.98830003e-01 -8.48797349e-05 1.32156789e+00] [ 1.46071367e-03 1.42573002e-05 9.99998933e-01 -1.50435349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:1.32, Z:-0.15 [[ 9.98981761e-01 -4.50922845e-02 -1.45829899e-03 1.06158251e+02] [ 4.50922083e-02 9.98982825e-01 -8.51567482e-05 1.32383669e+00] [ 1.46065556e-03 1.93121165e-05 9.99998933e-01 -1.51550669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:1.33, Z:-0.15 [[ 9.99053093e-01 -4.34832156e-02 -1.45829196e-03 1.06186497e+02] [ 4.34831375e-02 9.99054157e-01 -8.52770077e-05 1.32640527e+00] [ 1.46062076e-03 2.17851486e-05 9.99998933e-01 -1.51123964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:1.33, Z:-0.15 [[ 9.99105669e-01 -4.22579723e-02 -1.45828704e-03 1.06213945e+02] [ 4.22578927e-02 9.99106733e-01 -8.53610146e-05 1.32925401e+00] [ 1.46059159e-03 2.36605362e-05 9.99998933e-01 -1.50211222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:1.33, Z:-0.15 [[ 9.99195095e-01 -4.00878604e-02 -1.45827104e-03 1.06242287e+02] [ 4.00877781e-02 9.99196158e-01 -8.56335079e-05 1.33198380e+00] [ 1.46053169e-03 2.71057351e-05 9.99998933e-01 -1.49423582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:1.33, Z:-0.15 [[ 9.99235971e-01 -3.90557131e-02 -1.45825482e-03 1.06269620e+02] [ 3.90556293e-02 9.99237034e-01 -8.59088107e-05 1.33429795e+00] [ 1.46049745e-03 2.88901141e-05 9.99998933e-01 -1.49777837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:1.34, Z:-0.15 [[ 9.99279742e-01 -3.79192565e-02 -1.45824778e-03 1.06297835e+02] [ 3.79191713e-02 9.99280806e-01 -8.60281739e-05 1.33718162e+00] [ 1.46046114e-03 3.06706641e-05 9.99998933e-01 -1.48975232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.33, Y:1.34, Z:-0.15 [[ 9.99308373e-01 -3.71571005e-02 -1.45824282e-03 1.06325975e+02] [ 3.71570144e-02 9.99309436e-01 -8.61122294e-05 1.34074519e+00] [ 1.46043549e-03 3.18687225e-05 9.99998933e-01 -1.48049125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:1.35, Z:-0.15 [[ 9.99377361e-01 -3.52528631e-02 -1.45822646e-03 1.06353156e+02] [ 3.52527746e-02 9.99378424e-01 -8.63883649e-05 1.34660668e+00] [ 1.46036550e-03 3.49280476e-05 9.99998933e-01 -1.48998893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:1.35, Z:-0.15 [[ 9.99406471e-01 -3.44177273e-02 -1.45821933e-03 1.06381404e+02] [ 3.44176377e-02 9.99407534e-01 -8.65084436e-05 1.35024792e+00] [ 1.46033281e-03 3.62686336e-05 9.99998933e-01 -1.49070138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.41, Y:1.35, Z:-0.15 [[ 9.99426469e-01 -3.38320312e-02 -1.45820325e-03 1.06408307e+02] [ 3.38319406e-02 9.99427532e-01 -8.67787536e-05 1.35355733e+00] [ 1.46030437e-03 3.73951376e-05 9.99998933e-01 -1.49635730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:1.36, Z:-0.15 [[ 9.99445357e-01 -3.32693733e-02 -1.45819627e-03 1.06436390e+02] [ 3.32692819e-02 9.99446420e-01 -8.68957802e-05 1.35664590e+00] [ 1.46028001e-03 3.83344412e-05 9.99998933e-01 -1.49329136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.46, Y:1.36, Z:-0.15 [[ 9.99462940e-01 -3.27369153e-02 -1.45818016e-03 1.06464557e+02] [ 3.27368229e-02 9.99464003e-01 -8.71653700e-05 1.36226828e+00] [ 1.46025210e-03 3.93823713e-05 9.99998933e-01 -1.49815965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:1.37, Z:-0.15 [[ 9.99456174e-01 -3.29428348e-02 -1.45816393e-03 1.06492644e+02] [ 3.29427422e-02 9.99457237e-01 -8.74360640e-05 1.36605953e+00] [ 1.46025288e-03 3.93525956e-05 9.99998933e-01 -1.49265549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:1.37, Z:-0.15 [[ 9.99440695e-01 -3.34091544e-02 -1.45814716e-03 1.06520610e+02] [ 3.34090619e-02 9.99441758e-01 -8.77148184e-05 1.36962175e+00] [ 1.46026364e-03 3.89504303e-05 9.99998933e-01 -1.48656617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:1.37, Z:-0.15 [[ 9.99376799e-01 -3.52687933e-02 -1.45813024e-03 1.06547819e+02] [ 3.52687024e-02 9.99377862e-01 -8.79951047e-05 1.37496298e+00] [ 1.46032657e-03 3.65139043e-05 9.99998933e-01 -1.49342382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:106.58, Y:1.38, Z:-0.15 [[ 9.99312565e-01 -3.70441698e-02 -1.45812291e-03 1.06575616e+02] [ 3.70440807e-02 9.99313629e-01 -8.81165185e-05 1.37860745e+00] [ 1.46038630e-03 3.40411216e-05 9.99998933e-01 -1.49622210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:1.38, Z:-0.15 [[ 9.99245252e-01 -3.88175127e-02 -1.45810625e-03 1.06602727e+02] [ 3.88174250e-02 9.99246316e-01 -8.83912978e-05 1.38157195e+00] [ 1.46043843e-03 3.17246548e-05 9.99998933e-01 -1.50434539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.63, Y:1.38, Z:-0.15 [[ 9.99151663e-01 -4.11561479e-02 -1.45809900e-03 1.06630982e+02] [ 4.11560626e-02 9.99152726e-01 -8.85107226e-05 1.38462734e+00] [ 1.46050635e-03 2.84260220e-05 9.99998933e-01 -1.50599289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:1.39, Z:-0.15 [[ 9.98973490e-01 -4.52751586e-02 -1.45808224e-03 1.06657642e+02] [ 4.52750772e-02 9.98974554e-01 -8.87858813e-05 1.38726498e+00] [ 1.46060686e-03 2.26799554e-05 9.99998933e-01 -1.52116941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:1.39, Z:-0.15 [[ 9.98871772e-01 -4.74663734e-02 -1.45807495e-03 1.06685085e+02] [ 4.74662942e-02 9.98872836e-01 -8.89054439e-05 1.39040363e+00] [ 1.46065148e-03 1.95957236e-05 9.99998933e-01 -1.51448182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:1.39, Z:-0.15 [[ 9.98771025e-01 -4.95410340e-02 -1.45805839e-03 1.06712840e+02] [ 4.95409566e-02 9.98772089e-01 -8.91763144e-05 1.39384203e+00] [ 1.46068591e-03 1.68331116e-05 9.99998933e-01 -1.50829838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:1.40, Z:-0.15 [[ 9.98619637e-01 -5.25042339e-02 -1.45804175e-03 1.06740632e+02] [ 5.25041593e-02 9.98620701e-01 -8.94474664e-05 1.39747091e+00] [ 1.46072705e-03 1.27707400e-05 9.99998933e-01 -1.49717537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:1.40, Z:-0.15 [[ 9.98563312e-01 -5.35647788e-02 -1.45802485e-03 1.06768051e+02] [ 5.35647049e-02 9.98564377e-01 -8.97222304e-05 1.39955527e+00] [ 1.46073762e-03 1.14946570e-05 9.99998933e-01 -1.49478154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.80, Y:1.40, Z:-0.15 [[ 9.98507976e-01 -5.45865939e-02 -1.45801312e-03 1.06795950e+02] [ 5.45865208e-02 9.98509040e-01 -8.99123989e-05 1.40202418e+00] [ 1.46074729e-03 1.01903840e-05 9.99998933e-01 -1.49432985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:1.40, Z:-0.15 [[ 9.98500119e-01 -5.47301167e-02 -1.45799619e-03 1.06822417e+02] [ 5.47300434e-02 9.98501184e-01 -9.01861271e-05 1.40398652e+00] [ 1.46074682e-03 1.02546641e-05 9.99998933e-01 -1.49383724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.85, Y:1.41, Z:-0.15 [[ 9.98506140e-01 -5.46201595e-02 -1.45798445e-03 1.06850267e+02] [ 5.46200858e-02 9.98507205e-01 -9.03755106e-05 1.40757856e+00] [ 1.46074430e-03 1.06052667e-05 9.99998933e-01 -1.47331109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:1.41, Z:-0.15 [[ 9.98529227e-01 -5.41964772e-02 -1.45796680e-03 1.06877542e+02] [ 5.41964026e-02 9.98530291e-01 -9.06592466e-05 1.40999566e+00] [ 1.46073743e-03 1.15093514e-05 9.99998933e-01 -1.46962278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:1.41, Z:-0.15 [[ 9.98561113e-01 -5.36057664e-02 -1.45795462e-03 1.06905399e+02] [ 5.36056909e-02 9.98562177e-01 -9.08547193e-05 1.41286758e+00] [ 1.46072868e-03 1.25693248e-05 9.99998933e-01 -1.45825626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49587156000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:106.93, Y:1.42, Z:-0.15 [[ 9.98601744e-01 -5.28434656e-02 -1.45794929e-03 1.06932963e+02] [ 5.28433891e-02 9.98602808e-01 -9.09402884e-05 1.41792266e+00] [ 1.46071785e-03 1.37701492e-05 9.99998933e-01 -1.46298944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:1.42, Z:-0.15 [[ 9.98620423e-01 -5.24892861e-02 -1.45793178e-03 1.06959963e+02] [ 5.24892089e-02 9.98621487e-01 -9.12201171e-05 1.42001873e+00] [ 1.46071008e-03 1.45685864e-05 9.99998933e-01 -1.46603891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:1.42, Z:-0.15 [[ 9.98624346e-01 -5.24146044e-02 -1.45792415e-03 1.06986630e+02] [ 5.24145269e-02 9.98625410e-01 -9.13418463e-05 1.42221491e+00] [ 1.46070775e-03 1.47997868e-05 9.99998933e-01 -1.46242614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:1.43, Z:-0.15 [[ 9.98630017e-01 -5.23064471e-02 -1.45791663e-03 1.07013399e+02] [ 5.23063693e-02 9.98631081e-01 -9.14616514e-05 1.42612579e+00] [ 1.46070490e-03 1.50780246e-05 9.99998933e-01 -1.45324509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:1.43, Z:-0.15 [[ 9.98638034e-01 -5.21531571e-02 -1.45790920e-03 1.07041371e+02] [ 5.21530789e-02 9.98639098e-01 -9.15800026e-05 1.42917061e+00] [ 1.46070131e-03 1.54208201e-05 9.99998933e-01 -1.45546254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:1.43, Z:-0.15 [[ 9.98649088e-01 -5.19410670e-02 -1.45789207e-03 1.07069701e+02] [ 5.19409883e-02 9.98650152e-01 -9.18519399e-05 1.43225819e+00] [ 1.46069502e-03 1.60035012e-05 9.99998933e-01 -1.45413477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:1.44, Z:-0.15 [[ 9.98657670e-01 -5.17758018e-02 -1.45787463e-03 1.07096570e+02] [ 5.17757224e-02 9.98658734e-01 -9.21278715e-05 1.43548788e+00] [ 1.46068923e-03 1.65216932e-05 9.99998933e-01 -1.46613814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.13, Y:1.44, Z:-0.15 [[ 9.98681846e-01 -5.13073557e-02 -1.45786703e-03 1.07125582e+02] [ 5.13072756e-02 9.98682910e-01 -9.22479211e-05 1.44084681e+00] [ 1.46067989e-03 1.73271384e-05 9.99998933e-01 -1.49967404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:1.44, Z:-0.15 [[ 9.98669980e-01 -5.15378100e-02 -1.45785192e-03 1.07153439e+02] [ 5.15377299e-02 9.98671044e-01 -9.24862245e-05 1.44352252e+00] [ 1.46068103e-03 1.72288377e-05 9.99998933e-01 -1.51408202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:1.45, Z:-0.15 [[ 9.98631450e-01 -5.22790683e-02 -1.45783423e-03 1.07181219e+02] [ 5.22789886e-02 9.98632514e-01 -9.27642043e-05 1.44549941e+00] [ 1.46069029e-03 1.64231530e-05 9.99998933e-01 -1.53176556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.21, Y:1.45, Z:-0.16 [[ 9.98502949e-01 -5.46784835e-02 -1.45782873e-03 1.07210290e+02] [ 5.46784062e-02 9.98504013e-01 -9.28505947e-05 1.44742839e+00] [ 1.46072476e-03 1.29998414e-05 9.99998933e-01 -1.55201802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.24, Y:1.45, Z:-0.16 [[ 9.98433066e-01 -5.59400361e-02 -1.45781323e-03 1.07237266e+02] [ 5.59399598e-02 9.98434130e-01 -9.30932935e-05 1.44896844e+00] [ 1.46073812e-03 1.13974092e-05 9.99998933e-01 -1.56608386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:1.45, Z:-0.16 [[ 9.98357471e-01 -5.72733425e-02 -1.45780091e-03 1.07265468e+02] [ 5.72732674e-02 9.98358535e-01 -9.32857718e-05 1.45102707e+00] [ 1.46075077e-03 9.63952585e-06 9.99998933e-01 -1.56355024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:1.45, Z:-0.16 [[ 9.98309355e-01 -5.81059911e-02 -1.45778328e-03 1.07293033e+02] [ 5.81059164e-02 9.98310420e-01 -9.35604902e-05 1.45266910e+00] [ 1.46075666e-03 8.69647930e-06 9.99998933e-01 -1.57061649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91587156000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.32, Y:1.45, Z:-0.16 [[ 9.98253375e-01 -5.90599208e-02 -1.45776562e-03 1.07320859e+02] [ 5.90598468e-02 9.98254439e-01 -9.38347571e-05 1.45447747e+00] [ 1.46076288e-03 7.57544853e-06 9.99998933e-01 -1.56297186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:1.46, Z:-0.15 [[ 9.98282625e-01 -5.85634399e-02 -1.45774766e-03 1.07349496e+02] [ 5.85633649e-02 9.98283689e-01 -9.41130203e-05 1.45553383e+00] [ 1.46075729e-03 8.58078472e-06 9.99998933e-01 -1.52424366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:1.46, Z:-0.15 [[ 9.98331280e-01 -5.77280655e-02 -1.45773175e-03 1.07377771e+02] [ 5.77279893e-02 9.98332345e-01 -9.43587945e-05 1.45826946e+00] [ 1.46074791e-03 1.00494133e-05 9.99998933e-01 -1.50112849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:1.46, Z:-0.15 [[ 9.98493997e-01 -5.48417177e-02 -1.45771583e-03 1.07405741e+02] [ 5.48416380e-02 9.98495060e-01 -9.46040772e-05 1.46109628e+00] [ 1.46071031e-03 1.45180792e-05 9.99998933e-01 -1.49553399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:1.46, Z:-0.15 [[ 9.98571983e-01 -5.34029035e-02 -1.45770716e-03 1.07433241e+02] [ 5.34028221e-02 9.98573047e-01 -9.47375222e-05 1.46251894e+00] [ 1.46068634e-03 1.67565594e-05 9.99998933e-01 -1.49949159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.46, Y:1.46, Z:-0.15 [[ 9.98642557e-01 -5.20664727e-02 -1.45768932e-03 1.07460055e+02] [ 5.20663894e-02 9.98643621e-01 -9.50111928e-05 1.46411102e+00] [ 1.46065904e-03 1.89856006e-05 9.99998933e-01 -1.50019241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:1.47, Z:-0.15 [[ 9.98807451e-01 -4.88011388e-02 -1.45767650e-03 1.07487581e+02] [ 4.88010518e-02 9.98808514e-01 -9.52074895e-05 1.46515858e+00] [ 1.46058593e-03 2.39578035e-05 9.99998933e-01 -1.49488226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:1.47, Z:-0.15 [[ 9.98891998e-01 -4.70388223e-02 -1.45765840e-03 1.07514671e+02] [ 4.70387330e-02 9.98893062e-01 -9.54838132e-05 1.46710435e+00] [ 1.46053631e-03 2.68116127e-05 9.99998933e-01 -1.49292346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:1.47, Z:-0.15 [[ 9.98978486e-01 -4.51648074e-02 -1.45765057e-03 1.07541499e+02] [ 4.51647160e-02 9.98979549e-01 -9.56031275e-05 1.46895138e+00] [ 1.46048101e-03 2.96710933e-05 9.99998933e-01 -1.49205250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:1.47, Z:-0.15 [[ 9.99166340e-01 -4.07982977e-02 -1.45764284e-03 1.07568117e+02] [ 4.07982014e-02 9.99167402e-01 -9.57209352e-05 1.47129079e+00] [ 1.46033446e-03 3.61719303e-05 9.99998933e-01 -1.48977439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:1.47, Z:-0.15 [[ 9.99254703e-01 -3.85734769e-02 -1.45763517e-03 1.07596001e+02] [ 3.85733781e-02 9.99255766e-01 -9.58375397e-05 1.47408825e+00] [ 1.46024714e-03 3.95401998e-05 9.99998933e-01 -1.49714955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:1.48, Z:-0.15 [[ 9.99332050e-01 -3.65147926e-02 -1.45761758e-03 1.07623172e+02] [ 3.65146912e-02 9.99333112e-01 -9.61043054e-05 1.47677634e+00] [ 1.46015474e-03 4.28156565e-05 9.99998933e-01 -1.50678856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.65, Y:1.48, Z:-0.15 [[ 9.99398836e-01 -3.46387483e-02 -1.45760544e-03 1.07651485e+02] [ 3.46386447e-02 9.99399897e-01 -9.62880733e-05 1.47981906e+00] [ 1.46006603e-03 4.57407114e-05 9.99998933e-01 -1.50229187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:1.48, Z:-0.15 [[ 9.99493691e-01 -3.17842302e-02 -1.45758724e-03 1.07678739e+02] [ 3.17841231e-02 9.99494752e-01 -9.65628910e-05 1.48273501e+00] [ 1.45991997e-03 5.01858681e-05 9.99998933e-01 -1.51373765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:1.48, Z:-0.15 [[ 9.99487868e-01 -3.19668036e-02 -1.45757415e-03 1.07707169e+02] [ 3.19666964e-02 9.99488930e-01 -9.67600009e-05 1.48480764e+00] [ 1.45992234e-03 5.01166166e-05 9.99998933e-01 -1.51332150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:1.49, Z:-0.15 [[ 9.99511575e-01 -3.12167585e-02 -1.45755643e-03 1.07735200e+02] [ 3.12166502e-02 9.99512637e-01 -9.70262473e-05 1.48798123e+00] [ 1.45987491e-03 5.14788282e-05 9.99998933e-01 -1.51274084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.76, Y:1.49, Z:-0.15 [[ 9.99525855e-01 -3.07561358e-02 -1.45753870e-03 1.07762601e+02] [ 3.07560265e-02 9.99526917e-01 -9.72918381e-05 1.49138215e+00] [ 1.45984148e-03 5.24176087e-05 9.99998933e-01 -1.50561960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:1.50, Z:-0.15 [[ 9.99545048e-01 -3.01259433e-02 -1.45752048e-03 1.07789826e+02] [ 3.01258330e-02 9.99546109e-01 -9.75640130e-05 1.49605932e+00] [ 1.45979813e-03 5.36106074e-05 9.99998933e-01 -1.51998328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:1.50, Z:-0.15 [[ 9.99541530e-01 -3.02424611e-02 -1.45750789e-03 1.07817994e+02] [ 3.02423507e-02 9.99542591e-01 -9.77517949e-05 1.49938333e+00] [ 1.45979746e-03 5.36285140e-05 9.99998933e-01 -1.51987139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:1.50, Z:-0.15 [[ 9.99535455e-01 -3.04425561e-02 -1.45748987e-03 1.07845389e+02] [ 3.04424455e-02 9.99536517e-01 -9.80196647e-05 1.50241608e+00] [ 1.45979832e-03 5.36045742e-05 9.99998933e-01 -1.51463869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:1.51, Z:-0.15 [[ 9.99499151e-01 -3.16120621e-02 -1.45747129e-03 1.07872355e+02] [ 3.16119523e-02 9.99500213e-01 -9.82951591e-05 1.50672196e+00] [ 1.45985018e-03 5.21724151e-05 9.99998933e-01 -1.51755434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:1.51, Z:-0.15 [[ 9.99470387e-01 -3.25088003e-02 -1.45745284e-03 1.07900386e+02] [ 3.25086910e-02 9.99471448e-01 -9.85680513e-05 1.51029466e+00] [ 1.45988683e-03 5.11359643e-05 9.99998933e-01 -1.51429242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:1.51, Z:-0.15 [[ 9.99430262e-01 -3.37198468e-02 -1.45743444e-03 1.07926916e+02] [ 3.37197385e-02 9.99431323e-01 -9.88393313e-05 1.51424412e+00] [ 1.45993848e-03 4.96387106e-05 9.99998933e-01 -1.52011808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:1.52, Z:-0.15 [[ 9.99393564e-01 -3.47905321e-02 -1.45742174e-03 1.07953312e+02] [ 3.47904247e-02 9.99394625e-01 -9.90261916e-05 1.51779873e+00] [ 1.45998463e-03 4.82618172e-05 9.99998933e-01 -1.52972251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:1.52, Z:-0.15 [[ 9.99282280e-01 -3.78523646e-02 -1.45740922e-03 1.07981389e+02] [ 3.78522601e-02 9.99283341e-01 -9.92102177e-05 1.52348288e+00] [ 1.46012009e-03 4.39727799e-05 9.99998933e-01 -1.51587231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:1.53, Z:-0.15 [[ 9.99221657e-01 -3.94202483e-02 -1.45739081e-03 1.08008367e+02] [ 3.94201451e-02 9.99222719e-01 -9.94798997e-05 1.52750082e+00] [ 1.46017953e-03 4.19519131e-05 9.99998933e-01 -1.51957088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:1.53, Z:-0.15 [[ 9.99152452e-01 -4.11370099e-02 -1.45737806e-03 1.08036557e+02] [ 4.11369083e-02 9.99153514e-01 -9.96663009e-05 1.53147212e+00] [ 1.46024438e-03 3.96298014e-05 9.99998933e-01 -1.51082540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:1.54, Z:-0.15 [[ 9.99087552e-01 -4.26841927e-02 -1.45735884e-03 1.08063776e+02] [ 4.26840923e-02 9.99088614e-01 -9.99464861e-05 1.53506628e+00] [ 1.46029676e-03 3.76492506e-05 9.99998933e-01 -1.51635187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:1.54, Z:-0.15 [[ 9.98944112e-01 -4.59188075e-02 -1.45734516e-03 1.08090625e+02] [ 4.59187103e-02 9.98945175e-01 -1.00145619e-04 1.54079933e+00] [ 1.46040648e-03 3.31204665e-05 9.99998933e-01 -1.51699154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:1.54, Z:-0.15 [[ 9.98864225e-01 -4.76249605e-02 -1.45733696e-03 1.08118721e+02] [ 4.76248648e-02 9.98865287e-01 -1.00264834e-04 1.54488367e+00] [ 1.46045841e-03 3.07454802e-05 9.99998933e-01 -1.51091084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:1.55, Z:-0.15 [[ 9.98794784e-01 -4.90597227e-02 -1.45731810e-03 1.08145593e+02] [ 4.90596282e-02 9.98795846e-01 -1.00538235e-04 1.54910112e+00] [ 1.46049564e-03 2.89215806e-05 9.99998933e-01 -1.51290328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.17, Y:1.56, Z:-0.15 [[ 9.98692827e-01 -5.10931896e-02 -1.45730987e-03 1.08172916e+02] [ 5.10930971e-02 9.98693890e-01 -1.00657349e-04 1.55534870e+00] [ 1.46054937e-03 2.60672979e-05 9.99998933e-01 -1.51648241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:1.56, Z:-0.15 [[ 9.98655588e-01 -5.18159447e-02 -1.45729081e-03 1.08200737e+02] [ 5.18158525e-02 9.98656651e-01 -1.00932561e-04 1.55940231e+00] [ 1.46056308e-03 2.52861005e-05 9.99998933e-01 -1.51557249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.23, Y:1.56, Z:-0.15 [[ 9.98636351e-01 -5.21853937e-02 -1.45727147e-03 1.08228748e+02] [ 5.21853016e-02 9.98637414e-01 -1.01210987e-04 1.56335201e+00] [ 1.46056755e-03 2.50248196e-05 9.99998933e-01 -1.51536416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:1.57, Z:-0.15 [[ 9.98595263e-01 -5.29658060e-02 -1.45726547e-03 1.08256556e+02] [ 5.29657146e-02 9.98596326e-01 -1.01297344e-04 1.56974711e+00] [ 1.46058524e-03 2.39699412e-05 9.99998933e-01 -1.50924414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:1.57, Z:-0.15 [[ 9.98557449e-01 -5.36739847e-02 -1.45724590e-03 1.08284250e+02] [ 5.36738936e-02 9.98558512e-01 -1.01578070e-04 1.57460887e+00] [ 1.46059740e-03 2.32154773e-05 9.99998933e-01 -1.51704584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:1.58, Z:-0.15 [[ 9.98522567e-01 -5.43190516e-02 -1.45722630e-03 1.08310895e+02] [ 5.43189608e-02 9.98523630e-01 -1.01858440e-04 1.57928198e+00] [ 1.46060775e-03 2.25529327e-05 9.99998933e-01 -1.53316501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:1.58, Z:-0.15 [[ 9.98466108e-01 -5.53471623e-02 -1.45721276e-03 1.08338631e+02] [ 5.53470723e-02 9.98467171e-01 -1.02051849e-04 1.58382211e+00] [ 1.46062738e-03 2.12428521e-05 9.99998933e-01 -1.54959825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:1.59, Z:-0.16 [[ 9.98297836e-01 -5.83035796e-02 -1.45720376e-03 1.08366684e+02] [ 5.83034926e-02 9.98298899e-01 -1.02180161e-04 1.58996694e+00] [ 1.46068238e-03 1.70461652e-05 9.99998933e-01 -1.55754709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:1.59, Z:-0.16 [[ 9.98182793e-01 -6.02410793e-02 -1.45718451e-03 1.08393214e+02] [ 6.02409939e-02 9.98183857e-01 -1.02453917e-04 1.59399175e+00] [ 1.46070999e-03 1.44854938e-05 9.99998933e-01 -1.56048153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:1.60, Z:-0.16 [[ 9.98055049e-01 -6.23217138e-02 -1.45717612e-03 1.08420662e+02] [ 6.23216305e-02 9.98056113e-01 -1.02573193e-04 1.59809015e+00] [ 1.46073607e-03 1.15601013e-05 9.99998933e-01 -1.56204412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:1.60, Z:-0.16 [[ 9.97794775e-01 -6.63586025e-02 -1.45715673e-03 1.08448233e+02] [ 6.63585231e-02 9.97795839e-01 -1.02847884e-04 1.60295972e+00] [ 1.46076976e-03 5.92631253e-06 9.99998933e-01 -1.57006156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:1.61, Z:-0.16 [[ 9.97688398e-01 -6.79392151e-02 -1.45713734e-03 1.08476435e+02] [ 6.79391370e-02 9.97689462e-01 -1.03121831e-04 1.60659684e+00] [ 1.46077659e-03 3.88680133e-06 9.99998933e-01 -1.55445131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:1.61, Z:-0.16 [[ 9.97614514e-01 -6.90156361e-02 -1.45711712e-03 1.08502900e+02] [ 6.90155587e-02 9.97615578e-01 -1.03406775e-04 1.61053651e+00] [ 1.46077942e-03 2.59634706e-06 9.99998933e-01 -1.55284701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.53, Y:1.62, Z:-0.16 [[ 9.97453892e-01 -7.12994462e-02 -1.45710831e-03 1.08531044e+02] [ 7.12993710e-02 9.97454956e-01 -1.03530809e-04 1.61592382e+00] [ 1.46078159e-03 -6.23697236e-07 9.99998933e-01 -1.55253271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:1.62, Z:-0.15 [[ 9.97348338e-01 -7.27610484e-02 -1.45708827e-03 1.08558508e+02] [ 7.27609744e-02 9.97349402e-01 -1.03812118e-04 1.61891021e+00] [ 1.46077959e-03 -2.48231903e-06 9.99998933e-01 -1.54656410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:1.62, Z:-0.15 [[ 9.97249481e-01 -7.41036378e-02 -1.45706826e-03 1.08585401e+02] [ 7.41035648e-02 9.97250546e-01 -1.04092131e-04 1.62146948e+00] [ 1.46077572e-03 -4.16812843e-06 9.99998933e-01 -1.54166537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:1.62, Z:-0.15 [[ 9.97057665e-01 -7.66412993e-02 -1.45705957e-03 1.08614368e+02] [ 7.66412289e-02 9.97058730e-01 -1.04213712e-04 1.62487509e+00] [ 1.46076103e-03 -7.76375556e-06 9.99998933e-01 -1.51881481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:1.63, Z:-0.15 [[ 9.96962589e-01 -7.78683060e-02 -1.45704168e-03 1.08641671e+02] [ 7.78682364e-02 9.96963654e-01 -1.04463156e-04 1.62731651e+00] [ 1.46075197e-03 -9.31140789e-06 9.99998933e-01 -1.52288169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:1.63, Z:-0.15 [[ 9.96844604e-01 -7.93644245e-02 -1.45702759e-03 1.08669928e+02] [ 7.93643563e-02 9.96845669e-01 -1.04659336e-04 1.62942229e+00] [ 1.46073787e-03 -1.13069622e-05 9.99998933e-01 -1.52324516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:1.63, Z:-0.15 [[ 9.96662897e-01 -8.16146252e-02 -1.45700791e-03 1.08698063e+02] [ 8.16145590e-02 9.96663962e-01 -1.04932569e-04 1.63142760e+00] [ 1.46071131e-03 -1.43306604e-05 9.99998933e-01 -1.51844760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.73, Y:1.63, Z:-0.15 [[ 9.96586412e-01 -8.25433244e-02 -1.45698749e-03 1.08726344e+02] [ 8.25432588e-02 9.96587477e-01 -1.05215326e-04 1.63331593e+00] [ 1.46070031e-03 -1.54083316e-05 9.99998933e-01 -1.52319170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:1.63, Z:-0.15 [[ 9.96530902e-01 -8.32108098e-02 -1.45696701e-03 1.08753214e+02] [ 8.32107445e-02 9.96531967e-01 -1.05498175e-04 1.63445164e+00] [ 1.46069279e-03 -1.61031181e-05 9.99998933e-01 -1.53620869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:108.78, Y:1.64, Z:-0.15 [[ 9.96483516e-01 -8.37763658e-02 -1.45695816e-03 1.08780787e+02] [ 8.37763009e-02 9.96484581e-01 -1.05620303e-04 1.63575911e+00] [ 1.46068482e-03 -1.68096740e-05 9.99998933e-01 -1.54783425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.81, Y:1.64, Z:-0.15 [[ 9.96460201e-01 -8.40532336e-02 -1.45693829e-03 1.08809269e+02] [ 8.40531686e-02 9.96461265e-01 -1.05893678e-04 1.63575411e+00] [ 1.46068328e-03 -1.69414444e-05 9.99998933e-01 -1.53932789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:1.64, Z:-0.15 [[ 9.96458101e-01 -8.40781184e-02 -1.45691751e-03 1.08835928e+02] [ 8.40780530e-02 9.96459166e-01 -1.06178750e-04 1.63740828e+00] [ 1.46068612e-03 -1.66921121e-05 9.99998933e-01 -1.54547243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:108.86, Y:1.64, Z:-0.16 [[ 9.96508596e-01 -8.34775207e-02 -1.45690321e-03 1.08862774e+02] [ 8.34774544e-02 9.96509660e-01 -1.06374594e-04 1.63940301e+00] [ 1.46069801e-03 -1.56153747e-05 9.99998933e-01 -1.56427940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:1.64, Z:-0.16 [[ 9.96645390e-01 -8.18281319e-02 -1.45688907e-03 1.08890513e+02] [ 8.18280635e-02 9.96646455e-01 -1.06567959e-04 1.63884066e+00] [ 1.46072358e-03 -1.30039462e-05 9.99998933e-01 -1.55373863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:1.64, Z:-0.15 [[ 9.96737791e-01 -8.06948233e-02 -1.45686829e-03 1.08918635e+02] [ 8.06947533e-02 9.96738855e-01 -1.06851314e-04 1.63963324e+00] [ 1.46073958e-03 -1.10588838e-05 9.99998933e-01 -1.54972251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:1.64, Z:-0.16 [[ 9.96852692e-01 -7.92627837e-02 -1.45684732e-03 1.08945191e+02] [ 7.92627118e-02 9.96853756e-01 -1.07136422e-04 1.64082433e+00] [ 1.46075565e-03 -8.67443829e-06 9.99998933e-01 -1.55725973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:1.64, Z:-0.16 [[ 9.97114366e-01 -7.59000592e-02 -1.45683815e-03 1.08972348e+02] [ 7.58999835e-02 9.97115430e-01 -1.07260932e-04 1.64114131e+00] [ 1.46077691e-03 -3.62257511e-06 9.99998933e-01 -1.56269287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:1.64, Z:-0.16 [[ 9.97247320e-01 -7.41327271e-02 -1.45682906e-03 1.08999985e+02] [ 7.41326493e-02 9.97248384e-01 -1.07384291e-04 1.64245606e+00] [ 1.46078112e-03 -9.09901364e-07 9.99998933e-01 -1.56172420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77587156000001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:109.03, Y:1.64, Z:-0.16 [[ 9.97387971e-01 -7.22157389e-02 -1.45681924e-03 1.09028337e+02] [ 7.22156589e-02 9.97389035e-01 -1.07517411e-04 1.64414382e+00] [ 1.46077998e-03 2.03141141e-06 9.99998933e-01 -1.56007337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.06, Y:1.65, Z:-0.16 [[ 9.97495824e-01 -7.07103874e-02 -1.45679836e-03 1.09056536e+02] [ 7.07103054e-02 9.97496888e-01 -1.07799513e-04 1.64632811e+00] [ 1.46077438e-03 4.51890670e-06 9.99998933e-01 -1.55754501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:109.08, Y:1.65, Z:-0.16 [[ 9.97721933e-01 -6.74449568e-02 -1.45677730e-03 1.09084487e+02] [ 6.74448709e-02 9.97722996e-01 -1.08083378e-04 1.64824627e+00] [ 1.46074989e-03 9.58499971e-06 9.99998933e-01 -1.58870801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:1.65, Z:-0.16 [[ 9.97789883e-01 -6.64321308e-02 -1.45676783e-03 1.09112645e+02] [ 6.64320436e-02 9.97790946e-01 -1.08210825e-04 1.65053651e+00] [ 1.46073843e-03 1.11956022e-05 9.99998933e-01 -1.58018881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:1.65, Z:-0.16 [[ 9.97856393e-01 -6.54255009e-02 -1.45674710e-03 1.09139411e+02] [ 6.54254122e-02 9.97857457e-01 -1.08489151e-04 1.65274942e+00] [ 1.46072392e-03 1.29483131e-05 9.99998933e-01 -1.58237623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:1.65, Z:-0.16 [[ 9.97907638e-01 -6.46391861e-02 -1.45673808e-03 1.09166602e+02] [ 6.46390964e-02 9.97908701e-01 -1.08610196e-04 1.65432156e+00] [ 1.46071208e-03 1.42207105e-05 9.99998933e-01 -1.58666811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:1.66, Z:-0.16 [[ 9.97886696e-01 -6.49616792e-02 -1.45672917e-03 1.09194385e+02] [ 6.49615897e-02 9.97887759e-01 -1.08729508e-04 1.65623026e+00] [ 1.46071546e-03 1.38682867e-05 9.99998933e-01 -1.56992600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:1.66, Z:-0.16 [[ 9.97851151e-01 -6.55054076e-02 -1.45670808e-03 1.09221956e+02] [ 6.55053183e-02 9.97852214e-01 -1.09011379e-04 1.65821474e+00] [ 1.46072022e-03 1.33550040e-05 9.99998933e-01 -1.56091727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:1.66, Z:-0.16 [[ 9.97732852e-01 -6.72832419e-02 -1.45670152e-03 1.09250034e+02] [ 6.72831543e-02 9.97733915e-01 -1.09098916e-04 1.65964843e+00] [ 1.46074104e-03 1.08400996e-05 9.99998933e-01 -1.55109058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.28, Y:1.66, Z:-0.15 [[ 9.97669878e-01 -6.82106480e-02 -1.45669193e-03 1.09278825e+02] [ 6.82105612e-02 9.97670941e-01 -1.09226874e-04 1.66125512e+00] [ 1.46074965e-03 9.61058835e-06 9.99998933e-01 -1.54465098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.31, Y:1.66, Z:-0.15 [[ 9.97567833e-01 -6.96871353e-02 -1.45667441e-03 1.09306586e+02] [ 6.96870498e-02 9.97568896e-01 -1.09459995e-04 1.66364975e+00] [ 1.46076104e-03 7.68242718e-06 9.99998933e-01 -1.53590004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:1.66, Z:-0.15 [[ 9.97431761e-01 -7.16083874e-02 -1.45665413e-03 1.09334646e+02] [ 7.16083035e-02 9.97432824e-01 -1.09729302e-04 1.66465242e+00] [ 1.46077218e-03 5.13896037e-06 9.99998933e-01 -1.54050784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:1.67, Z:-0.16 [[ 9.97359319e-01 -7.26103734e-02 -1.45663304e-03 1.09362006e+02] [ 7.26102902e-02 9.97360383e-01 -1.10008532e-04 1.66603163e+00] [ 1.46077585e-03 3.95148686e-06 9.99998933e-01 -1.55295663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:1.67, Z:-0.16 [[ 9.97286665e-01 -7.36015311e-02 -1.45661844e-03 1.09390143e+02] [ 7.36014487e-02 9.97287729e-01 -1.10201537e-04 1.66750208e+00] [ 1.46077869e-03 2.69329653e-06 9.99998933e-01 -1.55481012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:1.67, Z:-0.16 [[ 9.97204147e-01 -7.47112302e-02 -1.45659687e-03 1.09416921e+02] [ 7.47111485e-02 9.97205211e-01 -1.10485896e-04 1.66903995e+00] [ 1.46078052e-03 1.35296912e-06 9.99998933e-01 -1.56429835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:1.67, Z:-0.16 [[ 9.97189767e-01 -7.49029144e-02 -1.45658748e-03 1.09445320e+02] [ 7.49028328e-02 9.97190831e-01 -1.10609471e-04 1.67139043e+00] [ 1.46078065e-03 1.19610433e-06 9.99998933e-01 -1.56388218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.47, Y:1.67, Z:-0.16 [[ 9.97175805e-01 -7.50885652e-02 -1.45656617e-03 1.09473062e+02] [ 7.50884833e-02 9.97176869e-01 -1.10889457e-04 1.67299320e+00] [ 1.46078062e-03 1.20493914e-06 9.99998933e-01 -1.57150631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:1.68, Z:-0.16 [[ 9.97158344e-01 -7.53200823e-02 -1.45654475e-03 1.09500164e+02] [ 7.53200003e-02 9.97159408e-01 -1.11170095e-04 1.67513273e+00] [ 1.46078064e-03 1.14723748e-06 9.99998933e-01 -1.57522076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:1.68, Z:-0.16 [[ 9.97140005e-01 -7.55624819e-02 -1.45653543e-03 1.09527871e+02] [ 7.55624000e-02 9.97141069e-01 -1.11291973e-04 1.67756157e+00] [ 1.46078080e-03 9.14365642e-07 9.99998933e-01 -1.57283415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:1.68, Z:-0.16 [[ 9.97139428e-01 -7.55701022e-02 -1.45651411e-03 1.09554725e+02] [ 7.55700198e-02 9.97140491e-01 -1.11570415e-04 1.67881416e+00] [ 1.46078058e-03 1.18246036e-06 9.99998933e-01 -1.58119073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:1.68, Z:-0.16 [[ 9.97142074e-01 -7.55351769e-02 -1.45649943e-03 1.09582172e+02] [ 7.55350943e-02 9.97143138e-01 -1.11761659e-04 1.68026388e+00] [ 1.46078035e-03 1.42543024e-06 9.99998933e-01 -1.59612718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:1.68, Z:-0.16 [[ 9.97142779e-01 -7.55258652e-02 -1.45649031e-03 1.09610452e+02] [ 7.55257823e-02 9.97143843e-01 -1.11880453e-04 1.68227677e+00] [ 1.46078021e-03 1.55821651e-06 9.99998933e-01 -1.59413831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.64, Y:1.69, Z:-0.16 [[ 9.97148591e-01 -7.54490963e-02 -1.45646971e-03 1.09638309e+02] [ 7.54490130e-02 9.97149655e-01 -1.12147987e-04 1.68520910e+00] [ 1.46077973e-03 1.93900559e-06 9.99998933e-01 -1.57906090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.67, Y:1.69, Z:-0.16 [[ 9.97118067e-01 -7.58514344e-02 -1.45644794e-03 1.09667124e+02] [ 7.58513511e-02 9.97119130e-01 -1.12429904e-04 1.68769039e+00] [ 1.46078008e-03 1.63234398e-06 9.99998933e-01 -1.58369134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.69, Y:1.69, Z:-0.16 [[ 9.97085944e-01 -7.62725283e-02 -1.45647210e-03 1.09694147e+02] [ 7.62724459e-02 9.97087008e-01 -1.12117336e-04 1.68964155e+00] [ 1.46078088e-03 7.01930343e-07 9.99998933e-01 -1.57848219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:1.69, Z:-0.16 [[ 9.96934534e-01 -7.82266812e-02 -1.45642617e-03 1.09722530e+02] [ 7.82266001e-02 9.96935598e-01 -1.12710807e-04 1.69165259e+00] [ 1.46078008e-03 -1.56597179e-06 9.99998933e-01 -1.56521231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:1.69, Z:-0.16 [[ 9.96853715e-01 -7.92499153e-02 -1.45640703e-03 1.09749425e+02] [ 7.92498348e-02 9.96854779e-01 -1.12957568e-04 1.69339422e+00] [ 1.46077819e-03 -2.81784511e-06 9.99998933e-01 -1.56153289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.78, Y:1.70, Z:-0.16 [[ 9.96762546e-01 -8.03884666e-02 -1.45639195e-03 1.09777019e+02] [ 8.03883871e-02 9.96763610e-01 -1.13151691e-04 1.69560261e+00] [ 1.46077459e-03 -4.29163202e-06 9.99998933e-01 -1.55593566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.80, Y:1.70, Z:-0.16 [[ 9.96689174e-01 -8.12931096e-02 -1.45637010e-03 1.09804339e+02] [ 8.12930306e-02 9.96690238e-01 -1.13432154e-04 1.69778085e+00] [ 1.46077112e-03 -5.33613970e-06 9.99998933e-01 -1.55321469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:109.83, Y:1.70, Z:-0.15 [[ 9.96581608e-01 -8.26013151e-02 -1.45636058e-03 1.09832562e+02] [ 8.26012374e-02 9.96582672e-01 -1.13554240e-04 1.69975399e+00] [ 1.46076345e-03 -7.13111923e-06 9.99998933e-01 -1.54990022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:1.70, Z:-0.15 [[ 9.96496523e-01 -8.36215179e-02 -1.45633853e-03 1.09860101e+02] [ 8.36214408e-02 9.96497587e-01 -1.13836396e-04 1.70164228e+00] [ 1.46075700e-03 -8.34355299e-06 9.99998933e-01 -1.54831374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:1.70, Z:-0.15 [[ 9.96434156e-01 -8.43614337e-02 -1.45631636e-03 1.09887759e+02] [ 8.43613570e-02 9.96435220e-01 -1.14119237e-04 1.70294482e+00] [ 1.46075218e-03 -9.14451903e-06 9.99998933e-01 -1.54827510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.91, Y:1.70, Z:-0.16 [[ 9.96388701e-01 -8.48966140e-02 -1.45629389e-03 1.09914348e+02] [ 8.48965375e-02 9.96389766e-01 -1.14405306e-04 1.70358341e+00] [ 1.46074895e-03 -9.64215477e-06 9.99998933e-01 -1.55795170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:1.70, Z:-0.16 [[ 9.96284991e-01 -8.61051404e-02 -1.45628411e-03 1.09942395e+02] [ 8.61050650e-02 9.96286056e-01 -1.14529617e-04 1.70355821e+00] [ 1.46073715e-03 -1.12893000e-05 9.99998933e-01 -1.55080837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:1.71, Z:-0.16 [[ 9.96247773e-01 -8.65346958e-02 -1.45626221e-03 1.09970537e+02] [ 8.65346204e-02 9.96248838e-01 -1.14807436e-04 1.70546386e+00] [ 1.46073436e-03 -1.16404450e-05 9.99998933e-01 -1.56682330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:1.71, Z:-0.16 [[ 9.96225933e-01 -8.67857640e-02 -1.45625542e-03 1.09997969e+02] [ 8.67856888e-02 9.96226998e-01 -1.14893529e-04 1.70747420e+00] [ 1.46073209e-03 -1.19222161e-05 9.99998933e-01 -1.56074071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:1.71, Z:-0.16 [[ 9.96217981e-01 -8.68770020e-02 -1.45623336e-03 1.10024945e+02] [ 8.68769265e-02 9.96219045e-01 -1.15172427e-04 1.70911145e+00] [ 1.46073324e-03 -1.17762360e-05 9.99998933e-01 -1.57325854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.05, Y:1.71, Z:-0.16 [[ 9.96200823e-01 -8.70735274e-02 -1.45621816e-03 1.10052671e+02] [ 8.70734518e-02 9.96201888e-01 -1.15364257e-04 1.70913980e+00] [ 1.46073246e-03 -1.18719741e-05 9.99998933e-01 -1.58243848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.08, Y:1.71, Z:-0.16 [[ 9.96232256e-01 -8.67131528e-02 -1.45619619e-03 1.10080452e+02] [ 8.67130764e-02 9.96233321e-01 -1.15640917e-04 1.71039753e+00] [ 1.46073876e-03 -1.10660400e-05 9.99998933e-01 -1.56850035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:1.71, Z:-0.16 [[ 9.96270753e-01 -8.62697318e-02 -1.45617350e-03 1.10107743e+02] [ 8.62696545e-02 9.96271817e-01 -1.15925942e-04 1.71236492e+00] [ 1.46074552e-03 -1.01299595e-05 9.99998933e-01 -1.57390198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:1.71, Z:-0.16 [[ 9.96331763e-01 -8.55622389e-02 -1.45616359e-03 1.10135398e+02] [ 8.55621607e-02 9.96332828e-01 -1.16050395e-04 1.71400070e+00] [ 1.46075311e-03 -8.96780849e-06 9.99998933e-01 -1.56675997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:1.71, Z:-0.16 [[ 9.96511103e-01 -8.34475944e-02 -1.45614103e-03 1.10163531e+02] [ 8.34475135e-02 9.96512167e-01 -1.16332678e-04 1.71481189e+00] [ 1.46076994e-03 -5.58454342e-06 9.99998933e-01 -1.55197614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.19, Y:1.72, Z:-0.16 [[ 9.96614194e-01 -8.22072230e-02 -1.45613403e-03 1.10190837e+02] [ 8.22071406e-02 9.96615258e-01 -1.16420317e-04 1.71700628e+00] [ 1.46077598e-03 -3.67847445e-06 9.99998933e-01 -1.55505626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.22, Y:1.72, Z:-0.15 [[ 9.96692833e-01 -8.12482417e-02 -1.45612714e-03 1.10219055e+02] [ 8.12481582e-02 9.96693896e-01 -1.16506397e-04 1.71915084e+00] [ 1.46077897e-03 -2.18655769e-06 9.99998933e-01 -1.54865011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:1.72, Z:-0.15 [[ 9.96795586e-01 -7.99777408e-02 -1.45610487e-03 1.10247416e+02] [ 7.99776555e-02 9.96796650e-01 -1.16784000e-04 1.71986642e+00] [ 1.46078058e-03 -4.60779209e-08 9.99998933e-01 -1.54416499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:1.72, Z:-0.16 [[ 9.96848388e-01 -7.93168980e-02 -1.45608192e-03 1.10274249e+02] [ 7.93168117e-02 9.96849452e-01 -1.17069492e-04 1.72146308e+00] [ 1.46078005e-03 1.20875888e-06 9.99998933e-01 -1.55457796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15587156000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:110.30, Y:1.72, Z:-0.16 [[ 9.96876531e-01 -7.89624046e-02 -1.45607197e-03 1.10301524e+02] [ 7.89623177e-02 9.96877595e-01 -1.17193138e-04 1.72381739e+00] [ 1.46077937e-03 1.85227120e-06 9.99998933e-01 -1.56458759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:1.73, Z:-0.16 [[ 9.96884666e-01 -7.88596381e-02 -1.45606505e-03 1.10329199e+02] [ 7.88595509e-02 9.96885729e-01 -1.17279064e-04 1.72672612e+00] [ 1.46077905e-03 2.08906510e-06 9.99998933e-01 -1.56454080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:1.73, Z:-0.16 [[ 9.96899464e-01 -7.86723521e-02 -1.45604289e-03 1.10356827e+02] [ 7.86722643e-02 9.96900527e-01 -1.17553545e-04 1.72915858e+00] [ 1.46077814e-03 2.63887546e-06 9.99998933e-01 -1.56497090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:1.73, Z:-0.16 [[ 9.96890624e-01 -7.87842811e-02 -1.45602062e-03 1.10384521e+02] [ 7.87841931e-02 9.96891688e-01 -1.17828766e-04 1.73100209e+00] [ 1.46077790e-03 2.75098241e-06 9.99998933e-01 -1.56120876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:1.73, Z:-0.16 [[ 9.96884383e-01 -7.88632170e-02 -1.45599826e-03 1.10411067e+02] [ 7.88631286e-02 9.96885446e-01 -1.18104342e-04 1.73237420e+00] [ 1.46077757e-03 2.91179594e-06 9.99998933e-01 -1.56626231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:110.44, Y:1.73, Z:-0.16 [[ 9.96886853e-01 -7.88319930e-02 -1.45598856e-03 1.10439548e+02] [ 7.88319044e-02 9.96887916e-01 -1.18223841e-04 1.73345710e+00] [ 1.46077722e-03 3.07744143e-06 9.99998933e-01 -1.56536180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:1.74, Z:-0.16 [[ 9.96874152e-01 -7.89924375e-02 -1.45596901e-03 1.10466678e+02] [ 7.89923487e-02 9.96875215e-01 -1.18464050e-04 1.73582586e+00] [ 1.46077719e-03 3.08333724e-06 9.99998933e-01 -1.57561442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:1.74, Z:-0.16 [[ 9.96882437e-01 -7.88878076e-02 -1.45595364e-03 1.10493535e+02] [ 7.88877185e-02 9.96883501e-01 -1.18652718e-04 1.73844254e+00] [ 1.46077641e-03 3.42594999e-06 9.99998933e-01 -1.58747897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:1.74, Z:-0.16 [[ 9.96879990e-01 -7.89187332e-02 -1.45594396e-03 1.10521035e+02] [ 7.89186439e-02 9.96881053e-01 -1.18771395e-04 1.74067911e+00] [ 1.46077623e-03 3.49970455e-06 9.99998933e-01 -1.58113955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:1.74, Z:-0.16 [[ 9.96918373e-01 -7.84323767e-02 -1.45592129e-03 1.10548206e+02] [ 7.84322865e-02 9.96919436e-01 -1.19048644e-04 1.74142328e+00] [ 1.46077350e-03 4.49054542e-06 9.99998933e-01 -1.58256739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:110.58, Y:1.74, Z:-0.16 [[ 9.96963997e-01 -7.78502925e-02 -1.45590567e-03 1.10576565e+02] [ 7.78502014e-02 9.96965061e-01 -1.19239321e-04 1.74342584e+00] [ 1.46076990e-03 5.53476074e-06 9.99998933e-01 -1.58010067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:1.75, Z:-0.16 [[ 9.97010793e-01 -7.72486844e-02 -1.45588307e-03 1.10604767e+02] [ 7.72485923e-02 9.97011856e-01 -1.19514627e-04 1.74601499e+00] [ 1.46076503e-03 6.69245543e-06 9.99998933e-01 -1.57824335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:1.75, Z:-0.16 [[ 9.97179710e-01 -7.50366946e-02 -1.45585455e-03 1.10632486e+02] [ 7.50365996e-02 9.97180773e-01 -1.19861258e-04 1.74883180e+00] [ 1.46074416e-03 1.02808391e-05 9.99998933e-01 -1.58033623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:1.75, Z:-0.16 [[ 9.97262595e-01 -7.39269673e-02 -1.45585442e-03 1.10659381e+02] [ 7.39268711e-02 9.97263658e-01 -1.19862853e-04 1.75131930e+00] [ 1.46073180e-03 1.19079780e-05 9.99998933e-01 -1.57800500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:1.75, Z:-0.16 [[ 9.97336445e-01 -7.29238988e-02 -1.45584455e-03 1.10686827e+02] [ 7.29238013e-02 9.97337508e-01 -1.19982695e-04 1.75397766e+00] [ 1.46071798e-03 1.34973964e-05 9.99998933e-01 -1.56899561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:1.76, Z:-0.16 [[ 9.97417594e-01 -7.18054522e-02 -1.45582190e-03 1.10714617e+02] [ 7.18053532e-02 9.97418657e-01 -1.20256798e-04 1.75711650e+00] [ 1.46069902e-03 1.54104396e-05 9.99998933e-01 -1.56017645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:1.76, Z:-0.16 [[ 9.97515376e-01 -7.04340471e-02 -1.45579926e-03 1.10741973e+02] [ 7.04339462e-02 9.97516438e-01 -1.20530293e-04 1.76116951e+00] [ 1.46067313e-03 1.76931338e-05 9.99998933e-01 -1.56926109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:1.76, Z:-0.16 [[ 9.97547406e-01 -6.99789500e-02 -1.45577672e-03 1.10768553e+02] [ 6.99788482e-02 9.97548468e-01 -1.20801945e-04 1.76366690e+00] [ 1.46066143e-03 1.86320884e-05 9.99998933e-01 -1.58122881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:1.77, Z:-0.16 [[ 9.97543289e-01 -7.00376188e-02 -1.45576691e-03 1.10796717e+02] [ 7.00375169e-02 9.97544351e-01 -1.20920082e-04 1.76696029e+00] [ 1.46066101e-03 1.86647169e-05 9.99998933e-01 -1.58380971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:1.77, Z:-0.16 [[ 9.97521013e-01 -7.03541738e-02 -1.45574425e-03 1.10824146e+02] [ 7.03540718e-02 9.97522075e-01 -1.21192257e-04 1.77035110e+00] [ 1.46066340e-03 1.84742874e-05 9.99998933e-01 -1.57657145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:1.77, Z:-0.16 [[ 9.97399290e-01 -7.20592596e-02 -1.45572106e-03 1.10852406e+02] [ 7.20591590e-02 9.97400352e-01 -1.21470087e-04 1.77365517e+00] [ 1.46068975e-03 1.62561426e-05 9.99998933e-01 -1.59073002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:1.78, Z:-0.16 [[ 9.97287322e-01 -7.35926453e-02 -1.45569775e-03 1.10878998e+02] [ 7.35925460e-02 9.97288385e-01 -1.21748882e-04 1.77614115e+00] [ 1.46071028e-03 1.42901129e-05 9.99998933e-01 -1.61300353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:1.78, Z:-0.16 [[ 9.97158038e-01 -7.53241535e-02 -1.45568761e-03 1.10906982e+02] [ 7.53240558e-02 9.97159101e-01 -1.21869983e-04 1.77914866e+00] [ 1.46073190e-03 1.18753383e-05 9.99998933e-01 -1.59366568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:1.78, Z:-0.16 [[ 9.97019015e-01 -7.71424971e-02 -1.45566476e-03 1.10933966e+02] [ 7.71424010e-02 9.97020078e-01 -1.22142341e-04 1.78226211e+00] [ 1.46074935e-03 9.48476261e-06 9.99998933e-01 -1.59588242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:1.78, Z:-0.16 [[ 9.96700137e-01 -8.11585940e-02 -1.45565481e-03 1.10962998e+02] [ 8.11585020e-02 9.96701200e-01 -1.22260752e-04 1.78462481e+00] [ 1.46077541e-03 3.71854432e-06 9.99998933e-01 -1.56693193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.99, Y:1.79, Z:-0.16 [[ 9.96538510e-01 -8.31196739e-02 -1.45563392e-03 1.10989547e+02] [ 8.31195836e-02 9.96539573e-01 -1.22508950e-04 1.78635242e+00] [ 1.46077971e-03 1.09320149e-06 9.99998933e-01 -1.56439379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:1.79, Z:-0.16 [[ 9.96381229e-01 -8.49842785e-02 -1.45562348e-03 1.11017392e+02] [ 8.49841900e-02 9.96382292e-01 -1.22632859e-04 1.78879688e+00] [ 1.46077933e-03 -1.51590405e-06 9.99998933e-01 -1.55418951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:1.79, Z:-0.16 [[ 9.96262657e-01 -8.63631785e-02 -1.45559966e-03 1.11045121e+02] [ 8.63630910e-02 9.96263721e-01 -1.22914989e-04 1.79159867e+00] [ 1.46077646e-03 -3.25447201e-06 9.99998933e-01 -1.55511420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.07, Y:1.79, Z:-0.16 [[ 9.96108469e-01 -8.81237751e-02 -1.45559224e-03 1.11072794e+02] [ 8.81236894e-02 9.96109532e-01 -1.23002788e-04 1.79351340e+00] [ 1.46076877e-03 -5.74803959e-06 9.99998933e-01 -1.55912685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.10, Y:1.80, Z:-0.16 [[ 9.96086181e-01 -8.83753467e-02 -1.45556856e-03 1.11101239e+02] [ 8.83752609e-02 9.96087244e-01 -1.23282372e-04 1.79537810e+00] [ 1.46076840e-03 -5.83638377e-06 9.99998933e-01 -1.55483269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:1.80, Z:-0.15 [[ 9.96112655e-01 -8.80764426e-02 -1.45554597e-03 1.11128598e+02] [ 8.80763561e-02 9.96113719e-01 -1.23548459e-04 1.79771770e+00] [ 1.46077102e-03 -5.13100180e-06 9.99998933e-01 -1.54879133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:1.80, Z:-0.16 [[ 9.96168830e-01 -8.74388029e-02 -1.45553549e-03 1.11155744e+02] [ 8.74387155e-02 9.96169893e-01 -1.23671787e-04 1.80042393e+00] [ 1.46077435e-03 -4.07217476e-06 9.99998933e-01 -1.55777410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:1.80, Z:-0.16 [[ 9.96152212e-01 -8.76279214e-02 -1.45552508e-03 1.11184124e+02] [ 8.76278341e-02 9.96153275e-01 -1.23794208e-04 1.80303827e+00] [ 1.46077391e-03 -4.22663601e-06 9.99998933e-01 -1.55735791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.21, Y:1.81, Z:-0.16 [[ 9.96304290e-01 -8.58815670e-02 -1.45550153e-03 1.11212929e+02] [ 8.58814774e-02 9.96305353e-01 -1.24070532e-04 1.80558725e+00] [ 1.46077934e-03 -1.38861869e-06 9.99998933e-01 -1.56520708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:1.81, Z:-0.16 [[ 9.96340859e-01 -8.54562691e-02 -1.45548091e-03 1.11240958e+02] [ 8.54561787e-02 9.96341922e-01 -1.24311928e-04 1.80809260e+00] [ 1.46077988e-03 -5.22783141e-07 9.99998933e-01 -1.56421512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:1.81, Z:-0.16 [[ 9.96375571e-01 -8.50505878e-02 -1.45545736e-03 1.11268946e+02] [ 8.50504966e-02 9.96376634e-01 -1.24587088e-04 1.81038065e+00] [ 1.46077991e-03 3.48159780e-07 9.99998933e-01 -1.56487153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:1.81, Z:-0.16 [[ 9.96365949e-01 -8.51632450e-02 -1.45543383e-03 1.11295374e+02] [ 8.51631535e-02 9.96367012e-01 -1.24861318e-04 1.81234102e+00] [ 1.46077985e-03 4.58230948e-07 9.99998933e-01 -1.57154762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:1.81, Z:-0.16 [[ 9.96248996e-01 -8.65206313e-02 -1.45542214e-03 1.11324202e+02] [ 8.65205411e-02 9.96250059e-01 -1.24997436e-04 1.81267729e+00] [ 1.46077925e-03 -1.39534083e-06 9.99998933e-01 -1.55671277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:1.81, Z:-0.16 [[ 9.96130522e-01 -8.78741436e-02 -1.45540156e-03 1.11351126e+02] [ 8.78740544e-02 9.96131585e-01 -1.25236619e-04 1.81383429e+00] [ 1.46077652e-03 -3.14001700e-06 9.99998933e-01 -1.55987320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156000001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:111.38, Y:1.81, Z:-0.16 [[ 9.95893595e-01 -9.05197740e-02 -1.45539135e-03 1.11379252e+02] [ 9.05196875e-02 9.95894658e-01 -1.25355113e-04 1.81443462e+00] [ 1.46076359e-03 -6.90121596e-06 9.99998933e-01 -1.56392684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35587156000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:111.41, Y:1.82, Z:-0.16 [[ 9.95794377e-01 -9.16048111e-02 -1.45536808e-03 1.11407392e+02] [ 9.16047254e-02 9.95795440e-01 -1.25624723e-04 1.81609100e+00] [ 1.46075673e-03 -8.22220101e-06 9.99998933e-01 -1.55561058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:1.82, Z:-0.16 [[ 9.95748334e-01 -9.21039458e-02 -1.45534480e-03 1.11436372e+02] [ 9.21038601e-02 9.95749398e-01 -1.25893895e-04 1.81717133e+00] [ 1.46075403e-03 -8.68423723e-06 9.99998933e-01 -1.55115457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.46, Y:1.82, Z:-0.15 [[ 9.95702415e-01 -9.25990407e-02 -1.45532447e-03 1.11464130e+02] [ 9.25989553e-02 9.95703479e-01 -1.26128438e-04 1.81885177e+00] [ 1.46075101e-03 -9.17513526e-06 9.99998933e-01 -1.54779349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:1.82, Z:-0.15 [[ 9.95762195e-01 -9.19539778e-02 -1.45530121e-03 1.11491624e+02] [ 9.19538913e-02 9.95763258e-01 -1.26396227e-04 1.81874132e+00] [ 1.46075811e-03 -7.96002536e-06 9.99998933e-01 -1.54016246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:1.82, Z:-0.15 [[ 9.95786004e-01 -9.16957838e-02 -1.45529399e-03 1.11519907e+02] [ 9.16956969e-02 9.95787067e-01 -1.26479307e-04 1.82055645e+00] [ 1.46076055e-03 -7.49787267e-06 9.99998933e-01 -1.54908653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:1.82, Z:-0.16 [[ 9.95812772e-01 -9.14046289e-02 -1.45527102e-03 1.11548322e+02] [ 9.14045413e-02 9.95813835e-01 -1.26743005e-04 1.82180683e+00] [ 1.46076392e-03 -6.80607730e-06 9.99998933e-01 -1.55310677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:1.82, Z:-0.16 [[ 9.95837479e-01 -9.11350531e-02 -1.45524798e-03 1.11575726e+02] [ 9.11349648e-02 9.95838542e-01 -1.27007030e-04 1.82301716e+00] [ 1.46076682e-03 -6.14561329e-06 9.99998933e-01 -1.55149049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:1.82, Z:-0.15 [[ 9.95859665e-01 -9.08923038e-02 -1.45524082e-03 1.11604078e+02] [ 9.08922151e-02 9.95860728e-01 -1.27089012e-04 1.82420239e+00] [ 1.46076860e-03 -5.70724046e-06 9.99998933e-01 -1.54587233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:1.83, Z:-0.16 [[ 9.95859979e-01 -9.08888586e-02 -1.45521808e-03 1.11632236e+02] [ 9.08887695e-02 9.95861042e-01 -1.27348878e-04 1.82664092e+00] [ 1.46076959e-03 -5.44132946e-06 9.99998933e-01 -1.55939635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:1.83, Z:-0.16 [[ 9.95819755e-01 -9.13285163e-02 -1.45521101e-03 1.11661447e+02] [ 9.13284276e-02 9.95820818e-01 -1.27429651e-04 1.82853285e+00] [ 1.46076738e-03 -6.00516942e-06 9.99998933e-01 -1.57610409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:1.83, Z:-0.15 [[ 9.95747208e-01 -9.21161179e-02 -1.45533746e-03 1.11689106e+02] [ 9.21160321e-02 9.95748272e-01 -1.25987591e-04 1.82947316e+00] [ 1.46075525e-03 -8.60812062e-06 9.99998933e-01 -1.54796146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:1.83, Z:-0.16 [[ 9.95709432e-01 -9.25235658e-02 -1.45516777e-03 1.11715545e+02] [ 9.25234777e-02 9.95710495e-01 -1.27917936e-04 1.83215709e+00] [ 1.46076125e-03 -7.26808806e-06 9.99998933e-01 -1.55475872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:1.83, Z:-0.15 [[ 9.95692730e-01 -9.27031305e-02 -1.45515713e-03 1.11743335e+02] [ 9.27030423e-02 9.95693793e-01 -1.28038925e-04 1.83438480e+00] [ 1.46076053e-03 -7.41006642e-06 9.99998933e-01 -1.53563790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:1.83, Z:-0.15 [[ 9.95699885e-01 -9.26262480e-02 -1.45513194e-03 1.11770727e+02] [ 9.26261594e-02 9.95700948e-01 -1.28324547e-04 1.83453357e+00] [ 1.46076247e-03 -7.01054684e-06 9.99998933e-01 -1.52060109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.80, Y:1.84, Z:-0.15 [[ 9.95689252e-01 -9.27404753e-02 -1.45512260e-03 1.11798432e+02] [ 9.27403866e-02 9.95690315e-01 -1.28430355e-04 1.83620063e+00] [ 1.46076217e-03 -7.07190858e-06 9.99998933e-01 -1.51074164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:1.84, Z:-0.15 [[ 9.95708188e-01 -9.25369471e-02 -1.45509890e-03 1.11825790e+02] [ 9.25368578e-02 9.95709251e-01 -1.28698299e-04 1.83784016e+00] [ 1.46076479e-03 -6.50433033e-06 9.99998933e-01 -1.53887242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:1.84, Z:-0.16 [[ 9.95694051e-01 -9.26889395e-02 -1.45495577e-03 1.11853662e+02] [ 9.26888480e-02 9.95695114e-01 -1.30313455e-04 1.84018858e+00] [ 1.46077097e-03 -5.10584224e-06 9.99998933e-01 -1.57187376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:1.84, Z:-0.16 [[ 9.95698747e-01 -9.26384784e-02 -1.45507284e-03 1.11881030e+02] [ 9.26383888e-02 9.95699810e-01 -1.28992833e-04 1.84253301e+00] [ 1.46076545e-03 -6.35760184e-06 9.99998933e-01 -1.58283115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.91, Y:1.84, Z:-0.16 [[ 9.95716385e-01 -9.24487090e-02 -1.45506254e-03 1.11910213e+02] [ 9.24486191e-02 9.95717448e-01 -1.29108963e-04 1.84470991e+00] [ 1.46076711e-03 -5.96261185e-06 9.99998933e-01 -1.60428089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.94, Y:1.85, Z:-0.16 [[ 9.95796308e-01 -9.15838164e-02 -1.45504345e-03 1.11939385e+02] [ 9.15837252e-02 9.95797371e-01 -1.29323665e-04 1.84532928e+00] [ 1.46077240e-03 -4.47827128e-06 9.99998933e-01 -1.59162583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:1.85, Z:-0.16 [[ 9.95807133e-01 -9.14660403e-02 -1.45502212e-03 1.11967572e+02] [ 9.14659486e-02 9.95808196e-01 -1.29563216e-04 1.84758567e+00] [ 1.46077359e-03 -4.06500435e-06 9.99998933e-01 -1.59167944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:1.85, Z:-0.16 [[ 9.95856478e-01 -9.09272150e-02 -1.45499729e-03 1.11995722e+02] [ 9.09271224e-02 9.95857541e-01 -1.29841461e-04 1.84932144e+00] [ 1.46077615e-03 -2.99525671e-06 9.99998933e-01 -1.58286924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.02, Y:1.85, Z:-0.16 [[ 9.95937663e-01 -9.00336276e-02 -1.45498957e-03 1.12023392e+02] [ 9.00335339e-02 9.95938726e-01 -1.29927948e-04 1.85110991e+00] [ 1.46077834e-03 -1.59771557e-06 9.99998933e-01 -1.56855572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.05, Y:1.85, Z:-0.16 [[ 9.96137678e-01 -8.77929914e-02 -1.45496494e-03 1.12051730e+02] [ 8.77928949e-02 9.96138741e-01 -1.30203217e-04 1.85352363e+00] [ 1.46077787e-03 1.96474684e-06 9.99998933e-01 -1.55856874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.08, Y:1.86, Z:-0.15 [[ 9.96238104e-01 -8.66459611e-02 -1.45494329e-03 1.12079454e+02] [ 8.66458630e-02 9.96239167e-01 -1.30444634e-04 1.85605223e+00] [ 1.46077399e-03 3.88909740e-06 9.99998933e-01 -1.54670869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.11, Y:1.86, Z:-0.15 [[ 9.96376471e-01 -8.50400585e-02 -1.45491822e-03 1.12105982e+02] [ 8.50399583e-02 9.96377533e-01 -1.30723722e-04 1.85828196e+00] [ 1.46076458e-03 6.52385637e-06 9.99998933e-01 -1.54691846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.13, Y:1.86, Z:-0.15 [[ 9.96664290e-01 -8.15976526e-02 -1.45490113e-03 1.12133764e+02] [ 8.15975484e-02 9.96665352e-01 -1.30913658e-04 1.85959847e+00] [ 1.46073179e-03 1.17606030e-05 9.99998933e-01 -1.54150738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:1.86, Z:-0.15 [[ 9.96778094e-01 -8.01954831e-02 -1.45487635e-03 1.12161182e+02] [ 8.01953770e-02 9.96779155e-01 -1.31188459e-04 1.86202542e+00] [ 1.46071114e-03 1.40914253e-05 9.99998933e-01 -1.53155900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:1.87, Z:-0.15 [[ 9.96892987e-01 -7.87544042e-02 -1.45485152e-03 1.12189440e+02] [ 7.87542962e-02 9.96894048e-01 -1.31463256e-04 1.86560788e+00] [ 1.46068613e-03 1.64789908e-05 9.99998933e-01 -1.51790879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:1.87, Z:-0.15 [[ 9.97024008e-01 -7.70779503e-02 -1.45482969e-03 1.12216881e+02] [ 7.70778402e-02 9.97025069e-01 -1.31704363e-04 1.86927813e+00] [ 1.46065317e-03 1.91772815e-05 9.99998933e-01 -1.52830135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.24, Y:1.87, Z:-0.15 [[ 9.97258325e-01 -7.39845700e-02 -1.45482193e-03 1.12244507e+02] [ 7.39844565e-02 9.97259386e-01 -1.31790062e-04 1.87398307e+00] [ 1.46058525e-03 2.37945267e-05 9.99998933e-01 -1.51329624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:1.88, Z:-0.15 [[ 9.97357280e-01 -7.26384234e-02 -1.45479754e-03 1.12271933e+02] [ 7.26383080e-02 9.97358340e-01 -1.32058702e-04 1.87723426e+00] [ 1.46054700e-03 2.60356759e-05 9.99998933e-01 -1.50503444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:112.30, Y:1.88, Z:-0.15 [[ 9.97447964e-01 -7.13823639e-02 -1.45477238e-03 1.12299373e+02] [ 7.13822468e-02 9.97449025e-01 -1.32335229e-04 1.88120779e+00] [ 1.46050770e-03 2.81525837e-05 9.99998933e-01 -1.50731629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:112.33, Y:1.89, Z:-0.15 [[ 9.97543119e-01 -7.00400568e-02 -1.45474723e-03 1.12326541e+02] [ 7.00399378e-02 9.97544179e-01 -1.32611205e-04 1.88510705e+00] [ 1.46046273e-03 3.03949899e-05 9.99998933e-01 -1.51879742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:1.89, Z:-0.15 [[ 9.97619204e-01 -6.89478619e-02 -1.45473633e-03 1.12354002e+02] [ 6.89477416e-02 9.97620264e-01 -1.32730634e-04 1.88877404e+00] [ 1.46042594e-03 3.21138447e-05 9.99998933e-01 -1.53718753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.38, Y:1.89, Z:-0.15 [[ 9.97753371e-01 -6.69783107e-02 -1.45472858e-03 1.12382140e+02] [ 6.69781882e-02 9.97754431e-01 -1.32815557e-04 1.89378052e+00] [ 1.46035765e-03 3.50820854e-05 9.99998933e-01 -1.54159356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:1.90, Z:-0.16 [[ 9.97776154e-01 -6.66380605e-02 -1.45470618e-03 1.12408744e+02] [ 6.66379373e-02 9.97777213e-01 -1.33060445e-04 1.89789621e+00] [ 1.46033957e-03 3.58259203e-05 9.99998933e-01 -1.55717047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:1.90, Z:-0.16 [[ 9.97786728e-01 -6.64795469e-02 -1.45469507e-03 1.12435785e+02] [ 6.64794234e-02 9.97787787e-01 -1.33181718e-04 1.90193212e+00] [ 1.46033084e-03 3.61796607e-05 9.99998933e-01 -1.57715116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:1.91, Z:-0.16 [[ 9.97770927e-01 -6.67162674e-02 -1.45468426e-03 1.12463372e+02] [ 6.67161439e-02 9.97771987e-01 -1.33299703e-04 1.90641320e+00] [ 1.46033647e-03 3.59516434e-05 9.99998933e-01 -1.55527948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.49, Y:1.91, Z:-0.15 [[ 9.97756228e-01 -6.69357408e-02 -1.45465892e-03 1.12491643e+02] [ 6.69356172e-02 9.97757288e-01 -1.33575708e-04 1.91297955e+00] [ 1.46033753e-03 3.59075018e-05 9.99998933e-01 -1.53958021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:1.92, Z:-0.15 [[ 9.97732419e-01 -6.72896995e-02 -1.45463665e-03 1.12519327e+02] [ 6.72895759e-02 9.97733479e-01 -1.33817805e-04 1.91814500e+00] [ 1.46034424e-03 3.56324790e-05 9.99998933e-01 -1.54766812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:1.92, Z:-0.15 [[ 9.97699260e-01 -6.77795721e-02 -1.45462873e-03 1.12546696e+02] [ 6.77794489e-02 9.97700320e-01 -1.33903796e-04 1.92293236e+00] [ 1.46035949e-03 3.50017844e-05 9.99998933e-01 -1.54253543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:1.93, Z:-0.16 [[ 9.97649783e-01 -6.85039767e-02 -1.45460363e-03 1.12574002e+02] [ 6.85038538e-02 9.97650843e-01 -1.34175911e-04 1.92810690e+00] [ 1.46037812e-03 3.42146143e-05 9.99998933e-01 -1.55541340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.60, Y:1.93, Z:-0.15 [[ 9.97632092e-01 -6.87611298e-02 -1.45457847e-03 1.12601251e+02] [ 6.87610068e-02 9.97633152e-01 -1.34448111e-04 1.93319413e+00] [ 1.46038051e-03 3.41114704e-05 9.99998933e-01 -1.54654799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:1.94, Z:-0.15 [[ 9.97614782e-01 -6.90118213e-02 -1.45455310e-03 1.12628925e+02] [ 6.90116982e-02 9.97615842e-01 -1.34722020e-04 1.93852705e+00] [ 1.46038263e-03 3.40194987e-05 9.99998933e-01 -1.54716379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:1.94, Z:-0.15 [[ 9.97568563e-01 -6.96767276e-02 -1.45454518e-03 1.12656096e+02] [ 6.96766051e-02 9.97569623e-01 -1.34807495e-04 1.94381034e+00] [ 1.46040303e-03 3.31319492e-05 9.99998933e-01 -1.54797916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:112.68, Y:1.95, Z:-0.15 [[ 9.97486653e-01 -7.08396831e-02 -1.45452009e-03 1.12683642e+02] [ 7.08395614e-02 9.97487713e-01 -1.35077708e-04 1.95035569e+00] [ 1.46043478e-03 3.17006464e-05 9.99998933e-01 -1.53642597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:1.96, Z:-0.15 [[ 9.97403641e-01 -7.19990320e-02 -1.45449449e-03 1.12710464e+02] [ 7.19989112e-02 9.97404701e-01 -1.35352752e-04 1.95550644e+00] [ 1.46046491e-03 3.02793076e-05 9.99998933e-01 -1.54680571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:1.96, Z:-0.16 [[ 9.97340114e-01 -7.28737406e-02 -1.45447694e-03 1.12738023e+02] [ 7.28736204e-02 9.97341174e-01 -1.35541064e-04 1.96022683e+00] [ 1.46048713e-03 2.91875394e-05 9.99998933e-01 -1.55536590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:1.96, Z:-0.16 [[ 9.97230564e-01 -7.43578349e-02 -1.45446906e-03 1.12765316e+02] [ 7.43577161e-02 9.97231624e-01 -1.35625549e-04 1.96458284e+00] [ 1.46052737e-03 2.70989444e-05 9.99998933e-01 -1.56115653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:1.97, Z:-0.15 [[ 9.97047123e-01 -7.67783829e-02 -1.45444383e-03 1.12793276e+02] [ 7.67782663e-02 9.97048183e-01 -1.35895640e-04 1.96999202e+00] [ 1.46058442e-03 2.38246811e-05 9.99998933e-01 -1.54726879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.82, Y:1.97, Z:-0.15 [[ 9.96951705e-01 -7.80075822e-02 -1.45443594e-03 1.12820891e+02] [ 7.80074668e-02 9.96952766e-01 -1.35979996e-04 1.97471896e+00] [ 1.46061140e-03 2.21086254e-05 9.99998933e-01 -1.54216128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:1.98, Z:-0.15 [[ 9.96858945e-01 -7.91841443e-02 -1.45441067e-03 1.12848778e+02] [ 7.91840298e-02 9.96860006e-01 -1.36249798e-04 1.97959731e+00] [ 1.46063265e-03 2.06557323e-05 9.99998933e-01 -1.52950030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:1.99, Z:-0.16 [[ 9.96812594e-01 -7.97655145e-02 -1.45438489e-03 1.12875877e+02] [ 7.97654001e-02 9.96813655e-01 -1.36524416e-04 1.98594688e+00] [ 1.46064066e-03 2.00796642e-05 9.99998933e-01 -1.56701733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:1.99, Z:-0.16 [[ 9.96795932e-01 -7.99734570e-02 -1.45437688e-03 1.12904269e+02] [ 7.99733428e-02 9.96796993e-01 -1.36609699e-04 1.99100899e+00] [ 1.46064365e-03 1.98606113e-05 9.99998933e-01 -1.57476387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:1.99, Z:-0.16 [[ 9.96780960e-01 -8.01598534e-02 -1.45435457e-03 1.12932618e+02] [ 8.01597390e-02 9.96782021e-01 -1.36846796e-04 1.99387311e+00] [ 1.46064410e-03 1.98255978e-05 9.99998933e-01 -1.57434780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:2.00, Z:-0.16 [[ 9.96755264e-01 -8.04787473e-02 -1.45432893e-03 1.12960712e+02] [ 8.04786328e-02 9.96756325e-01 -1.37118751e-04 1.99898587e+00] [ 1.46064670e-03 1.96314327e-05 9.99998933e-01 -1.58625490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.99, Y:2.00, Z:-0.16 [[ 9.96743102e-01 -8.06292311e-02 -1.45430318e-03 1.12988233e+02] [ 8.06291164e-02 9.96744163e-01 -1.37391297e-04 2.00395451e+00] [ 1.46064596e-03 1.96846470e-05 9.99998933e-01 -1.58911988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:2.01, Z:-0.16 [[ 9.96685073e-01 -8.13434066e-02 -1.45429518e-03 1.13016383e+02] [ 8.13432925e-02 9.96686134e-01 -1.37475922e-04 2.00873567e+00] [ 1.46065860e-03 1.87230408e-05 9.99998933e-01 -1.57726212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:2.02, Z:-0.16 [[ 9.96595528e-01 -8.24332325e-02 -1.45426934e-03 1.13043684e+02] [ 8.24331192e-02 9.96596589e-01 -1.37748705e-04 2.01621875e+00] [ 1.46067494e-03 1.73997860e-05 9.99998933e-01 -1.57701646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:2.02, Z:-0.16 [[ 9.96503520e-01 -8.35381278e-02 -1.45426129e-03 1.13071089e+02] [ 8.35380156e-02 9.96504582e-01 -1.37833683e-04 2.02095978e+00] [ 1.46069240e-03 1.58656481e-05 9.99998933e-01 -1.56553421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:2.03, Z:-0.16 [[ 9.96441158e-01 -8.42787303e-02 -1.45423511e-03 1.13098563e+02] [ 8.42786185e-02 9.96442219e-01 -1.38109312e-04 2.02502886e+00] [ 1.46070094e-03 1.50568765e-05 9.99998933e-01 -1.56636618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:2.03, Z:-0.16 [[ 9.96329208e-01 -8.55920238e-02 -1.45420890e-03 1.13124786e+02] [ 8.55919130e-02 9.96330269e-01 -1.38384732e-04 2.02958604e+00] [ 1.46071697e-03 1.34082290e-05 9.99998933e-01 -1.56695831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:2.03, Z:-0.16 [[ 9.96149496e-01 -8.76588057e-02 -1.45419751e-03 1.13150988e+02] [ 8.76586969e-02 9.96150558e-01 -1.38504372e-04 2.03467121e+00] [ 1.46074078e-03 1.04980022e-05 9.99998933e-01 -1.57854411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:2.04, Z:-0.16 [[ 9.96029963e-01 -8.90067327e-02 -1.45418619e-03 1.13177938e+02] [ 8.90066252e-02 9.96031024e-01 -1.38623052e-04 2.03785769e+00] [ 1.46075295e-03 8.64050801e-06 9.99998933e-01 -1.58032334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:2.04, Z:-0.16 [[ 9.95869343e-01 -9.07862165e-02 -1.45417501e-03 1.13206318e+02] [ 9.07861107e-02 9.95870405e-01 -1.38740269e-04 2.04092488e+00] [ 1.46076556e-03 6.14828750e-06 9.99998933e-01 -1.56342306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:2.04, Z:-0.16 [[ 9.95671688e-01 -9.29288663e-02 -1.45415250e-03 1.13234403e+02] [ 9.29287624e-02 9.95672750e-01 -1.38975796e-04 2.04446184e+00] [ 1.46077488e-03 3.24167359e-06 9.99998933e-01 -1.56445630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:2.05, Z:-0.16 [[ 9.95287771e-01 -9.69543129e-02 -1.45412686e-03 1.13261557e+02] [ 9.69542129e-02 9.95288833e-01 -1.39243518e-04 2.04811696e+00] [ 1.46077649e-03 -2.39635500e-06 9.99998933e-01 -1.57625668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:2.05, Z:-0.16 [[ 9.95118694e-01 -9.86745727e-02 -1.45411886e-03 1.13288285e+02] [ 9.86744745e-02 9.95119756e-01 -1.39326991e-04 2.04983508e+00] [ 1.46077044e-03 -4.83752182e-06 9.99998933e-01 -1.58714020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:2.05, Z:-0.16 [[ 9.94896507e-01 -1.00890163e-01 -1.45410777e-03 1.13316690e+02] [ 1.00890067e-01 9.94897570e-01 -1.39442676e-04 2.05112102e+00] [ 1.46075668e-03 -7.97399974e-06 9.99998933e-01 -1.57971460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:2.05, Z:-0.16 [[ 9.94521435e-01 -1.04522727e-01 -1.45408244e-03 1.13344814e+02] [ 1.04522634e-01 9.94522498e-01 -1.39706345e-04 2.05173486e+00] [ 1.46072019e-03 -1.30435725e-05 9.99998933e-01 -1.55627159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:2.05, Z:-0.16 [[ 9.94428249e-01 -1.05405617e-01 -1.45405488e-03 1.13371416e+02] [ 1.05405525e-01 9.94429312e-01 -1.39992560e-04 2.05395303e+00] [ 1.46071080e-03 -1.40528628e-05 9.99998933e-01 -1.57960104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:2.06, Z:-0.16 [[ 9.94341216e-01 -1.06223497e-01 -1.45404291e-03 1.13399635e+02] [ 1.06223406e-01 9.94342279e-01 -1.40116839e-04 2.05610340e+00] [ 1.46070004e-03 -1.51294407e-05 9.99998933e-01 -1.57577573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.43, Y:2.06, Z:-0.16 [[ 9.94325086e-01 -1.06374384e-01 -1.45401775e-03 1.13427542e+02] [ 1.06374293e-01 9.94326149e-01 -1.40377439e-04 2.05729699e+00] [ 1.46070043e-03 -1.50893007e-05 9.99998933e-01 -1.57784055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:2.06, Z:-0.16 [[ 9.94367799e-01 -1.05974363e-01 -1.45399262e-03 1.13455508e+02] [ 1.05974271e-01 9.94368862e-01 -1.40637185e-04 2.05628027e+00] [ 1.46070893e-03 -1.42407194e-05 9.99998933e-01 -1.55807224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:2.06, Z:-0.15 [[ 9.94482516e-01 -1.04892378e-01 -1.45396628e-03 1.13483462e+02] [ 1.04892284e-01 9.94483579e-01 -1.40908983e-04 2.05770244e+00] [ 1.46072587e-03 -1.23783238e-05 9.99998933e-01 -1.54085302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:2.06, Z:-0.15 [[ 9.94639442e-01 -1.03393747e-01 -1.45393900e-03 1.13510573e+02] [ 1.03393651e-01 9.94640504e-01 -1.41189943e-04 2.05917614e+00] [ 1.46074478e-03 -9.89497587e-06 9.99998933e-01 -1.54369427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.54, Y:2.06, Z:-0.15 [[ 9.94826293e-01 -1.01580181e-01 -1.45392042e-03 1.13538472e+02] [ 1.01580083e-01 9.94827355e-01 -1.41381011e-04 2.06051093e+00] [ 1.46076131e-03 -7.03980942e-06 9.99998933e-01 -1.53013853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.57, Y:2.06, Z:-0.15 [[ 9.95041193e-01 -9.94530577e-02 -1.45389325e-03 1.13566810e+02] [ 9.94529569e-02 9.95042255e-01 -1.41659856e-04 2.06144891e+00] [ 1.46077372e-03 -3.63659092e-06 9.99998933e-01 -1.52746975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:113.59, Y:2.06, Z:-0.15 [[ 9.95534353e-01 -9.43887569e-02 -1.45388481e-03 1.13594928e+02] [ 9.43886505e-02 9.95535415e-01 -1.41746429e-04 2.06285780e+00] [ 1.46077309e-03 3.88321393e-06 9.99998933e-01 -1.51884783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:2.06, Z:-0.15 [[ 9.95774186e-01 -9.18240522e-02 -1.45385802e-03 1.13621473e+02] [ 9.18239428e-02 9.95775247e-01 -1.42020699e-04 2.06499168e+00] [ 1.46075674e-03 7.92157101e-06 9.99998933e-01 -1.52695657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:2.07, Z:-0.15 [[ 9.95966086e-01 -8.97186792e-02 -1.45384635e-03 1.13649346e+02] [ 8.97185673e-02 9.95967147e-01 -1.42140055e-04 2.06653686e+00] [ 1.46073582e-03 1.11296630e-05 9.99998933e-01 -1.51142853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:2.07, Z:-0.15 [[ 9.96160203e-01 -8.75370552e-02 -1.45381909e-03 1.13676961e+02] [ 8.75369405e-02 9.96161264e-01 -1.42418283e-04 2.06690966e+00] [ 1.46070514e-03 1.46085499e-05 9.99998933e-01 -1.50796431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:2.07, Z:-0.15 [[ 9.96515414e-01 -8.33961395e-02 -1.45381062e-03 1.13703762e+02] [ 8.33960203e-02 9.96516474e-01 -1.42504700e-04 2.06825223e+00] [ 1.46063058e-03 2.07661096e-05 9.99998933e-01 -1.50224393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.73, Y:2.07, Z:-0.15 [[ 9.96675395e-01 -8.14619125e-02 -1.45379893e-03 1.13731761e+02] [ 8.14617911e-02 9.96676455e-01 -1.42623846e-04 2.07198976e+00] [ 1.46058558e-03 2.37206129e-05 9.99998933e-01 -1.51125474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:2.08, Z:-0.15 [[ 9.96822197e-01 -7.96454238e-02 -1.45377218e-03 1.13758494e+02] [ 7.96453000e-02 9.96823257e-01 -1.42896049e-04 2.07524618e+00] [ 1.46053493e-03 2.66558321e-05 9.99998933e-01 -1.52605456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:2.08, Z:-0.15 [[ 9.96965455e-01 -7.78316690e-02 -1.45376056e-03 1.13786538e+02] [ 7.78315432e-02 9.96966514e-01 -1.43014128e-04 2.07773655e+00] [ 1.46048163e-03 2.94317171e-05 9.99998933e-01 -1.52928216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156000001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:113.81, Y:2.08, Z:-0.15 [[ 9.97215756e-01 -7.45561712e-02 -1.45373399e-03 1.13814858e+02] [ 7.45560415e-02 9.97216815e-01 -1.43283673e-04 2.08065132e+00] [ 1.46037066e-03 3.45000842e-05 9.99998933e-01 -1.53744553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:2.08, Z:-0.16 [[ 9.97336439e-01 -7.29240294e-02 -1.45370701e-03 1.13842099e+02] [ 7.29238975e-02 9.97337498e-01 -1.43556885e-04 2.08341844e+00] [ 1.46030526e-03 3.71645311e-05 9.99998933e-01 -1.55077588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:2.09, Z:-0.15 [[ 9.97431234e-01 -7.16157814e-02 -1.45369534e-03 1.13870136e+02] [ 7.16156480e-02 9.97432293e-01 -1.43675031e-04 2.08674302e+00] [ 1.46025207e-03 3.91986300e-05 9.99998933e-01 -1.53270840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:2.09, Z:-0.15 [[ 9.97635611e-01 -6.87100711e-02 -1.45366773e-03 1.13897225e+02] [ 6.87099342e-02 9.97636669e-01 -1.43953833e-04 2.09189465e+00] [ 1.46012331e-03 4.37320560e-05 9.99998933e-01 -1.54307117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:2.10, Z:-0.15 [[ 9.97666234e-01 -6.82639877e-02 -1.45364871e-03 1.13924710e+02] [ 6.82638501e-02 9.97667292e-01 -1.44145644e-04 2.09688109e+00] [ 1.46009773e-03 4.45775846e-05 9.99998933e-01 -1.51695847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.95, Y:2.10, Z:-0.15 [[ 9.97672696e-01 -6.81694898e-02 -1.45362122e-03 1.13952396e+02] [ 6.81693517e-02 9.97673754e-01 -1.44422271e-04 2.10142455e+00] [ 1.46008493e-03 4.49937397e-05 9.99998933e-01 -1.52925039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:2.10, Z:-0.15 [[ 9.97644412e-01 -6.85821722e-02 -1.45361269e-03 1.13979952e+02] [ 6.85820344e-02 9.97645470e-01 -1.44508124e-04 2.10498857e+00] [ 1.46010079e-03 4.44760073e-05 9.99998933e-01 -1.50791871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:2.11, Z:-0.15 [[ 9.97579867e-01 -6.95147175e-02 -1.45358538e-03 1.14008097e+02] [ 6.95145803e-02 9.97580925e-01 -1.44782253e-04 2.10873454e+00] [ 1.46013355e-03 4.33864830e-05 9.99998933e-01 -1.49533891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:2.12, Z:-0.15 [[ 9.97436246e-01 -7.15459436e-02 -1.45355805e-03 1.14036510e+02] [ 7.15458081e-02 9.97437304e-01 -1.45056175e-04 2.11504972e+00] [ 1.46021120e-03 4.06883018e-05 9.99998933e-01 -1.48101427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:2.12, Z:-0.15 [[ 9.97364876e-01 -7.25340682e-02 -1.45353391e-03 1.14063816e+02] [ 7.25339334e-02 9.97365935e-01 -1.45297650e-04 2.11998449e+00] [ 1.46024424e-03 3.94842411e-05 9.99998933e-01 -1.48959354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:2.12, Z:-0.15 [[ 9.97321284e-01 -7.31309982e-02 -1.45350630e-03 1.14091611e+02] [ 7.31308636e-02 9.97322343e-01 -1.45573299e-04 2.12485064e+00] [ 1.46026023e-03 3.88871783e-05 9.99998933e-01 -1.51057265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:2.13, Z:-0.15 [[ 9.97261679e-01 -7.39393783e-02 -1.45349774e-03 1.14119469e+02] [ 7.39392445e-02 9.97262737e-01 -1.45658789e-04 2.13017823e+00] [ 1.46028905e-03 3.77894045e-05 9.99998933e-01 -1.51678708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:2.14, Z:-0.15 [[ 9.97205184e-01 -7.46974481e-02 -1.45347022e-03 1.14145878e+02] [ 7.46973147e-02 9.97206242e-01 -1.45932831e-04 2.13509225e+00] [ 1.46031039e-03 3.69546530e-05 9.99998933e-01 -1.52817289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:2.14, Z:-0.15 [[ 9.97035132e-01 -7.69339498e-02 -1.45345118e-03 1.14173177e+02] [ 7.69338185e-02 9.97036191e-01 -1.46122248e-04 2.14109544e+00] [ 1.46038519e-03 3.38694658e-05 9.99998933e-01 -1.54572510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.20, Y:2.15, Z:-0.16 [[ 9.96911495e-01 -7.85197985e-02 -1.45343890e-03 1.14200778e+02] [ 7.85196687e-02 9.96912554e-01 -1.46244229e-04 2.14505478e+00] [ 1.46043456e-03 3.16690112e-05 9.99998933e-01 -1.55221466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:2.15, Z:-0.15 [[ 9.96751733e-01 -8.05224871e-02 -1.45341188e-03 1.14228197e+02] [ 8.05223590e-02 9.96752792e-01 -1.46512333e-04 2.14928695e+00] [ 1.46048988e-03 2.90042689e-05 9.99998933e-01 -1.54850610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.26, Y:2.16, Z:-0.15 [[ 9.96388026e-01 -8.49045870e-02 -1.45338442e-03 1.14255152e+02] [ 8.49044632e-02 9.96389086e-01 -1.46784221e-04 2.15589792e+00] [ 1.46059903e-03 2.28552159e-05 9.99998933e-01 -1.54568199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:2.16, Z:-0.15 [[ 9.96145252e-01 -8.77070365e-02 -1.45337587e-03 1.14282484e+02] [ 8.77069155e-02 9.96146312e-01 -1.46868815e-04 2.16087602e+00] [ 1.46065644e-03 1.88315581e-05 9.99998933e-01 -1.52934140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.31, Y:2.17, Z:-0.15 [[ 9.95923318e-01 -9.01921987e-02 -1.45334815e-03 1.14310001e+02] [ 9.01920800e-02 9.95924378e-01 -1.47142653e-04 2.16526671e+00] [ 1.46069597e-03 1.54623064e-05 9.99998933e-01 -1.52986790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:2.17, Z:-0.15 [[ 9.95687697e-01 -9.27571999e-02 -1.45333952e-03 1.14337717e+02] [ 9.27570838e-02 9.95688757e-01 -1.47227751e-04 2.16886658e+00] [ 1.46073026e-03 1.17853246e-05 9.99998933e-01 -1.52958164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:2.17, Z:-0.15 [[ 9.95354898e-01 -9.62627411e-02 -1.45331187e-03 1.14365544e+02] [ 9.62626284e-02 9.95355959e-01 -1.47500246e-04 2.17411203e+00] [ 1.46076141e-03 6.91547190e-06 9.99998933e-01 -1.53713699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:2.18, Z:-0.15 [[ 9.95250427e-01 -9.73369127e-02 -1.45328395e-03 1.14393354e+02] [ 9.73368007e-02 9.95251489e-01 -1.47774858e-04 2.17815304e+00] [ 1.46076696e-03 5.61498075e-06 9.99998933e-01 -1.53939229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:2.18, Z:-0.16 [[ 9.95185065e-01 -9.80029288e-02 -1.45325553e-03 1.14420581e+02] [ 9.80028171e-02 9.95186126e-01 -1.48053789e-04 2.18177864e+00] [ 1.46076944e-03 4.91778394e-06 9.99998933e-01 -1.55356188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:2.19, Z:-0.16 [[ 9.95138480e-01 -9.84748345e-02 -1.45324213e-03 1.14448220e+02] [ 9.84747231e-02 9.95139541e-01 -1.48185147e-04 2.18568558e+00] [ 1.46077122e-03 4.35712522e-06 9.99998933e-01 -1.55968286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.48, Y:2.19, Z:-0.16 [[ 9.95165355e-01 -9.82028759e-02 -1.45321406e-03 1.14475302e+02] [ 9.82027639e-02 9.95166416e-01 -1.48459994e-04 2.19104101e+00] [ 1.46076902e-03 5.03260546e-06 9.99998933e-01 -1.56821831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.50, Y:2.20, Z:-0.16 [[ 9.95190014e-01 -9.79526638e-02 -1.45318609e-03 1.14502774e+02] [ 9.79525510e-02 9.95191075e-01 -1.48733198e-04 2.19550113e+00] [ 1.46076664e-03 5.67450891e-06 9.99998933e-01 -1.57001112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:2.20, Z:-0.16 [[ 9.95191547e-01 -9.79370897e-02 -1.45315818e-03 1.14530587e+02] [ 9.79369765e-02 9.95192608e-01 -1.49005376e-04 2.19974118e+00] [ 1.46076544e-03 5.97097146e-06 9.99998933e-01 -1.55524608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.56, Y:2.20, Z:-0.16 [[ 9.95199463e-01 -9.78566207e-02 -1.45312923e-03 1.14558018e+02] [ 9.78565070e-02 9.95200523e-01 -1.49287219e-04 2.20352789e+00] [ 1.46076371e-03 6.37240933e-06 9.99998933e-01 -1.55404001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:2.21, Z:-0.16 [[ 9.95205316e-01 -9.77970767e-02 -1.45310017e-03 1.14584497e+02] [ 9.77969626e-02 9.95206376e-01 -1.49569531e-04 2.20745272e+00] [ 1.46076202e-03 6.74360954e-06 9.99998933e-01 -1.56408556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:2.21, Z:-0.16 [[ 9.95258244e-01 -9.72569624e-02 -1.45308754e-03 1.14612280e+02] [ 9.72568475e-02 9.95259305e-01 -1.49692128e-04 2.21220079e+00] [ 1.46075750e-03 7.65961126e-06 9.99998933e-01 -1.56167723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:114.64, Y:2.22, Z:-0.16 [[ 9.95294701e-01 -9.68831588e-02 -1.45305905e-03 1.14639984e+02] [ 9.68830431e-02 9.95295762e-01 -1.49968192e-04 2.21553532e+00] [ 1.46075291e-03 8.48576451e-06 9.99998933e-01 -1.55723600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:2.22, Z:-0.16 [[ 9.95316287e-01 -9.66611522e-02 -1.45303005e-03 1.14666326e+02] [ 9.66610358e-02 9.95317347e-01 -1.50248670e-04 2.21903044e+00] [ 1.46074922e-03 9.09355843e-06 9.99998933e-01 -1.56570607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:2.22, Z:-0.16 [[ 9.95416149e-01 -9.56272932e-02 -1.45301747e-03 1.14694633e+02] [ 9.56271756e-02 9.95417209e-01 -1.50370245e-04 2.22429221e+00] [ 1.46073809e-03 1.07330137e-05 9.99998933e-01 -1.57935453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:2.23, Z:-0.16 [[ 9.95398178e-01 -9.58141738e-02 -1.45299279e-03 1.14722945e+02] [ 9.58140560e-02 9.95399238e-01 -1.50608319e-04 2.22742904e+00] [ 1.46073833e-03 1.06981144e-05 9.99998933e-01 -1.57893848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.75, Y:2.23, Z:-0.16 [[ 9.95450480e-01 -9.52692518e-02 -1.45296446e-03 1.14750234e+02] [ 9.52691330e-02 9.95451541e-01 -1.50881103e-04 2.23205381e+00] [ 1.46073004e-03 1.17720019e-05 9.99998933e-01 -1.57240227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:2.24, Z:-0.16 [[ 9.95532161e-01 -9.44118909e-02 -1.45293595e-03 1.14778155e+02] [ 9.44117708e-02 9.95533221e-01 -1.51155200e-04 2.23614146e+00] [ 1.46071685e-03 1.33056073e-05 9.99998933e-01 -1.56824843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:2.24, Z:-0.16 [[ 9.95597355e-01 -9.37219098e-02 -1.45290704e-03 1.14805988e+02] [ 9.37217885e-02 9.95598415e-01 -1.51432539e-04 2.23980788e+00] [ 1.46070449e-03 1.45967890e-05 9.99998933e-01 -1.57126943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:2.24, Z:-0.16 [[ 9.95693907e-01 -9.26905231e-02 -1.45287802e-03 1.14833279e+02] [ 9.26904004e-02 9.95694967e-01 -1.51710472e-04 2.24301550e+00] [ 1.46068545e-03 1.63893478e-05 9.99998933e-01 -1.59125415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:2.25, Z:-0.16 [[ 9.95787136e-01 -9.16835309e-02 -1.45286539e-03 1.14860389e+02] [ 9.16834069e-02 9.95788195e-01 -1.51831339e-04 2.24784641e+00] [ 1.46066663e-03 1.79880453e-05 9.99998933e-01 -1.58576976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:2.25, Z:-0.16 [[ 9.95776162e-01 -9.18026338e-02 -1.45285216e-03 1.14887760e+02] [ 9.18025098e-02 9.95777222e-01 -1.51957800e-04 2.25186932e+00] [ 1.46066721e-03 1.79404798e-05 9.99998933e-01 -1.57526009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:2.26, Z:-0.16 [[ 9.95745759e-01 -9.21318245e-02 -1.45282408e-03 1.14915848e+02] [ 9.21317004e-02 9.95746819e-01 -1.52225796e-04 2.25561961e+00] [ 1.46066979e-03 1.77270377e-05 9.99998933e-01 -1.57476867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.94, Y:2.26, Z:-0.16 [[ 9.95707617e-01 -9.25431274e-02 -1.45279569e-03 1.14943733e+02] [ 9.25430034e-02 9.95708677e-01 -1.52496212e-04 2.25893296e+00] [ 1.46067375e-03 1.73955633e-05 9.99998933e-01 -1.56253178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:2.26, Z:-0.16 [[ 9.95627595e-01 -9.34001179e-02 -1.45276637e-03 1.14971786e+02] [ 9.33999944e-02 9.95628655e-01 -1.52775096e-04 2.26221113e+00] [ 1.46068503e-03 1.64187314e-05 9.99998933e-01 -1.56521015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:2.27, Z:-0.16 [[ 9.95492215e-01 -9.48321660e-02 -1.45275726e-03 1.14999351e+02] [ 9.48320439e-02 9.95493275e-01 -1.52861602e-04 2.26514584e+00] [ 1.46070628e-03 1.44045942e-05 9.99998933e-01 -1.55693311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:2.27, Z:-0.15 [[ 9.95420359e-01 -9.55834610e-02 -1.45274856e-03 1.15027701e+02] [ 9.55833396e-02 9.95421419e-01 -1.52944277e-04 2.26731796e+00] [ 1.46071598e-03 1.33852877e-05 9.99998933e-01 -1.54087611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:2.27, Z:-0.15 [[ 9.95355087e-01 -9.62607952e-02 -1.45271937e-03 1.15054823e+02] [ 9.62606741e-02 9.95356147e-01 -1.53220983e-04 2.26960794e+00] [ 1.46072233e-03 1.26695385e-05 9.99998933e-01 -1.54379556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:2.27, Z:-0.15 [[ 9.95298547e-01 -9.68436472e-02 -1.45270671e-03 1.15082464e+02] [ 9.68435265e-02 9.95299607e-01 -1.53340931e-04 2.27268843e+00] [ 1.46072852e-03 1.19347647e-05 9.99998933e-01 -1.53132197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.11, Y:2.28, Z:-0.15 [[ 9.95348878e-01 -9.63249717e-02 -1.45267713e-03 1.15110663e+02] [ 9.63248500e-02 9.95349938e-01 -1.53620683e-04 2.27607256e+00] [ 1.46071960e-03 1.29772674e-05 9.99998933e-01 -1.52515699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:2.28, Z:-0.15 [[ 9.95424725e-01 -9.55379905e-02 -1.45264684e-03 1.15137268e+02] [ 9.55378676e-02 9.95425784e-01 -1.53906571e-04 2.27840133e+00] [ 1.46070605e-03 1.44196248e-05 9.99998933e-01 -1.54488342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:2.28, Z:-0.15 [[ 9.95529169e-01 -9.44434455e-02 -1.45263364e-03 1.15164707e+02] [ 9.44433213e-02 9.95530228e-01 -1.54031079e-04 2.28109021e+00] [ 1.46068792e-03 1.61508867e-05 9.99998933e-01 -1.53745864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:2.28, Z:-0.15 [[ 9.95672427e-01 -9.29209768e-02 -1.45260440e-03 1.15191909e+02] [ 9.29208506e-02 9.95673487e-01 -1.54306308e-04 2.28486003e+00] [ 1.46065798e-03 1.86612992e-05 9.99998933e-01 -1.53711461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:2.29, Z:-0.15 [[ 9.96021508e-01 -8.91013258e-02 -1.45259165e-03 1.15219992e+02] [ 8.91011953e-02 9.96022567e-01 -1.54426213e-04 2.28993968e+00] [ 1.46057365e-03 2.43841766e-05 9.99998933e-01 -1.53378131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.25, Y:2.29, Z:-0.15 [[ 9.96191202e-01 -8.71835905e-02 -1.45256162e-03 1.15246336e+02] [ 8.71834576e-02 9.96192261e-01 -1.54708207e-04 2.29328195e+00] [ 1.46051866e-03 2.74796103e-05 9.99998933e-01 -1.54040831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:2.30, Z:-0.15 [[ 9.96331959e-01 -8.55600206e-02 -1.45254090e-03 1.15274194e+02] [ 8.55598857e-02 9.96333018e-01 -1.54902460e-04 2.29751408e+00] [ 1.46046792e-03 3.00550373e-05 9.99998933e-01 -1.53178035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:2.30, Z:-0.15 [[ 9.96567142e-01 -8.27757296e-02 -1.45251070e-03 1.15300860e+02] [ 8.27755913e-02 9.96568200e-01 -1.55185134e-04 2.30411088e+00] [ 1.46037154e-03 3.44199728e-05 9.99998933e-01 -1.54489274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:2.31, Z:-0.15 [[ 9.96623488e-01 -8.20945403e-02 -1.45249759e-03 1.15327002e+02] [ 8.20944011e-02 9.96624546e-01 -1.55307794e-04 2.30920390e+00] [ 1.46034467e-03 3.55414756e-05 9.99998933e-01 -1.54982636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:2.31, Z:-0.15 [[ 9.96632585e-01 -8.19840279e-02 -1.45248485e-03 1.15355254e+02] [ 8.19838884e-02 9.96633643e-01 -1.55426832e-04 2.31416688e+00] [ 1.46033778e-03 3.58230899e-05 9.99998933e-01 -1.53549790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:2.32, Z:-0.15 [[ 9.96573429e-01 -8.27000075e-02 -1.45245936e-03 1.15384123e+02] [ 8.26998685e-02 9.96574487e-01 -1.55664714e-04 2.31925137e+00] [ 1.46035741e-03 3.50131200e-05 9.99998933e-01 -1.52835837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:2.33, Z:-0.15 [[ 9.96457168e-01 -8.40892507e-02 -1.45258033e-03 1.15410254e+02] [ 8.40891147e-02 9.96458226e-01 -1.54537159e-04 2.32573944e+00] [ 1.46043053e-03 3.18434655e-05 9.99998933e-01 -1.52606816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:2.33, Z:-0.15 [[ 9.96339644e-01 -8.54704829e-02 -1.45242213e-03 1.15437893e+02] [ 8.54703463e-02 9.96340703e-01 -1.56009929e-04 2.33041474e+00] [ 1.46044153e-03 3.12998541e-05 9.99998933e-01 -1.52572362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:2.34, Z:-0.15 [[ 9.96187692e-01 -8.72236953e-02 -1.45239259e-03 1.15465534e+02] [ 8.72235601e-02 9.96188750e-01 -1.56284509e-04 2.33500338e+00] [ 1.46048887e-03 2.90058516e-05 9.99998933e-01 -1.52537657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:2.34, Z:-0.15 [[ 9.96043581e-01 -8.88542346e-02 -1.45236274e-03 1.15492126e+02] [ 8.88541008e-02 9.96044640e-01 -1.56561445e-04 2.33976601e+00] [ 1.46052926e-03 2.68936376e-05 9.99998933e-01 -1.53018247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:115.52, Y:2.35, Z:-0.15 [[ 9.95760375e-01 -9.19737286e-02 -1.45234977e-03 1.15518978e+02] [ 9.19735979e-02 9.95761434e-01 -1.56681647e-04 2.34756838e+00] [ 1.46060448e-03 2.24395422e-05 9.99998933e-01 -1.53862840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:2.35, Z:-0.16 [[ 9.95609296e-01 -9.35949789e-02 -1.45232024e-03 1.15546001e+02] [ 9.35948496e-02 9.95610355e-01 -1.56954890e-04 2.35289409e+00] [ 1.46063526e-03 2.03360530e-05 9.99998933e-01 -1.55178746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:2.36, Z:-0.15 [[ 9.95440474e-01 -9.53737613e-02 -1.45231104e-03 1.15573321e+02] [ 9.53736337e-02 9.95441533e-01 -1.57039975e-04 2.35739510e+00] [ 1.46066822e-03 1.78117664e-05 9.99998933e-01 -1.54393374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:2.36, Z:-0.15 [[ 9.95270066e-01 -9.71359224e-02 -1.45228056e-03 1.15600084e+02] [ 9.71357962e-02 9.95271125e-01 -1.57321297e-04 2.36150776e+00] [ 1.46069446e-03 1.55087492e-05 9.99998933e-01 -1.54871244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:2.37, Z:-0.16 [[ 9.95079361e-01 -9.90704648e-02 -1.45226728e-03 1.15627791e+02] [ 9.90703405e-02 9.95080420e-01 -1.57443860e-04 2.36560347e+00] [ 1.46072077e-03 1.27925222e-05 9.99998933e-01 -1.56526420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:2.37, Z:-0.16 [[ 9.94634522e-01 -1.03441084e-01 -1.45225793e-03 1.15655775e+02] [ 1.03440964e-01 9.94635583e-01 -1.57529998e-04 2.37177820e+00] [ 1.46076249e-03 6.46181403e-06 9.99998933e-01 -1.55728937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:2.38, Z:-0.16 [[ 9.94401524e-01 -1.05657465e-01 -1.45223075e-03 1.15683193e+02] [ 1.05657348e-01 9.94402584e-01 -1.57780217e-04 2.37640506e+00] [ 1.46077267e-03 3.45803892e-06 9.99998933e-01 -1.55529095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:2.38, Z:-0.15 [[ 9.94178267e-01 -1.07737940e-01 -1.45222111e-03 1.15711770e+02] [ 1.07737825e-01 9.94179328e-01 -1.57868874e-04 2.38059501e+00] [ 1.46077667e-03 4.90660663e-07 9.99998933e-01 -1.53656629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:2.38, Z:-0.15 [[ 9.93827138e-01 -1.10930203e-01 -1.45219420e-03 1.15739724e+02] [ 1.10930091e-01 9.93828199e-01 -1.58115988e-04 2.38404578e+00] [ 1.46077139e-03 -3.95207428e-06 9.99998933e-01 -1.52617520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:2.39, Z:-0.15 [[ 9.93699310e-01 -1.12069495e-01 -1.45216316e-03 1.15768821e+02] [ 1.12069383e-01 9.93700371e-01 -1.58400543e-04 2.38737777e+00] [ 1.46076694e-03 -5.34051963e-06 9.99998933e-01 -1.51871941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:2.39, Z:-0.15 [[ 9.93641309e-01 -1.12582595e-01 -1.45213616e-03 1.15796152e+02] [ 1.12582484e-01 9.93642370e-01 -1.58647723e-04 2.39075743e+00] [ 1.46076499e-03 -5.84616402e-06 9.99998933e-01 -1.51960571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.82, Y:2.39, Z:-0.15 [[ 9.93628349e-01 -1.12696922e-01 -1.45212658e-03 1.15823530e+02] [ 1.12696811e-01 9.93629410e-01 -1.58735307e-04 2.39376590e+00] [ 1.46076466e-03 -5.92613348e-06 9.99998933e-01 -1.52313315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:2.40, Z:-0.15 [[ 9.93744656e-01 -1.11666691e-01 -1.45209618e-03 1.15850836e+02] [ 1.11666578e-01 9.93745717e-01 -1.59012951e-04 2.39698894e+00] [ 1.46077081e-03 -4.13234048e-06 9.99998933e-01 -1.52328315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:115.88, Y:2.40, Z:-0.15 [[ 9.93882661e-01 -1.10431642e-01 -1.45206557e-03 1.15877920e+02] [ 1.10431528e-01 9.93883722e-01 -1.59292004e-04 2.40123547e+00] [ 1.46077521e-03 -2.03625852e-06 9.99998933e-01 -1.52805496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:2.41, Z:-0.15 [[ 9.94052608e-01 -1.08891248e-01 -1.45205222e-03 1.15905448e+02] [ 1.08891131e-01 9.94053669e-01 -1.59413609e-04 2.40553826e+00] [ 1.46077658e-03 3.49905291e-07 9.99998933e-01 -1.53085452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27587156000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:115.93, Y:2.41, Z:-0.16 [[ 9.94303309e-01 -1.06577774e-01 -1.45202190e-03 1.15934099e+02] [ 1.06577654e-01 9.94304369e-01 -1.59689272e-04 2.40966543e+00] [ 1.46077105e-03 4.02648352e-06 9.99998933e-01 -1.56318740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:2.41, Z:-0.16 [[ 9.94441213e-01 -1.05283266e-01 -1.45199464e-03 1.15961366e+02] [ 1.05283144e-01 9.94442273e-01 -1.59936774e-04 2.41292524e+00] [ 1.46076352e-03 6.17715797e-06 9.99998933e-01 -1.57880295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:2.42, Z:-0.16 [[ 9.94554120e-01 -1.04211293e-01 -1.45198103e-03 1.15988791e+02] [ 1.04211170e-01 9.94555180e-01 -1.60060222e-04 2.41659133e+00] [ 1.46075534e-03 7.87591108e-06 9.99998933e-01 -1.57949253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.02, Y:2.42, Z:-0.16 [[ 9.94640694e-01 -1.03381726e-01 -1.45195086e-03 1.16016173e+02] [ 1.03381602e-01 9.94641754e-01 -1.60333440e-04 2.42039279e+00] [ 1.46074650e-03 9.36915752e-06 9.99998933e-01 -1.57047574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:2.43, Z:-0.16 [[ 9.94842003e-01 -1.01426233e-01 -1.45192014e-03 1.16043591e+02] [ 1.01426107e-01 9.94843063e-01 -1.60611190e-04 2.42524929e+00] [ 1.46072286e-03 1.25201510e-05 9.99998933e-01 -1.57167900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:2.43, Z:-0.16 [[ 9.94891628e-01 -1.00938299e-01 -1.45190502e-03 1.16070918e+02] [ 1.00938172e-01 9.94892687e-01 -1.60747694e-04 2.42889506e+00] [ 1.46071529e-03 1.33738962e-05 9.99998933e-01 -1.57122705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:2.43, Z:-0.16 [[ 9.94925855e-01 -1.00600378e-01 -1.45187449e-03 1.16097530e+02] [ 1.00600250e-01 9.94926914e-01 -1.61023033e-04 2.43211015e+00] [ 1.46070798e-03 1.41470424e-05 9.99998933e-01 -1.57898615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:2.44, Z:-0.16 [[ 9.94901104e-01 -1.00844861e-01 -1.45186120e-03 1.16125306e+02] [ 1.00844733e-01 9.94902163e-01 -1.61142729e-04 2.43612858e+00] [ 1.46071027e-03 1.39085244e-05 9.99998933e-01 -1.56112087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:2.44, Z:-0.16 [[ 9.94788493e-01 -1.01949721e-01 -1.45182940e-03 1.16152921e+02] [ 1.01949594e-01 9.94789553e-01 -1.61428775e-04 2.43968978e+00] [ 1.46072233e-03 1.25740707e-05 9.99998933e-01 -1.56685774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:2.44, Z:-0.16 [[ 9.94676618e-01 -1.03035516e-01 -1.45181952e-03 1.16179935e+02] [ 1.03035390e-01 9.94677678e-01 -1.61517517e-04 2.44282396e+00] [ 1.46073451e-03 1.10689072e-05 9.99998933e-01 -1.57613651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:2.45, Z:-0.16 [[ 9.94522086e-01 -1.04516567e-01 -1.45179775e-03 1.16208020e+02] [ 1.04516442e-01 9.94523146e-01 -1.61712993e-04 2.44597673e+00] [ 1.46074815e-03 9.09040757e-06 9.99998933e-01 -1.56169204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:2.45, Z:-0.16 [[ 9.94110074e-01 -1.08365373e-01 -1.45176564e-03 1.16236105e+02] [ 1.08365252e-01 9.94111134e-01 -1.62000772e-04 2.44794956e+00] [ 1.46077166e-03 3.72565049e-06 9.99998933e-01 -1.56593103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:2.45, Z:-0.15 [[ 9.93848185e-01 -1.10741493e-01 -1.45175007e-03 1.16263726e+02] [ 1.10741374e-01 9.93849245e-01 -1.62140157e-04 2.45026875e+00] [ 1.46077635e-03 3.73903799e-07 9.99998933e-01 -1.54813695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:2.45, Z:-0.15 [[ 9.93573654e-01 -1.13178116e-01 -1.45171933e-03 1.16291358e+02] [ 1.13177999e-01 9.93574715e-01 -1.62414892e-04 2.45253964e+00] [ 1.46077343e-03 -2.93153149e-06 9.99998933e-01 -1.53539457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:2.45, Z:-0.15 [[ 9.93344645e-01 -1.15170783e-01 -1.45168744e-03 1.16318469e+02] [ 1.15170668e-01 9.93345706e-01 -1.62699424e-04 2.45458843e+00] [ 1.46076571e-03 -5.57521112e-06 9.99998933e-01 -1.53619775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:2.46, Z:-0.15 [[ 9.93160452e-01 -1.16748488e-01 -1.45166540e-03 1.16344942e+02] [ 1.16748375e-01 9.93161513e-01 -1.62895871e-04 2.45649173e+00] [ 1.46075605e-03 -7.69783947e-06 9.99998933e-01 -1.54314688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:2.46, Z:-0.15 [[ 9.92826116e-01 -1.19558336e-01 -1.45165160e-03 1.16373227e+02] [ 1.19558225e-01 9.92827177e-01 -1.63018791e-04 2.45703544e+00] [ 1.46072941e-03 -1.17075756e-05 9.99998933e-01 -1.54010926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.40, Y:2.46, Z:-0.15 [[ 9.92704369e-01 -1.20565041e-01 -1.45162074e-03 1.16400888e+02] [ 1.20564931e-01 9.92705430e-01 -1.63293043e-04 2.45805789e+00] [ 1.46071923e-03 -1.29128375e-05 9.99998933e-01 -1.53258279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:2.46, Z:-0.15 [[ 9.92587187e-01 -1.21525999e-01 -1.45158938e-03 1.16428416e+02] [ 1.21525889e-01 9.92588249e-01 -1.63571353e-04 2.45938528e+00] [ 1.46070874e-03 -1.40468621e-05 9.99998933e-01 -1.52137613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:2.46, Z:-0.15 [[ 9.92563304e-01 -1.21720909e-01 -1.45155731e-03 1.16456694e+02] [ 1.21720800e-01 9.92564366e-01 -1.63855474e-04 2.46276277e+00] [ 1.46070870e-03 -1.40477866e-05 9.99998933e-01 -1.52096008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.48, Y:2.46, Z:-0.15 [[ 9.92518292e-01 -1.22087399e-01 -1.45152508e-03 1.16483586e+02] [ 1.22087289e-01 9.92519353e-01 -1.64140508e-04 2.46451658e+00] [ 1.46070622e-03 -1.43003061e-05 9.99998933e-01 -1.52374533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:2.47, Z:-0.15 [[ 9.92515190e-01 -1.22112612e-01 -1.45150310e-03 1.16512856e+02] [ 1.22112502e-01 9.92516252e-01 -1.64334641e-04 2.46572339e+00] [ 1.46070775e-03 -1.41420478e-05 9.99998933e-01 -1.52242490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:2.47, Z:-0.15 [[ 9.92556840e-01 -1.21773615e-01 -1.45152605e-03 1.16540845e+02] [ 1.21773505e-01 9.92557901e-01 -1.64132040e-04 2.46728189e+00] [ 1.46071060e-03 -1.38470359e-05 9.99998933e-01 -1.51440796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.57, Y:2.47, Z:-0.15 [[ 9.92611964e-01 -1.21323459e-01 -1.45147595e-03 1.16568298e+02] [ 1.21323348e-01 9.92613025e-01 -1.64573948e-04 2.46888132e+00] [ 1.46072061e-03 -1.27398525e-05 9.99998933e-01 -1.51931086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:2.47, Z:-0.15 [[ 9.92665970e-01 -1.20880791e-01 -1.45146247e-03 1.16596232e+02] [ 1.20880680e-01 9.92667031e-01 -1.64692755e-04 2.47062914e+00] [ 1.46072713e-03 -1.19688755e-05 9.99998933e-01 -1.52503022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:2.47, Z:-0.15 [[ 9.92807649e-01 -1.19711589e-01 -1.45143167e-03 1.16625181e+02] [ 1.19711475e-01 9.92808710e-01 -1.64963685e-04 2.47063216e+00] [ 1.46074207e-03 -9.97581916e-06 9.99998933e-01 -1.53255281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:2.47, Z:-0.16 [[ 9.92924371e-01 -1.18739580e-01 -1.45140342e-03 1.16652481e+02] [ 1.18739465e-01 9.92925431e-01 -1.65211932e-04 2.47183624e+00] [ 1.46075256e-03 -8.29591190e-06 9.99998933e-01 -1.55259270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:2.47, Z:-0.15 [[ 9.93019934e-01 -1.17937717e-01 -1.45138931e-03 1.16680911e+02] [ 1.17937601e-01 9.93020994e-01 -1.65335754e-04 2.47356596e+00] [ 1.46075938e-03 -6.99167504e-06 9.99998933e-01 -1.53712820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:2.48, Z:-0.15 [[ 9.93159322e-01 -1.16758105e-01 -1.45135725e-03 1.16708890e+02] [ 1.16757988e-01 9.93160382e-01 -1.65616685e-04 2.47575776e+00] [ 1.46076761e-03 -4.97379822e-06 9.99998933e-01 -1.54635393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:2.48, Z:-0.15 [[ 9.93452794e-01 -1.14234140e-01 -1.45134725e-03 1.16736874e+02] [ 1.14234020e-01 9.93453855e-01 -1.65704302e-04 2.47724308e+00] [ 1.46077561e-03 -1.17382838e-06 9.99998933e-01 -1.54128071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:116.77, Y:2.48, Z:-0.15 [[ 9.93578589e-01 -1.13134793e-01 -1.45131594e-03 1.16765134e+02] [ 1.13134671e-01 9.93579649e-01 -1.65978094e-04 2.47875565e+00] [ 1.46077588e-03 7.18128788e-07 9.99998933e-01 -1.53829409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:2.48, Z:-0.15 [[ 9.93714684e-01 -1.11933107e-01 -1.45128325e-03 1.16791916e+02] [ 1.11932983e-01 9.93715744e-01 -1.66263446e-04 2.48030758e+00] [ 1.46077340e-03 2.77196399e-06 9.99998933e-01 -1.54170712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:2.48, Z:-0.15 [[ 9.94017677e-01 -1.09209664e-01 -1.45126087e-03 1.16819415e+02] [ 1.09209538e-01 9.94018737e-01 -1.66458535e-04 2.48375229e+00] [ 1.46075938e-03 6.97119807e-06 9.99998933e-01 -1.53902652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:2.49, Z:-0.16 [[ 9.94166972e-01 -1.07842130e-01 -1.45122848e-03 1.16846721e+02] [ 1.07842002e-01 9.94168031e-01 -1.66740484e-04 2.48723110e+00] [ 1.46074661e-03 9.26449845e-06 9.99998933e-01 -1.55387902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:2.49, Z:-0.16 [[ 9.94290726e-01 -1.06695113e-01 -1.45121839e-03 1.16875218e+02] [ 1.06694983e-01 9.94291785e-01 -1.66828181e-04 2.49005904e+00] [ 1.46073428e-03 1.10379908e-05 9.99998933e-01 -1.57898568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:2.49, Z:-0.16 [[ 9.94394258e-01 -1.05725842e-01 -1.45128118e-03 1.16904017e+02] [ 1.05725712e-01 9.94395317e-01 -1.66282541e-04 2.49281920e+00] [ 1.46072757e-03 1.19126674e-05 9.99998933e-01 -1.55230673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35587156000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.93, Y:2.50, Z:-0.16 [[ 9.94493941e-01 -1.04784037e-01 -1.45117746e-03 1.16932036e+02] [ 1.04783905e-01 9.94495000e-01 -1.67182917e-04 2.49703955e+00] [ 1.46070683e-03 1.42023576e-05 9.99998933e-01 -1.56003880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:2.50, Z:-0.16 [[ 9.94518042e-01 -1.04555051e-01 -1.45108383e-03 1.16961246e+02] [ 1.04554917e-01 9.94519100e-01 -1.67994535e-04 2.50026507e+00] [ 1.46069527e-03 1.53556461e-05 9.99998933e-01 -1.55374154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:2.50, Z:-0.16 [[ 9.94521247e-01 -1.04524563e-01 -1.45114098e-03 1.16987970e+02] [ 1.04524429e-01 9.94522305e-01 -1.67499427e-04 2.50252166e+00] [ 1.46069988e-03 1.49020558e-05 9.99998933e-01 -1.56502297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:2.50, Z:-0.16 [[ 9.94499028e-01 -1.04735748e-01 -1.45112669e-03 1.17014836e+02] [ 1.04735615e-01 9.94500087e-01 -1.67623147e-04 2.50466499e+00] [ 1.46070176e-03 1.47164109e-05 9.99998933e-01 -1.56835013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:2.51, Z:-0.16 [[ 9.94464873e-01 -1.05059560e-01 -1.45111287e-03 1.17042115e+02] [ 1.05059427e-01 9.94465931e-01 -1.67742674e-04 2.50738177e+00] [ 1.46070529e-03 1.43611096e-05 9.99998933e-01 -1.57001168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:2.51, Z:-0.15 [[ 9.94432530e-01 -1.05365257e-01 -1.45110307e-03 1.17069463e+02] [ 1.05365124e-01 9.94433589e-01 -1.67827490e-04 2.51109904e+00] [ 1.46070882e-03 1.39974605e-05 9.99998933e-01 -1.54798311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:2.51, Z:-0.15 [[ 9.94418895e-01 -1.05493866e-01 -1.45107057e-03 1.17097635e+02] [ 1.05493733e-01 9.94419954e-01 -1.68108011e-04 2.51442088e+00] [ 1.46070789e-03 1.40909317e-05 9.99998933e-01 -1.54497278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:117.13, Y:2.52, Z:-0.16 [[ 9.94414870e-01 -1.05531801e-01 -1.45103767e-03 1.17125438e+02] [ 1.05531668e-01 9.94415928e-01 -1.68391452e-04 2.51715022e+00] [ 1.46070563e-03 1.43205383e-05 9.99998933e-01 -1.55270937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:2.52, Z:-0.15 [[ 9.94452359e-01 -1.05177945e-01 -1.45100488e-03 1.17153841e+02] [ 1.05177810e-01 9.94453418e-01 -1.68673523e-04 2.51955478e+00] [ 1.46069750e-03 1.51242664e-05 9.99998933e-01 -1.53522402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:2.52, Z:-0.15 [[ 9.94514021e-01 -1.04593296e-01 -1.45097592e-03 1.17181754e+02] [ 1.04593161e-01 9.94515079e-01 -1.68922355e-04 2.52352494e+00] [ 1.46068557e-03 1.62334931e-05 9.99998933e-01 -1.53049849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:2.53, Z:-0.15 [[ 9.94610640e-01 -1.03670489e-01 -1.45096563e-03 1.17208245e+02] [ 1.03670353e-01 9.94611698e-01 -1.69010689e-04 2.52705363e+00] [ 1.46066881e-03 1.76777115e-05 9.99998933e-01 -1.53550729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:2.53, Z:-0.15 [[ 9.94714414e-01 -1.02670003e-01 -1.45095138e-03 1.17236491e+02] [ 1.02669866e-01 9.94715472e-01 -1.69132915e-04 2.53048649e+00] [ 1.46064866e-03 1.92699653e-05 9.99998933e-01 -1.53521556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:2.53, Z:-0.16 [[ 9.95024959e-01 -9.96153936e-02 -1.45091916e-03 1.17264209e+02] [ 9.96152525e-02 9.95026016e-01 -1.69408823e-04 2.53404066e+00] [ 1.46057804e-03 2.40323283e-05 9.99998933e-01 -1.55858464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:2.54, Z:-0.16 [[ 9.95174550e-01 -9.81096861e-02 -1.45090410e-03 1.17291828e+02] [ 9.81095432e-02 9.95175607e-01 -1.69537763e-04 2.53834628e+00] [ 1.46053766e-03 2.63721284e-05 9.99998933e-01 -1.55136199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.32, Y:2.54, Z:-0.16 [[ 9.95330886e-01 -9.65107400e-02 -1.45087159e-03 1.17319758e+02] [ 9.65105950e-02 9.95331943e-01 -1.69815473e-04 2.54277016e+00] [ 1.46048786e-03 2.89981041e-05 9.99998933e-01 -1.56265603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:2.55, Z:-0.16 [[ 9.95470823e-01 -9.50564879e-02 -1.45086156e-03 1.17347647e+02] [ 9.50563412e-02 9.95471880e-01 -1.69901140e-04 2.54740124e+00] [ 1.46044209e-03 3.12180359e-05 9.99998933e-01 -1.56253716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:2.55, Z:-0.16 [[ 9.95708042e-01 -9.25385891e-02 -1.45082937e-03 1.17375358e+02] [ 9.25384393e-02 9.95709098e-01 -1.70175581e-04 2.55444772e+00] [ 1.46035181e-03 3.51877089e-05 9.99998933e-01 -1.55373990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:2.56, Z:-0.16 [[ 9.95804488e-01 -9.14948981e-02 -1.45079603e-03 1.17402978e+02] [ 9.14947468e-02 9.95805544e-01 -1.70459337e-04 2.55955544e+00] [ 1.46030689e-03 3.70039571e-05 9.99998933e-01 -1.57790120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:2.56, Z:-0.16 [[ 9.95869807e-01 -9.07811825e-02 -1.45078566e-03 1.17431016e+02] [ 9.07810303e-02 9.95870863e-01 -1.70547577e-04 2.56449572e+00] [ 1.46027768e-03 3.81393663e-05 9.99998933e-01 -1.57685070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.46, Y:2.57, Z:-0.16 [[ 9.95959549e-01 -8.97912705e-02 -1.45075407e-03 1.17458764e+02] [ 8.97911169e-02 9.95960605e-01 -1.70815857e-04 2.57139088e+00] [ 1.46023167e-03 3.98608561e-05 9.99998933e-01 -1.56345248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:2.58, Z:-0.16 [[ 9.95965001e-01 -8.97307759e-02 -1.45072080e-03 1.17485632e+02] [ 8.97306218e-02 9.95966057e-01 -1.71097969e-04 2.57687473e+00] [ 1.46022143e-03 4.02335099e-05 9.99998933e-01 -1.58835167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:2.58, Z:-0.16 [[ 9.95987091e-01 -8.94852471e-02 -1.45070630e-03 1.17511785e+02] [ 8.94850926e-02 9.95988147e-01 -1.71220818e-04 2.58208617e+00] [ 1.46020801e-03 4.07171369e-05 9.99998933e-01 -1.59063506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:2.59, Z:-0.16 [[ 9.95961091e-01 -8.97741633e-02 -1.45069275e-03 1.17539264e+02] [ 8.97740089e-02 9.95962147e-01 -1.71335503e-04 2.58782684e+00] [ 1.46021657e-03 4.04089909e-05 9.99998933e-01 -1.57533410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:2.59, Z:-0.16 [[ 9.95870440e-01 -9.07742423e-02 -1.45066051e-03 1.17566536e+02] [ 9.07740886e-02 9.95871495e-01 -1.71608099e-04 2.59493603e+00] [ 1.46024904e-03 3.92170475e-05 9.99998933e-01 -1.56847250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:2.60, Z:-0.15 [[ 9.95757243e-01 -9.20076527e-02 -1.45065047e-03 1.17594986e+02] [ 9.20075002e-02 9.95758299e-01 -1.71692912e-04 2.59984958e+00] [ 1.46029430e-03 3.74937374e-05 9.99998933e-01 -1.54451799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:2.60, Z:-0.15 [[ 9.95613001e-01 -9.35555926e-02 -1.45062124e-03 1.17622774e+02] [ 9.35554413e-02 9.95614057e-01 -1.71939529e-04 2.60477136e+00] [ 1.46034480e-03 3.54717208e-05 9.99998933e-01 -1.54432628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:2.61, Z:-0.15 [[ 9.95256834e-01 -9.72714278e-02 -1.45061086e-03 1.17649722e+02] [ 9.72712803e-02 9.95257890e-01 -1.72027053e-04 2.61233393e+00] [ 1.46046522e-03 3.01083243e-05 9.99998933e-01 -1.54013201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:2.62, Z:-0.15 [[ 9.95044539e-01 -9.94196208e-02 -1.45060077e-03 1.17677084e+02] [ 9.94194755e-02 9.95045596e-01 -1.72112044e-04 2.61779315e+00] [ 1.46052522e-03 2.70411810e-05 9.99998933e-01 -1.54385212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:2.62, Z:-0.15 [[ 9.94854940e-01 -1.01299278e-01 -1.45056889e-03 1.17704267e+02] [ 1.01299134e-01 9.94855997e-01 -1.72380376e-04 2.62218340e+00] [ 1.46056916e-03 2.45520965e-05 9.99998933e-01 -1.54911919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.73, Y:2.63, Z:-0.16 [[ 9.94711350e-01 -1.02699690e-01 -1.45053656e-03 1.17731821e+02] [ 1.02699547e-01 9.94712407e-01 -1.72651973e-04 2.62578442e+00] [ 1.46059802e-03 2.27694301e-05 9.99998933e-01 -1.56179814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.76, Y:2.63, Z:-0.16 [[ 9.94429530e-01 -1.05393576e-01 -1.45050405e-03 1.17760339e+02] [ 1.05393436e-01 9.94430588e-01 -1.72924629e-04 2.63155495e+00] [ 1.46065074e-03 1.90877522e-05 9.99998933e-01 -1.57759803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:2.64, Z:-0.16 [[ 9.94289210e-01 -1.06709244e-01 -1.45048420e-03 1.17788680e+02] [ 1.06709105e-01 9.94290268e-01 -1.73090900e-04 2.63652019e+00] [ 1.46067273e-03 1.73225426e-05 9.99998933e-01 -1.55777114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:2.64, Z:-0.16 [[ 9.94181588e-01 -1.07707314e-01 -1.45044770e-03 1.17815013e+02] [ 1.07707176e-01 9.94182646e-01 -1.73396266e-04 2.64049224e+00] [ 1.46068598e-03 1.61637493e-05 9.99998933e-01 -1.57431666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:2.64, Z:-0.16 [[ 9.94072745e-01 -1.08707286e-01 -1.45043283e-03 1.17842388e+02] [ 1.08707149e-01 9.94073803e-01 -1.73520541e-04 2.64440236e+00] [ 1.46070023e-03 1.48196223e-05 9.99998933e-01 -1.55549783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:2.65, Z:-0.16 [[ 9.93912360e-01 -1.10164045e-01 -1.45039857e-03 1.17868668e+02] [ 1.10163908e-01 9.93913418e-01 -1.73806475e-04 2.64864632e+00] [ 1.46071782e-03 1.29668292e-05 9.99998933e-01 -1.57996964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.90, Y:2.65, Z:-0.16 [[ 9.93860049e-01 -1.10634979e-01 -1.45037498e-03 1.17896040e+02] [ 1.10634843e-01 9.93861108e-01 -1.74003096e-04 2.65249401e+00] [ 1.46072211e-03 1.24727178e-05 9.99998933e-01 -1.56926440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:2.66, Z:-0.16 [[ 9.93812037e-01 -1.11065441e-01 -1.45034074e-03 1.17923779e+02] [ 1.11065305e-01 9.93813095e-01 -1.74288044e-04 2.65664544e+00] [ 1.46072499e-03 1.21270200e-05 9.99998933e-01 -1.58050918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156000001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:117.95, Y:2.66, Z:-0.16 [[ 9.93749975e-01 -1.11619365e-01 -1.45033012e-03 1.17951485e+02] [ 1.11619230e-01 9.93751034e-01 -1.74376365e-04 2.66103532e+00] [ 1.46073083e-03 1.14017774e-05 9.99998933e-01 -1.57258532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:117.98, Y:2.67, Z:-0.16 [[ 9.93665220e-01 -1.12371384e-01 -1.45029616e-03 1.17979614e+02] [ 1.12371248e-01 9.93666278e-01 -1.74658346e-04 2.66549333e+00] [ 1.46073699e-03 1.05803339e-05 9.99998933e-01 -1.55537316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:2.67, Z:-0.16 [[ 9.93609223e-01 -1.12865442e-01 -1.45026137e-03 1.18005954e+02] [ 1.12865307e-01 9.93610282e-01 -1.74946746e-04 2.66936812e+00] [ 1.46074005e-03 1.01445061e-05 9.99998933e-01 -1.55390932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.03, Y:2.67, Z:-0.16 [[ 9.93551194e-01 -1.13375141e-01 -1.45024630e-03 1.18033182e+02] [ 1.13375006e-01 9.93552252e-01 -1.75071589e-04 2.67284903e+00] [ 1.46074424e-03 9.52090328e-06 9.99998933e-01 -1.55839353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.06, Y:2.68, Z:-0.16 [[ 9.93480761e-01 -1.13990673e-01 -1.45023585e-03 1.18059878e+02] [ 1.13990539e-01 9.93481820e-01 -1.75158107e-04 2.67606569e+00] [ 1.46074934e-03 8.70304464e-06 9.99998933e-01 -1.55412932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:2.68, Z:-0.16 [[ 9.93402897e-01 -1.14667264e-01 -1.45022147e-03 1.18087560e+02] [ 1.14667130e-01 9.93403955e-01 -1.75277067e-04 2.67955508e+00] [ 1.46075429e-03 7.82801223e-06 9.99998933e-01 -1.55755648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:2.68, Z:-0.15 [[ 9.93342601e-01 -1.15188424e-01 -1.45021129e-03 1.18115408e+02] [ 1.15188291e-01 9.93343660e-01 -1.75361253e-04 2.68272771e+00] [ 1.46075778e-03 7.14644260e-06 9.99998933e-01 -1.52328519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.14, Y:2.69, Z:-0.15 [[ 9.93241326e-01 -1.16058460e-01 -1.45017708e-03 1.18143034e+02] [ 1.16058327e-01 9.93242384e-01 -1.75643735e-04 2.68577290e+00] [ 1.46076228e-03 6.15149121e-06 9.99998933e-01 -1.54574137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:2.69, Z:-0.16 [[ 9.93098500e-01 -1.17274323e-01 -1.45016651e-03 1.18169375e+02] [ 1.17274191e-01 9.93099559e-01 -1.75730965e-04 2.68898691e+00] [ 1.46076845e-03 4.45105430e-06 9.99998933e-01 -1.55262687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:2.69, Z:-0.15 [[ 9.92961629e-01 -1.18427618e-01 -1.45015202e-03 1.18197456e+02] [ 1.18427488e-01 9.92962688e-01 -1.75850380e-04 2.69190195e+00] [ 1.46077239e-03 2.87481809e-06 9.99998933e-01 -1.52442098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:2.70, Z:-0.15 [[ 9.92938602e-01 -1.18620532e-01 -1.45011770e-03 1.18225701e+02] [ 1.18620401e-01 9.92939661e-01 -1.76132947e-04 2.69551848e+00] [ 1.46077236e-03 2.87565867e-06 9.99998933e-01 -1.52400494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.25, Y:2.70, Z:-0.15 [[ 9.92832386e-01 -1.19506278e-01 -1.45008343e-03 1.18253722e+02] [ 1.19506147e-01 9.92833445e-01 -1.76414673e-04 2.69790030e+00] [ 1.46077399e-03 1.85631700e-06 9.99998933e-01 -1.52466982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:2.70, Z:-0.15 [[ 9.92625914e-01 -1.21209293e-01 -1.45004912e-03 1.18280673e+02] [ 1.21209164e-01 9.92626973e-01 -1.76696249e-04 2.69974482e+00] [ 1.46077509e-03 -3.65965718e-07 9.99998933e-01 -1.52519661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:2.70, Z:-0.15 [[ 9.92575138e-01 -1.21624395e-01 -1.45003421e-03 1.18307896e+02] [ 1.21624267e-01 9.92576197e-01 -1.76818546e-04 2.70257860e+00] [ 1.46077489e-03 -8.53654447e-07 9.99998933e-01 -1.52289232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:2.71, Z:-0.15 [[ 9.92525167e-01 -1.22031518e-01 -1.45001123e-03 1.18336142e+02] [ 1.22031389e-01 9.92526226e-01 -1.77006756e-04 2.70564768e+00] [ 1.46077458e-03 -1.26322439e-06 9.99998933e-01 -1.50952546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91587156000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:118.36, Y:2.71, Z:-0.15 [[ 9.92525605e-01 -1.22027954e-01 -1.44997690e-03 1.18363507e+02] [ 1.22027826e-01 9.92526664e-01 -1.77287537e-04 2.70824566e+00] [ 1.46077477e-03 -9.75108200e-07 9.99998933e-01 -1.53306243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.39, Y:2.71, Z:-0.15 [[ 9.92632526e-01 -1.21155132e-01 -1.44996624e-03 1.18392719e+02] [ 1.21155002e-01 9.92633585e-01 -1.77374675e-04 2.71121751e+00] [ 1.46077504e-03 3.97209585e-07 9.99998933e-01 -1.54970015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.42, Y:2.71, Z:-0.15 [[ 9.92742021e-01 -1.20254633e-01 -1.44993916e-03 1.18421161e+02] [ 1.20254502e-01 9.92743080e-01 -1.77595790e-04 2.71411092e+00] [ 1.46077378e-03 1.94509260e-06 9.99998933e-01 -1.54557963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:2.72, Z:-0.16 [[ 9.92864477e-01 -1.19239374e-01 -1.44990886e-03 1.18448886e+02] [ 1.19239242e-01 9.92865536e-01 -1.77842820e-04 2.71666897e+00] [ 1.46077040e-03 3.68778642e-06 9.99998933e-01 -1.57701566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:2.72, Z:-0.16 [[ 9.93004035e-01 -1.18071523e-01 -1.44989811e-03 1.18477801e+02] [ 1.18071389e-01 9.93005093e-01 -1.77930381e-04 2.71977549e+00] [ 1.46076472e-03 5.49410329e-06 9.99998933e-01 -1.58563026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:2.72, Z:-0.16 [[ 9.93322333e-01 -1.15363086e-01 -1.44986887e-03 1.18505118e+02] [ 1.15362949e-01 9.93323391e-01 -1.78168334e-04 2.72449657e+00] [ 1.46074271e-03 9.71743741e-06 9.99998933e-01 -1.58928472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:2.73, Z:-0.16 [[ 9.93464976e-01 -1.14128174e-01 -1.44985845e-03 1.18532598e+02] [ 1.14128035e-01 9.93466034e-01 -1.78253049e-04 2.72907579e+00] [ 1.46072882e-03 1.16186644e-05 9.99998933e-01 -1.56525764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:2.73, Z:-0.15 [[ 9.93584562e-01 -1.13082343e-01 -1.44982459e-03 1.18560995e+02] [ 1.13082203e-01 9.93585620e-01 -1.78528091e-04 2.73364565e+00] [ 1.46071323e-03 1.34333968e-05 9.99998933e-01 -1.54049017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:2.74, Z:-0.15 [[ 9.93865436e-01 -1.10586591e-01 -1.44979402e-03 1.18588269e+02] [ 1.10586448e-01 9.93866493e-01 -1.78775986e-04 2.73825344e+00] [ 1.46067192e-03 1.73517022e-05 9.99998933e-01 -1.50745266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.62, Y:2.74, Z:-0.15 [[ 9.93974838e-01 -1.09598903e-01 -1.44978313e-03 1.18616341e+02] [ 1.09598759e-01 9.93975895e-01 -1.78864273e-04 2.74177210e+00] [ 1.46065281e-03 1.88921555e-05 9.99998933e-01 -1.53736455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:2.75, Z:-0.15 [[ 9.94041469e-01 -1.08992922e-01 -1.44977236e-03 1.18643663e+02] [ 1.08992776e-01 9.94042526e-01 -1.78951474e-04 2.74521245e+00] [ 1.46063982e-03 1.98704706e-05 9.99998933e-01 -1.50574685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:2.75, Z:-0.15 [[ 9.94071745e-01 -1.08716436e-01 -1.44973760e-03 1.18670730e+02] [ 1.08716290e-01 9.94072802e-01 -1.79232659e-04 2.74889194e+00] [ 1.46063025e-03 2.05600288e-05 9.99998933e-01 -1.50600223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:2.76, Z:-0.15 [[ 9.94113922e-01 -1.08330088e-01 -1.44972248e-03 1.18697392e+02] [ 1.08329941e-01 9.94114979e-01 -1.79354851e-04 2.75595141e+00] [ 1.46062036e-03 2.12508030e-05 9.99998933e-01 -1.53353936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.72, Y:2.76, Z:-0.15 [[ 9.94119506e-01 -1.08278835e-01 -1.44970756e-03 1.18724855e+02] [ 1.08278689e-01 9.94120563e-01 -1.79475387e-04 2.76151657e+00] [ 1.46061748e-03 2.14475496e-05 9.99998933e-01 -1.50391010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:2.77, Z:-0.15 [[ 9.94090417e-01 -1.08545570e-01 -1.44967328e-03 1.18752565e+02] [ 1.08545423e-01 9.94091474e-01 -1.79751811e-04 2.76670411e+00] [ 1.46061911e-03 2.13341526e-05 9.99998933e-01 -1.49418495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:2.77, Z:-0.15 [[ 9.94008940e-01 -1.09289185e-01 -1.44963865e-03 1.18779822e+02] [ 1.09289039e-01 9.94009997e-01 -1.80030653e-04 2.77332808e+00] [ 1.46063072e-03 2.05224634e-05 9.99998933e-01 -1.47973682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:2.78, Z:-0.15 [[ 9.93949411e-01 -1.09829264e-01 -1.44962791e-03 1.18807021e+02] [ 1.09829118e-01 9.93950468e-01 -1.80117135e-04 2.77909076e+00] [ 1.46064047e-03 1.98159660e-05 9.99998933e-01 -1.46793365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:2.79, Z:-0.15 [[ 9.93910747e-01 -1.10178606e-01 -1.44959367e-03 1.18834417e+02] [ 1.10178460e-01 9.93911804e-01 -1.80392245e-04 2.78517148e+00] [ 1.46064363e-03 1.95797930e-05 9.99998933e-01 -1.45814522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:2.79, Z:-0.15 [[ 9.93917384e-01 -1.10118717e-01 -1.44955814e-03 1.18861587e+02] [ 1.10118570e-01 9.93918441e-01 -1.80677307e-04 2.79444758e+00] [ 1.46063852e-03 1.99550463e-05 9.99998933e-01 -1.47426364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:2.80, Z:-0.15 [[ 9.93889927e-01 -1.10366262e-01 -1.44954712e-03 1.18888615e+02] [ 1.10366116e-01 9.93890984e-01 -1.80765713e-04 2.80049891e+00] [ 1.46064225e-03 1.96803364e-05 9.99998933e-01 -1.48599183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:2.81, Z:-0.15 [[ 9.93830176e-01 -1.10903024e-01 -1.44953629e-03 1.18915238e+02] [ 1.10902878e-01 9.93831233e-01 -1.80852501e-04 2.80663380e+00] [ 1.46065153e-03 1.89789267e-05 9.99998933e-01 -1.49810322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.94, Y:2.81, Z:-0.15 [[ 9.93749654e-01 -1.11622237e-01 -1.44952138e-03 1.18943991e+02] [ 1.11622091e-01 9.93750711e-01 -1.80971938e-04 2.81173836e+00] [ 1.46066339e-03 1.80421926e-05 9.99998933e-01 -1.50955034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:2.82, Z:-0.15 [[ 9.93331278e-01 -1.15286043e-01 -1.44949169e-03 1.18970939e+02] [ 1.15285902e-01 9.93332335e-01 -1.81209403e-04 2.81830422e+00] [ 1.46071788e-03 1.28950118e-05 9.99998933e-01 -1.51135069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:2.82, Z:-0.15 [[ 9.93023916e-01 -1.17904202e-01 -1.44945771e-03 1.18998537e+02] [ 1.17904063e-01 9.93024974e-01 -1.81480799e-04 2.82337742e+00] [ 1.46074505e-03 9.31782038e-06 9.99998933e-01 -1.49397564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:2.83, Z:-0.15 [[ 9.92679090e-01 -1.20773022e-01 -1.44942325e-03 1.19026096e+02] [ 1.20772886e-01 9.92680148e-01 -1.81755627e-04 2.82889535e+00] [ 1.46076486e-03 5.37398244e-06 9.99998933e-01 -1.48211306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.05, Y:2.84, Z:-0.15 [[ 9.92018925e-01 -1.26080735e-01 -1.44938799e-03 1.19052236e+02] [ 1.26080604e-01 9.92019984e-01 -1.82036342e-04 2.83507343e+00] [ 1.46077313e-03 -2.15621682e-06 9.99998933e-01 -1.48084281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:2.84, Z:-0.15 [[ 9.91751768e-01 -1.28165248e-01 -1.44937267e-03 1.19079627e+02] [ 1.28165118e-01 9.91752827e-01 -1.82158246e-04 2.83982921e+00] [ 1.46076580e-03 -5.10325801e-06 9.99998933e-01 -1.46940839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:2.84, Z:-0.14 [[ 9.91578316e-01 -1.29500358e-01 -1.44936190e-03 1.19108241e+02] [ 1.29500230e-01 9.91579375e-01 -1.82243925e-04 2.84433478e+00] [ 1.46075802e-03 -6.98357365e-06 9.99998933e-01 -1.44884470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:2.85, Z:-0.15 [[ 9.91508910e-01 -1.30030690e-01 -1.44933099e-03 1.19135115e+02] [ 1.30030562e-01 9.91509969e-01 -1.82489413e-04 2.84852698e+00] [ 1.46075535e-03 -7.51744482e-06 9.99998933e-01 -1.46276774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:119.16, Y:2.85, Z:-0.14 [[ 9.91713309e-01 -1.28462493e-01 -1.44931563e-03 1.19162949e+02] [ 1.28462363e-01 9.91714368e-01 -1.82611277e-04 2.85307775e+00] [ 1.46076584e-03 -5.08447681e-06 9.99998933e-01 -1.44159822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.19, Y:2.86, Z:-0.14 [[ 9.91921006e-01 -1.26848796e-01 -1.44928048e-03 1.19189998e+02] [ 1.26848664e-01 9.91922065e-01 -1.82889862e-04 2.85816576e+00] [ 1.46077264e-03 -2.42699562e-06 9.99998933e-01 -1.44669726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:2.86, Z:-0.15 [[ 9.92151325e-01 -1.25034587e-01 -1.44926514e-03 1.19217509e+02] [ 1.25034453e-01 9.92152384e-01 -1.83011341e-04 2.86443886e+00] [ 1.46077461e-03 3.66871222e-07 9.99998933e-01 -1.45459029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:2.87, Z:-0.15 [[ 9.92372366e-01 -1.23267951e-01 -1.44923050e-03 1.19244280e+02] [ 1.23267814e-01 9.92373424e-01 -1.83285232e-04 2.87101195e+00] [ 1.46077103e-03 3.24372363e-06 9.99998933e-01 -1.46630440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:2.88, Z:-0.14 [[ 9.92764111e-01 -1.20072147e-01 -1.44921538e-03 1.19271159e+02] [ 1.20072007e-01 9.92765168e-01 -1.83404710e-04 2.87901111e+00] [ 1.46075234e-03 8.06741496e-06 9.99998933e-01 -1.44889804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:2.88, Z:-0.15 [[ 9.92892297e-01 -1.19007508e-01 -1.44918208e-03 1.19297921e+02] [ 1.19007367e-01 9.92893354e-01 -1.83667389e-04 2.88392670e+00] [ 1.46074106e-03 9.89859240e-06 9.99998933e-01 -1.46738367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:2.89, Z:-0.15 [[ 9.92917527e-01 -1.18796821e-01 -1.44916656e-03 1.19325317e+02] [ 1.18796679e-01 9.92918584e-01 -1.83789838e-04 2.88924259e+00] [ 1.46073805e-03 1.03319770e-05 9.99998933e-01 -1.47029510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:2.90, Z:-0.15 [[ 9.92863590e-01 -1.19246771e-01 -1.44913114e-03 1.19352088e+02] [ 1.19246629e-01 9.92864647e-01 -1.84068665e-04 2.89601164e+00] [ 1.46074067e-03 9.95107189e-06 9.99998933e-01 -1.49434843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.38, Y:2.90, Z:-0.15 [[ 9.92759387e-01 -1.20111196e-01 -1.44912013e-03 1.19380818e+02] [ 1.20111055e-01 9.92760445e-01 -1.84155300e-04 2.90061206e+00] [ 1.46074826e-03 8.76655487e-06 9.99998933e-01 -1.47879792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:2.91, Z:-0.15 [[ 9.92632019e-01 -1.21159295e-01 -1.44908839e-03 1.19408151e+02] [ 1.21159155e-01 9.92633077e-01 -1.84404742e-04 2.90583866e+00] [ 1.46075541e-03 7.47572778e-06 9.99998933e-01 -1.48687227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:2.91, Z:-0.15 [[ 9.92385683e-01 -1.23160690e-01 -1.44907718e-03 1.19436264e+02] [ 1.23160551e-01 9.92386741e-01 -1.84492797e-04 2.91364575e+00] [ 1.46076724e-03 4.61886668e-06 9.99998933e-01 -1.49119574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:2.92, Z:-0.15 [[ 9.92261201e-01 -1.24159615e-01 -1.44904593e-03 1.19464135e+02] [ 1.24159477e-01 9.92262259e-01 -1.84737896e-04 2.91853703e+00] [ 1.46077057e-03 3.39546093e-06 9.99998933e-01 -1.51166765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:2.92, Z:-0.15 [[ 9.92142873e-01 -1.25101640e-01 -1.44903481e-03 1.19493087e+02] [ 1.25101504e-01 9.92143931e-01 -1.84825083e-04 2.92271006e+00] [ 1.46077301e-03 2.09645524e-06 9.99998933e-01 -1.49246124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:2.93, Z:-0.15 [[ 9.92028080e-01 -1.26008686e-01 -1.44900411e-03 1.19520451e+02] [ 1.26008550e-01 9.92029138e-01 -1.85065441e-04 2.92648372e+00] [ 1.46077415e-03 1.00320795e-06 9.99998933e-01 -1.47880980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:2.93, Z:-0.15 [[ 9.91941480e-01 -1.26688598e-01 -1.44896833e-03 1.19547686e+02] [ 1.26688463e-01 9.91942538e-01 -1.85345135e-04 2.93091598e+00] [ 1.46077444e-03 2.83956946e-07 9.99998933e-01 -1.48694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:2.94, Z:-0.15 [[ 9.91769819e-01 -1.28025494e-01 -1.44895719e-03 1.19575568e+02] [ 1.28025360e-01 9.91770877e-01 -1.85432182e-04 2.93689562e+00] [ 1.46077359e-03 -1.59722464e-06 9.99998933e-01 -1.46880226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:2.94, Z:-0.15 [[ 9.91686069e-01 -1.28672609e-01 -1.44892691e-03 1.19603575e+02] [ 1.28672475e-01 9.91687128e-01 -1.85668464e-04 2.94105270e+00] [ 1.46077262e-03 -2.31218288e-06 9.99998933e-01 -1.46579974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:2.95, Z:-0.15 [[ 9.91627533e-01 -1.29122952e-01 -1.44889197e-03 1.19630883e+02] [ 1.29122818e-01 9.91628591e-01 -1.85940772e-04 2.94525607e+00] [ 1.46077192e-03 -2.70102491e-06 9.99998933e-01 -1.46666482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:119.66, Y:2.95, Z:-0.15 [[ 9.91637622e-01 -1.29045451e-01 -1.44885708e-03 1.19657878e+02] [ 1.29045317e-01 9.91638680e-01 -1.86212232e-04 2.95067106e+00] [ 1.46077256e-03 -2.31316535e-06 9.99998933e-01 -1.46888781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:2.96, Z:-0.15 [[ 9.91680526e-01 -1.28715324e-01 -1.44884189e-03 1.19685419e+02] [ 1.28715189e-01 9.91681585e-01 -1.86330338e-04 2.95523309e+00] [ 1.46077339e-03 -1.70779009e-06 9.99998933e-01 -1.46399546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:2.96, Z:-0.15 [[ 9.91830751e-01 -1.27552590e-01 -1.44880718e-03 1.19713081e+02] [ 1.27552454e-01 9.91831809e-01 -1.86599861e-04 2.95877272e+00] [ 1.46077434e-03 2.76570078e-07 9.99998933e-01 -1.47593385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:2.97, Z:-0.15 [[ 9.92209916e-01 -1.24568789e-01 -1.44879639e-03 1.19741324e+02] [ 1.24568649e-01 9.92210974e-01 -1.86683542e-04 2.96533275e+00] [ 1.46076662e-03 4.75465194e-06 9.99998933e-01 -1.49549508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.77, Y:2.97, Z:-0.15 [[ 9.92398289e-01 -1.23059080e-01 -1.44876536e-03 1.19770101e+02] [ 1.23058939e-01 9.92399346e-01 -1.86924043e-04 2.97014445e+00] [ 1.46075650e-03 7.21957234e-06 9.99998933e-01 -1.48372639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.80, Y:2.98, Z:-0.15 [[ 9.92566507e-01 -1.21694828e-01 -1.44873279e-03 1.19797859e+02] [ 1.21694685e-01 9.92567564e-01 -1.87176148e-04 2.97523131e+00] [ 1.46074355e-03 9.48169509e-06 9.99998933e-01 -1.48233225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:2.98, Z:-0.15 [[ 9.92718747e-01 -1.20446630e-01 -1.44869558e-03 1.19825471e+02] [ 1.20446484e-01 9.92719804e-01 -1.87463691e-04 2.98031369e+00] [ 1.46072817e-03 1.16084304e-05 9.99998933e-01 -1.50031062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.85, Y:2.99, Z:-0.15 [[ 9.92983861e-01 -1.18241077e-01 -1.44868403e-03 1.19852832e+02] [ 1.18240929e-01 9.92984918e-01 -1.87552907e-04 2.98648690e+00] [ 1.46069785e-03 1.49432644e-05 9.99998933e-01 -1.48867467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:2.99, Z:-0.15 [[ 9.92990324e-01 -1.18186793e-01 -1.44867299e-03 1.19880819e+02] [ 1.18186645e-01 9.92991381e-01 -1.87638191e-04 2.99192918e+00] [ 1.46069614e-03 1.51091084e-05 9.99998933e-01 -1.47229928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:3.00, Z:-0.15 [[ 9.92953137e-01 -1.18498819e-01 -1.44864192e-03 1.19909051e+02] [ 1.18498671e-01 9.92954193e-01 -1.87877694e-04 2.99663642e+00] [ 1.46069836e-03 1.48916032e-05 9.99998933e-01 -1.45969464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.94, Y:3.00, Z:-0.15 [[ 9.92697248e-01 -1.20623696e-01 -1.44861027e-03 1.19936783e+02] [ 1.20623549e-01 9.92698305e-01 -1.88121482e-04 3.00201486e+00] [ 1.46072486e-03 1.20111653e-05 9.99998933e-01 -1.45713090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.96, Y:3.01, Z:-0.15 [[ 9.92674060e-01 -1.20814370e-01 -1.44857398e-03 1.19964979e+02] [ 1.20814224e-01 9.92675117e-01 -1.88400443e-04 3.00586853e+00] [ 1.46072483e-03 1.20118918e-05 9.99998933e-01 -1.45671487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:119.99, Y:3.01, Z:-0.15 [[ 9.92511390e-01 -1.22143534e-01 -1.44853774e-03 1.19992505e+02] [ 1.22143389e-01 9.92512447e-01 -1.88678677e-04 3.01058883e+00] [ 1.46073762e-03 1.03364274e-05 9.99998933e-01 -1.45568661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:3.01, Z:-0.15 [[ 9.92356145e-01 -1.23398476e-01 -1.44850160e-03 1.20019444e+02] [ 1.23398332e-01 9.92357202e-01 -1.88955727e-04 3.01489076e+00] [ 1.46074785e-03 8.76869478e-06 9.99998933e-01 -1.46850210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:3.02, Z:-0.15 [[ 9.92147514e-01 -1.25064836e-01 -1.44848589e-03 1.20046873e+02] [ 1.25064693e-01 9.92148571e-01 -1.89076119e-04 3.01842271e+00] [ 1.46075998e-03 6.43695864e-06 9.99998933e-01 -1.47895893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.07, Y:3.02, Z:-0.15 [[ 9.91857430e-01 -1.27344966e-01 -1.44845033e-03 1.20074817e+02] [ 1.27344825e-01 9.91858488e-01 -1.89348145e-04 3.02212173e+00] [ 1.46077028e-03 3.35371070e-06 9.99998933e-01 -1.46465296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.10, Y:3.03, Z:-0.15 [[ 9.91784495e-01 -1.27911760e-01 -1.44841394e-03 1.20102230e+02] [ 1.27911619e-01 9.91785552e-01 -1.89626100e-04 3.02639896e+00] [ 1.46077142e-03 2.79925351e-06 9.99998933e-01 -1.46244374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:3.03, Z:-0.15 [[ 9.91698716e-01 -1.28575109e-01 -1.44837773e-03 1.20130428e+02] [ 1.28574969e-01 9.91699774e-01 -1.89902231e-04 3.03162396e+00] [ 1.46077257e-03 2.10067610e-06 9.99998933e-01 -1.45406337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:3.04, Z:-0.14 [[ 9.91543944e-01 -1.29763279e-01 -1.44834608e-03 1.20159159e+02] [ 1.29763139e-01 9.91545002e-01 -1.90143317e-04 3.03679547e+00] [ 1.46077394e-03 5.93519859e-07 9.99998933e-01 -1.43666224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:3.04, Z:-0.14 [[ 9.91457857e-01 -1.30419403e-01 -1.44831461e-03 1.20188123e+02] [ 1.30419264e-01 9.91458915e-01 -1.90382694e-04 3.04078125e+00] [ 1.46077403e-03 -1.31708329e-07 9.99998933e-01 -1.42227482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:3.04, Z:-0.14 [[ 9.91408064e-01 -1.30797371e-01 -1.44828239e-03 1.20215423e+02] [ 1.30797232e-01 9.91409122e-01 -1.90627551e-04 3.04423627e+00] [ 1.46077395e-03 -4.41635409e-07 9.99998933e-01 -1.42279051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:3.05, Z:-0.14 [[ 9.91335486e-01 -1.31346323e-01 -1.44827090e-03 1.20243170e+02] [ 1.31346185e-01 9.91336544e-01 -1.90714797e-04 3.04851523e+00] [ 1.46077355e-03 -1.16251028e-06 9.99998933e-01 -1.42196804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.27, Y:3.05, Z:-0.14 [[ 9.91433708e-01 -1.30602851e-01 -1.44823466e-03 1.20270346e+02] [ 1.30602712e-01 9.91434766e-01 -1.90989583e-04 3.05231891e+00] [ 1.46077397e-03 2.10137122e-07 9.99998933e-01 -1.42748029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:3.06, Z:-0.14 [[ 9.91459934e-01 -1.30403610e-01 -1.44822339e-03 1.20297446e+02] [ 1.30403470e-01 9.91460992e-01 -1.91074965e-04 3.05762899e+00] [ 1.46077387e-03 5.89816260e-07 9.99998933e-01 -1.43038192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:3.06, Z:-0.14 [[ 9.91504971e-01 -1.30060740e-01 -1.44818742e-03 1.20325236e+02] [ 1.30060599e-01 9.91506028e-01 -1.91347230e-04 3.06256189e+00] [ 1.46077332e-03 1.36960627e-06 9.99998933e-01 -1.43374912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:3.07, Z:-0.14 [[ 9.91592333e-01 -1.29392997e-01 -1.44815128e-03 1.20352818e+02] [ 1.29392855e-01 9.91593391e-01 -1.91620334e-04 3.06741627e+00] [ 1.46077157e-03 2.62882407e-06 9.99998933e-01 -1.44345239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:3.07, Z:-0.14 [[ 9.91584411e-01 -1.29453693e-01 -1.44811516e-03 1.20380520e+02] [ 1.29453551e-01 9.91585468e-01 -1.91892940e-04 3.07164794e+00] [ 1.46077120e-03 2.81439801e-06 9.99998933e-01 -1.44212246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.41, Y:3.08, Z:-0.15 [[ 9.91562715e-01 -1.29619770e-01 -1.44807790e-03 1.20407724e+02] [ 1.29619628e-01 9.91563773e-01 -1.92173708e-04 3.07510642e+00] [ 1.46077110e-03 2.85296500e-06 9.99998933e-01 -1.46249550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:3.08, Z:-0.15 [[ 9.91518681e-01 -1.29956180e-01 -1.44806636e-03 1.20435069e+02] [ 1.29956037e-01 9.91519738e-01 -1.92260597e-04 3.07917011e+00] [ 1.46077183e-03 2.44500707e-06 9.99998933e-01 -1.46190193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:3.08, Z:-0.15 [[ 9.91240193e-01 -1.32063560e-01 -1.44803001e-03 1.20462139e+02] [ 1.32063419e-01 9.91241250e-01 -1.92533969e-04 3.08354421e+00] [ 1.46077380e-03 -3.84386147e-07 9.99998933e-01 -1.45033290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:3.09, Z:-0.14 [[ 9.91071427e-01 -1.33324151e-01 -1.44801287e-03 1.20490760e+02] [ 1.33324012e-01 9.91072485e-01 -1.92662792e-04 3.08722333e+00] [ 1.46077232e-03 -2.11229626e-06 9.99998933e-01 -1.44258629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:3.09, Z:-0.14 [[ 9.90907886e-01 -1.34534250e-01 -1.44798111e-03 1.20518397e+02] [ 1.34534112e-01 9.90908944e-01 -1.92901219e-04 3.09066567e+00] [ 1.46076925e-03 -3.65551316e-06 9.99998933e-01 -1.43885625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:3.09, Z:-0.14 [[ 9.90721847e-01 -1.35897482e-01 -1.44796982e-03 1.20545875e+02] [ 1.35897345e-01 9.90722905e-01 -1.92985928e-04 3.09458326e+00] [ 1.46076317e-03 -5.57987933e-06 9.99998933e-01 -1.43111902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:120.57, Y:3.10, Z:-0.14 [[ 9.90450579e-01 -1.37860631e-01 -1.44793373e-03 1.20573909e+02] [ 1.37860496e-01 9.90451638e-01 -1.93256357e-04 3.09733466e+00] [ 1.46075077e-03 -8.20199145e-06 9.99998933e-01 -1.42914789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:3.10, Z:-0.14 [[ 9.90386698e-01 -1.38318808e-01 -1.44789922e-03 1.20602108e+02] [ 1.38318673e-01 9.90387756e-01 -1.93514513e-04 3.10000379e+00] [ 1.46074836e-03 -8.61729916e-06 9.99998933e-01 -1.43715106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:120.63, Y:3.10, Z:-0.14 [[ 9.90276339e-01 -1.39106708e-01 -1.44788773e-03 1.20630180e+02] [ 1.39106573e-01 9.90277397e-01 -1.93600470e-04 3.10334619e+00] [ 1.46074162e-03 -9.69273541e-06 9.99998933e-01 -1.41950719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:3.11, Z:-0.15 [[ 9.90245337e-01 -1.39327228e-01 -1.44785069e-03 1.20657163e+02] [ 1.39327094e-01 9.90246395e-01 -1.93877050e-04 3.10740085e+00] [ 1.46074128e-03 -9.73898410e-06 9.99998933e-01 -1.45092462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:3.11, Z:-0.14 [[ 9.90259336e-01 -1.39227695e-01 -1.44783458e-03 1.20685045e+02] [ 1.39227560e-01 9.90260394e-01 -1.93997313e-04 3.11129234e+00] [ 1.46074304e-03 -9.47082530e-06 9.99998933e-01 -1.43554248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:3.11, Z:-0.15 [[ 9.90279475e-01 -1.39084380e-01 -1.44779786e-03 1.20711775e+02] [ 1.39084244e-01 9.90280534e-01 -1.94270979e-04 3.11435873e+00] [ 1.46074609e-03 -8.98330777e-06 9.99998933e-01 -1.45468485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:120.74, Y:3.12, Z:-0.14 [[ 9.90270893e-01 -1.39145473e-01 -1.44777266e-03 1.20739075e+02] [ 1.39145338e-01 9.90271951e-01 -1.94458577e-04 3.11775433e+00] [ 1.46074669e-03 -8.88414713e-06 9.99998933e-01 -1.44162343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:3.12, Z:-0.15 [[ 9.90340034e-01 -1.38652519e-01 -1.44773602e-03 1.20766583e+02] [ 1.38652382e-01 9.90341092e-01 -1.94730957e-04 3.12218129e+00] [ 1.46075241e-03 -7.88218611e-06 9.99998933e-01 -1.46161153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:3.13, Z:-0.15 [[ 9.90350520e-01 -1.38577601e-01 -1.44772465e-03 1.20794637e+02] [ 1.38577464e-01 9.90351578e-01 -1.94815500e-04 3.12630276e+00] [ 1.46075345e-03 -7.68637893e-06 9.99998933e-01 -1.45130472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:3.13, Z:-0.14 [[ 9.90385735e-01 -1.38325705e-01 -1.44769412e-03 1.20822075e+02] [ 1.38325568e-01 9.90386793e-01 -1.95042071e-04 3.13016782e+00] [ 1.46075647e-03 -7.08622629e-06 9.99998933e-01 -1.43870983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.85, Y:3.13, Z:-0.15 [[ 9.90542387e-01 -1.37199429e-01 -1.44765814e-03 1.20849362e+02] [ 1.37199290e-01 9.90543445e-01 -1.95308774e-04 3.13442340e+00] [ 1.46076453e-03 -5.15604973e-06 9.99998933e-01 -1.46231409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:3.14, Z:-0.15 [[ 9.90606380e-01 -1.36736620e-01 -1.44764695e-03 1.20877233e+02] [ 1.36736481e-01 9.90607438e-01 -1.95391707e-04 3.13914031e+00] [ 1.46076703e-03 -4.38987661e-06 9.99998933e-01 -1.45357124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:3.14, Z:-0.15 [[ 9.90660565e-01 -1.36343495e-01 -1.44761057e-03 1.20903822e+02] [ 1.36343355e-01 9.90661623e-01 -1.95660832e-04 3.14391700e+00] [ 1.46076932e-03 -3.53861146e-06 9.99998933e-01 -1.45890243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:3.15, Z:-0.14 [[ 9.90572248e-01 -1.36983673e-01 -1.44759472e-03 1.20932575e+02] [ 1.36983533e-01 9.90573305e-01 -1.95778002e-04 3.14821842e+00] [ 1.46076708e-03 -4.36438442e-06 9.99998933e-01 -1.44755349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:3.15, Z:-0.15 [[ 9.90447324e-01 -1.37884018e-01 -1.44756198e-03 1.20959557e+02] [ 1.37883879e-01 9.90448382e-01 -1.96019800e-04 3.15144946e+00] [ 1.46076342e-03 -5.44817462e-06 9.99998933e-01 -1.45481406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:3.16, Z:-0.14 [[ 9.90285354e-01 -1.39042516e-01 -1.44753609e-03 1.20987714e+02] [ 1.39042378e-01 9.90286412e-01 -1.96210805e-04 3.15532798e+00] [ 1.46075697e-03 -6.96417381e-06 9.99998933e-01 -1.44760565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.01, Y:3.16, Z:-0.14 [[ 9.89912830e-01 -1.41670367e-01 -1.44749989e-03 1.21014984e+02] [ 1.41670231e-01 9.89913889e-01 -1.96477541e-04 3.15973911e+00] [ 1.46073529e-03 -1.05720041e-05 9.99998933e-01 -1.43780225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.04, Y:3.16, Z:-0.14 [[ 9.89689600e-01 -1.43221511e-01 -1.44746281e-03 1.21043116e+02] [ 1.43221377e-01 9.89690658e-01 -1.96750314e-04 3.16311363e+00] [ 1.46071930e-03 -1.25858761e-05 9.99998933e-01 -1.42768764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:3.16, Z:-0.15 [[ 9.89283754e-01 -1.45998492e-01 -1.44742465e-03 1.21070353e+02] [ 1.45998360e-01 9.89284812e-01 -1.97030601e-04 3.16478453e+00] [ 1.46068140e-03 -1.64024526e-05 9.99998933e-01 -1.45303392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:3.17, Z:-0.14 [[ 9.89094020e-01 -1.47278390e-01 -1.44739837e-03 1.21097865e+02] [ 1.47278259e-01 9.89095079e-01 -1.97223517e-04 3.16816972e+00] [ 1.46066136e-03 -1.80977111e-05 9.99998933e-01 -1.44560166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:3.17, Z:-0.14 [[ 9.88959695e-01 -1.48177685e-01 -1.44736045e-03 1.21125201e+02] [ 1.48177555e-01 9.88960754e-01 -1.97501410e-04 3.17103340e+00] [ 1.46064798e-03 -1.91453977e-05 9.99998933e-01 -1.44870839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:3.17, Z:-0.15 [[ 9.88781988e-01 -1.49358913e-01 -1.44734871e-03 1.21152278e+02] [ 1.49358784e-01 9.88783047e-01 -1.97587389e-04 3.17415338e+00] [ 1.46062530e-03 -2.08033917e-05 9.99998933e-01 -1.45220356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:3.18, Z:-0.14 [[ 9.88466012e-01 -1.51435953e-01 -1.44732298e-03 1.21181360e+02] [ 1.51435826e-01 9.88467072e-01 -1.97775697e-04 3.17591203e+00] [ 1.46058146e-03 -2.36819966e-05 9.99998933e-01 -1.42541982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:3.18, Z:-0.14 [[ 9.88343765e-01 -1.52231758e-01 -1.44729005e-03 1.21208098e+02] [ 1.52231632e-01 9.88344824e-01 -1.98016352e-04 3.17845457e+00] [ 1.46056601e-03 -2.46150987e-05 9.99998933e-01 -1.42890710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.24, Y:3.18, Z:-0.14 [[ 9.88210468e-01 -1.53094665e-01 -1.44727375e-03 1.21235703e+02] [ 1.53094539e-01 9.88211527e-01 -1.98135456e-04 3.18106856e+00] [ 1.46054608e-03 -2.57701753e-05 9.99998933e-01 -1.43351499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:3.18, Z:-0.14 [[ 9.88133776e-01 -1.53588889e-01 -1.44723742e-03 1.21263995e+02] [ 1.53588763e-01 9.88134835e-01 -1.98400407e-04 3.18310290e+00] [ 1.46053781e-03 -2.62332628e-05 9.99998933e-01 -1.43023081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.29, Y:3.18, Z:-0.14 [[ 9.88141890e-01 -1.53536674e-01 -1.44719897e-03 1.21290930e+02] [ 1.53536548e-01 9.88142950e-01 -1.98680485e-04 3.18255271e+00] [ 1.46054420e-03 -2.58734234e-05 9.99998933e-01 -1.44891484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:3.19, Z:-0.14 [[ 9.88234505e-01 -1.52939426e-01 -1.44718232e-03 1.21318663e+02] [ 1.52939299e-01 9.88235565e-01 -1.98801683e-04 3.18515166e+00] [ 1.46056166e-03 -2.48683667e-05 9.99998933e-01 -1.44081711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:3.19, Z:-0.14 [[ 9.88386501e-01 -1.51954039e-01 -1.44714476e-03 1.21345234e+02] [ 1.51953910e-01 9.88387560e-01 -1.99074733e-04 3.18781760e+00] [ 1.46059009e-03 -2.31365270e-05 9.99998933e-01 -1.44439191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:3.19, Z:-0.14 [[ 9.88801193e-01 -1.49231720e-01 -1.44711802e-03 1.21374309e+02] [ 1.49231588e-01 9.88802252e-01 -1.99268900e-04 3.18867851e+00] [ 1.46065080e-03 -1.89183940e-05 9.99998933e-01 -1.43548500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:3.19, Z:-0.14 [[ 9.89059870e-01 -1.47507558e-01 -1.44709984e-03 1.21401247e+02] [ 1.47507424e-01 9.89060928e-01 -1.99400846e-04 3.19035718e+00] [ 1.46068305e-03 -1.62385948e-05 9.99998933e-01 -1.44203644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.43, Y:3.19, Z:-0.14 [[ 9.89266880e-01 -1.46112784e-01 -1.44707440e-03 1.21428761e+02] [ 1.46112648e-01 9.89267939e-01 -1.99585333e-04 3.19218598e+00] [ 1.46070628e-03 -1.39927128e-05 9.99998933e-01 -1.43464042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:3.19, Z:-0.14 [[ 9.89628677e-01 -1.43641875e-01 -1.44703728e-03 1.21456595e+02] [ 1.43641737e-01 9.89629735e-01 -1.99854112e-04 3.19278533e+00] [ 1.46073854e-03 -1.00735874e-05 9.99998933e-01 -1.43768911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:3.19, Z:-0.14 [[ 9.89786864e-01 -1.42547783e-01 -1.44699910e-03 1.21484592e+02] [ 1.42547643e-01 9.89787921e-01 -2.00130164e-04 3.19483704e+00] [ 1.46075034e-03 -8.18010291e-06 9.99998933e-01 -1.43388627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:3.20, Z:-0.14 [[ 9.89859306e-01 -1.42043866e-01 -1.44696281e-03 1.21511880e+02] [ 1.42043725e-01 9.89860364e-01 -2.00392157e-04 3.19685021e+00] [ 1.46075561e-03 -7.17194673e-06 9.99998933e-01 -1.43849526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.54, Y:3.20, Z:-0.15 [[ 9.89950970e-01 -1.41403622e-01 -1.44694589e-03 1.21539880e+02] [ 1.41403480e-01 9.89952027e-01 -2.00514270e-04 3.19881952e+00] [ 1.46076046e-03 -6.10388767e-06 9.99998933e-01 -1.45796084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:3.20, Z:-0.15 [[ 9.90108671e-01 -1.40295138e-01 -1.44693389e-03 1.21567527e+02] [ 1.40294995e-01 9.90109728e-01 -2.00600853e-04 3.19962948e+00] [ 1.46076664e-03 -4.38093776e-06 9.99998933e-01 -1.45543417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:3.20, Z:-0.15 [[ 9.90196456e-01 -1.39674210e-01 -1.44689534e-03 1.21595787e+02] [ 1.39674065e-01 9.90197513e-01 -2.00878517e-04 3.20177096e+00] [ 1.46076971e-03 -3.18455807e-06 9.99998933e-01 -1.45787771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:3.20, Z:-0.15 [[ 9.90280657e-01 -1.39075973e-01 -1.44685691e-03 1.21624215e+02] [ 1.39075827e-01 9.90281714e-01 -2.01154907e-04 3.20351219e+00] [ 1.46077176e-03 -2.02300854e-06 9.99998933e-01 -1.45637513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:3.21, Z:-0.15 [[ 9.90402350e-01 -1.38206699e-01 -1.44681728e-03 1.21651133e+02] [ 1.38206552e-01 9.90403407e-01 -2.01439550e-04 3.20515769e+00] [ 1.46077306e-03 -4.53423488e-07 9.99998933e-01 -1.47368780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:3.21, Z:-0.15 [[ 9.90740578e-01 -1.35760867e-01 -1.44678988e-03 1.21679950e+02] [ 1.35760717e-01 9.90741635e-01 -2.01636191e-04 3.20598617e+00] [ 1.46076927e-03 3.35192551e-06 9.99998933e-01 -1.45395242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:3.21, Z:-0.15 [[ 9.90879243e-01 -1.34745064e-01 -1.44675564e-03 1.21706824e+02] [ 1.34744913e-01 9.90880299e-01 -2.01881544e-04 3.20879311e+00] [ 1.46076420e-03 5.09726823e-06 9.99998933e-01 -1.46461310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:3.21, Z:-0.15 [[ 9.90854092e-01 -1.34929889e-01 -1.44672852e-03 1.21734992e+02] [ 1.34929737e-01 9.90855148e-01 -2.02075664e-04 3.21292453e+00] [ 1.46076445e-03 5.02079884e-06 9.99998933e-01 -1.46419709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:3.22, Z:-0.15 [[ 9.90936730e-01 -1.34321648e-01 -1.44669078e-03 1.21762418e+02] [ 1.34321495e-01 9.90937786e-01 -2.02345512e-04 3.21622023e+00] [ 1.46075994e-03 6.18993081e-06 9.99998933e-01 -1.47363193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:3.22, Z:-0.15 [[ 9.90964531e-01 -1.34116391e-01 -1.44665319e-03 1.21790439e+02] [ 1.34116239e-01 9.90965586e-01 -2.02613919e-04 3.21873790e+00] [ 1.46075737e-03 6.76352241e-06 9.99998933e-01 -1.46767035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:3.22, Z:-0.15 [[ 9.90855332e-01 -1.34920783e-01 -1.44661673e-03 1.21817992e+02] [ 1.34920631e-01 9.90856388e-01 -2.02873930e-04 3.22115650e+00] [ 1.46076133e-03 5.84027483e-06 9.99998933e-01 -1.46368516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:3.22, Z:-0.15 [[ 9.90716338e-01 -1.35937649e-01 -1.44657752e-03 1.21845289e+02] [ 1.35937497e-01 9.90717394e-01 -2.03153068e-04 3.22266131e+00] [ 1.46076567e-03 4.62293514e-06 9.99998933e-01 -1.46493029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:3.22, Z:-0.15 [[ 9.90337431e-01 -1.38671125e-01 -1.44655082e-03 1.21873719e+02] [ 1.38670976e-01 9.90338487e-01 -2.03343008e-04 3.22186704e+00] [ 1.46077276e-03 7.83577121e-07 9.99998933e-01 -1.46277876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:121.90, Y:3.22, Z:-0.15 [[ 9.90124164e-01 -1.40185763e-01 -1.44651207e-03 1.21900379e+02] [ 1.40185615e-01 9.90125220e-01 -2.03618327e-04 3.22390205e+00] [ 1.46077247e-03 -1.17275761e-06 9.99998933e-01 -1.46060343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.93, Y:3.23, Z:-0.15 [[ 9.89845668e-01 -1.42138882e-01 -1.44649515e-03 1.21926803e+02] [ 1.42138737e-01 9.89846725e-01 -2.03738412e-04 3.22647743e+00] [ 1.46076764e-03 -3.93340920e-06 9.99998933e-01 -1.46237829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:3.23, Z:-0.15 [[ 9.89576679e-01 -1.43999670e-01 -1.44647845e-03 1.21955000e+02] [ 1.43999526e-01 9.89577736e-01 -2.03856918e-04 3.22880982e+00] [ 1.46075820e-03 -6.56015962e-06 9.99998933e-01 -1.45727892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:3.23, Z:-0.15 [[ 9.89284645e-01 -1.45992460e-01 -1.44644025e-03 1.21983347e+02] [ 1.45992317e-01 9.89285703e-01 -2.04127595e-04 3.22809164e+00] [ 1.46074375e-03 -9.22886941e-06 9.99998933e-01 -1.45954308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:3.23, Z:-0.15 [[ 9.89147561e-01 -1.46918385e-01 -1.44623020e-03 1.22011224e+02] [ 1.46918242e-01 9.89148618e-01 -2.05614963e-04 3.22968667e+00] [ 1.46074522e-03 -9.09405863e-06 9.99998933e-01 -1.46991758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:122.04, Y:3.23, Z:-0.15 [[ 9.89063427e-01 -1.47483709e-01 -1.44639195e-03 1.22039327e+02] [ 1.47483568e-01 9.89064485e-01 -2.04470742e-04 3.23102384e+00] [ 1.46073102e-03 -1.10845124e-05 9.99998933e-01 -1.46994989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:3.23, Z:-0.15 [[ 9.88909069e-01 -1.48515190e-01 -1.44635357e-03 1.22068168e+02] [ 1.48515050e-01 9.88910126e-01 -2.04741887e-04 3.22997797e+00] [ 1.46072097e-03 -1.23341631e-05 9.99998933e-01 -1.45427185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:3.23, Z:-0.15 [[ 9.88885053e-01 -1.48675015e-01 -1.44631898e-03 1.22094788e+02] [ 1.48674874e-01 9.88886111e-01 -2.04985925e-04 3.23104952e+00] [ 1.46072104e-03 -1.23237752e-05 9.99998933e-01 -1.46022717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:3.23, Z:-0.15 [[ 9.88858500e-01 -1.48851517e-01 -1.44630171e-03 1.22121600e+02] [ 1.48851377e-01 9.88859558e-01 -2.05107725e-04 3.23233286e+00] [ 1.46071987e-03 -1.24614833e-05 9.99998933e-01 -1.45743615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:3.23, Z:-0.14 [[ 9.88800085e-01 -1.49239068e-01 -1.44628495e-03 1.22149965e+02] [ 1.49238928e-01 9.88801143e-01 -2.05225865e-04 3.23425026e+00] [ 1.46071592e-03 -1.29146614e-05 9.99998933e-01 -1.44796069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:3.23, Z:-0.14 [[ 9.88789054e-01 -1.49312137e-01 -1.44624631e-03 1.22178567e+02] [ 1.49311996e-01 9.88790112e-01 -2.05497765e-04 3.23260833e+00] [ 1.46071736e-03 -1.27479828e-05 9.99998933e-01 -1.44133852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:3.23, Z:-0.14 [[ 9.88850830e-01 -1.48902469e-01 -1.44620552e-03 1.22206361e+02] [ 1.48902327e-01 9.88851887e-01 -2.05784443e-04 3.23337405e+00] [ 1.46072487e-03 -1.18532505e-05 9.99998933e-01 -1.43890861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.23, Y:3.23, Z:-0.14 [[ 9.88990279e-01 -1.47973429e-01 -1.44616470e-03 1.22233971e+02] [ 1.47973286e-01 9.88991337e-01 -2.06070940e-04 3.23474247e+00] [ 1.46073738e-03 -1.01915855e-05 9.99998933e-01 -1.44409505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:3.23, Z:-0.14 [[ 9.89346254e-01 -1.45574377e-01 -1.44614533e-03 1.22262515e+02] [ 1.45574231e-01 9.89347310e-01 -2.06206717e-04 3.23359532e+00] [ 1.46075841e-03 -6.51165290e-06 9.99998933e-01 -1.44283246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.29, Y:3.23, Z:-0.15 [[ 9.89561379e-01 -1.44104773e-01 -1.44610664e-03 1.22291059e+02] [ 1.44104626e-01 9.89562436e-01 -2.06477727e-04 3.23486111e+00] [ 1.46076723e-03 -4.06827184e-06 9.99998933e-01 -1.45176309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:3.24, Z:-0.15 [[ 9.89813482e-01 -1.42362845e-01 -1.44606777e-03 1.22318111e+02] [ 1.42362694e-01 9.89814538e-01 -2.06749593e-04 3.23589596e+00] [ 1.46077236e-03 -1.22256916e-06 9.99998933e-01 -1.46697612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:3.24, Z:-0.15 [[ 9.90273373e-01 -1.39127842e-01 -1.44605080e-03 1.22346096e+02] [ 1.39127689e-01 9.90274428e-01 -2.06868211e-04 3.23690186e+00] [ 1.46076826e-03 3.67037498e-06 9.99998933e-01 -1.46019858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:122.37, Y:3.24, Z:-0.15 [[ 9.90487574e-01 -1.37594600e-01 -1.44601291e-03 1.22373627e+02] [ 1.37594444e-01 9.90488630e-01 -2.07132706e-04 3.23942590e+00] [ 1.46075969e-03 6.19902860e-06 9.99998933e-01 -1.46038005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:3.24, Z:-0.15 [[ 9.90909878e-01 -1.34519603e-01 -1.44597454e-03 1.22401216e+02] [ 1.34519443e-01 9.90910933e-01 -2.07400276e-04 3.23880450e+00] [ 1.46073138e-03 1.10032923e-05 9.99998933e-01 -1.46151435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:3.24, Z:-0.15 [[ 9.91086292e-01 -1.33213632e-01 -1.44594828e-03 1.22428231e+02] [ 1.33213471e-01 9.91087346e-01 -2.07583163e-04 3.24007856e+00] [ 1.46071395e-03 1.31130378e-05 9.99998933e-01 -1.46200938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:3.24, Z:-0.15 [[ 9.91216095e-01 -1.32244327e-01 -1.44593161e-03 1.22455822e+02] [ 1.32244165e-01 9.91217150e-01 -2.07699205e-04 3.24230840e+00] [ 1.46069925e-03 1.46587767e-05 9.99998933e-01 -1.46944904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:3.25, Z:-0.15 [[ 9.91349608e-01 -1.31239718e-01 -1.44589378e-03 1.22483747e+02] [ 1.31239554e-01 9.91350663e-01 -2.07962258e-04 3.24566961e+00] [ 1.46068066e-03 1.64048490e-05 9.99998933e-01 -1.47880758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:3.25, Z:-0.15 [[ 9.91625509e-01 -1.29138529e-01 -1.44585587e-03 1.22510346e+02] [ 1.29138363e-01 9.91626563e-01 -2.08225449e-04 3.24782186e+00] [ 1.46063902e-03 1.97662075e-05 9.99998933e-01 -1.48034022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:3.25, Z:-0.15 [[ 9.91727549e-01 -1.28352552e-01 -1.44583939e-03 1.22538114e+02] [ 1.28352384e-01 9.91728603e-01 -2.08339812e-04 3.24995047e+00] [ 1.46062123e-03 2.10393979e-05 9.99998933e-01 -1.47325609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:3.25, Z:-0.15 [[ 9.91772787e-01 -1.28002536e-01 -1.44579979e-03 1.22564899e+02] [ 1.28002367e-01 9.91773840e-01 -2.08614248e-04 3.25256029e+00] [ 1.46060957e-03 2.18321376e-05 9.99998933e-01 -1.48064585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:3.26, Z:-0.15 [[ 9.91860673e-01 -1.27319733e-01 -1.44578264e-03 1.22592735e+02] [ 1.27319564e-01 9.91861727e-01 -2.08733048e-04 3.25522834e+00] [ 1.46059231e-03 2.29576858e-05 9.99998933e-01 -1.47725072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:3.26, Z:-0.15 [[ 9.91914927e-01 -1.26896366e-01 -1.44577055e-03 1.22621943e+02] [ 1.26896196e-01 9.91915980e-01 -2.08816805e-04 3.25718056e+00] [ 1.46058100e-03 2.36657224e-05 9.99998933e-01 -1.45284381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:3.26, Z:-0.14 [[ 9.91936424e-01 -1.26728217e-01 -1.44573657e-03 1.22649445e+02] [ 1.26728047e-01 9.91937477e-01 -2.09051765e-04 3.26000564e+00] [ 1.46057304e-03 2.41506882e-05 9.99998933e-01 -1.44505671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.68, Y:3.26, Z:-0.14 [[ 9.91992003e-01 -1.26292425e-01 -1.44569746e-03 1.22676734e+02] [ 1.26292254e-01 9.91993056e-01 -2.09321864e-04 3.26397381e+00] [ 1.46055761e-03 2.50652243e-05 9.99998933e-01 -1.44511107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:3.27, Z:-0.14 [[ 9.92017083e-01 -1.26095269e-01 -1.44565828e-03 1.22704341e+02] [ 1.26095098e-01 9.92018136e-01 -2.09592109e-04 3.26811014e+00] [ 1.46054781e-03 2.56285306e-05 9.99998933e-01 -1.44411382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:3.27, Z:-0.14 [[ 9.92049486e-01 -1.25840088e-01 -1.44561853e-03 1.22731928e+02] [ 1.25839916e-01 9.92050539e-01 -2.09865969e-04 3.27176904e+00] [ 1.46053619e-03 2.62809124e-05 9.99998933e-01 -1.44407220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:3.28, Z:-0.14 [[ 9.92228221e-01 -1.24422939e-01 -1.44557894e-03 1.22759158e+02] [ 1.24422765e-01 9.92229274e-01 -2.10138277e-04 3.27500592e+00] [ 1.46049177e-03 2.86422006e-05 9.99998933e-01 -1.43047943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:3.28, Z:-0.14 [[ 9.92309464e-01 -1.23773330e-01 -1.44556665e-03 1.22786402e+02] [ 1.23773155e-01 9.92310517e-01 -2.10222816e-04 3.28008507e+00] [ 1.46047097e-03 2.96837453e-05 9.99998933e-01 -1.43169955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:3.29, Z:-0.14 [[ 9.92404683e-01 -1.23007545e-01 -1.44552746e-03 1.22813165e+02] [ 1.23007368e-01 9.92405735e-01 -2.10491924e-04 3.28558226e+00] [ 1.46044184e-03 3.10826418e-05 9.99998933e-01 -1.43791529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:122.84, Y:3.29, Z:-0.14 [[ 9.92556492e-01 -1.21776522e-01 -1.44550073e-03 1.22840658e+02] [ 1.21776345e-01 9.92557544e-01 -2.10675341e-04 3.29024354e+00] [ 1.46039796e-03 3.30793824e-05 9.99998933e-01 -1.44181517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:3.30, Z:-0.14 [[ 9.92601361e-01 -1.21410253e-01 -1.44546183e-03 1.22867200e+02] [ 1.21410074e-01 9.92602413e-01 -2.10941874e-04 3.29530648e+00] [ 1.46037941e-03 3.38875628e-05 9.99998933e-01 -1.43580119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:3.30, Z:-0.14 [[ 9.92666645e-01 -1.20875317e-01 -1.44543538e-03 1.22894507e+02] [ 1.20875137e-01 9.92667697e-01 -2.11122961e-04 3.30089824e+00] [ 1.46035657e-03 3.48575209e-05 9.99998933e-01 -1.43659522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:3.31, Z:-0.14 [[ 9.92647085e-01 -1.21035844e-01 -1.44516082e-03 1.22922158e+02] [ 1.21035662e-01 9.92648137e-01 -2.13000306e-04 3.30842225e+00] [ 1.46031687e-03 3.65181368e-05 9.99998933e-01 -1.44087562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:3.31, Z:-0.14 [[ 9.92611156e-01 -1.21330148e-01 -1.44536569e-03 1.22949019e+02] [ 1.21329968e-01 9.92612207e-01 -2.11600913e-04 3.31324163e+00] [ 1.46036120e-03 3.46712541e-05 9.99998933e-01 -1.44634135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:3.32, Z:-0.14 [[ 9.92506048e-01 -1.22186970e-01 -1.44519524e-03 1.22976740e+02] [ 1.22186790e-01 9.92507100e-01 -2.12764155e-04 3.31906851e+00] [ 1.46036354e-03 3.45859445e-05 9.99998933e-01 -1.44170859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:3.33, Z:-0.14 [[ 9.92411105e-01 -1.22955720e-01 -1.44534134e-03 1.23004246e+02] [ 1.22955542e-01 9.92412157e-01 -2.11767917e-04 3.32614966e+00] [ 1.46041239e-03 3.24481051e-05 9.99998933e-01 -1.43373230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:3.34, Z:-0.14 [[ 9.92163768e-01 -1.24935859e-01 -1.44527671e-03 1.23031180e+02] [ 1.24935683e-01 9.92164820e-01 -2.12208113e-04 3.33511650e+00] [ 1.46046511e-03 2.99785695e-05 9.99998933e-01 -1.43797900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:3.34, Z:-0.14 [[ 9.92002755e-01 -1.26207948e-01 -1.44523648e-03 1.23057674e+02] [ 1.26207773e-01 9.92003807e-01 -2.12481744e-04 3.34054681e+00] [ 1.46049697e-03 2.83823986e-05 9.99998933e-01 -1.44806191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:3.35, Z:-0.15 [[ 9.91876047e-01 -1.27199917e-01 -1.44521896e-03 1.23084414e+02] [ 1.27199742e-01 9.91877099e-01 -2.12600818e-04 3.34634888e+00] [ 1.46052240e-03 2.70421802e-05 9.99998933e-01 -1.45980696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:3.35, Z:-0.14 [[ 9.91749111e-01 -1.28185852e-01 -1.44520149e-03 1.23111542e+02] [ 1.28185678e-01 9.91750163e-01 -2.12719504e-04 3.35339399e+00] [ 1.46054644e-03 2.57102463e-05 9.99998933e-01 -1.43600326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.14, Y:3.36, Z:-0.14 [[ 9.91546104e-01 -1.29746811e-01 -1.44515969e-03 1.23137658e+02] [ 1.29746638e-01 9.91547157e-01 -2.13003071e-04 3.36242566e+00] [ 1.46058046e-03 2.36977532e-05 9.99998933e-01 -1.44434463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.17, Y:3.37, Z:-0.14 [[ 9.91452684e-01 -1.30458755e-01 -1.44514147e-03 1.23165379e+02] [ 1.30458583e-01 9.91453737e-01 -2.13126626e-04 3.36863226e+00] [ 1.46059515e-03 2.27738571e-05 9.99998933e-01 -1.44062448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:3.38, Z:-0.14 [[ 9.91338729e-01 -1.31321878e-01 -1.44509990e-03 1.23192947e+02] [ 1.31321706e-01 9.91339782e-01 -2.13408167e-04 3.37556189e+00] [ 1.46061018e-03 2.17867973e-05 9.99998933e-01 -1.44298559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.22, Y:3.38, Z:-0.14 [[ 9.91111804e-01 -1.33023696e-01 -1.44505811e-03 1.23219634e+02] [ 1.33023525e-01 9.91112857e-01 -2.13690704e-04 3.38489902e+00] [ 1.46064160e-03 1.95646542e-05 9.99998933e-01 -1.44525590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:3.39, Z:-0.14 [[ 9.90938367e-01 -1.34309583e-01 -1.44501648e-03 1.23247281e+02] [ 1.34309414e-01 9.90939421e-01 -2.13971872e-04 3.39117865e+00] [ 1.46066227e-03 1.79536205e-05 9.99998933e-01 -1.44506332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:3.40, Z:-0.14 [[ 9.90748974e-01 -1.35699602e-01 -1.44497462e-03 1.23273626e+02] [ 1.35699433e-01 9.90750028e-01 -2.14254177e-04 3.39650678e+00] [ 1.46068285e-03 1.61898684e-05 9.99998933e-01 -1.44700838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:3.40, Z:-0.15 [[ 9.90434215e-01 -1.37978179e-01 -1.44494584e-03 1.23299779e+02] [ 1.37978013e-01 9.90435269e-01 -2.14448081e-04 3.40347118e+00] [ 1.46071448e-03 1.30259601e-05 9.99998933e-01 -1.45459254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:3.41, Z:-0.15 [[ 9.90311834e-01 -1.38853822e-01 -1.44492787e-03 1.23326827e+02] [ 1.38853657e-01 9.90312888e-01 -2.14569098e-04 3.40922536e+00] [ 1.46072443e-03 1.18567983e-05 9.99998933e-01 -1.45831217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:3.42, Z:-0.15 [[ 9.90231216e-01 -1.39427581e-01 -1.44488755e-03 1.23354307e+02] [ 1.39427416e-01 9.90232271e-01 -2.14840256e-04 3.41519149e+00] [ 1.46072894e-03 1.12845903e-05 9.99998933e-01 -1.46330085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:3.42, Z:-0.15 [[ 9.90249714e-01 -1.39296145e-01 -1.44484702e-03 1.23380817e+02] [ 1.39295979e-01 9.90250768e-01 -2.15112537e-04 3.42388142e+00] [ 1.46072522e-03 1.17537483e-05 9.99998933e-01 -1.46467022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.41, Y:3.43, Z:-0.15 [[ 9.90332335e-01 -1.38707529e-01 -1.44480467e-03 1.23407800e+02] [ 1.38707362e-01 9.90333389e-01 -2.15396615e-04 3.43071464e+00] [ 1.46071543e-03 1.29091886e-05 9.99998933e-01 -1.45897408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.43, Y:3.44, Z:-0.15 [[ 9.90414378e-01 -1.38120501e-01 -1.44476212e-03 1.23434217e+02] [ 1.38120333e-01 9.90415432e-01 -2.15681586e-04 3.43744941e+00] [ 1.46070475e-03 1.40631179e-05 9.99998933e-01 -1.46765733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.46, Y:3.44, Z:-0.15 [[ 9.90387732e-01 -1.38311437e-01 -1.44474363e-03 1.23462351e+02] [ 1.38311269e-01 9.90388785e-01 -2.15805373e-04 3.44184491e+00] [ 1.46070624e-03 1.39066687e-05 9.99998933e-01 -1.46724134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:3.45, Z:-0.15 [[ 9.90488284e-01 -1.37589507e-01 -1.44470198e-03 1.23489242e+02] [ 1.37589338e-01 9.90489337e-01 -2.16083892e-04 3.45062083e+00] [ 1.46069278e-03 1.52529744e-05 9.99998933e-01 -1.47537325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:3.46, Z:-0.15 [[ 9.90489320e-01 -1.37582051e-01 -1.44465972e-03 1.23515691e+02] [ 1.37581881e-01 9.90490373e-01 -2.16366039e-04 3.45638567e+00] [ 1.46068963e-03 1.55492487e-05 9.99998933e-01 -1.48946617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:123.54, Y:3.46, Z:-0.15 [[ 9.90452668e-01 -1.37845657e-01 -1.44464130e-03 1.23543454e+02] [ 1.37845488e-01 9.90453722e-01 -2.16488934e-04 3.46159052e+00] [ 1.46069241e-03 1.52847568e-05 9.99998933e-01 -1.49220427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:3.47, Z:-0.15 [[ 9.90246432e-01 -1.39319478e-01 -1.44460011e-03 1.23570726e+02] [ 1.39319310e-01 9.90247486e-01 -2.16763482e-04 3.46994099e+00] [ 1.46071100e-03 1.33885744e-05 9.99998933e-01 -1.51880982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:3.48, Z:-0.15 [[ 9.90168653e-01 -1.39871200e-01 -1.44458078e-03 1.23598324e+02] [ 1.39871033e-01 9.90169706e-01 -2.16892165e-04 3.47680302e+00] [ 1.46071710e-03 1.27048164e-05 9.99998933e-01 -1.50723008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:3.48, Z:-0.15 [[ 9.90105725e-01 -1.40315950e-01 -1.44453996e-03 1.23625225e+02] [ 1.40315783e-01 9.90106779e-01 -2.17163744e-04 3.48290443e+00] [ 1.46072034e-03 1.23233120e-05 9.99998933e-01 -1.50280703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:3.49, Z:-0.15 [[ 9.90015053e-01 -1.40954276e-01 -1.44452727e-03 1.23652842e+02] [ 1.40954109e-01 9.90016107e-01 -2.17248077e-04 3.48861069e+00] [ 1.46072731e-03 1.14668123e-05 9.99998933e-01 -1.49023444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:123.68, Y:3.49, Z:-0.15 [[ 9.89905939e-01 -1.41718541e-01 -1.44448655e-03 1.23681092e+02] [ 1.41718374e-01 9.89906993e-01 -2.17518542e-04 3.49439746e+00] [ 1.46073374e-03 1.06126115e-05 9.99998933e-01 -1.47708035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.71, Y:3.50, Z:-0.15 [[ 9.89847389e-01 -1.42126917e-01 -1.44445100e-03 1.23708401e+02] [ 1.42126751e-01 9.89848443e-01 -2.17754304e-04 3.49949381e+00] [ 1.46073632e-03 1.02484009e-05 9.99998933e-01 -1.47830767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:3.50, Z:-0.15 [[ 9.89818925e-01 -1.42325013e-01 -1.44440993e-03 1.23736341e+02] [ 1.42324846e-01 9.89819979e-01 -2.18026392e-04 3.50466543e+00] [ 1.46073642e-03 1.02312271e-05 9.99998933e-01 -1.47539680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:3.51, Z:-0.15 [[ 9.89883798e-01 -1.41873115e-01 -1.44436686e-03 1.23762751e+02] [ 1.41872947e-01 9.89884851e-01 -2.18311405e-04 3.51182878e+00] [ 1.46072939e-03 1.11863403e-05 9.99998933e-01 -1.47116961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:3.52, Z:-0.15 [[ 9.89970561e-01 -1.41266423e-01 -1.44434809e-03 1.23789226e+02] [ 1.41266255e-01 9.89971615e-01 -2.18435507e-04 3.51783382e+00] [ 1.46072121e-03 1.22070764e-05 9.99998933e-01 -1.47250492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:3.52, Z:-0.15 [[ 9.90065935e-01 -1.40596438e-01 -1.44431897e-03 1.23817009e+02] [ 1.40596269e-01 9.90066988e-01 -2.18627850e-04 3.52357792e+00] [ 1.46071083e-03 1.33901285e-05 9.99998933e-01 -1.46941966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:3.53, Z:-0.15 [[ 9.90255930e-01 -1.39251957e-01 -1.44427753e-03 1.23844394e+02] [ 1.39251786e-01 9.90256983e-01 -2.18901253e-04 3.52923948e+00] [ 1.46068834e-03 1.56500385e-05 9.99998933e-01 -1.48772872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:3.53, Z:-0.15 [[ 9.90295944e-01 -1.38967112e-01 -1.44426468e-03 1.23871522e+02] [ 1.38966940e-01 9.90296997e-01 -2.18985996e-04 3.53418980e+00] [ 1.46068283e-03 1.61558998e-05 9.99998933e-01 -1.48296763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:3.54, Z:-0.15 [[ 9.90356268e-01 -1.38536553e-01 -1.44422189e-03 1.23897584e+02] [ 1.38536380e-01 9.90357321e-01 -2.19267891e-04 3.53952454e+00] [ 1.46067234e-03 1.70760577e-05 9.99998933e-01 -1.49269969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:3.55, Z:-0.15 [[ 9.90434478e-01 -1.37976299e-01 -1.44419231e-03 1.23924908e+02] [ 1.37976126e-01 9.90435531e-01 -2.19462509e-04 3.54649362e+00] [ 1.46066000e-03 1.80991748e-05 9.99998933e-01 -1.48939541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:3.55, Z:-0.15 [[ 9.90469359e-01 -1.37725683e-01 -1.44415093e-03 1.23951988e+02] [ 1.37725509e-01 9.90470411e-01 -2.19734458e-04 3.55210891e+00] [ 1.46065185e-03 1.87438256e-05 9.99998933e-01 -1.49453807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:3.56, Z:-0.15 [[ 9.90566960e-01 -1.37021939e-01 -1.44410891e-03 1.23978489e+02] [ 1.37021764e-01 9.90568013e-01 -2.20010277e-04 3.55976803e+00] [ 1.46063433e-03 2.00605609e-05 9.99998933e-01 -1.50554915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:3.57, Z:-0.15 [[ 9.90617947e-01 -1.36652833e-01 -1.44409587e-03 1.24005703e+02] [ 1.36652657e-01 9.90619000e-01 -2.20095854e-04 3.56547088e+00] [ 1.46062553e-03 2.06913655e-05 9.99998933e-01 -1.51340774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:3.57, Z:-0.15 [[ 9.90617409e-01 -1.36656735e-01 -1.44408299e-03 1.24033185e+02] [ 1.36656560e-01 9.90618461e-01 -2.20180335e-04 3.57111322e+00] [ 1.46062439e-03 2.07710603e-05 9.99998933e-01 -1.50009982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:3.58, Z:-0.15 [[ 9.90612838e-01 -1.36689867e-01 -1.44404136e-03 1.24060569e+02] [ 1.36689691e-01 9.90613890e-01 -2.20453000e-04 3.57588359e+00] [ 1.46062112e-03 2.09980048e-05 9.99998933e-01 -1.50145384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:3.58, Z:-0.15 [[ 9.90534451e-01 -1.37256750e-01 -1.44399993e-03 1.24087506e+02] [ 1.37256574e-01 9.90535504e-01 -2.20724035e-04 3.58168942e+00] [ 1.46062906e-03 2.04362779e-05 9.99998933e-01 -1.50020823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:3.59, Z:-0.15 [[ 9.90454422e-01 -1.37833062e-01 -1.44395845e-03 1.24113646e+02] [ 1.37832886e-01 9.90455474e-01 -2.20995063e-04 3.58731502e+00] [ 1.46063698e-03 1.98605772e-05 9.99998933e-01 -1.49849250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:3.59, Z:-0.15 [[ 9.90405033e-01 -1.38187499e-01 -1.44392986e-03 1.24140942e+02] [ 1.38187323e-01 9.90406086e-01 -2.21181704e-04 3.59311603e+00] [ 1.46064147e-03 1.95266704e-05 9.99998933e-01 -1.50440332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:3.60, Z:-0.15 [[ 9.90346289e-01 -1.38607875e-01 -1.44388892e-03 1.24168572e+02] [ 1.38607700e-01 9.90347341e-01 -2.21448652e-04 3.59885629e+00] [ 1.46064608e-03 1.91767291e-05 9.99998933e-01 -1.50892722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:3.60, Z:-0.15 [[ 9.90315761e-01 -1.38825822e-01 -1.44384711e-03 1.24196537e+02] [ 1.38825646e-01 9.90316813e-01 -2.21720944e-04 3.60400454e+00] [ 1.46064666e-03 1.91307387e-05 9.99998933e-01 -1.53240660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:3.61, Z:-0.15 [[ 9.90226408e-01 -1.39461734e-01 -1.44381074e-03 1.24222972e+02] [ 1.39461559e-01 9.90227461e-01 -2.21957480e-04 3.60827936e+00] [ 1.46065562e-03 1.84320607e-05 9.99998933e-01 -1.54837591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:3.61, Z:-0.15 [[ 9.90144328e-01 -1.40043301e-01 -1.44379264e-03 1.24250738e+02] [ 1.40043126e-01 9.90145380e-01 -2.22075174e-04 3.61332385e+00] [ 1.46066475e-03 1.76932390e-05 9.99998933e-01 -1.52854009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:3.62, Z:-0.15 [[ 9.90090687e-01 -1.40422033e-01 -1.44374967e-03 1.24277696e+02] [ 1.40421858e-01 9.90091739e-01 -2.22354164e-04 3.62031178e+00] [ 1.46066805e-03 1.74167754e-05 9.99998933e-01 -1.52368492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.31, Y:3.63, Z:-0.15 [[ 9.90087929e-01 -1.40441479e-01 -1.44373636e-03 1.24306232e+02] [ 1.40441304e-01 9.90088981e-01 -2.22440580e-04 3.62615218e+00] [ 1.46066734e-03 1.74755171e-05 9.99998933e-01 -1.50253681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:3.63, Z:-0.15 [[ 9.90131662e-01 -1.40132820e-01 -1.44369849e-03 1.24334088e+02] [ 1.40132645e-01 9.90132714e-01 -2.22686059e-04 3.63213233e+00] [ 1.46065873e-03 1.81792292e-05 9.99998933e-01 -1.48402101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.36, Y:3.64, Z:-0.15 [[ 9.90129696e-01 -1.40146713e-01 -1.44366010e-03 1.24360653e+02] [ 1.40146537e-01 9.90130748e-01 -2.22934723e-04 3.63678597e+00] [ 1.46065582e-03 1.84103261e-05 9.99998933e-01 -1.48764573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:3.64, Z:-0.15 [[ 9.90174741e-01 -1.39828099e-01 -1.44364109e-03 1.24388427e+02] [ 1.39827923e-01 9.90175794e-01 -2.23057725e-04 3.64215810e+00] [ 1.46064820e-03 1.90047906e-05 9.99998933e-01 -1.48561984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:3.65, Z:-0.15 [[ 9.90169538e-01 -1.39864942e-01 -1.44362800e-03 1.24416221e+02] [ 1.39864765e-01 9.90170590e-01 -2.23142383e-04 3.64782017e+00] [ 1.46064779e-03 1.90360991e-05 9.99998933e-01 -1.47828935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:124.44, Y:3.65, Z:-0.15 [[ 9.90272383e-01 -1.39134909e-01 -1.44358517e-03 1.24442649e+02] [ 1.39134731e-01 9.90273435e-01 -2.23419158e-04 3.65417661e+00] [ 1.46062945e-03 2.03929883e-05 9.99998933e-01 -1.47835442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:3.66, Z:-0.15 [[ 9.90368890e-01 -1.38446301e-01 -1.44355506e-03 1.24469860e+02] [ 1.38446122e-01 9.90369942e-01 -2.23613509e-04 3.65978336e+00] [ 1.46061201e-03 2.16052625e-05 9.99998933e-01 -1.47676779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:3.67, Z:-0.15 [[ 9.90460619e-01 -1.37788531e-01 -1.44351221e-03 1.24496911e+02] [ 1.37788351e-01 9.90461670e-01 -2.23889811e-04 3.66539904e+00] [ 1.46059296e-03 2.28548729e-05 9.99998933e-01 -1.47066935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:3.67, Z:-0.15 [[ 9.90704227e-01 -1.36025920e-01 -1.44346849e-03 1.24523313e+02] [ 1.36025738e-01 9.90705278e-01 -2.24171296e-04 3.67375937e+00] [ 1.46054496e-03 2.57385845e-05 9.99998933e-01 -1.47431543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:3.68, Z:-0.15 [[ 9.90783463e-01 -1.35447576e-01 -1.44343826e-03 1.24549494e+02] [ 1.35447393e-01 9.90784514e-01 -2.24365813e-04 3.67946692e+00] [ 1.46052608e-03 2.67879885e-05 9.99998933e-01 -1.48446090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:3.69, Z:-0.15 [[ 9.90833520e-01 -1.35080908e-01 -1.44341948e-03 1.24576562e+02] [ 1.35080725e-01 9.90834571e-01 -2.24486551e-04 3.68539517e+00] [ 1.46051377e-03 2.74506499e-05 9.99998933e-01 -1.47416547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:3.69, Z:-0.15 [[ 9.90827646e-01 -1.35123990e-01 -1.44337612e-03 1.24603833e+02] [ 1.35123806e-01 9.90828697e-01 -2.24765023e-04 3.69140914e+00] [ 1.46050962e-03 2.76689250e-05 9.99998933e-01 -1.48073066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:3.70, Z:-0.15 [[ 9.90787438e-01 -1.35418501e-01 -1.44336265e-03 1.24630854e+02] [ 1.35418317e-01 9.90788488e-01 -2.24851441e-04 3.69928412e+00] [ 1.46051615e-03 2.73222423e-05 9.99998933e-01 -1.47354207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:3.71, Z:-0.15 [[ 9.90680341e-01 -1.36199776e-01 -1.44332081e-03 1.24658617e+02] [ 1.36199592e-01 9.90681392e-01 -2.25119705e-04 3.70515337e+00] [ 1.46053232e-03 2.64419602e-05 9.99998933e-01 -1.47649426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.69, Y:3.71, Z:-0.15 [[ 9.90541837e-01 -1.37203449e-01 -1.44327770e-03 1.24686340e+02] [ 1.37203266e-01 9.90542888e-01 -2.25395756e-04 3.71020707e+00] [ 1.46055354e-03 2.52415114e-05 9.99998933e-01 -1.47773232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:3.72, Z:-0.15 [[ 9.90189193e-01 -1.39725729e-01 -1.44323481e-03 1.24712384e+02] [ 1.39725549e-01 9.90190244e-01 -2.25670090e-04 3.71562699e+00] [ 1.46060894e-03 2.17993092e-05 9.99998933e-01 -1.49288176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:3.72, Z:-0.15 [[ 9.90024870e-01 -1.40885320e-01 -1.44320515e-03 1.24739684e+02] [ 1.40885140e-01 9.90025922e-01 -2.25859574e-04 3.72145631e+00] [ 1.46063081e-03 2.02804362e-05 9.99998933e-01 -1.48088201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:3.73, Z:-0.15 [[ 9.89891611e-01 -1.41818602e-01 -1.44316171e-03 1.24765792e+02] [ 1.41818423e-01 9.89892663e-01 -2.26136822e-04 3.72670529e+00] [ 1.46064559e-03 1.91840251e-05 9.99998933e-01 -1.49479681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:3.73, Z:-0.15 [[ 9.89721540e-01 -1.43000670e-01 -1.44313184e-03 1.24793663e+02] [ 1.43000492e-01 9.89722591e-01 -2.26327246e-04 3.73238984e+00] [ 1.46066514e-03 1.76323870e-05 9.99998933e-01 -1.49574789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:3.74, Z:-0.15 [[ 9.89442273e-01 -1.44920347e-01 -1.44308910e-03 1.24820636e+02] [ 1.44920170e-01 9.89443325e-01 -2.26599440e-04 3.73865000e+00] [ 1.46069375e-03 1.50743469e-05 9.99998933e-01 -1.49720912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:3.74, Z:-0.15 [[ 9.89284288e-01 -1.45994917e-01 -1.44307580e-03 1.24848151e+02] [ 1.45994742e-01 9.89285340e-01 -2.26684136e-04 3.74372320e+00] [ 1.46070846e-03 1.35735763e-05 9.99998933e-01 -1.48795041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:3.75, Z:-0.15 [[ 9.89111690e-01 -1.47159716e-01 -1.44303205e-03 1.24876949e+02] [ 1.47159542e-01 9.89112743e-01 -2.26962286e-04 3.74817280e+00] [ 1.46072109e-03 1.21351156e-05 9.99998933e-01 -1.50112838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:3.75, Z:-0.15 [[ 9.88809647e-01 -1.49175737e-01 -1.44299377e-03 1.24904340e+02] [ 1.49175564e-01 9.88810699e-01 -2.27205389e-04 3.75188627e+00] [ 1.46074121e-03 9.40347027e-06 9.99998933e-01 -1.52193672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:3.76, Z:-0.15 [[ 9.88652748e-01 -1.50212055e-01 -1.44298016e-03 1.24931297e+02] [ 1.50211884e-01 9.88653801e-01 -2.27291784e-04 3.75736765e+00] [ 1.46074979e-03 7.95987887e-06 9.99998933e-01 -1.51461776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:3.76, Z:-0.15 [[ 9.88600087e-01 -1.50558250e-01 -1.44293725e-03 1.24958982e+02] [ 1.50558078e-01 9.88601140e-01 -2.27563905e-04 3.76315293e+00] [ 1.46075103e-03 7.72383723e-06 9.99998933e-01 -1.51384298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:124.99, Y:3.77, Z:-0.15 [[ 9.88619725e-01 -1.50429245e-01 -1.44289454e-03 1.24985761e+02] [ 1.50429072e-01 9.88620778e-01 -2.27834358e-04 3.76825803e+00] [ 1.46074848e-03 8.18825206e-06 9.99998933e-01 -1.52417228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:3.77, Z:-0.15 [[ 9.88752227e-01 -1.49555851e-01 -1.44286500e-03 1.25014051e+02] [ 1.49555677e-01 9.88753279e-01 -2.28021316e-04 3.77405828e+00] [ 1.46073942e-03 9.66793218e-06 9.99998933e-01 -1.50157975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:3.78, Z:-0.15 [[ 9.88780695e-01 -1.49367520e-01 -1.44282791e-03 1.25041229e+02] [ 1.49367346e-01 9.88781747e-01 -2.28255735e-04 3.77885487e+00] [ 1.46073590e-03 1.01834880e-05 9.99998933e-01 -1.50055367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:3.78, Z:-0.15 [[ 9.88774755e-01 -1.49406838e-01 -1.44278555e-03 1.25069229e+02] [ 1.49406663e-01 9.88775807e-01 -2.28523187e-04 3.78353439e+00] [ 1.46073437e-03 1.03961828e-05 9.99998933e-01 -1.50637589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:3.79, Z:-0.15 [[ 9.88663284e-01 -1.50142694e-01 -1.44274326e-03 1.25096527e+02] [ 1.50142520e-01 9.88664337e-01 -2.28789879e-04 3.78851294e+00] [ 1.46073994e-03 9.57904447e-06 9.99998933e-01 -1.50020609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:3.79, Z:-0.15 [[ 9.88569986e-01 -1.50755765e-01 -1.44269925e-03 1.25123676e+02] [ 1.50755592e-01 9.88571039e-01 -2.29067038e-04 3.79335905e+00] [ 1.46074388e-03 8.95381972e-06 9.99998933e-01 -1.51401744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:3.80, Z:-0.15 [[ 9.88408497e-01 -1.51810941e-01 -1.44268554e-03 1.25151120e+02] [ 1.51810768e-01 9.88409550e-01 -2.29153343e-04 3.79785790e+00] [ 1.46075215e-03 7.48191059e-06 9.99998933e-01 -1.51209143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:3.80, Z:-0.15 [[ 9.88306505e-01 -1.52473512e-01 -1.44264367e-03 1.25177334e+02] [ 1.52473339e-01 9.88307557e-01 -2.29416678e-04 3.80121662e+00] [ 1.46075561e-03 6.76929750e-06 9.99998933e-01 -1.52329651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:3.81, Z:-0.15 [[ 9.88280336e-01 -1.52643040e-01 -1.44241200e-03 1.25205412e+02] [ 1.52642866e-01 9.88281388e-01 -2.30872494e-04 3.80587071e+00] [ 1.46075001e-03 7.99284460e-06 9.99998933e-01 -1.52287894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:3.81, Z:-0.15 [[ 9.88010734e-01 -1.54378459e-01 -1.44238296e-03 1.25234493e+02] [ 1.54378287e-01 9.88011787e-01 -2.31054830e-04 3.81006183e+00] [ 1.46076125e-03 5.61204214e-06 9.99998933e-01 -1.52233600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:125.26, Y:3.81, Z:-0.15 [[ 9.87936394e-01 -1.54853478e-01 -1.44257337e-03 1.25262601e+02] [ 1.54853308e-01 9.87937448e-01 -2.29859813e-04 3.81451043e+00] [ 1.46076685e-03 3.69961742e-06 9.99998933e-01 -1.51636241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:3.82, Z:-0.15 [[ 9.87913399e-01 -1.55000113e-01 -1.44253322e-03 1.25290227e+02] [ 1.54999942e-01 9.87914452e-01 -2.30111527e-04 3.81855978e+00] [ 1.46076673e-03 3.73769548e-06 9.99998933e-01 -1.54379442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:3.82, Z:-0.15 [[ 9.87913551e-01 -1.54999145e-01 -1.44233286e-03 1.25318477e+02] [ 1.54998973e-01 9.87914604e-01 -2.31366934e-04 3.82348407e+00] [ 1.46076337e-03 5.01041701e-06 9.99998933e-01 -1.52181840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.35, Y:3.83, Z:-0.15 [[ 9.87971385e-01 -1.54630081e-01 -1.44248869e-03 1.25346338e+02] [ 1.54629910e-01 9.87972438e-01 -2.30391303e-04 3.82799561e+00] [ 1.46076449e-03 4.56811881e-06 9.99998933e-01 -1.51604750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:3.83, Z:-0.15 [[ 9.88104297e-01 -1.53778468e-01 -1.44244421e-03 1.25372955e+02] [ 1.53778295e-01 9.88105350e-01 -2.30669433e-04 3.83175108e+00] [ 1.46075883e-03 6.10884681e-06 9.99998933e-01 -1.52936531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:3.84, Z:-0.15 [[ 9.88383461e-01 -1.51973856e-01 -1.44242490e-03 1.25399486e+02] [ 1.51973681e-01 9.88384514e-01 -2.30790130e-04 3.83680114e+00] [ 1.46074450e-03 8.89852700e-06 9.99998933e-01 -1.53095933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:3.84, Z:-0.15 [[ 9.88531820e-01 -1.51005827e-01 -1.44240628e-03 1.25426739e+02] [ 1.51005651e-01 9.88532873e-01 -2.30906462e-04 3.84267914e+00] [ 1.46073424e-03 1.04468872e-05 9.99998933e-01 -1.51972594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:3.85, Z:-0.15 [[ 9.88720519e-01 -1.49765331e-01 -1.44236326e-03 1.25454300e+02] [ 1.49765153e-01 9.88721571e-01 -2.31174849e-04 3.84810588e+00] [ 1.46071765e-03 1.25515624e-05 9.99998933e-01 -1.51460714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:3.85, Z:-0.15 [[ 9.89125838e-01 -1.47064600e-01 -1.44234988e-03 1.25481731e+02] [ 1.47064419e-01 9.89126889e-01 -2.31258305e-04 3.85309574e+00] [ 1.46067696e-03 1.66252187e-05 9.99998933e-01 -1.51170204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:3.86, Z:-0.15 [[ 9.89314847e-01 -1.45787700e-01 -1.44230948e-03 1.25508054e+02] [ 1.45787518e-01 9.89315898e-01 -2.31509980e-04 3.85749888e+00] [ 1.46065101e-03 1.87655418e-05 9.99998933e-01 -1.51140537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:3.86, Z:-0.15 [[ 9.89457900e-01 -1.44813618e-01 -1.44229064e-03 1.25535662e+02] [ 1.44813434e-01 9.89458951e-01 -2.31627304e-04 3.86249070e+00] [ 1.46063017e-03 2.03224054e-05 9.99998933e-01 -1.50740403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:3.87, Z:-0.15 [[ 9.89676956e-01 -1.43308904e-01 -1.44227733e-03 1.25562347e+02] [ 1.43308718e-01 9.89678007e-01 -2.31710169e-04 3.86971146e+00] [ 1.46059628e-03 2.26273004e-05 9.99998933e-01 -1.50827635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:3.88, Z:-0.15 [[ 9.89724496e-01 -1.42980213e-01 -1.44223438e-03 1.25589772e+02] [ 1.42980026e-01 9.89725547e-01 -2.31977196e-04 3.87567147e+00] [ 1.46058436e-03 2.33828045e-05 9.99998933e-01 -1.49209438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.62, Y:3.88, Z:-0.15 [[ 9.89796777e-01 -1.42478983e-01 -1.44218870e-03 1.25617468e+02] [ 1.42478796e-01 9.89797827e-01 -2.32260809e-04 3.88112819e+00] [ 1.46056753e-03 2.44096906e-05 9.99998933e-01 -1.52262699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:3.89, Z:-0.15 [[ 9.89821525e-01 -1.42306953e-01 -1.44217456e-03 1.25644560e+02] [ 1.42306765e-01 9.89822575e-01 -2.32348608e-04 3.88879731e+00] [ 1.46056176e-03 2.47524574e-05 9.99998933e-01 -1.51286146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:3.89, Z:-0.15 [[ 9.89809932e-01 -1.42387566e-01 -1.44212983e-03 1.25671080e+02] [ 1.42387378e-01 9.89810982e-01 -2.32625865e-04 3.89445399e+00] [ 1.46055898e-03 2.49143061e-05 9.99998933e-01 -1.53125919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:3.90, Z:-0.16 [[ 9.89806060e-01 -1.42414481e-01 -1.44211041e-03 1.25698096e+02] [ 1.42414293e-01 9.89807110e-01 -2.32746206e-04 3.89911997e+00] [ 1.46055757e-03 2.49964707e-05 9.99998933e-01 -1.55299148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:3.90, Z:-0.15 [[ 9.89765361e-01 -1.42697059e-01 -1.44209108e-03 1.25725274e+02] [ 1.42696871e-01 9.89766411e-01 -2.32865925e-04 3.90426467e+00] [ 1.46056259e-03 2.47007414e-05 9.99998933e-01 -1.53935980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:3.91, Z:-0.15 [[ 9.89636265e-01 -1.43589635e-01 -1.44204627e-03 1.25752322e+02] [ 1.43589447e-01 9.89637315e-01 -2.33143052e-04 3.91273703e+00] [ 1.46057973e-03 2.36641917e-05 9.99998933e-01 -1.52907885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:3.92, Z:-0.15 [[ 9.89512590e-01 -1.44439450e-01 -1.44203233e-03 1.25780464e+02] [ 1.44439263e-01 9.89513641e-01 -2.33229263e-04 3.91933588e+00] [ 1.46059817e-03 2.24972045e-05 9.99998933e-01 -1.51343464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:3.92, Z:-0.15 [[ 9.89359575e-01 -1.45483852e-01 -1.44199317e-03 1.25806624e+02] [ 1.45483666e-01 9.89360626e-01 -2.33471159e-04 3.92448254e+00] [ 1.46061754e-03 2.12004742e-05 9.99998933e-01 -1.52196107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:3.93, Z:-0.15 [[ 9.89078808e-01 -1.47380570e-01 -1.44197371e-03 1.25833431e+02] [ 1.47380387e-01 9.89079859e-01 -2.33591270e-04 3.93119809e+00] [ 1.46065397e-03 1.85215323e-05 9.99998933e-01 -1.51431078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:3.94, Z:-0.15 [[ 9.88949524e-01 -1.48245606e-01 -1.44192889e-03 1.25859757e+02] [ 1.48245422e-01 9.88950575e-01 -2.33867613e-04 3.93723389e+00] [ 1.46066625e-03 1.75239083e-05 9.99998933e-01 -1.51577784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:125.89, Y:3.94, Z:-0.15 [[ 9.88797076e-01 -1.49259046e-01 -1.44190950e-03 1.25887196e+02] [ 1.49258864e-01 9.88798127e-01 -2.33987101e-04 3.94267668e+00] [ 1.46068210e-03 1.61479882e-05 9.99998933e-01 -1.50939369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:3.95, Z:-0.15 [[ 9.88588840e-01 -1.50632090e-01 -1.44186455e-03 1.25914829e+02] [ 1.50631909e-01 9.88589891e-01 -2.34263753e-04 3.94759518e+00] [ 1.46070036e-03 1.43997219e-05 9.99998933e-01 -1.52122953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:3.95, Z:-0.15 [[ 9.88292239e-01 -1.52565960e-01 -1.44181923e-03 1.25942650e+02] [ 1.52565780e-01 9.88293290e-01 -2.34542370e-04 3.95345356e+00] [ 1.46072345e-03 1.18241283e-05 9.99998933e-01 -1.53705521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:3.96, Z:-0.16 [[ 9.88197786e-01 -1.53176555e-01 -1.44177904e-03 1.25969860e+02] [ 1.53176376e-01 9.88198838e-01 -2.34789125e-04 3.95872935e+00] [ 1.46072856e-03 1.11716047e-05 9.99998933e-01 -1.56325861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:3.96, Z:-0.15 [[ 9.88052851e-01 -1.54108681e-01 -1.44176481e-03 1.25997080e+02] [ 1.54108503e-01 9.88053902e-01 -2.34876492e-04 3.96343530e+00] [ 1.46073785e-03 9.88217124e-06 9.99998933e-01 -1.54632649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:3.97, Z:-0.15 [[ 9.87969070e-01 -1.54644876e-01 -1.44171977e-03 1.26024602e+02] [ 1.54644698e-01 9.87970122e-01 -2.35152656e-04 3.96779843e+00] [ 1.46074121e-03 9.36923399e-06 9.99998933e-01 -1.54239504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:3.97, Z:-0.15 [[ 9.87956426e-01 -1.54725632e-01 -1.44167395e-03 1.26051625e+02] [ 1.54725453e-01 9.87957478e-01 -2.35433222e-04 3.97317385e+00] [ 1.46074011e-03 9.53410987e-06 9.99998933e-01 -1.54349934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:3.98, Z:-0.16 [[ 9.87970626e-01 -1.54634939e-01 -1.44165973e-03 1.26079214e+02] [ 1.54634760e-01 9.87971677e-01 -2.35520260e-04 3.97838142e+00] [ 1.46073864e-03 9.75639201e-06 9.99998933e-01 -1.55093624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:3.98, Z:-0.15 [[ 9.87969627e-01 -1.54641321e-01 -1.44164579e-03 1.26106389e+02] [ 1.54641142e-01 9.87970679e-01 -2.35605537e-04 3.98317128e+00] [ 1.46073812e-03 9.83336248e-06 9.99998933e-01 -1.52540632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:3.99, Z:-0.15 [[ 9.88049250e-01 -1.54131765e-01 -1.44159949e-03 1.26133390e+02] [ 1.54131585e-01 9.88050302e-01 -2.35888503e-04 3.98863063e+00] [ 1.46073072e-03 1.08734431e-05 9.99998933e-01 -1.53073004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:3.99, Z:-0.15 [[ 9.88118034e-01 -1.53690183e-01 -1.44157780e-03 1.26161028e+02] [ 1.53690003e-01 9.88119086e-01 -2.36021004e-04 3.99471530e+00] [ 1.46072465e-03 1.16605151e-05 9.99998933e-01 -1.53300654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:4.00, Z:-0.15 [[ 9.88169990e-01 -1.53355772e-01 -1.44156420e-03 1.26188604e+02] [ 1.53355591e-01 9.88171041e-01 -2.36104048e-04 4.00045925e+00] [ 1.46071991e-03 1.22390051e-05 9.99998933e-01 -1.51375650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:4.01, Z:-0.15 [[ 9.88346932e-01 -1.52211251e-01 -1.44151951e-03 1.26216824e+02] [ 1.52211068e-01 9.88347983e-01 -2.36376572e-04 4.00663483e+00] [ 1.46070207e-03 1.42068362e-05 9.99998933e-01 -1.50490368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:4.01, Z:-0.15 [[ 9.88423862e-01 -1.51710878e-01 -1.44149647e-03 1.26245124e+02] [ 1.51710695e-01 9.88424913e-01 -2.36517001e-04 4.01245743e+00] [ 1.46069322e-03 1.50886170e-05 9.99998933e-01 -1.52518647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:4.02, Z:-0.15 [[ 9.88462400e-01 -1.51459585e-01 -1.44148628e-03 1.26272345e+02] [ 1.51459401e-01 9.88463451e-01 -2.36579081e-04 4.01909187e+00] [ 1.46068867e-03 1.55228768e-05 9.99998933e-01 -1.52290493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:4.03, Z:-0.15 [[ 9.88548276e-01 -1.50898073e-01 -1.44144238e-03 1.26300878e+02] [ 1.50897888e-01 9.88549327e-01 -2.36846240e-04 4.02578895e+00] [ 1.46067654e-03 1.66233316e-05 9.99998933e-01 -1.50630357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:4.03, Z:-0.15 [[ 9.88538147e-01 -1.50964413e-01 -1.44143666e-03 1.26329756e+02] [ 1.50964228e-01 9.88539198e-01 -2.36881038e-04 4.03098595e+00] [ 1.46067725e-03 1.65605684e-05 9.99998933e-01 -1.50974054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:4.04, Z:-0.15 [[ 9.88518061e-01 -1.51095879e-01 -1.44143088e-03 1.26357525e+02] [ 1.51095694e-01 9.88519112e-01 -2.36916201e-04 4.03817823e+00] [ 1.46067904e-03 1.64019443e-05 9.99998933e-01 -1.49181271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:4.04, Z:-0.15 [[ 9.88501447e-01 -1.51204538e-01 -1.44142226e-03 1.26384598e+02] [ 1.51204353e-01 9.88502497e-01 -2.36968638e-04 4.04390344e+00] [ 1.46068024e-03 1.62945209e-05 9.99998933e-01 -1.49337813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:4.05, Z:-0.15 [[ 9.88472386e-01 -1.51394401e-01 -1.44140127e-03 1.26413504e+02] [ 1.51394216e-01 9.88473437e-01 -2.37096264e-04 4.04898108e+00] [ 1.46068191e-03 1.61432944e-05 9.99998933e-01 -1.48321545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:4.05, Z:-0.15 [[ 9.88431505e-01 -1.51661078e-01 -1.44139564e-03 1.26441698e+02] [ 1.51660893e-01 9.88432556e-01 -2.37130470e-04 4.05354674e+00] [ 1.46068584e-03 1.57838774e-05 9.99998933e-01 -1.49049226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:4.06, Z:-0.15 [[ 9.88349416e-01 -1.52195122e-01 -1.44135611e-03 1.26470759e+02] [ 1.52194938e-01 9.88350466e-01 -2.37370502e-04 4.06000675e+00] [ 1.46069162e-03 1.52378931e-05 9.99998933e-01 -1.48642741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:126.50, Y:4.07, Z:-0.15 [[ 9.88311785e-01 -1.52439293e-01 -1.44135036e-03 1.26500369e+02] [ 1.52439109e-01 9.88312836e-01 -2.37405433e-04 4.06558541e+00] [ 1.46069498e-03 1.49124232e-05 9.99998933e-01 -1.49224987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:4.07, Z:-0.15 [[ 9.88190259e-01 -1.53225111e-01 -1.44128680e-03 1.26528181e+02] [ 1.53224927e-01 9.88191310e-01 -2.37791090e-04 4.07023266e+00] [ 1.46070265e-03 1.41417754e-05 9.99998933e-01 -1.52554096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:4.08, Z:-0.15 [[ 9.88080124e-01 -1.53933725e-01 -1.44131356e-03 1.26557353e+02] [ 1.53933542e-01 9.88081175e-01 -2.37628769e-04 4.07529068e+00] [ 1.46071387e-03 1.29297629e-05 9.99998933e-01 -1.50167722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.58, Y:4.08, Z:-0.15 [[ 9.88057050e-01 -1.54081759e-01 -1.44130786e-03 1.26584105e+02] [ 1.54081577e-01 9.88058101e-01 -2.37663328e-04 4.08124377e+00] [ 1.46071549e-03 1.27459398e-05 9.99998933e-01 -1.49271494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:4.09, Z:-0.15 [[ 9.88018594e-01 -1.54328158e-01 -1.44128643e-03 1.26611945e+02] [ 1.54327975e-01 9.88019645e-01 -2.37793211e-04 4.08666095e+00] [ 1.46071750e-03 1.25132979e-05 9.99998933e-01 -1.49369703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:4.09, Z:-0.15 [[ 9.88033593e-01 -1.54232103e-01 -1.44124701e-03 1.26639752e+02] [ 1.54231919e-01 9.88034644e-01 -2.38031887e-04 4.09159003e+00] [ 1.46071414e-03 1.28972077e-05 9.99998933e-01 -1.48908074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:126.67, Y:4.10, Z:-0.15 [[ 9.88152062e-01 -1.53471253e-01 -1.44123296e-03 1.26668092e+02] [ 1.53471069e-01 9.88153113e-01 -2.38116933e-04 4.09679104e+00] [ 1.46070294e-03 1.41081745e-05 9.99998933e-01 -1.46049747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:4.10, Z:-0.15 [[ 9.88135749e-01 -1.53576251e-01 -1.44119325e-03 1.26695508e+02] [ 1.53576066e-01 9.88136800e-01 -2.38357010e-04 4.10209119e+00] [ 1.46070207e-03 1.41962922e-05 9.99998933e-01 -1.48685563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:4.11, Z:-0.15 [[ 9.88070995e-01 -1.53992314e-01 -1.44117911e-03 1.26724243e+02] [ 1.53992130e-01 9.88072046e-01 -2.38442515e-04 4.10745057e+00] [ 1.46070710e-03 1.36678934e-05 9.99998933e-01 -1.49301457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:4.11, Z:-0.15 [[ 9.88017268e-01 -1.54336651e-01 -1.44114047e-03 1.26753701e+02] [ 1.54336467e-01 9.88018319e-01 -2.38675798e-04 4.11247709e+00] [ 1.46070961e-03 1.33952807e-05 9.99998933e-01 -1.47947450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.78, Y:4.12, Z:-0.15 [[ 9.87980138e-01 -1.54574155e-01 -1.44113477e-03 1.26780712e+02] [ 1.54573971e-01 9.87981189e-01 -2.38710239e-04 4.11756965e+00] [ 1.46071247e-03 1.30790506e-05 9.99998933e-01 -1.47108006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.81, Y:4.12, Z:-0.15 [[ 9.87787287e-01 -1.55801791e-01 -1.44112059e-03 1.26808461e+02] [ 1.55801608e-01 9.87788339e-01 -2.38795824e-04 4.12243839e+00] [ 1.46072693e-03 1.13505737e-05 9.99998933e-01 -1.48445256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.84, Y:4.13, Z:-0.15 [[ 9.87748167e-01 -1.56049613e-01 -1.44110656e-03 1.26837515e+02] [ 1.56049431e-01 9.87749218e-01 -2.38880410e-04 4.12739933e+00] [ 1.46072908e-03 1.10698279e-05 9.99998933e-01 -1.46445298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.87, Y:4.13, Z:-0.15 [[ 9.87743141e-01 -1.56081422e-01 -1.44110080e-03 1.26865496e+02] [ 1.56081240e-01 9.87744192e-01 -2.38915207e-04 4.13234248e+00] [ 1.46072917e-03 1.10580580e-05 9.99998933e-01 -1.47231462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:4.14, Z:-0.15 [[ 9.87751411e-01 -1.56029077e-01 -1.44109217e-03 1.26893916e+02] [ 1.56028894e-01 9.87752462e-01 -2.38967216e-04 4.13960916e+00] [ 1.46072817e-03 1.11881869e-05 9.99998933e-01 -1.47732284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:4.15, Z:-0.15 [[ 9.87809570e-01 -1.55660451e-01 -1.44105343e-03 1.26922491e+02] [ 1.55660267e-01 9.87810621e-01 -2.39200621e-04 4.14568335e+00] [ 1.46072196e-03 1.19699012e-05 9.99998933e-01 -1.47703125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:4.15, Z:-0.15 [[ 9.87783837e-01 -1.55823665e-01 -1.44104779e-03 1.26951360e+02] [ 1.55823482e-01 9.87784888e-01 -2.39234553e-04 4.15061794e+00] [ 1.46072364e-03 1.17629395e-05 9.99998933e-01 -1.47660338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:4.16, Z:-0.15 [[ 9.87839037e-01 -1.55473341e-01 -1.44100823e-03 1.26981778e+02] [ 1.55473157e-01 9.87840088e-01 -2.39472651e-04 4.15675641e+00] [ 1.46071731e-03 1.25223349e-05 9.99998933e-01 -1.47108578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:4.16, Z:-0.15 [[ 9.87867518e-01 -1.55292275e-01 -1.44101117e-03 1.27010465e+02] [ 1.55292090e-01 9.87868569e-01 -2.39454953e-04 4.16272691e+00] [ 1.46071514e-03 1.27721336e-05 9.99998933e-01 -1.50252409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:4.17, Z:-0.15 [[ 9.87859063e-01 -1.55346047e-01 -1.44100824e-03 1.27037797e+02] [ 1.55345863e-01 9.87860114e-01 -2.39472585e-04 4.16856766e+00] [ 1.46071568e-03 1.27104960e-05 9.99998933e-01 -1.50269274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:4.17, Z:-0.15 [[ 9.87833133e-01 -1.55510852e-01 -1.44098795e-03 1.27067397e+02] [ 1.55510668e-01 9.87834184e-01 -2.39594602e-04 4.17372567e+00] [ 1.46071672e-03 1.25904878e-05 9.99998933e-01 -1.48057986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:4.18, Z:-0.15 [[ 9.87769579e-01 -1.55914023e-01 -1.44098224e-03 1.27096816e+02] [ 1.55913839e-01 9.87770630e-01 -2.39628914e-04 4.17910820e+00] [ 1.46072145e-03 1.20290783e-05 9.99998933e-01 -1.48400532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:4.18, Z:-0.15 [[ 9.87580507e-01 -1.57107182e-01 -1.44097940e-03 1.27126828e+02] [ 1.57106999e-01 9.87581558e-01 -2.39646008e-04 4.18496441e+00] [ 1.46073479e-03 1.02817762e-05 9.99998933e-01 -1.47882741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:4.19, Z:-0.15 [[ 9.87407091e-01 -1.58193429e-01 -1.44097940e-03 1.27155777e+02] [ 1.58193247e-01 9.87408142e-01 -2.39646008e-04 4.19020712e+00] [ 1.46074522e-03 8.67495635e-06 9.99998933e-01 -1.48409963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:4.20, Z:-0.15 [[ 9.87263324e-01 -1.59088190e-01 -1.44097652e-03 1.27185597e+02] [ 1.59088010e-01 9.87264376e-01 -2.39663310e-04 4.19662218e+00] [ 1.46075239e-03 7.36870850e-06 9.99998933e-01 -1.47488651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:4.20, Z:-0.15 [[ 9.87146369e-01 -1.59812294e-01 -1.44097652e-03 1.27214891e+02] [ 1.59812115e-01 9.87147421e-01 -2.39663310e-04 4.20315828e+00] [ 1.46075740e-03 6.29726076e-06 9.99998933e-01 -1.48257137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:4.21, Z:-0.15 [[ 9.86931997e-01 -1.61130867e-01 -1.44097364e-03 1.27245048e+02] [ 1.61130689e-01 9.86933049e-01 -2.39680644e-04 4.20802249e+00] [ 1.46076446e-03 4.36342093e-06 9.99998933e-01 -1.45845901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:4.21, Z:-0.15 [[ 9.86817981e-01 -1.61827676e-01 -1.44097364e-03 1.27273995e+02] [ 1.61827499e-01 9.86819033e-01 -2.39680644e-04 4.21232981e+00] [ 1.46076718e-03 3.33200885e-06 9.99998933e-01 -1.47219040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.30, Y:4.22, Z:-0.15 [[ 9.86804616e-01 -1.61909151e-01 -1.44097077e-03 1.27301860e+02] [ 1.61908974e-01 9.86805668e-01 -2.39697909e-04 4.21709896e+00] [ 1.46076741e-03 3.22890471e-06 9.99998933e-01 -1.47643658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:4.22, Z:-0.15 [[ 9.86634046e-01 -1.62945339e-01 -1.44096234e-03 1.27331071e+02] [ 1.62945163e-01 9.86635098e-01 -2.39748547e-04 4.22313465e+00] [ 1.46076993e-03 1.74623540e-06 9.99998933e-01 -1.48256771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:4.23, Z:-0.15 [[ 9.86593380e-01 -1.63191380e-01 -1.44095661e-03 1.27359712e+02] [ 1.63191204e-01 9.86594432e-01 -2.39783015e-04 4.22795867e+00] [ 1.46077029e-03 1.41689107e-06 9.99998933e-01 -1.48228103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.39, Y:4.23, Z:-0.15 [[ 9.86547547e-01 -1.63468226e-01 -1.44094808e-03 1.27388777e+02] [ 1.63468050e-01 9.86548599e-01 -2.39834233e-04 4.23319110e+00] [ 1.46077059e-03 1.05890113e-06 9.99998933e-01 -1.45610093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:4.24, Z:-0.14 [[ 9.86292480e-01 -1.65000205e-01 -1.44094240e-03 1.27419674e+02] [ 1.65000031e-01 9.86293533e-01 -2.39868386e-04 4.23845081e+00] [ 1.46077050e-03 -1.17515452e-06 9.99998933e-01 -1.42041771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.45, Y:4.24, Z:-0.14 [[ 9.86195081e-01 -1.65581356e-01 -1.44094827e-03 1.27449117e+02] [ 1.65581183e-01 9.86196134e-01 -2.39833088e-04 4.24169410e+00] [ 1.46076950e-03 -2.07170697e-06 9.99998933e-01 -1.43286419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:4.24, Z:-0.15 [[ 9.85988041e-01 -1.66809790e-01 -1.44094535e-03 1.27478674e+02] [ 1.66809618e-01 9.85989094e-01 -2.39850654e-04 4.24499672e+00] [ 1.46076584e-03 -3.87366611e-06 9.99998933e-01 -1.45032330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:4.25, Z:-0.15 [[ 9.85842088e-01 -1.67670215e-01 -1.44093968e-03 1.27506332e+02] [ 1.67670044e-01 9.85843141e-01 -2.39884675e-04 4.24874903e+00] [ 1.46076202e-03 -5.11401161e-06 9.99998933e-01 -1.46825834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:4.25, Z:-0.14 [[ 9.85703763e-01 -1.68481500e-01 -1.44092561e-03 1.27535189e+02] [ 1.68481330e-01 9.85704816e-01 -2.39969169e-04 4.25280081e+00] [ 1.46075768e-03 -6.23055055e-06 9.99998933e-01 -1.44967567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:127.56, Y:4.26, Z:-0.14 [[ 9.85649230e-01 -1.68800233e-01 -1.44088559e-03 1.27563378e+02] [ 1.68800063e-01 9.85650283e-01 -2.40209231e-04 4.25684212e+00] [ 1.46075667e-03 -6.45953406e-06 9.99998933e-01 -1.42521557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:4.26, Z:-0.14 [[ 9.85556063e-01 -1.69343354e-01 -1.44084549e-03 1.27591153e+02] [ 1.69343184e-01 9.85557116e-01 -2.40449542e-04 4.26061692e+00] [ 1.46075406e-03 -7.02085843e-06 9.99998933e-01 -1.43269622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:4.26, Z:-0.14 [[ 9.85484450e-01 -1.69759604e-01 -1.44083128e-03 1.27618853e+02] [ 1.69759434e-01 9.85485503e-01 -2.40534646e-04 4.26393947e+00] [ 1.46075141e-03 -7.55154904e-06 9.99998933e-01 -1.43900867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:4.27, Z:-0.14 [[ 9.85283240e-01 -1.70923554e-01 -1.44081730e-03 1.27646334e+02] [ 1.70923385e-01 9.85284293e-01 -2.40618338e-04 4.26571632e+00] [ 1.46074200e-03 -9.19215542e-06 9.99998933e-01 -1.43791131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:4.27, Z:-0.14 [[ 9.85214623e-01 -1.71318621e-01 -1.44078598e-03 1.27674157e+02] [ 1.71318452e-01 9.85215677e-01 -2.40805781e-04 4.26913900e+00] [ 1.46073945e-03 -9.58784675e-06 9.99998933e-01 -1.42608923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:4.27, Z:-0.14 [[ 9.85132643e-01 -1.71789405e-01 -1.44074102e-03 1.27701959e+02] [ 1.71789236e-01 9.85133697e-01 -2.41074475e-04 4.27236074e+00] [ 1.46073656e-03 -1.00134631e-05 9.99998933e-01 -1.43121701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:4.27, Z:-0.14 [[ 9.85100057e-01 -1.71976166e-01 -1.44069582e-03 1.27728865e+02] [ 1.71975997e-01 9.85101111e-01 -2.41344250e-04 4.27395460e+00] [ 1.46073652e-03 -1.00168655e-05 9.99998933e-01 -1.43605595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:4.28, Z:-0.14 [[ 9.85095224e-01 -1.72003849e-01 -1.44067610e-03 1.27756229e+02] [ 1.72003680e-01 9.85096277e-01 -2.41461932e-04 4.27713176e+00] [ 1.46073705e-03 -9.93859423e-06 9.99998933e-01 -1.43284736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:4.28, Z:-0.14 [[ 9.85101970e-01 -1.71965207e-01 -1.44063145e-03 1.27784408e+02] [ 1.71965038e-01 9.85103024e-01 -2.41728043e-04 4.28054823e+00] [ 1.46073921e-03 -9.61147015e-06 9.99998933e-01 -1.43224912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:127.81, Y:4.28, Z:-0.14 [[ 9.85306991e-01 -1.70786588e-01 -1.44058674e-03 1.27812111e+02] [ 1.70786416e-01 9.85308044e-01 -2.41994208e-04 4.28172535e+00] [ 1.46075107e-03 -7.59406164e-06 9.99998933e-01 -1.43037309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:4.29, Z:-0.14 [[ 9.85354706e-01 -1.70511077e-01 -1.44057286e-03 1.27839719e+02] [ 1.70510905e-01 9.85355759e-01 -2.42076786e-04 4.28518810e+00] [ 1.46075354e-03 -7.10188206e-06 9.99998933e-01 -1.43726109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:4.29, Z:-0.14 [[ 9.85479385e-01 -1.69789007e-01 -1.44052859e-03 1.27866320e+02] [ 1.69788835e-01 9.85480438e-01 -2.42339964e-04 4.28837783e+00] [ 1.46075940e-03 -5.76463132e-06 9.99998933e-01 -1.43590923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.89, Y:4.29, Z:-0.14 [[ 9.85689159e-01 -1.68566919e-01 -1.44049677e-03 1.27894145e+02] [ 1.68566745e-01 9.85690212e-01 -2.42528932e-04 4.29146856e+00] [ 1.46076592e-03 -3.76171211e-06 9.99998933e-01 -1.40755089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:4.30, Z:-0.14 [[ 9.85715176e-01 -1.68414720e-01 -1.44045072e-03 1.27921538e+02] [ 1.68414545e-01 9.85716228e-01 -2.42802150e-04 4.29529885e+00] [ 1.46076710e-03 -3.25908730e-06 9.99998933e-01 -1.41806656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:4.30, Z:-0.14 [[ 9.85698145e-01 -1.68514370e-01 -1.44043636e-03 1.27949566e+02] [ 1.68514195e-01 9.85699197e-01 -2.42887308e-04 4.29851087e+00] [ 1.46076696e-03 -3.32040454e-06 9.99998933e-01 -1.42348162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:4.30, Z:-0.14 [[ 9.85597559e-01 -1.69101675e-01 -1.44042220e-03 1.27977269e+02] [ 1.69101500e-01 9.85598612e-01 -2.42971252e-04 4.30091242e+00] [ 1.46076496e-03 -4.10568198e-06 9.99998933e-01 -1.40727242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:4.31, Z:-0.14 [[ 9.85565392e-01 -1.69289055e-01 -1.44037619e-03 1.28004549e+02] [ 1.69288880e-01 9.85566444e-01 -2.43243716e-04 4.30507742e+00] [ 1.46076493e-03 -4.10708359e-06 9.99998933e-01 -1.43551494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:4.31, Z:-0.14 [[ 9.85510967e-01 -1.69605600e-01 -1.44036190e-03 1.28032605e+02] [ 1.69605426e-01 9.85512019e-01 -2.43328305e-04 4.30899072e+00] [ 1.46076380e-03 -4.49047942e-06 9.99998933e-01 -1.41431620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:4.31, Z:-0.14 [[ 9.85411248e-01 -1.70184012e-01 -1.44031673e-03 1.28061932e+02] [ 1.70183838e-01 9.85412300e-01 -2.43595363e-04 4.31057950e+00] [ 1.46076186e-03 -5.07701909e-06 9.99998933e-01 -1.38238209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:4.31, Z:-0.14 [[ 9.85334754e-01 -1.70626342e-01 -1.44027729e-03 1.28090386e+02] [ 1.70626168e-01 9.85335806e-01 -2.43828300e-04 4.31467796e+00] [ 1.46076032e-03 -5.49649829e-06 9.99998933e-01 -1.36802310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:4.32, Z:-0.14 [[ 9.85238180e-01 -1.71183102e-01 -1.44023783e-03 1.28116516e+02] [ 1.71182928e-01 9.85239233e-01 -2.44061161e-04 4.31886569e+00] [ 1.46075797e-03 -6.08575525e-06 9.99998933e-01 -1.36429024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.14, Y:4.32, Z:-0.14 [[ 9.85110445e-01 -1.71916657e-01 -1.44020279e-03 1.28143164e+02] [ 1.71916483e-01 9.85111498e-01 -2.44267766e-04 4.32270802e+00] [ 1.46075403e-03 -6.96387209e-06 9.99998933e-01 -1.35640405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:4.32, Z:-0.14 [[ 9.84737841e-01 -1.74038246e-01 -1.44017212e-03 1.28171584e+02] [ 1.74038074e-01 9.84738894e-01 -2.44448480e-04 4.32328529e+00] [ 1.46073688e-03 -9.92711396e-06 9.99998933e-01 -1.37945019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:128.20, Y:4.33, Z:-0.14 [[ 9.84552444e-01 -1.75084013e-01 -1.44015830e-03 1.28199463e+02] [ 1.75083842e-01 9.84553497e-01 -2.44529845e-04 4.32590183e+00] [ 1.46072616e-03 -1.13959930e-05 9.99998933e-01 -1.38202732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:4.33, Z:-0.14 [[ 9.84333724e-01 -1.76309516e-01 -1.44011385e-03 1.28226797e+02] [ 1.76309346e-01 9.84334778e-01 -2.44791392e-04 4.32897674e+00] [ 1.46071319e-03 -1.29491083e-05 9.99998933e-01 -1.39955158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:4.33, Z:-0.14 [[ 9.84181282e-01 -1.77158488e-01 -1.44009302e-03 1.28254113e+02] [ 1.77158319e-01 9.84182336e-01 -2.44913824e-04 4.33172488e+00] [ 1.46070268e-03 -1.40848582e-05 9.99998933e-01 -1.42781938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:4.33, Z:-0.14 [[ 9.83811765e-01 -1.79199153e-01 -1.44007386e-03 1.28283553e+02] [ 1.79198987e-01 9.83812819e-01 -2.45026467e-04 4.33157080e+00] [ 1.46067166e-03 -1.69998557e-05 9.99998933e-01 -1.38614477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:4.33, Z:-0.14 [[ 9.83647106e-01 -1.80100799e-01 -1.44003386e-03 1.28311522e+02] [ 1.80100633e-01 9.83648160e-01 -2.45261298e-04 4.33387475e+00] [ 1.46065841e-03 -1.81004433e-05 9.99998933e-01 -1.38217321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:4.34, Z:-0.14 [[ 9.83501004e-01 -1.80896937e-01 -1.43998801e-03 1.28339596e+02] [ 1.80896771e-01 9.83502058e-01 -2.45530199e-04 4.33682325e+00] [ 1.46064683e-03 -1.90099850e-05 9.99998933e-01 -1.38023384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:4.34, Z:-0.14 [[ 9.83485035e-01 -1.80983735e-01 -1.43994140e-03 1.28367965e+02] [ 1.80983569e-01 9.83486089e-01 -2.45803276e-04 4.33835792e+00] [ 1.46064873e-03 -1.88618897e-05 9.99998933e-01 -1.39907301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:4.34, Z:-0.14 [[ 9.83563775e-01 -1.80555329e-01 -1.43991974e-03 1.28396505e+02] [ 1.80555163e-01 9.83564829e-01 -2.45930092e-04 4.34148699e+00] [ 1.46065840e-03 -1.80970134e-05 9.99998933e-01 -1.40322421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:4.35, Z:-0.14 [[ 9.83742215e-01 -1.79580569e-01 -1.43987926e-03 1.28424287e+02] [ 1.79580401e-01 9.83743269e-01 -2.46166829e-04 4.34501117e+00] [ 1.46067831e-03 -1.64093942e-05 9.99998933e-01 -1.44020523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:4.35, Z:-0.14 [[ 9.84372137e-01 -1.76094924e-01 -1.43986490e-03 1.28451918e+02] [ 1.76094752e-01 9.84373190e-01 -2.46250810e-04 4.34672137e+00] [ 1.46072792e-03 -1.11502164e-05 9.99998933e-01 -1.41601008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:4.35, Z:-0.14 [[ 9.84770999e-01 -1.73850531e-01 -1.43981876e-03 1.28479463e+02] [ 1.73850357e-01 9.84772051e-01 -2.46520292e-04 4.34944015e+00] [ 1.46075096e-03 -7.54697142e-06 9.99998933e-01 -1.42023006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:4.35, Z:-0.14 [[ 9.85123247e-01 -1.71843286e-01 -1.43977272e-03 1.28507684e+02] [ 1.71843109e-01 9.85124299e-01 -2.46788913e-04 4.35263052e+00] [ 1.46076411e-03 -4.29752442e-06 9.99998933e-01 -1.41718745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:4.36, Z:-0.14 [[ 9.85701211e-01 -1.68496439e-01 -1.43972664e-03 1.28535401e+02] [ 1.68496258e-01 9.85702262e-01 -2.47057418e-04 4.35669375e+00] [ 1.46077010e-03 9.36244708e-07 9.99998933e-01 -1.43229301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:4.36, Z:-0.14 [[ 9.85842119e-01 -1.67670045e-01 -1.43970511e-03 1.28563020e+02] [ 1.67669862e-01 9.85843170e-01 -2.47182864e-04 4.36142532e+00] [ 1.46076861e-03 2.28812117e-06 9.99998933e-01 -1.40567518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:4.36, Z:-0.14 [[ 9.85898223e-01 -1.67339840e-01 -1.43965871e-03 1.28590888e+02] [ 1.67339658e-01 9.85899274e-01 -2.47452798e-04 4.36498208e+00] [ 1.46076719e-03 3.05127878e-06 9.99998933e-01 -1.40725816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:4.36, Z:-0.14 [[ 9.85847500e-01 -1.67638403e-01 -1.43961140e-03 1.28618596e+02] [ 1.67638220e-01 9.85848551e-01 -2.47727691e-04 4.36499797e+00] [ 1.46076749e-03 2.88783208e-06 9.99998933e-01 -1.42577070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.65, Y:4.37, Z:-0.14 [[ 9.85793539e-01 -1.67955430e-01 -1.43957880e-03 1.28646551e+02] [ 1.67955247e-01 9.85794590e-01 -2.47917014e-04 4.36852390e+00] [ 1.46076800e-03 2.61017772e-06 9.99998933e-01 -1.40922873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:4.37, Z:-0.14 [[ 9.85723633e-01 -1.68365218e-01 -1.43956463e-03 1.28674495e+02] [ 1.68365035e-01 9.85724684e-01 -2.47999269e-04 4.37209440e+00] [ 1.46076884e-03 2.08639047e-06 9.99998933e-01 -1.41420602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:4.37, Z:-0.14 [[ 9.85467912e-01 -1.69855589e-01 -1.43955052e-03 1.28704352e+02] [ 1.69855408e-01 9.85468964e-01 -2.48081143e-04 4.37086418e+00] [ 1.46077033e-03 -3.94350996e-08 9.99998933e-01 -1.36621864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:4.37, Z:-0.14 [[ 9.85292402e-01 -1.70870742e-01 -1.43950725e-03 1.28731844e+02] [ 1.70870561e-01 9.85293454e-01 -2.48331959e-04 4.37363590e+00] [ 1.46076974e-03 -1.28981907e-06 9.99998933e-01 -1.38433678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:4.38, Z:-0.14 [[ 9.85260477e-01 -1.71054730e-01 -1.43949183e-03 1.28759860e+02] [ 1.71054550e-01 9.85261528e-01 -2.48421308e-04 4.37866265e+00] [ 1.46076956e-03 -1.47193079e-06 9.99998933e-01 -1.38392091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.79, Y:4.38, Z:-0.14 [[ 9.85142355e-01 -1.71733714e-01 -1.43944539e-03 1.28786191e+02] [ 1.71733534e-01 9.85143406e-01 -2.48690108e-04 4.38223056e+00] [ 1.46076861e-03 -2.20588622e-06 9.99998933e-01 -1.37606577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:4.39, Z:-0.14 [[ 9.84988855e-01 -1.72611945e-01 -1.43941335e-03 1.28814275e+02] [ 1.72611765e-01 9.84989907e-01 -2.48875408e-04 4.38648382e+00] [ 1.46076649e-03 -3.32017746e-06 9.99998933e-01 -1.38446800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:4.39, Z:-0.14 [[ 9.84815658e-01 -1.73597374e-01 -1.43936677e-03 1.28842839e+02] [ 1.73597196e-01 9.84816710e-01 -2.49144521e-04 4.38811693e+00] [ 1.46076328e-03 -4.50861034e-06 9.99998933e-01 -1.38785605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:4.39, Z:-0.14 [[ 9.84743148e-01 -1.74008218e-01 -1.43932024e-03 1.28870800e+02] [ 1.74008040e-01 9.84744200e-01 -2.49413057e-04 4.39113854e+00] [ 1.46076218e-03 -4.84549391e-06 9.99998933e-01 -1.38456948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:4.39, Z:-0.14 [[ 9.84696844e-01 -1.74270062e-01 -1.43927380e-03 1.28898898e+02] [ 1.74269883e-01 9.84697896e-01 -2.49680763e-04 4.39359646e+00] [ 1.46076176e-03 -4.96221736e-06 9.99998933e-01 -1.37691046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:4.40, Z:-0.14 [[ 9.84667177e-01 -1.74437610e-01 -1.43922593e-03 1.28926969e+02] [ 1.74437431e-01 9.84668228e-01 -2.49956403e-04 4.39572317e+00] [ 1.46076184e-03 -4.93100818e-06 9.99998933e-01 -1.37226878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:128.96, Y:4.40, Z:-0.14 [[ 9.84720937e-01 -1.74133872e-01 -1.43917708e-03 1.28955320e+02] [ 1.74133693e-01 9.84721988e-01 -2.50237313e-04 4.39668588e+00] [ 1.46076411e-03 -4.19529803e-06 9.99998933e-01 -1.38236430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:4.40, Z:-0.14 [[ 9.84790936e-01 -1.73737566e-01 -1.43916192e-03 1.28982823e+02] [ 1.73737386e-01 9.84791987e-01 -2.50324467e-04 4.40085232e+00] [ 1.46076589e-03 -3.51896446e-06 9.99998933e-01 -1.37804493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:4.40, Z:-0.14 [[ 9.84927071e-01 -1.72964137e-01 -1.43911507e-03 1.29009494e+02] [ 1.72963956e-01 9.84928123e-01 -2.50593533e-04 4.40426569e+00] [ 1.46076860e-03 -2.09868116e-06 9.99998933e-01 -1.38432176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:4.41, Z:-0.14 [[ 9.85044167e-01 -1.72296021e-01 -1.43909470e-03 1.29037225e+02] [ 1.72295839e-01 9.85045218e-01 -2.50710461e-04 4.40840571e+00] [ 1.46076977e-03 -9.89152246e-07 9.99998933e-01 -1.38921248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:4.41, Z:-0.14 [[ 9.85400413e-01 -1.70246746e-01 -1.43908021e-03 1.29064623e+02] [ 1.70246561e-01 9.85401464e-01 -2.50793586e-04 4.41313759e+00] [ 1.46076854e-03 2.13364549e-06 9.99998933e-01 -1.37798166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:4.42, Z:-0.14 [[ 9.85625149e-01 -1.68940801e-01 -1.43903347e-03 1.29092716e+02] [ 1.68940614e-01 9.85626200e-01 -2.51061528e-04 4.41738482e+00] [ 1.46076362e-03 4.34135849e-06 9.99998933e-01 -1.37821129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.12, Y:4.42, Z:-0.14 [[ 9.85892020e-01 -1.67376385e-01 -1.43898657e-03 1.29120023e+02] [ 1.67376197e-01 9.85893070e-01 -2.51330047e-04 4.42123291e+00] [ 1.46075360e-03 6.93218842e-06 9.99998933e-01 -1.38262688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61587156000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:129.15, Y:4.43, Z:-0.14 [[ 9.86274923e-01 -1.65105133e-01 -1.43897200e-03 1.29147978e+02] [ 1.65104942e-01 9.86275973e-01 -2.51413409e-04 4.42667618e+00] [ 1.46073316e-03 1.03813512e-05 9.99998933e-01 -1.38749741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.18, Y:4.43, Z:-0.14 [[ 9.86404062e-01 -1.64331844e-01 -1.43893038e-03 1.29175724e+02] [ 1.64331652e-01 9.86405112e-01 -2.51651415e-04 4.43221800e+00] [ 1.46072262e-03 1.17681715e-05 9.99998933e-01 -1.38952400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:4.44, Z:-0.14 [[ 9.86439609e-01 -1.64118331e-01 -1.43888260e-03 1.29203097e+02] [ 1.64118138e-01 9.86440659e-01 -2.51924336e-04 4.43725886e+00] [ 1.46071770e-03 1.23614112e-05 9.99998933e-01 -1.40049915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:4.44, Z:-0.14 [[ 9.86387021e-01 -1.64434102e-01 -1.43883478e-03 1.29230019e+02] [ 1.64433909e-01 9.86388071e-01 -2.52197157e-04 4.44179670e+00] [ 1.46071927e-03 1.21707749e-05 9.99998933e-01 -1.40015190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:4.45, Z:-0.14 [[ 9.86290077e-01 -1.65014584e-01 -1.43880223e-03 1.29257379e+02] [ 1.65014392e-01 9.86291127e-01 -2.52382697e-04 4.44647050e+00] [ 1.46072470e-03 1.14994752e-05 9.99998933e-01 -1.39743580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:4.45, Z:-0.14 [[ 9.85779822e-01 -1.68035924e-01 -1.43878746e-03 1.29284455e+02] [ 1.68035735e-01 9.85780872e-01 -2.52466845e-04 4.45183769e+00] [ 1.46075266e-03 7.10901295e-06 9.99998933e-01 -1.39085608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:4.46, Z:-0.14 [[ 9.85410500e-01 -1.70188356e-01 -1.43874031e-03 1.29311403e+02] [ 1.70188169e-01 9.85411550e-01 -2.52735274e-04 4.45660261e+00] [ 1.46076392e-03 4.19141414e-06 9.99998933e-01 -1.39384561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.34, Y:4.46, Z:-0.14 [[ 9.84987945e-01 -1.72617143e-01 -1.43870817e-03 1.29339467e+02] [ 1.72616958e-01 9.84988996e-01 -2.52918122e-04 4.46096561e+00] [ 1.46076972e-03 7.75874487e-07 9.99998933e-01 -1.37442282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:4.47, Z:-0.14 [[ 9.84579851e-01 -1.74929836e-01 -1.43865976e-03 1.29366688e+02] [ 1.74929653e-01 9.84580902e-01 -2.53193197e-04 4.46506383e+00] [ 1.46076796e-03 -2.37533099e-06 9.99998933e-01 -1.37725513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:4.47, Z:-0.14 [[ 9.83762878e-01 -1.79467354e-01 -1.43861139e-03 1.29394701e+02] [ 1.79467175e-01 9.83763929e-01 -2.53467716e-04 4.46715621e+00] [ 1.46074317e-03 -8.83139209e-06 9.99998933e-01 -1.37631842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.42, Y:4.47, Z:-0.14 [[ 9.83459445e-01 -1.81122751e-01 -1.43856240e-03 1.29422815e+02] [ 1.81122574e-01 9.83460497e-01 -2.53745447e-04 4.47055510e+00] [ 1.46072837e-03 -1.10077678e-05 9.99998933e-01 -1.37103100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:4.47, Z:-0.14 [[ 9.83255007e-01 -1.82229310e-01 -1.43851324e-03 1.29450079e+02] [ 1.82229133e-01 9.83256060e-01 -2.54023845e-04 4.47387971e+00] [ 1.46071745e-03 -1.23688024e-05 9.99998933e-01 -1.37291346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:129.48, Y:4.48, Z:-0.14 [[ 9.83083126e-01 -1.83154299e-01 -1.43846441e-03 1.29478245e+02] [ 1.83154123e-01 9.83084179e-01 -2.54300030e-04 4.47794491e+00] [ 1.46070775e-03 -1.34626193e-05 9.99998933e-01 -1.35634629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:4.48, Z:-0.13 [[ 9.82980270e-01 -1.83705523e-01 -1.43842158e-03 1.29506431e+02] [ 1.83705347e-01 9.82981323e-01 -2.54542067e-04 4.48231313e+00] [ 1.46070233e-03 -1.40359070e-05 9.99998933e-01 -1.34976296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.53, Y:4.49, Z:-0.13 [[ 9.82956840e-01 -1.83830853e-01 -1.43837913e-03 1.29534241e+02] [ 1.83830677e-01 9.82957892e-01 -2.54781748e-04 4.48630353e+00] [ 1.46070286e-03 -1.39787474e-05 9.99998933e-01 -1.33620199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:4.49, Z:-0.13 [[ 9.83006651e-01 -1.83564305e-01 -1.43836405e-03 1.29561133e+02] [ 1.83564129e-01 9.83007704e-01 -2.54866860e-04 4.49027925e+00] [ 1.46070740e-03 -1.34962248e-05 9.99998933e-01 -1.34081942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:4.49, Z:-0.13 [[ 9.83022244e-01 -1.83480784e-01 -1.43833126e-03 1.29588580e+02] [ 1.83480607e-01 9.83023297e-01 -2.55051737e-04 4.49426783e+00] [ 1.46071023e-03 -1.31843626e-05 9.99998933e-01 -1.34803119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:4.50, Z:-0.14 [[ 9.83050105e-01 -1.83331453e-01 -1.43828379e-03 1.29615983e+02] [ 1.83331276e-01 9.83051157e-01 -2.55319171e-04 4.49749378e+00] [ 1.46071458e-03 -1.26908635e-05 9.99998933e-01 -1.35104934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:129.64, Y:4.50, Z:-0.14 [[ 9.83151651e-01 -1.82786113e-01 -1.43823617e-03 1.29643585e+02] [ 1.82785934e-01 9.83152703e-01 -2.55587160e-04 4.49875915e+00] [ 1.46072356e-03 -1.16084034e-05 9.99998933e-01 -1.36489273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:4.50, Z:-0.14 [[ 9.83257128e-01 -1.82217867e-01 -1.43821398e-03 1.29670103e+02] [ 1.82217688e-01 9.83258180e-01 -2.55711959e-04 4.50283775e+00] [ 1.46073094e-03 -1.06374193e-05 9.99998933e-01 -1.36902159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:4.51, Z:-0.14 [[ 9.83394852e-01 -1.81473131e-01 -1.43818161e-03 1.29697337e+02] [ 1.81472951e-01 9.83395903e-01 -2.55893864e-04 4.50728494e+00] [ 1.46073976e-03 -9.34635187e-06 9.99998933e-01 -1.36560046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:4.51, Z:-0.14 [[ 9.83579168e-01 -1.80471470e-01 -1.43813455e-03 1.29724906e+02] [ 1.80471288e-01 9.83580220e-01 -2.56158073e-04 4.51167944e+00] [ 1.46074992e-03 -7.59025083e-06 9.99998933e-01 -1.36102498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:4.52, Z:-0.14 [[ 9.84210826e-01 -1.76994299e-01 -1.43808747e-03 1.29752885e+02] [ 1.76994114e-01 9.84211877e-01 -2.56422083e-04 4.51523781e+00] [ 1.46076802e-03 -2.15962765e-06 9.99998933e-01 -1.35242441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:4.52, Z:-0.13 [[ 9.84554292e-01 -1.75073639e-01 -1.43807285e-03 1.29780017e+02] [ 1.75073451e-01 9.84555342e-01 -2.56504060e-04 4.52068903e+00] [ 1.46076941e-03 7.73796113e-07 9.99998933e-01 -1.32243768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:129.81, Y:4.53, Z:-0.14 [[ 9.84923234e-01 -1.72986000e-01 -1.43802228e-03 1.29806317e+02] [ 1.72985809e-01 9.84924283e-01 -2.56787287e-04 4.52576071e+00] [ 1.46076367e-03 4.15831824e-06 9.99998933e-01 -1.35538477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:4.53, Z:-0.14 [[ 9.85619139e-01 -1.68975873e-01 -1.43800027e-03 1.29834136e+02] [ 1.68975678e-01 9.85620188e-01 -2.56910461e-04 4.52931621e+00] [ 1.46073377e-03 1.02287974e-05 9.99998933e-01 -1.38364423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:4.53, Z:-0.14 [[ 9.85849191e-01 -1.67628471e-01 -1.43798579e-03 1.29861415e+02] [ 1.67628274e-01 9.85850240e-01 -2.56991472e-04 4.53439020e+00] [ 1.46071773e-03 1.23077579e-05 9.99998933e-01 -1.39101255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:129.89, Y:4.54, Z:-0.14 [[ 9.86040196e-01 -1.66501243e-01 -1.43793972e-03 1.29888589e+02] [ 1.66501045e-01 9.86041244e-01 -2.57249010e-04 4.54011547e+00] [ 1.46070015e-03 1.42393979e-05 9.99998933e-01 -1.35771131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:4.55, Z:-0.14 [[ 9.86184577e-01 -1.65643933e-01 -1.43788971e-03 1.29914714e+02] [ 1.65643733e-01 9.86185625e-01 -2.57528225e-04 4.54612036e+00] [ 1.46068415e-03 1.57929434e-05 9.99998933e-01 -1.39932869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:4.55, Z:-0.14 [[ 9.86256900e-01 -1.65212772e-01 -1.43785567e-03 1.29940856e+02] [ 1.65212572e-01 9.86257948e-01 -2.57718127e-04 4.55066859e+00] [ 1.46067491e-03 1.66244465e-05 9.99998933e-01 -1.40725042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:4.56, Z:-0.14 [[ 9.86215476e-01 -1.65459864e-01 -1.43783563e-03 1.29968497e+02] [ 1.65459664e-01 9.86216524e-01 -2.57829897e-04 4.55614523e+00] [ 1.46067776e-03 1.63720341e-05 9.99998933e-01 -1.40026011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:4.56, Z:-0.14 [[ 9.86164987e-01 -1.65760525e-01 -1.43779001e-03 1.29996882e+02] [ 1.65760325e-01 9.86166035e-01 -2.58084050e-04 4.56257213e+00] [ 1.46067982e-03 1.61849143e-05 9.99998933e-01 -1.35098700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:4.57, Z:-0.14 [[ 9.86163940e-01 -1.65766755e-01 -1.43774589e-03 1.30024001e+02] [ 1.65766554e-01 9.86164988e-01 -2.58329618e-04 4.56832482e+00] [ 1.46067712e-03 1.64251717e-05 9.99998933e-01 -1.36680610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.05, Y:4.57, Z:-0.13 [[ 9.86092439e-01 -1.66191560e-01 -1.43773026e-03 1.30051242e+02] [ 1.66191360e-01 9.86093487e-01 -2.58416549e-04 4.57363810e+00] [ 1.46068310e-03 1.58842572e-05 9.99998933e-01 -1.34975943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:4.58, Z:-0.14 [[ 9.86113324e-01 -1.66067590e-01 -1.43767943e-03 1.30077250e+02] [ 1.66067389e-01 9.86114372e-01 -2.58699058e-04 4.57926013e+00] [ 1.46067788e-03 1.63549190e-05 9.99998933e-01 -1.35612134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:4.59, Z:-0.13 [[ 9.86135576e-01 -1.65935407e-01 -1.43765738e-03 1.30104286e+02] [ 1.65935206e-01 9.86136624e-01 -2.58821516e-04 4.58572251e+00] [ 1.46067425e-03 1.66751312e-05 9.99998933e-01 -1.34691442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:4.59, Z:-0.14 [[ 9.86155475e-01 -1.65817108e-01 -1.43760638e-03 1.30130286e+02] [ 1.65816907e-01 9.86156522e-01 -2.59104493e-04 4.59214957e+00] [ 1.46066887e-03 1.71378715e-05 9.99998933e-01 -1.35252515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:4.60, Z:-0.14 [[ 9.86252400e-01 -1.65239634e-01 -1.43758424e-03 1.30157178e+02] [ 1.65239431e-01 9.86253448e-01 -2.59227252e-04 4.60029270e+00] [ 1.46065703e-03 1.81178964e-05 9.99998933e-01 -1.37202426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.18, Y:4.61, Z:-0.14 [[ 9.86228391e-01 -1.65382871e-01 -1.43756853e-03 1.30184062e+02] [ 1.65382669e-01 9.86229439e-01 -2.59314390e-04 4.60674725e+00] [ 1.46065856e-03 1.79942937e-05 9.99998933e-01 -1.35590386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:4.61, Z:-0.14 [[ 9.86270726e-01 -1.65130218e-01 -1.43751710e-03 1.30210800e+02] [ 1.65130015e-01 9.86271773e-01 -2.59599174e-04 4.61317100e+00] [ 1.46065020e-03 1.86578455e-05 9.99998933e-01 -1.36061839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:4.62, Z:-0.14 [[ 9.86215222e-01 -1.65461386e-01 -1.43749481e-03 1.30237179e+02] [ 1.65461183e-01 9.86216269e-01 -2.59722500e-04 4.61935141e+00] [ 1.46065482e-03 1.82926901e-05 9.99998933e-01 -1.37156198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:4.63, Z:-0.14 [[ 9.86064605e-01 -1.66356628e-01 -1.43746011e-03 1.30263865e+02] [ 1.66356426e-01 9.86065653e-01 -2.59914431e-04 4.62758309e+00] [ 1.46066853e-03 1.71616943e-05 9.99998933e-01 -1.36865492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:4.63, Z:-0.14 [[ 9.85953289e-01 -1.67015107e-01 -1.43741075e-03 1.30290109e+02] [ 1.67014905e-01 9.85954337e-01 -2.60187118e-04 4.63450834e+00] [ 1.46067654e-03 1.64633239e-05 9.99998933e-01 -1.38969914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:4.64, Z:-0.14 [[ 9.85749060e-01 -1.68216301e-01 -1.43738933e-03 1.30317395e+02] [ 1.68216100e-01 9.85750108e-01 -2.60305407e-04 4.64181917e+00] [ 1.46069430e-03 1.48037835e-05 9.99998933e-01 -1.36988658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:4.65, Z:-0.14 [[ 9.85583104e-01 -1.69185931e-01 -1.43734013e-03 1.30344781e+02] [ 1.69185731e-01 9.85584152e-01 -2.60576762e-04 4.64855284e+00] [ 1.46070558e-03 1.36426128e-05 9.99998933e-01 -1.37063762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:4.66, Z:-0.13 [[ 9.85155713e-01 -1.71657088e-01 -1.43732484e-03 1.30372385e+02] [ 1.71656891e-01 9.85156761e-01 -2.60661097e-04 4.65705174e+00] [ 1.46073461e-03 1.00650559e-05 9.99998933e-01 -1.34843369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:4.66, Z:-0.14 [[ 9.84842637e-01 -1.73444271e-01 -1.43728119e-03 1.30399468e+02] [ 1.73444075e-01 9.84843686e-01 -2.60901542e-04 4.66289012e+00] [ 1.46074919e-03 7.65905611e-06 9.99998933e-01 -1.35546845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:4.67, Z:-0.13 [[ 9.84483135e-01 -1.75473334e-01 -1.43726574e-03 1.30426781e+02] [ 1.75473140e-01 9.84484184e-01 -2.60986667e-04 4.66942241e+00] [ 1.46076159e-03 4.73543926e-06 9.99998933e-01 -1.34794870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.46, Y:4.68, Z:-0.13 [[ 9.84099868e-01 -1.77610204e-01 -1.43725050e-03 1.30455067e+02] [ 1.77610012e-01 9.84100917e-01 -2.61070575e-04 4.67610135e+00] [ 1.46076833e-03 1.64944000e-06 9.99998933e-01 -1.33669493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.48, Y:4.68, Z:-0.13 [[ 9.84066826e-01 -1.77793185e-01 -1.43720817e-03 1.30483039e+02] [ 1.77792993e-01 9.84067875e-01 -2.61303357e-04 4.68138563e+00] [ 1.46076835e-03 1.61442367e-06 9.99998933e-01 -1.33627891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:4.69, Z:-0.13 [[ 9.83239973e-01 -1.82310422e-01 -1.43715954e-03 1.30511064e+02] [ 1.82310235e-01 9.83241023e-01 -2.61570582e-04 4.68992705e+00] [ 1.46076126e-03 -4.82223958e-06 9.99998933e-01 -1.31578468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:4.70, Z:-0.13 [[ 9.82795762e-01 -1.84690075e-01 -1.43711612e-03 1.30538158e+02] [ 1.84689890e-01 9.82796813e-01 -2.61808898e-04 4.69625907e+00] [ 1.46074665e-03 -8.11614292e-06 9.99998933e-01 -1.30977232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:4.70, Z:-0.14 [[ 9.82454534e-01 -1.86496711e-01 -1.43706638e-03 1.30564881e+02] [ 1.86496528e-01 9.82455585e-01 -2.62081630e-04 4.70209494e+00] [ 1.46073125e-03 -1.05246040e-05 9.99998933e-01 -1.35019258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:4.71, Z:-0.13 [[ 9.81808148e-01 -1.89870207e-01 -1.43704468e-03 1.30592049e+02] [ 1.89870026e-01 9.81809200e-01 -2.62200574e-04 4.70770121e+00] [ 1.46068776e-03 -1.54210516e-05 9.99998933e-01 -1.30928953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:130.62, Y:4.71, Z:-0.13 [[ 9.81578412e-01 -1.91054326e-01 -1.43699416e-03 1.30618652e+02] [ 1.91054146e-01 9.81579464e-01 -2.62477144e-04 4.71289592e+00] [ 1.46067135e-03 -1.69017942e-05 9.99998933e-01 -1.31857936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:4.72, Z:-0.13 [[ 9.81419661e-01 -1.91868143e-01 -1.43697217e-03 1.30645697e+02] [ 1.91867964e-01 9.81420713e-01 -2.62597495e-04 4.71888886e+00] [ 1.46065834e-03 -1.79905800e-05 9.99998933e-01 -1.32398548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:4.73, Z:-0.13 [[ 9.81299187e-01 -1.92483353e-01 -1.43692234e-03 1.30673029e+02] [ 1.92483174e-01 9.81300239e-01 -2.62869888e-04 4.72509535e+00] [ 1.46065031e-03 -1.86293650e-05 9.99998933e-01 -1.34208520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:4.73, Z:-0.13 [[ 9.81194434e-01 -1.93016628e-01 -1.43690687e-03 1.30700126e+02] [ 1.93016449e-01 9.81195486e-01 -2.62954402e-04 4.73222741e+00] [ 1.46064111e-03 -1.93372664e-05 9.99998933e-01 -1.33923457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:4.74, Z:-0.13 [[ 9.81183655e-01 -1.93071415e-01 -1.43685731e-03 1.30728152e+02] [ 1.93071237e-01 9.81184706e-01 -2.63224934e-04 4.73798633e+00] [ 1.46064363e-03 -1.91438154e-05 9.99998933e-01 -1.32189575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:4.74, Z:-0.13 [[ 9.81199027e-01 -1.92993277e-01 -1.43681346e-03 1.30754936e+02] [ 1.92993098e-01 9.81200079e-01 -2.63464065e-04 4.74343817e+00] [ 1.46064828e-03 -1.87843979e-05 9.99998933e-01 -1.32059548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:4.75, Z:-0.13 [[ 9.81287337e-01 -1.92543756e-01 -1.43679472e-03 1.30782820e+02] [ 1.92543577e-01 9.81288389e-01 -2.63566212e-04 4.74920683e+00] [ 1.46065801e-03 -1.80114089e-05 9.99998933e-01 -1.32559241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.81, Y:4.76, Z:-0.13 [[ 9.81404362e-01 -1.91946381e-01 -1.43674803e-03 1.30809998e+02] [ 1.91946201e-01 9.81405414e-01 -2.63820493e-04 4.75505317e+00] [ 1.46067169e-03 -1.68637435e-05 9.99998933e-01 -1.31349186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:4.76, Z:-0.13 [[ 9.81583789e-01 -1.91026703e-01 -1.43669790e-03 1.30837115e+02] [ 1.91026521e-01 9.81584840e-01 -2.64093201e-04 4.76120694e+00] [ 1.46068974e-03 -1.52177967e-05 9.99998933e-01 -1.31970669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:4.77, Z:-0.13 [[ 9.81672145e-01 -1.90572125e-01 -1.43668238e-03 1.30863756e+02] [ 1.90571942e-01 9.81673197e-01 -2.64177627e-04 4.76712854e+00] [ 1.46069747e-03 -1.44555336e-05 9.99998933e-01 -1.32583929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:4.77, Z:-0.13 [[ 9.81737642e-01 -1.90234432e-01 -1.43666124e-03 1.30890220e+02] [ 1.90234248e-01 9.81738693e-01 -2.64292522e-04 4.77263295e+00] [ 1.46070347e-03 -1.38362540e-05 9.99998933e-01 -1.33067166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:4.78, Z:-0.13 [[ 9.81693687e-01 -1.90461126e-01 -1.43664045e-03 1.30917334e+02] [ 1.90460943e-01 9.81694738e-01 -2.64405475e-04 4.77780753e+00] [ 1.46070134e-03 -1.40587104e-05 9.99998933e-01 -1.30874183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.94, Y:4.78, Z:-0.13 [[ 9.81501998e-01 -1.91446503e-01 -1.43659067e-03 1.30944972e+02] [ 1.91446321e-01 9.81503050e-01 -2.64675714e-04 4.78353817e+00] [ 1.46068936e-03 -1.52502556e-05 9.99998933e-01 -1.29377787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:4.79, Z:-0.13 [[ 9.81387492e-01 -1.92032621e-01 -1.43653995e-03 1.30971319e+02] [ 1.92032439e-01 9.81388543e-01 -2.64950680e-04 4.78874785e+00] [ 1.46068302e-03 -1.58429875e-05 9.99998933e-01 -1.31755899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:4.79, Z:-0.13 [[ 9.81188407e-01 -1.93047265e-01 -1.43651785e-03 1.30999315e+02] [ 1.93047084e-01 9.81189458e-01 -2.65070479e-04 4.79395018e+00] [ 1.46066730e-03 -1.72314995e-05 9.99998933e-01 -1.31918185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:4.80, Z:-0.13 [[ 9.80959816e-01 -1.94205498e-01 -1.43647188e-03 1.31026874e+02] [ 1.94205318e-01 9.80960868e-01 -2.65319366e-04 4.79860244e+00] [ 1.46064918e-03 -1.87028403e-05 9.99998933e-01 -1.32491711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:4.80, Z:-0.13 [[ 9.80621268e-01 -1.95907799e-01 -1.43644886e-03 1.31054801e+02] [ 1.95907620e-01 9.80622320e-01 -2.65443924e-04 4.80327564e+00] [ 1.46061635e-03 -2.11113205e-05 9.99998933e-01 -1.34067143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:131.08, Y:4.81, Z:-0.13 [[ 9.80462289e-01 -1.96701898e-01 -1.43640640e-03 1.31082620e+02] [ 1.96701720e-01 9.80463341e-01 -2.65673499e-04 4.80875262e+00] [ 1.46060230e-03 -2.20607612e-05 9.99998933e-01 -1.34341159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:4.81, Z:-0.13 [[ 9.80312737e-01 -1.97445879e-01 -1.43635841e-03 1.31109839e+02] [ 1.97445701e-01 9.80313789e-01 -2.65932708e-04 4.81353818e+00] [ 1.46058927e-03 -2.29055719e-05 9.99998933e-01 -1.34435047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:131.14, Y:4.82, Z:-0.13 [[ 9.80094487e-01 -1.98526406e-01 -1.43630890e-03 1.31138246e+02] [ 1.98526229e-01 9.80095539e-01 -2.66199819e-04 4.81620305e+00] [ 1.46056764e-03 -2.42440145e-05 9.99998933e-01 -1.33540467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83587156000002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:131.17, Y:4.82, Z:-0.14 [[ 9.80056334e-01 -1.98714670e-01 -1.43625944e-03 1.31165948e+02] [ 1.98714492e-01 9.80057386e-01 -2.66466403e-04 4.82053798e+00] [ 1.46056746e-03 -2.42534801e-05 9.99998933e-01 -1.35926060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:4.82, Z:-0.13 [[ 9.80038101e-01 -1.98804570e-01 -1.43624408e-03 1.31193410e+02] [ 1.98804393e-01 9.80039153e-01 -2.66549190e-04 4.82451047e+00] [ 1.46056663e-03 -2.43032693e-05 9.99998933e-01 -1.34971229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:4.83, Z:-0.13 [[ 9.79982704e-01 -1.99077464e-01 -1.43619432e-03 1.31221459e+02] [ 1.99077287e-01 9.79983756e-01 -2.66817037e-04 4.82835087e+00] [ 1.46056436e-03 -2.44375864e-05 9.99998933e-01 -1.33908378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.25, Y:4.83, Z:-0.13 [[ 9.80081506e-01 -1.98590479e-01 -1.43614266e-03 1.31249374e+02] [ 1.98590301e-01 9.80082558e-01 -2.67094766e-04 4.83014699e+00] [ 1.46058085e-03 -2.34293630e-05 9.99998933e-01 -1.32575174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.28, Y:4.83, Z:-0.13 [[ 9.80115155e-01 -1.98424342e-01 -1.43612663e-03 1.31277400e+02] [ 1.98424164e-01 9.80116207e-01 -2.67180963e-04 4.83491483e+00] [ 1.46058619e-03 -2.30941136e-05 9.99998933e-01 -1.32048969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:4.84, Z:-0.13 [[ 9.80178460e-01 -1.98111393e-01 -1.43607580e-03 1.31305090e+02] [ 1.98111214e-01 9.80179512e-01 -2.67453891e-04 4.83916012e+00] [ 1.46059774e-03 -2.23501763e-05 9.99998933e-01 -1.32897556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:4.84, Z:-0.13 [[ 9.80348418e-01 -1.97268642e-01 -1.43602478e-03 1.31332785e+02] [ 1.97268461e-01 9.80349470e-01 -2.67727555e-04 4.84040605e+00] [ 1.46062038e-03 -2.08161131e-05 9.99998933e-01 -1.32391899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:4.84, Z:-0.13 [[ 9.80438147e-01 -1.96822198e-01 -1.43600889e-03 1.31360867e+02] [ 1.96822016e-01 9.80439199e-01 -2.67812753e-04 4.84424257e+00] [ 1.46063090e-03 -2.00643254e-05 9.99998933e-01 -1.31705679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:4.85, Z:-0.13 [[ 9.80603838e-01 -1.95995029e-01 -1.43595791e-03 1.31387856e+02] [ 1.95994847e-01 9.80604889e-01 -2.68085816e-04 4.84806926e+00] [ 1.46065083e-03 -1.85543704e-05 9.99998933e-01 -1.31901327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:4.85, Z:-0.13 [[ 9.80731316e-01 -1.95356145e-01 -1.43593580e-03 1.31416676e+02] [ 1.95355962e-01 9.80732367e-01 -2.68204199e-04 4.85176193e+00] [ 1.46066405e-03 -1.74823616e-05 9.99998933e-01 -1.31596071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:4.85, Z:-0.13 [[ 9.80799828e-01 -1.95011885e-01 -1.43589194e-03 1.31444221e+02] [ 1.95011701e-01 9.80800879e-01 -2.68438773e-04 4.85480952e+00] [ 1.46067283e-03 -1.67310283e-05 9.99998933e-01 -1.30352678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.47, Y:4.86, Z:-0.13 [[ 9.81098285e-01 -1.93504764e-01 -1.43584089e-03 1.31472689e+02] [ 1.93504578e-01 9.81099336e-01 -2.68711565e-04 4.85631846e+00] [ 1.46069951e-03 -1.42093297e-05 9.99998933e-01 -1.30080032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:4.86, Z:-0.13 [[ 9.81304862e-01 -1.92454426e-01 -1.43578848e-03 1.31500272e+02] [ 1.92454238e-01 9.81305912e-01 -2.68991341e-04 4.86046905e+00] [ 1.46071630e-03 -1.23610674e-05 9.99998933e-01 -1.32365259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:4.86, Z:-0.13 [[ 9.81453122e-01 -1.91696915e-01 -1.43576398e-03 1.31528226e+02] [ 1.91696727e-01 9.81454172e-01 -2.69122007e-04 4.86470428e+00] [ 1.46072641e-03 -1.11006215e-05 9.99998933e-01 -1.32624504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:4.87, Z:-0.13 [[ 9.81590574e-01 -1.90991841e-01 -1.43571342e-03 1.31556660e+02] [ 1.90991651e-01 9.81591624e-01 -2.69391488e-04 4.86719491e+00] [ 1.46073584e-03 -9.77713209e-06 9.99998933e-01 -1.31645027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.58, Y:4.87, Z:-0.13 [[ 9.81774614e-01 -1.90043539e-01 -1.43566046e-03 1.31584555e+02] [ 1.90043348e-01 9.81775663e-01 -2.69673455e-04 4.86719095e+00] [ 1.46074619e-03 -8.07916792e-06 9.99998933e-01 -1.33781922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:4.87, Z:-0.13 [[ 9.81821791e-01 -1.89799658e-01 -1.43563747e-03 1.31612793e+02] [ 1.89799466e-01 9.81822840e-01 -2.69795775e-04 4.87170378e+00] [ 1.46074880e-03 -7.59185379e-06 9.99998933e-01 -1.31722107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.64, Y:4.88, Z:-0.13 [[ 9.81874021e-01 -1.89529275e-01 -1.43559263e-03 1.31640136e+02] [ 1.89529083e-01 9.81875070e-01 -2.70034125e-04 4.87635410e+00] [ 1.46075199e-03 -6.94706276e-06 9.99998933e-01 -1.30147835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:4.88, Z:-0.13 [[ 9.82015891e-01 -1.88792818e-01 -1.43554129e-03 1.31667301e+02] [ 1.88792624e-01 9.82016941e-01 -2.70306828e-04 4.87972653e+00] [ 1.46075785e-03 -5.57400661e-06 9.99998933e-01 -1.31017999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:4.88, Z:-0.13 [[ 9.82142150e-01 -1.88134888e-01 -1.43552204e-03 1.31694955e+02] [ 1.88134694e-01 9.82143199e-01 -2.70408977e-04 4.88261434e+00] [ 1.46076158e-03 -4.49144635e-06 9.99998933e-01 -1.30505957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:4.88, Z:-0.13 [[ 9.82647514e-01 -1.85477229e-01 -1.43547019e-03 1.31722917e+02] [ 1.85477032e-01 9.82648562e-01 -2.70683991e-04 4.88372914e+00] [ 1.46076843e-03 -2.59799045e-07 9.99998933e-01 -1.31933631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:4.89, Z:-0.13 [[ 9.82955939e-01 -1.83835691e-01 -1.43545407e-03 1.31750690e+02] [ 1.83835492e-01 9.82956987e-01 -2.70769418e-04 4.88796517e+00] [ 1.46076669e-03 2.26700250e-06 9.99998933e-01 -1.31985148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:4.89, Z:-0.13 [[ 9.83575923e-01 -1.80489177e-01 -1.43540371e-03 1.31778712e+02] [ 1.80488974e-01 9.83576971e-01 -2.71036123e-04 4.89128004e+00] [ 1.46074912e-03 7.51006236e-06 9.99998933e-01 -1.31382290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:4.90, Z:-0.13 [[ 9.83852579e-01 -1.78974979e-01 -1.43535247e-03 1.31806017e+02] [ 1.78974773e-01 9.83853626e-01 -2.71307237e-04 4.89562567e+00] [ 1.46073393e-03 1.00344424e-05 9.99998933e-01 -1.30603880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:4.90, Z:-0.13 [[ 9.84046110e-01 -1.77907823e-01 -1.43532832e-03 1.31834016e+02] [ 1.77907616e-01 9.84047157e-01 -2.71434940e-04 4.90021171e+00] [ 1.46072115e-03 1.17486581e-05 9.99998933e-01 -1.29904669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:4.90, Z:-0.13 [[ 9.84232397e-01 -1.76874329e-01 -1.43528405e-03 1.31862108e+02] [ 1.76874121e-01 9.84233444e-01 -2.71668824e-04 4.90454582e+00] [ 1.46070580e-03 1.35206534e-05 9.99998933e-01 -1.30264752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:4.91, Z:-0.13 [[ 9.84570888e-01 -1.74980306e-01 -1.43523338e-03 1.31889606e+02] [ 1.74980095e-01 9.84571934e-01 -2.71936209e-04 4.90824959e+00] [ 1.46067399e-03 1.66032005e-05 9.99998933e-01 -1.31652622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:4.91, Z:-0.13 [[ 9.84729484e-01 -1.74085564e-01 -1.43518216e-03 1.31917539e+02] [ 1.74085352e-01 9.84730530e-01 -2.72206271e-04 4.91297989e+00] [ 1.46065487e-03 1.82053493e-05 9.99998933e-01 -1.29929647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:4.92, Z:-0.13 [[ 9.84877880e-01 -1.73244055e-01 -1.43512823e-03 1.31944959e+02] [ 1.73243842e-01 9.84878925e-01 -2.72490314e-04 4.91785286e+00] [ 1.46063488e-03 1.97425536e-05 9.99998933e-01 -1.31340330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:4.92, Z:-0.13 [[ 9.85035887e-01 -1.72343383e-01 -1.43510279e-03 1.31971525e+02] [ 1.72343168e-01 9.85036932e-01 -2.72624216e-04 4.92283312e+00] [ 1.46061423e-03 2.12144740e-05 9.99998933e-01 -1.32363864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:4.93, Z:-0.13 [[ 9.85297637e-01 -1.70840588e-01 -1.43508071e-03 1.31998894e+02] [ 1.70840372e-01 9.85298682e-01 -2.72740405e-04 4.92799445e+00] [ 1.46057827e-03 2.35607549e-05 9.99998933e-01 -1.29884999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:4.93, Z:-0.13 [[ 9.85382498e-01 -1.70350445e-01 -1.43502689e-03 1.32025054e+02] [ 1.70350228e-01 9.85383542e-01 -2.73023324e-04 4.93335557e+00] [ 1.46056152e-03 2.45752483e-05 9.99998933e-01 -1.30020509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:4.94, Z:-0.13 [[ 9.85481904e-01 -1.69774433e-01 -1.43500355e-03 1.32052259e+02] [ 1.69774215e-01 9.85482948e-01 -2.73145898e-04 4.93842273e+00] [ 1.46054472e-03 2.55537378e-05 9.99998933e-01 -1.29734232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:4.94, Z:-0.13 [[ 9.85763742e-01 -1.68130265e-01 -1.43497841e-03 1.32079667e+02] [ 1.68130046e-01 9.85764786e-01 -2.73277950e-04 4.94406517e+00] [ 1.46049748e-03 2.81245097e-05 9.99998933e-01 -1.28343417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:4.95, Z:-0.13 [[ 9.85957464e-01 -1.66990478e-01 -1.43492532e-03 1.32106825e+02] [ 1.66990257e-01 9.85958508e-01 -2.73556425e-04 4.94979399e+00] [ 1.46045814e-03 3.00964520e-05 9.99998933e-01 -1.29857646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:4.96, Z:-0.13 [[ 9.86152240e-01 -1.65836370e-01 -1.43490881e-03 1.32134478e+02] [ 1.65836147e-01 9.86153283e-01 -2.73642971e-04 4.95606128e+00] [ 1.46041999e-03 3.18938796e-05 9.99998933e-01 -1.28035139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:4.96, Z:-0.13 [[ 9.86490953e-01 -1.63809463e-01 -1.43485560e-03 1.32161344e+02] [ 1.63809238e-01 9.86491996e-01 -2.73921691e-04 4.96380536e+00] [ 1.46034453e-03 3.51786670e-05 9.99998933e-01 -1.30753448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:4.97, Z:-0.13 [[ 9.86606791e-01 -1.63110335e-01 -1.43483080e-03 1.32188463e+02] [ 1.63110109e-01 9.86607834e-01 -2.74051554e-04 4.97043441e+00] [ 1.46031595e-03 3.63457161e-05 9.99998933e-01 -1.30273691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:4.98, Z:-0.13 [[ 9.86708189e-01 -1.62495816e-01 -1.43477789e-03 1.32214372e+02] [ 1.62495589e-01 9.86709232e-01 -2.74328300e-04 4.97687943e+00] [ 1.46028579e-03 3.75369030e-05 9.99998933e-01 -1.30574310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:4.98, Z:-0.13 [[ 9.86677097e-01 -1.62684506e-01 -1.43474178e-03 1.32242301e+02] [ 1.62684278e-01 9.86678139e-01 -2.74517004e-04 4.98241901e+00] [ 1.46028801e-03 3.74497099e-05 9.99998933e-01 -1.30532709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:4.99, Z:-0.13 [[ 9.86706178e-01 -1.62508028e-01 -1.43468923e-03 1.32268570e+02] [ 1.62507800e-01 9.86707221e-01 -2.74791366e-04 4.98957628e+00] [ 1.46027403e-03 3.79901483e-05 9.99998933e-01 -1.31006750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:5.00, Z:-0.13 [[ 9.86685890e-01 -1.62631165e-01 -1.43466639e-03 1.32295427e+02] [ 1.62630938e-01 9.86686932e-01 -2.74910577e-04 4.99901076e+00] [ 1.46027560e-03 3.79292475e-05 9.99998933e-01 -1.30366339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:5.01, Z:-0.13 [[ 9.86643766e-01 -1.62886526e-01 -1.43461418e-03 1.32321963e+02] [ 1.62886298e-01 9.86644809e-01 -2.75182733e-04 5.00634806e+00] [ 1.46027820e-03 3.78283349e-05 9.99998933e-01 -1.30388805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:5.01, Z:-0.13 [[ 9.86553643e-01 -1.63431488e-01 -1.43459149e-03 1.32348757e+02] [ 1.63431261e-01 9.86554685e-01 -2.75301005e-04 5.01428847e+00] [ 1.46029581e-03 3.71421143e-05 9.99998933e-01 -1.30381998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:5.02, Z:-0.13 [[ 9.86482119e-01 -1.63862661e-01 -1.43453946e-03 1.32374862e+02] [ 1.63862433e-01 9.86483161e-01 -2.75571831e-04 5.02240440e+00] [ 1.46030496e-03 3.67795567e-05 9.99998933e-01 -1.32281413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:5.03, Z:-0.13 [[ 9.86233340e-01 -1.65353385e-01 -1.43451681e-03 1.32401418e+02] [ 1.65353158e-01 9.86234382e-01 -2.75689673e-04 5.03278893e+00] [ 1.46035602e-03 3.46924606e-05 9.99998933e-01 -1.31159644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:5.04, Z:-0.13 [[ 9.86065226e-01 -1.66352973e-01 -1.43446833e-03 1.32428488e+02] [ 1.66352748e-01 9.86066269e-01 -2.75941732e-04 5.04087116e+00] [ 1.46038456e-03 3.34687988e-05 9.99998933e-01 -1.31285760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:5.05, Z:-0.13 [[ 9.85882313e-01 -1.67433589e-01 -1.43441630e-03 1.32455409e+02] [ 1.67433365e-01 9.85883356e-01 -2.76211938e-04 5.04917732e+00] [ 1.46041431e-03 3.21433176e-05 9.99998933e-01 -1.31449315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:5.06, Z:-0.13 [[ 9.85300558e-01 -1.70823751e-01 -1.43436393e-03 1.32481557e+02] [ 1.70823529e-01 9.85301601e-01 -2.76483600e-04 5.05973183e+00] [ 1.46051104e-03 2.73963359e-05 9.99998933e-01 -1.31959944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:5.07, Z:-0.13 [[ 9.84853960e-01 -1.73379988e-01 -1.43431124e-03 1.32508112e+02] [ 1.73379769e-01 9.84855004e-01 -2.76756688e-04 5.06657637e+00] [ 1.46057267e-03 2.38843698e-05 9.99998933e-01 -1.32560172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:5.07, Z:-0.13 [[ 9.84364345e-01 -1.76138524e-01 -1.43428836e-03 1.32535233e+02] [ 1.76138307e-01 9.84365390e-01 -2.76875182e-04 5.07330186e+00] [ 1.46063221e-03 1.99129323e-05 9.99998933e-01 -1.31471989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:5.08, Z:-0.13 [[ 9.83831375e-01 -1.79091508e-01 -1.43423458e-03 1.32562191e+02] [ 1.79091294e-01 9.83832420e-01 -2.77153523e-04 5.08053436e+00] [ 1.46068232e-03 1.58134055e-05 9.99998933e-01 -1.30217759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:5.09, Z:-0.13 [[ 9.83327021e-01 -1.81840349e-01 -1.43417957e-03 1.32588686e+02] [ 1.81840138e-01 9.83328067e-01 -2.77437866e-04 5.08834991e+00] [ 1.46071842e-03 1.20207397e-05 9.99998933e-01 -1.30068985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:5.10, Z:-0.13 [[ 9.82463308e-01 -1.86450509e-01 -1.43416250e-03 1.32615493e+02] [ 1.86450302e-01 9.82464354e-01 -2.77526079e-04 5.09807931e+00] [ 1.46075841e-03 5.25915787e-06 9.99998933e-01 -1.30258717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:5.11, Z:-0.13 [[ 9.82023927e-01 -1.88751027e-01 -1.43414575e-03 1.32642395e+02] [ 1.88750823e-01 9.82024974e-01 -2.77612609e-04 5.10552638e+00] [ 1.46076661e-03 1.92603359e-06 9.99998933e-01 -1.29683438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.67, Y:5.11, Z:-0.13 [[ 9.81615625e-01 -1.90863059e-01 -1.43409413e-03 1.32669880e+02] [ 1.90862857e-01 9.81616673e-01 -2.77879028e-04 5.11282313e+00] [ 1.46076755e-03 -9.44906848e-07 9.99998933e-01 -1.29008706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:5.12, Z:-0.13 [[ 9.81195216e-01 -1.93012670e-01 -1.43404218e-03 1.32696770e+02] [ 1.93012469e-01 9.81196264e-01 -2.78146862e-04 5.11971609e+00] [ 1.46076270e-03 -3.87165138e-06 9.99998933e-01 -1.28017458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.72, Y:5.13, Z:-0.13 [[ 9.80819249e-01 -1.94914198e-01 -1.43398834e-03 1.32723418e+02] [ 1.94913999e-01 9.80820297e-01 -2.78424128e-04 5.12596967e+00] [ 1.46075369e-03 -6.42065843e-06 9.99998933e-01 -1.29254323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:5.13, Z:-0.13 [[ 9.80035090e-01 -1.98819432e-01 -1.43397170e-03 1.32751430e+02] [ 1.98819237e-01 9.80036139e-01 -2.78509803e-04 5.13372767e+00] [ 1.46071725e-03 -1.21517808e-05 9.99998933e-01 -1.28448566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.78, Y:5.14, Z:-0.13 [[ 9.79649692e-01 -2.00709801e-01 -1.43392448e-03 1.32779145e+02] [ 2.00709608e-01 9.79650742e-01 -2.78752755e-04 5.14023169e+00] [ 1.46069359e-03 -1.47223683e-05 9.99998933e-01 -1.28251529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.81, Y:5.15, Z:-0.13 [[ 9.79275172e-01 -2.02529210e-01 -1.43387049e-03 1.32805821e+02] [ 2.02529018e-01 9.79276222e-01 -2.79030160e-04 5.14628054e+00] [ 1.46066704e-03 -1.71530746e-05 9.99998933e-01 -1.29381370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:5.15, Z:-0.13 [[ 9.78512282e-01 -2.06183555e-01 -1.43384708e-03 1.32833413e+02] [ 2.06183367e-01 9.78513332e-01 -2.79150393e-04 5.15311343e+00] [ 1.46059471e-03 -2.24833314e-05 9.99998933e-01 -1.30253267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:5.16, Z:-0.13 [[ 9.78149696e-01 -2.07896891e-01 -1.43380030e-03 1.32860489e+02] [ 2.07896704e-01 9.78150746e-01 -2.79390475e-04 5.15845630e+00] [ 1.46055725e-03 -2.47966493e-05 9.99998933e-01 -1.30888388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:5.16, Z:-0.13 [[ 9.77786522e-01 -2.09598334e-01 -1.43378376e-03 1.32888919e+02] [ 2.09598149e-01 9.77787573e-01 -2.79475340e-04 5.16359141e+00] [ 1.46051351e-03 -2.72512014e-05 9.99998933e-01 -1.29643094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:5.17, Z:-0.13 [[ 9.77484214e-01 -2.11003687e-01 -1.43373818e-03 1.32916077e+02] [ 2.11003504e-01 9.77485265e-01 -2.79708972e-04 5.16844372e+00] [ 1.46047757e-03 -2.91126749e-05 9.99998933e-01 -1.29038832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.94, Y:5.17, Z:-0.13 [[ 9.77089605e-01 -2.12823517e-01 -1.43368557e-03 1.32942807e+02] [ 2.12823335e-01 9.77090656e-01 -2.79978377e-04 5.17414140e+00] [ 1.46042676e-03 -3.15577821e-05 9.99998933e-01 -1.29648575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.97, Y:5.18, Z:-0.13 [[ 9.76939561e-01 -2.13511216e-01 -1.43366261e-03 1.32969997e+02] [ 2.13511035e-01 9.76940612e-01 -2.80095873e-04 5.17962056e+00] [ 1.46040684e-03 -3.24660490e-05 9.99998933e-01 -1.28495463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:5.18, Z:-0.13 [[ 9.76792097e-01 -2.14184835e-01 -1.43361006e-03 1.32997180e+02] [ 2.14184654e-01 9.76793149e-01 -2.80364586e-04 5.18430981e+00] [ 1.46039033e-03 -3.31993641e-05 9.99998933e-01 -1.28776803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:5.19, Z:-0.13 [[ 9.76628604e-01 -2.14929094e-01 -1.43359377e-03 1.33025397e+02] [ 2.14928914e-01 9.76629655e-01 -2.80447881e-04 5.18837645e+00] [ 1.46036660e-03 -3.42273295e-05 9.99998933e-01 -1.28476123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:5.19, Z:-0.13 [[ 9.76498076e-01 -2.15521351e-01 -1.43354493e-03 1.33053355e+02] [ 2.15521171e-01 9.76499128e-01 -2.80697322e-04 5.19315114e+00] [ 1.46035164e-03 -3.48588859e-05 9.99998933e-01 -1.28185334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:133.08, Y:5.20, Z:-0.13 [[ 9.76511006e-01 -2.15462760e-01 -1.43349233e-03 1.33080688e+02] [ 2.15462580e-01 9.76512057e-01 -2.80965664e-04 5.19821470e+00] [ 1.46036018e-03 -3.44978927e-05 9.99998933e-01 -1.27575197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:5.20, Z:-0.13 [[ 9.76544796e-01 -2.15309559e-01 -1.43347597e-03 1.33107207e+02] [ 2.15309378e-01 9.76545848e-01 -2.81049123e-04 5.20187188e+00] [ 1.46036757e-03 -3.41837610e-05 9.99998933e-01 -1.27961343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:5.20, Z:-0.13 [[ 9.76654054e-01 -2.14813418e-01 -1.43345328e-03 1.33134816e+02] [ 2.14813237e-01 9.76655105e-01 -2.81164803e-04 5.20390195e+00] [ 1.46038743e-03 -3.33239934e-05 9.99998933e-01 -1.28009480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:5.21, Z:-0.13 [[ 9.76702766e-01 -2.14591826e-01 -1.43340143e-03 1.33162803e+02] [ 2.14591644e-01 9.76703817e-01 -2.81428880e-04 5.20864575e+00] [ 1.46040099e-03 -3.27236048e-05 9.99998933e-01 -1.27889006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:5.21, Z:-0.13 [[ 9.76740590e-01 -2.14419603e-01 -1.43334877e-03 1.33190599e+02] [ 2.14419420e-01 9.76741641e-01 -2.81696824e-04 5.21275869e+00] [ 1.46041275e-03 -3.21930908e-05 9.99998933e-01 -1.28416344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:5.22, Z:-0.13 [[ 9.76734367e-01 -2.14447946e-01 -1.43331540e-03 1.33218041e+02] [ 2.14447764e-01 9.76735418e-01 -2.81866504e-04 5.21599018e+00] [ 1.46041561e-03 -3.20625814e-05 9.99998933e-01 -1.29679087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:5.22, Z:-0.13 [[ 9.76896591e-01 -2.13707737e-01 -1.43329022e-03 1.33246245e+02] [ 2.13707554e-01 9.76897642e-01 -2.81994493e-04 5.21704190e+00] [ 1.46044224e-03 -3.08254883e-05 9.99998933e-01 -1.27106747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:5.22, Z:-0.13 [[ 9.77126505e-01 -2.12654034e-01 -1.43323517e-03 1.33273853e+02] [ 2.12653849e-01 9.77127556e-01 -2.82274031e-04 5.22065510e+00] [ 1.46048029e-03 -2.89655372e-05 9.99998933e-01 -1.27668774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:5.22, Z:-0.13 [[ 9.77381557e-01 -2.11478692e-01 -1.43320927e-03 1.33301924e+02] [ 2.11478505e-01 9.77382608e-01 -2.82405436e-04 5.22466334e+00] [ 1.46051655e-03 -2.70750895e-05 9.99998933e-01 -1.27096969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:5.23, Z:-0.13 [[ 9.77739793e-01 -2.09816213e-01 -1.43315595e-03 1.33330111e+02] [ 2.09816024e-01 9.77740843e-01 -2.82675801e-04 5.22831700e+00] [ 1.46056507e-03 -2.43157030e-05 9.99998933e-01 -1.25957692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:5.23, Z:-0.12 [[ 9.78617936e-01 -2.05681507e-01 -1.43310125e-03 1.33359327e+02] [ 2.05681313e-01 9.78618985e-01 -2.82952849e-04 5.23034794e+00] [ 1.46065826e-03 -1.78594128e-05 9.99998933e-01 -1.24196978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:5.23, Z:-0.12 [[ 9.79048430e-01 -2.03622487e-01 -1.43305310e-03 1.33387121e+02] [ 2.03622291e-01 9.79049479e-01 -2.83196480e-04 5.23463292e+00] [ 1.46069506e-03 -1.45384860e-05 9.99998933e-01 -1.24913979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:5.24, Z:-0.12 [[ 9.79742584e-01 -2.00255877e-01 -1.43302740e-03 1.33415812e+02] [ 2.00255677e-01 9.79743632e-01 -2.83326493e-04 5.23507795e+00] [ 1.46073726e-03 -9.38484079e-06 9.99998933e-01 -1.24562384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:5.24, Z:-0.12 [[ 9.80062105e-01 -1.98686226e-01 -1.43297397e-03 1.33442681e+02] [ 1.98686024e-01 9.80063153e-01 -2.83596427e-04 5.23749693e+00] [ 1.46075169e-03 -6.76979014e-06 9.99998933e-01 -1.24683306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.47, Y:5.24, Z:-0.12 [[ 9.80402259e-01 -1.97000908e-01 -1.43293741e-03 1.33470197e+02] [ 1.97000704e-01 9.80403306e-01 -2.83781061e-04 5.24072799e+00] [ 1.46076170e-03 -4.07008465e-06 9.99998933e-01 -1.24059164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:5.25, Z:-0.12 [[ 9.80718116e-01 -1.95422423e-01 -1.43288393e-03 1.33497583e+02] [ 1.95422216e-01 9.80719163e-01 -2.84050844e-04 5.24510416e+00] [ 1.46076663e-03 -1.44354401e-06 9.99998933e-01 -1.23243929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:5.25, Z:-0.12 [[ 9.81487955e-01 -1.91518515e-01 -1.43283013e-03 1.33525795e+02] [ 1.91518304e-01 9.81489001e-01 -2.84321971e-04 5.24749266e+00] [ 1.46075993e-03 4.64539390e-06 9.99998933e-01 -1.23008520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:5.25, Z:-0.12 [[ 9.81882194e-01 -1.89486951e-01 -1.43281341e-03 1.33553132e+02] [ 1.89486738e-01 9.81883239e-01 -2.84406169e-04 5.25195296e+00] [ 1.46074673e-03 7.75421309e-06 9.99998933e-01 -1.22824211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:5.26, Z:-0.12 [[ 9.82323197e-01 -1.87187297e-01 -1.43275968e-03 1.33580231e+02] [ 1.87187081e-01 9.82324242e-01 -2.84676614e-04 5.25664358e+00] [ 1.46072241e-03 1.14503393e-05 9.99998933e-01 -1.23023652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:5.26, Z:-0.12 [[ 9.82851795e-01 -1.84391694e-01 -1.43270544e-03 1.33607749e+02] [ 1.84391474e-01 9.82852839e-01 -2.84949306e-04 5.26153748e+00] [ 1.46068090e-03 1.58842674e-05 9.99998933e-01 -1.24081948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:5.27, Z:-0.12 [[ 9.83857784e-01 -1.78946382e-01 -1.43268861e-03 1.33635837e+02] [ 1.78946157e-01 9.83858827e-01 -2.85033923e-04 5.26713326e+00] [ 1.46056912e-03 2.40587233e-05 9.99998933e-01 -1.24692557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:5.27, Z:-0.13 [[ 9.84388209e-01 -1.76005117e-01 -1.43263957e-03 1.33662039e+02] [ 1.76004888e-01 9.84389251e-01 -2.85280188e-04 5.27305275e+00] [ 1.46048577e-03 2.86748858e-05 9.99998933e-01 -1.25724846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.69, Y:5.28, Z:-0.13 [[ 9.84871581e-01 -1.73279879e-01 -1.43261522e-03 1.33688522e+02] [ 1.73279647e-01 9.84872622e-01 -2.85402443e-04 5.27920328e+00] [ 1.46039800e-03 3.28416966e-05 9.99998933e-01 -1.27518797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:5.29, Z:-0.13 [[ 9.85252563e-01 -1.71100367e-01 -1.43259167e-03 1.33715870e+02] [ 1.71100133e-01 9.85253603e-01 -2.85520591e-04 5.28640837e+00] [ 1.46031878e-03 3.61932690e-05 9.99998933e-01 -1.25589048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:5.29, Z:-0.12 [[ 9.85860356e-01 -1.67562845e-01 -1.43253783e-03 1.33742937e+02] [ 1.67562607e-01 9.85861396e-01 -2.85790443e-04 5.29481303e+00] [ 1.46017161e-03 4.17096939e-05 9.99998933e-01 -1.23504298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:133.77, Y:5.30, Z:-0.13 [[ 9.86069955e-01 -1.66324956e-01 -1.43248219e-03 1.33770100e+02] [ 1.66324716e-01 9.86070995e-01 -2.86069055e-04 5.30214153e+00] [ 1.46010956e-03 4.38269064e-05 9.99998933e-01 -1.25578761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:5.31, Z:-0.12 [[ 9.86158140e-01 -1.65801298e-01 -1.43235512e-03 1.33798267e+02] [ 1.65801056e-01 9.86159180e-01 -2.86704924e-04 5.31066030e+00] [ 1.46006620e-03 4.52504036e-05 9.99998933e-01 -1.22998145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:5.32, Z:-0.12 [[ 9.86044866e-01 -1.66473633e-01 -1.43242131e-03 1.33824372e+02] [ 1.66473393e-01 9.86045905e-01 -2.86373848e-04 5.31966660e+00] [ 1.46010686e-03 4.39174272e-05 9.99998933e-01 -1.24780394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:5.33, Z:-0.12 [[ 9.85814178e-01 -1.67834308e-01 -1.43238333e-03 1.33851358e+02] [ 1.67834069e-01 9.85815218e-01 -2.86563661e-04 5.32631853e+00] [ 1.46016050e-03 4.20957964e-05 9.99998933e-01 -1.23719262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:5.33, Z:-0.13 [[ 9.85520562e-01 -1.69549903e-01 -1.43232654e-03 1.33878400e+02] [ 1.69549665e-01 9.85521602e-01 -2.86847247e-04 5.33329103e+00] [ 1.46022367e-03 3.98433744e-05 9.99998933e-01 -1.26028871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:5.34, Z:-0.13 [[ 9.85118872e-01 -1.71868428e-01 -1.43230892e-03 1.33905979e+02] [ 1.71868192e-01 9.85119913e-01 -2.86935207e-04 5.34095613e+00] [ 1.46031114e-03 3.64969420e-05 9.99998933e-01 -1.26417309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:5.35, Z:-0.13 [[ 9.84217394e-01 -1.76957817e-01 -1.43225985e-03 1.33931510e+02] [ 1.76957587e-01 9.84218436e-01 -2.87179913e-04 5.34964206e+00] [ 1.46047528e-03 2.91982181e-05 9.99998933e-01 -1.29549747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:5.36, Z:-0.13 [[ 9.84184596e-01 -1.77140142e-01 -1.43223540e-03 1.33959381e+02] [ 1.77139912e-01 9.84185638e-01 -2.87301830e-04 5.35544299e+00] [ 1.46047820e-03 2.90519839e-05 9.99998933e-01 -1.29508154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.99, Y:5.36, Z:-0.13 [[ 9.83729628e-01 -1.79649571e-01 -1.43218213e-03 1.33986463e+02] [ 1.79649343e-01 9.83730670e-01 -2.87567144e-04 5.36128685e+00] [ 1.46054280e-03 2.55977419e-05 9.99998933e-01 -1.27302657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:5.37, Z:-0.13 [[ 9.83274492e-01 -1.82124197e-01 -1.43212618e-03 1.34013401e+02] [ 1.82123971e-01 9.83275534e-01 -2.87845498e-04 5.36796205e+00] [ 1.46059826e-03 2.22066290e-05 9.99998933e-01 -1.27550722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:5.38, Z:-0.13 [[ 9.82871423e-01 -1.84287045e-01 -1.43210884e-03 1.34040558e+02] [ 1.84286821e-01 9.82872466e-01 -2.87931721e-04 5.37552172e+00] [ 1.46064244e-03 1.90810748e-05 9.99998933e-01 -1.26833335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:5.39, Z:-0.13 [[ 9.82304274e-01 -1.87286581e-01 -1.43205461e-03 1.34066847e+02] [ 1.87286360e-01 9.82305317e-01 -2.88201195e-04 5.38607500e+00] [ 1.46069108e-03 1.48969705e-05 9.99998933e-01 -1.26513948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:5.39, Z:-0.13 [[ 9.82068387e-01 -1.88519581e-01 -1.43200008e-03 1.34094135e+02] [ 1.88519361e-01 9.82069431e-01 -2.88471875e-04 5.39384147e+00] [ 1.46070611e-03 1.33393681e-05 9.99998933e-01 -1.26569953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:134.12, Y:5.40, Z:-0.13 [[ 9.81907128e-01 -1.89357705e-01 -1.43198315e-03 1.34121282e+02] [ 1.89357486e-01 9.81908173e-01 -2.88555920e-04 5.40131387e+00] [ 1.46071624e-03 1.21783866e-05 9.99998933e-01 -1.25076234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:5.41, Z:-0.12 [[ 9.81517580e-01 -1.91366638e-01 -1.43192791e-03 1.34147269e+02] [ 1.91366420e-01 9.81518624e-01 -2.88829800e-04 5.41161930e+00] [ 1.46073630e-03 9.46860853e-06 9.99998933e-01 -1.24466089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.18, Y:5.42, Z:-0.12 [[ 9.81278091e-01 -1.92590907e-01 -1.43191077e-03 1.34175486e+02] [ 1.92590691e-01 9.81279136e-01 -2.88914731e-04 5.41874891e+00] [ 1.46074651e-03 7.73301198e-06 9.99998933e-01 -1.23935418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.20, Y:5.43, Z:-0.12 [[ 9.81012664e-01 -1.93938400e-01 -1.43186272e-03 1.34203137e+02] [ 1.93938185e-01 9.81013709e-01 -2.89152677e-04 5.42551291e+00] [ 1.46075476e-03 5.96958197e-06 9.99998933e-01 -1.23775823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:5.43, Z:-0.13 [[ 9.80283578e-01 -1.97590627e-01 -1.43180777e-03 1.34230049e+02] [ 1.97590415e-01 9.80284624e-01 -2.89424502e-04 5.43302864e+00] [ 1.46076671e-03 8.06594698e-07 9.99998933e-01 -1.25019451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:5.44, Z:-0.12 [[ 9.79844703e-01 -1.99755619e-01 -1.43179067e-03 1.34256682e+02] [ 1.99755410e-01 9.79845749e-01 -2.89509096e-04 5.44005647e+00] [ 1.46076507e-03 -2.33397626e-06 9.99998933e-01 -1.24222935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:5.45, Z:-0.12 [[ 9.79359954e-01 -2.02118851e-01 -1.43173674e-03 1.34283317e+02] [ 2.02118643e-01 9.79361001e-01 -2.89775550e-04 5.44752569e+00] [ 1.46075623e-03 -5.58611758e-06 9.99998933e-01 -1.22212725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:5.45, Z:-0.12 [[ 9.78848836e-01 -2.04579827e-01 -1.43168069e-03 1.34310616e+02] [ 2.04579622e-01 9.78849883e-01 -2.90052208e-04 5.45432575e+00] [ 1.46073930e-03 -8.97542795e-06 9.99998933e-01 -1.22156164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:5.46, Z:-0.12 [[ 9.77800634e-01 -2.09532506e-01 -1.43162485e-03 1.34338295e+02] [ 2.09532306e-01 9.77801682e-01 -2.90327538e-04 5.46000760e+00] [ 1.46067824e-03 -1.60892057e-05 9.99998933e-01 -1.23743307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:5.47, Z:-0.12 [[ 9.77238396e-01 -2.12139266e-01 -1.43160753e-03 1.34365827e+02] [ 2.12139068e-01 9.77239444e-01 -2.90412916e-04 5.46536760e+00] [ 1.46063133e-03 -1.98972357e-05 9.99998933e-01 -1.24435411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:5.47, Z:-0.13 [[ 9.76783021e-01 -2.14226237e-01 -1.43155324e-03 1.34392023e+02] [ 2.14226041e-01 9.76784070e-01 -2.90680285e-04 5.47004804e+00] [ 1.46058975e-03 -2.27444170e-05 9.99998933e-01 -1.25532979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:5.48, Z:-0.12 [[ 9.76050079e-01 -2.17541247e-01 -1.43151607e-03 1.34419926e+02] [ 2.17541054e-01 9.76051128e-01 -2.90863248e-04 5.47546060e+00] [ 1.46050763e-03 -2.75164184e-05 9.99998933e-01 -1.23395051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:5.48, Z:-0.12 [[ 9.75896394e-01 -2.18229648e-01 -1.43146034e-03 1.34447362e+02] [ 2.18229456e-01 9.75897443e-01 -2.91137242e-04 5.48078751e+00] [ 1.46049326e-03 -2.82670268e-05 9.99998933e-01 -1.22653438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:5.49, Z:-0.12 [[ 9.75852001e-01 -2.18428074e-01 -1.43144295e-03 1.34473930e+02] [ 2.18427881e-01 9.75853050e-01 -2.91222742e-04 5.48585233e+00] [ 1.46048919e-03 -2.84767548e-05 9.99998933e-01 -1.22443781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49587156 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:134.50, Y:5.49, Z:-0.12 [[ 9.75929108e-01 -2.18083306e-01 -1.43140543e-03 1.34501659e+02] [ 2.18083113e-01 9.75930157e-01 -2.91407028e-04 5.49068528e+00] [ 1.46050273e-03 -2.77727502e-05 9.99998933e-01 -1.22166377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.53, Y:5.50, Z:-0.12 [[ 9.76309074e-01 -2.16375931e-01 -1.43134972e-03 1.34529562e+02] [ 2.16375736e-01 9.76310123e-01 -2.91680410e-04 5.49614964e+00] [ 1.46055384e-03 -2.49391179e-05 9.99998933e-01 -1.21584659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:5.50, Z:-0.12 [[ 9.76531815e-01 -2.15368443e-01 -1.43129404e-03 1.34557347e+02] [ 2.15368246e-01 9.76532863e-01 -2.91953375e-04 5.50141668e+00] [ 1.46058321e-03 -2.31535281e-05 9.99998933e-01 -1.21563172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:5.51, Z:-0.12 [[ 9.76775855e-01 -2.14258911e-01 -1.43123828e-03 1.34584802e+02] [ 2.14258713e-01 9.76776903e-01 -2.92226480e-04 5.50585577e+00] [ 1.46061262e-03 -2.12155008e-05 9.99998933e-01 -1.21941180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.61, Y:5.51, Z:-0.12 [[ 9.77279658e-01 -2.11949100e-01 -1.43118250e-03 1.34612788e+02] [ 2.11948899e-01 9.77280706e-01 -2.92499424e-04 5.50931707e+00] [ 1.46066203e-03 -1.74838171e-05 9.99998933e-01 -1.23091846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.64, Y:5.51, Z:-0.12 [[ 9.77478136e-01 -2.11031858e-01 -1.43116511e-03 1.34639680e+02] [ 2.11031656e-01 9.77479184e-01 -2.92584465e-04 5.51404144e+00] [ 1.46067875e-03 -1.60262253e-05 9.99998933e-01 -1.23774881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.67, Y:5.52, Z:-0.12 [[ 9.77589064e-01 -2.10517394e-01 -1.43114102e-03 1.34667300e+02] [ 2.10517191e-01 9.77590112e-01 -2.92702241e-04 5.51920058e+00] [ 1.46068822e-03 -1.51372776e-05 9.99998933e-01 -1.24280114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:134.69, Y:5.52, Z:-0.12 [[ 9.77734125e-01 -2.09842639e-01 -1.43108672e-03 1.34694380e+02] [ 2.09842435e-01 9.77735172e-01 -2.92967481e-04 5.52420272e+00] [ 1.46070089e-03 -1.38584192e-05 9.99998933e-01 -1.24025611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:5.53, Z:-0.12 [[ 9.77999929e-01 -2.08600316e-01 -1.43103171e-03 1.34722888e+02] [ 2.08600110e-01 9.78000976e-01 -2.93235951e-04 5.52980326e+00] [ 1.46071952e-03 -1.17286335e-05 9.99998933e-01 -1.23115295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:5.53, Z:-0.12 [[ 9.78134629e-01 -2.07967784e-01 -1.43098375e-03 1.34750982e+02] [ 2.07967578e-01 9.78135676e-01 -2.93469792e-04 5.53404817e+00] [ 1.46072852e-03 -1.05452589e-05 9.99998933e-01 -1.21273644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:5.54, Z:-0.12 [[ 9.78324941e-01 -2.07070670e-01 -1.43093409e-03 1.34777438e+02] [ 2.07070462e-01 9.78325987e-01 -2.93711753e-04 5.53727559e+00] [ 1.46073909e-03 -8.95864980e-06 9.99998933e-01 -1.22302066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:5.54, Z:-0.12 [[ 9.78413573e-01 -2.06651480e-01 -1.43075335e-03 1.34805081e+02] [ 2.06651270e-01 9.78414619e-01 -2.94591478e-04 5.54169060e+00] [ 1.46074776e-03 -7.43469597e-06 9.99998933e-01 -1.21709354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:5.55, Z:-0.12 [[ 9.78810592e-01 -2.04762736e-01 -1.43085250e-03 1.34832956e+02] [ 2.04762525e-01 9.78811638e-01 -2.94109098e-04 5.54637197e+00] [ 1.46075767e-03 -5.10787055e-06 9.99998933e-01 -1.20481680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:5.55, Z:-0.12 [[ 9.78960569e-01 -2.04044497e-01 -1.43083563e-03 1.34859982e+02] [ 2.04044284e-01 9.78961615e-01 -2.94191141e-04 5.55203428e+00] [ 1.46076125e-03 -3.95230678e-06 9.99998933e-01 -1.19733460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:5.56, Z:-0.12 [[ 9.79151123e-01 -2.03128114e-01 -1.43077829e-03 1.34887633e+02] [ 2.03127900e-01 9.79152169e-01 -2.94469749e-04 5.55734706e+00] [ 1.46076475e-03 -2.30060487e-06 9.99998933e-01 -1.22168437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:5.56, Z:-0.12 [[ 9.79534877e-01 -2.01269416e-01 -1.43076046e-03 1.34915093e+02] [ 2.01269200e-01 9.79535922e-01 -2.94556394e-04 5.56220353e+00] [ 1.46076646e-03 5.60248751e-07 9.99998933e-01 -1.24053493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:5.57, Z:-0.13 [[ 9.79741959e-01 -2.00258949e-01 -1.43074381e-03 1.34942247e+02] [ 2.00258733e-01 9.79743004e-01 -2.94637227e-04 5.56751449e+00] [ 1.46076498e-03 2.14951225e-06 9.99998933e-01 -1.25062532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.97, Y:5.57, Z:-0.12 [[ 9.79894575e-01 -1.99510841e-01 -1.43072724e-03 1.34969233e+02] [ 1.99510623e-01 9.79895619e-01 -2.94717664e-04 5.57282937e+00] [ 1.46076272e-03 3.34695651e-06 9.99998933e-01 -1.24999992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:5.58, Z:-0.13 [[ 9.80074907e-01 -1.98623087e-01 -1.43067411e-03 1.34998630e+02] [ 1.98622868e-01 9.80075951e-01 -2.94975344e-04 5.57967283e+00] [ 1.46075820e-03 4.93333739e-06 9.99998933e-01 -1.25452090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:5.58, Z:-0.13 [[ 9.80304575e-01 -1.97486433e-01 -1.43123265e-03 1.35023573e+02] [ 1.97486217e-01 9.80305620e-01 -2.92267346e-04 5.58498658e+00] [ 1.46076424e-03 3.86229581e-06 9.99998933e-01 -1.25454967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:135.05, Y:5.59, Z:-0.12 [[ 9.80387789e-01 -1.97072924e-01 -1.43060719e-03 1.35050512e+02] [ 1.97072703e-01 9.80388832e-01 -2.95297466e-04 5.59080989e+00] [ 1.46074645e-03 7.57240544e-06 9.99998933e-01 -1.23580152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.08, Y:5.60, Z:-0.12 [[ 9.80490319e-01 -1.96562172e-01 -1.43055102e-03 1.35077373e+02] [ 1.96561950e-01 9.80491363e-01 -2.95569299e-04 5.59648583e+00] [ 1.46074067e-03 8.61093722e-06 9.99998933e-01 -1.24348940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:5.60, Z:-0.13 [[ 9.80574296e-01 -1.96142813e-01 -1.43052659e-03 1.35105812e+02] [ 1.96142591e-01 9.80575340e-01 -2.95687490e-04 5.60335851e+00] [ 1.46073608e-03 9.35636021e-06 9.99998933e-01 -1.26840860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:5.61, Z:-0.12 [[ 9.80646970e-01 -1.95779142e-01 -1.43116807e-03 1.35131984e+02] [ 1.95778923e-01 9.80648014e-01 -2.92584978e-04 5.60926484e+00] [ 1.46075416e-03 6.73002765e-06 9.99998933e-01 -1.23690733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:135.16, Y:5.62, Z:-0.12 [[ 9.80545725e-01 -1.96285595e-01 -1.43043368e-03 1.35160132e+02] [ 1.96285372e-01 9.80546768e-01 -2.96132367e-04 5.61561199e+00] [ 1.46073364e-03 9.59811920e-06 9.99998933e-01 -1.22072629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:135.19, Y:5.62, Z:-0.12 [[ 9.80383024e-01 -1.97096626e-01 -1.43038416e-03 1.35187796e+02] [ 1.97096404e-01 9.80384067e-01 -2.96371368e-04 5.62195859e+00] [ 1.46073964e-03 8.63388322e-06 9.99998933e-01 -1.21151927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:135.21, Y:5.63, Z:-0.12 [[ 9.80022624e-01 -1.98880893e-01 -1.43032712e-03 1.35214834e+02] [ 1.98880672e-01 9.80023668e-01 -2.96646402e-04 5.62902570e+00] [ 1.46075173e-03 6.25576601e-06 9.99998933e-01 -1.20965115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:5.64, Z:-0.12 [[ 9.79769764e-01 -2.00122872e-01 -1.43030934e-03 1.35241852e+02] [ 2.00122652e-01 9.79770808e-01 -2.96732093e-04 5.63587463e+00] [ 1.46075822e-03 4.49183302e-06 9.99998933e-01 -1.20561581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.27, Y:5.64, Z:-0.12 [[ 9.79498665e-01 -2.01445575e-01 -1.43029224e-03 1.35268713e+02] [ 2.01445356e-01 9.79499709e-01 -2.96814487e-04 5.64193226e+00] [ 1.46076280e-03 2.60366339e-06 9.99998933e-01 -1.19646506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:5.65, Z:-0.12 [[ 9.78863932e-01 -2.04507595e-01 -1.43023704e-03 1.35295849e+02] [ 2.04507379e-01 9.78864977e-01 -2.97080275e-04 5.64742357e+00] [ 1.46076412e-03 -1.69286088e-06 9.99998933e-01 -1.20702063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:135.32, Y:5.65, Z:-0.12 [[ 9.78473769e-01 -2.06366272e-01 -1.43018107e-03 1.35323122e+02] [ 2.06366058e-01 9.78474814e-01 -2.97349441e-04 5.65308628e+00] [ 1.46075906e-03 -4.19220236e-06 9.99998933e-01 -1.20789767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:5.66, Z:-0.12 [[ 9.78110173e-01 -2.08082782e-01 -1.43012490e-03 1.35350517e+02] [ 2.08082570e-01 9.78111218e-01 -2.97619389e-04 5.65923168e+00] [ 1.46075068e-03 -6.47951146e-06 9.99998933e-01 -1.21697260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:5.67, Z:-0.12 [[ 9.77727961e-01 -2.09871362e-01 -1.43010744e-03 1.35377399e+02] [ 2.09871151e-01 9.77729007e-01 -2.97703249e-04 5.66546500e+00] [ 1.46073691e-03 -9.06550374e-06 9.99998933e-01 -1.21331623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.40, Y:5.67, Z:-0.12 [[ 9.76978846e-01 -2.13331409e-01 -1.43005170e-03 1.35404903e+02] [ 2.13331202e-01 9.76979892e-01 -2.97970771e-04 5.67158366e+00] [ 1.46069828e-03 -1.39635071e-05 9.99998933e-01 -1.23548778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:5.68, Z:-0.12 [[ 9.76679371e-01 -2.14698303e-01 -1.43003445e-03 1.35432827e+02] [ 2.14698096e-01 9.76680418e-01 -2.98053543e-04 5.67688535e+00] [ 1.46067823e-03 -1.59229269e-05 9.99998933e-01 -1.19355741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:135.46, Y:5.68, Z:-0.12 [[ 9.76410255e-01 -2.15918896e-01 -1.42998496e-03 1.35459387e+02] [ 2.15918691e-01 9.76411302e-01 -2.98290782e-04 5.68189083e+00] [ 1.46066009e-03 -1.75063019e-05 9.99998933e-01 -1.19901284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:135.49, Y:5.69, Z:-0.12 [[ 9.76212066e-01 -2.16813185e-01 -1.42996027e-03 1.35487026e+02] [ 2.16812981e-01 9.76213113e-01 -2.98409098e-04 5.68717575e+00] [ 1.46064499e-03 -1.87233857e-05 9.99998933e-01 -1.19353264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:135.51, Y:5.69, Z:-0.12 [[ 9.75975481e-01 -2.17875689e-01 -1.42990423e-03 1.35514658e+02] [ 2.17875485e-01 9.75976528e-01 -2.98677400e-04 5.69170614e+00] [ 1.46062751e-03 -2.00392571e-05 9.99998933e-01 -1.19998152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.54, Y:5.70, Z:-0.12 [[ 9.75844134e-01 -2.18463229e-01 -1.42984821e-03 1.35541878e+02] [ 2.18463026e-01 9.75845181e-01 -2.98945299e-04 5.69707946e+00] [ 1.46061904e-03 -2.06449508e-05 9.99998933e-01 -1.20320376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.57, Y:5.70, Z:-0.12 [[ 9.75756157e-01 -2.18855840e-01 -1.42979207e-03 1.35568363e+02] [ 2.18855636e-01 9.75757204e-01 -2.99213580e-04 5.70233685e+00] [ 1.46061455e-03 -2.09585603e-05 9.99998933e-01 -1.20857328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:5.71, Z:-0.12 [[ 9.75516188e-01 -2.19922991e-01 -1.42976765e-03 1.35597226e+02] [ 2.19922788e-01 9.75517236e-01 -2.99330227e-04 5.70742507e+00] [ 1.46059258e-03 -2.24370058e-05 9.99998933e-01 -1.23958349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:135.62, Y:5.71, Z:-0.12 [[ 9.75300906e-01 -2.20875756e-01 -1.42974121e-03 1.35624495e+02] [ 2.20875554e-01 9.75301953e-01 -2.99456478e-04 5.71189901e+00] [ 1.46057207e-03 -2.37347069e-05 9.99998933e-01 -1.24135007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:5.72, Z:-0.12 [[ 9.75151860e-01 -2.21532854e-01 -1.42968575e-03 1.35651974e+02] [ 2.21532653e-01 9.75152908e-01 -2.99721033e-04 5.71625135e+00] [ 1.46056027e-03 -2.44485528e-05 9.99998933e-01 -1.24154072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:5.72, Z:-0.12 [[ 9.74992779e-01 -2.22231943e-01 -1.42966850e-03 1.35680405e+02] [ 2.22231742e-01 9.74993827e-01 -2.99803252e-04 5.72129501e+00] [ 1.46054383e-03 -2.54117163e-05 9.99998933e-01 -1.21353555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:5.73, Z:-0.12 [[ 9.74949752e-01 -2.22420631e-01 -1.42961759e-03 1.35708231e+02] [ 2.22420430e-01 9.74950800e-01 -3.00045849e-04 5.72731239e+00] [ 1.46054320e-03 -2.54465328e-05 9.99998933e-01 -1.21311953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:135.74, Y:5.73, Z:-0.12 [[ 9.74752435e-01 -2.23283780e-01 -1.42955947e-03 1.35735462e+02] [ 2.23283579e-01 9.74753483e-01 -3.00322514e-04 5.73073125e+00] [ 1.46052522e-03 -2.64570523e-05 9.99998933e-01 -1.19904315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:5.74, Z:-0.12 [[ 9.74674044e-01 -2.23625724e-01 -1.42954142e-03 1.35763377e+02] [ 2.23625523e-01 9.74675092e-01 -3.00408370e-04 5.73578615e+00] [ 1.46051746e-03 -2.68817082e-05 9.99998933e-01 -1.18643526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.79, Y:5.74, Z:-0.12 [[ 9.74678414e-01 -2.23606675e-01 -1.42949087e-03 1.35789551e+02] [ 2.23606475e-01 9.74679462e-01 -3.00648756e-04 5.74017470e+00] [ 1.46052246e-03 -2.66075603e-05 9.99998933e-01 -1.18694249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:5.75, Z:-0.12 [[ 9.74729845e-01 -2.23382375e-01 -1.42946573e-03 1.35817162e+02] [ 2.23382174e-01 9.74730893e-01 -3.00768218e-04 5.74510359e+00] [ 1.46053073e-03 -2.61494047e-05 9.99998933e-01 -1.18597788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:5.75, Z:-0.12 [[ 9.75005633e-01 -2.22175542e-01 -1.42940829e-03 1.35843911e+02] [ 2.22175340e-01 9.75006681e-01 -3.01040980e-04 5.74848315e+00] [ 1.46056657e-03 -2.40626194e-05 9.99998933e-01 -1.19289966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:135.87, Y:5.75, Z:-0.12 [[ 9.75245269e-01 -2.21121282e-01 -1.42938320e-03 1.35871153e+02] [ 2.21121078e-01 9.75246317e-01 -3.01160035e-04 5.75238150e+00] [ 1.46059360e-03 -2.23618551e-05 9.99998933e-01 -1.19113804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:5.76, Z:-0.12 [[ 9.75499994e-01 -2.19994816e-01 -1.42935833e-03 1.35899017e+02] [ 2.19994611e-01 9.75501041e-01 -3.01278055e-04 5.75689618e+00] [ 1.46062014e-03 -2.05543880e-05 9.99998933e-01 -1.19709584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:5.76, Z:-0.12 [[ 9.75815951e-01 -2.18589081e-01 -1.42934072e-03 1.35926227e+02] [ 2.18588874e-01 9.75816998e-01 -3.01361547e-04 5.76127407e+00] [ 1.46064932e-03 -1.83645740e-05 9.99998933e-01 -1.19007442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.95, Y:5.76, Z:-0.12 [[ 9.76760839e-01 -2.14327370e-01 -1.42928426e-03 1.35953932e+02] [ 2.14327158e-01 9.76761884e-01 -3.01629102e-04 5.76454257e+00] [ 1.46071776e-03 -1.17149383e-05 9.99998933e-01 -1.19755765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:135.98, Y:5.77, Z:-0.12 [[ 9.77238610e-01 -2.12138297e-01 -1.42926669e-03 1.35981352e+02] [ 2.12138082e-01 9.77239655e-01 -3.01712344e-04 5.76930023e+00] [ 1.46074083e-03 -8.35694224e-06 9.99998933e-01 -1.20478705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:5.77, Z:-0.12 [[ 9.77681199e-01 -2.10089101e-01 -1.42921098e-03 1.36008999e+02] [ 2.10088885e-01 9.77682244e-01 -3.01975985e-04 5.77427027e+00] [ 1.46075606e-03 -5.02509833e-06 9.99998933e-01 -1.22200080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:5.78, Z:-0.12 [[ 9.78050653e-01 -2.08362371e-01 -1.42915492e-03 1.36036913e+02] [ 2.08362151e-01 9.78051697e-01 -3.02241058e-04 5.77935093e+00] [ 1.46076306e-03 -2.17473003e-06 9.99998933e-01 -1.22057722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:5.78, Z:-0.12 [[ 9.78691975e-01 -2.05328945e-01 -1.42909863e-03 1.36064837e+02] [ 2.05328722e-01 9.78693019e-01 -3.02507021e-04 5.78462459e+00] [ 1.46076230e-03 2.62619938e-06 9.99998933e-01 -1.20113470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:5.79, Z:-0.12 [[ 9.78898693e-01 -2.04341152e-01 -1.42904822e-03 1.36091530e+02] [ 2.04340927e-01 9.78899736e-01 -3.02744967e-04 5.78982226e+00] [ 1.46075818e-03 4.34361414e-06 9.99998933e-01 -1.19544153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:136.12, Y:5.79, Z:-0.12 [[ 9.79040683e-01 -2.03659761e-01 -1.42900886e-03 1.36117651e+02] [ 2.03659536e-01 9.79041726e-01 -3.02930605e-04 5.79479428e+00] [ 1.46075408e-03 5.55010382e-06 9.99998933e-01 -1.19847545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:5.80, Z:-0.12 [[ 9.79056183e-01 -2.03585236e-01 -1.42898404e-03 1.36144910e+02] [ 2.03585010e-01 9.79057226e-01 -3.03047677e-04 5.80124822e+00] [ 1.46075318e-03 5.78097233e-06 9.99998933e-01 -1.19468475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:5.81, Z:-0.12 [[ 9.79041054e-01 -2.03657981e-01 -1.42892755e-03 1.36171208e+02] [ 2.03657755e-01 9.79042096e-01 -3.03313801e-04 5.80688864e+00] [ 1.46075250e-03 5.94448584e-06 9.99998933e-01 -1.21005745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:5.81, Z:-0.12 [[ 9.78917984e-01 -2.04248716e-01 -1.42890298e-03 1.36199013e+02] [ 2.04248491e-01 9.78919027e-01 -3.03429490e-04 5.81277458e+00] [ 1.46075540e-03 5.18130716e-06 9.99998933e-01 -1.20491680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:5.82, Z:-0.12 [[ 9.78825307e-01 -2.04692394e-01 -1.42884581e-03 1.36226509e+02] [ 2.04692169e-01 9.78826350e-01 -3.03698468e-04 5.81824786e+00] [ 1.46075670e-03 4.79419932e-06 9.99998933e-01 -1.22707590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:5.82, Z:-0.12 [[ 9.78764654e-01 -2.04982221e-01 -1.42882807e-03 1.36254225e+02] [ 2.04981996e-01 9.78765697e-01 -3.03781885e-04 5.82445681e+00] [ 1.46075779e-03 4.44694060e-06 9.99998933e-01 -1.23072022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.28, Y:5.83, Z:-0.12 [[ 9.78773899e-01 -2.04938072e-01 -1.42877093e-03 1.36281962e+02] [ 2.04937847e-01 9.78774942e-01 -3.04050411e-04 5.83073069e+00] [ 1.46075669e-03 4.78736848e-06 9.99998933e-01 -1.22571304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:5.84, Z:-0.12 [[ 9.78790595e-01 -2.04858316e-01 -1.42871400e-03 1.36308799e+02] [ 2.04858090e-01 9.78791638e-01 -3.04317683e-04 5.83704238e+00] [ 1.46075533e-03 5.17966431e-06 9.99998933e-01 -1.21875543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:5.84, Z:-0.12 [[ 9.78837547e-01 -2.04633859e-01 -1.42869633e-03 1.36335857e+02] [ 2.04633632e-01 9.78838589e-01 -3.04400620e-04 5.84353039e+00] [ 1.46075377e-03 5.59943650e-06 9.99998933e-01 -1.21524040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:136.36, Y:5.85, Z:-0.12 [[ 9.78892213e-01 -2.04372196e-01 -1.42867873e-03 1.36363130e+02] [ 2.04371970e-01 9.78893255e-01 -3.04483190e-04 5.85163695e+00] [ 1.46075187e-03 6.07433646e-06 9.99998933e-01 -1.19342773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:5.86, Z:-0.12 [[ 9.78768172e-01 -2.04965422e-01 -1.42862232e-03 1.36389842e+02] [ 2.04965195e-01 9.78769215e-01 -3.04747653e-04 5.85922310e+00] [ 1.46075428e-03 5.45945136e-06 9.99998933e-01 -1.19839810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.42, Y:5.87, Z:-0.12 [[ 9.78635661e-01 -2.05597185e-01 -1.42856497e-03 1.36417408e+02] [ 2.05596959e-01 9.78636704e-01 -3.05016273e-04 5.86534684e+00] [ 1.46075660e-03 4.79119008e-06 9.99998933e-01 -1.20053744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:5.87, Z:-0.12 [[ 9.78392826e-01 -2.06749698e-01 -1.42850756e-03 1.36444098e+02] [ 2.06749473e-01 9.78393869e-01 -3.05284883e-04 5.87147098e+00] [ 1.46076060e-03 3.34535375e-06 9.99998933e-01 -1.21879438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:136.47, Y:5.88, Z:-0.12 [[ 9.77701691e-01 -2.09993721e-01 -1.42848264e-03 1.36471186e+02] [ 2.09993499e-01 9.77702735e-01 -3.05401433e-04 5.87832373e+00] [ 1.46076377e-03 -1.38057107e-06 9.99998933e-01 -1.21146488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:5.88, Z:-0.12 [[ 9.77210651e-01 -2.12267055e-01 -1.42842396e-03 1.36497565e+02] [ 2.12266835e-01 9.77211695e-01 -3.05675644e-04 5.88433978e+00] [ 1.46075747e-03 -4.49753884e-06 9.99998933e-01 -1.22402963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:5.89, Z:-0.12 [[ 9.76625227e-01 -2.14944470e-01 -1.42839852e-03 1.36525326e+02] [ 2.14944252e-01 9.76626272e-01 -3.05794475e-04 5.88993013e+00] [ 1.46074036e-03 -8.37945407e-06 9.99998933e-01 -1.22736180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:5.90, Z:-0.12 [[ 9.76050177e-01 -2.17540830e-01 -1.42834117e-03 1.36552985e+02] [ 2.17540615e-01 9.76051222e-01 -3.06062156e-04 5.89545943e+00] [ 1.46071516e-03 -1.19901944e-05 9.99998933e-01 -1.22521263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:5.90, Z:-0.12 [[ 9.75518390e-01 -2.19913236e-01 -1.42828379e-03 1.36579814e+02] [ 2.19913023e-01 9.75519435e-01 -3.06329674e-04 5.90141106e+00] [ 1.46068455e-03 -1.52679755e-05 9.99998933e-01 -1.21804121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:5.91, Z:-0.12 [[ 9.74833895e-01 -2.22927875e-01 -1.42822543e-03 1.36606375e+02] [ 2.22927665e-01 9.74834941e-01 -3.06601513e-04 5.90728861e+00] [ 1.46063408e-03 -1.95054137e-05 9.99998933e-01 -1.22374307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.63, Y:5.91, Z:-0.12 [[ 9.74645263e-01 -2.23751140e-01 -1.42818574e-03 1.36634265e+02] [ 2.23750930e-01 9.74646309e-01 -3.06786286e-04 5.91273584e+00] [ 1.46061974e-03 -2.05500880e-05 9.99998933e-01 -1.21539947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:5.92, Z:-0.12 [[ 9.74612838e-01 -2.23892334e-01 -1.42812869e-03 1.36660802e+02] [ 2.23892125e-01 9.74613884e-01 -3.07051640e-04 5.91884573e+00] [ 1.46062056e-03 -2.04902974e-05 9.99998933e-01 -1.22212959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:136.69, Y:5.92, Z:-0.12 [[ 9.74711795e-01 -2.23461131e-01 -1.42810388e-03 1.36688518e+02] [ 2.23460921e-01 9.74712841e-01 -3.07166990e-04 5.92457104e+00] [ 1.46063107e-03 -1.97261206e-05 9.99998933e-01 -1.20305463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:5.93, Z:-0.12 [[ 9.75151074e-01 -2.21536327e-01 -1.42804720e-03 1.36715132e+02] [ 2.21536115e-01 9.75152119e-01 -3.07430268e-04 5.93148785e+00] [ 1.46067023e-03 -1.65730722e-05 9.99998933e-01 -1.20111304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:5.94, Z:-0.12 [[ 9.75396424e-01 -2.20453569e-01 -1.42802965e-03 1.36742034e+02] [ 2.20453355e-01 9.75397470e-01 -3.07511793e-04 5.93783866e+00] [ 1.46068858e-03 -1.48680235e-05 9.99998933e-01 -1.17865750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:5.94, Z:-0.12 [[ 9.75654068e-01 -2.19310512e-01 -1.42797150e-03 1.36769553e+02] [ 2.19310297e-01 9.75655113e-01 -3.07781577e-04 5.94458548e+00] [ 1.46070743e-03 -1.28805056e-05 9.99998933e-01 -1.16692634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:5.95, Z:-0.11 [[ 9.76124477e-01 -2.17207195e-01 -1.42794400e-03 1.36796048e+02] [ 2.17206977e-01 9.76125522e-01 -3.07909088e-04 5.95275949e+00] [ 1.46073265e-03 -9.60180283e-06 9.99998933e-01 -1.14978227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:5.96, Z:-0.11 [[ 9.76161498e-01 -2.17040760e-01 -1.42792585e-03 1.36823351e+02] [ 2.17040542e-01 9.76162542e-01 -3.07993249e-04 5.95947077e+00] [ 1.46073482e-03 -9.26664823e-06 9.99998933e-01 -1.14453749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:5.96, Z:-0.12 [[ 9.76103288e-01 -2.17302400e-01 -1.42786648e-03 1.36850095e+02] [ 2.17302181e-01 9.76104332e-01 -3.08268223e-04 5.96488358e+00] [ 1.46073409e-03 -9.37687561e-06 9.99998933e-01 -1.15066011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:136.88, Y:5.97, Z:-0.12 [[ 9.75984056e-01 -2.17837289e-01 -1.42784066e-03 1.36876351e+02] [ 2.17837071e-01 9.75985100e-01 -3.08387801e-04 5.96911815e+00] [ 1.46072957e-03 -1.00550503e-05 9.99998933e-01 -1.15093236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:136.90, Y:5.97, Z:-0.11 [[ 9.75618791e-01 -2.19467392e-01 -1.42781563e-03 1.36903891e+02] [ 2.19467175e-01 9.75619836e-01 -3.08503638e-04 5.97444774e+00] [ 1.46071174e-03 -1.23767160e-05 9.99998933e-01 -1.14676722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:5.98, Z:-0.12 [[ 9.75459166e-01 -2.20175785e-01 -1.42775571e-03 1.36930019e+02] [ 2.20175568e-01 9.75460211e-01 -3.08780675e-04 5.98167453e+00] [ 1.46070492e-03 -1.31539858e-05 9.99998933e-01 -1.16008041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:5.99, Z:-0.12 [[ 9.75390289e-01 -2.20480714e-01 -1.42772974e-03 1.36956845e+02] [ 2.20480498e-01 9.75391334e-01 -3.08900725e-04 5.98823136e+00] [ 1.46070187e-03 -1.34877967e-05 9.99998933e-01 -1.15389896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:5.99, Z:-0.12 [[ 9.75445056e-01 -2.20238290e-01 -1.42767117e-03 1.36983150e+02] [ 2.20238074e-01 9.75446101e-01 -3.09171184e-04 5.99404764e+00] [ 1.46070761e-03 -1.28480456e-05 9.99998933e-01 -1.16526642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:6.00, Z:-0.12 [[ 9.75642504e-01 -2.19361954e-01 -1.42764568e-03 1.37010132e+02] [ 2.19361736e-01 9.75643548e-01 -3.09288851e-04 6.00041710e+00] [ 1.46071950e-03 -1.14154862e-05 9.99998933e-01 -1.16129962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:6.01, Z:-0.12 [[ 9.75788855e-01 -2.18710019e-01 -1.42758789e-03 1.37036996e+02] [ 2.18709800e-01 9.75789899e-01 -3.09555373e-04 6.00717373e+00] [ 1.46072870e-03 -1.01667783e-05 9.99998933e-01 -1.15269977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:6.01, Z:-0.12 [[ 9.76029776e-01 -2.17632348e-01 -1.42752776e-03 1.37063932e+02] [ 2.17632127e-01 9.76030820e-01 -3.09832413e-04 6.01435602e+00] [ 1.46074064e-03 -8.27024214e-06 9.99998933e-01 -1.17092811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:6.02, Z:-0.12 [[ 9.76054249e-01 -2.17522565e-01 -1.42750913e-03 1.37090205e+02] [ 2.17522344e-01 9.76055292e-01 -3.09918196e-04 6.02071303e+00] [ 1.46074205e-03 -8.01816103e-06 9.99998933e-01 -1.17388049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:6.03, Z:-0.12 [[ 9.75935927e-01 -2.18052813e-01 -1.42746915e-03 1.37117038e+02] [ 2.18052592e-01 9.75936971e-01 -3.10102275e-04 6.02693979e+00] [ 1.46073859e-03 -8.62339639e-06 9.99998933e-01 -1.17114451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:6.03, Z:-0.12 [[ 9.75753976e-01 -2.18865576e-01 -1.42741107e-03 1.37144819e+02] [ 2.18865356e-01 9.75755020e-01 -3.10369347e-04 6.03244343e+00] [ 1.46073269e-03 -9.56670892e-06 9.99998933e-01 -1.17252460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:137.17, Y:6.04, Z:-0.12 [[ 9.75048284e-01 -2.21988305e-01 -1.42739302e-03 1.37172850e+02] [ 2.21988088e-01 9.75049328e-01 -3.10452355e-04 6.03663523e+00] [ 1.46069540e-03 -1.41582110e-05 9.99998933e-01 -1.17066230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:6.04, Z:-0.12 [[ 9.74588202e-01 -2.23999550e-01 -1.42733397e-03 1.37199503e+02] [ 2.23999335e-01 9.74589247e-01 -3.10723622e-04 6.04146274e+00] [ 1.46066629e-03 -1.68942833e-05 9.99998933e-01 -1.19083864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:6.05, Z:-0.12 [[ 9.74073113e-01 -2.26228940e-01 -1.42730825e-03 1.37226884e+02] [ 2.26228728e-01 9.74074158e-01 -3.10841719e-04 6.04504635e+00] [ 1.46062547e-03 -2.01155683e-05 9.99998933e-01 -1.18296285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:6.05, Z:-0.12 [[ 9.73541375e-01 -2.28506357e-01 -1.42725024e-03 1.37254559e+02] [ 2.28506146e-01 9.73542420e-01 -3.11107854e-04 6.04890264e+00] [ 1.46057877e-03 -2.32590835e-05 9.99998933e-01 -1.18242732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:6.05, Z:-0.12 [[ 9.72772144e-01 -2.31759185e-01 -1.42719149e-03 1.37282721e+02] [ 2.31758977e-01 9.72773190e-01 -3.11377094e-04 6.05142760e+00] [ 1.46049812e-03 -2.78654780e-05 9.99998933e-01 -1.20010229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:6.06, Z:-0.12 [[ 9.72471747e-01 -2.33016446e-01 -1.42716406e-03 1.37309199e+02] [ 2.33016240e-01 9.72472794e-01 -3.11502783e-04 6.05542754e+00] [ 1.46046349e-03 -2.96247477e-05 9.99998933e-01 -1.20100923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:137.34, Y:6.06, Z:-0.12 [[ 9.72320212e-01 -2.33647958e-01 -1.42712517e-03 1.37337267e+02] [ 2.33647752e-01 9.72321259e-01 -3.11680872e-04 6.05854921e+00] [ 1.46044774e-03 -3.03909758e-05 9.99998933e-01 -1.17779243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.36, Y:6.06, Z:-0.12 [[ 9.72356954e-01 -2.33495007e-01 -1.42706573e-03 1.37364374e+02] [ 2.33494800e-01 9.72358000e-01 -3.11952783e-04 6.05969165e+00] [ 1.46045819e-03 -2.98829690e-05 9.99998933e-01 -1.18649252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:6.06, Z:-0.12 [[ 9.72548677e-01 -2.32695154e-01 -1.42703991e-03 1.37392125e+02] [ 2.32694946e-01 9.72549723e-01 -3.12070858e-04 6.06388368e+00] [ 1.46048464e-03 -2.85608749e-05 9.99998933e-01 -1.18113425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:6.07, Z:-0.12 [[ 9.72504086e-01 -2.32881444e-01 -1.42698008e-03 1.37419903e+02] [ 2.32881236e-01 9.72505132e-01 -3.12344199e-04 6.07014567e+00] [ 1.46048462e-03 -2.85608744e-05 9.99998933e-01 -1.18071820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:6.07, Z:-0.12 [[ 9.72822135e-01 -2.31549255e-01 -1.42692019e-03 1.37447230e+02] [ 2.31549045e-01 9.72823181e-01 -3.12617528e-04 6.07356700e+00] [ 1.46052740e-03 -2.62807576e-05 9.99998933e-01 -1.17724100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:6.08, Z:-0.12 [[ 9.73173690e-01 -2.30067237e-01 -1.42690161e-03 1.37474729e+02] [ 2.30067026e-01 9.73174736e-01 -3.12702346e-04 6.07756989e+00] [ 1.46056716e-03 -2.39693134e-05 9.99998933e-01 -1.16667130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:6.08, Z:-0.12 [[ 9.74146165e-01 -2.25914173e-01 -1.42684212e-03 1.37502098e+02] [ 2.25913957e-01 9.74147210e-01 -3.12973564e-04 6.08104408e+00] [ 1.46065943e-03 -1.74615512e-05 9.99998933e-01 -1.15059785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:6.09, Z:-0.11 [[ 9.74657826e-01 -2.23696414e-01 -1.42682365e-03 1.37528733e+02] [ 2.23696195e-01 9.74658871e-01 -3.13057713e-04 6.08548360e+00] [ 1.46069622e-03 -1.40508727e-05 9.99998933e-01 -1.14848496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:6.09, Z:-0.11 [[ 9.75098393e-01 -2.21768096e-01 -1.42678332e-03 1.37555374e+02] [ 2.21767875e-01 9.75099437e-01 -3.13241404e-04 6.08975121e+00] [ 1.46072257e-03 -1.09735164e-05 9.99998933e-01 -1.14545232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:6.09, Z:-0.11 [[ 9.75480053e-01 -2.20083238e-01 -1.42672483e-03 1.37583383e+02] [ 2.20083015e-01 9.75481096e-01 -3.13507591e-04 6.09464812e+00] [ 1.46074087e-03 -8.17750110e-06 9.99998933e-01 -1.14227702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.61, Y:6.10, Z:-0.11 [[ 9.76134592e-01 -2.17161746e-01 -1.42666622e-03 1.37611435e+02] [ 2.17161519e-01 9.76135634e-01 -3.13774091e-04 6.09777157e+00] [ 1.46075946e-03 -3.53125896e-06 9.99998933e-01 -1.14556077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:6.10, Z:-0.12 [[ 9.76342223e-01 -2.16226334e-01 -1.42660786e-03 1.37638677e+02] [ 2.16226106e-01 9.76343266e-01 -3.14039205e-04 6.10301178e+00] [ 1.46076252e-03 -1.86012666e-06 9.99998933e-01 -1.15260719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:6.11, Z:-0.11 [[ 9.76513758e-01 -2.15450332e-01 -1.42654889e-03 1.37666262e+02] [ 2.15450102e-01 9.76514800e-01 -3.14306834e-04 6.10838883e+00] [ 1.46076362e-03 -4.25158203e-07 9.99998933e-01 -1.14702732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:6.11, Z:-0.11 [[ 9.76655905e-01 -2.14805047e-01 -1.42648908e-03 1.37693909e+02] [ 2.14804817e-01 9.76656947e-01 -3.14578050e-04 6.11392502e+00] [ 1.46076343e-03 8.17784025e-07 9.99998933e-01 -1.14464212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.72, Y:6.12, Z:-0.12 [[ 9.76923600e-01 -2.13584279e-01 -1.42642740e-03 1.37721329e+02] [ 2.13584047e-01 9.76924642e-01 -3.14857514e-04 6.11751135e+00] [ 1.46076069e-03 2.92959970e-06 9.99998933e-01 -1.15677011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:6.12, Z:-0.12 [[ 9.76985503e-01 -2.13300943e-01 -1.42640822e-03 1.37748851e+02] [ 2.13300710e-01 9.76986544e-01 -3.14944378e-04 6.12314309e+00] [ 1.46075957e-03 3.44220543e-06 9.99998933e-01 -1.16148513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:6.13, Z:-0.11 [[ 9.77073518e-01 -2.12897407e-01 -1.42634950e-03 1.37776149e+02] [ 2.12897174e-01 9.77074559e-01 -3.15210065e-04 6.12953384e+00] [ 1.46075722e-03 4.31762799e-06 9.99998933e-01 -1.14596605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:6.14, Z:-0.12 [[ 9.77085167e-01 -2.12843938e-01 -1.42628908e-03 1.37802396e+02] [ 2.12843704e-01 9.77086208e-01 -3.15483227e-04 6.13548077e+00] [ 1.46075608e-03 4.67733064e-06 9.99998933e-01 -1.16427862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.83, Y:6.14, Z:-0.12 [[ 9.77040120e-01 -2.13050628e-01 -1.42626272e-03 1.37829530e+02] [ 2.13050395e-01 9.77041161e-01 -3.15602388e-04 6.14079886e+00] [ 1.46075667e-03 4.49036044e-06 9.99998933e-01 -1.16089623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:6.15, Z:-0.12 [[ 9.76935621e-01 -2.13529290e-01 -1.42620374e-03 1.37857274e+02] [ 2.13529057e-01 9.76936662e-01 -3.15868652e-04 6.14661762e+00] [ 1.46075793e-03 4.04739753e-06 9.99998933e-01 -1.16053569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:6.15, Z:-0.12 [[ 9.76703596e-01 -2.14588099e-01 -1.42614229e-03 1.37883509e+02] [ 2.14587866e-01 9.76704637e-01 -3.16145889e-04 6.15271399e+00] [ 1.46076093e-03 2.74799754e-06 9.99998933e-01 -1.17394428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:6.16, Z:-0.12 [[ 9.76462997e-01 -2.15680275e-01 -1.42611562e-03 1.37910368e+02] [ 2.15680043e-01 9.76464039e-01 -3.16266134e-04 6.15870728e+00] [ 1.46076298e-03 1.23749885e-06 9.99998933e-01 -1.16908884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:6.16, Z:-0.12 [[ 9.76131723e-01 -2.17174644e-01 -1.42605651e-03 1.37937854e+02] [ 2.17174413e-01 9.76132765e-01 -3.16532434e-04 6.16475165e+00] [ 1.46076330e-03 -7.25636635e-07 9.99998933e-01 -1.15488052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:6.17, Z:-0.12 [[ 9.75816010e-01 -2.18588840e-01 -1.42599554e-03 1.37965466e+02] [ 2.18588610e-01 9.75817052e-01 -3.16806887e-04 6.17072610e+00] [ 1.46076121e-03 -2.56115000e-06 9.99998933e-01 -1.15357261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:6.18, Z:-0.11 [[ 9.75193953e-01 -2.21347511e-01 -1.42597655e-03 1.37992215e+02] [ 2.21347284e-01 9.75194996e-01 -3.16892342e-04 6.17646636e+00] [ 1.46074852e-03 -6.60454002e-06 9.99998933e-01 -1.14428707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:6.18, Z:-0.11 [[ 9.74772386e-01 -2.23196688e-01 -1.42595812e-03 1.38019857e+02] [ 2.23196464e-01 9.74773429e-01 -3.16975216e-04 6.18249700e+00] [ 1.46073391e-03 -9.29012247e-06 9.99998933e-01 -1.13954883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:138.05, Y:6.19, Z:-0.11 [[ 9.74341612e-01 -2.25069745e-01 -1.42589937e-03 1.38047748e+02] [ 2.25069521e-01 9.74342655e-01 -3.17239304e-04 6.18792619e+00] [ 1.46071555e-03 -1.18270335e-05 9.99998933e-01 -1.11726129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:6.19, Z:-0.11 [[ 9.73633322e-01 -2.28114273e-01 -1.42583926e-03 1.38075349e+02] [ 2.28114052e-01 9.73634366e-01 -3.17509217e-04 6.19283798e+00] [ 1.46067449e-03 -1.61164182e-05 9.99998933e-01 -1.12578430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:6.20, Z:-0.11 [[ 9.73300885e-01 -2.29528550e-01 -1.42577912e-03 1.38102625e+02] [ 2.29528330e-01 9.73301929e-01 -3.17779074e-04 6.19762913e+00] [ 1.46065294e-03 -1.79620462e-05 9.99998933e-01 -1.12779334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:6.20, Z:-0.11 [[ 9.72978614e-01 -2.30890847e-01 -1.42571914e-03 1.38129337e+02] [ 2.30890629e-01 9.72979659e-01 -3.18047948e-04 6.20233428e+00] [ 1.46063008e-03 -1.97313363e-05 9.99998933e-01 -1.13564574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:6.21, Z:-0.11 [[ 9.72692625e-01 -2.32092709e-01 -1.42569310e-03 1.38156443e+02] [ 2.32092491e-01 9.72693669e-01 -3.18164614e-04 6.20731298e+00] [ 1.46060634e-03 -2.14162906e-05 9.99998933e-01 -1.13082647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:6.21, Z:-0.11 [[ 9.72196100e-01 -2.34163854e-01 -1.42563418e-03 1.38184151e+02] [ 2.34163639e-01 9.72197145e-01 -3.18428420e-04 6.21167843e+00] [ 1.46056191e-03 -2.42568188e-05 9.99998933e-01 -1.12402426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:6.22, Z:-0.11 [[ 9.72037941e-01 -2.34819524e-01 -1.42557208e-03 1.38211150e+02] [ 2.34819309e-01 9.72038986e-01 -3.18706204e-04 6.21627857e+00] [ 1.46055008e-03 -2.49573272e-05 9.99998933e-01 -1.14899637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:6.22, Z:-0.11 [[ 9.71912085e-01 -2.35339897e-01 -1.42554508e-03 1.38238609e+02] [ 2.35339683e-01 9.71913130e-01 -3.18826914e-04 6.22149187e+00] [ 1.46053867e-03 -2.56155965e-05 9.99998933e-01 -1.14901111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.27, Y:6.23, Z:-0.11 [[ 9.71849213e-01 -2.35599397e-01 -1.42548674e-03 1.38265227e+02] [ 2.35599183e-01 9.71850258e-01 -3.19087530e-04 6.22525630e+00] [ 1.46053649e-03 -2.57385468e-05 9.99998933e-01 -1.14739894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.29, Y:6.23, Z:-0.11 [[ 9.71884403e-01 -2.35454188e-01 -1.42544693e-03 1.38293035e+02] [ 2.35453973e-01 9.71885448e-01 -3.19265270e-04 6.23038434e+00] [ 1.46054348e-03 -2.53382073e-05 9.99998933e-01 -1.13650077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:6.24, Z:-0.12 [[ 9.72004112e-01 -2.34959518e-01 -1.42538588e-03 1.38319493e+02] [ 2.34959302e-01 9.72005156e-01 -3.19537604e-04 6.23503660e+00] [ 1.46056083e-03 -2.43158078e-05 9.99998933e-01 -1.15171179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:6.24, Z:-0.11 [[ 9.72168944e-01 -2.34276573e-01 -1.42535931e-03 1.38345813e+02] [ 2.34276356e-01 9.72169989e-01 -3.19656074e-04 6.23960055e+00] [ 1.46057948e-03 -2.31682788e-05 9.99998933e-01 -1.14493413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:6.24, Z:-0.11 [[ 9.72706995e-01 -2.32032476e-01 -1.42533427e-03 1.38372858e+02] [ 2.32032256e-01 9.72708039e-01 -3.19767688e-04 6.24417525e+00] [ 1.46063059e-03 -1.96832599e-05 9.99998933e-01 -1.13878207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:6.25, Z:-0.11 [[ 9.73019758e-01 -2.30717399e-01 -1.42530937e-03 1.38400046e+02] [ 2.30717178e-01 9.73020802e-01 -3.19878637e-04 6.25012199e+00] [ 1.46065724e-03 -1.75951224e-05 9.99998933e-01 -1.12201062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.43, Y:6.26, Z:-0.11 [[ 9.73342572e-01 -2.29351711e-01 -1.42524707e-03 1.38426206e+02] [ 2.29351488e-01 9.73343615e-01 -3.20156006e-04 6.25578887e+00] [ 1.46068346e-03 -1.52610656e-05 9.99998933e-01 -1.12630831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:6.26, Z:-0.11 [[ 9.73696591e-01 -2.27844063e-01 -1.42522006e-03 1.38453821e+02] [ 2.27843838e-01 9.73697634e-01 -3.20276209e-04 6.26174943e+00] [ 1.46070643e-03 -1.28757545e-05 9.99998933e-01 -1.13118730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:6.27, Z:-0.11 [[ 9.74375225e-01 -2.24924188e-01 -1.42516051e-03 1.38480741e+02] [ 2.24923959e-01 9.74376267e-01 -3.20540968e-04 6.26749480e+00] [ 1.46073999e-03 -8.22556637e-06 9.99998933e-01 -1.11423867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:6.27, Z:-0.11 [[ 9.74657386e-01 -2.23698346e-01 -1.42510085e-03 1.38508084e+02] [ 2.23698116e-01 9.74658427e-01 -3.20805994e-04 6.27419452e+00] [ 1.46075032e-03 -6.11644261e-06 9.99998933e-01 -1.10242202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:6.28, Z:-0.11 [[ 9.74952997e-01 -2.22406438e-01 -1.42503890e-03 1.38534401e+02] [ 2.22406206e-01 9.74954038e-01 -3.21080929e-04 6.28019954e+00] [ 1.46075790e-03 -3.89868159e-06 9.99998933e-01 -1.10721859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:138.56, Y:6.29, Z:-0.11 [[ 9.75421800e-01 -2.20341285e-01 -1.42501189e-03 1.38561227e+02] [ 2.20341051e-01 9.75422841e-01 -3.21200750e-04 6.28601685e+00] [ 1.46076293e-03 -6.82404117e-07 9.99998933e-01 -1.13279419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:6.29, Z:-0.11 [[ 9.75600912e-01 -2.19546876e-01 -1.42499298e-03 1.38588734e+02] [ 2.19546641e-01 9.75601952e-01 -3.21284616e-04 6.29247729e+00] [ 1.46076297e-03 5.93141238e-07 9.99998933e-01 -1.12838917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:6.30, Z:-0.11 [[ 9.75722287e-01 -2.19006822e-01 -1.42493075e-03 1.38615951e+02] [ 2.19006586e-01 9.75723328e-01 -3.21560385e-04 6.29950223e+00] [ 1.46076209e-03 1.68441529e-06 9.99998933e-01 -1.14828796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:6.31, Z:-0.12 [[ 9.75801905e-01 -2.18651806e-01 -1.42490155e-03 1.38642666e+02] [ 2.18651570e-01 9.75802945e-01 -3.21689741e-04 6.30624617e+00] [ 1.46076117e-03 2.34850240e-06 9.99998933e-01 -1.16113793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:6.31, Z:-0.11 [[ 9.75622417e-01 -2.19451290e-01 -1.42484148e-03 1.38669912e+02] [ 2.19451054e-01 9.75623458e-01 -3.21955577e-04 6.31282901e+00] [ 1.46076234e-03 1.42411382e-06 9.99998933e-01 -1.14909498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.70, Y:6.32, Z:-0.11 [[ 9.75405021e-01 -2.20415550e-01 -1.42477799e-03 1.38697367e+02] [ 2.20415315e-01 9.75406062e-01 -3.22236293e-04 6.31896490e+00] [ 1.46076298e-03 2.68008994e-07 9.99998933e-01 -1.14140158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:6.33, Z:-0.11 [[ 9.75161196e-01 -2.21491788e-01 -1.42475819e-03 1.38725287e+02] [ 2.21491553e-01 9.75162237e-01 -3.22323814e-04 6.32512108e+00] [ 1.46076246e-03 -1.25422889e-06 9.99998933e-01 -1.14147381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:6.33, Z:-0.11 [[ 9.74891774e-01 -2.22674650e-01 -1.42470477e-03 1.38752374e+02] [ 2.22674416e-01 9.74892815e-01 -3.22559786e-04 6.33054219e+00] [ 1.46076033e-03 -2.78441990e-06 9.99998933e-01 -1.13283567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:6.33, Z:-0.11 [[ 9.74434625e-01 -2.24666714e-01 -1.42468572e-03 1.38779954e+02] [ 2.24666483e-01 9.74435666e-01 -3.22643907e-04 6.33397198e+00] [ 1.46075192e-03 -5.68373388e-06 9.99998933e-01 -1.13682099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:6.34, Z:-0.11 [[ 9.74223828e-01 -2.25579040e-01 -1.42462550e-03 1.38807159e+02] [ 2.25578809e-01 9.74224870e-01 -3.22909553e-04 6.33972515e+00] [ 1.46074722e-03 -6.77914389e-06 9.99998933e-01 -1.14173160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:6.35, Z:-0.11 [[ 9.74108815e-01 -2.26075179e-01 -1.42456547e-03 1.38834514e+02] [ 2.26074948e-01 9.74109857e-01 -3.23174201e-04 6.34636963e+00] [ 1.46074493e-03 -7.25172598e-06 9.99998933e-01 -1.14218697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:6.35, Z:-0.11 [[ 9.74088004e-01 -2.26164832e-01 -1.42450463e-03 1.38862194e+02] [ 2.26164601e-01 9.74089046e-01 -3.23442122e-04 6.35234502e+00] [ 1.46074559e-03 -7.11143070e-06 9.99998933e-01 -1.13932473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:6.36, Z:-0.11 [[ 9.74114015e-01 -2.26052773e-01 -1.42444205e-03 1.38888573e+02] [ 2.26052542e-01 9.74115057e-01 -3.23717495e-04 6.35743372e+00] [ 1.46074769e-03 -6.66099683e-06 9.99998933e-01 -1.14537438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.92, Y:6.36, Z:-0.11 [[ 9.74129052e-01 -2.25987966e-01 -1.42439927e-03 1.38916084e+02] [ 2.25987734e-01 9.74130093e-01 -3.23905620e-04 6.36296256e+00] [ 1.46074897e-03 -6.37088985e-06 9.99998933e-01 -1.12119080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:6.37, Z:-0.11 [[ 9.74119054e-01 -2.26031057e-01 -1.42433792e-03 1.38942506e+02] [ 2.26030825e-01 9.74120096e-01 -3.24175204e-04 6.36672478e+00] [ 1.46074985e-03 -6.15903092e-06 9.99998933e-01 -1.13518443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:6.37, Z:-0.11 [[ 9.74037875e-01 -2.26380628e-01 -1.42431122e-03 1.38969373e+02] [ 2.26380395e-01 9.74038917e-01 -3.24292458e-04 6.37114554e+00] [ 1.46074809e-03 -6.56300001e-06 9.99998933e-01 -1.14394198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:6.38, Z:-0.11 [[ 9.73821022e-01 -2.27311656e-01 -1.42428508e-03 1.38996712e+02] [ 2.27311425e-01 9.73822063e-01 -3.24407227e-04 6.37610670e+00] [ 1.46074178e-03 -7.84169324e-06 9.99998933e-01 -1.12263099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:6.38, Z:-0.11 [[ 9.73687842e-01 -2.27881457e-01 -1.42422188e-03 1.39023437e+02] [ 2.27881226e-01 9.73688883e-01 -3.24684444e-04 6.38122033e+00] [ 1.46073858e-03 -8.41213269e-06 9.99998933e-01 -1.13405128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:6.39, Z:-0.11 [[ 9.73390661e-01 -2.29147536e-01 -1.42419437e-03 1.39049797e+02] [ 2.29147306e-01 9.73391703e-01 -3.24805081e-04 6.38586525e+00] [ 1.46072726e-03 -1.01880698e-05 9.99998933e-01 -1.14908332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53587156000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:139.08, Y:6.39, Z:-0.11 [[ 9.73092954e-01 -2.30408495e-01 -1.42416779e-03 1.39077579e+02] [ 2.30408266e-01 9.73093996e-01 -3.24921591e-04 6.39103734e+00] [ 1.46071382e-03 -1.19611196e-05 9.99998933e-01 -1.12118776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:6.39, Z:-0.11 [[ 9.73056147e-01 -2.30563890e-01 -1.42410489e-03 1.39103946e+02] [ 2.30563661e-01 9.73057189e-01 -3.25197039e-04 6.39463577e+00] [ 1.46071419e-03 -1.19118584e-05 9.99998933e-01 -1.12694025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:6.40, Z:-0.11 [[ 9.72991667e-01 -2.30835847e-01 -1.42407768e-03 1.39131973e+02] [ 2.30835618e-01 9.72992709e-01 -3.25316159e-04 6.39867451e+00] [ 1.46071183e-03 -1.21979377e-05 9.99998933e-01 -1.12620864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:6.41, Z:-0.11 [[ 9.72950694e-01 -2.31008484e-01 -1.42405855e-03 1.39159699e+02] [ 2.31008255e-01 9.72951736e-01 -3.25399866e-04 6.40522209e+00] [ 1.46071037e-03 -1.23712541e-05 9.99998933e-01 -1.12579254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65587156000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:139.19, Y:6.41, Z:-0.11 [[ 9.72742680e-01 -2.31882839e-01 -1.42400077e-03 1.39187543e+02] [ 2.31882611e-01 9.72743722e-01 -3.25652531e-04 6.40837089e+00] [ 1.46070104e-03 -1.34249006e-05 9.99998933e-01 -1.09147032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:6.41, Z:-0.11 [[ 9.72750082e-01 -2.31851784e-01 -1.42393954e-03 1.39214701e+02] [ 2.31851556e-01 9.72751124e-01 -3.25920041e-04 6.41314069e+00] [ 1.46070393e-03 -1.31038499e-05 9.99998933e-01 -1.10096398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:139.24, Y:6.42, Z:-0.11 [[ 9.72695893e-01 -2.32079023e-01 -1.42387782e-03 1.39241376e+02] [ 2.32078794e-01 9.72696935e-01 -3.26189429e-04 6.41882423e+00] [ 1.46070332e-03 -1.31687306e-05 9.99998933e-01 -1.10613464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:6.42, Z:-0.11 [[ 9.72743924e-01 -2.31877622e-01 -1.42385109e-03 1.39269089e+02] [ 2.31877393e-01 9.72744966e-01 -3.26306081e-04 6.42454526e+00] [ 1.46070706e-03 -1.27466222e-05 9.99998933e-01 -1.12336481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:6.43, Z:-0.11 [[ 9.72686793e-01 -2.32117160e-01 -1.42378953e-03 1.39295270e+02] [ 2.32116930e-01 9.72687835e-01 -3.26574482e-04 6.43045104e+00] [ 1.46070629e-03 -1.28309695e-05 9.99998933e-01 -1.12958388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:6.43, Z:-0.11 [[ 9.72463609e-01 -2.33050427e-01 -1.42376273e-03 1.39323387e+02] [ 2.33050198e-01 9.72464651e-01 -3.26691263e-04 6.43428481e+00] [ 1.46069447e-03 -1.41128224e-05 9.99998933e-01 -1.12410307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:6.44, Z:-0.11 [[ 9.72240090e-01 -2.33981155e-01 -1.42370247e-03 1.39351212e+02] [ 2.33980927e-01 9.72241132e-01 -3.26953656e-04 6.43846610e+00] [ 1.46068310e-03 -1.52417724e-05 9.99998933e-01 -1.11948981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.38, Y:6.44, Z:-0.11 [[ 9.71907184e-01 -2.35360148e-01 -1.42364203e-03 1.39378480e+02] [ 2.35359921e-01 9.71908226e-01 -3.27216628e-04 6.44281891e+00] [ 1.46066315e-03 -1.70440842e-05 9.99998933e-01 -1.11782217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:6.44, Z:-0.11 [[ 9.71316720e-01 -2.37785203e-01 -1.42358184e-03 1.39405729e+02] [ 2.37784979e-01 9.71317763e-01 -3.27478266e-04 6.44451337e+00] [ 1.46061982e-03 -2.04212627e-05 9.99998933e-01 -1.13636483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:6.45, Z:-0.11 [[ 9.70975269e-01 -2.39175670e-01 -1.42355563e-03 1.39433047e+02] [ 2.39175446e-01 9.70976312e-01 -3.27592183e-04 6.44847745e+00] [ 1.46059087e-03 -2.23956455e-05 9.99998933e-01 -1.13401014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:6.45, Z:-0.11 [[ 9.70639760e-01 -2.40533635e-01 -1.42349541e-03 1.39460786e+02] [ 2.40533413e-01 9.70640804e-01 -3.27853659e-04 6.45266393e+00] [ 1.46056256e-03 -2.41704107e-05 9.99998933e-01 -1.13345719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:6.46, Z:-0.11 [[ 9.70358698e-01 -2.41664999e-01 -1.42343447e-03 1.39488339e+02] [ 2.41664777e-01 9.70359741e-01 -3.28117992e-04 6.45688876e+00] [ 1.46053814e-03 -2.56018278e-05 9.99998933e-01 -1.13448366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01587156000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.52, Y:6.46, Z:-0.11 [[ 9.70013522e-01 -2.43046787e-01 -1.42337246e-03 1.39515747e+02] [ 2.43046567e-01 9.70014566e-01 -3.28386798e-04 6.45902588e+00] [ 1.46050537e-03 -2.74061542e-05 9.99998933e-01 -1.14469314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.54, Y:6.46, Z:-0.11 [[ 9.69998299e-01 -2.43107535e-01 -1.42334551e-03 1.39543741e+02] [ 2.43107315e-01 9.69999343e-01 -3.28503545e-04 6.46325367e+00] [ 1.46050590e-03 -2.73778258e-05 9.99998933e-01 -1.12562065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:6.47, Z:-0.11 [[ 9.70156605e-01 -2.42475022e-01 -1.42328213e-03 1.39571568e+02] [ 2.42474800e-01 9.70157649e-01 -3.28777935e-04 6.46730987e+00] [ 1.46052848e-03 -2.61439653e-05 9.99998933e-01 -1.12948559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:139.60, Y:6.47, Z:-0.11 [[ 9.70417826e-01 -2.41427458e-01 -1.42321916e-03 1.39597732e+02] [ 2.41427235e-01 9.70418869e-01 -3.29050306e-04 6.47198953e+00] [ 1.46056050e-03 -2.42875834e-05 9.99998933e-01 -1.12372750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:6.47, Z:-0.11 [[ 9.71276606e-01 -2.37949006e-01 -1.42319168e-03 1.39625183e+02] [ 2.37948779e-01 9.71277648e-01 -3.29169102e-04 6.47497959e+00] [ 1.46063973e-03 -1.89324743e-05 9.99998933e-01 -1.12643166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:6.48, Z:-0.11 [[ 9.71786666e-01 -2.35857265e-01 -1.42314914e-03 1.39653074e+02] [ 2.35857036e-01 9.71787708e-01 -3.29352923e-04 6.47986782e+00] [ 1.46067912e-03 -1.55989584e-05 9.99998933e-01 -1.12268417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:6.48, Z:-0.11 [[ 9.72229876e-01 -2.34023595e-01 -1.42308708e-03 1.39679273e+02] [ 2.34023363e-01 9.72230917e-01 -3.29620862e-04 6.48490729e+00] [ 1.46070832e-03 -1.25683743e-05 9.99998933e-01 -1.12369916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:6.49, Z:-0.11 [[ 9.73034555e-01 -2.30655000e-01 -1.42304462e-03 1.39707337e+02] [ 2.30654764e-01 9.73035596e-01 -3.29804072e-04 6.48862221e+00] [ 1.46074403e-03 -7.32126195e-06 9.99998933e-01 -1.13176703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:6.49, Z:-0.11 [[ 9.73341597e-01 -2.29355861e-01 -1.42298285e-03 1.39734478e+02] [ 2.29355624e-01 9.73342637e-01 -3.30070360e-04 6.49389356e+00] [ 1.46075345e-03 -5.09790815e-06 9.99998933e-01 -1.13458839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:6.50, Z:-0.11 [[ 9.73681228e-01 -2.27909723e-01 -1.42291977e-03 1.39761879e+02] [ 2.27909483e-01 9.73682268e-01 -3.30342066e-04 6.49957825e+00] [ 1.46075992e-03 -2.64904185e-06 9.99998933e-01 -1.14636118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:139.79, Y:6.51, Z:-0.11 [[ 9.73992839e-01 -2.26574326e-01 -1.42285648e-03 1.39789281e+02] [ 2.26574085e-01 9.73993878e-01 -3.30614459e-04 6.50581634e+00] [ 1.46076225e-03 -3.66289541e-07 9.99998933e-01 -1.14768941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:6.51, Z:-0.12 [[ 9.74742154e-01 -2.23328700e-01 -1.42279252e-03 1.39817522e+02] [ 2.23328454e-01 9.74743193e-01 -3.30889467e-04 6.51005087e+00] [ 1.46075444e-03 4.78185692e-06 9.99998933e-01 -1.15459435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.84, Y:6.52, Z:-0.12 [[ 9.75052517e-01 -2.21969740e-01 -1.42272820e-03 1.39844538e+02] [ 2.21969493e-01 9.75053555e-01 -3.31165785e-04 6.51603777e+00] [ 1.46074498e-03 7.10177366e-06 9.99998933e-01 -1.15154378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:6.52, Z:-0.11 [[ 9.75309223e-01 -2.20839073e-01 -1.42270828e-03 1.39872195e+02] [ 2.20838824e-01 9.75310260e-01 -3.31251363e-04 6.52201260e+00] [ 1.46073523e-03 8.88328603e-06 9.99998933e-01 -1.14362038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:139.90, Y:6.53, Z:-0.11 [[ 9.75720278e-01 -2.19015789e-01 -1.42264433e-03 1.39899703e+02] [ 2.19015538e-01 9.75721315e-01 -3.31525769e-04 6.52885820e+00] [ 1.46071378e-03 1.18952008e-05 9.99998933e-01 -1.11826550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.93, Y:6.54, Z:-0.11 [[ 9.75838953e-01 -2.18486418e-01 -1.42262411e-03 1.39926917e+02] [ 2.18486166e-01 9.75839990e-01 -3.31612508e-04 6.53546939e+00] [ 1.46070633e-03 1.27767132e-05 9.99998933e-01 -1.10819113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:139.95, Y:6.54, Z:-0.11 [[ 9.75934874e-01 -2.18057557e-01 -1.42255970e-03 1.39953728e+02] [ 2.18057305e-01 9.75935911e-01 -3.31888583e-04 6.54147792e+00] [ 1.46069791e-03 1.37021073e-05 9.99998933e-01 -1.11327578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:6.55, Z:-0.11 [[ 9.75975372e-01 -2.17876227e-01 -1.42253972e-03 1.39981205e+02] [ 2.17875975e-01 9.75976408e-01 -3.31974225e-04 6.54715523e+00] [ 1.46069450e-03 1.40614398e-05 9.99998933e-01 -1.11238046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:6.55, Z:-0.11 [[ 9.75950294e-01 -2.17988530e-01 -1.42247633e-03 1.40007192e+02] [ 2.17988278e-01 9.75951331e-01 -3.32245599e-04 6.55245468e+00] [ 1.46069340e-03 1.41720239e-05 9.99998933e-01 -1.11038494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:6.56, Z:-0.11 [[ 9.75847704e-01 -2.18447329e-01 -1.42243308e-03 1.40034826e+02] [ 2.18447076e-01 9.75848741e-01 -3.32430686e-04 6.55838054e+00] [ 1.46069812e-03 1.36753746e-05 9.99998933e-01 -1.11705097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:6.56, Z:-0.11 [[ 9.75745190e-01 -2.18904777e-01 -1.42237059e-03 1.40062003e+02] [ 2.18904525e-01 9.75746226e-01 -3.32697858e-04 6.56477539e+00] [ 1.46070188e-03 1.32649770e-05 9.99998933e-01 -1.12590772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:140.09, Y:6.57, Z:-0.11 [[ 9.75667557e-01 -2.19250529e-01 -1.42230806e-03 1.40088224e+02] [ 2.19250277e-01 9.75668594e-01 -3.32964929e-04 6.57090212e+00] [ 1.46070405e-03 1.30216423e-05 9.99998933e-01 -1.12265456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:6.58, Z:-0.11 [[ 9.75628173e-01 -2.19425716e-01 -1.42228090e-03 1.40115678e+02] [ 2.19425464e-01 9.75629210e-01 -3.33080934e-04 6.57743892e+00] [ 1.46070531e-03 1.28784974e-05 9.99998933e-01 -1.13048601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:140.14, Y:6.58, Z:-0.11 [[ 9.75545166e-01 -2.19794465e-01 -1.42221893e-03 1.40143198e+02] [ 2.19794213e-01 9.75546202e-01 -3.33345338e-04 6.58488139e+00] [ 1.46070773e-03 1.25979440e-05 9.99998933e-01 -1.11928968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:6.59, Z:-0.12 [[ 9.75570417e-01 -2.19682359e-01 -1.42215656e-03 1.40169625e+02] [ 2.19682106e-01 9.75571454e-01 -3.33611190e-04 6.59103437e+00] [ 1.46070384e-03 1.30388585e-05 9.99998933e-01 -1.15355864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:6.60, Z:-0.11 [[ 9.75501418e-01 -2.19988548e-01 -1.42212945e-03 1.40196626e+02] [ 2.19988295e-01 9.75502454e-01 -3.33726707e-04 6.59724889e+00] [ 1.46070683e-03 1.26990419e-05 9.99998933e-01 -1.13227576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:6.60, Z:-0.11 [[ 9.75474940e-01 -2.20105927e-01 -1.42206749e-03 1.40224303e+02] [ 2.20105674e-01 9.75475976e-01 -3.33990552e-04 6.60393141e+00] [ 1.46070597e-03 1.27942910e-05 9.99998933e-01 -1.12870869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:6.61, Z:-0.11 [[ 9.75455807e-01 -2.20190706e-01 -1.42200591e-03 1.40251163e+02] [ 2.20190453e-01 9.75456843e-01 -3.34252529e-04 6.61064663e+00] [ 1.46070469e-03 1.29364461e-05 9.99998933e-01 -1.12352852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:6.62, Z:-0.11 [[ 9.75505797e-01 -2.19969128e-01 -1.42194437e-03 1.40277043e+02] [ 2.19968874e-01 9.75506834e-01 -3.34514095e-04 6.61823153e+00] [ 1.46069923e-03 1.35369367e-05 9.99998933e-01 -1.12487559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.30, Y:6.63, Z:-0.11 [[ 9.75465767e-01 -2.20146578e-01 -1.42191762e-03 1.40304027e+02] [ 2.20146324e-01 9.75466803e-01 -3.34627781e-04 6.62590024e+00] [ 1.46070059e-03 1.33880092e-05 9.99998933e-01 -1.12144669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:6.63, Z:-0.11 [[ 9.75458300e-01 -2.20179660e-01 -1.42185670e-03 1.40329886e+02] [ 2.20179406e-01 9.75459336e-01 -3.34886420e-04 6.63279417e+00] [ 1.46069857e-03 1.36041739e-05 9.99998933e-01 -1.13599562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:6.64, Z:-0.11 [[ 9.75506421e-01 -2.19966365e-01 -1.42183022e-03 1.40356818e+02] [ 2.19966110e-01 9.75507457e-01 -3.34998824e-04 6.63965564e+00] [ 1.46069445e-03 1.40390413e-05 9.99998933e-01 -1.14245377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:6.65, Z:-0.11 [[ 9.75513477e-01 -2.19935071e-01 -1.42181148e-03 1.40383852e+02] [ 2.19934816e-01 9.75514513e-01 -3.35078329e-04 6.64763875e+00] [ 1.46069321e-03 1.41675791e-05 9.99998933e-01 -1.13431900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:6.66, Z:-0.11 [[ 9.75577009e-01 -2.19653087e-01 -1.42175162e-03 1.40409965e+02] [ 2.19652831e-01 9.75578045e-01 -3.35332139e-04 6.65582487e+00] [ 1.46068640e-03 1.48505567e-05 9.99998933e-01 -1.12551215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:6.66, Z:-0.11 [[ 9.75641045e-01 -2.19368481e-01 -1.42172559e-03 1.40436832e+02] [ 2.19368225e-01 9.75642081e-01 -3.35442434e-04 6.66490451e+00] [ 1.46068081e-03 1.53899864e-05 9.99998933e-01 -1.12819699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:6.67, Z:-0.11 [[ 9.75572911e-01 -2.19671288e-01 -1.42166610e-03 1.40463839e+02] [ 2.19671032e-01 9.75573946e-01 -3.35694374e-04 6.67342607e+00] [ 1.46068283e-03 1.51954775e-05 9.99998933e-01 -1.11122100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:6.68, Z:-0.11 [[ 9.75566009e-01 -2.19701939e-01 -1.42160102e-03 1.40489768e+02] [ 2.19701683e-01 9.75567044e-01 -3.35969754e-04 6.68231978e+00] [ 1.46068032e-03 1.54325348e-05 9.99998933e-01 -1.12794789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.52, Y:6.69, Z:-0.11 [[ 9.75430689e-01 -2.20301950e-01 -1.42157266e-03 1.40517335e+02] [ 2.20301694e-01 9.75431725e-01 -3.36089726e-04 6.69128762e+00] [ 1.46068829e-03 1.46573680e-05 9.99998933e-01 -1.09157440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:6.70, Z:-0.11 [[ 9.75226749e-01 -2.21203002e-01 -1.42151538e-03 1.40543721e+02] [ 2.21202746e-01 9.75227785e-01 -3.36331807e-04 6.69903447e+00] [ 1.46069890e-03 1.35566681e-05 9.99998933e-01 -1.10737626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:6.71, Z:-0.11 [[ 9.74587881e-01 -2.24000986e-01 -1.42149503e-03 1.40570710e+02] [ 2.24000734e-01 9.74588918e-01 -3.36417787e-04 6.70731960e+00] [ 1.46073122e-03 9.45276754e-06 9.99998933e-01 -1.08345088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:6.72, Z:-0.11 [[ 9.74146524e-01 -2.25912658e-01 -1.42147682e-03 1.40597014e+02] [ 2.25912408e-01 9.74147561e-01 -3.36494729e-04 6.71559828e+00] [ 1.46074660e-03 6.66591962e-06 9.99998933e-01 -1.06925926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:6.72, Z:-0.11 [[ 9.73719104e-01 -2.27747855e-01 -1.42141224e-03 1.40622986e+02] [ 2.27747606e-01 9.73720142e-01 -3.36767299e-04 6.72333010e+00] [ 1.46075576e-03 4.19351694e-06 9.99998933e-01 -1.09905899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:6.73, Z:-0.11 [[ 9.73273041e-01 -2.29646615e-01 -1.42138406e-03 1.40650234e+02] [ 2.29646368e-01 9.73274079e-01 -3.36886194e-04 6.73095696e+00] [ 1.46076104e-03 1.46656319e-06 9.99998933e-01 -1.11113058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:6.74, Z:-0.11 [[ 9.72935906e-01 -2.31070775e-01 -1.42132601e-03 1.40676741e+02] [ 2.31070529e-01 9.72936944e-01 -3.37130956e-04 6.73803153e+00] [ 1.46076169e-03 -4.19739460e-07 9.99998933e-01 -1.12375370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:6.75, Z:-0.11 [[ 9.72460656e-01 -2.33062766e-01 -1.42130073e-03 1.40703811e+02] [ 2.33062522e-01 9.72461694e-01 -3.37237492e-04 6.74736401e+00] [ 1.46075802e-03 -3.30174004e-06 9.99998933e-01 -1.11642128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:140.73, Y:6.76, Z:-0.11 [[ 9.72253213e-01 -2.33926632e-01 -1.42123962e-03 1.40730374e+02] [ 2.33926388e-01 9.72254252e-01 -3.37494827e-04 6.75542526e+00] [ 1.46075529e-03 -4.33502068e-06 9.99998933e-01 -1.11791289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.76, Y:6.76, Z:-0.11 [[ 9.72136884e-01 -2.34409595e-01 -1.42117419e-03 1.40756637e+02] [ 2.34409352e-01 9.72137923e-01 -3.37770124e-04 6.76327080e+00] [ 1.46075388e-03 -4.77772456e-06 9.99998933e-01 -1.12801354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:6.77, Z:-0.12 [[ 9.72015132e-01 -2.34913950e-01 -1.42115387e-03 1.40782635e+02] [ 2.34913707e-01 9.72016171e-01 -3.37855579e-04 6.77131898e+00] [ 1.46075154e-03 -5.44779028e-06 9.99998933e-01 -1.15731614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:6.78, Z:-0.12 [[ 9.71771445e-01 -2.35919984e-01 -1.42112566e-03 1.40810445e+02] [ 2.35919742e-01 9.71772484e-01 -3.37974236e-04 6.78115530e+00] [ 1.46074569e-03 -6.83788592e-06 9.99998933e-01 -1.16917437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:6.79, Z:-0.12 [[ 9.71616575e-01 -2.36556993e-01 -1.42109508e-03 1.40836640e+02] [ 2.36556752e-01 9.71617615e-01 -3.38102731e-04 6.78889558e+00] [ 1.46074158e-03 -7.66342000e-06 9.99998933e-01 -1.17869502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:6.80, Z:-0.12 [[ 9.71572908e-01 -2.36736277e-01 -1.42106742e-03 1.40864309e+02] [ 2.36736036e-01 9.71573947e-01 -3.38218947e-04 6.79568568e+00] [ 1.46074078e-03 -7.81350306e-06 9.99998933e-01 -1.17827890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:6.80, Z:-0.12 [[ 9.71270842e-01 -2.37972544e-01 -1.42100497e-03 1.40891206e+02] [ 2.37972304e-01 9.71271882e-01 -3.38481158e-04 6.80453141e+00] [ 1.46073139e-03 -9.40294638e-06 9.99998933e-01 -1.17349319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:6.81, Z:-0.12 [[ 9.71129009e-01 -2.38550685e-01 -1.42094104e-03 1.40918026e+02] [ 2.38550444e-01 9.71130048e-01 -3.38749308e-04 6.81222058e+00] [ 1.46072742e-03 -9.99683706e-06 9.99998933e-01 -1.16822051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.94, Y:6.82, Z:-0.12 [[ 9.71035288e-01 -2.38931895e-01 -1.42087690e-03 1.40943462e+02] [ 2.38931654e-01 9.71036328e-01 -3.39018128e-04 6.82015516e+00] [ 1.46072533e-03 -1.02939032e-05 9.99998933e-01 -1.16266204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:6.83, Z:-0.12 [[ 9.70937921e-01 -2.39327256e-01 -1.42084912e-03 1.40970472e+02] [ 2.39327016e-01 9.70938960e-01 -3.39134501e-04 6.82837244e+00] [ 1.46072190e-03 -1.07690329e-05 9.99998933e-01 -1.16989796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:6.84, Z:-0.12 [[ 9.70728278e-01 -2.40176167e-01 -1.42078521e-03 1.40996135e+02] [ 2.40175927e-01 9.70729318e-01 -3.39402051e-04 6.83690122e+00] [ 1.46071414e-03 -1.17712366e-05 9.99998933e-01 -1.18403386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:6.84, Z:-0.12 [[ 9.70535725e-01 -2.40953083e-01 -1.42074167e-03 1.41022887e+02] [ 2.40952844e-01 9.70536765e-01 -3.39584224e-04 6.84414852e+00] [ 1.46070589e-03 -1.27531246e-05 9.99998933e-01 -1.18790933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.05, Y:6.85, Z:-0.12 [[ 9.70353160e-01 -2.41687250e-01 -1.42067768e-03 1.41049148e+02] [ 2.41687012e-01 9.70354200e-01 -3.39851709e-04 6.85096134e+00] [ 1.46069838e-03 -1.35831632e-05 9.99998933e-01 -1.18216263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:6.86, Z:-0.12 [[ 9.70031625e-01 -2.42974542e-01 -1.42063401e-03 1.41076012e+02] [ 2.42974304e-01 9.70032665e-01 -3.40034164e-04 6.85842602e+00] [ 1.46068104e-03 -1.53336679e-05 9.99998933e-01 -1.17484921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:6.87, Z:-0.12 [[ 9.69625137e-01 -2.44591650e-01 -1.42057012e-03 1.41103675e+02] [ 2.44591414e-01 9.69626178e-01 -3.40300865e-04 6.86577961e+00] [ 1.46065673e-03 -1.74949810e-05 9.99998933e-01 -1.15138075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:6.87, Z:-0.12 [[ 9.69437296e-01 -2.45335100e-01 -1.42051362e-03 1.41129880e+02] [ 2.45334865e-01 9.69438336e-01 -3.40536533e-04 6.87183025e+00] [ 1.46064593e-03 -1.83727016e-05 9.99998933e-01 -1.15310286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:6.88, Z:-0.12 [[ 9.69252522e-01 -2.46064080e-01 -1.42046962e-03 1.41157285e+02] [ 2.46063845e-01 9.69253562e-01 -3.40720008e-04 6.87854567e+00] [ 1.46063419e-03 -1.92824873e-05 9.99998933e-01 -1.15419592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:6.89, Z:-0.12 [[ 9.69007116e-01 -2.47028728e-01 -1.42040619e-03 1.41183536e+02] [ 2.47028493e-01 9.69008156e-01 -3.40984204e-04 6.88507688e+00] [ 1.46061808e-03 -2.04646808e-05 9.99998933e-01 -1.15639122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:6.89, Z:-0.12 [[ 9.68903410e-01 -2.47435174e-01 -1.42037848e-03 1.41210888e+02] [ 2.47434940e-01 9.68904451e-01 -3.41099611e-04 6.89166061e+00] [ 1.46061107e-03 -2.09586867e-05 9.99998933e-01 -1.16480848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:6.90, Z:-0.12 [[ 9.68819221e-01 -2.47764607e-01 -1.42031566e-03 1.41238437e+02] [ 2.47764373e-01 9.68820262e-01 -3.41360962e-04 6.89783475e+00] [ 1.46060776e-03 -2.11865579e-05 9.99998933e-01 -1.17199188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.27, Y:6.90, Z:-0.12 [[ 9.68768706e-01 -2.47962049e-01 -1.42025260e-03 1.41266090e+02] [ 2.47961814e-01 9.68769747e-01 -3.41623139e-04 6.90354778e+00] [ 1.46060733e-03 -2.12146056e-05 9.99998933e-01 -1.16780842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.29, Y:6.91, Z:-0.12 [[ 9.68755102e-01 -2.48015193e-01 -1.42018896e-03 1.41293091e+02] [ 2.48014959e-01 9.68756142e-01 -3.41887486e-04 6.90912835e+00] [ 1.46061007e-03 -2.10228607e-05 9.99998933e-01 -1.16612030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:6.91, Z:-0.12 [[ 9.68929055e-01 -2.47334732e-01 -1.42012483e-03 1.41320666e+02] [ 2.47334497e-01 9.68930095e-01 -3.42153671e-04 6.91440243e+00] [ 1.46062817e-03 -1.97232273e-05 9.99998933e-01 -1.18400969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:6.92, Z:-0.12 [[ 9.69057221e-01 -2.46832101e-01 -1.42010489e-03 1.41347578e+02] [ 2.46831864e-01 9.69058261e-01 -3.42236425e-04 6.92017604e+00] [ 1.46063931e-03 -1.88804583e-05 9.99998933e-01 -1.17655215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.37, Y:6.93, Z:-0.12 [[ 9.69212730e-01 -2.46220768e-01 -1.42004102e-03 1.41374610e+02] [ 2.46220531e-01 9.69213771e-01 -3.42501215e-04 6.92542784e+00] [ 1.46065423e-03 -1.76867161e-05 9.99998933e-01 -1.16875174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:6.93, Z:-0.12 [[ 9.69312537e-01 -2.45827560e-01 -1.41997622e-03 1.41401039e+02] [ 2.45827322e-01 9.69313577e-01 -3.42769667e-04 6.93071736e+00] [ 1.46066446e-03 -1.68180163e-05 9.99998933e-01 -1.18315512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.43, Y:6.94, Z:-0.12 [[ 9.69515440e-01 -2.45026110e-01 -1.41994804e-03 1.41428047e+02] [ 2.45025871e-01 9.69516480e-01 -3.42886384e-04 6.93637126e+00] [ 1.46067914e-03 -1.54903600e-05 9.99998933e-01 -1.18279291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:6.94, Z:-0.12 [[ 9.69986698e-01 -2.43153841e-01 -1.41988334e-03 1.41455307e+02] [ 2.43153599e-01 9.69987737e-01 -3.43154068e-04 6.94086216e+00] [ 1.46070866e-03 -1.23948639e-05 9.99998933e-01 -1.17982096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:6.95, Z:-0.12 [[ 9.70263934e-01 -2.42045207e-01 -1.41981690e-03 1.41482641e+02] [ 2.42044963e-01 9.70264973e-01 -3.43428754e-04 6.94637075e+00] [ 1.46072389e-03 -1.04429959e-05 9.99998933e-01 -1.19001611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:6.95, Z:-0.12 [[ 9.70534318e-01 -2.40958757e-01 -1.41979627e-03 1.41509600e+02] [ 2.40958512e-01 9.70535356e-01 -3.43514025e-04 6.95229529e+00] [ 1.46073519e-03 -8.71984729e-06 9.99998933e-01 -1.17958733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.54, Y:6.96, Z:-0.12 [[ 9.71191833e-01 -2.38294793e-01 -1.41973255e-03 1.41536513e+02] [ 2.38294545e-01 9.71192870e-01 -3.43777161e-04 6.95768650e+00] [ 1.46075444e-03 -4.44095217e-06 9.99998933e-01 -1.16147945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:6.96, Z:-0.11 [[ 9.71530663e-01 -2.36909595e-01 -1.41971274e-03 1.41564394e+02] [ 2.36909345e-01 9.71531700e-01 -3.43858951e-04 6.96349981e+00] [ 1.46075942e-03 -2.27370230e-06 9.99998933e-01 -1.14668727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:6.97, Z:-0.11 [[ 9.71888604e-01 -2.35436883e-01 -1.41964675e-03 1.41591198e+02] [ 2.35436632e-01 9.71889641e-01 -3.44131182e-04 6.96953550e+00] [ 1.46076115e-03 2.20323617e-07 9.99998933e-01 -1.14749662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:6.98, Z:-0.11 [[ 9.72300529e-01 -2.33729899e-01 -1.41960169e-03 1.41618353e+02] [ 2.33729646e-01 9.72301565e-01 -3.44316969e-04 6.97630738e+00] [ 1.46075812e-03 2.97657029e-06 9.99998933e-01 -1.14011237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:6.98, Z:-0.11 [[ 9.73208717e-01 -2.29919071e-01 -1.41953639e-03 1.41645783e+02] [ 2.29918813e-01 9.73209752e-01 -3.44585976e-04 6.98384722e+00] [ 1.46073355e-03 8.97595426e-06 9.99998933e-01 -1.13920494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:6.99, Z:-0.11 [[ 9.73611369e-01 -2.28207991e-01 -1.41947075e-03 1.41672673e+02] [ 2.28207730e-01 9.73612404e-01 -3.44856149e-04 6.99041361e+00] [ 1.46071326e-03 1.18216686e-05 9.99998933e-01 -1.14489581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:7.00, Z:-0.11 [[ 9.73952026e-01 -2.26749722e-01 -1.41940486e-03 1.41699413e+02] [ 2.26749460e-01 9.73953060e-01 -3.45127139e-04 6.99695065e+00] [ 1.46069119e-03 1.42879892e-05 9.99998933e-01 -1.14413957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:7.00, Z:-0.12 [[ 9.74547778e-01 -2.24175407e-01 -1.41933889e-03 1.41725640e+02] [ 2.24175142e-01 9.74548812e-01 -3.45398226e-04 7.00422991e+00] [ 1.46064482e-03 1.84265768e-05 9.99998933e-01 -1.15023862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:141.75, Y:7.01, Z:-0.11 [[ 9.74698560e-01 -2.23518910e-01 -1.41931032e-03 1.41752299e+02] [ 2.23518644e-01 9.74699593e-01 -3.45515588e-04 7.01193124e+00] [ 1.46063046e-03 1.95312271e-05 9.99998933e-01 -1.14880566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.78, Y:7.02, Z:-0.11 [[ 9.74839702e-01 -2.22902536e-01 -1.41924628e-03 1.41778854e+02] [ 2.22902269e-01 9.74840735e-01 -3.45778444e-04 7.01918017e+00] [ 1.46061398e-03 2.07253395e-05 9.99998933e-01 -1.14172810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:7.03, Z:-0.11 [[ 9.74923290e-01 -2.22536660e-01 -1.41917927e-03 1.41805782e+02] [ 2.22536392e-01 9.74924322e-01 -3.46053261e-04 7.02635107e+00] [ 1.46060193e-03 2.15563490e-05 9.99998933e-01 -1.14761650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:7.03, Z:-0.11 [[ 9.74980076e-01 -2.22287736e-01 -1.41915853e-03 1.41832188e+02] [ 2.22287467e-01 9.74981109e-01 -3.46138284e-04 7.03491587e+00] [ 1.46059506e-03 2.20167737e-05 9.99998933e-01 -1.13910141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:7.04, Z:-0.11 [[ 9.74911954e-01 -2.22586318e-01 -1.41913805e-03 1.41859427e+02] [ 2.22586050e-01 9.74912986e-01 -3.46222258e-04 7.04232594e+00] [ 1.46060045e-03 2.16558864e-05 9.99998933e-01 -1.12998942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:7.05, Z:-0.11 [[ 9.74826930e-01 -2.22958390e-01 -1.41907240e-03 1.41886988e+02] [ 2.22958121e-01 9.74827962e-01 -3.46491133e-04 7.04914309e+00] [ 1.46060456e-03 2.13751721e-05 9.99998933e-01 -1.13193694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.91, Y:7.06, Z:-0.11 [[ 9.74728797e-01 -2.23387018e-01 -1.41900620e-03 1.41914102e+02] [ 2.23386749e-01 9.74729829e-01 -3.46762001e-04 7.05604310e+00] [ 1.46060980e-03 2.10117248e-05 9.99998933e-01 -1.14085942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:7.06, Z:-0.12 [[ 9.74631198e-01 -2.23812452e-01 -1.41898559e-03 1.41940159e+02] [ 2.23812184e-01 9.74632231e-01 -3.46846343e-04 7.06488928e+00] [ 1.46061762e-03 2.04610026e-05 9.99998933e-01 -1.17002743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.97, Y:7.07, Z:-0.12 [[ 9.74587236e-01 -2.24003808e-01 -1.41896530e-03 1.41967122e+02] [ 2.24003540e-01 9.74588269e-01 -3.46929303e-04 7.07302719e+00] [ 1.46062042e-03 2.02596187e-05 9.99998933e-01 -1.15887092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:7.08, Z:-0.12 [[ 9.74579787e-01 -2.24036216e-01 -1.41889935e-03 1.41994479e+02] [ 2.24035948e-01 9.74580819e-01 -3.47198832e-04 7.08097949e+00] [ 1.46061721e-03 2.04885026e-05 9.99998933e-01 -1.15934553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.02, Y:7.09, Z:-0.12 [[ 9.74596366e-01 -2.23964083e-01 -1.41883156e-03 1.42021390e+02] [ 2.23963815e-01 9.74597398e-01 -3.47475629e-04 7.08971301e+00] [ 1.46061161e-03 2.08815562e-05 9.99998933e-01 -1.17728264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:7.10, Z:-0.12 [[ 9.74513712e-01 -2.24323452e-01 -1.41881050e-03 1.42048368e+02] [ 2.24323184e-01 9.74514745e-01 -3.47561630e-04 7.09762520e+00] [ 1.46061797e-03 2.04314870e-05 9.99998933e-01 -1.18193785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:7.11, Z:-0.12 [[ 9.74401045e-01 -2.24812345e-01 -1.41874448e-03 1.42074822e+02] [ 2.24812077e-01 9.74402078e-01 -3.47830886e-04 7.10513758e+00] [ 1.46062425e-03 1.99758850e-05 9.99998933e-01 -1.18614798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:7.11, Z:-0.12 [[ 9.74278847e-01 -2.25341331e-01 -1.41871586e-03 1.42100802e+02] [ 2.25341063e-01 9.74279880e-01 -3.47947574e-04 7.11232024e+00] [ 1.46063329e-03 1.93030201e-05 9.99998933e-01 -1.19242483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:7.12, Z:-0.12 [[ 9.73930763e-01 -2.26841037e-01 -1.41868739e-03 1.42126600e+02] [ 2.26840771e-01 9.73931796e-01 -3.48063635e-04 7.12004336e+00] [ 1.46065987e-03 1.71737408e-05 9.99998933e-01 -1.18726216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:7.13, Z:-0.12 [[ 9.73727643e-01 -2.27711363e-01 -1.41865913e-03 1.42153491e+02] [ 2.27711098e-01 9.73728676e-01 -3.48178769e-04 7.12743206e+00] [ 1.46067334e-03 1.59868632e-05 9.99998933e-01 -1.18001943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:7.13, Z:-0.12 [[ 9.73497787e-01 -2.28692032e-01 -1.41859501e-03 1.42180935e+02] [ 2.28691767e-01 9.73498821e-01 -3.48439845e-04 7.13490466e+00] [ 1.46068598e-03 1.47844200e-05 9.99998933e-01 -1.15097697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:7.14, Z:-0.11 [[ 9.73306523e-01 -2.29504684e-01 -1.41853524e-03 1.42208081e+02] [ 2.29504419e-01 9.73307557e-01 -3.48683001e-04 7.14232059e+00] [ 1.46069545e-03 1.38153331e-05 9.99998933e-01 -1.13561919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:7.15, Z:-0.11 [[ 9.73223044e-01 -2.29858425e-01 -1.41850320e-03 1.42234790e+02] [ 2.29858160e-01 9.73224077e-01 -3.48813303e-04 7.15186153e+00] [ 1.46069914e-03 1.34186093e-05 9.99998933e-01 -1.12640603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:7.16, Z:-0.11 [[ 9.73228057e-01 -2.29837199e-01 -1.41848209e-03 1.42260603e+02] [ 2.29836934e-01 9.73229090e-01 -3.48899095e-04 7.15988653e+00] [ 1.46069803e-03 1.35388119e-05 9.99998933e-01 -1.14122876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:7.17, Z:-0.12 [[ 9.73252251e-01 -2.29734726e-01 -1.41845349e-03 1.42287676e+02] [ 2.29734461e-01 9.73253284e-01 -3.49015344e-04 7.16729346e+00] [ 1.46069546e-03 1.38123205e-05 9.99998933e-01 -1.15145227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:7.17, Z:-0.12 [[ 9.73358094e-01 -2.29285865e-01 -1.41838819e-03 1.42314932e+02] [ 2.29285600e-01 9.73359128e-01 -3.49280535e-04 7.17309845e+00] [ 1.46068618e-03 1.47590495e-05 9.99998933e-01 -1.15780923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:7.18, Z:-0.11 [[ 9.73354053e-01 -2.29303022e-01 -1.41836798e-03 1.42342057e+02] [ 2.29302756e-01 9.73355086e-01 -3.49362581e-04 7.18100225e+00] [ 1.46068558e-03 1.48177970e-05 9.99998933e-01 -1.14331600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:142.37, Y:7.19, Z:-0.11 [[ 9.73388188e-01 -2.29158075e-01 -1.41830173e-03 1.42369165e+02] [ 2.29157808e-01 9.73389222e-01 -3.49631310e-04 7.18948182e+00] [ 1.46068046e-03 1.53120706e-05 9.99998933e-01 -1.12703210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:7.20, Z:-0.11 [[ 9.73395351e-01 -2.29127648e-01 -1.41823338e-03 1.42395543e+02] [ 2.29127382e-01 9.73396384e-01 -3.49908343e-04 7.19731344e+00] [ 1.46067692e-03 1.56430531e-05 9.99998933e-01 -1.14199224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.42, Y:7.20, Z:-0.11 [[ 9.73397209e-01 -2.29119754e-01 -1.41816534e-03 1.42422310e+02] [ 2.29119487e-01 9.73398242e-01 -3.50183915e-04 7.20432034e+00] [ 1.46067370e-03 1.59387312e-05 9.99998933e-01 -1.14009401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:7.21, Z:-0.11 [[ 9.73560850e-01 -2.28423423e-01 -1.41809842e-03 1.42448863e+02] [ 2.28423155e-01 9.73561883e-01 -3.50454700e-04 7.21228827e+00] [ 1.46065863e-03 1.72624612e-05 9.99998933e-01 -1.13987172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:7.22, Z:-0.11 [[ 9.73668487e-01 -2.27964179e-01 -1.41807761e-03 1.42474352e+02] [ 2.27963910e-01 9.73669519e-01 -3.50538864e-04 7.22001766e+00] [ 1.46064925e-03 1.80381276e-05 9.99998933e-01 -1.14102098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:7.23, Z:-0.11 [[ 9.73825200e-01 -2.27293796e-01 -1.41803257e-03 1.42501393e+02] [ 2.27293526e-01 9.73826232e-01 -3.50720984e-04 7.22869535e+00] [ 1.46063402e-03 1.92313106e-05 9.99998933e-01 -1.13033969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:7.24, Z:-0.11 [[ 9.74096534e-01 -2.26128132e-01 -1.41796281e-03 1.42527445e+02] [ 2.26127860e-01 9.74097566e-01 -3.51002793e-04 7.23687558e+00] [ 1.46060573e-03 2.12697072e-05 9.99998933e-01 -1.14794955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.55, Y:7.25, Z:-0.11 [[ 9.74555829e-01 -2.24140415e-01 -1.41793250e-03 1.42553935e+02] [ 2.24140142e-01 9.74556860e-01 -3.51125198e-04 7.24702612e+00] [ 1.46055719e-03 2.43755178e-05 9.99998933e-01 -1.12482904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.58, Y:7.25, Z:-0.11 [[ 9.74513273e-01 -2.24325367e-01 -1.41786567e-03 1.42581538e+02] [ 2.24325093e-01 9.74514304e-01 -3.51394865e-04 7.25406387e+00] [ 1.46055716e-03 2.43761132e-05 9.99998933e-01 -1.12441299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:7.26, Z:-0.11 [[ 9.74689130e-01 -2.23560036e-01 -1.41779893e-03 1.42607487e+02] [ 2.23559761e-01 9.74690161e-01 -3.51663941e-04 7.26264341e+00] [ 1.46053267e-03 2.58002326e-05 9.99998933e-01 -1.12845754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:7.27, Z:-0.11 [[ 9.74802750e-01 -2.23064092e-01 -1.41775344e-03 1.42634618e+02] [ 2.23063816e-01 9.74803780e-01 -3.51847215e-04 7.27137210e+00] [ 1.46051589e-03 2.67321400e-05 9.99998933e-01 -1.12609127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:7.28, Z:-0.11 [[ 9.74947816e-01 -2.22429193e-01 -1.41768600e-03 1.42660667e+02] [ 2.22428916e-01 9.74948847e-01 -3.52118730e-04 7.28150803e+00] [ 1.46049282e-03 2.79630257e-05 9.99998933e-01 -1.13598464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:7.29, Z:-0.11 [[ 9.74927995e-01 -2.22516056e-01 -1.41766507e-03 1.42685989e+02] [ 2.22515779e-01 9.74929025e-01 -3.52202999e-04 7.28989179e+00] [ 1.46049365e-03 2.79197158e-05 9.99998933e-01 -1.14720924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:7.30, Z:-0.12 [[ 9.74888603e-01 -2.22688577e-01 -1.41763600e-03 1.42712075e+02] [ 2.22688300e-01 9.74889633e-01 -3.52319946e-04 7.29869771e+00] [ 1.46049627e-03 2.77817469e-05 9.99998933e-01 -1.15206278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:7.31, Z:-0.11 [[ 9.74793481e-01 -2.23104593e-01 -1.41760728e-03 1.42739010e+02] [ 2.23104316e-01 9.74794512e-01 -3.52435466e-04 7.30811832e+00] [ 1.46050577e-03 2.72774916e-05 9.99998933e-01 -1.13990624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:7.32, Z:-0.11 [[ 9.74440362e-01 -2.24641874e-01 -1.41754141e-03 1.42764789e+02] [ 2.24641599e-01 9.74441393e-01 -3.52700219e-04 7.31954618e+00] [ 1.46054227e-03 2.52465598e-05 9.99998933e-01 -1.14283879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:7.33, Z:-0.12 [[ 9.74181146e-01 -2.25763341e-01 -1.41747528e-03 1.42790750e+02] [ 2.25763066e-01 9.74182177e-01 -3.52965800e-04 7.32870104e+00] [ 1.46056589e-03 2.38390624e-05 9.99998933e-01 -1.15375948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:7.34, Z:-0.12 [[ 9.73923398e-01 -2.26872663e-01 -1.41744645e-03 1.42817123e+02] [ 2.26872389e-01 9.73924429e-01 -3.53081553e-04 7.33744139e+00] [ 1.46059027e-03 2.22949235e-05 9.99998933e-01 -1.15341272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.84, Y:7.35, Z:-0.12 [[ 9.73664868e-01 -2.27979639e-01 -1.41737960e-03 1.42842859e+02] [ 2.27979366e-01 9.73665900e-01 -3.53349666e-04 7.34548281e+00] [ 1.46061072e-03 2.09108526e-05 9.99998933e-01 -1.15327982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:7.36, Z:-0.12 [[ 9.73129302e-01 -2.30254974e-01 -1.41733394e-03 1.42869106e+02] [ 2.30254703e-01 9.73130334e-01 -3.53532736e-04 7.35564247e+00] [ 1.46065332e-03 1.76852595e-05 9.99998933e-01 -1.15820218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:7.36, Z:-0.11 [[ 9.72798336e-01 -2.31649281e-01 -1.41730292e-03 1.42895790e+02] [ 2.31649011e-01 9.72799368e-01 -3.53657038e-04 7.36437907e+00] [ 1.46067579e-03 1.57201575e-05 9.99998933e-01 -1.14868353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:7.37, Z:-0.12 [[ 9.72474427e-01 -2.33005323e-01 -1.41723677e-03 1.42921877e+02] [ 2.33005054e-01 9.72475460e-01 -3.53921927e-04 7.37332764e+00] [ 1.46069368e-03 1.39566913e-05 9.99998933e-01 -1.15887324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:7.38, Z:-0.12 [[ 9.72154449e-01 -2.34336765e-01 -1.41720797e-03 1.42948755e+02] [ 2.34336498e-01 9.72155482e-01 -3.54037241e-04 7.38317671e+00] [ 1.46071044e-03 1.20753270e-05 9.99998933e-01 -1.15963823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.97, Y:7.39, Z:-0.12 [[ 9.71735588e-01 -2.36067658e-01 -1.41714244e-03 1.42974125e+02] [ 2.36067393e-01 9.71736621e-01 -3.54299348e-04 7.39327345e+00] [ 1.46072782e-03 9.74416494e-06 9.99998933e-01 -1.16081152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:7.40, Z:-0.12 [[ 9.71573943e-01 -2.36732051e-01 -1.41711397e-03 1.43000554e+02] [ 2.36731786e-01 9.71574977e-01 -3.54413178e-04 7.40102324e+00] [ 1.46073343e-03 8.86268716e-06 9.99998933e-01 -1.15739590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:7.41, Z:-0.12 [[ 9.71504812e-01 -2.37015594e-01 -1.41704698e-03 1.43026927e+02] [ 2.37015329e-01 9.71505846e-01 -3.54680834e-04 7.41043554e+00] [ 1.46073431e-03 8.71228183e-06 9.99998933e-01 -1.15696918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:7.42, Z:-0.12 [[ 9.71550108e-01 -2.36829856e-01 -1.41697931e-03 1.43052553e+02] [ 2.36829590e-01 9.71551141e-01 -3.54950978e-04 7.41980707e+00] [ 1.46073085e-03 9.27003239e-06 9.99998933e-01 -1.16440896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:7.43, Z:-0.12 [[ 9.71596603e-01 -2.36639037e-01 -1.41693321e-03 1.43079190e+02] [ 2.36638771e-01 9.71597636e-01 -3.55134896e-04 7.42970805e+00] [ 1.46072774e-03 9.74652561e-06 9.99998933e-01 -1.15955977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:7.44, Z:-0.12 [[ 9.71667491e-01 -2.36347792e-01 -1.41686486e-03 1.43105163e+02] [ 2.36347525e-01 9.71668524e-01 -3.55407388e-04 7.43886402e+00] [ 1.46072274e-03 1.04653022e-05 9.99998933e-01 -1.16728188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:7.45, Z:-0.11 [[ 9.71796440e-01 -2.35817031e-01 -1.41683519e-03 1.43131736e+02] [ 2.35816764e-01 9.71797473e-01 -3.55525620e-04 7.44984175e+00] [ 1.46071585e-03 1.13850425e-05 9.99998933e-01 -1.14336879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.16, Y:7.46, Z:-0.12 [[ 9.71836698e-01 -2.35651067e-01 -1.41676549e-03 1.43157205e+02] [ 2.35650798e-01 9.71837731e-01 -3.55803143e-04 7.45759284e+00] [ 1.46071155e-03 1.19206320e-05 9.99998933e-01 -1.16440962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:7.47, Z:-0.12 [[ 9.71716702e-01 -2.36145389e-01 -1.41671776e-03 1.43183877e+02] [ 2.36145121e-01 9.71717734e-01 -3.55993105e-04 7.46625248e+00] [ 1.46071590e-03 1.13734584e-05 9.99998933e-01 -1.16308231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:143.21, Y:7.47, Z:-0.11 [[ 9.71688420e-01 -2.36261735e-01 -1.41665334e-03 1.43210274e+02] [ 2.36261466e-01 9.71689453e-01 -3.56249280e-04 7.47420426e+00] [ 1.46071518e-03 1.14627050e-05 9.99998933e-01 -1.14225578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:7.49, Z:-0.11 [[ 9.71361616e-01 -2.37601777e-01 -1.41659172e-03 1.43237110e+02] [ 2.37601509e-01 9.71362649e-01 -3.56494112e-04 7.48501097e+00] [ 1.46072792e-03 9.70036463e-06 9.99998933e-01 -1.13210528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:143.26, Y:7.49, Z:-0.11 [[ 9.71173207e-01 -2.38370710e-01 -1.41653398e-03 1.43263564e+02] [ 2.38370443e-01 9.71174240e-01 -3.56723411e-04 7.49340279e+00] [ 1.46073373e-03 8.78038719e-06 9.99998933e-01 -1.12609146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:7.50, Z:-0.11 [[ 9.70861221e-01 -2.39638236e-01 -1.41646758e-03 1.43290497e+02] [ 2.39637970e-01 9.70862254e-01 -3.56986875e-04 7.50210920e+00] [ 1.46074261e-03 7.14529771e-06 9.99998933e-01 -1.12663949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:7.51, Z:-0.11 [[ 9.70252445e-01 -2.42091278e-01 -1.41640127e-03 1.43317766e+02] [ 2.42091015e-01 9.70253479e-01 -3.57249773e-04 7.51024798e+00] [ 1.46075532e-03 3.72444493e-06 9.99998933e-01 -1.12566536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:7.52, Z:-0.11 [[ 9.69910492e-01 -2.43457660e-01 -1.41633501e-03 1.43344488e+02] [ 2.43457398e-01 9.69911526e-01 -3.57512279e-04 7.51698647e+00] [ 1.46075875e-03 1.93767476e-06 9.99998933e-01 -1.11936576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:7.52, Z:-0.11 [[ 9.69574124e-01 -2.44793816e-01 -1.41626737e-03 1.43371130e+02] [ 2.44793555e-01 9.69575158e-01 -3.57780030e-04 7.52415131e+00] [ 1.46076000e-03 2.01134787e-07 9.99998933e-01 -1.12554444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:7.53, Z:-0.11 [[ 9.69257608e-01 -2.46044070e-01 -1.41624630e-03 1.43398224e+02] [ 2.46043810e-01 9.69258642e-01 -3.57863427e-04 7.53171761e+00] [ 1.46075914e-03 -1.59678498e-06 9.99998933e-01 -1.10107569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.43, Y:7.54, Z:-0.11 [[ 9.68952662e-01 -2.47242255e-01 -1.41617951e-03 1.43425295e+02] [ 2.47241995e-01 9.68953697e-01 -3.58127541e-04 7.53862500e+00] [ 1.46075663e-03 -3.13041303e-06 9.99998933e-01 -1.09331050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:7.55, Z:-0.11 [[ 9.68838974e-01 -2.47687376e-01 -1.41615874e-03 1.43452667e+02] [ 2.47687117e-01 9.68840009e-01 -3.58209632e-04 7.54643077e+00] [ 1.46075525e-03 -3.71682430e-06 9.99998933e-01 -1.09148734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:143.48, Y:7.55, Z:-0.11 [[ 9.68839658e-01 -2.47684701e-01 -1.41609264e-03 1.43479504e+02] [ 2.47684442e-01 9.68840693e-01 -3.58470749e-04 7.55337855e+00] [ 1.46075590e-03 -3.44343809e-06 9.99998933e-01 -1.08006115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:7.56, Z:-0.11 [[ 9.68793361e-01 -2.47865726e-01 -1.41602259e-03 1.43505631e+02] [ 2.47865466e-01 9.68794396e-01 -3.58747256e-04 7.56108889e+00] [ 1.46075590e-03 -3.43113943e-06 9.99998933e-01 -1.09533624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:7.57, Z:-0.11 [[ 9.68701782e-01 -2.48223391e-01 -1.41599214e-03 1.43533731e+02] [ 2.48223131e-01 9.68702817e-01 -3.58867387e-04 7.56709326e+00] [ 1.46075486e-03 -3.84652679e-06 9.99998933e-01 -1.11318710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:7.57, Z:-0.11 [[ 9.68653276e-01 -2.48412614e-01 -1.41593113e-03 1.43560942e+02] [ 2.48412354e-01 9.68654311e-01 -3.59107958e-04 7.57355915e+00] [ 1.46075474e-03 -3.88368629e-06 9.99998933e-01 -1.10396027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.59, Y:7.58, Z:-0.11 [[ 9.68594440e-01 -2.48641922e-01 -1.41586095e-03 1.43588582e+02] [ 2.48641662e-01 9.68595475e-01 -3.59384433e-04 7.58070188e+00] [ 1.46075455e-03 -3.94425787e-06 9.99998933e-01 -1.09518747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:7.59, Z:-0.11 [[ 9.68514857e-01 -2.48951737e-01 -1.41580010e-03 1.43614986e+02] [ 2.48951477e-01 9.68515892e-01 -3.59624019e-04 7.58819799e+00] [ 1.46075392e-03 -4.16432019e-06 9.99998933e-01 -1.09940716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:7.60, Z:-0.11 [[ 9.68486601e-01 -2.49061637e-01 -1.41576969e-03 1.43642287e+02] [ 2.49061377e-01 9.68487636e-01 -3.59743688e-04 7.59527282e+00] [ 1.46075379e-03 -4.20660758e-06 9.99998933e-01 -1.10063104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:7.60, Z:-0.11 [[ 9.68449757e-01 -2.49204864e-01 -1.41570032e-03 1.43669520e+02] [ 2.49204604e-01 9.68450792e-01 -3.60016457e-04 7.60234535e+00] [ 1.46075395e-03 -4.14118882e-06 9.99998933e-01 -1.10187480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:7.61, Z:-0.11 [[ 9.68410486e-01 -2.49357429e-01 -1.41562968e-03 1.43695318e+02] [ 2.49357169e-01 9.68411520e-01 -3.60294017e-04 7.60928257e+00] [ 1.46075408e-03 -4.08490554e-06 9.99998933e-01 -1.12096179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:7.62, Z:-0.11 [[ 9.68327725e-01 -2.49678621e-01 -1.41559908e-03 1.43722548e+02] [ 2.49678360e-01 9.68328759e-01 -3.60414226e-04 7.61654342e+00] [ 1.46075302e-03 -4.44536920e-06 9.99998933e-01 -1.11224348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:7.62, Z:-0.11 [[ 9.68166187e-01 -2.50304277e-01 -1.41552841e-03 1.43749640e+02] [ 2.50304017e-01 9.68167221e-01 -3.60691554e-04 7.62126760e+00] [ 1.46075085e-03 -5.10308135e-06 9.99998933e-01 -1.13908672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.78, Y:7.63, Z:-0.11 [[ 9.68081200e-01 -2.50632772e-01 -1.41550655e-03 1.43776858e+02] [ 2.50632513e-01 9.68082235e-01 -3.60777324e-04 7.62738240e+00] [ 1.46074937e-03 -5.51021822e-06 9.99998933e-01 -1.12715657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:7.63, Z:-0.11 [[ 9.67875890e-01 -2.51424458e-01 -1.41543670e-03 1.43803577e+02] [ 2.51424199e-01 9.67876925e-01 -3.61051163e-04 7.63412400e+00] [ 1.46074561e-03 -6.42232152e-06 9.99998933e-01 -1.14118203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:7.64, Z:-0.12 [[ 9.67715035e-01 -2.52042868e-01 -1.41540591e-03 1.43830038e+02] [ 2.52042609e-01 9.67716070e-01 -3.61171816e-04 7.64026866e+00] [ 1.46074183e-03 -7.23120276e-06 9.99998933e-01 -1.16312952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:143.86, Y:7.65, Z:-0.11 [[ 9.67557233e-01 -2.52647971e-01 -1.41537582e-03 1.43857655e+02] [ 2.52647713e-01 9.67558268e-01 -3.61289703e-04 7.64600707e+00] [ 1.46073769e-03 -8.02299792e-06 9.99998933e-01 -1.14494696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:7.65, Z:-0.11 [[ 9.67364496e-01 -2.53384942e-01 -1.41530787e-03 1.43886046e+02] [ 2.53384684e-01 9.67365531e-01 -3.61555699e-04 7.65213219e+00] [ 1.46073282e-03 -8.86119035e-06 9.99998933e-01 -1.14313314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:7.66, Z:-0.12 [[ 9.66991548e-01 -2.54804518e-01 -1.41524876e-03 1.43913374e+02] [ 2.54804262e-01 9.66992584e-01 -3.61786901e-04 7.65628766e+00] [ 1.46072000e-03 -1.07665417e-05 9.99998933e-01 -1.15169880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:7.66, Z:-0.12 [[ 9.66696907e-01 -2.55920081e-01 -1.41522779e-03 1.43941133e+02] [ 2.55919826e-01 9.66697942e-01 -3.61868932e-04 7.66182447e+00] [ 1.46070732e-03 -1.23672719e-05 9.99998933e-01 -1.15262279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:7.67, Z:-0.12 [[ 9.66454620e-01 -2.56833537e-01 -1.41516041e-03 1.43968610e+02] [ 2.56833282e-01 9.66455656e-01 -3.62132258e-04 7.66700407e+00] [ 1.46069749e-03 -1.34758983e-05 9.99998933e-01 -1.15376969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:7.67, Z:-0.11 [[ 9.66208473e-01 -2.57757996e-01 -1.41509257e-03 1.43996577e+02] [ 2.57757742e-01 9.66209509e-01 -3.62397155e-04 7.67223948e+00] [ 1.46068666e-03 -1.45998626e-05 9.99998933e-01 -1.14854752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:7.67, Z:-0.12 [[ 9.65839647e-01 -2.59136594e-01 -1.41502480e-03 1.44024067e+02] [ 2.59136341e-01 9.65840683e-01 -3.62661568e-04 7.67494531e+00] [ 1.46066740e-03 -1.64114281e-05 9.99998933e-01 -1.15979580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:7.68, Z:-0.11 [[ 9.65702083e-01 -2.59648772e-01 -1.41497876e-03 1.44051333e+02] [ 2.59648519e-01 9.65703119e-01 -3.62841112e-04 7.67966815e+00] [ 1.46066065e-03 -1.70007213e-05 9.99998933e-01 -1.13279924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:7.68, Z:-0.11 [[ 9.65624502e-01 -2.59937144e-01 -1.41490862e-03 1.44079130e+02] [ 2.59936891e-01 9.65625539e-01 -3.63114437e-04 7.68434396e+00] [ 1.46065882e-03 -1.71547489e-05 9.99998933e-01 -1.13398316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:7.69, Z:-0.11 [[ 9.65815880e-01 -2.59225161e-01 -1.41487578e-03 1.44107710e+02] [ 2.59224907e-01 9.65816916e-01 -3.63242335e-04 7.68568359e+00] [ 1.46067252e-03 -1.59458262e-05 9.99998933e-01 -1.11875547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:7.69, Z:-0.11 [[ 9.66082058e-01 -2.58231398e-01 -1.41480794e-03 1.44134860e+02] [ 2.58231142e-01 9.66083094e-01 -3.63506385e-04 7.69046576e+00] [ 1.46069079e-03 -1.41704727e-05 9.99998933e-01 -1.12384791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:7.70, Z:-0.11 [[ 9.66463519e-01 -2.56800050e-01 -1.41474043e-03 1.44162607e+02] [ 2.56799793e-01 9.66464554e-01 -3.63768932e-04 7.69599571e+00] [ 1.46071236e-03 -1.17356462e-05 9.99998933e-01 -1.11786378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:7.70, Z:-0.11 [[ 9.67751970e-01 -2.51901018e-01 -1.41467012e-03 1.44190529e+02] [ 2.51900755e-01 9.67753004e-01 -3.64042165e-04 7.69986617e+00] [ 1.46075385e-03 -4.05394813e-06 9.99998933e-01 -1.13979998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:7.71, Z:-0.11 [[ 9.68511083e-01 -2.48966426e-01 -1.41460892e-03 1.44217528e+02] [ 2.48966159e-01 9.68512116e-01 -3.64279830e-04 7.70525360e+00] [ 1.46075932e-03 6.19303765e-07 9.99998933e-01 -1.12015046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:7.71, Z:-0.11 [[ 9.69257069e-01 -2.46046200e-01 -1.41457788e-03 1.44244455e+02] [ 2.46045930e-01 9.69258102e-01 -3.64400322e-04 7.71037941e+00] [ 1.46075038e-03 5.14645908e-06 9.99998933e-01 -1.12330394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:7.72, Z:-0.11 [[ 9.69209513e-01 -2.46233462e-01 -1.41455583e-03 1.44271985e+02] [ 2.46233193e-01 9.69210546e-01 -3.64485882e-04 7.71767200e+00] [ 1.46075105e-03 4.95258570e-06 9.99998933e-01 -1.12288791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:7.72, Z:-0.11 [[ 9.69911717e-01 -2.43452788e-01 -1.41448536e-03 1.44299152e+02] [ 2.43452515e-01 9.69912749e-01 -3.64759171e-04 7.72286101e+00] [ 1.46072902e-03 9.42417576e-06 9.99998933e-01 -1.12681839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:7.73, Z:-0.11 [[ 9.71013716e-01 -2.39019586e-01 -1.41446348e-03 1.44326458e+02] [ 2.39019308e-01 9.71014746e-01 -3.64843990e-04 7.72640810e+00] [ 1.46066975e-03 1.61844360e-05 9.99998933e-01 -1.11647233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:7.73, Z:-0.11 [[ 9.71429706e-01 -2.37323253e-01 -1.41442624e-03 1.44353946e+02] [ 2.37322973e-01 9.71430735e-01 -3.64988299e-04 7.73275733e+00] [ 1.46063733e-03 1.88846359e-05 9.99998933e-01 -1.09773055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:7.74, Z:-0.11 [[ 9.71715428e-01 -2.36150645e-01 -1.41435890e-03 1.44381191e+02] [ 2.36150364e-01 9.71716457e-01 -3.65249055e-04 7.73914780e+00] [ 1.46060962e-03 2.09167728e-05 9.99998933e-01 -1.09175432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:7.74, Z:-0.11 [[ 9.71903579e-01 -2.35375090e-01 -1.41428999e-03 1.44408054e+02] [ 2.35374807e-01 9.71904608e-01 -3.65515709e-04 7.74493138e+00] [ 1.46058825e-03 2.23577934e-05 9.99998933e-01 -1.10184124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.44, Y:7.75, Z:-0.11 [[ 9.72015479e-01 -2.34912557e-01 -1.41426005e-03 1.44436162e+02] [ 2.34912273e-01 9.72016507e-01 -3.65631504e-04 7.74873427e+00] [ 1.46057554e-03 2.31724374e-05 9.99998933e-01 -1.10601374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:7.76, Z:-0.11 [[ 9.72006641e-01 -2.34949121e-01 -1.41419131e-03 1.44463383e+02] [ 2.34948838e-01 9.72007670e-01 -3.65897182e-04 7.75518270e+00] [ 1.46057202e-03 2.33918871e-05 9.99998933e-01 -1.11051300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:7.76, Z:-0.11 [[ 9.72043671e-01 -2.34795872e-01 -1.41412139e-03 1.44490042e+02] [ 2.34795587e-01 9.72044700e-01 -3.66167208e-04 7.76155183e+00] [ 1.46056375e-03 2.39010550e-05 9.99998933e-01 -1.11636720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:7.77, Z:-0.11 [[ 9.71974002e-01 -2.35084113e-01 -1.41409085e-03 1.44517578e+02] [ 2.35083829e-01 9.71975030e-01 -3.66285096e-04 7.76721867e+00] [ 1.46056881e-03 2.35896978e-05 9.99998933e-01 -1.10954356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:7.77, Z:-0.11 [[ 9.71896321e-01 -2.35405061e-01 -1.41402179e-03 1.44544379e+02] [ 2.35404777e-01 9.71897349e-01 -3.66551524e-04 7.77383310e+00] [ 1.46057211e-03 2.33825938e-05 9.99998933e-01 -1.10977613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.57, Y:7.78, Z:-0.11 [[ 9.71795172e-01 -2.35822272e-01 -1.41395233e-03 1.44571396e+02] [ 2.35821988e-01 9.71796201e-01 -3.66819275e-04 7.78053208e+00] [ 1.46057765e-03 2.30321523e-05 9.99998933e-01 -1.10543532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:7.79, Z:-0.11 [[ 9.71690428e-01 -2.36253494e-01 -1.41388284e-03 1.44598049e+02] [ 2.36253210e-01 9.71691456e-01 -3.67086925e-04 7.78710557e+00] [ 1.46058344e-03 2.26604930e-05 9.99998933e-01 -1.10988476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:144.63, Y:7.79, Z:-0.11 [[ 9.71398321e-01 -2.37451684e-01 -1.41385009e-03 1.44626284e+02] [ 2.37451401e-01 9.71399350e-01 -3.67213017e-04 7.79108434e+00] [ 1.46060841e-03 2.09894237e-05 9.99998933e-01 -1.09719379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:7.80, Z:-0.11 [[ 9.71078769e-01 -2.38755158e-01 -1.41382890e-03 1.44653351e+02] [ 2.38754877e-01 9.71079798e-01 -3.67294584e-04 7.79783120e+00] [ 1.46063416e-03 1.91134284e-05 9.99998933e-01 -1.09732754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:7.80, Z:-0.11 [[ 9.70844124e-01 -2.39707505e-01 -1.41375867e-03 1.44680096e+02] [ 2.39707224e-01 9.70845153e-01 -3.67564696e-04 7.80470145e+00] [ 1.46064877e-03 1.79598598e-05 9.99998933e-01 -1.11573052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:7.81, Z:-0.11 [[ 9.70655006e-01 -2.40472161e-01 -1.41373687e-03 1.44707663e+02] [ 2.40471880e-01 9.70656036e-01 -3.67648526e-04 7.81187347e+00] [ 1.46066146e-03 1.68959191e-05 9.99998933e-01 -1.11738425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:7.82, Z:-0.11 [[ 9.70285431e-01 -2.41959053e-01 -1.41369356e-03 1.44735112e+02] [ 2.41958774e-01 9.70286461e-01 -3.67814981e-04 7.81732216e+00] [ 1.46068389e-03 1.48299556e-05 9.99998933e-01 -1.11842932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:7.82, Z:-0.11 [[ 9.70107474e-01 -2.42671568e-01 -1.41362377e-03 1.44761819e+02] [ 2.42671289e-01 9.70108504e-01 -3.68083021e-04 7.82287799e+00] [ 1.46069172e-03 1.40341874e-05 9.99998933e-01 -1.12668347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.79, Y:7.83, Z:-0.11 [[ 9.69908054e-01 -2.43467388e-01 -1.41359338e-03 1.44789653e+02] [ 2.43467110e-01 9.69909084e-01 -3.68199700e-04 7.82819701e+00] [ 1.46070168e-03 1.29563596e-05 9.99998933e-01 -1.11683917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:144.82, Y:7.83, Z:-0.11 [[ 9.69817977e-01 -2.43825950e-01 -1.41352432e-03 1.44816594e+02] [ 2.43825672e-01 9.69819007e-01 -3.68464604e-04 7.83427064e+00] [ 1.46070399e-03 1.26900775e-05 9.99998933e-01 -1.11248158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:7.84, Z:-0.11 [[ 9.69729780e-01 -2.44176487e-01 -1.41345527e-03 1.44843552e+02] [ 2.44176208e-01 9.69730810e-01 -3.68729301e-04 7.84114448e+00] [ 1.46070615e-03 1.24356345e-05 9.99998933e-01 -1.11466330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:7.85, Z:-0.11 [[ 9.69668109e-01 -2.44421277e-01 -1.41338545e-03 1.44870591e+02] [ 2.44420999e-01 9.69669139e-01 -3.68996748e-04 7.84772144e+00] [ 1.46070691e-03 1.23432948e-05 9.99998933e-01 -1.11280426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:7.85, Z:-0.11 [[ 9.69680269e-01 -2.44373033e-01 -1.41331577e-03 1.44897790e+02] [ 2.44372754e-01 9.69681298e-01 -3.69263459e-04 7.85467506e+00] [ 1.46070390e-03 1.26916235e-05 9.99998933e-01 -1.12169276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.93, Y:7.86, Z:-0.11 [[ 9.69794046e-01 -2.43921114e-01 -1.41329417e-03 1.44926210e+02] [ 2.43920835e-01 9.69795076e-01 -3.69346110e-04 7.86212064e+00] [ 1.46069704e-03 1.34577662e-05 9.99998933e-01 -1.12453924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:144.95, Y:7.87, Z:-0.11 [[ 9.69846851e-01 -2.43711074e-01 -1.41329079e-03 1.44954471e+02] [ 2.43710794e-01 9.69847881e-01 -3.69359033e-04 7.86913496e+00] [ 1.46069396e-03 1.37874751e-05 9.99998933e-01 -1.12664498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:7.88, Z:-0.11 [[ 9.69878085e-01 -2.43586748e-01 -1.41322394e-03 1.44981515e+02] [ 2.43586468e-01 9.69879114e-01 -3.69614618e-04 7.87596732e+00] [ 1.46068961e-03 1.42388889e-05 9.99998933e-01 -1.13903786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:7.88, Z:-0.11 [[ 9.70021153e-01 -2.43016390e-01 -1.41320247e-03 1.45010083e+02] [ 2.43016110e-01 9.70022182e-01 -3.69696678e-04 7.88267465e+00] [ 1.46068010e-03 1.51826300e-05 9.99998933e-01 -1.10309610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:7.89, Z:-0.11 [[ 9.70137785e-01 -2.42550366e-01 -1.41337287e-03 1.45036704e+02] [ 2.42550086e-01 9.70138815e-01 -3.69045573e-04 7.88957874e+00] [ 1.46068002e-03 1.52113441e-05 9.99998933e-01 -1.11923205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.06, Y:7.90, Z:-0.11 [[ 9.70212619e-01 -2.42250857e-01 -1.41311665e-03 1.45064159e+02] [ 2.42250575e-01 9.70213648e-01 -3.70024073e-04 7.89650975e+00] [ 1.46066371e-03 1.66737027e-05 9.99998933e-01 -1.11953300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.09, Y:7.90, Z:-0.11 [[ 9.70303063e-01 -2.41888342e-01 -1.41304897e-03 1.45090212e+02] [ 2.41888059e-01 9.70304091e-01 -3.70282355e-04 7.90413224e+00] [ 1.46065418e-03 1.74864295e-05 9.99998933e-01 -1.12480356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:7.91, Z:-0.11 [[ 9.70355382e-01 -2.41678374e-01 -1.41300281e-03 1.45117421e+02] [ 2.41678090e-01 9.70356411e-01 -3.70458404e-04 7.91193654e+00] [ 1.46064812e-03 1.79844844e-05 9.99998933e-01 -1.11859276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:7.92, Z:-0.11 [[ 9.70432611e-01 -2.41368083e-01 -1.41293359e-03 1.45144790e+02] [ 2.41367799e-01 9.70433639e-01 -3.70722253e-04 7.91983747e+00] [ 1.46063880e-03 1.87242933e-05 9.99998933e-01 -1.11484089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:7.93, Z:-0.11 [[ 9.70481907e-01 -2.41169801e-01 -1.41286415e-03 1.45170593e+02] [ 2.41169516e-01 9.70482935e-01 -3.70986690e-04 7.92733120e+00] [ 1.46063133e-03 1.92961069e-05 9.99998933e-01 -1.12071044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:7.94, Z:-0.11 [[ 9.70678526e-01 -2.40377210e-01 -1.41281690e-03 1.45198022e+02] [ 2.40376925e-01 9.70679554e-01 -3.71166536e-04 7.93594735e+00] [ 1.46061246e-03 2.06748042e-05 9.99998933e-01 -1.10216731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:7.94, Z:-0.11 [[ 9.70725531e-01 -2.40187317e-01 -1.41275750e-03 1.45224335e+02] [ 2.40187031e-01 9.70726559e-01 -3.71392496e-04 7.94406413e+00] [ 1.46060500e-03 2.11941480e-05 9.99998933e-01 -1.08056334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:7.95, Z:-0.11 [[ 9.70783091e-01 -2.39954567e-01 -1.41268535e-03 1.45251390e+02] [ 2.39954280e-01 9.70784119e-01 -3.71666749e-04 7.95218337e+00] [ 1.46059563e-03 2.18279003e-05 9.99998933e-01 -1.09355680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:7.96, Z:-0.11 [[ 9.70884567e-01 -2.39543653e-01 -1.41266295e-03 1.45277697e+02] [ 2.39543365e-01 9.70885595e-01 -3.71751874e-04 7.96156716e+00] [ 1.46058491e-03 2.25341209e-05 9.99998933e-01 -1.08364357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:7.97, Z:-0.11 [[ 9.70867417e-01 -2.39613154e-01 -1.41264187e-03 1.45304420e+02] [ 2.39612866e-01 9.70868444e-01 -3.71831961e-04 7.96993956e+00] [ 1.46058524e-03 2.25123689e-05 9.99998933e-01 -1.07155182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:7.98, Z:-0.11 [[ 9.70788120e-01 -2.39934223e-01 -1.41257252e-03 1.45330146e+02] [ 2.39933936e-01 9.70789147e-01 -3.72095210e-04 7.97767251e+00] [ 1.46058845e-03 2.23015251e-05 9.99998933e-01 -1.08369168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:7.99, Z:-0.11 [[ 9.70660819e-01 -2.40448704e-01 -1.41254251e-03 1.45356781e+02] [ 2.40448417e-01 9.70661846e-01 -3.72209103e-04 7.98573179e+00] [ 1.46059832e-03 2.16451815e-05 9.99998933e-01 -1.06940076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:8.00, Z:-0.11 [[ 9.70449922e-01 -2.41298473e-01 -1.41247322e-03 1.45382930e+02] [ 2.41298187e-01 9.70450950e-01 -3.72471866e-04 7.99630157e+00] [ 1.46061287e-03 2.06380663e-05 9.99998933e-01 -1.07401980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:8.00, Z:-0.11 [[ 9.70350927e-01 -2.41696264e-01 -1.41240283e-03 1.45409041e+02] [ 2.41695978e-01 9.70351954e-01 -3.72738601e-04 8.00463364e+00] [ 1.46061737e-03 2.03151641e-05 9.99998933e-01 -1.09981401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:8.01, Z:-0.11 [[ 9.70171140e-01 -2.42416921e-01 -1.41237218e-03 1.45435887e+02] [ 2.42416635e-01 9.70172168e-01 -3.72854695e-04 8.01270222e+00] [ 1.46063047e-03 1.93503534e-05 9.99998933e-01 -1.07913177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:8.02, Z:-0.11 [[ 9.69413832e-01 -2.45427848e-01 -1.41199235e-03 1.45462526e+02] [ 2.45427563e-01 9.69414860e-01 -3.74292886e-04 8.02161545e+00] [ 1.46066827e-03 1.63028584e-05 9.99998933e-01 -1.08785222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:8.03, Z:-0.11 [[ 9.68916122e-01 -2.47385436e-01 -1.41228166e-03 1.45489095e+02] [ 2.47385155e-01 9.68917151e-01 -3.73198075e-04 8.02991496e+00] [ 1.46070769e-03 1.22201144e-05 9.99998933e-01 -1.08541592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:8.04, Z:-0.11 [[ 9.68339562e-01 -2.49632729e-01 -1.41221107e-03 1.45515835e+02] [ 2.49632449e-01 9.68340591e-01 -3.73465014e-04 8.03824755e+00] [ 1.46073039e-03 9.10724073e-06 9.99998933e-01 -1.07421081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:8.05, Z:-0.11 [[ 9.67819546e-01 -2.51641278e-01 -1.41213736e-03 1.45541500e+02] [ 2.51641001e-01 9.67820576e-01 -3.73743502e-04 8.04573910e+00] [ 1.46074488e-03 6.36460789e-06 9.99998933e-01 -1.08384231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:8.05, Z:-0.11 [[ 9.66787367e-01 -2.55578155e-01 -1.41210525e-03 1.45568348e+02] [ 2.55577881e-01 9.66788398e-01 -3.73864798e-04 8.05400501e+00] [ 1.46075864e-03 5.44896595e-07 9.99998933e-01 -1.08176796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:8.06, Z:-0.11 [[ 9.66346984e-01 -2.57238239e-01 -1.41203510e-03 1.45595365e+02] [ 2.57237967e-01 9.66348016e-01 -3.74129553e-04 8.06168222e+00] [ 1.46075774e-03 -1.69007242e-06 9.99998933e-01 -1.07823141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.62, Y:8.07, Z:-0.11 [[ 9.65884465e-01 -2.58969508e-01 -1.41196517e-03 1.45622030e+02] [ 2.58969237e-01 9.65885497e-01 -3.74393264e-04 8.06937571e+00] [ 1.46075312e-03 -4.03490537e-06 9.99998933e-01 -1.06468920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:8.08, Z:-0.11 [[ 9.65526546e-01 -2.60300779e-01 -1.41189523e-03 1.45649643e+02] [ 2.60300510e-01 9.65527578e-01 -3.74656856e-04 8.07665090e+00] [ 1.46074725e-03 -5.77590634e-06 9.99998933e-01 -1.05642860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:8.08, Z:-0.11 [[ 9.64844654e-01 -2.62817047e-01 -1.41183349e-03 1.45676364e+02] [ 2.62816780e-01 9.64845687e-01 -3.74889366e-04 8.08212630e+00] [ 1.46072877e-03 -9.34352976e-06 9.99998933e-01 -1.06557831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:8.09, Z:-0.11 [[ 9.64528328e-01 -2.63975588e-01 -1.41180280e-03 1.45703607e+02] [ 2.63975322e-01 9.64529361e-01 -3.75004895e-04 8.08899529e+00] [ 1.46071739e-03 -1.09782541e-05 9.99998933e-01 -1.06859046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:8.10, Z:-0.11 [[ 9.64299516e-01 -2.64810218e-01 -1.41173247e-03 1.45731002e+02] [ 2.64809952e-01 9.64300549e-01 -3.75269463e-04 8.09583940e+00] [ 1.46070958e-03 -1.19686461e-05 9.99998933e-01 -1.07137245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:8.10, Z:-0.11 [[ 9.64162975e-01 -2.65306927e-01 -1.41166276e-03 1.45758377e+02] [ 2.65306661e-01 9.64164008e-01 -3.75531525e-04 8.10159083e+00] [ 1.46070554e-03 -1.24499410e-05 9.99998933e-01 -1.07433734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:8.11, Z:-0.11 [[ 9.64199611e-01 -2.65173749e-01 -1.41159246e-03 1.45785239e+02] [ 2.65173483e-01 9.64200644e-01 -3.75795594e-04 8.10827510e+00] [ 1.46070948e-03 -1.19749226e-05 9.99998933e-01 -1.07019823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:8.11, Z:-0.11 [[ 9.64450771e-01 -2.64258809e-01 -1.41152025e-03 1.45811195e+02] [ 2.64258541e-01 9.64451804e-01 -3.76066606e-04 8.11479845e+00] [ 1.46072217e-03 -1.03085549e-05 9.99998933e-01 -1.07917796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:8.12, Z:-0.11 [[ 9.64824300e-01 -2.62891760e-01 -1.41148883e-03 1.45838136e+02] [ 2.62891491e-01 9.64825333e-01 -3.76184499e-04 8.12224524e+00] [ 1.46073599e-03 -8.11645748e-06 9.99998933e-01 -1.08595698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:8.13, Z:-0.11 [[ 9.65954604e-01 -2.58707772e-01 -1.41141752e-03 1.45863825e+02] [ 2.58707498e-01 9.65955635e-01 -3.76451879e-04 8.12904623e+00] [ 1.46075773e-03 -1.50886822e-06 9.99998933e-01 -1.09430760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:8.14, Z:-0.11 [[ 9.66625992e-01 -2.56187820e-01 -1.41136879e-03 1.45891049e+02] [ 2.56187544e-01 9.66627023e-01 -3.76634477e-04 8.13632561e+00] [ 1.46075638e-03 2.48957177e-06 9.99998933e-01 -1.08643918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:8.14, Z:-0.11 [[ 9.67396452e-01 -2.53262934e-01 -1.41129802e-03 1.45918493e+02] [ 2.53262654e-01 9.67397481e-01 -3.76899481e-04 8.14420845e+00] [ 1.46074081e-03 7.18213985e-06 9.99998933e-01 -1.07096323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:8.15, Z:-0.11 [[ 9.68970985e-01 -2.47170464e-01 -1.41126303e-03 1.45944112e+02] [ 2.47170177e-01 9.68972013e-01 -3.77030446e-04 8.15349165e+00] [ 1.46066517e-03 1.65094305e-05 9.99998933e-01 -1.06950790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:8.16, Z:-0.11 [[ 9.69606598e-01 -2.44665185e-01 -1.41121427e-03 1.45970763e+02] [ 2.44664895e-01 9.69607625e-01 -3.77212875e-04 8.16258128e+00] [ 1.46061497e-03 2.04735016e-05 9.99998933e-01 -1.07187399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:8.17, Z:-0.11 [[ 9.69560040e-01 -2.44849624e-01 -1.41114236e-03 1.45998228e+02] [ 2.44849333e-01 9.69561066e-01 -3.77481662e-04 8.17012787e+00] [ 1.46061494e-03 2.04738675e-05 9.99998933e-01 -1.07145794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:8.18, Z:-0.11 [[ 9.70156621e-01 -2.42475031e-01 -1.41107051e-03 1.46025011e+02] [ 2.42474738e-01 9.70157646e-01 -3.77750081e-04 8.17930759e+00] [ 1.46055581e-03 2.43277911e-05 9.99998933e-01 -1.07310620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:8.19, Z:-0.11 [[ 9.70614322e-01 -2.40636338e-01 -1.41099750e-03 1.46051666e+02] [ 2.40636043e-01 9.70615347e-01 -3.78022604e-04 8.18870245e+00] [ 1.46050180e-03 2.73772998e-05 9.99998933e-01 -1.10037020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:8.20, Z:-0.11 [[ 9.71235196e-01 -2.38118046e-01 -1.41097484e-03 1.46076904e+02] [ 2.38117747e-01 9.71236220e-01 -3.78107160e-04 8.20114482e+00] [ 1.46042401e-03 3.12528319e-05 9.99998933e-01 -1.08272306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:8.21, Z:-0.11 [[ 9.71382446e-01 -2.37516636e-01 -1.41090242e-03 1.46103365e+02] [ 2.37516337e-01 9.71383470e-01 -3.78377175e-04 8.21093278e+00] [ 1.46039817e-03 3.24365703e-05 9.99998933e-01 -1.09291214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:8.22, Z:-0.11 [[ 9.71323946e-01 -2.37755760e-01 -1.41087998e-03 1.46129709e+02] [ 2.37755461e-01 9.71324970e-01 -3.78460835e-04 8.21939931e+00] [ 1.46040420e-03 3.21636516e-05 9.99998933e-01 -1.08138976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:8.23, Z:-0.11 [[ 9.71191893e-01 -2.38294599e-01 -1.41080601e-03 1.46155775e+02] [ 2.38294300e-01 9.71192918e-01 -3.78736370e-04 8.22742318e+00] [ 1.46041564e-03 3.16386613e-05 9.99998933e-01 -1.09668188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:8.24, Z:-0.11 [[ 9.70499478e-01 -2.41099095e-01 -1.41077387e-03 1.46181713e+02] [ 2.41098799e-01 9.70500503e-01 -3.78856059e-04 8.23911588e+00] [ 1.46049861e-03 2.75437209e-05 9.99998933e-01 -1.08917231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:8.25, Z:-0.11 [[ 9.70191739e-01 -2.42334480e-01 -1.41070285e-03 1.46208178e+02] [ 2.42334185e-01 9.70192764e-01 -3.79120327e-04 8.24943426e+00] [ 1.46052763e-03 2.59578838e-05 9.99998933e-01 -1.08368564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:8.26, Z:-0.11 [[ 9.69290233e-01 -2.45915541e-01 -1.41068077e-03 1.46233435e+02] [ 2.45915250e-01 9.69291260e-01 -3.79202487e-04 8.26158229e+00] [ 1.46061232e-03 2.06493543e-05 9.99998933e-01 -1.07415356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:8.27, Z:-0.11 [[ 9.68669736e-01 -2.48348449e-01 -1.41060962e-03 1.46260132e+02] [ 2.48348160e-01 9.68670763e-01 -3.79466975e-04 8.27112946e+00] [ 1.46065633e-03 1.72558728e-05 9.99998933e-01 -1.06624827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:8.28, Z:-0.11 [[ 9.68022241e-01 -2.50860421e-01 -1.41053818e-03 1.46286989e+02] [ 2.50860134e-01 9.68023269e-01 -3.79732313e-04 8.27988288e+00] [ 1.46069359e-03 1.37415267e-05 9.99998933e-01 -1.07059378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:8.29, Z:-0.11 [[ 9.67171436e-01 -2.54120886e-01 -1.41051596e-03 1.46313830e+02] [ 2.54120602e-01 9.67172464e-01 -3.79814831e-04 8.28810891e+00] [ 1.46073108e-03 8.90488902e-06 9.99998933e-01 -1.06491955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.34, Y:8.30, Z:-0.11 [[ 9.65461264e-01 -2.60542813e-01 -1.41044400e-03 1.46340965e+02] [ 2.60542536e-01 9.65462295e-01 -3.80081874e-04 8.29630201e+00] [ 1.46075810e-03 -5.26331183e-07 9.99998933e-01 -1.06220218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:146.37, Y:8.30, Z:-0.10 [[ 9.64526667e-01 -2.63981666e-01 -1.41037208e-03 1.46367988e+02] [ 2.63981392e-01 9.64527698e-01 -3.80348573e-04 8.30491429e+00] [ 1.46074798e-03 -5.45564302e-06 9.99998933e-01 -1.04429878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:8.31, Z:-0.11 [[ 9.63740543e-01 -2.66837362e-01 -1.41029769e-03 1.46394829e+02] [ 2.66837090e-01 9.63741574e-01 -3.80624219e-04 8.31344724e+00] [ 1.46072727e-03 -9.49673940e-06 9.99998933e-01 -1.06111526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:8.32, Z:-0.11 [[ 9.62989522e-01 -2.69535141e-01 -1.41027473e-03 1.46421581e+02] [ 2.69534872e-01 9.62990554e-01 -3.80709254e-04 8.32188286e+00] [ 1.46069577e-03 -1.34991965e-05 9.99998933e-01 -1.05555291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:146.45, Y:8.33, Z:-0.10 [[ 9.61826296e-01 -2.73657063e-01 -1.41020352e-03 1.46448475e+02] [ 2.73656799e-01 9.61827329e-01 -3.80972828e-04 8.33072369e+00] [ 1.46062819e-03 -1.94820974e-05 9.99998933e-01 -1.03788492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.47, Y:8.34, Z:-0.10 [[ 9.61521620e-01 -2.74725655e-01 -1.41013062e-03 1.46474805e+02] [ 2.74725391e-01 9.61522654e-01 -3.81242494e-04 8.33822191e+00] [ 1.46060963e-03 -2.08257850e-05 9.99998933e-01 -1.04417242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:8.34, Z:-0.11 [[ 9.61280953e-01 -2.75566581e-01 -1.41009900e-03 1.46501021e+02] [ 2.75566318e-01 9.61281987e-01 -3.81359410e-04 8.34466447e+00] [ 1.46059268e-03 -2.19822514e-05 9.99998933e-01 -1.06313502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:8.35, Z:-0.11 [[ 9.60678381e-01 -2.77659971e-01 -1.41006774e-03 1.46529260e+02] [ 2.77659710e-01 9.60679416e-01 -3.81474965e-04 8.35139343e+00] [ 1.46054338e-03 -2.50442465e-05 9.99998933e-01 -1.07308914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:146.56, Y:8.36, Z:-0.11 [[ 9.60377800e-01 -2.78697853e-01 -1.41000500e-03 1.46555932e+02] [ 2.78697593e-01 9.60378835e-01 -3.81706722e-04 8.35968722e+00] [ 1.46051980e-03 -2.63823364e-05 9.99998933e-01 -1.07615427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:8.37, Z:-0.11 [[ 9.60108265e-01 -2.79624984e-01 -1.40993351e-03 1.46582753e+02] [ 2.79624725e-01 9.60109300e-01 -3.81970611e-04 8.36767580e+00] [ 1.46049880e-03 -2.75191280e-05 9.99998933e-01 -1.08341037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:146.61, Y:8.37, Z:-0.11 [[ 9.59864682e-01 -2.80459988e-01 -1.40986205e-03 1.46610099e+02] [ 2.80459729e-01 9.59865717e-01 -3.82234164e-04 8.37463613e+00] [ 1.46047964e-03 -2.85164546e-05 9.99998933e-01 -1.07370390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:8.38, Z:-0.11 [[ 9.59616471e-01 -2.81308090e-01 -1.40983989e-03 1.46638644e+02] [ 2.81307832e-01 9.59617506e-01 -3.82315889e-04 8.37905859e+00] [ 1.46045559e-03 -2.97223786e-05 9.99998933e-01 -1.07141775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:8.39, Z:-0.11 [[ 9.59571157e-01 -2.81462620e-01 -1.40977615e-03 1.46665798e+02] [ 2.81462361e-01 9.59572193e-01 -3.82550768e-04 8.38515097e+00] [ 1.46045574e-03 -2.97142420e-05 9.99998933e-01 -1.06925939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.69, Y:8.39, Z:-0.11 [[ 9.59757322e-01 -2.80827164e-01 -1.40970204e-03 1.46692228e+02] [ 2.80826904e-01 9.59758357e-01 -3.82823683e-04 8.39045635e+00] [ 1.46048060e-03 -2.84644277e-05 9.99998933e-01 -1.08861101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.72, Y:8.40, Z:-0.11 [[ 9.60393807e-01 -2.78642690e-01 -1.40966988e-03 1.46719354e+02] [ 2.78642428e-01 9.60394841e-01 -3.82942064e-04 8.39520533e+00] [ 1.46054369e-03 -2.50186520e-05 9.99998933e-01 -1.08859914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:8.40, Z:-0.11 [[ 9.60937065e-01 -2.76763382e-01 -1.40963965e-03 1.46746426e+02] [ 2.76763118e-01 9.60938099e-01 -3.83053305e-04 8.40235148e+00] [ 1.46059158e-03 -2.20461468e-05 9.99998933e-01 -1.09108755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:8.41, Z:-0.11 [[ 9.61485209e-01 -2.74853064e-01 -1.40957094e-03 1.46773662e+02] [ 2.74852797e-01 9.61486242e-01 -3.83305978e-04 8.41015100e+00] [ 1.46063589e-03 -1.88814886e-05 9.99998933e-01 -1.09035516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:8.42, Z:-0.11 [[ 9.62111740e-01 -2.72651817e-01 -1.40950198e-03 1.46799283e+02] [ 2.72651547e-01 9.62112772e-01 -3.83559409e-04 8.41718930e+00] [ 1.46067803e-03 -1.52758854e-05 9.99998933e-01 -1.10044820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:8.42, Z:-0.11 [[ 9.63276868e-01 -2.68506406e-01 -1.40947202e-03 1.46826335e+02] [ 2.68506132e-01 9.63277899e-01 -3.83669470e-04 8.42363328e+00] [ 1.46073096e-03 -8.87195463e-06 9.99998933e-01 -1.09628565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:8.43, Z:-0.11 [[ 9.63727287e-01 -2.66885239e-01 -1.40940400e-03 1.46853640e+02] [ 2.66884963e-01 9.63728317e-01 -3.83919175e-04 8.43046303e+00] [ 1.46074491e-03 -6.15534861e-06 9.99998933e-01 -1.09665896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:8.44, Z:-0.11 [[ 9.64454574e-01 -2.64244939e-01 -1.40933120e-03 1.46881010e+02] [ 2.64244660e-01 9.64455604e-01 -3.84186249e-04 8.43676157e+00] [ 1.46075664e-03 -1.87805746e-06 9.99998933e-01 -1.09838267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:8.44, Z:-0.11 [[ 9.64703666e-01 -2.63334103e-01 -1.40925712e-03 1.46906973e+02] [ 2.63333823e-01 9.64704696e-01 -3.84457777e-04 8.44341544e+00] [ 1.46075781e-03 -2.17237898e-07 9.99998933e-01 -1.11398599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.93, Y:8.45, Z:-0.11 [[ 9.64873000e-01 -2.62712975e-01 -1.40922495e-03 1.46933850e+02] [ 2.62712694e-01 9.64874029e-01 -3.84575654e-04 8.45036632e+00] [ 1.46075757e-03 8.45382727e-07 9.99998933e-01 -1.10162402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:8.46, Z:-0.11 [[ 9.65299605e-01 -2.61141126e-01 -1.40915288e-03 1.46961920e+02] [ 2.61140842e-01 9.65300633e-01 -3.84839546e-04 8.45672373e+00] [ 1.46075360e-03 3.49809145e-06 9.99998933e-01 -1.10404248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:8.46, Z:-0.11 [[ 9.65404665e-01 -2.60752465e-01 -1.40909448e-03 1.46988402e+02] [ 2.60752180e-01 9.65405693e-01 -3.85053253e-04 8.46343502e+00] [ 1.46075142e-03 4.30774725e-06 9.99998933e-01 -1.10177546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:8.47, Z:-0.11 [[ 9.65409092e-01 -2.60736072e-01 -1.40906305e-03 1.47015703e+02] [ 2.60735787e-01 9.65410121e-01 -3.85168250e-04 8.47009341e+00] [ 1.46075099e-03 4.45176711e-06 9.99998933e-01 -1.09587409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41587156000003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:147.04, Y:8.48, Z:-0.11 [[ 9.65382011e-01 -2.60836322e-01 -1.40899031e-03 1.47042886e+02] [ 2.60836037e-01 9.65383040e-01 -3.85434145e-04 8.47632519e+00] [ 1.46075058e-03 4.57574055e-06 9.99998933e-01 -1.07804439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:8.48, Z:-0.11 [[ 9.65493715e-01 -2.60422543e-01 -1.40891639e-03 1.47069752e+02] [ 2.60422257e-01 9.65494743e-01 -3.85704161e-04 8.48179098e+00] [ 1.46074743e-03 5.48175628e-06 9.99998933e-01 -1.09019949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:8.49, Z:-0.11 [[ 9.65478332e-01 -2.60479569e-01 -1.40886606e-03 1.47097036e+02] [ 2.60479283e-01 9.65479360e-01 -3.85887936e-04 8.48876778e+00] [ 1.46074702e-03 5.58602017e-06 9.99998933e-01 -1.08491405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.12, Y:8.50, Z:-0.11 [[ 9.65475810e-01 -2.60488918e-01 -1.40879171e-03 1.47122819e+02] [ 2.60488631e-01 9.65476838e-01 -3.86159170e-04 8.49571197e+00] [ 1.46074595e-03 5.85311267e-06 9.99998933e-01 -1.08829250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:8.50, Z:-0.11 [[ 9.65561871e-01 -2.60169730e-01 -1.40874115e-03 1.47149511e+02] [ 2.60169443e-01 9.65562899e-01 -3.86343536e-04 8.50214341e+00] [ 1.46074308e-03 6.52718639e-06 9.99998933e-01 -1.10388359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:8.51, Z:-0.11 [[ 9.65621775e-01 -2.59947308e-01 -1.40870970e-03 1.47176986e+02] [ 2.59947020e-01 9.65622803e-01 -3.86458166e-04 8.50887562e+00] [ 1.46074097e-03 6.98253099e-06 9.99998933e-01 -1.10744487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:8.52, Z:-0.11 [[ 9.65723094e-01 -2.59570649e-01 -1.40863700e-03 1.47204404e+02] [ 2.59570361e-01 9.65724121e-01 -3.86722996e-04 8.51631514e+00] [ 1.46073666e-03 7.82691432e-06 9.99998933e-01 -1.09904178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:8.52, Z:-0.11 [[ 9.65927265e-01 -2.58809843e-01 -1.40856230e-03 1.47230740e+02] [ 2.58809554e-01 9.65928292e-01 -3.86994890e-04 8.52297231e+00] [ 1.46072826e-03 9.25953641e-06 9.99998933e-01 -1.10653922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:8.53, Z:-0.11 [[ 9.66104388e-01 -2.58147879e-01 -1.40852986e-03 1.47256483e+02] [ 2.58147589e-01 9.66105415e-01 -3.87112925e-04 8.52928854e+00] [ 1.46072070e-03 1.03829094e-05 9.99998933e-01 -1.11148210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:8.54, Z:-0.11 [[ 9.66377298e-01 -2.57124357e-01 -1.40848007e-03 1.47283810e+02] [ 2.57124066e-01 9.66378324e-01 -3.87293966e-04 8.53505695e+00] [ 1.46070732e-03 1.21179727e-05 9.99998933e-01 -1.10864965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:8.54, Z:-0.11 [[ 9.66331820e-01 -2.57295220e-01 -1.40845748e-03 1.47311730e+02] [ 2.57294929e-01 9.66332846e-01 -3.87376114e-04 8.54235019e+00] [ 1.46070875e-03 1.19448988e-05 9.99998933e-01 -1.08989854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:8.55, Z:-0.11 [[ 9.66315143e-01 -2.57357848e-01 -1.40839255e-03 1.47338412e+02] [ 2.57357556e-01 9.66316169e-01 -3.87612050e-04 8.54963634e+00] [ 1.46070749e-03 1.20949298e-05 9.99998933e-01 -1.07506687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.37, Y:8.56, Z:-0.10 [[ 9.66226767e-01 -2.57689447e-01 -1.40835778e-03 1.47366050e+02] [ 2.57689155e-01 9.66227794e-01 -3.87738349e-04 8.55668516e+00] [ 1.46071051e-03 1.17246468e-05 9.99998933e-01 -1.03965494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:8.56, Z:-0.11 [[ 9.66167994e-01 -2.57909722e-01 -1.40829160e-03 1.47391911e+02] [ 2.57909430e-01 9.66169020e-01 -3.87978550e-04 8.56309094e+00] [ 1.46071116e-03 1.16407727e-05 9.99998933e-01 -1.05076062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:8.57, Z:-0.11 [[ 9.66074628e-01 -2.58259229e-01 -1.40825871e-03 1.47419621e+02] [ 2.58258937e-01 9.66075655e-01 -3.88097914e-04 8.56978537e+00] [ 1.46071432e-03 1.12361514e-05 9.99998933e-01 -1.05874738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:8.58, Z:-0.11 [[ 9.66047964e-01 -2.58358952e-01 -1.40821185e-03 1.47447172e+02] [ 2.58358660e-01 9.66048990e-01 -3.88267850e-04 8.57518668e+00] [ 1.46071411e-03 1.12616390e-05 9.99998933e-01 -1.06861690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:8.58, Z:-0.11 [[ 9.66130509e-01 -2.58050106e-01 -1.40813674e-03 1.47474648e+02] [ 2.58049814e-01 9.66131535e-01 -3.88540072e-04 8.58138827e+00] [ 1.46070812e-03 1.20109940e-05 9.99998933e-01 -1.08091987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:8.59, Z:-0.11 [[ 9.66237874e-01 -2.57647798e-01 -1.40811341e-03 1.47500556e+02] [ 2.57647506e-01 9.66238900e-01 -3.88624587e-04 8.58780250e+00] [ 1.46070222e-03 1.27068868e-05 9.99998933e-01 -1.09121056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:8.60, Z:-0.11 [[ 9.66399780e-01 -2.57039846e-01 -1.40808157e-03 1.47527261e+02] [ 2.57039552e-01 9.66400806e-01 -3.88739916e-04 8.59526175e+00] [ 1.46069282e-03 1.37455121e-05 9.99998933e-01 -1.07576170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:8.60, Z:-0.11 [[ 9.66980400e-01 -2.54846864e-01 -1.40800804e-03 1.47554517e+02] [ 2.54846568e-01 9.66981425e-01 -3.89006060e-04 8.60298166e+00] [ 1.46065460e-03 1.73352180e-05 9.99998933e-01 -1.05968970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:8.61, Z:-0.11 [[ 9.67291861e-01 -2.53662125e-01 -1.40798518e-03 1.47580488e+02] [ 2.53661827e-01 9.67292885e-01 -3.89088800e-04 8.60999769e+00] [ 1.46063114e-03 1.92103363e-05 9.99998933e-01 -1.06445892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.61, Y:8.62, Z:-0.11 [[ 9.67594954e-01 -2.52503512e-01 -1.40795328e-03 1.47606647e+02] [ 2.52503213e-01 9.67595978e-01 -3.89204181e-04 8.61695236e+00] [ 1.46060536e-03 2.10792735e-05 9.99998933e-01 -1.07523277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.63, Y:8.63, Z:-0.11 [[ 9.68108670e-01 -2.50526686e-01 -1.40792151e-03 1.47633458e+02] [ 2.50526385e-01 9.68109694e-01 -3.89319085e-04 8.62600004e+00] [ 1.46055728e-03 2.41816951e-05 9.99998933e-01 -1.07330282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:147.66, Y:8.63, Z:-0.11 [[ 9.68218867e-01 -2.50100468e-01 -1.40784934e-03 1.47660014e+02] [ 2.50100165e-01 9.68219890e-01 -3.89579891e-04 8.63467787e+00] [ 1.46054185e-03 2.50952482e-05 9.99998933e-01 -1.07689723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:147.69, Y:8.64, Z:-0.11 [[ 9.68172448e-01 -2.50280103e-01 -1.40777712e-03 1.47687410e+02] [ 2.50279801e-01 9.68173471e-01 -3.89840684e-04 8.64246933e+00] [ 1.46054183e-03 2.50948321e-05 9.99998933e-01 -1.07648117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:8.65, Z:-0.11 [[ 9.68222621e-01 -2.50085935e-01 -1.40770474e-03 1.47713742e+02] [ 2.50085632e-01 9.68223644e-01 -3.90101865e-04 8.65136448e+00] [ 1.46053201e-03 2.56587199e-05 9.99998933e-01 -1.08618868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.74, Y:8.66, Z:-0.11 [[ 9.68169923e-01 -2.50289869e-01 -1.40763229e-03 1.47739848e+02] [ 2.50289566e-01 9.68170946e-01 -3.90363135e-04 8.66023165e+00] [ 1.46053262e-03 2.56221726e-05 9.99998933e-01 -1.07360323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:8.67, Z:-0.11 [[ 9.67808059e-01 -2.51685479e-01 -1.40755878e-03 1.47766236e+02] [ 2.51685177e-01 9.67809082e-01 -3.90628000e-04 8.66930226e+00] [ 1.46056357e-03 2.37912453e-05 9.99998933e-01 -1.07393888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:8.68, Z:-0.11 [[ 9.67515059e-01 -2.52809470e-01 -1.40767462e-03 1.47792771e+02] [ 2.52809170e-01 9.67516083e-01 -3.90210728e-04 8.67788051e+00] [ 1.46059680e-03 2.16617030e-05 9.99998933e-01 -1.05698730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:8.69, Z:-0.11 [[ 9.66811570e-01 -2.55486610e-01 -1.40746469e-03 1.47819123e+02] [ 2.55486312e-01 9.66812594e-01 -3.90966482e-04 8.68733107e+00] [ 1.46064129e-03 1.84029569e-05 9.99998933e-01 -1.05459475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:8.70, Z:-0.10 [[ 9.66253356e-01 -2.57589735e-01 -1.40744182e-03 1.47845436e+02] [ 2.57589438e-01 9.66254381e-01 -3.91048797e-04 8.69593085e+00] [ 1.46067698e-03 1.53100655e-05 9.99998933e-01 -1.03807592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:8.70, Z:-0.10 [[ 9.65719404e-01 -2.59584381e-01 -1.40736812e-03 1.47870678e+02] [ 2.59584087e-01 9.65720430e-01 -3.91313864e-04 8.70422447e+00] [ 1.46070311e-03 1.25690247e-05 9.99998933e-01 -1.03695123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:8.71, Z:-0.10 [[ 9.65182442e-01 -2.61573838e-01 -1.40731779e-03 1.47897303e+02] [ 2.61573545e-01 9.65183468e-01 -3.91494755e-04 8.71332874e+00] [ 1.46072466e-03 9.74675890e-06 9.99998933e-01 -1.02250643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:8.72, Z:-0.10 [[ 9.64046478e-01 -2.65729952e-01 -1.40724377e-03 1.47923843e+02] [ 2.65729664e-01 9.64047505e-01 -3.91760667e-04 8.72334152e+00] [ 1.46075239e-03 3.72907826e-06 9.99998933e-01 -1.03103541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:8.73, Z:-0.11 [[ 9.63508262e-01 -2.67674894e-01 -1.40716822e-03 1.47950145e+02] [ 2.67674607e-01 9.63509289e-01 -3.92031838e-04 8.73120038e+00] [ 1.46075673e-03 1.06271379e-06 9.99998933e-01 -1.05259359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.98, Y:8.74, Z:-0.10 [[ 9.62920456e-01 -2.69781791e-01 -1.40713535e-03 1.47976783e+02] [ 2.69781506e-01 9.62921485e-01 -3.92149789e-04 8.73920667e+00] [ 1.46075573e-03 -2.01003901e-06 9.99998933e-01 -1.04395906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:8.75, Z:-0.11 [[ 9.62341829e-01 -2.71838599e-01 -1.40706127e-03 1.48003890e+02] [ 2.71838315e-01 9.62342858e-01 -3.92415427e-04 8.74742400e+00] [ 1.46074902e-03 -4.85538373e-06 9.99998933e-01 -1.05794113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.03, Y:8.76, Z:-0.11 [[ 9.61343454e-01 -2.75348476e-01 -1.40698659e-03 1.48031060e+02] [ 2.75348196e-01 9.61344484e-01 -3.92682981e-04 8.75730934e+00] [ 1.46072346e-03 -9.90800657e-06 9.99998933e-01 -1.07477711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:8.77, Z:-0.11 [[ 9.60932919e-01 -2.76777792e-01 -1.40692076e-03 1.48057417e+02] [ 2.76777513e-01 9.60933949e-01 -3.92918706e-04 8.76537130e+00] [ 1.46070909e-03 -1.18355104e-05 9.99998933e-01 -1.09393014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.08, Y:8.77, Z:-0.11 [[ 9.60552986e-01 -2.78093476e-01 -1.40689744e-03 1.48084612e+02] [ 2.78093199e-01 9.60554016e-01 -3.93002183e-04 8.77312817e+00] [ 1.46069233e-03 -1.37491899e-05 9.99998933e-01 -1.09400151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:8.78, Z:-0.11 [[ 9.60236039e-01 -2.79185906e-01 -1.40682167e-03 1.48110222e+02] [ 2.79185630e-01 9.60237069e-01 -3.93273241e-04 8.77992986e+00] [ 1.46067866e-03 -1.51292545e-05 9.99998933e-01 -1.11433052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:8.79, Z:-0.11 [[ 9.60033038e-01 -2.79883168e-01 -1.40678875e-03 1.48136799e+02] [ 2.79882892e-01 9.60034068e-01 -3.93390956e-04 8.78728483e+00] [ 1.46066863e-03 -1.60677890e-05 9.99998933e-01 -1.12559513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:148.16, Y:8.80, Z:-0.11 [[ 9.59943517e-01 -2.80190052e-01 -1.40675450e-03 1.48163527e+02] [ 2.80189777e-01 9.59944547e-01 -3.93513387e-04 8.79535745e+00] [ 1.46066485e-03 -1.64076053e-05 9.99998933e-01 -1.10178867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:8.80, Z:-0.11 [[ 9.59963418e-01 -2.80121860e-01 -1.40667893e-03 1.48189520e+02] [ 2.80121584e-01 9.59964449e-01 -3.93783333e-04 8.80281272e+00] [ 1.46066909e-03 -1.60235365e-05 9.99998933e-01 -1.11923774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:148.22, Y:8.81, Z:-0.11 [[ 9.60077548e-01 -2.79730446e-01 -1.40664609e-03 1.48216378e+02] [ 2.79730169e-01 9.60078579e-01 -3.93900641e-04 8.81151179e+00] [ 1.46067678e-03 -1.53061859e-05 9.99998933e-01 -1.09468120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:8.82, Z:-0.11 [[ 9.60088075e-01 -2.79694315e-01 -1.40657208e-03 1.48243521e+02] [ 2.79694038e-01 9.60089105e-01 -3.94164714e-04 8.81986718e+00] [ 1.46068016e-03 -1.49769834e-05 9.99998933e-01 -1.10345633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:8.83, Z:-0.11 [[ 9.60202994e-01 -2.79299537e-01 -1.40649781e-03 1.48270971e+02] [ 2.79299259e-01 9.60204024e-01 -3.94429574e-04 8.82822602e+00] [ 1.46068885e-03 -1.41013377e-05 9.99998933e-01 -1.09337719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:8.84, Z:-0.11 [[ 9.60500512e-01 -2.78274663e-01 -1.40643306e-03 1.48298453e+02] [ 2.78274383e-01 9.60501542e-01 -3.94660329e-04 8.83578210e+00] [ 1.46070509e-03 -1.23028425e-05 9.99998933e-01 -1.06518163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:8.84, Z:-0.11 [[ 9.60643163e-01 -2.77781812e-01 -1.40636747e-03 1.48325641e+02] [ 2.77781531e-01 9.60644193e-01 -3.94893897e-04 8.84306883e+00] [ 1.46071309e-03 -1.13107875e-05 9.99998933e-01 -1.05761650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:8.85, Z:-0.10 [[ 9.60731832e-01 -2.77474988e-01 -1.40634417e-03 1.48352402e+02] [ 2.77474708e-01 9.60732861e-01 -3.94976861e-04 8.85130100e+00] [ 1.46071726e-03 -1.07580944e-05 9.99998933e-01 -1.03920466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:8.86, Z:-0.10 [[ 9.60883841e-01 -2.76948130e-01 -1.40626816e-03 1.48378538e+02] [ 2.76947848e-01 9.60884870e-01 -3.95247315e-04 8.85935508e+00] [ 1.46072480e-03 -9.67618209e-06 9.99998933e-01 -1.04735884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:8.87, Z:-0.11 [[ 9.61152325e-01 -2.76014912e-01 -1.40624461e-03 1.48405963e+02] [ 2.76014629e-01 9.61153353e-01 -3.95331080e-04 8.86795588e+00] [ 1.46073399e-03 -8.17069691e-06 9.99998933e-01 -1.05634227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:8.88, Z:-0.11 [[ 9.61226891e-01 -2.75755122e-01 -1.40618020e-03 1.48432340e+02] [ 2.75754838e-01 9.61227919e-01 -3.95560051e-04 8.87595082e+00] [ 1.46073738e-03 -7.53803518e-06 9.99998933e-01 -1.05780078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:8.88, Z:-0.11 [[ 9.61383249e-01 -2.75209505e-01 -1.40610501e-03 1.48458591e+02] [ 2.75209221e-01 9.61384277e-01 -3.95827150e-04 8.88413988e+00] [ 1.46074264e-03 -6.43147233e-06 9.99998933e-01 -1.05977646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:8.89, Z:-0.11 [[ 9.61757595e-01 -2.73898432e-01 -1.40603003e-03 1.48484930e+02] [ 2.73898145e-01 9.61758623e-01 -3.96093313e-04 8.89358263e+00] [ 1.46075084e-03 -4.16326436e-06 9.99998933e-01 -1.07095711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:8.90, Z:-0.11 [[ 9.61863784e-01 -2.73525291e-01 -1.40599497e-03 1.48511311e+02] [ 2.73525004e-01 9.61864811e-01 -3.96217734e-04 8.90143277e+00] [ 1.46075265e-03 -3.46729011e-06 9.99998933e-01 -1.05267169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:8.91, Z:-0.11 [[ 9.61999409e-01 -2.73047909e-01 -1.40591760e-03 1.48537783e+02] [ 2.73047621e-01 9.62000436e-01 -3.96492059e-04 8.90883516e+00] [ 1.46075467e-03 -2.45733037e-06 9.99998933e-01 -1.05103073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:8.92, Z:-0.10 [[ 9.62431377e-01 -2.71521396e-01 -1.40589357e-03 1.48565167e+02] [ 2.71521107e-01 9.62432403e-01 -3.96577247e-04 8.91762790e+00] [ 1.46075674e-03 -5.13931837e-08 9.99998933e-01 -1.02322493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:8.93, Z:-0.10 [[ 9.62647350e-01 -2.70754690e-01 -1.40582641e-03 1.48591907e+02] [ 2.70754400e-01 9.62648377e-01 -3.96815182e-04 8.92602739e+00] [ 1.46075608e-03 1.35939730e-06 9.99998933e-01 -1.02046018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:8.93, Z:-0.10 [[ 9.62898005e-01 -2.69861920e-01 -1.40574788e-03 1.48617658e+02] [ 2.69861628e-01 9.62899031e-01 -3.97093194e-04 8.93386522e+00] [ 1.46075360e-03 3.00283336e-06 9.99998933e-01 -1.04115627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:8.94, Z:-0.11 [[ 9.63278070e-01 -2.68502111e-01 -1.40571385e-03 1.48644226e+02] [ 2.68501818e-01 9.63279096e-01 -3.97213603e-04 8.94320544e+00] [ 1.46074746e-03 5.19042782e-06 9.99998933e-01 -1.05036901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:8.95, Z:-0.11 [[ 9.63377797e-01 -2.68144075e-01 -1.40563903e-03 1.48671188e+02] [ 2.68143780e-01 9.63378822e-01 -3.97478213e-04 8.95224312e+00] [ 1.46074430e-03 6.00832172e-06 9.99998933e-01 -1.05095503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:8.96, Z:-0.11 [[ 9.63384656e-01 -2.68119431e-01 -1.40556337e-03 1.48697296e+02] [ 2.68119136e-01 9.63385681e-01 -3.97745585e-04 8.96123796e+00] [ 1.46074294e-03 6.32355651e-06 9.99998933e-01 -1.05531123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:8.97, Z:-0.11 [[ 9.63390092e-01 -2.68099898e-01 -1.40548804e-03 1.48722838e+02] [ 2.68099603e-01 9.63391117e-01 -3.98011601e-04 8.96877345e+00] [ 1.46074156e-03 6.62964808e-06 9.99998933e-01 -1.05886351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.75, Y:8.98, Z:-0.10 [[ 9.63078773e-01 -2.69216089e-01 -1.40543681e-03 1.48750876e+02] [ 2.69215794e-01 9.63079798e-01 -3.98192397e-04 8.97720678e+00] [ 1.46074760e-03 5.12485654e-06 9.99998933e-01 -1.04974759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:8.99, Z:-0.11 [[ 9.62925145e-01 -2.69765064e-01 -1.40537213e-03 1.48778002e+02] [ 2.69764769e-01 9.62926171e-01 -3.98420561e-04 8.98532762e+00] [ 1.46074955e-03 4.52928819e-06 9.99998933e-01 -1.06084781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:148.80, Y:8.99, Z:-0.10 [[ 9.62679212e-01 -2.70641386e-01 -1.40529670e-03 1.48803159e+02] [ 2.70641092e-01 9.62680238e-01 -3.98686433e-04 8.99456470e+00] [ 1.46075241e-03 3.47610771e-06 9.99998933e-01 -1.04627947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:9.00, Z:-0.10 [[ 9.62249040e-01 -2.72166881e-01 -1.40524522e-03 1.48829915e+02] [ 2.72166589e-01 9.62250066e-01 -3.98867794e-04 9.00447488e+00] [ 1.46075591e-03 1.34935316e-06 9.99998933e-01 -1.04452556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:9.01, Z:-0.10 [[ 9.61986886e-01 -2.73092028e-01 -1.40516776e-03 1.48856733e+02] [ 2.73091737e-01 9.61987913e-01 -3.99140495e-04 9.01294742e+00] [ 1.46075649e-03 2.28217321e-07 9.99998933e-01 -1.04858014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:9.02, Z:-0.10 [[ 9.61640203e-01 -2.74310307e-01 -1.40514380e-03 1.48883333e+02] [ 2.74310017e-01 9.61641230e-01 -3.99224832e-04 9.02118227e+00] [ 1.46075570e-03 -1.53437101e-06 9.99998933e-01 -1.03855639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:9.03, Z:-0.10 [[ 9.60826314e-01 -2.77147649e-01 -1.40512069e-03 1.48910668e+02] [ 2.77147361e-01 9.60827342e-01 -3.99306161e-04 9.02919983e+00] [ 1.46074514e-03 -5.76162354e-06 9.99998933e-01 -1.02079935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.94, Y:9.04, Z:-0.10 [[ 9.60258149e-01 -2.79109859e-01 -1.40505333e-03 1.48936945e+02] [ 2.79109573e-01 9.60259177e-01 -3.99543054e-04 9.03718915e+00] [ 1.46073175e-03 -8.49935987e-06 9.99998933e-01 -1.01833805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:9.05, Z:-0.10 [[ 9.59698758e-01 -2.81027258e-01 -1.40501989e-03 1.48963641e+02] [ 2.81026974e-01 9.59699786e-01 -3.99660580e-04 9.04522438e+00] [ 1.46071281e-03 -1.12947273e-05 9.99998933e-01 -1.02252458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:148.99, Y:9.05, Z:-0.10 [[ 9.59023633e-01 -2.83322604e-01 -1.40494376e-03 1.48989367e+02] [ 2.83322322e-01 9.59024662e-01 -3.99928033e-04 9.05370606e+00] [ 1.46068437e-03 -1.45114940e-05 9.99998933e-01 -1.03350288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:9.06, Z:-0.10 [[ 9.57840080e-01 -2.87298464e-01 -1.40489179e-03 1.49016281e+02] [ 2.87298186e-01 9.57841110e-01 -4.00110538e-04 9.06041103e+00] [ 1.46061425e-03 -2.03809519e-05 9.99998933e-01 -1.04319389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:9.07, Z:-0.11 [[ 9.57383954e-01 -2.88814804e-01 -1.40481526e-03 1.49042406e+02] [ 2.88814527e-01 9.57384985e-01 -4.00379031e-04 9.06687337e+00] [ 1.46058443e-03 -2.24145955e-05 9.99998933e-01 -1.06567462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:9.07, Z:-0.11 [[ 9.56979667e-01 -2.90151588e-01 -1.40476327e-03 1.49069111e+02] [ 2.90151312e-01 9.56980698e-01 -4.00561369e-04 9.07463158e+00] [ 1.46055485e-03 -2.42648206e-05 9.99998933e-01 -1.05145231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:9.08, Z:-0.11 [[ 9.56562929e-01 -2.91522539e-01 -1.40468782e-03 1.49094940e+02] [ 2.91522264e-01 9.56563960e-01 -4.00825800e-04 9.08235614e+00] [ 1.46052349e-03 -2.60826708e-05 9.99998933e-01 -1.05036509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:9.09, Z:-0.10 [[ 9.56368805e-01 -2.92158750e-01 -1.40465494e-03 1.49122097e+02] [ 2.92158476e-01 9.56369836e-01 -4.00940983e-04 9.08903964e+00] [ 1.46050803e-03 -2.69343975e-05 9.99998933e-01 -1.03856805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:9.10, Z:-0.11 [[ 9.56166457e-01 -2.92820311e-01 -1.40458223e-03 1.49148849e+02] [ 2.92820037e-01 9.56167488e-01 -4.01195537e-04 9.09550224e+00] [ 1.46049406e-03 -2.76801062e-05 9.99998933e-01 -1.05980216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:9.10, Z:-0.10 [[ 9.55998226e-01 -2.93369082e-01 -1.40455802e-03 1.49175467e+02] [ 2.93368809e-01 9.55999258e-01 -4.01280281e-04 9.10236991e+00] [ 1.46047965e-03 -2.84302762e-05 9.99998933e-01 -1.03548817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:9.11, Z:-0.10 [[ 9.55835236e-01 -2.93899691e-01 -1.40450612e-03 1.49201030e+02] [ 2.93899418e-01 9.55836268e-01 -4.01461842e-04 9.10930816e+00] [ 1.46046740e-03 -2.90521570e-05 9.99998933e-01 -1.04630828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:9.12, Z:-0.11 [[ 9.55730684e-01 -2.94239506e-01 -1.40443093e-03 1.49227690e+02] [ 2.94239234e-01 9.55731716e-01 -4.01724701e-04 9.11537280e+00] [ 1.46046246e-03 -2.92980575e-05 9.99998933e-01 -1.05107181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:9.12, Z:-0.10 [[ 9.55664582e-01 -2.94454131e-01 -1.40439847e-03 1.49255023e+02] [ 2.94453858e-01 9.55665613e-01 -4.01838136e-04 9.12027234e+00] [ 1.46045823e-03 -2.95080750e-05 9.99998933e-01 -1.04803334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.28, Y:9.13, Z:-0.10 [[ 9.55660333e-01 -2.94467918e-01 -1.40432376e-03 1.49281020e+02] [ 2.94467645e-01 9.55661365e-01 -4.02099067e-04 9.12691675e+00] [ 1.46046324e-03 -2.92577834e-05 9.99998933e-01 -1.03996214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:9.13, Z:-0.10 [[ 9.55746261e-01 -2.94188906e-01 -1.40427284e-03 1.49308052e+02] [ 2.94188632e-01 9.55747292e-01 -4.02276826e-04 9.13309750e+00] [ 1.46047534e-03 -2.86465338e-05 9.99998933e-01 -1.04139310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:9.14, Z:-0.10 [[ 9.56054848e-01 -2.93184507e-01 -1.40419612e-03 1.49334825e+02] [ 2.93184232e-01 9.56055879e-01 -4.02544468e-04 9.13747420e+00] [ 1.46050975e-03 -2.68335690e-05 9.99998933e-01 -1.04917730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:9.14, Z:-0.10 [[ 9.56183755e-01 -2.92763821e-01 -1.40416270e-03 1.49362461e+02] [ 2.92763546e-01 9.56184786e-01 -4.02661006e-04 9.14425752e+00] [ 1.46052358e-03 -2.60697370e-05 9.99998933e-01 -1.04760520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:9.15, Z:-0.10 [[ 9.56129205e-01 -2.92941925e-01 -1.40408764e-03 1.49389782e+02] [ 2.92941649e-01 9.56130236e-01 -4.02922546e-04 9.15229319e+00] [ 1.46052356e-03 -2.60697366e-05 9.99998933e-01 -1.04718916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:9.16, Z:-0.10 [[ 9.56283312e-01 -2.92438464e-01 -1.40401254e-03 1.49416566e+02] [ 2.92438187e-01 9.56284343e-01 -4.03184072e-04 9.15924758e+00] [ 1.46054174e-03 -2.50286831e-05 9.99998933e-01 -1.04522879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:9.16, Z:-0.10 [[ 9.56621736e-01 -2.91329509e-01 -1.40393749e-03 1.49444786e+02] [ 2.91329231e-01 9.56622766e-01 -4.03445247e-04 9.16409225e+00] [ 1.46057407e-03 -2.30635357e-05 9.99998933e-01 -1.01862696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.47, Y:9.17, Z:-0.10 [[ 9.56700153e-01 -2.91071891e-01 -1.40387036e-03 1.49471933e+02] [ 2.91071612e-01 9.56701183e-01 -4.03678718e-04 9.16951255e+00] [ 1.46058396e-03 -2.24273156e-05 9.99998933e-01 -1.00458581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:9.17, Z:-0.10 [[ 9.56786320e-01 -2.90788525e-01 -1.40379299e-03 1.49498332e+02] [ 2.90788246e-01 9.56787350e-01 -4.03947573e-04 9.17436744e+00] [ 1.46059470e-03 -2.17149896e-05 9.99998933e-01 -1.01628824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.53, Y:9.18, Z:-0.10 [[ 9.56956800e-01 -2.90227003e-01 -1.40374001e-03 1.49525060e+02] [ 2.90226722e-01 9.56957829e-01 -4.04131588e-04 9.18044926e+00] [ 1.46060990e-03 -2.06663913e-05 9.99998933e-01 -1.00883550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:149.55, Y:9.19, Z:-0.10 [[ 9.57228167e-01 -2.89330720e-01 -1.40371635e-03 1.49553341e+02] [ 2.89330438e-01 9.57229196e-01 -4.04213782e-04 9.18508769e+00] [ 1.46062973e-03 -1.92130482e-05 9.99998933e-01 -1.00638879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:9.19, Z:-0.10 [[ 9.57300177e-01 -2.89092375e-01 -1.40364067e-03 1.49580382e+02] [ 2.89092093e-01 9.57301206e-01 -4.04476406e-04 9.19075701e+00] [ 1.46063795e-03 -1.85760829e-05 9.99998933e-01 -1.01541546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:9.20, Z:-0.10 [[ 9.57373935e-01 -2.88848020e-01 -1.40356397e-03 1.49607486e+02] [ 2.88847737e-01 9.57374964e-01 -4.04742387e-04 9.19752523e+00] [ 1.46064604e-03 -1.79264631e-05 9.99998933e-01 -1.00719074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:9.20, Z:-0.10 [[ 9.57446372e-01 -2.88607821e-01 -1.40348800e-03 1.49634470e+02] [ 2.88607537e-01 9.57447401e-01 -4.05005646e-04 9.20256837e+00] [ 1.46065373e-03 -1.72860282e-05 9.99998933e-01 -1.00490565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:9.21, Z:-0.10 [[ 9.57382636e-01 -2.88819179e-01 -1.40345959e-03 1.49661220e+02] [ 2.88818895e-01 9.57383665e-01 -4.05104053e-04 9.20925169e+00] [ 1.46065111e-03 -1.75060632e-05 9.99998933e-01 -1.00042090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:9.22, Z:-0.10 [[ 9.57335033e-01 -2.88976928e-01 -1.40338432e-03 1.49687490e+02] [ 2.88976645e-01 9.57336061e-01 -4.05364663e-04 9.21585036e+00] [ 1.46065145e-03 -1.74754983e-05 9.99998933e-01 -9.93673426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:9.22, Z:-0.10 [[ 9.57250315e-01 -2.89257438e-01 -1.40335153e-03 1.49714503e+02] [ 2.89257154e-01 9.57251343e-01 -4.05478152e-04 9.22223137e+00] [ 1.46064770e-03 -1.77853801e-05 9.99998933e-01 -9.91102701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:9.23, Z:-0.10 [[ 9.57286770e-01 -2.89136769e-01 -1.40327649e-03 1.49742451e+02] [ 2.89136485e-01 9.57287798e-01 -4.05737652e-04 9.22576770e+00] [ 1.46065314e-03 -1.73311474e-05 9.99998933e-01 -9.80797888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:9.23, Z:-0.10 [[ 9.57318173e-01 -2.89032778e-01 -1.40319699e-03 1.49768485e+02] [ 2.89032493e-01 9.57319201e-01 -4.06012423e-04 9.23183413e+00] [ 1.46065832e-03 -1.68864544e-05 9.99998933e-01 -9.90088724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:9.24, Z:-0.10 [[ 9.57460507e-01 -2.88560928e-01 -1.40316253e-03 1.49795805e+02] [ 2.88560643e-01 9.57461535e-01 -4.06131465e-04 9.23839957e+00] [ 1.46066783e-03 -1.60426444e-05 9.99998933e-01 -9.79898711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:9.24, Z:-0.10 [[ 9.57635527e-01 -2.87979563e-01 -1.40308331e-03 1.49822311e+02] [ 2.87979276e-01 9.57636555e-01 -4.06404982e-04 9.24441063e+00] [ 1.46068020e-03 -1.48710674e-05 9.99998933e-01 -9.84847142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:9.25, Z:-0.10 [[ 9.58185536e-01 -2.86144212e-01 -1.40304884e-03 1.49849661e+02] [ 2.86143924e-01 9.58186563e-01 -4.06523939e-04 9.24906170e+00] [ 1.46070702e-03 -1.19485432e-05 9.99998933e-01 -9.78335089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.88, Y:9.26, Z:-0.10 [[ 9.58499008e-01 -2.85092410e-01 -1.40302480e-03 1.49876250e+02] [ 2.85092120e-01 9.58500035e-01 -4.06606885e-04 9.25623129e+00] [ 1.46071986e-03 -1.02590207e-05 9.99998933e-01 -9.57979493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:9.26, Z:-0.10 [[ 9.59142773e-01 -2.82919022e-01 -1.40294835e-03 1.49903528e+02] [ 2.82918730e-01 9.59143799e-01 -4.06870515e-04 9.26191152e+00] [ 1.46074062e-03 -6.67345111e-06 9.99998933e-01 -9.69694036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:9.27, Z:-0.10 [[ 9.59342889e-01 -2.82239709e-01 -1.40291227e-03 1.49930859e+02] [ 2.82239415e-01 9.59343915e-01 -4.06994869e-04 9.26797431e+00] [ 1.46074547e-03 -5.50950601e-06 9.99998933e-01 -9.74766590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:149.96, Y:9.27, Z:-0.10 [[ 9.59476642e-01 -2.81784678e-01 -1.40283559e-03 1.49956936e+02] [ 2.81784384e-01 9.59477668e-01 -4.07258995e-04 9.27391131e+00] [ 1.46074877e-03 -4.54167024e-06 9.99998933e-01 -9.79732067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:9.28, Z:-0.10 [[ 9.59590103e-01 -2.81398056e-01 -1.40278339e-03 1.49985061e+02] [ 2.81397761e-01 9.59591129e-01 -4.07438720e-04 9.28030239e+00] [ 1.46075096e-03 -3.76594249e-06 9.99998933e-01 -1.01035507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:9.29, Z:-0.10 [[ 9.59629370e-01 -2.81264119e-01 -1.40271676e-03 1.50012248e+02] [ 2.81263823e-01 9.59630395e-01 -4.07668011e-04 9.28684067e+00] [ 1.46075202e-03 -3.32328111e-06 9.99998933e-01 -9.99699814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:9.29, Z:-0.10 [[ 9.59747242e-01 -2.80861646e-01 -1.40263383e-03 1.50039178e+02] [ 2.80861350e-01 9.59748267e-01 -4.07953117e-04 9.29151572e+00] [ 1.46075377e-03 -2.41375294e-06 9.99998933e-01 -1.02331943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:9.30, Z:-0.10 [[ 9.59796384e-01 -2.80693667e-01 -1.40259785e-03 1.50065888e+02] [ 2.80693370e-01 9.59797408e-01 -4.08076799e-04 9.29729365e+00] [ 1.46075435e-03 -2.02928146e-06 9.99998933e-01 -1.03023978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:9.30, Z:-0.10 [[ 9.59854178e-01 -2.80495970e-01 -1.40256410e-03 1.50093021e+02] [ 2.80495673e-01 9.59855203e-01 -4.08192743e-04 9.30371853e+00] [ 1.46075487e-03 -1.60765226e-06 9.99998933e-01 -1.02941600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:9.31, Z:-0.10 [[ 9.60237989e-01 -2.79179220e-01 -1.40248779e-03 1.50120332e+02] [ 2.79178921e-01 9.60239013e-01 -4.08454770e-04 9.30961782e+00] [ 1.46075558e-03 6.68758081e-07 9.99998933e-01 -1.02325524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:9.32, Z:-0.10 [[ 9.60537624e-01 -2.78146554e-01 -1.40241045e-03 1.50146484e+02] [ 2.78146254e-01 9.60538648e-01 -4.08720140e-04 9.31634542e+00] [ 1.46075354e-03 2.51585870e-06 9.99998933e-01 -1.02393571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:9.32, Z:-0.10 [[ 9.60826426e-01 -2.77147277e-01 -1.40237680e-03 1.50173163e+02] [ 2.77146975e-01 9.60827449e-01 -4.08835581e-04 9.32348151e+00] [ 1.46074979e-03 4.15554193e-06 9.99998933e-01 -1.01316203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.20, Y:9.33, Z:-0.10 [[ 9.61530303e-01 -2.74695305e-01 -1.40229721e-03 1.50199819e+02] [ 2.74695001e-01 9.61531325e-01 -4.09108390e-04 9.32945418e+00] [ 1.46073285e-03 8.16608131e-06 9.99998933e-01 -1.01505228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:9.34, Z:-0.10 [[ 9.61747366e-01 -2.73934369e-01 -1.40224302e-03 1.50227052e+02] [ 2.73934063e-01 9.61748388e-01 -4.09294053e-04 9.33675711e+00] [ 1.46072467e-03 9.51535095e-06 9.99998933e-01 -1.02192513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:9.34, Z:-0.10 [[ 9.61890892e-01 -2.73429965e-01 -1.40216373e-03 1.50254057e+02] [ 2.73429659e-01 9.61891914e-01 -4.09565509e-04 9.34398618e+00] [ 1.46071743e-03 1.05641836e-05 9.99998933e-01 -1.02184739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:9.35, Z:-0.10 [[ 9.61993150e-01 -2.73069980e-01 -1.40208463e-03 1.50279868e+02] [ 2.73069673e-01 9.61994171e-01 -4.09836106e-04 9.35082302e+00] [ 1.46071118e-03 1.13927359e-05 9.99998933e-01 -1.03120230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:9.36, Z:-0.10 [[ 9.61923567e-01 -2.73314994e-01 -1.40205035e-03 1.50306821e+02] [ 2.73314687e-01 9.61924588e-01 -4.09953351e-04 9.35704792e+00] [ 1.46071310e-03 1.11428379e-05 9.99998933e-01 -1.04740798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:9.36, Z:-0.10 [[ 9.61727954e-01 -2.74002512e-01 -1.40202628e-03 1.50333792e+02] [ 2.74002205e-01 9.61728976e-01 -4.10035638e-04 9.36429299e+00] [ 1.46072009e-03 1.01844421e-05 9.99998933e-01 -1.04505063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.36, Y:9.37, Z:-0.10 [[ 9.61525672e-01 -2.74711516e-01 -1.40194717e-03 1.50360622e+02] [ 2.74711210e-01 9.61526694e-01 -4.10305960e-04 9.37110787e+00] [ 1.46072540e-03 9.38911177e-06 9.99998933e-01 -1.04001157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.39, Y:9.38, Z:-0.10 [[ 9.61228413e-01 -2.75749836e-01 -1.40190711e-03 1.50387116e+02] [ 2.75749530e-01 9.61229436e-01 -4.10442732e-04 9.37784620e+00] [ 1.46073390e-03 7.95398883e-06 9.99998933e-01 -1.03855885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:9.38, Z:-0.10 [[ 9.60556866e-01 -2.78080099e-01 -1.40179605e-03 1.50415477e+02] [ 2.78079796e-01 9.60557889e-01 -4.10821707e-04 9.38448982e+00] [ 1.46074759e-03 4.80645286e-06 9.99998933e-01 -1.02990523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:150.44, Y:9.39, Z:-0.10 [[ 9.60342219e-01 -2.78820476e-01 -1.40172761e-03 1.50441344e+02] [ 2.78820173e-01 9.60343242e-01 -4.11055068e-04 9.39141693e+00] [ 1.46075021e-03 3.92360126e-06 9.99998933e-01 -1.01816877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:9.40, Z:-0.10 [[ 9.60026550e-01 -2.79905444e-01 -1.40169365e-03 1.50468226e+02] [ 2.79905142e-01 9.60027574e-01 -4.11170836e-04 9.39913710e+00] [ 1.46075351e-03 2.39365817e-06 9.99998933e-01 -1.03280279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:9.41, Z:-0.10 [[ 9.59841788e-01 -2.80538370e-01 -1.40161598e-03 1.50494522e+02] [ 2.80538068e-01 9.59842812e-01 -4.11435446e-04 9.40506992e+00] [ 1.46075445e-03 1.70629575e-06 9.99998933e-01 -1.03959232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:9.41, Z:-0.10 [[ 9.59808158e-01 -2.80653408e-01 -1.40158217e-03 1.50521889e+02] [ 2.80653107e-01 9.59809181e-01 -4.11550583e-04 9.41270230e+00] [ 1.46075451e-03 1.65121611e-06 9.99998933e-01 -1.03594782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:9.42, Z:-0.11 [[ 9.59895468e-01 -2.80354642e-01 -1.40150307e-03 1.50548270e+02] [ 2.80354340e-01 9.59896492e-01 -4.11819782e-04 9.42040744e+00] [ 1.46075347e-03 2.38647475e-06 9.99998933e-01 -1.05171670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:9.43, Z:-0.11 [[ 9.60364972e-01 -2.78742095e-01 -1.40142409e-03 1.50574319e+02] [ 2.78741791e-01 9.60365995e-01 -4.12088363e-04 9.42895563e+00] [ 1.46074642e-03 5.11976804e-06 9.99998933e-01 -1.06125395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:9.44, Z:-0.11 [[ 9.60770616e-01 -2.77340692e-01 -1.40139997e-03 1.50600495e+02] [ 2.77340386e-01 9.60771638e-01 -4.12170393e-04 9.43727463e+00] [ 1.46073696e-03 7.33639370e-06 9.99998933e-01 -1.06416661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.63, Y:9.45, Z:-0.11 [[ 9.61143313e-01 -2.76046314e-01 -1.40136646e-03 1.50626755e+02] [ 2.76046006e-01 9.61144335e-01 -4.12284286e-04 9.44627296e+00] [ 1.46072499e-03 9.42266978e-06 9.99998933e-01 -1.05314161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:9.46, Z:-0.11 [[ 9.61543352e-01 -2.74649631e-01 -1.40109725e-03 1.50654120e+02] [ 2.74649320e-01 9.61544372e-01 -4.13198910e-04 9.45547977e+00] [ 1.46070210e-03 1.24982586e-05 9.99998933e-01 -1.05196982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.68, Y:9.47, Z:-0.10 [[ 9.62318122e-01 -2.71922540e-01 -1.40127351e-03 1.50681051e+02] [ 2.71922228e-01 9.62319142e-01 -4.12600271e-04 9.46522182e+00] [ 1.46066764e-03 1.60153026e-05 9.99998933e-01 -1.02208149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:9.47, Z:-0.10 [[ 9.62622378e-01 -2.70843485e-01 -1.40120498e-03 1.50707402e+02] [ 2.70843171e-01 9.62623398e-01 -4.12832876e-04 9.47394488e+00] [ 1.46064580e-03 1.78953648e-05 9.99998933e-01 -1.03565736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.73, Y:9.48, Z:-0.10 [[ 9.62888100e-01 -2.69897284e-01 -1.40118065e-03 1.50733741e+02] [ 2.69896969e-01 9.62889119e-01 -4.12915438e-04 9.48274256e+00] [ 1.46062636e-03 1.94169515e-05 9.99998933e-01 -1.00758884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:9.49, Z:-0.10 [[ 9.63143856e-01 -2.68983177e-01 -1.40110265e-03 1.50759976e+02] [ 2.68982860e-01 9.63144875e-01 -4.13179951e-04 9.49345363e+00] [ 1.46060329e-03 2.10791338e-05 9.99998933e-01 -1.01017969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:9.50, Z:-0.10 [[ 9.63073378e-01 -2.69235411e-01 -1.40102256e-03 1.50785901e+02] [ 2.69235094e-01 9.63074397e-01 -4.13451344e-04 9.50309601e+00] [ 1.46060470e-03 2.09795431e-05 9.99998933e-01 -1.00975229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:9.51, Z:-0.10 [[ 9.62754394e-01 -2.70373840e-01 -1.40094276e-03 1.50812010e+02] [ 2.70373525e-01 9.62755413e-01 -4.13721564e-04 9.51312050e+00] [ 1.46062471e-03 1.95344228e-05 9.99998933e-01 -1.01090235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:9.52, Z:-0.10 [[ 9.62459821e-01 -2.71420580e-01 -1.40091801e-03 1.50838702e+02] [ 2.71420265e-01 9.62460840e-01 -4.13805341e-04 9.52220140e+00] [ 1.46064401e-03 1.80334763e-05 9.99998933e-01 -1.00261027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:150.86, Y:9.53, Z:-0.10 [[ 9.62187816e-01 -2.72383268e-01 -1.40083890e-03 1.50864300e+02] [ 2.72382954e-01 9.62188835e-01 -4.14072985e-04 9.53055984e+00] [ 1.46065810e-03 1.68513440e-05 9.99998933e-01 -9.87067880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:9.54, Z:-0.10 [[ 9.61861333e-01 -2.73533936e-01 -1.40078500e-03 1.50890374e+02] [ 2.73533623e-01 9.61862353e-01 -4.14255255e-04 9.53962979e+00] [ 1.46067522e-03 1.52943172e-05 9.99998933e-01 -1.00165324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:9.55, Z:-0.10 [[ 9.61605321e-01 -2.74432587e-01 -1.40070660e-03 1.50915264e+02] [ 2.74432274e-01 9.61606341e-01 -4.14520171e-04 9.54962699e+00] [ 1.46068619e-03 1.42057048e-05 9.99998933e-01 -1.00581249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:9.56, Z:-0.10 [[ 9.61592702e-01 -2.74476801e-01 -1.40065308e-03 1.50941836e+02] [ 2.74476488e-01 9.61593722e-01 -4.14700939e-04 9.56001923e+00] [ 1.46068499e-03 1.43270598e-05 9.99998933e-01 -1.00734077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.97, Y:9.57, Z:-0.10 [[ 9.61704506e-01 -2.74084808e-01 -1.40057498e-03 1.50968035e+02] [ 2.74084494e-01 9.61705526e-01 -4.14964533e-04 9.56992137e+00] [ 1.46067617e-03 1.51973767e-05 9.99998933e-01 -1.00028040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:9.58, Z:-0.10 [[ 9.61921362e-01 -2.73322761e-01 -1.40049642e-03 1.50994876e+02] [ 2.73322446e-01 9.61922382e-01 -4.15229497e-04 9.58104257e+00] [ 1.46066052e-03 1.66310162e-05 9.99998933e-01 -1.02231736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:151.02, Y:9.59, Z:-0.10 [[ 9.62029636e-01 -2.72941419e-01 -1.40042705e-03 1.51021066e+02] [ 2.72941104e-01 9.62030655e-01 -4.15463314e-04 9.58991630e+00] [ 1.46065090e-03 1.74539159e-05 9.99998933e-01 -1.01410434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:9.60, Z:-0.10 [[ 9.62009675e-01 -2.73011764e-01 -1.40040242e-03 1.51046848e+02] [ 2.73011448e-01 9.62010695e-01 -4.15546325e-04 9.59938825e+00] [ 1.46065114e-03 1.74336919e-05 9.99998933e-01 -1.02317588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:9.61, Z:-0.10 [[ 9.61958644e-01 -2.73191521e-01 -1.40036841e-03 1.51074100e+02] [ 2.73191205e-01 9.61959663e-01 -4.15660919e-04 9.60768583e+00] [ 1.46065296e-03 1.72802807e-05 9.99998933e-01 -1.02275980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:9.62, Z:-0.10 [[ 9.61884611e-01 -2.73452070e-01 -1.40029069e-03 1.51100348e+02] [ 2.73451754e-01 9.61885630e-01 -4.15922578e-04 9.61731574e+00] [ 1.46065438e-03 1.71575826e-05 9.99998933e-01 -1.01986930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:9.63, Z:-0.10 [[ 9.61639175e-01 -2.74313937e-01 -1.40026655e-03 1.51126868e+02] [ 2.74313622e-01 9.61640195e-01 -4.16003815e-04 9.62853984e+00] [ 1.46066824e-03 1.59333756e-05 9.99998933e-01 -9.98933542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:9.64, Z:-0.10 [[ 9.61437237e-01 -2.75020871e-01 -1.40019880e-03 1.51152891e+02] [ 2.75020556e-01 9.61438256e-01 -4.16231745e-04 9.63797232e+00] [ 1.46067711e-03 1.50972468e-05 9.99998933e-01 -9.97792885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:9.65, Z:-0.10 [[ 9.61188599e-01 -2.75888596e-01 -1.40012163e-03 1.51178764e+02] [ 2.75888282e-01 9.61189618e-01 -4.16491162e-04 9.64754494e+00] [ 1.46068754e-03 1.40494046e-05 9.99998933e-01 -9.91071760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:9.66, Z:-0.10 [[ 9.60732914e-01 -2.77471273e-01 -1.40004154e-03 1.51205075e+02] [ 2.77470960e-01 9.60733934e-01 -4.16760216e-04 9.65744810e+00] [ 1.46070640e-03 1.19243879e-05 9.99998933e-01 -9.98798378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.23, Y:9.67, Z:-0.10 [[ 9.60619471e-01 -2.77863763e-01 -1.40019039e-03 1.51231813e+02] [ 2.77863452e-01 9.60620492e-01 -4.16260359e-04 9.66641734e+00] [ 1.46071525e-03 1.08060699e-05 9.99998933e-01 -9.87215294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:9.68, Z:-0.10 [[ 9.60457449e-01 -2.78423292e-01 -1.39993047e-03 1.51257541e+02] [ 2.78422979e-01 9.60458469e-01 -4.17132663e-04 9.67608074e+00] [ 1.46071453e-03 1.08653599e-05 9.99998933e-01 -1.03502118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:9.69, Z:-0.11 [[ 9.60364518e-01 -2.78743669e-01 -1.39990491e-03 1.51283852e+02] [ 2.78743356e-01 9.60365538e-01 -4.17218441e-04 9.68612530e+00] [ 1.46071743e-03 1.04675940e-05 9.99998933e-01 -1.05395863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:9.70, Z:-0.11 [[ 9.60232627e-01 -2.79197678e-01 -1.39986983e-03 1.51310774e+02] [ 2.79197366e-01 9.60233647e-01 -4.17336100e-04 9.69845308e+00] [ 1.46072138e-03 9.89976866e-06 9.99998933e-01 -1.09690163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:9.71, Z:-0.11 [[ 9.60099000e-01 -2.79656846e-01 -1.39983526e-03 1.51336825e+02] [ 2.79656535e-01 9.60100020e-01 -4.17452039e-04 9.70819677e+00] [ 1.46072518e-03 9.32220714e-06 9.99998933e-01 -1.09548543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:9.72, Z:-0.11 [[ 9.59880954e-01 -2.80404340e-01 -1.39976097e-03 1.51363231e+02] [ 2.80404029e-01 9.59881975e-01 -4.17700996e-04 9.71740341e+00] [ 1.46073049e-03 8.44461548e-06 9.99998933e-01 -1.06134759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:9.73, Z:-0.11 [[ 9.59615644e-01 -2.81310960e-01 -1.39968061e-03 1.51389408e+02] [ 2.81310650e-01 9.59616665e-01 -4.17970092e-04 9.72626545e+00] [ 1.46073641e-03 7.34557789e-06 9.99998933e-01 -1.05886336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:9.74, Z:-0.10 [[ 9.58880692e-01 -2.83806024e-01 -1.39965567e-03 1.51416258e+02] [ 2.83805716e-01 9.58881714e-01 -4.18053594e-04 9.73688464e+00] [ 1.46075036e-03 3.63323956e-06 9.99998933e-01 -1.03273141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:9.75, Z:-0.10 [[ 9.58454280e-01 -2.85242764e-01 -1.39958620e-03 1.51442157e+02] [ 2.85242457e-01 9.58455302e-01 -4.18286035e-04 9.74603786e+00] [ 1.46075388e-03 1.68663405e-06 9.99998933e-01 -1.03731288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:9.76, Z:-0.10 [[ 9.57580826e-01 -2.88161419e-01 -1.39955173e-03 1.51468415e+02] [ 2.88161116e-01 9.57581848e-01 -4.18401347e-04 9.75551136e+00] [ 1.46075246e-03 -2.64328021e-06 9.99998933e-01 -1.03762986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.50, Y:9.76, Z:-0.10 [[ 9.57165698e-01 -2.89537333e-01 -1.39947251e-03 1.51495095e+02] [ 2.89537031e-01 9.57166721e-01 -4.18666161e-04 9.76369879e+00] [ 1.46074799e-03 -4.46622556e-06 9.99998933e-01 -1.02628410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:9.77, Z:-0.10 [[ 9.56624889e-01 -2.91319177e-01 -1.39944778e-03 1.51522479e+02] [ 2.91318877e-01 9.56625913e-01 -4.18748793e-04 9.77279688e+00] [ 1.46073756e-03 -7.10003822e-06 9.99998933e-01 -1.03264666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:9.78, Z:-0.10 [[ 9.56165602e-01 -2.92823125e-01 -1.39937842e-03 1.51549417e+02] [ 2.92822826e-01 9.56166626e-01 -4.18980465e-04 9.78168110e+00] [ 1.46072611e-03 -9.15523333e-06 9.99998933e-01 -1.01794113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:9.79, Z:-0.10 [[ 9.55311086e-01 -2.95599005e-01 -1.39929558e-03 1.51576429e+02] [ 2.95598708e-01 9.55312110e-01 -4.19256941e-04 9.78997319e+00] [ 1.46069595e-03 -1.31091620e-05 9.99998933e-01 -1.03908981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:9.80, Z:-0.10 [[ 9.54922816e-01 -2.96850900e-01 -1.39925693e-03 1.51603783e+02] [ 2.96850604e-01 9.54923841e-01 -4.19385877e-04 9.79791200e+00] [ 1.46067888e-03 -1.48891238e-05 9.99998933e-01 -1.03913839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:9.81, Z:-0.10 [[ 9.54512681e-01 -2.98167042e-01 -1.39918192e-03 1.51630990e+02] [ 2.98166747e-01 9.54513706e-01 -4.19635989e-04 9.80538065e+00] [ 1.46065994e-03 -1.66416491e-05 9.99998933e-01 -1.03641510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:151.66, Y:9.81, Z:-0.10 [[ 9.54326386e-01 -2.98762767e-01 -1.39910005e-03 1.51658412e+02] [ 2.98762472e-01 9.54327412e-01 -4.19908776e-04 9.81214789e+00] [ 1.46065264e-03 -1.72685657e-05 9.99998933e-01 -1.04781403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:9.82, Z:-0.11 [[ 9.53990013e-01 -2.99835117e-01 -1.39902133e-03 1.51684997e+02] [ 2.99834823e-01 9.53991039e-01 -4.20170895e-04 9.81902109e+00] [ 1.46063581e-03 -1.86364764e-05 9.99998933e-01 -1.07498754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:9.83, Z:-0.11 [[ 9.53951222e-01 -2.99958512e-01 -1.39900300e-03 1.51712321e+02] [ 2.99958218e-01 9.53952248e-01 -4.20231940e-04 9.82655612e+00] [ 1.46063420e-03 -1.87616731e-05 9.99998933e-01 -1.06392199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:9.83, Z:-0.11 [[ 9.53996982e-01 -2.99812944e-01 -1.39892331e-03 1.51739271e+02] [ 2.99812650e-01 9.53998007e-01 -4.20497042e-04 9.83392796e+00] [ 1.46064051e-03 -1.82619962e-05 9.99998933e-01 -1.05844790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:9.84, Z:-0.11 [[ 9.54141646e-01 -2.99352237e-01 -1.39884386e-03 1.51766715e+02] [ 2.99351942e-01 9.54142672e-01 -4.20761172e-04 9.84114895e+00] [ 1.46065242e-03 -1.72808692e-05 9.99998933e-01 -1.07610904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.79, Y:9.85, Z:-0.10 [[ 9.54891218e-01 -2.96952528e-01 -1.39898194e-03 1.51794184e+02] [ 2.96952231e-01 9.54892243e-01 -4.20302304e-04 9.84646755e+00] [ 1.46068683e-03 -1.40878268e-05 9.99998933e-01 -1.03666101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:151.82, Y:9.85, Z:-0.10 [[ 9.55271069e-01 -2.95728302e-01 -1.39873645e-03 1.51821293e+02] [ 2.95728002e-01 9.55272093e-01 -4.21117680e-04 9.85386511e+00] [ 1.46071031e-03 -1.13639999e-05 9.99998933e-01 -1.02315099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:9.86, Z:-0.10 [[ 9.55644639e-01 -2.94518875e-01 -1.39865455e-03 1.51847002e+02] [ 2.94518574e-01 9.55645662e-01 -4.21389528e-04 9.86146484e+00] [ 1.46072532e-03 -9.23109957e-06 9.99998933e-01 -1.03317325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:9.87, Z:-0.10 [[ 9.56693831e-01 -2.91092697e-01 -1.39852155e-03 1.51874138e+02] [ 2.91092391e-01 9.56694853e-01 -4.21830657e-04 9.86748415e+00] [ 1.46075020e-03 -3.53619576e-06 9.99998933e-01 -1.03368374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:9.87, Z:-0.10 [[ 9.57105263e-01 -2.89737052e-01 -1.39854671e-03 1.51900754e+02] [ 2.89736745e-01 9.57106285e-01 -4.21747244e-04 9.87464669e+00] [ 1.46075365e-03 -1.55386364e-06 9.99998933e-01 -1.03163310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:9.88, Z:-0.10 [[ 9.57409819e-01 -2.88729084e-01 -1.39846685e-03 1.51927572e+02] [ 2.88728775e-01 9.57410840e-01 -4.22011868e-04 9.88250076e+00] [ 1.46075442e-03 2.60683922e-07 9.99998933e-01 -1.02690606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:9.89, Z:-0.10 [[ 9.57779877e-01 -2.87499134e-01 -1.39838670e-03 1.51953718e+02] [ 2.87498824e-01 9.57780898e-01 -4.22277304e-04 9.89035855e+00] [ 1.46075243e-03 2.41417211e-06 9.99998933e-01 -1.04072048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:9.90, Z:-0.10 [[ 9.58292254e-01 -2.85786635e-01 -1.39835191e-03 1.51982098e+02] [ 2.85786323e-01 9.58293274e-01 -4.22392484e-04 9.89748525e+00] [ 1.46074535e-03 5.14559665e-06 9.99998933e-01 -1.03319916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:152.01, Y:9.90, Z:-0.10 [[ 9.58513475e-01 -2.85043791e-01 -1.39827989e-03 1.52008923e+02] [ 2.85043478e-01 9.58514495e-01 -4.22630756e-04 9.90413052e+00] [ 1.46073981e-03 6.52671210e-06 9.99998933e-01 -1.02724785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:9.91, Z:-0.10 [[ 9.58527508e-01 -2.84996600e-01 -1.39819661e-03 1.52035178e+02] [ 2.84996286e-01 9.58528528e-01 -4.22906092e-04 9.91207152e+00] [ 1.46073813e-03 6.88628144e-06 9.99998933e-01 -1.04433987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.06, Y:9.92, Z:-0.10 [[ 9.58720417e-01 -2.84346984e-01 -1.39817071e-03 1.52061511e+02] [ 2.84346669e-01 9.58721436e-01 -4.22991714e-04 9.91940065e+00] [ 1.46073265e-03 7.96560928e-06 9.99998933e-01 -1.03983113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:9.93, Z:-0.10 [[ 9.59026785e-01 -2.83311968e-01 -1.39814125e-03 1.52088007e+02] [ 2.83311652e-01 9.59027804e-01 -4.23089053e-04 9.92745144e+00] [ 1.46072252e-03 9.64402708e-06 9.99998933e-01 -1.03245287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:9.94, Z:-0.10 [[ 9.59190406e-01 -2.82757514e-01 -1.39764155e-03 1.52115132e+02] [ 2.82757195e-01 9.59191424e-01 -4.24739680e-04 9.93605464e+00] [ 1.46070413e-03 1.22130213e-05 9.99998933e-01 -1.01652319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:152.14, Y:9.95, Z:-0.10 [[ 9.59969950e-01 -2.80099519e-01 -1.39803257e-03 1.52142700e+02] [ 2.80099199e-01 9.59970968e-01 -4.23448714e-04 9.94591323e+00] [ 1.46067846e-03 1.49102369e-05 9.99998933e-01 -9.93670508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:9.95, Z:-0.10 [[ 9.60320078e-01 -2.78896744e-01 -1.39796150e-03 1.52168858e+02] [ 2.78896423e-01 9.60321095e-01 -4.23683223e-04 9.95487447e+00] [ 1.46065579e-03 1.69850447e-05 9.99998933e-01 -1.00420455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:9.96, Z:-0.10 [[ 9.60561342e-01 -2.78064659e-01 -1.39793631e-03 1.52195220e+02] [ 2.78064337e-01 9.60562359e-01 -4.23766319e-04 9.96310177e+00] [ 1.46063943e-03 1.83373116e-05 9.99998933e-01 -9.91466053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.22, Y:9.97, Z:-0.10 [[ 9.60706536e-01 -2.77562602e-01 -1.39785374e-03 1.52222299e+02] [ 2.77562279e-01 9.60707553e-01 -4.24038516e-04 9.97127467e+00] [ 1.46062588e-03 1.93851055e-05 9.99998933e-01 -9.86646994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:9.98, Z:-0.10 [[ 9.60680438e-01 -2.77652916e-01 -1.39777113e-03 1.52247817e+02] [ 2.77652592e-01 9.60681455e-01 -4.24310630e-04 9.97942735e+00] [ 1.46062389e-03 1.95321440e-05 9.99998933e-01 -1.00864377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:9.99, Z:-0.10 [[ 9.60568968e-01 -2.78038314e-01 -1.39773538e-03 1.52273760e+02] [ 2.78037991e-01 9.60569985e-01 -4.24428374e-04 9.98788117e+00] [ 1.46063000e-03 1.90691886e-05 9.99998933e-01 -1.04961012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:152.30, Y:10.00, Z:-0.10 [[ 9.60391560e-01 -2.78650495e-01 -1.39770131e-03 1.52300644e+02] [ 2.78650172e-01 9.60392577e-01 -4.24540546e-04 9.99678898e+00] [ 1.46064039e-03 1.82554462e-05 9.99998933e-01 -1.01046279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:10.00, Z:-0.10 [[ 9.60254321e-01 -2.79123065e-01 -1.39762237e-03 1.52326107e+02] [ 2.79122742e-01 9.60255338e-01 -4.24800273e-04 1.00047018e+01] [ 1.46064589e-03 1.78081111e-05 9.99998933e-01 -1.01649737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:10.01, Z:-0.10 [[ 9.60156098e-01 -2.79460755e-01 -1.39758797e-03 1.52352952e+02] [ 2.79460433e-01 9.60157115e-01 -4.24913396e-04 1.00133921e+01] [ 1.46065066e-03 1.74126482e-05 9.99998933e-01 -1.00701542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:10.02, Z:-0.10 [[ 9.60176015e-01 -2.79392318e-01 -1.39750784e-03 1.52379567e+02] [ 2.79391995e-01 9.60177032e-01 -4.25176799e-04 1.00227520e+01] [ 1.46064606e-03 1.77920619e-05 9.99998933e-01 -1.00127352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:10.03, Z:-0.10 [[ 9.60274351e-01 -2.79054150e-01 -1.39742737e-03 1.52406079e+02] [ 2.79053826e-01 9.60275367e-01 -4.25441095e-04 1.00319116e+01] [ 1.46063619e-03 1.85827160e-05 9.99998933e-01 -9.99691969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:10.04, Z:-0.10 [[ 9.60559992e-01 -2.78069325e-01 -1.39734702e-03 1.52432046e+02] [ 2.78069000e-01 9.60561008e-01 -4.25704855e-04 1.00411425e+01] [ 1.46061252e-03 2.03561653e-05 9.99998933e-01 -9.92272870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:10.05, Z:-0.10 [[ 9.60637616e-01 -2.77801041e-01 -1.39726579e-03 1.52458571e+02] [ 2.77800716e-01 9.60638632e-01 -4.25971286e-04 1.00503074e+01] [ 1.46060277e-03 2.10426035e-05 9.99998933e-01 -1.00248897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:10.06, Z:-0.10 [[ 9.60627143e-01 -2.77837254e-01 -1.39723026e-03 1.52485256e+02] [ 2.77836928e-01 9.60628159e-01 -4.26087817e-04 1.00598261e+01] [ 1.46060180e-03 2.11093602e-05 9.99998933e-01 -1.00085525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:10.07, Z:-0.10 [[ 9.60610241e-01 -2.77895687e-01 -1.39714862e-03 1.52510842e+02] [ 2.77895360e-01 9.60611257e-01 -4.26355334e-04 1.00689406e+01] [ 1.46059900e-03 2.13001808e-05 9.99998933e-01 -1.00799572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:10.08, Z:-0.10 [[ 9.60429032e-01 -2.78521315e-01 -1.39709284e-03 1.52537587e+02] [ 2.78520989e-01 9.60430048e-01 -4.26538024e-04 1.00779361e+01] [ 1.46060988e-03 2.05398210e-05 9.99998933e-01 -9.95988983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:10.09, Z:-0.10 [[ 9.59925677e-01 -2.80251216e-01 -1.39701022e-03 1.52563485e+02] [ 2.80250891e-01 9.59926693e-01 -4.26808482e-04 1.00870403e+01] [ 1.46064099e-03 1.81910629e-05 9.99998933e-01 -9.93697521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:10.10, Z:-0.10 [[ 9.59509154e-01 -2.81673982e-01 -1.39698446e-03 1.52589826e+02] [ 2.81673659e-01 9.59510171e-01 -4.26892769e-04 1.00955444e+01] [ 1.46066538e-03 1.61137966e-05 9.99998933e-01 -9.92209412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:10.10, Z:-0.10 [[ 9.58575696e-01 -2.84834483e-01 -1.39695969e-03 1.52616879e+02] [ 2.84834163e-01 9.58576714e-01 -4.26973819e-04 1.01040396e+01] [ 1.46070989e-03 1.13848833e-05 9.99998933e-01 -9.60966795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.64, Y:10.11, Z:-0.09 [[ 9.58161002e-01 -2.86226386e-01 -1.39688893e-03 1.52644629e+02] [ 2.86226067e-01 9.58162020e-01 -4.27205184e-04 1.01129883e+01] [ 1.46072331e-03 9.50532291e-06 9.99998933e-01 -9.40242657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:10.12, Z:-0.09 [[ 9.57839128e-01 -2.87301679e-01 -1.39681837e-03 1.52671132e+02] [ 2.87301361e-01 9.57840146e-01 -4.27435773e-04 1.01216753e+01] [ 1.46073172e-03 8.10689073e-06 9.99998933e-01 -9.31929845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:10.13, Z:-0.09 [[ 9.57613395e-01 -2.88053180e-01 -1.39673810e-03 1.52698473e+02] [ 2.88052862e-01 9.57614414e-01 -4.27697895e-04 1.01306635e+01] [ 1.46073628e-03 7.23482523e-06 9.99998933e-01 -9.24546117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:10.14, Z:-0.09 [[ 9.57518829e-01 -2.88367373e-01 -1.39666781e-03 1.52725179e+02] [ 2.88367055e-01 9.57519847e-01 -4.27927322e-04 1.01394910e+01] [ 1.46073742e-03 6.99548568e-06 9.99998933e-01 -9.21598457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:10.15, Z:-0.09 [[ 9.57567168e-01 -2.88206816e-01 -1.39663016e-03 1.52751590e+02] [ 2.88206498e-01 9.57568186e-01 -4.28050172e-04 1.01480173e+01] [ 1.46073558e-03 7.36890461e-06 9.99998933e-01 -9.25449394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:10.16, Z:-0.09 [[ 9.57513876e-01 -2.88383818e-01 -1.39660537e-03 1.52778761e+02] [ 2.88383500e-01 9.57514895e-01 -4.28131008e-04 1.01565586e+01] [ 1.46073650e-03 7.18343470e-06 9.99998933e-01 -9.25033354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.81, Y:10.17, Z:-0.09 [[ 9.57505679e-01 -2.88411035e-01 -1.39652619e-03 1.52805662e+02] [ 2.88410717e-01 9.57506697e-01 -4.28389158e-04 1.01655171e+01] [ 1.46073534e-03 7.41193291e-06 9.99998933e-01 -9.27528483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:152.83, Y:10.17, Z:-0.09 [[ 9.57492069e-01 -2.88456214e-01 -1.39644713e-03 1.52832178e+02] [ 2.88455895e-01 9.57493088e-01 -4.28646713e-04 1.01740561e+01] [ 1.46073428e-03 7.61242123e-06 9.99998933e-01 -9.38871521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:10.18, Z:-0.10 [[ 9.57415551e-01 -2.88710083e-01 -1.39636853e-03 1.52858822e+02] [ 2.88709765e-01 9.57416570e-01 -4.28902616e-04 1.01823219e+01] [ 1.46073487e-03 7.49280490e-06 9.99998933e-01 -9.55426792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:10.19, Z:-0.10 [[ 9.57344292e-01 -2.88946286e-01 -1.39634404e-03 1.52885763e+02] [ 2.88945968e-01 9.57345311e-01 -4.28982331e-04 1.01907574e+01] [ 1.46073627e-03 7.21580683e-06 9.99998933e-01 -9.68264690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:10.20, Z:-0.09 [[ 9.57246304e-01 -2.89270744e-01 -1.39631978e-03 1.52912191e+02] [ 2.89270426e-01 9.57247323e-01 -4.29061287e-04 1.01992456e+01] [ 1.46073824e-03 6.80331487e-06 9.99998933e-01 -9.49885242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:152.94, Y:10.21, Z:-0.10 [[ 9.57153030e-01 -2.89579226e-01 -1.39623833e-03 1.52938312e+02] [ 2.89578908e-01 9.57154048e-01 -4.29326163e-04 1.02071585e+01] [ 1.46073911e-03 6.60966726e-06 9.99998933e-01 -9.67728897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:10.22, Z:-0.10 [[ 9.56976523e-01 -2.90161999e-01 -1.39620290e-03 1.52965510e+02] [ 2.90161681e-01 9.56977541e-01 -4.29441342e-04 1.02151100e+01] [ 1.46074238e-03 5.84070042e-06 9.99998933e-01 -9.57324228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:10.22, Z:-0.09 [[ 9.56776006e-01 -2.90822498e-01 -1.39612344e-03 1.52992781e+02] [ 2.90822181e-01 9.56777024e-01 -4.29699519e-04 1.02232328e+01] [ 1.46074512e-03 5.10252617e-06 9.99998933e-01 -9.47640657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:10.23, Z:-0.10 [[ 9.56655170e-01 -2.91219738e-01 -1.39604143e-03 1.53019127e+02] [ 2.91219421e-01 9.56656189e-01 -4.29965806e-04 1.02311919e+01] [ 1.46074620e-03 4.77463534e-06 9.99998933e-01 -9.57281472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:10.24, Z:-0.09 [[ 9.56463638e-01 -2.91848181e-01 -1.39601606e-03 1.53046081e+02] [ 2.91847865e-01 9.56464656e-01 -4.30048160e-04 1.02397652e+01] [ 1.46074879e-03 3.90112226e-06 9.99998933e-01 -9.45593917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:10.25, Z:-0.09 [[ 9.56382430e-01 -2.92114188e-01 -1.39599096e-03 1.53073237e+02] [ 2.92113871e-01 9.56383449e-01 -4.30129610e-04 1.02478286e+01] [ 1.46074961e-03 3.58007704e-06 9.99998933e-01 -9.33902116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:10.26, Z:-0.09 [[ 9.56321243e-01 -2.92314440e-01 -1.39596602e-03 1.53101326e+02] [ 2.92314124e-01 9.56322262e-01 -4.30210530e-04 1.02558166e+01] [ 1.46075013e-03 3.35888395e-06 9.99998933e-01 -9.12728445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:10.26, Z:-0.09 [[ 9.56266904e-01 -2.92492152e-01 -1.39589329e-03 1.53127959e+02] [ 2.92491836e-01 9.56267923e-01 -4.30446384e-04 1.02633067e+01] [ 1.46075017e-03 3.33423953e-06 9.99998933e-01 -9.28316720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:10.27, Z:-0.09 [[ 9.56274218e-01 -2.92468241e-01 -1.39586759e-03 1.53155696e+02] [ 2.92467924e-01 9.56275236e-01 -4.30529736e-04 1.02714960e+01] [ 1.46074988e-03 3.45799058e-06 9.99998933e-01 -9.29266177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:10.28, Z:-0.10 [[ 9.56448293e-01 -2.91898465e-01 -1.39579664e-03 1.53181142e+02] [ 2.91898147e-01 9.56449312e-01 -4.30759638e-04 1.02791071e+01] [ 1.46074681e-03 4.56886941e-06 9.99998933e-01 -9.51850021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:10.29, Z:-0.09 [[ 9.56758555e-01 -2.90879906e-01 -1.39576141e-03 1.53208005e+02] [ 2.90879587e-01 9.56759573e-01 -4.30873753e-04 1.02872558e+01] [ 1.46074060e-03 6.24364819e-06 9.99998933e-01 -9.23563728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:10.30, Z:-0.09 [[ 9.57866448e-01 -2.87210584e-01 -1.39567670e-03 1.53234654e+02] [ 2.87210261e-01 9.57867465e-01 -4.31147962e-04 1.02962938e+01] [ 1.46070356e-03 1.21294975e-05 9.99998933e-01 -9.45054504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:10.31, Z:-0.10 [[ 9.58442094e-01 -2.85283726e-01 -1.39565043e-03 1.53260743e+02] [ 2.85283401e-01 9.58443110e-01 -4.31232977e-04 1.03054846e+01] [ 1.46067529e-03 1.51559360e-05 9.99998933e-01 -9.73063448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:10.31, Z:-0.09 [[ 9.58932210e-01 -2.83631926e-01 -1.39562512e-03 1.53287176e+02] [ 2.83631599e-01 9.58933225e-01 -4.31314865e-04 1.03143779e+01] [ 1.46064597e-03 1.77583319e-05 9.99998933e-01 -9.38329083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:10.32, Z:-0.09 [[ 9.59871157e-01 -2.80437898e-01 -1.39554127e-03 1.53313438e+02] [ 2.80437566e-01 9.59872171e-01 -4.31585995e-04 1.03239959e+01] [ 1.46057430e-03 2.29047496e-05 9.99998933e-01 -9.35549708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:10.33, Z:-0.09 [[ 9.60281328e-01 -2.79030148e-01 -1.39551526e-03 1.53339173e+02] [ 2.79029815e-01 9.60282342e-01 -4.31670093e-04 1.03339085e+01] [ 1.46053763e-03 2.51343643e-05 9.99998933e-01 -9.26321383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:10.34, Z:-0.09 [[ 9.60668937e-01 -2.77692719e-01 -1.39543225e-03 1.53365156e+02] [ 2.77692384e-01 9.60669950e-01 -4.31938261e-04 1.03437636e+01] [ 1.46049594e-03 2.74487613e-05 9.99998933e-01 -9.24411900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:10.35, Z:-0.09 [[ 9.60955628e-01 -2.76698996e-01 -1.39539324e-03 1.53390065e+02] [ 2.76698660e-01 9.60956640e-01 -4.32064241e-04 1.03535649e+01] [ 1.46046415e-03 2.90911230e-05 9.99998933e-01 -9.24283766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:10.37, Z:-0.09 [[ 9.61247011e-01 -2.75685031e-01 -1.39535764e-03 1.53415971e+02] [ 2.75684694e-01 9.61248023e-01 -4.32179207e-04 1.03659637e+01] [ 1.46043011e-03 3.07522277e-05 9.99998933e-01 -9.14586937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:10.38, Z:-0.09 [[ 9.61190085e-01 -2.75883442e-01 -1.39527427e-03 1.53440768e+02] [ 2.75883105e-01 9.61191097e-01 -4.32448197e-04 1.03759866e+01] [ 1.46043050e-03 3.07323230e-05 9.99998933e-01 -9.19742991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:10.39, Z:-0.09 [[ 9.60941015e-01 -2.76749741e-01 -1.39523803e-03 1.53466504e+02] [ 2.76749405e-01 9.60942027e-01 -4.32565085e-04 1.03861187e+01] [ 1.46045513e-03 2.95382390e-05 9.99998933e-01 -9.19275390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:10.40, Z:-0.09 [[ 9.60577220e-01 -2.78009815e-01 -1.39515558e-03 1.53493994e+02] [ 2.78009479e-01 9.60578233e-01 -4.32830827e-04 1.03961919e+01] [ 1.46048730e-03 2.79009555e-05 9.99998933e-01 -9.14177541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:10.41, Z:-0.09 [[ 9.59666294e-01 -2.81138148e-01 -1.39508357e-03 1.53519264e+02] [ 2.81137815e-01 9.59667308e-01 -4.33062802e-04 1.04083615e+01] [ 1.46056657e-03 2.33850265e-05 9.99998933e-01 -9.08094751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:10.42, Z:-0.09 [[ 9.59056321e-01 -2.83211984e-01 -1.39504522e-03 1.53544308e+02] [ 2.83211653e-01 9.59057335e-01 -4.33186330e-04 1.04191137e+01] [ 1.46061191e-03 2.03570264e-05 9.99998933e-01 -9.12210915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.57, Y:10.43, Z:-0.09 [[ 9.57658407e-01 -2.87903507e-01 -1.39498956e-03 1.53569915e+02] [ 2.87903181e-01 9.57659423e-01 -4.33365491e-04 1.04313624e+01] [ 1.46069234e-03 1.33941744e-05 9.99998933e-01 -9.04932850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:10.44, Z:-0.09 [[ 9.56912348e-01 -2.90373573e-01 -1.39490844e-03 1.53597277e+02] [ 2.90373249e-01 9.56913365e-01 -4.33626439e-04 1.04406616e+01] [ 1.46072019e-03 9.89839803e-06 9.99998933e-01 -9.02639438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:10.45, Z:-0.09 [[ 9.56066968e-01 -2.93145027e-01 -1.39483780e-03 1.53623202e+02] [ 2.93144706e-01 9.56067986e-01 -4.33853530e-04 1.04499619e+01] [ 1.46074178e-03 5.90371091e-06 9.99998933e-01 -9.06128178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.65, Y:10.46, Z:-0.09 [[ 9.55113371e-01 -2.96237240e-01 -1.39475703e-03 1.53649722e+02] [ 2.96236922e-01 9.55114390e-01 -4.34113059e-04 1.04599706e+01] [ 1.46075296e-03 1.44865815e-06 9.99998933e-01 -9.15693142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:153.68, Y:10.47, Z:-0.09 [[ 9.54248667e-01 -2.99010931e-01 -1.39467676e-03 1.53675105e+02] [ 2.99010615e-01 9.54249686e-01 -4.34370783e-04 1.04688470e+01] [ 1.46075147e-03 -2.52541510e-06 9.99998933e-01 -9.20360898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:10.48, Z:-0.09 [[ 9.52740499e-01 -3.03782153e-01 -1.39464195e-03 1.53700855e+02] [ 3.03781842e-01 9.52741520e-01 -4.34482514e-04 1.04775000e+01] [ 1.46072133e-03 -9.71781460e-06 9.99998933e-01 -9.30419626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:10.49, Z:-0.09 [[ 9.51969338e-01 -3.06190194e-01 -1.39460736e-03 1.53727776e+02] [ 3.06189886e-01 9.51970359e-01 -4.34593532e-04 1.04862064e+01] [ 1.46069314e-03 -1.32949508e-05 9.99998933e-01 -9.27877360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:10.50, Z:-0.09 [[ 9.51163900e-01 -3.08683155e-01 -1.39452938e-03 1.53753879e+02] [ 3.08682849e-01 9.51164922e-01 -4.34843587e-04 1.04951183e+01] [ 1.46065632e-03 -1.68597808e-05 9.99998933e-01 -9.03866614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:10.50, Z:-0.09 [[ 9.49925422e-01 -3.12473596e-01 -1.39444477e-03 1.53780009e+02] [ 3.12473294e-01 9.49926445e-01 -4.35114755e-04 1.05037566e+01] [ 1.46058183e-03 -2.24001828e-05 9.99998933e-01 -9.34380173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.81, Y:10.51, Z:-0.09 [[ 9.49327607e-01 -3.14285142e-01 -1.39441842e-03 1.53806781e+02] [ 3.14284841e-01 9.49328631e-01 -4.35199169e-04 1.05122035e+01] [ 1.46053797e-03 -2.50979867e-05 9.99998933e-01 -9.34710739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:10.52, Z:-0.10 [[ 9.48927127e-01 -3.15492256e-01 -1.39433649e-03 1.53833563e+02] [ 3.15491956e-01 9.48928151e-01 -4.35461503e-04 1.05194048e+01] [ 1.46050988e-03 -2.66807160e-05 9.99998933e-01 -9.61406420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:10.53, Z:-0.09 [[ 9.48293217e-01 -3.17392550e-01 -1.39431104e-03 1.53860747e+02] [ 3.17392253e-01 9.48294241e-01 -4.35542977e-04 1.05263384e+01] [ 1.46045523e-03 -2.95210727e-05 9.99998933e-01 -9.25472444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156000004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:153.89, Y:10.53, Z:-0.09 [[ 9.48001816e-01 -3.18261864e-01 -1.39405143e-03 1.53888584e+02] [ 3.18261566e-01 9.48002840e-01 -4.36373670e-04 1.05347998e+01] [ 1.46044581e-03 -2.99899604e-05 9.99998933e-01 -9.10952972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:10.54, Z:-0.09 [[ 9.47927190e-01 -3.18484063e-01 -1.39421087e-03 1.53915467e+02] [ 3.18483766e-01 9.47928215e-01 -4.35863662e-04 1.05417616e+01] [ 1.46042745e-03 -3.08665125e-05 9.99998933e-01 -9.10625141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:10.55, Z:-0.09 [[ 9.47909233e-01 -3.18537507e-01 -1.39412839e-03 1.53941915e+02] [ 3.18537210e-01 9.47910257e-01 -4.36127333e-04 1.05487283e+01] [ 1.46043151e-03 -3.06726399e-05 9.99998933e-01 -9.05864708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:10.56, Z:-0.09 [[ 9.47988553e-01 -3.18301365e-01 -1.39407226e-03 1.53968119e+02] [ 3.18301068e-01 9.47989578e-01 -4.36306667e-04 1.05558546e+01] [ 1.46044298e-03 -3.01209624e-05 9.99998933e-01 -9.07367962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.99, Y:10.56, Z:-0.09 [[ 9.48428679e-01 -3.16987535e-01 -1.39403674e-03 1.53994853e+02] [ 3.16987236e-01 9.48429703e-01 -4.36420135e-04 1.05635262e+01] [ 1.46048559e-03 -2.79784800e-05 9.99998933e-01 -9.03415113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:10.57, Z:-0.09 [[ 9.48803644e-01 -3.15863423e-01 -1.39395458e-03 1.54022332e+02] [ 3.15863122e-01 9.48804668e-01 -4.36682396e-04 1.05707093e+01] [ 1.46052261e-03 -2.59729969e-05 9.99998933e-01 -9.08210839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.05, Y:10.58, Z:-0.09 [[ 9.49107163e-01 -3.14950234e-01 -1.39388296e-03 1.54048940e+02] [ 3.14949931e-01 9.49108187e-01 -4.36910888e-04 1.05780378e+01] [ 1.46055091e-03 -2.43280883e-05 9.99998933e-01 -9.04806457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.08, Y:10.58, Z:-0.09 [[ 9.49936471e-01 -3.12440008e-01 -1.39380121e-03 1.54075026e+02] [ 3.12439703e-01 9.49937493e-01 -4.37171525e-04 1.05836827e+01] [ 1.46061390e-03 -2.01936597e-05 9.99998933e-01 -8.87169620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:10.59, Z:-0.09 [[ 9.50320180e-01 -3.11270966e-01 -1.39322733e-03 1.54103855e+02] [ 3.11270657e-01 9.50321201e-01 -4.38999876e-04 1.05920960e+01] [ 1.46066139e-03 -1.64803455e-05 9.99998933e-01 -8.99606387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:154.13, Y:10.60, Z:-0.09 [[ 9.50715149e-01 -3.10062515e-01 -1.39370934e-03 1.54130945e+02] [ 3.10062207e-01 9.50716170e-01 -4.37464251e-04 1.06005197e+01] [ 1.46066328e-03 -1.62327042e-05 9.99998933e-01 -8.93718597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:10.61, Z:-0.09 [[ 9.51753373e-01 -3.06860839e-01 -1.39363268e-03 1.54159290e+02] [ 3.06860527e-01 9.51754393e-01 -4.37708338e-04 1.06058676e+01] [ 1.46071157e-03 -1.10604716e-05 9.99998933e-01 -8.79975871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:10.61, Z:-0.09 [[ 9.52205644e-01 -3.05454531e-01 -1.39355775e-03 1.54185766e+02] [ 3.05454217e-01 9.52206663e-01 -4.37946766e-04 1.06122703e+01] [ 1.46072780e-03 -8.65270967e-06 9.99998933e-01 -8.95232473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:10.62, Z:-0.09 [[ 9.52325211e-01 -3.05081549e-01 -1.39281082e-03 1.54213189e+02] [ 3.05081231e-01 9.52326230e-01 -4.40322523e-04 1.06198637e+01] [ 1.46074455e-03 -5.59019948e-06 9.99998933e-01 -8.76358107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.24, Y:10.63, Z:-0.09 [[ 9.52336397e-01 -3.05046629e-01 -1.39347995e-03 1.54239162e+02] [ 3.05046315e-01 9.52337416e-01 -4.38194652e-04 1.06276124e+01] [ 1.46073290e-03 -7.76720744e-06 9.99998933e-01 -8.93725872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:10.63, Z:-0.09 [[ 9.52047493e-01 -3.05947103e-01 -1.39342062e-03 1.54266864e+02] [ 3.05946789e-01 9.52048512e-01 -4.38383246e-04 1.06338966e+01] [ 1.46072611e-03 -8.95089296e-06 9.99998933e-01 -9.03757662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:10.64, Z:-0.09 [[ 9.51794332e-01 -3.06733775e-01 -1.39333791e-03 1.54292963e+02] [ 3.06733462e-01 9.51795351e-01 -4.38645950e-04 1.06405937e+01] [ 1.46072008e-03 -9.88263190e-06 9.99998933e-01 -9.22882573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:10.65, Z:-0.09 [[ 9.51473431e-01 -3.07727751e-01 -1.39302397e-03 1.54320701e+02] [ 3.07727437e-01 9.51474451e-01 -4.39642744e-04 1.06474842e+01] [ 1.46071699e-03 -1.03633075e-05 9.99998933e-01 -9.08523604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.35, Y:10.65, Z:-0.09 [[ 9.51185203e-01 -3.08617510e-01 -1.39324071e-03 1.54348111e+02] [ 3.08617198e-01 9.51186224e-01 -4.38954827e-04 1.06520701e+01] [ 1.46070051e-03 -1.24507074e-05 9.99998933e-01 -9.04523062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:10.66, Z:-0.09 [[ 9.51084887e-01 -3.08926523e-01 -1.39321481e-03 1.54375490e+02] [ 3.08926212e-01 9.51085907e-01 -4.39037017e-04 1.06582432e+01] [ 1.46069715e-03 -1.28391013e-05 9.99998933e-01 -8.95075337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:10.66, Z:-0.09 [[ 9.50991810e-01 -3.09212931e-01 -1.39312893e-03 1.54402622e+02] [ 3.09212619e-01 9.50992830e-01 -4.39309354e-04 1.06644498e+01] [ 1.46069576e-03 -1.29934485e-05 9.99998933e-01 -8.99214523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.43, Y:10.67, Z:-0.09 [[ 9.50941732e-01 -3.09366904e-01 -1.39304279e-03 1.54429035e+02] [ 3.09366592e-01 9.50942752e-01 -4.39582323e-04 1.06703713e+01] [ 1.46069617e-03 -1.29437260e-05 9.99998933e-01 -9.01511618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.46, Y:10.68, Z:-0.09 [[ 9.50881610e-01 -3.09551650e-01 -1.39300542e-03 1.54456142e+02] [ 3.09551338e-01 9.50882630e-01 -4.39700723e-04 1.06791214e+01] [ 1.46069474e-03 -1.31033603e-05 9.99998933e-01 -9.01095555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:10.68, Z:-0.09 [[ 9.50843581e-01 -3.09668443e-01 -1.39291994e-03 1.54484404e+02] [ 3.09668131e-01 9.50844601e-01 -4.39971344e-04 1.06828109e+01] [ 1.46069565e-03 -1.29989871e-05 9.99998933e-01 -9.04773657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:10.69, Z:-0.09 [[ 9.50800611e-01 -3.09800351e-01 -1.39289341e-03 1.54512392e+02] [ 3.09800039e-01 9.50801631e-01 -4.40055331e-04 1.06898891e+01] [ 1.46069462e-03 -1.31135541e-05 9.99998933e-01 -8.61438960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:10.70, Z:-0.09 [[ 9.50867107e-01 -3.09596195e-01 -1.39281843e-03 1.54539167e+02] [ 3.09595882e-01 9.50868128e-01 -4.40292525e-04 1.06960531e+01] [ 1.46069954e-03 -1.25511694e-05 9.99998933e-01 -8.56427277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:10.70, Z:-0.09 [[ 9.50936322e-01 -3.09383536e-01 -1.39279183e-03 1.54566348e+02] [ 3.09383223e-01 9.50937342e-01 -4.40376638e-04 1.06990760e+01] [ 1.46070304e-03 -1.21362852e-05 9.99998933e-01 -8.57574083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:10.71, Z:-0.09 [[ 9.51073433e-01 -3.08961787e-01 -1.39275599e-03 1.54594045e+02] [ 3.08961473e-01 9.51074452e-01 -4.40489970e-04 1.07050638e+01] [ 1.46070921e-03 -1.13696337e-05 9.99998933e-01 -8.53273037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.62, Y:10.71, Z:-0.09 [[ 9.51293203e-01 -3.08284452e-01 -1.39267330e-03 1.54619961e+02] [ 3.08284137e-01 9.51294222e-01 -4.40751243e-04 1.07112825e+01] [ 1.46071882e-03 -1.00554245e-05 9.99998933e-01 -8.56208516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.65, Y:10.72, Z:-0.09 [[ 9.51598036e-01 -3.07342217e-01 -1.39263736e-03 1.54646672e+02] [ 3.07341901e-01 9.51599055e-01 -4.40864767e-04 1.07182523e+01] [ 1.46072875e-03 -8.48976762e-06 9.99998933e-01 -8.54025153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:10.72, Z:-0.08 [[ 9.52579465e-01 -3.04286747e-01 -1.39255416e-03 1.54675089e+02] [ 3.04286427e-01 9.52580483e-01 -4.41127430e-04 1.07217512e+01] [ 1.46074914e-03 -3.52639803e-06 9.99998933e-01 -8.46939236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:10.73, Z:-0.08 [[ 9.53142971e-01 -3.02517005e-01 -1.39250081e-03 1.54701707e+02] [ 3.02516684e-01 9.53143988e-01 -4.41295780e-04 1.07281442e+01] [ 1.46075325e-03 -6.36754473e-07 9.99998933e-01 -8.49767601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:10.73, Z:-0.09 [[ 9.53823786e-01 -3.00363523e-01 -1.39244220e-03 1.54728131e+02] [ 3.00363198e-01 9.53824803e-01 -4.41480610e-04 1.07348042e+01] [ 1.46075058e-03 2.85631296e-06 9.99998933e-01 -8.59796509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:10.74, Z:-0.09 [[ 9.55451270e-01 -2.95145612e-01 -1.39240588e-03 1.54755935e+02] [ 2.95145282e-01 9.55452284e-01 -4.41595134e-04 1.07411520e+01] [ 1.46071225e-03 1.09606044e-05 9.99998933e-01 -8.55755174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:10.75, Z:-0.09 [[ 9.56249107e-01 -2.92550351e-01 -1.39232207e-03 1.54781882e+02] [ 2.92550017e-01 9.56250120e-01 -4.41859223e-04 1.07485326e+01] [ 1.46067422e-03 1.52036411e-05 9.99998933e-01 -8.73417232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:10.76, Z:-0.09 [[ 9.57003397e-01 -2.90073370e-01 -1.39228571e-03 1.54808610e+02] [ 2.90073034e-01 9.57004409e-01 -4.41973770e-04 1.07561800e+01] [ 1.46062839e-03 1.91058579e-05 9.99998933e-01 -8.53401308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:10.76, Z:-0.09 [[ 9.57726500e-01 -2.87676926e-01 -1.39220091e-03 1.54834046e+02] [ 2.87676587e-01 9.57727511e-01 -4.42240738e-04 1.07643044e+01] [ 1.46057157e-03 2.30420681e-05 9.99998933e-01 -8.56596171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:10.77, Z:-0.09 [[ 9.59051093e-01 -2.83229700e-01 -1.39216416e-03 1.54860397e+02] [ 2.83229356e-01 9.59052103e-01 -4.42356376e-04 1.07720938e+01] [ 1.46044643e-03 2.99406063e-05 9.99998933e-01 -8.68956224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:10.78, Z:-0.09 [[ 9.59611241e-01 -2.81326016e-01 -1.39213816e-03 1.54887528e+02] [ 2.81325670e-01 9.59612251e-01 -4.42438185e-04 1.07803515e+01] [ 1.46038221e-03 3.29244540e-05 9.99998933e-01 -8.71293664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:10.79, Z:-0.09 [[ 9.60118365e-01 -2.79590392e-01 -1.39205541e-03 1.54914546e+02] [ 2.79590043e-01 9.60119374e-01 -4.42698409e-04 1.07893497e+01] [ 1.46031359e-03 3.58380409e-05 9.99998933e-01 -8.74913398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:10.80, Z:-0.09 [[ 9.60486028e-01 -2.78324725e-01 -1.39197280e-03 1.54940711e+02] [ 2.78324375e-01 9.60487036e-01 -4.42958008e-04 1.07989769e+01] [ 1.46025799e-03 3.80350191e-05 9.99998933e-01 -8.74423304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:10.81, Z:-0.09 [[ 9.60973921e-01 -2.76635474e-01 -1.39189039e-03 1.54966035e+02] [ 2.76635122e-01 9.60974928e-01 -4.43216816e-04 1.08102366e+01] [ 1.46018126e-03 4.08740355e-05 9.99998933e-01 -8.71851013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:10.82, Z:-0.09 [[ 9.61065285e-01 -2.76317899e-01 -1.39180848e-03 1.54991921e+02] [ 2.76317546e-01 9.61066292e-01 -4.43473866e-04 1.08199277e+01] [ 1.46015998e-03 4.16262337e-05 9.99998933e-01 -8.53475721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:155.02, Y:10.83, Z:-0.09 [[ 9.61033742e-01 -2.76427586e-01 -1.39172249e-03 1.55016860e+02] [ 2.76427233e-01 9.61034749e-01 -4.43743549e-04 1.08294002e+01] [ 1.46015664e-03 4.17425257e-05 9.99998933e-01 -8.66135457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:10.84, Z:-0.08 [[ 9.60796425e-01 -2.77251317e-01 -1.39166367e-03 1.55042499e+02] [ 2.77250964e-01 9.60797432e-01 -4.43927966e-04 1.08402960e+01] [ 1.46018649e-03 4.06843093e-05 9.99998933e-01 -8.45102931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:10.85, Z:-0.08 [[ 9.60609024e-01 -2.77899921e-01 -1.39157745e-03 1.55067988e+02] [ 2.77899568e-01 9.60610031e-01 -4.44198075e-04 1.08497046e+01] [ 1.46020586e-03 3.99819077e-05 9.99998933e-01 -8.46064293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:10.86, Z:-0.08 [[ 9.60308849e-01 -2.78935437e-01 -1.39151871e-03 1.55092845e+02] [ 2.78935085e-01 9.60309857e-01 -4.44382011e-04 1.08590095e+01] [ 1.46024302e-03 3.86005880e-05 9.99998933e-01 -8.45877152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:10.87, Z:-0.08 [[ 9.59831233e-01 -2.80574532e-01 -1.39148252e-03 1.55119181e+02] [ 2.80574182e-01 9.59832241e-01 -4.44495302e-04 1.08690900e+01] [ 1.46030384e-03 3.62264040e-05 9.99998933e-01 -8.47836994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:10.88, Z:-0.09 [[ 9.58818677e-01 -2.84015507e-01 -1.39139881e-03 1.55144893e+02] [ 2.84015160e-01 9.58819686e-01 -4.44757168e-04 1.08792062e+01] [ 1.46041851e-03 3.12631231e-05 9.99998933e-01 -8.62968749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:10.89, Z:-0.09 [[ 9.58281109e-01 -2.85824037e-01 -1.39131352e-03 1.55170987e+02] [ 2.85823692e-01 9.58282119e-01 -4.45023812e-04 1.08886155e+01] [ 1.46046937e-03 2.87875443e-05 9.99998933e-01 -8.74123839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:10.90, Z:-0.09 [[ 9.57743807e-01 -2.87619306e-01 -1.39122748e-03 1.55197370e+02] [ 2.87618962e-01 9.57744817e-01 -4.45292653e-04 1.08983790e+01] [ 1.46051567e-03 2.63328773e-05 9.99998933e-01 -8.91035966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.22, Y:10.91, Z:-0.09 [[ 9.57229260e-01 -2.89327165e-01 -1.39114161e-03 1.55223831e+02] [ 2.89326823e-01 9.57230271e-01 -4.45560735e-04 1.09089850e+01] [ 1.46055569e-03 2.40091894e-05 9.99998933e-01 -8.90683386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:10.92, Z:-0.09 [[ 9.56394951e-01 -2.92073216e-01 -1.39105566e-03 1.55249461e+02] [ 2.92072876e-01 9.56395962e-01 -4.45828911e-04 1.09191237e+01] [ 1.46061470e-03 2.00988913e-05 9.99998933e-01 -9.21105871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:10.93, Z:-0.09 [[ 9.55995606e-01 -2.93377687e-01 -1.39101557e-03 1.55274760e+02] [ 2.93377348e-01 9.55996618e-01 -4.45953963e-04 1.09272736e+01] [ 1.46063912e-03 1.82375689e-05 9.99998933e-01 -9.33617217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:10.94, Z:-0.09 [[ 9.55336450e-01 -2.95517060e-01 -1.39095766e-03 1.55300750e+02] [ 2.95516724e-01 9.55337462e-01 -4.46134509e-04 1.09367316e+01] [ 1.46067432e-03 1.51573059e-05 9.99998933e-01 -9.19908879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:10.95, Z:-0.09 [[ 9.55080526e-01 -2.96343136e-01 -1.39087087e-03 1.55326324e+02] [ 2.96342800e-01 9.55081539e-01 -4.46404936e-04 1.09459869e+01] [ 1.46068413e-03 1.41780938e-05 9.99998933e-01 -9.24200375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.35, Y:10.96, Z:-0.09 [[ 9.54822612e-01 -2.97173089e-01 -1.39083305e-03 1.55351729e+02] [ 2.97172754e-01 9.54823625e-01 -4.46522748e-04 1.09553006e+01] [ 1.46069480e-03 1.30323307e-05 9.99998933e-01 -9.23437867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:10.96, Z:-0.09 [[ 9.54578363e-01 -2.97956734e-01 -1.39079669e-03 1.55378562e+02] [ 2.97956399e-01 9.54579376e-01 -4.46635952e-04 1.09647167e+01] [ 1.46070403e-03 1.19522414e-05 9.99998933e-01 -9.03469847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.40, Y:10.98, Z:-0.09 [[ 9.54375254e-01 -2.98606665e-01 -1.39072266e-03 1.55404828e+02] [ 2.98606330e-01 9.54376267e-01 -4.46866366e-04 1.09755808e+01] [ 1.46070997e-03 1.11996122e-05 9.99998933e-01 -8.74653024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.43, Y:10.98, Z:-0.09 [[ 9.54466997e-01 -2.98313288e-01 -1.39069572e-03 1.55431508e+02] [ 2.98312953e-01 9.54468010e-01 -4.46950167e-04 1.09843887e+01] [ 1.46070575e-03 1.17366354e-05 9.99998933e-01 -8.69269644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.46, Y:10.99, Z:-0.09 [[ 9.54683196e-01 -2.97620665e-01 -1.39066892e-03 1.55458388e+02] [ 2.97620330e-01 9.54684209e-01 -4.47033559e-04 1.09927599e+01] [ 1.46069608e-03 1.28840852e-05 9.99998933e-01 -8.62811013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:11.00, Z:-0.09 [[ 9.54904650e-01 -2.96909373e-01 -1.39064246e-03 1.55484858e+02] [ 2.96909036e-01 9.54905662e-01 -4.47115848e-04 1.10019065e+01] [ 1.46068525e-03 1.40586890e-05 9.99998933e-01 -8.53776876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.51, Y:11.01, Z:-0.08 [[ 9.55541669e-01 -2.94852818e-01 -1.39055888e-03 1.55509942e+02] [ 2.94852479e-01 9.55542681e-01 -4.47375646e-04 1.10143628e+01] [ 1.46064833e-03 1.74763387e-05 9.99998933e-01 -8.49316280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:11.02, Z:-0.09 [[ 9.55894695e-01 -2.93706314e-01 -1.39047488e-03 1.55536032e+02] [ 2.93705973e-01 9.55895706e-01 -4.47636549e-04 1.10238798e+01] [ 1.46062265e-03 1.95026232e-05 9.99998933e-01 -8.62185308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:11.03, Z:-0.09 [[ 9.56228439e-01 -2.92617905e-01 -1.39039040e-03 1.55562686e+02] [ 2.92617563e-01 9.56229450e-01 -4.47898803e-04 1.10336649e+01] [ 1.46059546e-03 2.14409224e-05 9.99998933e-01 -8.65988724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:11.04, Z:-0.09 [[ 9.56679536e-01 -2.91139714e-01 -1.39030429e-03 1.55588733e+02] [ 2.91139370e-01 9.56680546e-01 -4.48165942e-04 1.10437638e+01] [ 1.46055597e-03 2.39788697e-05 9.99998933e-01 -8.90340277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:11.05, Z:-0.09 [[ 9.56724757e-01 -2.90991076e-01 -1.39027770e-03 1.55614975e+02] [ 2.90990731e-01 9.56725767e-01 -4.48248404e-04 1.10532079e+01] [ 1.46055079e-03 2.42924199e-05 9.99998933e-01 -8.93671130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:11.06, Z:-0.09 [[ 9.56649178e-01 -2.91239450e-01 -1.39019359e-03 1.55641483e+02] [ 2.91239106e-01 9.56650188e-01 -4.48509107e-04 1.10626594e+01] [ 1.46055251e-03 2.41871289e-05 9.99998933e-01 -8.93382319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:155.67, Y:11.07, Z:-0.09 [[ 9.56525214e-01 -2.91646330e-01 -1.39010823e-03 1.55667595e+02] [ 2.91645986e-01 9.56526224e-01 -4.48773539e-04 1.10723087e+01] [ 1.46055813e-03 2.38437207e-05 9.99998933e-01 -8.82350916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.69, Y:11.08, Z:-0.09 [[ 9.56140099e-01 -2.92906433e-01 -1.39002145e-03 1.55693216e+02] [ 2.92906089e-01 9.56141109e-01 -4.49042146e-04 1.10820771e+01] [ 1.46058399e-03 2.22014547e-05 9.99998933e-01 -8.93410614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.72, Y:11.09, Z:-0.09 [[ 9.55830073e-01 -2.93916553e-01 -1.38998363e-03 1.55719585e+02] [ 2.93916211e-01 9.55831083e-01 -4.49159204e-04 1.10911331e+01] [ 1.46060488e-03 2.07811532e-05 9.99998933e-01 -8.86891450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:11.10, Z:-0.09 [[ 9.55500633e-01 -2.94985777e-01 -1.38989705e-03 1.55745454e+02] [ 2.94985435e-01 9.55501644e-01 -4.49426956e-04 1.10991510e+01] [ 1.46062347e-03 1.94283549e-05 9.99998933e-01 -9.00332113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.77, Y:11.11, Z:-0.09 [[ 9.54646697e-01 -2.97737725e-01 -1.38983777e-03 1.55771783e+02] [ 2.97737386e-01 9.54647708e-01 -4.49610210e-04 1.11082696e+01] [ 1.46067136e-03 1.54122384e-05 9.99998933e-01 -9.05017688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.80, Y:11.12, Z:-0.09 [[ 9.54303525e-01 -2.98835825e-01 -1.38975234e-03 1.55797615e+02] [ 2.98835486e-01 9.54304537e-01 -4.49874095e-04 1.11170589e+01] [ 1.46068546e-03 1.40091172e-05 9.99998933e-01 -9.14159555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:11.13, Z:-0.09 [[ 9.53906474e-01 -3.00100830e-01 -1.38971515e-03 1.55823846e+02] [ 3.00100493e-01 9.53907486e-01 -4.49988978e-04 1.11258176e+01] [ 1.46070175e-03 1.21931990e-05 9.99998933e-01 -9.08731804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:11.13, Z:-0.09 [[ 9.53390598e-01 -3.01735706e-01 -1.38962969e-03 1.55850388e+02] [ 3.01735370e-01 9.53391611e-01 -4.50252708e-04 1.11347456e+01] [ 1.46071861e-03 9.96626852e-06 9.99998933e-01 -9.02624350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:11.14, Z:-0.09 [[ 9.53280247e-01 -3.02084160e-01 -1.38954407e-03 1.55876445e+02] [ 3.02083824e-01 9.53281260e-01 -4.50516792e-04 1.11431916e+01] [ 1.46072031e-03 9.70997196e-06 9.99998933e-01 -9.10302232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:11.15, Z:-0.09 [[ 9.53128736e-01 -3.02561864e-01 -1.38950683e-03 1.55903363e+02] [ 3.02561529e-01 9.53129749e-01 -4.50631626e-04 1.11517117e+01] [ 1.46072424e-03 9.09864016e-06 9.99998933e-01 -9.04838754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:11.16, Z:-0.09 [[ 9.53215902e-01 -3.02287139e-01 -1.38942292e-03 1.55928681e+02] [ 3.02286803e-01 9.53216914e-01 -4.50890204e-04 1.11604080e+01] [ 1.46071974e-03 9.79150038e-06 9.99998933e-01 -9.08415523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:11.17, Z:-0.09 [[ 9.53265840e-01 -3.02129620e-01 -1.38936573e-03 1.55955437e+02] [ 3.02129283e-01 9.53266853e-01 -4.51066357e-04 1.11701409e+01] [ 1.46071680e-03 1.02180779e-05 9.99998933e-01 -8.99516352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:11.18, Z:-0.09 [[ 9.53383056e-01 -3.01759538e-01 -1.38928256e-03 1.55981586e+02] [ 3.01759200e-01 9.53384068e-01 -4.51322365e-04 1.11796509e+01] [ 1.46071069e-03 1.10543009e-05 9.99998933e-01 -8.81172119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:11.19, Z:-0.09 [[ 9.53749683e-01 -3.00598757e-01 -1.38919594e-03 1.56007436e+02] [ 3.00598418e-01 9.53750694e-01 -4.51588847e-04 1.11897669e+01] [ 1.46069364e-03 1.31126180e-05 9.99998933e-01 -8.74249534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.03, Y:11.20, Z:-0.08 [[ 9.53860366e-01 -3.00247352e-01 -1.38916904e-03 1.56034091e+02] [ 3.00247013e-01 9.53861377e-01 -4.51671572e-04 1.11994179e+01] [ 1.46068789e-03 1.37377557e-05 9.99998933e-01 -8.49132729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.06, Y:11.21, Z:-0.08 [[ 9.54013506e-01 -2.99760407e-01 -1.38908410e-03 1.56061745e+02] [ 2.99760066e-01 9.54014517e-01 -4.51932647e-04 1.12089444e+01] [ 1.46067791e-03 1.47579073e-05 9.99998933e-01 -8.30233723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:11.22, Z:-0.08 [[ 9.54152899e-01 -2.99316413e-01 -1.38901010e-03 1.56087780e+02] [ 2.99316072e-01 9.54153910e-01 -4.52159968e-04 1.12183564e+01] [ 1.46066832e-03 1.56766970e-05 9.99998933e-01 -8.18428578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:11.23, Z:-0.08 [[ 9.54231618e-01 -2.99065359e-01 -1.38898379e-03 1.56114076e+02] [ 2.99065018e-01 9.54232629e-01 -4.52240770e-04 1.12284078e+01] [ 1.46066320e-03 1.61459792e-05 9.99998933e-01 -8.23894840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:11.24, Z:-0.08 [[ 9.54178061e-01 -2.99236194e-01 -1.38890266e-03 1.56141094e+02] [ 2.99235852e-01 9.54179071e-01 -4.52489816e-04 1.12374286e+01] [ 1.46066318e-03 1.61463857e-05 9.99998933e-01 -8.23478773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:11.25, Z:-0.08 [[ 9.54219609e-01 -2.99103675e-01 -1.38882160e-03 1.56167333e+02] [ 2.99103333e-01 9.54220620e-01 -4.52738461e-04 1.12480527e+01] [ 1.46065795e-03 1.66107476e-05 9.99998933e-01 -8.30633467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:11.26, Z:-0.08 [[ 9.54283412e-01 -2.98900050e-01 -1.38873634e-03 1.56192797e+02] [ 2.98899708e-01 9.54284423e-01 -4.52999827e-04 1.12577414e+01] [ 1.46065113e-03 1.71973336e-05 9.99998933e-01 -8.49779878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.22, Y:11.27, Z:-0.08 [[ 9.54277157e-01 -2.98920021e-01 -1.38869919e-03 1.56219169e+02] [ 2.98919678e-01 9.54278167e-01 -4.53113701e-04 1.12683673e+01] [ 1.46065007e-03 1.72865396e-05 9.99998933e-01 -8.46808633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.24, Y:11.28, Z:-0.09 [[ 9.54235767e-01 -2.99052123e-01 -1.38861447e-03 1.56244090e+02] [ 2.99051780e-01 9.54236777e-01 -4.53373178e-04 1.12777670e+01] [ 1.46064921e-03 1.73572735e-05 9.99998933e-01 -8.56686442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:11.29, Z:-0.09 [[ 9.54137977e-01 -2.99363981e-01 -1.38857752e-03 1.56270263e+02] [ 2.99363638e-01 9.54138987e-01 -4.53486333e-04 1.12873281e+01] [ 1.46065342e-03 1.69989147e-05 9.99998933e-01 -8.55585492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:11.30, Z:-0.09 [[ 9.53842274e-01 -3.00304827e-01 -1.38848936e-03 1.56295364e+02] [ 3.00304485e-01 9.53843284e-01 -4.53756093e-04 1.12973478e+01] [ 1.46066640e-03 1.58421614e-05 9.99998933e-01 -8.73135376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:11.31, Z:-0.09 [[ 9.53609626e-01 -3.01042777e-01 -1.38845108e-03 1.56321408e+02] [ 3.01042435e-01 9.53610637e-01 -4.53873195e-04 1.13073980e+01] [ 1.46067697e-03 1.48351538e-05 9.99998933e-01 -8.78148515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:11.32, Z:-0.09 [[ 9.53356816e-01 -3.01842432e-01 -1.38836626e-03 1.56347231e+02] [ 3.01842091e-01 9.53357827e-01 -4.54132499e-04 1.13176334e+01] [ 1.46068630e-03 1.38829376e-05 9.99998933e-01 -8.64348626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:11.33, Z:-0.09 [[ 9.53145504e-01 -3.02509043e-01 -1.38827790e-03 1.56373093e+02] [ 3.02508702e-01 9.53146515e-01 -4.54402468e-04 1.13270291e+01] [ 1.46069310e-03 1.31455237e-05 9.99998933e-01 -8.65100482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:11.34, Z:-0.09 [[ 9.52990173e-01 -3.02998024e-01 -1.38825053e-03 1.56399777e+02] [ 3.02997684e-01 9.52991184e-01 -4.54486050e-04 1.13365812e+01] [ 1.46069890e-03 1.24840434e-05 9.99998933e-01 -8.52567777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:11.35, Z:-0.09 [[ 9.52898980e-01 -3.03284697e-01 -1.38816528e-03 1.56426319e+02] [ 3.03284356e-01 9.52899991e-01 -4.54746287e-04 1.13462000e+01] [ 1.46070028e-03 1.23184585e-05 9.99998933e-01 -8.52650213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:11.36, Z:-0.09 [[ 9.52969133e-01 -3.03064192e-01 -1.38807695e-03 1.56451321e+02] [ 3.03063851e-01 9.52970144e-01 -4.55015763e-04 1.13556892e+01] [ 1.46069487e-03 1.29400315e-05 9.99998933e-01 -8.67404376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:11.37, Z:-0.09 [[ 9.53075864e-01 -3.02728377e-01 -1.38801678e-03 1.56477511e+02] [ 3.02728035e-01 9.53076875e-01 -4.55199236e-04 1.13660794e+01] [ 1.46068842e-03 1.36478132e-05 9.99998933e-01 -8.78688276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:11.38, Z:-0.09 [[ 9.53326082e-01 -3.01939490e-01 -1.38798956e-03 1.56503542e+02] [ 3.01939147e-01 9.53327092e-01 -4.55282216e-04 1.13775983e+01] [ 1.46067573e-03 1.49440264e-05 9.99998933e-01 -8.88337775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:11.39, Z:-0.09 [[ 9.53395735e-01 -3.01719482e-01 -1.38790359e-03 1.56529899e+02] [ 3.01719139e-01 9.53396745e-01 -4.55544131e-04 1.13878286e+01] [ 1.46066931e-03 1.55567543e-05 9.99998933e-01 -8.86946260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:11.40, Z:-0.09 [[ 9.53407226e-01 -3.01683171e-01 -1.38781672e-03 1.56554701e+02] [ 3.01682827e-01 9.53408236e-01 -4.55808652e-04 1.13977881e+01] [ 1.46066569e-03 1.58907920e-05 9.99998933e-01 -8.81265625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:11.41, Z:-0.09 [[ 9.53215240e-01 -3.02289233e-01 -1.38775767e-03 1.56580424e+02] [ 3.02288890e-01 9.53216250e-01 -4.55988341e-04 1.14090988e+01] [ 1.46067353e-03 1.51513095e-05 9.99998933e-01 -8.77613325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:11.42, Z:-0.09 [[ 9.52860994e-01 -3.03404020e-01 -1.38771753e-03 1.56606961e+02] [ 3.03403678e-01 9.52862005e-01 -4.56110472e-04 1.14183495e+01] [ 1.46068906e-03 1.35712748e-05 9.99998933e-01 -8.81529222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:156.63, Y:11.43, Z:-0.09 [[ 9.52399621e-01 -3.04849202e-01 -1.38763237e-03 1.56633643e+02] [ 3.04848861e-01 9.52400632e-01 -4.56369407e-04 1.14277029e+01] [ 1.46070580e-03 1.16279026e-05 9.99998933e-01 -8.80205908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.66, Y:11.44, Z:-0.09 [[ 9.51373414e-01 -3.08036850e-01 -1.38754714e-03 1.56659251e+02] [ 3.08036512e-01 9.51374426e-01 -4.56628412e-04 1.14370412e+01] [ 1.46073524e-03 7.00895135e-06 9.99998933e-01 -8.88945132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:11.45, Z:-0.09 [[ 9.50863398e-01 -3.09607611e-01 -1.38748903e-03 1.56685837e+02] [ 3.09607274e-01 9.50864411e-01 -4.56804892e-04 1.14459110e+01] [ 1.46074421e-03 4.78235520e-06 9.99998933e-01 -8.94580196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:11.45, Z:-0.09 [[ 9.50361876e-01 -3.11143665e-01 -1.38740412e-03 1.56711945e+02] [ 3.11143330e-01 9.50362888e-01 -4.57062637e-04 1.14546888e+01] [ 1.46074953e-03 2.69336654e-06 9.99998933e-01 -8.84787934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.74, Y:11.46, Z:-0.09 [[ 9.49761623e-01 -3.12971140e-01 -1.38731515e-03 1.56736811e+02] [ 3.12970806e-01 9.49762637e-01 -4.57332531e-04 1.14641148e+01] [ 1.46075198e-03 1.67746704e-07 9.99998933e-01 -9.00861937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:11.47, Z:-0.09 [[ 9.49486058e-01 -3.13806151e-01 -1.38725473e-03 1.56763258e+02] [ 3.13805817e-01 9.49487072e-01 -4.57515750e-04 1.14731969e+01] [ 1.46075168e-03 -9.23776916e-07 9.99998933e-01 -8.93060285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:11.48, Z:-0.09 [[ 9.49275135e-01 -3.14443627e-01 -1.38716511e-03 1.56788596e+02] [ 3.14443294e-01 9.49276148e-01 -4.57787314e-04 1.14821629e+01] [ 1.46075105e-03 -1.61865050e-06 9.99998933e-01 -9.15241398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:11.49, Z:-0.09 [[ 9.48822386e-01 -3.15807150e-01 -1.38712635e-03 1.56815123e+02] [ 3.15806818e-01 9.48823400e-01 -4.57904704e-04 1.14915397e+01] [ 1.46074752e-03 -3.59372717e-06 9.99998933e-01 -9.30781861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.84, Y:11.50, Z:-0.09 [[ 9.48486764e-01 -3.16813723e-01 -1.38710086e-03 1.56841253e+02] [ 3.16813392e-01 9.48487778e-01 -4.57981917e-04 1.15011755e+01] [ 1.46074317e-03 -5.06234204e-06 9.99998933e-01 -9.09517740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:156.87, Y:11.51, Z:-0.09 [[ 9.48189476e-01 -3.17702366e-01 -1.38701158e-03 1.56866856e+02] [ 3.17702035e-01 9.48190491e-01 -4.58252142e-04 1.15101356e+01] [ 1.46073898e-03 -6.14654437e-06 9.99998933e-01 -9.37093348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:11.52, Z:-0.09 [[ 9.47201720e-01 -3.20635274e-01 -1.38697273e-03 1.56894368e+02] [ 3.20634946e-01 9.47202735e-01 -4.58369694e-04 1.15186701e+01] [ 1.46071386e-03 -1.05433652e-05 9.99998933e-01 -9.20337011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:11.53, Z:-0.09 [[ 9.46548008e-01 -3.22559988e-01 -1.38689823e-03 1.56920925e+02] [ 3.22559662e-01 9.46549024e-01 -4.58594992e-04 1.15268745e+01] [ 1.46069156e-03 -1.32752497e-05 9.99998933e-01 -8.99082218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.95, Y:11.53, Z:-0.09 [[ 9.45895614e-01 -3.24468125e-01 -1.38680956e-03 1.56947532e+02] [ 3.24467801e-01 9.45896630e-01 -4.58862979e-04 1.15349541e+01] [ 1.46066490e-03 -1.59385699e-05 9.99998933e-01 -8.81326028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:156.97, Y:11.54, Z:-0.09 [[ 9.45206680e-01 -3.26469614e-01 -1.38672043e-03 1.56974251e+02] [ 3.26469292e-01 9.45207697e-01 -4.59132191e-04 1.15429434e+01] [ 1.46063153e-03 -1.87468229e-05 9.99998933e-01 -8.70428231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:11.55, Z:-0.09 [[ 9.44168737e-01 -3.29459364e-01 -1.38667999e-03 1.57001250e+02] [ 3.29459045e-01 9.44169755e-01 -4.59254309e-04 1.15508894e+01] [ 1.46056694e-03 -2.32407034e-05 9.99998933e-01 -8.62055002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:11.56, Z:-0.09 [[ 9.43841634e-01 -3.30395289e-01 -1.38663866e-03 1.57028096e+02] [ 3.30394970e-01 9.43842652e-01 -4.59379043e-04 1.15599227e+01] [ 1.46054538e-03 -2.45573735e-05 9.99998933e-01 -8.52483681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:11.57, Z:-0.09 [[ 9.43660285e-01 -3.30912896e-01 -1.38655076e-03 1.57053481e+02] [ 3.30912578e-01 9.43661303e-01 -4.59644199e-04 1.15677877e+01] [ 1.46053649e-03 -2.50791113e-05 9.99998933e-01 -8.54390147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:11.57, Z:-0.09 [[ 9.43565172e-01 -3.31184003e-01 -1.38651256e-03 1.57080438e+02] [ 3.31183685e-01 9.43566190e-01 -4.59759408e-04 1.15734933e+01] [ 1.46053134e-03 -2.53773739e-05 9.99998933e-01 -8.69167618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.11, Y:11.58, Z:-0.09 [[ 9.43890224e-01 -3.30256451e-01 -1.38647457e-03 1.57107400e+02] [ 3.30256132e-01 9.43891242e-01 -4.59873959e-04 1.15814539e+01] [ 1.46055754e-03 -2.38211925e-05 9.99998933e-01 -8.67583283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:11.59, Z:-0.09 [[ 9.44309530e-01 -3.29055601e-01 -1.38638814e-03 1.57134248e+02] [ 3.29055280e-01 9.44310548e-01 -4.60134372e-04 1.15898313e+01] [ 1.46059073e-03 -2.16890641e-05 9.99998933e-01 -8.81867130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:11.60, Z:-0.09 [[ 9.44981796e-01 -3.27119982e-01 -1.38630189e-03 1.57160372e+02] [ 3.27119659e-01 9.44982813e-01 -4.60394070e-04 1.15982584e+01] [ 1.46063556e-03 -1.84225859e-05 9.99998933e-01 -8.92332796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:11.61, Z:-0.09 [[ 9.46567886e-01 -3.22501652e-01 -1.38626430e-03 1.57187448e+02] [ 3.22501323e-01 9.46568901e-01 -4.60507237e-04 1.16063164e+01] [ 1.46070902e-03 -1.11707081e-05 9.99998933e-01 -8.85498594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:11.62, Z:-0.09 [[ 9.47307885e-01 -3.20321478e-01 -1.38617859e-03 1.57213942e+02] [ 3.20321146e-01 9.47308899e-01 -4.60765067e-04 1.16152390e+01] [ 1.46073226e-03 -7.53593481e-06 9.99998933e-01 -8.90735184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.24, Y:11.62, Z:-0.09 [[ 9.48119014e-01 -3.17912590e-01 -1.38609293e-03 1.57239786e+02] [ 3.17912256e-01 9.48120027e-01 -4.61022610e-04 1.16241056e+01] [ 1.46074736e-03 -3.55162884e-06 9.99998933e-01 -8.87174377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:11.63, Z:-0.09 [[ 9.49622036e-01 -3.13394428e-01 -1.38605554e-03 1.57267675e+02] [ 3.13394089e-01 9.49623048e-01 -4.61134998e-04 1.16319486e+01] [ 1.46074743e-03 3.52234163e-06 9.99998933e-01 -8.76617215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:11.64, Z:-0.09 [[ 9.50299350e-01 -3.11334586e-01 -1.38598103e-03 1.57293053e+02] [ 3.11334245e-01 9.50300361e-01 -4.61358857e-04 1.16400950e+01] [ 1.46073524e-03 6.92566620e-06 9.99998933e-01 -8.70032940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.32, Y:11.65, Z:-0.09 [[ 9.51691004e-01 -3.07054250e-01 -1.38592274e-03 1.57318907e+02] [ 3.07053903e-01 9.51692013e-01 -4.61533873e-04 1.16509779e+01] [ 1.46068754e-03 1.36846474e-05 9.99998933e-01 -8.82139592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:11.66, Z:-0.09 [[ 9.52218535e-01 -3.05414376e-01 -1.38589628e-03 1.57344758e+02] [ 3.05414027e-01 9.52219543e-01 -4.61613317e-04 1.16611905e+01] [ 1.46066087e-03 1.62845917e-05 9.99998933e-01 -8.87527555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:11.67, Z:-0.09 [[ 9.52741434e-01 -3.03779262e-01 -1.38580552e-03 1.57369953e+02] [ 3.03778911e-01 9.52742441e-01 -4.61885633e-04 1.16705828e+01] [ 1.46062701e-03 1.90790883e-05 9.99998933e-01 -9.00155670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:11.68, Z:-0.09 [[ 9.53362619e-01 -3.01824115e-01 -1.38576621e-03 1.57394924e+02] [ 3.01823762e-01 9.53363626e-01 -4.62003527e-04 1.16811407e+01] [ 1.46058291e-03 2.21997199e-05 9.99998933e-01 -9.13199533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.42, Y:11.69, Z:-0.09 [[ 9.53419834e-01 -3.01643332e-01 -1.38572765e-03 1.57419790e+02] [ 3.01642978e-01 9.53420841e-01 -4.62119163e-04 1.16903758e+01] [ 1.46057679e-03 2.25985598e-05 9.99998933e-01 -9.10254826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:157.45, Y:11.70, Z:-0.09 [[ 9.53369709e-01 -3.01801719e-01 -1.38568993e-03 1.57445525e+02] [ 3.01801366e-01 9.53370716e-01 -4.62232253e-04 1.16997428e+01] [ 1.46057869e-03 2.24751158e-05 9.99998933e-01 -9.12478427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:11.71, Z:-0.09 [[ 9.52922691e-01 -3.03210198e-01 -1.38565237e-03 1.57471584e+02] [ 3.03209847e-01 9.52923699e-01 -4.62344800e-04 1.17104805e+01] [ 1.46060864e-03 2.04354072e-05 9.99998933e-01 -9.10356260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:11.72, Z:-0.09 [[ 9.52509947e-01 -3.04504321e-01 -1.38556534e-03 1.57497819e+02] [ 3.04503970e-01 9.52510954e-01 -4.62605483e-04 1.17205489e+01] [ 1.46063153e-03 1.87261774e-05 9.99998933e-01 -8.95145934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:11.73, Z:-0.09 [[ 9.51988769e-01 -3.06129815e-01 -1.38547501e-03 1.57523730e+02] [ 3.06129466e-01 9.51989777e-01 -4.62875865e-04 1.17301691e+01] [ 1.46065815e-03 1.65179013e-05 9.99998933e-01 -8.86752159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:11.74, Z:-0.09 [[ 9.51500705e-01 -3.07643445e-01 -1.38538435e-03 1.57549179e+02] [ 3.07643097e-01 9.51501713e-01 -4.63147033e-04 1.17392970e+01] [ 1.46067973e-03 1.44807962e-05 9.99998933e-01 -8.92871579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:157.58, Y:11.75, Z:-0.09 [[ 9.51007387e-01 -3.09165053e-01 -1.38532270e-03 1.57575197e+02] [ 3.09164706e-01 9.51008396e-01 -4.63331381e-04 1.17492098e+01] [ 1.46069939e-03 1.23386818e-05 9.99998933e-01 -8.69872128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:11.76, Z:-0.09 [[ 9.50151741e-01 -3.11784782e-01 -1.38523069e-03 1.57600786e+02] [ 3.11784437e-01 9.50152751e-01 -4.63606279e-04 1.17593058e+01] [ 1.46072614e-03 8.60294184e-06 9.99998933e-01 -8.93886415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.63, Y:11.77, Z:-0.09 [[ 9.49730794e-01 -3.13064689e-01 -1.38519069e-03 1.57626659e+02] [ 3.13064346e-01 9.49731804e-01 -4.63725781e-04 1.17688919e+01] [ 1.46073582e-03 6.76083818e-06 9.99998933e-01 -8.85898818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:11.78, Z:-0.09 [[ 9.49312698e-01 -3.14330213e-01 -1.38509927e-03 1.57652539e+02] [ 3.14329871e-01 9.49313708e-01 -4.63998679e-04 1.17781026e+01] [ 1.46074253e-03 5.10176391e-06 9.99998933e-01 -9.08767049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:11.79, Z:-0.09 [[ 9.48264457e-01 -3.17478505e-01 -1.38505945e-03 1.57679556e+02] [ 3.17478166e-01 9.48265469e-01 -4.64117506e-04 1.17869637e+01] [ 1.46075138e-03 3.80001574e-07 9.99998933e-01 -9.26894841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:11.80, Z:-0.09 [[ 9.47682456e-01 -3.19211598e-01 -1.38498087e-03 1.57705003e+02] [ 3.19211260e-01 9.47683468e-01 -4.64351877e-04 1.17952838e+01] [ 1.46074998e-03 -2.04336141e-06 9.99998933e-01 -9.40920777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.73, Y:11.80, Z:-0.09 [[ 9.47121788e-01 -3.20871313e-01 -1.38494190e-03 1.57731866e+02] [ 3.20870977e-01 9.47122801e-01 -4.64468083e-04 1.18044670e+01] [ 1.46074453e-03 -4.47981951e-06 9.99998933e-01 -9.30066066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.76, Y:11.81, Z:-0.09 [[ 9.46386628e-01 -3.23033177e-01 -1.38485420e-03 1.57759516e+02] [ 3.23032842e-01 9.46387641e-01 -4.64729422e-04 1.18138064e+01] [ 1.46073192e-03 -7.53967722e-06 9.99998933e-01 -9.20746658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.79, Y:11.82, Z:-0.09 [[ 9.46325405e-01 -3.23212485e-01 -1.38477727e-03 1.57786452e+02] [ 3.23212151e-01 9.46326418e-01 -4.64958539e-04 1.18230499e+01] [ 1.46073172e-03 -7.57476144e-06 9.99998933e-01 -9.20330619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:11.83, Z:-0.09 [[ 9.46126571e-01 -3.23794060e-01 -1.38468912e-03 1.57813023e+02] [ 3.23793726e-01 9.46127585e-01 -4.65220900e-04 1.18320056e+01] [ 1.46072834e-03 -8.19579565e-06 9.99998933e-01 -9.24334295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.84, Y:11.84, Z:-0.09 [[ 9.46084292e-01 -3.23917575e-01 -1.38460091e-03 1.57839071e+02] [ 3.23917241e-01 9.46085305e-01 -4.65483287e-04 1.18412691e+01] [ 1.46072879e-03 -8.10968053e-06 9.99998933e-01 -9.07561204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:11.85, Z:-0.09 [[ 9.46181363e-01 -3.23633916e-01 -1.38451196e-03 1.57865420e+02] [ 3.23633581e-01 9.46182376e-01 -4.65747723e-04 1.18510113e+01] [ 1.46073257e-03 -7.39274735e-06 9.99998933e-01 -9.06221854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:157.89, Y:11.86, Z:-0.09 [[ 9.46692608e-01 -3.22135359e-01 -1.38442195e-03 1.57891358e+02] [ 3.22135022e-01 9.46693620e-01 -4.66015113e-04 1.18611978e+01] [ 1.46074337e-03 -4.79773252e-06 9.99998933e-01 -8.93087275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:11.87, Z:-0.09 [[ 9.46931058e-01 -3.21433750e-01 -1.38433218e-03 1.57917193e+02] [ 3.21433411e-01 9.46932070e-01 -4.66281638e-04 1.18700989e+01] [ 1.46074719e-03 -3.43404921e-06 9.99998933e-01 -9.15688291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:11.88, Z:-0.09 [[ 9.47252814e-01 -3.20484306e-01 -1.38429868e-03 1.57943341e+02] [ 3.20483967e-01 9.47253825e-01 -4.66381071e-04 1.18802582e+01] [ 1.46075003e-03 -1.86474908e-06 9.99998933e-01 -9.07488176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:11.89, Z:-0.09 [[ 9.47295491e-01 -3.20358137e-01 -1.38421165e-03 1.57969173e+02] [ 3.20357798e-01 9.47296503e-01 -4.66639223e-04 1.18899417e+01] [ 1.46075053e-03 -1.39776348e-06 9.99998933e-01 -8.92388523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:11.90, Z:-0.09 [[ 9.47229850e-01 -3.20552174e-01 -1.38412192e-03 1.57995743e+02] [ 3.20551834e-01 9.47230861e-01 -4.66905218e-04 1.18997329e+01] [ 1.46075048e-03 -1.41626007e-06 9.99998933e-01 -8.89466041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:11.91, Z:-0.09 [[ 9.47080829e-01 -3.20992192e-01 -1.38403148e-03 1.58020830e+02] [ 3.20991852e-01 9.47081841e-01 -4.67173163e-04 1.19088777e+01] [ 1.46075002e-03 -1.81208060e-06 9.99998933e-01 -8.88369103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:11.92, Z:-0.09 [[ 9.46496320e-01 -3.22711638e-01 -1.38397011e-03 1.58046932e+02] [ 3.22711299e-01 9.46497332e-01 -4.67354888e-04 1.19179969e+01] [ 1.46074488e-03 -4.27311143e-06 9.99998933e-01 -8.76242282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:11.93, Z:-0.09 [[ 9.46216617e-01 -3.23530831e-01 -1.38388028e-03 1.58073954e+02] [ 3.23530493e-01 9.46217629e-01 -4.67620747e-04 1.19260840e+01] [ 1.46074164e-03 -5.25694691e-06 9.99998933e-01 -8.78713300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:11.93, Z:-0.09 [[ 9.45853476e-01 -3.24590953e-01 -1.38385245e-03 1.58100902e+02] [ 3.24590616e-01 9.45854488e-01 -4.67703075e-04 1.19346436e+01] [ 1.46073524e-03 -6.80694113e-06 9.99998933e-01 -8.70759751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:11.94, Z:-0.09 [[ 9.45423875e-01 -3.25840118e-01 -1.38377042e-03 1.58127372e+02] [ 3.25839782e-01 9.45424887e-01 -4.67945651e-04 1.19435227e+01] [ 1.46072646e-03 -8.48046228e-06 9.99998933e-01 -8.61431116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:11.95, Z:-0.09 [[ 9.45187049e-01 -3.26526459e-01 -1.38368260e-03 1.58153900e+02] [ 3.26526123e-01 9.45188062e-01 -4.68205194e-04 1.19521892e+01] [ 1.46072166e-03 -9.26702779e-06 9.99998933e-01 -8.63125168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:158.18, Y:11.96, Z:-0.09 [[ 9.44914285e-01 -3.27314955e-01 -1.38359518e-03 1.58179696e+02] [ 3.27314620e-01 9.44915298e-01 -4.68463376e-04 1.19605928e+01] [ 1.46071532e-03 -1.02131942e-05 9.99998933e-01 -8.72325783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:11.97, Z:-0.09 [[ 9.44085607e-01 -3.29697518e-01 -1.38355714e-03 1.58206542e+02] [ 3.29697185e-01 9.44086620e-01 -4.68575692e-04 1.19670955e+01] [ 1.46068603e-03 -1.37793283e-05 9.99998933e-01 -8.88307351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:158.23, Y:11.98, Z:-0.09 [[ 9.43608029e-01 -3.31061887e-01 -1.38346978e-03 1.58233564e+02] [ 3.31061555e-01 9.43609044e-01 -4.68833476e-04 1.19754242e+01] [ 1.46066749e-03 -1.56186257e-05 9.99998933e-01 -8.83435476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:158.26, Y:11.98, Z:-0.09 [[ 9.43210988e-01 -3.32191387e-01 -1.38338159e-03 1.58259051e+02] [ 3.32191056e-01 9.43212003e-01 -4.69093557e-04 1.19833537e+01] [ 1.46065096e-03 -1.70927947e-05 9.99998933e-01 -8.83490678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.29, Y:11.99, Z:-0.09 [[ 9.42856460e-01 -3.33196311e-01 -1.38334326e-03 1.58285899e+02] [ 3.33195982e-01 9.42857475e-01 -4.69206556e-04 1.19919889e+01] [ 1.46063343e-03 -1.85299845e-05 9.99998933e-01 -8.77754286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:12.00, Z:-0.09 [[ 9.42200502e-01 -3.35046713e-01 -1.38325473e-03 1.58312940e+02] [ 3.35046385e-01 9.42201517e-01 -4.69467421e-04 1.19976768e+01] [ 1.46059822e-03 -2.11220566e-05 9.99998933e-01 -8.89503031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:12.00, Z:-0.09 [[ 9.41874773e-01 -3.35961305e-01 -1.38319446e-03 1.58340579e+02] [ 3.35960977e-01 9.41875789e-01 -4.69644923e-04 1.20045299e+01] [ 1.46057989e-03 -2.23526568e-05 9.99998933e-01 -8.86654105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:12.01, Z:-0.09 [[ 9.41625479e-01 -3.36659390e-01 -1.38310425e-03 1.58367706e+02] [ 3.36659062e-01 9.41626494e-01 -4.69910434e-04 1.20115286e+01] [ 1.46056737e-03 -2.31549430e-05 9.99998933e-01 -9.09248046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:12.02, Z:-0.09 [[ 9.41228943e-01 -3.37766433e-01 -1.38307633e-03 1.58396274e+02] [ 3.37766107e-01 9.41229959e-01 -4.69992618e-04 1.20185307e+01] [ 1.46054060e-03 -2.47856509e-05 9.99998933e-01 -9.31490330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:12.03, Z:-0.10 [[ 9.41225732e-01 -3.37775382e-01 -1.38303359e-03 1.58422747e+02] [ 3.37775056e-01 9.41226748e-01 -4.70118352e-04 1.20261728e+01] [ 1.46054261e-03 -2.46667566e-05 9.99998933e-01 -9.55326331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:12.03, Z:-0.10 [[ 9.41321404e-01 -3.37508670e-01 -1.38300534e-03 1.58450045e+02] [ 3.37508343e-01 9.41322419e-01 -4.70201437e-04 1.20339302e+01] [ 1.46055099e-03 -2.41651639e-05 9.99998933e-01 -9.56237572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:12.04, Z:-0.10 [[ 9.41824107e-01 -3.36103315e-01 -1.38291786e-03 1.58477686e+02] [ 3.36102987e-01 9.41825122e-01 -4.70458576e-04 1.20402678e+01] [ 1.46058947e-03 -2.17135947e-05 9.99998933e-01 -9.52273834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:12.05, Z:-0.09 [[ 9.42137526e-01 -3.35223760e-01 -1.38289075e-03 1.58505440e+02] [ 3.35223431e-01 9.42138541e-01 -4.70538267e-04 1.20476570e+01] [ 1.46061028e-03 -2.02656217e-05 9.99998933e-01 -9.34839050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:12.05, Z:-0.09 [[ 9.42409027e-01 -3.34459735e-01 -1.38281473e-03 1.58532757e+02] [ 3.34459404e-01 9.42410041e-01 -4.70761549e-04 1.20546235e+01] [ 1.46062927e-03 -1.88454581e-05 9.99998933e-01 -9.22934718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:12.06, Z:-0.09 [[ 9.42698227e-01 -3.33643735e-01 -1.38272684e-03 1.58559854e+02] [ 3.33643403e-01 9.42699241e-01 -4.71019569e-04 1.20615666e+01] [ 1.46064827e-03 -1.73083749e-05 9.99998933e-01 -9.22297050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:158.59, Y:12.07, Z:-0.09 [[ 9.43174473e-01 -3.32295051e-01 -1.38269959e-03 1.58587583e+02] [ 3.32294717e-01 9.43175487e-01 -4.71099552e-04 1.20666309e+01] [ 1.46067241e-03 -1.51346966e-05 9.99998933e-01 -8.94053192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:12.07, Z:-0.09 [[ 9.43347769e-01 -3.31802766e-01 -1.38260736e-03 1.58614281e+02] [ 3.31802432e-01 9.43348782e-01 -4.71370084e-04 1.20739206e+01] [ 1.46068286e-03 -1.40865656e-05 9.99998933e-01 -9.11194260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:12.08, Z:-0.09 [[ 9.43550571e-01 -3.31225616e-01 -1.38257872e-03 1.58640089e+02] [ 3.31225280e-01 9.43551584e-01 -4.71454069e-04 1.20805477e+01] [ 1.46069200e-03 -1.31042673e-05 9.99998933e-01 -9.17755349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.67, Y:12.09, Z:-0.09 [[ 9.43698781e-01 -3.30803113e-01 -1.38251775e-03 1.58666992e+02] [ 3.30802777e-01 9.43699793e-01 -4.71632788e-04 1.20882352e+01] [ 1.46069931e-03 -1.22614248e-05 9.99998933e-01 -8.91812662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:12.09, Z:-0.09 [[ 9.44242088e-01 -3.29249096e-01 -1.38242472e-03 1.58694093e+02] [ 3.29248758e-01 9.44243100e-01 -4.71905321e-04 1.20938369e+01] [ 1.46071940e-03 -9.56875551e-06 9.99998933e-01 -9.02606426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:12.10, Z:-0.09 [[ 9.44460048e-01 -3.28623350e-01 -1.38239596e-03 1.58720960e+02] [ 3.28623012e-01 9.44461060e-01 -4.71989559e-04 1.21010274e+01] [ 1.46072594e-03 -8.51184048e-06 9.99998933e-01 -8.99081966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:158.75, Y:12.11, Z:-0.09 [[ 9.44768208e-01 -3.27736362e-01 -1.38230589e-03 1.58746993e+02] [ 3.27736022e-01 9.44769219e-01 -4.72253181e-04 1.21079170e+01] [ 1.46073460e-03 -6.86164239e-06 9.99998933e-01 -8.93938926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.77, Y:12.11, Z:-0.09 [[ 9.45394994e-01 -3.25923910e-01 -1.38226668e-03 1.58774957e+02] [ 3.25923567e-01 9.45396004e-01 -4.72367934e-04 1.21135655e+01] [ 1.46074540e-03 -3.93900649e-06 9.99998933e-01 -9.10270475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:12.12, Z:-0.09 [[ 9.45679495e-01 -3.25097495e-01 -1.38223922e-03 1.58802289e+02] [ 3.25097152e-01 9.45680506e-01 -4.72448272e-04 1.21212260e+01] [ 1.46074843e-03 -2.57738940e-06 9.99998933e-01 -8.98254469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:12.13, Z:-0.09 [[ 9.45845952e-01 -3.24612886e-01 -1.38214997e-03 1.58829095e+02] [ 3.24612541e-01 9.45846961e-01 -4.72709207e-04 1.21295794e+01] [ 1.46074985e-03 -1.55312624e-06 9.99998933e-01 -9.02659306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:12.14, Z:-0.09 [[ 9.46045307e-01 -3.24031430e-01 -1.38205979e-03 1.58856030e+02] [ 3.24031085e-01 9.46046316e-01 -4.72972738e-04 1.21375744e+01] [ 1.46075060e-03 -3.76693729e-07 9.99998933e-01 -8.95577055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:12.14, Z:-0.09 [[ 9.46121040e-01 -3.23810236e-01 -1.38196767e-03 1.58883019e+02] [ 3.23809890e-01 9.46122049e-01 -4.73241730e-04 1.21441540e+01] [ 1.46075060e-03 2.49156817e-07 9.99998933e-01 -9.01088809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:12.15, Z:-0.09 [[ 9.45990506e-01 -3.24191384e-01 -1.38193915e-03 1.58910208e+02] [ 3.24191039e-01 9.45991515e-01 -4.73325009e-04 1.21515270e+01] [ 1.46075060e-03 -2.51323814e-07 9.99998933e-01 -8.98531256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:158.94, Y:12.16, Z:-0.09 [[ 9.45724862e-01 -3.24965501e-01 -1.38185013e-03 1.58937373e+02] [ 3.24965156e-01 9.45725871e-01 -4.73584760e-04 1.21592416e+01] [ 1.46075013e-03 -1.17226121e-06 9.99998933e-01 -8.94158336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:12.17, Z:-0.09 [[ 9.45524617e-01 -3.25547676e-01 -1.38176115e-03 1.58964770e+02] [ 3.25547331e-01 9.45525627e-01 -4.73844218e-04 1.21658091e+01] [ 1.46074947e-03 -1.79728255e-06 9.99998933e-01 -8.98760248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.99, Y:12.17, Z:-0.09 [[ 9.45580277e-01 -3.25385971e-01 -1.38167233e-03 1.58991269e+02] [ 3.25385626e-01 9.45581287e-01 -4.74103091e-04 1.21741709e+01] [ 1.46074999e-03 -1.27378149e-06 9.99998933e-01 -8.85489160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:12.18, Z:-0.09 [[ 9.45773907e-01 -3.24822733e-01 -1.38164481e-03 1.59018508e+02] [ 3.24822387e-01 9.45774916e-01 -4.74183253e-04 1.21824306e+01] [ 1.46075051e-03 -3.19018189e-07 9.99998933e-01 -8.71652578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:12.19, Z:-0.09 [[ 9.46117598e-01 -3.23820293e-01 -1.38156375e-03 1.59044276e+02] [ 3.23819945e-01 9.46118607e-01 -4.74419334e-04 1.21900449e+01] [ 1.46074977e-03 1.47858477e-06 9.99998933e-01 -8.77331275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:12.20, Z:-0.09 [[ 9.47111607e-01 -3.20901378e-01 -1.38152347e-03 1.59071265e+02] [ 3.20901027e-01 9.47112615e-01 -4.74536574e-04 1.21982419e+01] [ 1.46073775e-03 6.10679522e-06 9.99998933e-01 -8.72506189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:12.21, Z:-0.09 [[ 9.47606296e-01 -3.19437629e-01 -1.38143281e-03 1.59097162e+02] [ 3.19437277e-01 9.47607303e-01 -4.74800358e-04 1.22077566e+01] [ 1.46072492e-03 8.64267375e-06 9.99998933e-01 -8.72647593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.12, Y:12.22, Z:-0.09 [[ 9.47985004e-01 -3.18311992e-01 -1.38140469e-03 1.59123188e+02] [ 3.18311638e-01 9.47986010e-01 -4.74882174e-04 1.22173056e+01] [ 1.46071301e-03 1.04639915e-05 9.99998933e-01 -8.62091121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.15, Y:12.23, Z:-0.09 [[ 9.48186375e-01 -3.17711647e-01 -1.38131606e-03 1.59149256e+02] [ 3.17711292e-01 9.48187381e-01 -4.75139828e-04 1.22266573e+01] [ 1.46070391e-03 1.16614015e-05 9.99998933e-01 -8.66851866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:12.24, Z:-0.09 [[ 9.48124833e-01 -3.17895256e-01 -1.38122732e-03 1.59175170e+02] [ 3.17894901e-01 9.48125839e-01 -4.75397652e-04 1.22356393e+01] [ 1.46070397e-03 1.16511980e-05 9.99998933e-01 -8.77693107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:12.24, Z:-0.09 [[ 9.47831933e-01 -3.18767500e-01 -1.38116683e-03 1.59202091e+02] [ 3.18767145e-01 9.47832939e-01 -4.75573328e-04 1.22447846e+01] [ 1.46071274e-03 1.04929796e-05 9.99998933e-01 -8.71357087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:12.25, Z:-0.09 [[ 9.47361980e-01 -3.20161476e-01 -1.38107511e-03 1.59228353e+02] [ 3.20161123e-01 9.47362987e-01 -4.75839536e-04 1.22535204e+01] [ 1.46072493e-03 8.62572704e-06 9.99998933e-01 -8.76636166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:12.26, Z:-0.09 [[ 9.46165415e-01 -3.23680553e-01 -1.38098298e-03 1.59255595e+02] [ 3.23680203e-01 9.46166423e-01 -4.76106755e-04 1.22609306e+01] [ 1.46074623e-03 3.47889298e-06 9.99998933e-01 -8.75349823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.28, Y:12.27, Z:-0.09 [[ 9.45588518e-01 -3.25362026e-01 -1.38095435e-03 1.59282583e+02] [ 3.25361677e-01 9.45589526e-01 -4.76189793e-04 1.22690610e+01] [ 1.46075005e-03 9.69976737e-07 9.99998933e-01 -8.67759225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:12.28, Z:-0.09 [[ 9.45028081e-01 -3.26986268e-01 -1.38092655e-03 1.59308379e+02] [ 3.26985921e-01 9.45029090e-01 -4.76270385e-04 1.22772742e+01] [ 1.46074964e-03 -1.45465370e-06 9.99998933e-01 -8.74560575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:12.29, Z:-0.09 [[ 9.44532644e-01 -3.28414643e-01 -1.38088785e-03 1.59334751e+02] [ 3.28414298e-01 9.44533653e-01 -4.76382583e-04 1.22856313e+01] [ 1.46074606e-03 -3.54441160e-06 9.99998933e-01 -8.56279579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.36, Y:12.29, Z:-0.08 [[ 9.43701088e-01 -3.30796537e-01 -1.38079769e-03 1.59362632e+02] [ 3.30796194e-01 9.43702099e-01 -4.76643777e-04 1.22934426e+01] [ 1.46073378e-03 -6.95336759e-06 9.99998933e-01 -8.36032648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:12.30, Z:-0.08 [[ 9.43329036e-01 -3.31856028e-01 -1.38071951e-03 1.59389928e+02] [ 3.31855685e-01 9.43330047e-01 -4.76870111e-04 1.23011032e+01] [ 1.46072642e-03 -8.35419786e-06 9.99998933e-01 -8.36495588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:12.31, Z:-0.08 [[ 9.42998505e-01 -3.32794101e-01 -1.38063032e-03 1.59417226e+02] [ 3.32793759e-01 9.42999516e-01 -4.77128200e-04 1.23089203e+01] [ 1.46071918e-03 -9.53397516e-06 9.99998933e-01 -8.33882665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:12.32, Z:-0.08 [[ 9.42688201e-01 -3.33672070e-01 -1.38053876e-03 1.59444854e+02] [ 3.33671728e-01 9.42689212e-01 -4.77392976e-04 1.23162112e+01] [ 1.46071170e-03 -1.06140286e-05 9.99998933e-01 -8.46082821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:159.47, Y:12.32, Z:-0.09 [[ 9.42668292e-01 -3.33728311e-01 -1.38045324e-03 1.59470466e+02] [ 3.33727969e-01 9.42669303e-01 -4.77640151e-04 1.23241570e+01] [ 1.46071293e-03 -1.04396300e-05 9.99998933e-01 -8.60137898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:159.50, Y:12.33, Z:-0.09 [[ 9.42606257e-01 -3.33903486e-01 -1.38041348e-03 1.59497326e+02] [ 3.33903144e-01 9.42607268e-01 -4.77755030e-04 1.23336664e+01] [ 1.46071185e-03 -1.05895205e-05 9.99998933e-01 -8.59721758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.52, Y:12.34, Z:-0.09 [[ 9.42654540e-01 -3.33767153e-01 -1.38032465e-03 1.59524855e+02] [ 3.33766811e-01 9.42655551e-01 -4.78011543e-04 1.23417829e+01] [ 1.46071524e-03 -1.01068045e-05 9.99998933e-01 -8.72767299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:12.35, Z:-0.09 [[ 9.43097343e-01 -3.32513905e-01 -1.38024504e-03 1.59551614e+02] [ 3.32513561e-01 9.43098353e-01 -4.78241294e-04 1.23489200e+01] [ 1.46072871e-03 -7.92210097e-06 9.99998933e-01 -9.00931701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.58, Y:12.36, Z:-0.09 [[ 9.43281651e-01 -3.31990695e-01 -1.38021674e-03 1.59578496e+02] [ 3.31990350e-01 9.43282661e-01 -4.78322960e-04 1.23583022e+01] [ 1.46073329e-03 -7.02536740e-06 9.99998933e-01 -8.72304443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.61, Y:12.37, Z:-0.09 [[ 9.43518009e-01 -3.31318371e-01 -1.38012512e-03 1.59605233e+02] [ 3.31318025e-01 9.43519018e-01 -4.78587173e-04 1.23669333e+01] [ 1.46073902e-03 -5.70471312e-06 9.99998933e-01 -8.78715777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:12.38, Z:-0.09 [[ 9.43675748e-01 -3.30868824e-01 -1.38003289e-03 1.59631503e+02] [ 3.30868477e-01 9.43676757e-01 -4.78852979e-04 1.23752397e+01] [ 1.46074248e-03 -4.72743679e-06 9.99998933e-01 -8.80796869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:159.66, Y:12.38, Z:-0.09 [[ 9.44116186e-01 -3.29609955e-01 -1.38000424e-03 1.59658875e+02] [ 3.29609607e-01 9.44117195e-01 -4.78935534e-04 1.23816898e+01] [ 1.46074765e-03 -2.69186452e-06 9.99998933e-01 -8.78747152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:159.69, Y:12.39, Z:-0.09 [[ 9.44404942e-01 -3.28781694e-01 -1.37997581e-03 1.59685252e+02] [ 3.28781345e-01 9.44405950e-01 -4.79017413e-04 1.23897182e+01] [ 1.46074953e-03 -1.32389163e-06 9.99998933e-01 -8.74885596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:12.40, Z:-0.09 [[ 9.44653276e-01 -3.28067499e-01 -1.37994896e-03 1.59711513e+02] [ 3.28067149e-01 9.44654284e-01 -4.79094776e-04 1.23985251e+01] [ 1.46075012e-03 -1.37470851e-07 9.99998933e-01 -8.65763586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:12.41, Z:-0.09 [[ 9.45345488e-01 -3.26067484e-01 -1.37985809e-03 1.59737925e+02] [ 3.26067132e-01 9.45346495e-01 -4.79356351e-04 1.24061679e+01] [ 1.46074652e-03 3.23099544e-06 9.99998933e-01 -8.62017690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:12.41, Z:-0.09 [[ 9.45570134e-01 -3.25415455e-01 -1.37982984e-03 1.59764864e+02] [ 3.25415102e-01 9.45571140e-01 -4.79437655e-04 1.24142019e+01] [ 1.46074369e-03 4.32446060e-06 9.99998933e-01 -8.55878366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:12.42, Z:-0.09 [[ 9.45792883e-01 -3.24767485e-01 -1.37973950e-03 1.59791592e+02] [ 3.24767131e-01 9.45793889e-01 -4.79697475e-04 1.24224311e+01] [ 1.46073933e-03 5.60041798e-06 9.99998933e-01 -8.53071915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:159.82, Y:12.43, Z:-0.08 [[ 9.46059032e-01 -3.23991366e-01 -1.37964812e-03 1.59817077e+02] [ 3.23991011e-01 9.46060037e-01 -4.79960156e-04 1.24310297e+01] [ 1.46073290e-03 7.07705073e-06 9.99998933e-01 -8.46335410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:159.84, Y:12.44, Z:-0.08 [[ 9.46574192e-01 -3.22483173e-01 -1.37960835e-03 1.59843935e+02] [ 3.22482815e-01 9.46575197e-01 -4.80074441e-04 1.24399245e+01] [ 1.46071898e-03 9.52609009e-06 9.99998933e-01 -8.40366740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:12.45, Z:-0.08 [[ 9.46886487e-01 -3.21565045e-01 -1.37951741e-03 1.59870130e+02] [ 3.21564687e-01 9.46887491e-01 -4.80335628e-04 1.24483387e+01] [ 1.46070693e-03 1.12192319e-05 9.99998933e-01 -8.44800357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:12.46, Z:-0.08 [[ 9.47349467e-01 -3.20198508e-01 -1.37942689e-03 1.59896855e+02] [ 3.20198148e-01 9.47350471e-01 -4.80595433e-04 1.24573127e+01] [ 1.46068666e-03 1.36018910e-05 9.99998933e-01 -8.45944125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:12.47, Z:-0.09 [[ 9.48577516e-01 -3.16541928e-01 -1.37939888e-03 1.59923048e+02] [ 3.16541564e-01 9.48578519e-01 -4.80675820e-04 1.24678721e+01] [ 1.46062220e-03 1.93211966e-05 9.99998933e-01 -8.51804309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:12.48, Z:-0.09 [[ 9.49152444e-01 -3.14813810e-01 -1.37937119e-03 1.59948765e+02] [ 3.14813444e-01 9.49153446e-01 -4.80755259e-04 1.24785352e+01] [ 1.46058332e-03 2.20654337e-05 9.99998933e-01 -8.50727277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:159.97, Y:12.49, Z:-0.08 [[ 9.49726935e-01 -3.13076423e-01 -1.37928032e-03 1.59974761e+02] [ 3.13076054e-01 9.49727936e-01 -4.81015844e-04 1.24891307e+01] [ 1.46053577e-03 2.50140646e-05 9.99998933e-01 -8.48720289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:12.50, Z:-0.09 [[ 9.50220095e-01 -3.11576424e-01 -1.37918963e-03 1.60000940e+02] [ 3.11576054e-01 9.50221096e-01 -4.81275709e-04 1.24993404e+01] [ 1.46048925e-03 2.75953866e-05 9.99998933e-01 -8.75926649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:12.51, Z:-0.09 [[ 9.50648335e-01 -3.10267369e-01 -1.37916158e-03 1.60026937e+02] [ 3.10266997e-01 9.50649335e-01 -4.81356083e-04 1.25093923e+01] [ 1.46044813e-03 2.96920366e-05 9.99998933e-01 -8.88445356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.05, Y:12.52, Z:-0.09 [[ 9.50475201e-01 -3.10797345e-01 -1.37907225e-03 1.60053533e+02] [ 3.10796974e-01 9.50476201e-01 -4.81611867e-04 1.25193555e+01] [ 1.46045905e-03 2.91486534e-05 9.99998933e-01 -8.72436660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:12.53, Z:-0.09 [[ 9.50124914e-01 -3.11866553e-01 -1.37899321e-03 1.60079140e+02] [ 3.11866182e-01 9.50125914e-01 -4.81838087e-04 1.25289448e+01] [ 1.46048637e-03 2.77450231e-05 9.99998933e-01 -8.66637021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:12.54, Z:-0.09 [[ 9.49557349e-01 -3.13590400e-01 -1.37894794e-03 1.60104964e+02] [ 3.13590031e-01 9.49558350e-01 -4.81967621e-04 1.25384010e+01] [ 1.46053195e-03 2.52315702e-05 9.99998933e-01 -8.65077900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.13, Y:12.55, Z:-0.08 [[ 9.48214330e-01 -3.17628214e-01 -1.37885873e-03 1.60132249e+02] [ 3.17627848e-01 9.48215333e-01 -4.82222688e-04 1.25481411e+01] [ 1.46062252e-03 1.92865309e-05 9.99998933e-01 -8.45274251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:12.56, Z:-0.08 [[ 9.47505386e-01 -3.19736834e-01 -1.37877949e-03 1.60159098e+02] [ 3.19736470e-01 9.47506389e-01 -4.82449143e-04 1.25574072e+01] [ 1.46065914e-03 1.62770726e-05 9.99998933e-01 -8.42202920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:12.57, Z:-0.08 [[ 9.46991363e-01 -3.21256063e-01 -1.37868581e-03 1.60184415e+02] [ 3.21255700e-01 9.46992366e-01 -4.82716704e-04 1.25665837e+01] [ 1.46068061e-03 1.42178734e-05 9.99998933e-01 -8.45084257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:12.58, Z:-0.09 [[ 9.46553823e-01 -3.22542958e-01 -1.37864509e-03 1.60209382e+02] [ 3.22542597e-01 9.46554827e-01 -4.82832980e-04 1.25761645e+01] [ 1.46069754e-03 1.23556342e-05 9.99998933e-01 -8.56797237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:12.59, Z:-0.09 [[ 9.46271139e-01 -3.23371352e-01 -1.37860492e-03 1.60236532e+02] [ 3.23370991e-01 9.46272143e-01 -4.82947636e-04 1.25853975e+01] [ 1.46070687e-03 1.11985682e-05 9.99998933e-01 -8.82604969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:12.59, Z:-0.09 [[ 9.46273725e-01 -3.23363784e-01 -1.37852607e-03 1.60263499e+02] [ 3.23363424e-01 9.46274729e-01 -4.83172604e-04 1.25949884e+01] [ 1.46070491e-03 1.14486293e-05 9.99998933e-01 -8.97534592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:12.61, Z:-0.09 [[ 9.46441303e-01 -3.22872977e-01 -1.37844644e-03 1.60290598e+02] [ 3.22872615e-01 9.46442307e-01 -4.83399683e-04 1.26056624e+01] [ 1.46069672e-03 1.24468189e-05 9.99998933e-01 -9.11767005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.32, Y:12.62, Z:-0.09 [[ 9.46835930e-01 -3.21713881e-01 -1.37836709e-03 1.60317430e+02] [ 3.21713518e-01 9.46836933e-01 -4.83625834e-04 1.26173352e+01] [ 1.46067801e-03 1.44749900e-05 9.99998933e-01 -9.20718874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:12.63, Z:-0.09 [[ 9.47021506e-01 -3.21167196e-01 -1.37828602e-03 1.60343786e+02] [ 3.21166832e-01 9.47022509e-01 -4.83856761e-04 1.26270552e+01] [ 1.46066681e-03 1.55630031e-05 9.99998933e-01 -9.18654132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:12.64, Z:-0.09 [[ 9.47240192e-01 -3.20521636e-01 -1.37819309e-03 1.60368892e+02] [ 3.20521271e-01 9.47241195e-01 -4.84121330e-04 1.26361519e+01] [ 1.46065263e-03 1.68389821e-05 9.99998933e-01 -9.33734075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:160.40, Y:12.65, Z:-0.09 [[ 9.47393966e-01 -3.20066826e-01 -1.37815278e-03 1.60395041e+02] [ 3.20066460e-01 9.47394969e-01 -4.84236053e-04 1.26461710e+01] [ 1.46064290e-03 1.76618333e-05 9.99998933e-01 -8.98313349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:12.66, Z:-0.09 [[ 9.47660341e-01 -3.19277275e-01 -1.37806147e-03 1.60421113e+02] [ 3.19276908e-01 9.47661343e-01 -4.84495748e-04 1.26574841e+01] [ 1.46062407e-03 1.91541983e-05 9.99998933e-01 -8.65740294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:12.67, Z:-0.09 [[ 9.47815550e-01 -3.18816224e-01 -1.37803307e-03 1.60447051e+02] [ 3.18815856e-01 9.47816551e-01 -4.84576509e-04 1.26676540e+01] [ 1.46061341e-03 1.99503554e-05 9.99998933e-01 -8.57449223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:12.68, Z:-0.09 [[ 9.47940282e-01 -3.18445164e-01 -1.37794212e-03 1.60472264e+02] [ 3.18444796e-01 9.47941284e-01 -4.84835018e-04 1.26776977e+01] [ 1.46060159e-03 2.07961483e-05 9.99998933e-01 -8.56850656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.50, Y:12.69, Z:-0.08 [[ 9.48395498e-01 -3.17086865e-01 -1.37790266e-03 1.60498287e+02] [ 3.17086495e-01 9.48396499e-01 -4.84947142e-04 1.26894095e+01] [ 1.46056842e-03 2.30073626e-05 9.99998933e-01 -8.42157887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:12.70, Z:-0.08 [[ 9.48490712e-01 -3.16801943e-01 -1.37782393e-03 1.60524681e+02] [ 3.16801573e-01 9.48491712e-01 -4.85170702e-04 1.27001602e+01] [ 1.46055760e-03 2.36831148e-05 9.99998933e-01 -8.46427745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.55, Y:12.71, Z:-0.08 [[ 9.48597692e-01 -3.16481469e-01 -1.37773428e-03 1.60551230e+02] [ 3.16481097e-01 9.48598693e-01 -4.85425153e-04 1.27100722e+01] [ 1.46054500e-03 2.44463223e-05 9.99998933e-01 -8.38162145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:12.72, Z:-0.09 [[ 9.48668826e-01 -3.16268179e-01 -1.37764204e-03 1.60577651e+02] [ 3.16267807e-01 9.48669826e-01 -4.85686782e-04 1.27202663e+01] [ 1.46053471e-03 2.50520800e-05 9.99998933e-01 -8.55550213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:12.73, Z:-0.09 [[ 9.48729183e-01 -3.16087075e-01 -1.37754973e-03 1.60602833e+02] [ 3.16086702e-01 9.48730183e-01 -4.85948481e-04 1.27305731e+01] [ 1.46052504e-03 2.56083552e-05 9.99998933e-01 -8.59516855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:12.74, Z:-0.09 [[ 9.48700245e-01 -3.16173919e-01 -1.37750953e-03 1.60628910e+02] [ 3.16173546e-01 9.48701245e-01 -4.86062394e-04 1.27409608e+01] [ 1.46052526e-03 2.55954385e-05 9.99998933e-01 -8.59727277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:12.75, Z:-0.09 [[ 9.48574450e-01 -3.16551127e-01 -1.37741739e-03 1.60654665e+02] [ 3.16550754e-01 9.48575450e-01 -4.86323377e-04 1.27510647e+01] [ 1.46053053e-03 2.52914165e-05 9.99998933e-01 -8.60209504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:12.76, Z:-0.09 [[ 9.48370740e-01 -3.17160909e-01 -1.37732558e-03 1.60680914e+02] [ 3.17160536e-01 9.48371740e-01 -4.86583253e-04 1.27617016e+01] [ 1.46054184e-03 2.46280003e-05 9.99998933e-01 -8.71624195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:12.77, Z:-0.08 [[ 9.48230573e-01 -3.17579727e-01 -1.37729712e-03 1.60706889e+02] [ 3.17579355e-01 9.48231573e-01 -4.86663805e-04 1.27715069e+01] [ 1.46055117e-03 2.40683690e-05 9.99998933e-01 -8.42256626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:12.78, Z:-0.08 [[ 9.48255328e-01 -3.17505806e-01 -1.37720410e-03 1.60732467e+02] [ 3.17505434e-01 9.48256327e-01 -4.86926889e-04 1.27808655e+01] [ 1.46054461e-03 2.44612318e-05 9.99998933e-01 -8.42513257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:12.79, Z:-0.09 [[ 9.48289206e-01 -3.17404609e-01 -1.37716379e-03 1.60758112e+02] [ 3.17404237e-01 9.48290205e-01 -4.87040876e-04 1.27905704e+01] [ 1.46053995e-03 2.47379852e-05 9.99998933e-01 -8.53619177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:12.80, Z:-0.09 [[ 9.48542619e-01 -3.16646496e-01 -1.37710136e-03 1.60784240e+02] [ 3.16646122e-01 9.48543618e-01 -4.87217310e-04 1.28021327e+01] [ 1.46051636e-03 2.60925766e-05 9.99998933e-01 -8.57642286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:12.81, Z:-0.09 [[ 9.48656187e-01 -3.16306090e-01 -1.37701534e-03 1.60809707e+02] [ 3.16305715e-01 9.48657186e-01 -4.87460324e-04 1.28127404e+01] [ 1.46050216e-03 2.68744306e-05 9.99998933e-01 -8.62348754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:12.83, Z:-0.09 [[ 9.48987154e-01 -3.15311727e-01 -1.37692377e-03 1.60836074e+02] [ 3.15311351e-01 9.48988153e-01 -4.87718831e-04 1.28255630e+01] [ 1.46046781e-03 2.86792115e-05 9.99998933e-01 -8.71015522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:12.84, Z:-0.09 [[ 9.49060823e-01 -3.15089923e-01 -1.37684182e-03 1.60862150e+02] [ 3.15089546e-01 9.49061821e-01 -4.87950081e-04 1.28367296e+01] [ 1.46045616e-03 2.92658417e-05 9.99998933e-01 -8.91575050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:12.85, Z:-0.09 [[ 9.49094462e-01 -3.14988581e-01 -1.37681281e-03 1.60886740e+02] [ 3.14988204e-01 9.49095460e-01 -4.88031921e-04 1.28470237e+01] [ 1.46045127e-03 2.95085995e-05 9.99998933e-01 -8.99660999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:12.86, Z:-0.09 [[ 9.49056877e-01 -3.15101807e-01 -1.37677353e-03 1.60913150e+02] [ 3.15101431e-01 9.49057875e-01 -4.88142704e-04 1.28575599e+01] [ 1.46045241e-03 2.94518817e-05 9.99998933e-01 -9.04650776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:12.87, Z:-0.09 [[ 9.48894533e-01 -3.15590352e-01 -1.37668391e-03 1.60939339e+02] [ 3.15589976e-01 9.48895531e-01 -4.88395320e-04 1.28680580e+01] [ 1.46046206e-03 2.89680072e-05 9.99998933e-01 -8.93120504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:12.88, Z:-0.09 [[ 9.48688529e-01 -3.16209077e-01 -1.37665603e-03 1.60965701e+02] [ 3.16208701e-01 9.48689527e-01 -4.88473890e-04 1.28793070e+01] [ 1.46047904e-03 2.80989609e-05 9.99998933e-01 -8.72577231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:12.89, Z:-0.09 [[ 9.48509190e-01 -3.16746621e-01 -1.37657906e-03 1.60991512e+02] [ 3.16746245e-01 9.48510188e-01 -4.88690720e-04 1.28903084e+01] [ 1.46049039e-03 2.75013917e-05 9.99998933e-01 -8.59735866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.02, Y:12.90, Z:-0.09 [[ 9.48326371e-01 -3.17293555e-01 -1.37655167e-03 1.61017301e+02] [ 3.17293180e-01 9.48327369e-01 -4.88767851e-04 1.29012293e+01] [ 1.46050451e-03 2.67409857e-05 9.99998933e-01 -8.51886347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:12.91, Z:-0.08 [[ 9.47731559e-01 -3.19065821e-01 -1.37652463e-03 1.61042469e+02] [ 3.19065447e-01 9.47732558e-01 -4.88844002e-04 1.29135698e+01] [ 1.46055062e-03 2.40914423e-05 9.99998933e-01 -8.48441595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:12.92, Z:-0.08 [[ 9.47426171e-01 -3.19971493e-01 -1.37643805e-03 1.61068736e+02] [ 3.19971120e-01 9.47427170e-01 -4.89087646e-04 1.29244105e+01] [ 1.46056891e-03 2.29540101e-05 9.99998933e-01 -8.24585601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:12.94, Z:-0.08 [[ 9.47102910e-01 -3.20927068e-01 -1.37634575e-03 1.61094381e+02] [ 3.20926695e-01 9.47103910e-01 -4.89347251e-04 1.29350480e+01] [ 1.46058722e-03 2.17561118e-05 9.99998933e-01 -8.27701754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:12.95, Z:-0.08 [[ 9.46223789e-01 -3.23509886e-01 -1.37631697e-03 1.61119042e+02] [ 3.23509517e-01 9.46224790e-01 -4.89428202e-04 1.29465128e+01] [ 1.46064009e-03 1.78569715e-05 9.99998933e-01 -8.43688310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:12.96, Z:-0.08 [[ 9.46167398e-01 -3.23674776e-01 -1.37627739e-03 1.61145810e+02] [ 3.23674406e-01 9.46168399e-01 -4.89539464e-04 1.29562596e+01] [ 1.46064175e-03 1.77205138e-05 9.99998933e-01 -8.43272220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:12.97, Z:-0.08 [[ 9.45653126e-01 -3.25174218e-01 -1.37619204e-03 1.61171982e+02] [ 3.25173850e-01 9.45654127e-01 -4.89779288e-04 1.29668677e+01] [ 1.46066528e-03 1.56596513e-05 9.99998933e-01 -8.27963168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:12.98, Z:-0.08 [[ 9.45187599e-01 -3.26524898e-01 -1.37610066e-03 1.61197898e+02] [ 3.26524531e-01 9.45188601e-01 -4.90035885e-04 1.29772494e+01] [ 1.46068358e-03 1.38452176e-05 9.99998933e-01 -8.32788261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:12.99, Z:-0.08 [[ 9.44716928e-01 -3.27884174e-01 -1.37600940e-03 1.61223622e+02] [ 3.27883808e-01 9.44717930e-01 -4.90292009e-04 1.29870897e+01] [ 1.46069975e-03 1.20159579e-05 9.99998933e-01 -8.48337138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:13.00, Z:-0.09 [[ 9.43882092e-01 -3.30279735e-01 -1.37591835e-03 1.61250109e+02] [ 3.30279371e-01 9.43883095e-01 -4.90547393e-04 1.29986888e+01] [ 1.46072394e-03 8.58145192e-06 9.99998933e-01 -8.64878138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:13.01, Z:-0.09 [[ 9.43530569e-01 -3.31282616e-01 -1.37583675e-03 1.61275462e+02] [ 3.31282253e-01 9.43531572e-01 -4.90776167e-04 1.30092496e+01] [ 1.46073102e-03 7.27202019e-06 9.99998933e-01 -8.85388133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:13.02, Z:-0.09 [[ 9.43061079e-01 -3.32616759e-01 -1.37580777e-03 1.61301892e+02] [ 3.32616396e-01 9.43062083e-01 -4.90857380e-04 1.30195710e+01] [ 1.46073953e-03 5.29226811e-06 9.99998933e-01 -8.85128686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:13.03, Z:-0.09 [[ 9.42599306e-01 -3.33923129e-01 -1.37571544e-03 1.61327983e+02] [ 3.33922768e-01 9.42600310e-01 -4.91116020e-04 1.30293757e+01] [ 1.46074480e-03 3.54291295e-06 9.99998933e-01 -8.88525718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:13.04, Z:-0.09 [[ 9.41652528e-01 -3.36583756e-01 -1.37562362e-03 1.61354147e+02] [ 3.36583397e-01 9.41653533e-01 -4.91373070e-04 1.30390359e+01] [ 1.46074904e-03 -3.09377466e-07 9.99998933e-01 -8.88956889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:13.05, Z:-0.09 [[ 9.41184766e-01 -3.37889543e-01 -1.37559519e-03 1.61380638e+02] [ 3.37889186e-01 9.41185771e-01 -4.91452642e-04 1.30491493e+01] [ 1.46074733e-03 -2.25099966e-06 9.99998933e-01 -8.73859568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:13.06, Z:-0.09 [[ 9.40827454e-01 -3.38883180e-01 -1.37551599e-03 1.61406606e+02] [ 3.38882823e-01 9.40828460e-01 -4.91674225e-04 1.30586907e+01] [ 1.46074471e-03 -3.55813176e-06 9.99998933e-01 -8.72858128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:13.07, Z:-0.09 [[ 9.40177397e-01 -3.40682507e-01 -1.37548779e-03 1.61433088e+02] [ 3.40682152e-01 9.40178403e-01 -4.91753093e-04 1.30685306e+01] [ 1.46073559e-03 -6.26899787e-06 9.99998933e-01 -8.57891852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.46, Y:13.08, Z:-0.08 [[ 9.39892420e-01 -3.41467929e-01 -1.37539803e-03 1.61459648e+02] [ 3.41467575e-01 9.39893426e-01 -4.92004015e-04 1.30779785e+01] [ 1.46073116e-03 -7.22298635e-06 9.99998933e-01 -8.44271075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:161.49, Y:13.09, Z:-0.09 [[ 9.39511842e-01 -3.42513661e-01 -1.37530465e-03 1.61485455e+02] [ 3.42513307e-01 9.39512848e-01 -4.92264920e-04 1.30866021e+01] [ 1.46072385e-03 -8.57142160e-06 9.99998933e-01 -8.62318582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:13.10, Z:-0.08 [[ 9.38974054e-01 -3.43985224e-01 -1.37526417e-03 1.61512130e+02] [ 3.43984872e-01 9.38975061e-01 -4.92377964e-04 1.30957659e+01] [ 1.46070951e-03 -1.07399375e-05 9.99998933e-01 -8.46057681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.54, Y:13.10, Z:-0.09 [[ 9.38558673e-01 -3.45116976e-01 -1.37516821e-03 1.61537703e+02] [ 3.45116624e-01 9.38559680e-01 -4.92645836e-04 1.31039200e+01] [ 1.46069788e-03 -1.22163887e-05 9.99998933e-01 -8.53518218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.57, Y:13.11, Z:-0.08 [[ 9.37771775e-01 -3.47249488e-01 -1.37512664e-03 1.61565635e+02] [ 3.47249138e-01 9.37772783e-01 -4.92761855e-04 1.31122226e+01] [ 1.46066763e-03 -1.54133799e-05 9.99998933e-01 -8.12955989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:13.12, Z:-0.08 [[ 9.37425526e-01 -3.48183131e-01 -1.37504217e-03 1.61591789e+02] [ 3.48182783e-01 9.37426534e-01 -4.92997445e-04 1.31206619e+01] [ 1.46065441e-03 -1.66176201e-05 9.99998933e-01 -8.27154876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.62, Y:13.13, Z:-0.08 [[ 9.37043871e-01 -3.49208953e-01 -1.37500030e-03 1.61619852e+02] [ 3.49208606e-01 9.37044880e-01 -4.93114198e-04 1.31269435e+01] [ 1.46063688e-03 -1.80922998e-05 9.99998933e-01 -8.40852990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:13.14, Z:-0.09 [[ 9.36892648e-01 -3.49614467e-01 -1.37492001e-03 1.61648037e+02] [ 3.49614120e-01 9.36893657e-01 -4.93337947e-04 1.31350864e+01] [ 1.46063192e-03 -1.84867545e-05 9.99998933e-01 -8.61269971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:13.14, Z:-0.09 [[ 9.36954131e-01 -3.49449661e-01 -1.37483982e-03 1.61675536e+02] [ 3.49449313e-01 9.36955140e-01 -4.93561320e-04 1.31426409e+01] [ 1.46063808e-03 -1.79925141e-05 9.99998933e-01 -8.63578357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.70, Y:13.15, Z:-0.09 [[ 9.37210685e-01 -3.48761010e-01 -1.37474433e-03 1.61702284e+02] [ 3.48760661e-01 9.37211693e-01 -4.93827176e-04 1.31505920e+01] [ 1.46065412e-03 -1.66366335e-05 9.99998933e-01 -8.71981009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:13.16, Z:-0.08 [[ 9.38380992e-01 -3.45599803e-01 -1.37471459e-03 1.61729959e+02] [ 3.45599450e-01 9.38381999e-01 -4.93909938e-04 1.31596634e+01] [ 1.46070260e-03 -1.16249087e-05 9.99998933e-01 -8.44091750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:13.17, Z:-0.08 [[ 9.39150280e-01 -3.43503801e-01 -1.37463315e-03 1.61757032e+02] [ 3.43503446e-01 9.39151286e-01 -4.94136491e-04 1.31684953e+01] [ 1.46072626e-03 -8.12280133e-06 9.99998933e-01 -8.18088774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:161.78, Y:13.18, Z:-0.08 [[ 9.39987915e-01 -3.41204970e-01 -1.37454812e-03 1.61784096e+02] [ 3.41204611e-01 9.39988919e-01 -4.94372916e-04 1.31766296e+01] [ 1.46074250e-03 -4.29759017e-06 9.99998933e-01 -8.01082450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.81, Y:13.18, Z:-0.08 [[ 9.40976735e-01 -3.38468454e-01 -1.37445025e-03 1.61809605e+02] [ 3.38468092e-01 9.40977739e-01 -4.94644855e-04 1.31849368e+01] [ 1.46074877e-03 2.41745831e-07 9.99998933e-01 -8.07045985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:13.19, Z:-0.08 [[ 9.42972759e-01 -3.32867072e-01 -1.37438342e-03 1.61835535e+02] [ 3.32866704e-01 9.42973760e-01 -4.94830492e-04 1.31942233e+01] [ 1.46072027e-03 9.12519551e-06 9.99998933e-01 -8.01102925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:13.20, Z:-0.08 [[ 9.43934973e-01 -3.30128578e-01 -1.37428915e-03 1.61861507e+02] [ 3.30128207e-01 9.43935973e-01 -4.95092152e-04 1.32036543e+01] [ 1.46068504e-03 1.36431832e-05 9.99998933e-01 -7.91199339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:13.21, Z:-0.08 [[ 9.44850985e-01 -3.27497677e-01 -1.37419362e-03 1.61887177e+02] [ 3.27497302e-01 9.44851984e-01 -4.95357167e-04 1.32133524e+01] [ 1.46063789e-03 1.79940035e-05 9.99998933e-01 -7.94523334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:13.22, Z:-0.08 [[ 9.46420763e-01 -3.22933198e-01 -1.37412861e-03 1.61912529e+02] [ 3.22932819e-01 9.46421760e-01 -4.95537451e-04 1.32226013e+01] [ 1.46053071e-03 2.52357070e-05 9.99998933e-01 -8.09165081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:13.23, Z:-0.08 [[ 9.46909633e-01 -3.21496902e-01 -1.37406447e-03 1.61938453e+02] [ 3.21496521e-01 9.46910630e-01 -4.95715222e-04 1.32321839e+01] [ 1.46048716e-03 2.76405707e-05 9.99998933e-01 -8.07893750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:13.24, Z:-0.08 [[ 9.47273917e-01 -3.20421969e-01 -1.37397115e-03 1.61965081e+02] [ 3.20421586e-01 9.47274913e-01 -4.95973766e-04 1.32419443e+01] [ 1.46044929e-03 2.95729980e-05 9.99998933e-01 -8.08175025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:13.25, Z:-0.08 [[ 9.47647299e-01 -3.19316002e-01 -1.37387469e-03 1.61990988e+02] [ 3.19315618e-01 9.47648294e-01 -4.96240797e-04 1.32519824e+01] [ 1.46040764e-03 3.15616040e-05 9.99998933e-01 -8.32160545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:13.26, Z:-0.08 [[ 9.47529184e-01 -3.19666324e-01 -1.37384473e-03 1.62017147e+02] [ 3.19665940e-01 9.47530179e-01 -4.96323736e-04 1.32620243e+01] [ 1.46041733e-03 3.11098574e-05 9.99998933e-01 -8.28529916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:13.27, Z:-0.08 [[ 9.47411691e-01 -3.20014375e-01 -1.37375064e-03 1.62042603e+02] [ 3.20013991e-01 9.47412687e-01 -4.96584024e-04 1.32718043e+01] [ 1.46042281e-03 3.08500844e-05 9.99998933e-01 -8.31594376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:13.28, Z:-0.08 [[ 9.47155462e-01 -3.20771948e-01 -1.37370970e-03 1.62068499e+02] [ 3.20771565e-01 9.47156458e-01 -4.96697245e-04 1.32815837e+01] [ 1.46044456e-03 2.98024972e-05 9.99998933e-01 -8.26735625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:13.29, Z:-0.08 [[ 9.46616239e-01 -3.22359751e-01 -1.37361592e-03 1.62095162e+02] [ 3.22359369e-01 9.46617235e-01 -4.96956464e-04 1.32911385e+01] [ 1.46048727e-03 2.76290967e-05 9.99998933e-01 -8.27517385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:13.30, Z:-0.08 [[ 9.46406396e-01 -3.22975304e-01 -1.37352241e-03 1.62120375e+02] [ 3.22974922e-01 9.46407392e-01 -4.97214796e-04 1.32998143e+01] [ 1.46049986e-03 2.69539706e-05 9.99998933e-01 -8.30784784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.15, Y:13.31, Z:-0.08 [[ 9.46338678e-01 -3.23173670e-01 -1.37345863e-03 1.62145673e+02] [ 3.23173288e-01 9.46339674e-01 -4.97390906e-04 1.33085059e+01] [ 1.46050204e-03 2.68351113e-05 9.99998933e-01 -8.41773391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:13.32, Z:-0.08 [[ 9.46232580e-01 -3.23484184e-01 -1.37341822e-03 1.62171621e+02] [ 3.23483803e-01 9.46233577e-01 -4.97502460e-04 1.33181276e+01] [ 1.46050861e-03 2.64744872e-05 9.99998933e-01 -8.39624153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:13.33, Z:-0.09 [[ 9.46017563e-01 -3.24112457e-01 -1.37332481e-03 1.62197777e+02] [ 3.24112076e-01 9.46018559e-01 -4.97760187e-04 1.33278718e+01] [ 1.46052103e-03 2.57787259e-05 9.99998933e-01 -8.53645908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:13.34, Z:-0.09 [[ 9.45941293e-01 -3.24334988e-01 -1.37329566e-03 1.62224237e+02] [ 3.24334607e-01 9.45942289e-01 -4.97840577e-04 1.33380814e+01] [ 1.46052556e-03 2.55206497e-05 9.99998933e-01 -8.52993633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:13.35, Z:-0.08 [[ 9.45891921e-01 -3.24478949e-01 -1.37320242e-03 1.62249706e+02] [ 3.24478568e-01 9.45892917e-01 -4.98097633e-04 1.33491232e+01] [ 1.46052464e-03 2.55717712e-05 9.99998933e-01 -8.43605434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:13.36, Z:-0.08 [[ 9.46180887e-01 -3.23635355e-01 -1.37310758e-03 1.62275091e+02] [ 3.23634973e-01 9.46181883e-01 -4.98358938e-04 1.33618206e+01] [ 1.46049609e-03 2.71520661e-05 9.99998933e-01 -8.34577709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:13.37, Z:-0.08 [[ 9.46380306e-01 -3.23051748e-01 -1.37307820e-03 1.62300268e+02] [ 3.23051365e-01 9.46381301e-01 -4.98439894e-04 1.33731532e+01] [ 1.46047741e-03 2.81389141e-05 9.99998933e-01 -8.19051801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:13.38, Z:-0.08 [[ 9.46674778e-01 -3.22187802e-01 -1.37298423e-03 1.62325394e+02] [ 3.22187417e-01 9.46675773e-01 -4.98698590e-04 1.33842340e+01] [ 1.46044551e-03 2.97471328e-05 9.99998933e-01 -8.15055519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.35, Y:13.40, Z:-0.08 [[ 9.46997865e-01 -3.21236920e-01 -1.37295505e-03 1.62351457e+02] [ 3.21236534e-01 9.46998860e-01 -4.98778910e-04 1.33952069e+01] [ 1.46041307e-03 3.12992404e-05 9.99998933e-01 -7.98947662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:13.41, Z:-0.08 [[ 9.47540747e-01 -3.19632052e-01 -1.37285820e-03 1.62376046e+02] [ 3.19631664e-01 9.47541741e-01 -4.99045340e-04 1.34081368e+01] [ 1.46035134e-03 3.40568416e-05 9.99998933e-01 -8.05005020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:13.42, Z:-0.08 [[ 9.47659601e-01 -3.19279494e-01 -1.37282814e-03 1.62401577e+02] [ 3.19279105e-01 9.47660595e-01 -4.99128018e-04 1.34201015e+01] [ 1.46033648e-03 3.46881167e-05 9.99998933e-01 -7.94309383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:13.43, Z:-0.08 [[ 9.47679275e-01 -3.19221094e-01 -1.37273514e-03 1.62426536e+02] [ 3.19220705e-01 9.47680269e-01 -4.99383676e-04 1.34319321e+01] [ 1.46032781e-03 3.50500809e-05 9.99998933e-01 -7.92615567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:13.44, Z:-0.08 [[ 9.47620733e-01 -3.19394837e-01 -1.37264197e-03 1.62450708e+02] [ 3.19394448e-01 9.47621727e-01 -4.99639628e-04 1.34434982e+01] [ 1.46032767e-03 3.50546457e-05 9.99998933e-01 -7.96618420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:13.46, Z:-0.08 [[ 9.47115522e-01 -3.20889861e-01 -1.37260150e-03 1.62473876e+02] [ 3.20889474e-01 9.47116516e-01 -4.99750789e-04 1.34577690e+01] [ 1.46037851e-03 3.28683566e-05 9.99998933e-01 -8.08581051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.50, Y:13.47, Z:-0.08 [[ 9.46640531e-01 -3.22288415e-01 -1.37253867e-03 1.62499154e+02] [ 3.22288028e-01 9.46641525e-01 -4.99923290e-04 1.34693463e+01] [ 1.46042158e-03 3.08948670e-05 9.99998933e-01 -8.00420459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:13.48, Z:-0.08 [[ 9.45418453e-01 -3.25855896e-01 -1.37244455e-03 1.62523378e+02] [ 3.25855513e-01 9.45419449e-01 -5.00181547e-04 1.34828762e+01] [ 1.46052288e-03 2.56622411e-05 9.99998933e-01 -8.08409657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:13.49, Z:-0.08 [[ 9.44714950e-01 -3.27889889e-01 -1.37240350e-03 1.62548974e+02] [ 3.27889508e-01 9.44715947e-01 -5.00294154e-04 1.34941600e+01] [ 1.46057287e-03 2.26386594e-05 9.99998933e-01 -8.07368385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.58, Y:13.51, Z:-0.08 [[ 9.44063100e-01 -3.29762004e-01 -1.37231028e-03 1.62575137e+02] [ 3.29761625e-01 9.44064098e-01 -5.00549733e-04 1.35050586e+01] [ 1.46061115e-03 2.00152666e-05 9.99998933e-01 -7.94828096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:13.52, Z:-0.08 [[ 9.43263270e-01 -3.32042949e-01 -1.37221713e-03 1.62600453e+02] [ 3.32042572e-01 9.43264268e-01 -5.00804966e-04 1.35165505e+01] [ 1.46065214e-03 1.67564262e-05 9.99998933e-01 -7.95843202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:13.53, Z:-0.08 [[ 9.42507666e-01 -3.34181711e-01 -1.37212414e-03 1.62624832e+02] [ 3.34181336e-01 9.42508665e-01 -5.01059605e-04 1.35285474e+01] [ 1.46068385e-03 1.37142410e-05 9.99998933e-01 -7.97946197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:13.54, Z:-0.08 [[ 9.41298706e-01 -3.37572012e-01 -1.37208357e-03 1.62649044e+02] [ 3.37571640e-01 9.41299706e-01 -5.01170663e-04 1.35435052e+01] [ 1.46072305e-03 8.57479429e-06 9.99998933e-01 -8.09118858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:13.55, Z:-0.08 [[ 9.40624137e-01 -3.39447124e-01 -1.37205479e-03 1.62675082e+02] [ 3.39446754e-01 9.40625138e-01 -5.01249452e-04 1.35547514e+01] [ 1.46073691e-03 5.74778766e-06 9.99998933e-01 -8.16075253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:13.57, Z:-0.08 [[ 9.39959621e-01 -3.41282914e-01 -1.37196291e-03 1.62699590e+02] [ 3.41282546e-01 9.39960623e-01 -5.01500801e-04 1.35651397e+01] [ 1.46074477e-03 3.16350714e-06 9.99998933e-01 -8.17943725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:162.73, Y:13.58, Z:-0.08 [[ 9.38718708e-01 -3.44681455e-01 -1.37192299e-03 1.62725145e+02] [ 3.44681090e-01 9.38719710e-01 -5.01610007e-04 1.35779357e+01] [ 1.46074681e-03 -2.00521249e-06 9.99998933e-01 -8.18059644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.75, Y:13.59, Z:-0.08 [[ 9.38108310e-01 -3.46339308e-01 -1.37183273e-03 1.62750779e+02] [ 3.46338944e-01 9.38109313e-01 -5.01856721e-04 1.35896992e+01] [ 1.46074177e-03 -4.32313883e-06 9.99998933e-01 -8.21786048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:13.60, Z:-0.08 [[ 9.37411848e-01 -3.48219968e-01 -1.37174259e-03 1.62776573e+02] [ 3.48219606e-01 9.37412851e-01 -5.02102996e-04 1.36014131e+01] [ 1.46073142e-03 -6.99036632e-06 9.99998933e-01 -8.22488092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:13.61, Z:-0.08 [[ 9.37349899e-01 -3.48386688e-01 -1.37165320e-03 1.62803244e+02] [ 3.48386326e-01 9.37350903e-01 -5.02347068e-04 1.36113975e+01] [ 1.46073140e-03 -6.99024467e-06 9.99998933e-01 -8.22072048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:162.83, Y:13.62, Z:-0.08 [[ 9.36217789e-01 -3.51417659e-01 -1.37156381e-03 1.62829566e+02] [ 3.51417300e-01 9.36218793e-01 -5.02591011e-04 1.36241724e+01] [ 1.46070317e-03 -1.14566050e-05 9.99998933e-01 -7.96382428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:13.64, Z:-0.08 [[ 9.35543463e-01 -3.53208929e-01 -1.37148248e-03 1.62853867e+02] [ 3.53208571e-01 9.35544468e-01 -5.02812854e-04 1.36355405e+01] [ 1.46068083e-03 -1.40160866e-05 9.99998933e-01 -8.00186522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.88, Y:13.65, Z:-0.08 [[ 9.34828386e-01 -3.55097180e-01 -1.37144196e-03 1.62879576e+02] [ 3.55096824e-01 9.34829392e-01 -5.02923336e-04 1.36453958e+01] [ 1.46065091e-03 -1.68476745e-05 9.99998933e-01 -7.96313368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:13.66, Z:-0.08 [[ 9.33923365e-01 -3.57470654e-01 -1.37134823e-03 1.62905900e+02] [ 3.57470300e-01 9.33924371e-01 -5.03178777e-04 1.36556333e+01] [ 1.46060718e-03 -2.02858487e-05 9.99998933e-01 -7.88525928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.93, Y:13.66, Z:-0.08 [[ 9.32290844e-01 -3.61706928e-01 -1.37125134e-03 1.62931351e+02] [ 3.61706579e-01 9.32291852e-01 -5.03442694e-04 1.36647943e+01] [ 1.46050516e-03 -2.66356162e-05 9.99998933e-01 -7.99150960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:13.67, Z:-0.08 [[ 9.31507237e-01 -3.63720205e-01 -1.37120910e-03 1.62955979e+02] [ 3.63719858e-01 9.31508245e-01 -5.03557707e-04 1.36749729e+01] [ 1.46044670e-03 -2.96683317e-05 9.99998933e-01 -8.21514744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:13.69, Z:-0.08 [[ 9.30780609e-01 -3.65575680e-01 -1.37116896e-03 1.62982310e+02] [ 3.65575334e-01 9.30781619e-01 -5.03666984e-04 1.36850630e+01] [ 1.46038727e-03 -3.24620894e-05 9.99998933e-01 -8.23884772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:13.69, Z:-0.08 [[ 9.29818974e-01 -3.68014668e-01 -1.37108259e-03 1.63008887e+02] [ 3.68014325e-01 9.29819984e-01 -5.03902006e-04 1.36937995e+01] [ 1.46030332e-03 -3.60403867e-05 9.99998933e-01 -8.02056184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:13.70, Z:-0.08 [[ 9.29535233e-01 -3.68730758e-01 -1.37098833e-03 1.63034407e+02] [ 3.68730415e-01 9.29536243e-01 -5.04158334e-04 1.37028651e+01] [ 1.46028202e-03 -3.68921601e-05 9.99998933e-01 -8.32848805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:13.71, Z:-0.08 [[ 9.29435166e-01 -3.68982917e-01 -1.37094761e-03 1.63060496e+02] [ 3.68982574e-01 9.29436176e-01 -5.04269037e-04 1.37128181e+01] [ 1.46027496e-03 -3.71704005e-05 9.99998933e-01 -8.32818915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:13.72, Z:-0.08 [[ 9.29523671e-01 -3.68759903e-01 -1.37086283e-03 1.63087103e+02] [ 3.68759559e-01 9.29524681e-01 -5.04499392e-04 1.37223995e+01] [ 1.46028998e-03 -3.65746469e-05 9.99998933e-01 -7.99634813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:13.73, Z:-0.08 [[ 9.30305687e-01 -3.66782564e-01 -1.37076701e-03 1.63112563e+02] [ 3.66782218e-01 9.30306697e-01 -5.04759629e-04 1.37316592e+01] [ 1.46037076e-03 -3.31922086e-05 9.99998933e-01 -8.04698196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:13.74, Z:-0.08 [[ 9.30913016e-01 -3.65238384e-01 -1.37072533e-03 1.63138518e+02] [ 3.65238037e-01 9.30914025e-01 -5.04872777e-04 1.37419861e+01] [ 1.46042635e-03 -3.06483892e-05 9.99998933e-01 -7.93773596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:13.75, Z:-0.08 [[ 9.31684162e-01 -3.63266765e-01 -1.37063107e-03 1.63164421e+02] [ 3.63266415e-01 9.31685170e-01 -5.05128540e-04 1.37521627e+01] [ 1.46049305e-03 -2.72839755e-05 9.99998933e-01 -7.80874993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:13.76, Z:-0.08 [[ 9.32481180e-01 -3.61215961e-01 -1.37053437e-03 1.63190339e+02] [ 3.61215608e-01 9.32482187e-01 -5.05390784e-04 1.37624858e+01] [ 1.46055410e-03 -2.37910096e-05 9.99998933e-01 -7.73306477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:13.77, Z:-0.08 [[ 9.34147732e-01 -3.56883927e-01 -1.37043753e-03 1.63215595e+02] [ 3.56883570e-01 9.34148737e-01 -5.05653251e-04 1.37728536e+01] [ 1.46065200e-03 -1.67317989e-05 9.99998933e-01 -7.79713973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:13.78, Z:-0.08 [[ 9.34918142e-01 -3.54860803e-01 -1.37039532e-03 1.63241224e+02] [ 3.54860443e-01 9.34919146e-01 -5.05767607e-04 1.37831792e+01] [ 1.46068592e-03 -1.34477781e-05 9.99998933e-01 -7.71779470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:13.79, Z:-0.08 [[ 9.35596431e-01 -3.53068607e-01 -1.37030025e-03 1.63267542e+02] [ 3.53068244e-01 9.35597434e-01 -5.06025040e-04 1.37935589e+01] [ 1.46071096e-03 -1.03742837e-05 9.99998933e-01 -7.72715896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:13.80, Z:-0.08 [[ 9.36253563e-01 -3.51322343e-01 -1.37027065e-03 1.63293210e+02] [ 3.51321979e-01 9.36254565e-01 -5.06105204e-04 1.38034023e+01] [ 1.46072821e-03 -7.56339564e-06 9.99998933e-01 -7.75725183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:13.81, Z:-0.08 [[ 9.36253898e-01 -3.51321451e-01 -1.37022921e-03 1.63318469e+02] [ 3.51321086e-01 9.36254900e-01 -5.06217362e-04 1.38129503e+01] [ 1.46072883e-03 -7.44243655e-06 9.99998933e-01 -7.79683364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.34, Y:13.82, Z:-0.08 [[ 9.35900864e-01 -3.52260834e-01 -1.37018795e-03 1.63344624e+02] [ 3.52260470e-01 9.35901867e-01 -5.06329018e-04 1.38229546e+01] [ 1.46072134e-03 -8.78928585e-06 9.99998933e-01 -7.76676801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:13.83, Z:-0.08 [[ 9.35472861e-01 -3.53395881e-01 -1.37009429e-03 1.63370929e+02] [ 3.53395518e-01 9.35473865e-01 -5.06582323e-04 1.38329657e+01] [ 1.46071151e-03 -1.02911673e-05 9.99998933e-01 -7.76412808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:13.84, Z:-0.08 [[ 9.34347777e-01 -3.56359866e-01 -1.37000036e-03 1.63397614e+02] [ 3.56359506e-01 9.34348782e-01 -5.06836241e-04 1.38418994e+01] [ 1.46067426e-03 -1.46513342e-05 9.99998933e-01 -7.86118288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.42, Y:13.85, Z:-0.08 [[ 9.33681265e-01 -3.58102525e-01 -1.36990699e-03 1.63424232e+02] [ 3.58102167e-01 9.33682270e-01 -5.07088457e-04 1.38509724e+01] [ 1.46064753e-03 -1.71076709e-05 9.99998933e-01 -7.93847434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:13.86, Z:-0.08 [[ 9.33116057e-01 -3.59572729e-01 -1.36981453e-03 1.63450494e+02] [ 3.59572372e-01 9.33117062e-01 -5.07338103e-04 1.38597826e+01] [ 1.46062226e-03 -1.91421307e-05 9.99998933e-01 -8.06788641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:163.48, Y:13.87, Z:-0.08 [[ 9.32422770e-01 -3.61366715e-01 -1.36972216e-03 1.63477359e+02] [ 3.61366359e-01 9.32423775e-01 -5.07587377e-04 1.38669932e+01] [ 1.46058669e-03 -2.16854805e-05 9.99998933e-01 -8.09638512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:13.88, Z:-0.08 [[ 9.32288828e-01 -3.61712130e-01 -1.36969346e-03 1.63503618e+02] [ 3.61711775e-01 9.32289834e-01 -5.07664807e-04 1.38761010e+01] [ 1.46057981e-03 -2.21440234e-05 9.99998933e-01 -8.14833676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:13.88, Z:-0.08 [[ 9.32279573e-01 -3.61735984e-01 -1.36960218e-03 1.63529096e+02] [ 3.61735628e-01 9.32280579e-01 -5.07910948e-04 1.38846083e+01] [ 1.46058318e-03 -2.19189026e-05 9.99998933e-01 -8.17141938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:13.89, Z:-0.08 [[ 9.32285998e-01 -3.61719424e-01 -1.36956257e-03 1.63555442e+02] [ 3.61719068e-01 9.32287004e-01 -5.08017738e-04 1.38937142e+01] [ 1.46058527e-03 -2.17790706e-05 9.99998933e-01 -8.07387594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:13.90, Z:-0.08 [[ 9.32844317e-01 -3.60277123e-01 -1.36947191e-03 1.63581580e+02] [ 3.60276765e-01 9.32845322e-01 -5.08262007e-04 1.39001306e+01] [ 1.46062064e-03 -1.92595836e-05 9.99998933e-01 -8.10433466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:13.91, Z:-0.08 [[ 9.33235062e-01 -3.59263751e-01 -1.36943265e-03 1.63608084e+02] [ 3.59263392e-01 9.33236067e-01 -5.08367770e-04 1.39084531e+01] [ 1.46064205e-03 -1.75603904e-05 9.99998933e-01 -8.14758763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:163.63, Y:13.92, Z:-0.08 [[ 9.33833237e-01 -3.57706039e-01 -1.36934315e-03 1.63634556e+02] [ 3.57705678e-01 9.33834241e-01 -5.08608733e-04 1.39168997e+01] [ 1.46067193e-03 -1.48660798e-05 9.99998933e-01 -8.15966368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:13.93, Z:-0.08 [[ 9.35507435e-01 -3.53304350e-01 -1.36925392e-03 1.63661492e+02] [ 3.53303983e-01 9.35508437e-01 -5.08848835e-04 1.39255110e+01] [ 1.46072710e-03 -7.73099535e-06 9.99998933e-01 -8.33012329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:13.93, Z:-0.08 [[ 9.36428024e-01 -3.50857067e-01 -1.36917063e-03 1.63687737e+02] [ 3.50856698e-01 9.36429025e-01 -5.09072851e-04 1.39340591e+01] [ 1.46074292e-03 -3.67260153e-06 9.99998933e-01 -8.27122169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:13.94, Z:-0.08 [[ 9.37375937e-01 -3.48316635e-01 -1.36914289e-03 1.63714107e+02] [ 3.48316263e-01 9.37376937e-01 -5.09147454e-04 1.39432921e+01] [ 1.46074749e-03 3.67838004e-07 9.99998933e-01 -7.83432463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.74, Y:13.95, Z:-0.08 [[ 9.39347141e-01 -3.42965121e-01 -1.36904349e-03 1.63739201e+02] [ 3.42964743e-01 9.39348139e-01 -5.09414583e-04 1.39523366e+01] [ 1.46071989e-03 8.98348453e-06 9.99998933e-01 -8.04530152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.76, Y:13.96, Z:-0.08 [[ 9.40225116e-01 -3.40550815e-01 -1.36897562e-03 1.63764951e+02] [ 3.40550434e-01 9.40226112e-01 -5.09596909e-04 1.39626038e+01] [ 1.46069027e-03 1.29305712e-05 9.99998933e-01 -8.01870543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:13.97, Z:-0.08 [[ 9.41013513e-01 -3.38366213e-01 -1.36888760e-03 1.63790549e+02] [ 3.38365829e-01 9.41014509e-01 -5.09833224e-04 1.39728495e+01] [ 1.46065343e-03 1.65751646e-05 9.99998933e-01 -7.94566564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:13.98, Z:-0.08 [[ 9.41678649e-01 -3.36510695e-01 -1.36879587e-03 1.63816223e+02] [ 3.36510309e-01 9.41679644e-01 -5.10079392e-04 1.39827743e+01] [ 1.46061438e-03 1.97169517e-05 9.99998933e-01 -7.76961996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:13.99, Z:-0.08 [[ 9.42905453e-01 -3.33057702e-01 -1.36869640e-03 1.63842347e+02] [ 3.33057312e-01 9.42906446e-01 -5.10346160e-04 1.39924014e+01] [ 1.46052738e-03 2.53538334e-05 9.99998933e-01 -8.02390917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:14.00, Z:-0.08 [[ 9.43261916e-01 -3.32046810e-01 -1.36866553e-03 1.63868564e+02] [ 3.32046419e-01 9.43262909e-01 -5.10428939e-04 1.40029350e+01] [ 1.46049773e-03 2.70076913e-05 9.99998933e-01 -7.94500914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:14.01, Z:-0.08 [[ 9.43635535e-01 -3.30983541e-01 -1.36856651e-03 1.63893085e+02] [ 3.30983148e-01 9.43636527e-01 -5.10694290e-04 1.40135889e+01] [ 1.46046075e-03 2.89368282e-05 9.99998933e-01 -7.96543606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:14.03, Z:-0.08 [[ 9.44248967e-01 -3.29229427e-01 -1.36852355e-03 1.63917746e+02] [ 3.29229032e-01 9.44249958e-01 -5.10809394e-04 1.40260226e+01] [ 1.46040179e-03 3.17735601e-05 9.99998933e-01 -7.87008350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:14.04, Z:-0.08 [[ 9.44187029e-01 -3.29407014e-01 -1.36849351e-03 1.63943831e+02] [ 3.29406620e-01 9.44188020e-01 -5.10889862e-04 1.40368982e+01] [ 1.46040588e-03 3.15847619e-05 9.99998933e-01 -7.83288630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:14.05, Z:-0.08 [[ 9.43989660e-01 -3.29972194e-01 -1.36839843e-03 1.63969425e+02] [ 3.29971799e-01 9.43990652e-01 -5.11144385e-04 1.40476926e+01] [ 1.46041876e-03 3.09821213e-05 9.99998933e-01 -7.72533266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:14.06, Z:-0.08 [[ 9.43636600e-01 -3.30980505e-01 -1.36830166e-03 1.63995593e+02] [ 3.30980111e-01 9.43637592e-01 -5.11403301e-04 1.40588261e+01] [ 1.46044541e-03 2.96982353e-05 9.99998933e-01 -7.67434492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:14.07, Z:-0.08 [[ 9.43201415e-01 -3.32218631e-01 -1.36820545e-03 1.64020917e+02] [ 3.32218238e-01 9.43202407e-01 -5.11660571e-04 1.40695848e+01] [ 1.46047785e-03 2.80561706e-05 9.99998933e-01 -7.71591477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:14.08, Z:-0.08 [[ 9.41790980e-01 -3.36196191e-01 -1.36810865e-03 1.64046937e+02] [ 3.36195802e-01 9.41791973e-01 -5.11919279e-04 1.40807950e+01] [ 1.46057906e-03 2.21685755e-05 9.99998933e-01 -7.69637710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:14.09, Z:-0.08 [[ 9.40903281e-01 -3.38672621e-01 -1.36800791e-03 1.64073298e+02] [ 3.38672234e-01 9.40904276e-01 -5.12188350e-04 1.40910648e+01] [ 1.46062866e-03 1.86134054e-05 9.99998933e-01 -7.59063986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:14.10, Z:-0.08 [[ 9.39898422e-01 -3.41451439e-01 -1.36797661e-03 1.64098949e+02] [ 3.41451055e-01 9.39899417e-01 -5.12271937e-04 1.41011412e+01] [ 1.46067641e-03 1.43865294e-05 9.99998933e-01 -7.57088407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:14.11, Z:-0.07 [[ 9.37535040e-01 -3.47888168e-01 -1.36794569e-03 1.64125718e+02] [ 3.47887791e-01 9.37536038e-01 -5.12354473e-04 1.41103463e+01] [ 1.46074044e-03 4.45866621e-06 9.99998933e-01 -7.49998825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.15, Y:14.12, Z:-0.08 [[ 9.36267196e-01 -3.51286019e-01 -1.36784501e-03 1.64151778e+02] [ 3.51285645e-01 9.36268195e-01 -5.12623121e-04 1.41189280e+01] [ 1.46074712e-03 -5.52106446e-07 9.99998933e-01 -7.52489200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:14.13, Z:-0.08 [[ 9.35104017e-01 -3.54370718e-01 -1.36780138e-03 1.64177949e+02] [ 3.54370347e-01 9.35105018e-01 -5.12739520e-04 1.41276219e+01] [ 1.46073780e-03 -5.24346446e-06 9.99998933e-01 -7.58575931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.20, Y:14.13, Z:-0.08 [[ 9.32903909e-01 -3.60122794e-01 -1.36745487e-03 1.64204802e+02] [ 3.60122428e-01 9.32904911e-01 -5.13663503e-04 1.41341677e+01] [ 1.46068730e-03 -1.32524768e-05 9.99998933e-01 -7.68118809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:14.14, Z:-0.08 [[ 9.31968246e-01 -3.62537334e-01 -1.36767472e-03 1.64231295e+02] [ 3.62536971e-01 9.31969249e-01 -5.13077449e-04 1.41429929e+01] [ 1.46064051e-03 -1.76607618e-05 9.99998933e-01 -7.75656779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:14.15, Z:-0.08 [[ 9.31126229e-01 -3.64694495e-01 -1.36764441e-03 1.64257560e+02] [ 3.64694135e-01 9.31127233e-01 -5.13158230e-04 1.41514596e+01] [ 1.46059694e-03 -2.09568074e-05 9.99998933e-01 -7.78095768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:14.16, Z:-0.08 [[ 9.30529553e-01 -3.66214257e-01 -1.36754736e-03 1.64284053e+02] [ 3.66213897e-01 9.30530557e-01 -5.13416727e-04 1.41596036e+01] [ 1.46056514e-03 -2.30654130e-05 9.99998933e-01 -7.90650587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:14.17, Z:-0.08 [[ 9.29746451e-01 -3.68197863e-01 -1.36751715e-03 1.64311668e+02] [ 3.68197506e-01 9.29747456e-01 -5.13497183e-04 1.41656761e+01] [ 1.46051416e-03 -2.60942223e-05 9.99998933e-01 -7.87097520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:14.17, Z:-0.08 [[ 9.29575334e-01 -3.68629663e-01 -1.36741763e-03 1.64337707e+02] [ 3.68629306e-01 9.29576339e-01 -5.13762066e-04 1.41735745e+01] [ 1.46050701e-03 -2.64896682e-05 9.99998933e-01 -7.99299677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:14.18, Z:-0.08 [[ 9.29578177e-01 -3.68622495e-01 -1.36737449e-03 1.64364233e+02] [ 3.68622138e-01 9.29579182e-01 -5.13876863e-04 1.41810714e+01] [ 1.46050943e-03 -2.63557907e-05 9.99998933e-01 -7.93612233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:14.19, Z:-0.08 [[ 9.29817429e-01 -3.68018585e-01 -1.36734479e-03 1.64391548e+02] [ 3.68018227e-01 9.29818434e-01 -5.13955888e-04 1.41883759e+01] [ 1.46052771e-03 -2.53226617e-05 9.99998933e-01 -7.77168240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:14.19, Z:-0.07 [[ 9.31000612e-01 -3.65015057e-01 -1.36724863e-03 1.64420483e+02] [ 3.65014695e-01 9.31001615e-01 -5.14211559e-04 1.41943076e+01] [ 1.46060565e-03 -2.03345669e-05 9.99998933e-01 -7.45283115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:14.20, Z:-0.07 [[ 9.30930277e-01 -3.65194400e-01 -1.36716203e-03 1.64447077e+02] [ 3.65194038e-01 9.30931281e-01 -5.14441709e-04 1.42045106e+01] [ 1.46060513e-03 -2.03700587e-05 9.99998933e-01 -7.44867057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.47, Y:14.21, Z:-0.07 [[ 9.31691150e-01 -3.63248858e-01 -1.36706288e-03 1.64473160e+02] [ 3.63248494e-01 9.31692152e-01 -5.14705063e-04 1.42131262e+01] [ 1.46064778e-03 -1.70373789e-05 9.99998933e-01 -7.41634424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:14.22, Z:-0.07 [[ 9.32655627e-01 -3.60765315e-01 -1.36701978e-03 1.64499494e+02] [ 3.60764948e-01 9.32656629e-01 -5.14819482e-04 1.42217936e+01] [ 1.46068908e-03 -1.30235344e-05 9.99998933e-01 -7.48093576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:14.23, Z:-0.08 [[ 9.34808970e-01 -3.55148308e-01 -1.36692083e-03 1.64526854e+02] [ 3.55147935e-01 9.34809970e-01 -5.15082084e-04 1.42289439e+01] [ 1.46074175e-03 -3.95575821e-06 9.99998933e-01 -7.68622469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.55, Y:14.24, Z:-0.08 [[ 9.35845446e-01 -3.52408048e-01 -1.36687426e-03 1.64552898e+02] [ 3.52407671e-01 9.35846445e-01 -5.15205635e-04 1.42378168e+01] [ 1.46074703e-03 4.55871332e-07 9.99998933e-01 -7.70087748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:14.25, Z:-0.08 [[ 9.36942578e-01 -3.49480669e-01 -1.36677692e-03 1.64579054e+02] [ 3.49480289e-01 9.36943575e-01 -5.15463753e-04 1.42472401e+01] [ 1.46073747e-03 5.29834570e-06 9.99998933e-01 -7.85072769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:14.26, Z:-0.08 [[ 9.38955843e-01 -3.44034964e-01 -1.36668581e-03 1.64605071e+02] [ 3.44034578e-01 9.38956838e-01 -5.15705198e-04 1.42562002e+01] [ 1.46067961e-03 1.40372338e-05 9.99998933e-01 -8.05227068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:14.27, Z:-0.08 [[ 9.39883360e-01 -3.41492902e-01 -1.36665547e-03 1.64630249e+02] [ 3.41492513e-01 9.39884353e-01 -5.15785581e-04 1.42652756e+01] [ 1.46063521e-03 1.80756737e-05 9.99998933e-01 -8.13059502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:14.28, Z:-0.08 [[ 9.40742929e-01 -3.39117787e-01 -1.36658953e-03 1.64656036e+02] [ 3.39117395e-01 9.40743922e-01 -5.15960245e-04 1.42750536e+01] [ 1.46058209e-03 2.19516714e-05 9.99998933e-01 -8.10962985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:14.29, Z:-0.08 [[ 9.42448707e-01 -3.34347973e-01 -1.36649220e-03 1.64682272e+02] [ 3.34347576e-01 9.42449697e-01 -5.16217887e-04 1.42862684e+01] [ 1.46044656e-03 2.96255271e-05 9.99998933e-01 -7.76440163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:14.30, Z:-0.08 [[ 9.43220898e-01 -3.32163319e-01 -1.36640391e-03 1.64707948e+02] [ 3.32162919e-01 9.43221887e-01 -5.16451488e-04 1.42973445e+01] [ 1.46036831e-03 3.32591260e-05 9.99998933e-01 -7.65978561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:14.31, Z:-0.08 [[ 9.44001274e-01 -3.29938977e-01 -1.36630305e-03 1.64732358e+02] [ 3.29938575e-01 9.44002262e-01 -5.16718174e-04 1.43081378e+01] [ 1.46027863e-03 3.69865338e-05 9.99998933e-01 -7.66309203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:14.32, Z:-0.08 [[ 9.45144949e-01 -3.26648372e-01 -1.36625909e-03 1.64756626e+02] [ 3.26647966e-01 9.45145936e-01 -5.16834367e-04 1.43209174e+01] [ 1.46013733e-03 4.21976379e-05 9.99998933e-01 -7.68724203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.78, Y:14.33, Z:-0.08 [[ 9.45467961e-01 -3.25712247e-01 -1.36619154e-03 1.64782330e+02] [ 3.25711840e-01 9.45468947e-01 -5.17012869e-04 1.43321005e+01] [ 1.46008910e-03 4.38343425e-05 9.99998933e-01 -7.65465524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:14.34, Z:-0.08 [[ 9.45538776e-01 -3.25506616e-01 -1.36609398e-03 1.64806812e+02] [ 3.25506208e-01 9.45539762e-01 -5.17270541e-04 1.43428060e+01] [ 1.46007116e-03 4.44272837e-05 9.99998933e-01 -7.88390726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:14.36, Z:-0.08 [[ 9.45227114e-01 -3.26410535e-01 -1.36605161e-03 1.64832420e+02] [ 3.26410128e-01 9.45228100e-01 -5.17382388e-04 1.43554857e+01] [ 1.46010943e-03 4.31507794e-05 9.99998933e-01 -7.90053281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:14.37, Z:-0.08 [[ 9.44782846e-01 -3.27694230e-01 -1.36595430e-03 1.64857720e+02] [ 3.27693824e-01 9.44783832e-01 -5.17639193e-04 1.43674213e+01] [ 1.46015891e-03 4.14418436e-05 9.99998933e-01 -7.91130476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:14.38, Z:-0.08 [[ 9.44158444e-01 -3.29488949e-01 -1.36585665e-03 1.64883494e+02] [ 3.29488545e-01 9.44159431e-01 -5.17896716e-04 1.43791902e+01] [ 1.46022768e-03 3.89424368e-05 9.99998933e-01 -7.87849265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:14.39, Z:-0.08 [[ 9.43331966e-01 -3.31847761e-01 -1.36575880e-03 1.64908431e+02] [ 3.31847358e-01 9.43332954e-01 -5.18154641e-04 1.43908833e+01] [ 1.46031374e-03 3.55683881e-05 9.99998933e-01 -7.84217653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:14.40, Z:-0.08 [[ 9.41313708e-01 -3.37530203e-01 -1.36572846e-03 1.64933170e+02] [ 3.37529806e-01 9.41314698e-01 -5.18234588e-04 1.44034030e+01] [ 1.46050010e-03 2.68472600e-05 9.99998933e-01 -7.77824653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:14.41, Z:-0.08 [[ 9.40223718e-01 -3.40554688e-01 -1.36563145e-03 1.64958352e+02] [ 3.40554294e-01 9.40224709e-01 -5.18490101e-04 1.44141346e+01] [ 1.46057467e-03 2.24250361e-05 9.99998933e-01 -7.74867444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:14.43, Z:-0.08 [[ 9.39059643e-01 -3.43751542e-01 -1.36560122e-03 1.64983799e+02] [ 3.43751152e-01 9.39060635e-01 -5.18569707e-04 1.44251647e+01] [ 1.46064149e-03 1.75408914e-05 9.99998933e-01 -7.66801430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:14.44, Z:-0.08 [[ 9.36928620e-01 -3.49518091e-01 -1.36550496e-03 1.65009691e+02] [ 3.49517706e-01 9.36929615e-01 -5.18823057e-04 1.44355596e+01] [ 1.46072008e-03 8.83201030e-06 9.99998933e-01 -7.54225909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:14.45, Z:-0.08 [[ 9.35841074e-01 -3.52419665e-01 -1.36540834e-03 1.65035608e+02] [ 3.52419283e-01 9.35842070e-01 -5.19077208e-04 1.44461987e+01] [ 1.46073958e-03 4.57754296e-06 9.99998933e-01 -7.53282610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:14.46, Z:-0.08 [[ 9.34899976e-01 -3.54908679e-01 -1.36530994e-03 1.65060111e+02] [ 3.54908299e-01 9.34900973e-01 -5.19335897e-04 1.44569021e+01] [ 1.46074641e-03 9.67288224e-07 9.99998933e-01 -7.61472072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.09, Y:14.47, Z:-0.08 [[ 9.33937006e-01 -3.57435036e-01 -1.36526712e-03 1.65085632e+02] [ 3.57434659e-01 9.33938004e-01 -5.19448453e-04 1.44684135e+01] [ 1.46074392e-03 -2.86165221e-06 9.99998933e-01 -7.54469976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.11, Y:14.48, Z:-0.08 [[ 9.32115783e-01 -3.62157843e-01 -1.36516978e-03 1.65111060e+02] [ 3.62157470e-01 9.32116783e-01 -5.19704150e-04 1.44796555e+01] [ 1.46071259e-03 -9.98199073e-06 9.99998933e-01 -7.72757999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.14, Y:14.49, Z:-0.08 [[ 9.31186941e-01 -3.64539460e-01 -1.36512432e-03 1.65137397e+02] [ 3.64539090e-01 9.31187941e-01 -5.19823517e-04 1.44893249e+01] [ 1.46068349e-03 -1.35883079e-05 9.99998933e-01 -7.82149755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:14.50, Z:-0.08 [[ 9.30283498e-01 -3.66838862e-01 -1.36502878e-03 1.65163803e+02] [ 3.66838493e-01 9.30284499e-01 -5.20074294e-04 1.44994617e+01] [ 1.46064857e-03 -1.69285662e-05 9.99998933e-01 -7.92330587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.19, Y:14.51, Z:-0.08 [[ 9.28516966e-01 -3.71287465e-01 -1.36493348e-03 1.65190636e+02] [ 3.71287101e-01 9.28517969e-01 -5.20324276e-04 1.45081478e+01] [ 1.46055514e-03 -2.36522776e-05 9.99998933e-01 -7.96120129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:14.52, Z:-0.08 [[ 9.27777137e-01 -3.73132312e-01 -1.36490394e-03 1.65216575e+02] [ 3.73131950e-01 9.27778140e-01 -5.20401744e-04 1.45173907e+01] [ 1.46050675e-03 -2.64724302e-05 9.99998933e-01 -7.97276034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:14.53, Z:-0.08 [[ 9.27045111e-01 -3.74947328e-01 -1.36480962e-03 1.65242734e+02] [ 3.74946968e-01 9.27046116e-01 -5.20649011e-04 1.45263554e+01] [ 1.46045741e-03 -2.90661071e-05 9.99998933e-01 -7.86356301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:14.54, Z:-0.08 [[ 9.26437725e-01 -3.76445586e-01 -1.36471516e-03 1.65268680e+02] [ 3.76445227e-01 9.26438730e-01 -5.20896474e-04 1.45354633e+01] [ 1.46041416e-03 -3.11623640e-05 9.99998933e-01 -7.69455680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:14.54, Z:-0.08 [[ 9.25764401e-01 -3.78098416e-01 -1.36464775e-03 1.65294317e+02] [ 3.78098058e-01 9.25765406e-01 -5.21073027e-04 1.45428880e+01] [ 1.46036056e-03 -3.35798054e-05 9.99998933e-01 -7.73761305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.32, Y:14.55, Z:-0.08 [[ 9.25562019e-01 -3.78593565e-01 -1.36458064e-03 1.65321006e+02] [ 3.78593207e-01 9.25563024e-01 -5.21248710e-04 1.45518718e+01] [ 1.46034679e-03 -3.41729528e-05 9.99998933e-01 -7.67524702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:14.56, Z:-0.08 [[ 9.25434224e-01 -3.78905840e-01 -1.36448345e-03 1.65347671e+02] [ 3.78905482e-01 9.25435229e-01 -5.21502998e-04 1.45609048e+01] [ 1.46034159e-03 -3.43935387e-05 9.99998933e-01 -7.64538605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:14.57, Z:-0.08 [[ 9.25445358e-01 -3.78878644e-01 -1.36438635e-03 1.65373223e+02] [ 3.78878287e-01 9.25446363e-01 -5.21756917e-04 1.45691058e+01] [ 1.46034894e-03 -3.40788460e-05 9.99998933e-01 -7.67238498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:14.58, Z:-0.08 [[ 9.25739271e-01 -3.78159941e-01 -1.36434412e-03 1.65400413e+02] [ 3.78159583e-01 9.25740275e-01 -5.21867311e-04 1.45771355e+01] [ 1.46037762e-03 -3.28267402e-05 9.99998933e-01 -7.71912950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:14.59, Z:-0.08 [[ 9.25953112e-01 -3.77636034e-01 -1.36424822e-03 1.65426511e+02] [ 3.77635674e-01 9.25954116e-01 -5.22117905e-04 1.45860433e+01] [ 1.46040179e-03 -3.17320967e-05 9.99998933e-01 -7.53999100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:14.59, Z:-0.08 [[ 9.26207748e-01 -3.77011070e-01 -1.36414586e-03 1.65452772e+02] [ 3.77010710e-01 9.26208752e-01 -5.22385213e-04 1.45943130e+01] [ 1.46042884e-03 -3.04603657e-05 9.99998933e-01 -7.64917057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:14.60, Z:-0.08 [[ 9.26932885e-01 -3.75224687e-01 -1.36410141e-03 1.65480138e+02] [ 3.75224324e-01 9.26933888e-01 -5.22501256e-04 1.45999166e+01] [ 1.46048719e-03 -2.75204323e-05 9.99998933e-01 -7.69576475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:165.51, Y:14.61, Z:-0.08 [[ 9.27349400e-01 -3.74194107e-01 -1.36400218e-03 1.65507166e+02] [ 3.74193743e-01 9.27350403e-01 -5.22760165e-04 1.46087422e+01] [ 1.46052174e-03 -2.56197544e-05 9.99998933e-01 -7.58922487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:14.62, Z:-0.08 [[ 9.27844768e-01 -3.72964108e-01 -1.36390064e-03 1.65532777e+02] [ 3.72963742e-01 9.27845770e-01 -5.23024947e-04 1.46176433e+01] [ 1.46055897e-03 -2.33995260e-05 9.99998933e-01 -7.76401300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:14.63, Z:-0.08 [[ 9.28301840e-01 -3.71825005e-01 -1.36383137e-03 1.65559430e+02] [ 3.71824637e-01 9.28302841e-01 -5.23205525e-04 1.46258617e+01] [ 1.46058943e-03 -2.14134521e-05 9.99998933e-01 -7.64448410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:14.63, Z:-0.08 [[ 9.29293887e-01 -3.69338614e-01 -1.36372756e-03 1.65586326e+02] [ 3.69338244e-01 9.29294887e-01 -5.23475946e-04 1.46308623e+01] [ 1.46064493e-03 -1.72137456e-05 9.99998933e-01 -7.64056242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.61, Y:14.64, Z:-0.08 [[ 9.29733179e-01 -3.68231391e-01 -1.36362408e-03 1.65612678e+02] [ 3.68231019e-01 9.29734179e-01 -5.23745374e-04 1.46386122e+01] [ 1.46066740e-03 -1.51852322e-05 9.99998933e-01 -7.61260555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:14.65, Z:-0.08 [[ 9.30216442e-01 -3.67008871e-01 -1.36358029e-03 1.65638916e+02] [ 3.67008498e-01 9.30217441e-01 -5.23859362e-04 1.46470226e+01] [ 1.46068720e-03 -1.31429612e-05 9.99998933e-01 -7.56887090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:14.65, Z:-0.07 [[ 9.31240085e-01 -3.64403684e-01 -1.36353398e-03 1.65667271e+02] [ 3.64403308e-01 9.31241083e-01 -5.23979874e-04 1.46543911e+01] [ 1.46071905e-03 -8.92522914e-06 9.99998933e-01 -7.29784048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:14.66, Z:-0.07 [[ 9.31764318e-01 -3.63061148e-01 -1.36344484e-03 1.65693062e+02] [ 3.63060769e-01 9.31765315e-01 -5.24211706e-04 1.46628295e+01] [ 1.46073152e-03 -6.57157101e-06 9.99998933e-01 -7.32210198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:14.67, Z:-0.07 [[ 9.32289574e-01 -3.61710232e-01 -1.36337512e-03 1.65719211e+02] [ 3.61709852e-01 9.32290571e-01 -5.24392981e-04 1.46712882e+01] [ 1.46074008e-03 -4.26010434e-06 9.99998933e-01 -7.39310186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:14.68, Z:-0.07 [[ 9.32782164e-01 -3.60438034e-01 -1.36333131e-03 1.65745772e+02] [ 3.60437652e-01 9.32783160e-01 -5.24506852e-04 1.46797521e+01] [ 1.46074471e-03 -2.14530071e-06 9.99998933e-01 -7.34987088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.77, Y:14.69, Z:-0.07 [[ 9.33640022e-01 -3.58210065e-01 -1.36323134e-03 1.65773604e+02] [ 3.58209681e-01 9.33641017e-01 -5.24766556e-04 1.46861825e+01] [ 1.46074536e-03 1.62039654e-06 9.99998933e-01 -7.45607187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:14.70, Z:-0.08 [[ 9.33932693e-01 -3.57446312e-01 -1.36320023e-03 1.65800120e+02] [ 3.57445926e-01 9.33933688e-01 -5.24847362e-04 1.46952855e+01] [ 1.46074337e-03 2.90174147e-06 9.99998933e-01 -7.55429950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:14.70, Z:-0.08 [[ 9.34260362e-01 -3.56589003e-01 -1.36310173e-03 1.65826103e+02] [ 3.56588616e-01 9.34261357e-01 -5.25103045e-04 1.47047667e+01] [ 1.46073925e-03 4.51640003e-06 9.99998933e-01 -7.53256403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:14.71, Z:-0.07 [[ 9.34882300e-01 -3.54955247e-01 -1.36300253e-03 1.65852930e+02] [ 3.54954859e-01 9.34883293e-01 -5.25360408e-04 1.47140714e+01] [ 1.46072773e-03 7.34577441e-06 9.99998933e-01 -7.31612454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:14.72, Z:-0.07 [[ 9.35099829e-01 -3.54381790e-01 -1.36291431e-03 1.65879003e+02] [ 3.54381400e-01 9.35100822e-01 -5.25589178e-04 1.47232927e+01] [ 1.46072153e-03 8.48686790e-06 9.99998933e-01 -7.25551507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:165.90, Y:14.73, Z:-0.07 [[ 9.35287393e-01 -3.53886472e-01 -1.36281360e-03 1.65904238e+02] [ 3.53886081e-01 9.35288386e-01 -5.25850184e-04 1.47319049e+01] [ 1.46071500e-03 9.54028329e-06 9.99998933e-01 -7.30530657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.93, Y:14.74, Z:-0.07 [[ 9.35440713e-01 -3.53480997e-01 -1.36276994e-03 1.65929337e+02] [ 3.53480606e-01 9.35441706e-01 -5.25963318e-04 1.47407556e+01] [ 1.46070987e-03 1.02947582e-05 9.99998933e-01 -7.37051836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:14.75, Z:-0.07 [[ 9.35547099e-01 -3.53199332e-01 -1.36272677e-03 1.65957385e+02] [ 3.53198940e-01 9.35548092e-01 -5.26075131e-04 1.47494546e+01] [ 1.46070582e-03 1.08544116e-05 9.99998933e-01 -7.14177840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:14.76, Z:-0.07 [[ 9.35596057e-01 -3.53069627e-01 -1.36263746e-03 1.65983300e+02] [ 3.53069235e-01 9.35597049e-01 -5.26306362e-04 1.47583762e+01] [ 1.46070238e-03 1.13047910e-05 9.99998933e-01 -7.16624778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:14.77, Z:-0.07 [[ 9.35615171e-01 -3.53018972e-01 -1.36259314e-03 1.66009120e+02] [ 3.53018580e-01 9.35616163e-01 -5.26421072e-04 1.47679342e+01] [ 1.46070080e-03 1.15068442e-05 9.99998933e-01 -7.16459572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.04, Y:14.78, Z:-0.07 [[ 9.35720587e-01 -3.52739459e-01 -1.36249435e-03 1.66035686e+02] [ 3.52739066e-01 9.35721579e-01 -5.26676641e-04 1.47780341e+01] [ 1.46069500e-03 1.22171909e-05 9.99998933e-01 -7.10567613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:14.79, Z:-0.07 [[ 9.35966880e-01 -3.52085419e-01 -1.36239212e-03 1.66060697e+02] [ 3.52085025e-01 9.35967872e-01 -5.26940950e-04 1.47888486e+01] [ 1.46068348e-03 1.35214118e-05 9.99998933e-01 -7.25589452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.09, Y:14.80, Z:-0.07 [[ 9.36192896e-01 -3.51484005e-01 -1.36234771e-03 1.66086014e+02] [ 3.51483610e-01 9.36193887e-01 -5.27055746e-04 1.47988286e+01] [ 1.46067327e-03 1.45829520e-05 9.99998933e-01 -7.24182890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.11, Y:14.81, Z:-0.07 [[ 9.36126702e-01 -3.51660265e-01 -1.36230407e-03 1.66112515e+02] [ 3.51659870e-01 9.36127693e-01 -5.27168534e-04 1.48092916e+01] [ 1.46067479e-03 1.44288692e-05 9.99998933e-01 -7.23766772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:166.14, Y:14.82, Z:-0.07 [[ 9.36407669e-01 -3.50911416e-01 -1.36220476e-03 1.66138314e+02] [ 3.50911020e-01 9.36408660e-01 -5.27425010e-04 1.48198597e+01] [ 1.46065979e-03 1.58721615e-05 9.99998933e-01 -7.23950431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:14.83, Z:-0.07 [[ 9.36531894e-01 -3.50579744e-01 -1.36210541e-03 1.66163896e+02] [ 3.50579347e-01 9.36532884e-01 -5.27681467e-04 1.48303366e+01] [ 1.46065094e-03 1.66644971e-05 9.99998933e-01 -7.30579547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:14.84, Z:-0.07 [[ 9.36445620e-01 -3.50810127e-01 -1.36207449e-03 1.66189544e+02] [ 3.50809730e-01 9.36446611e-01 -5.27761266e-04 1.48410339e+01] [ 1.46065404e-03 1.63907412e-05 9.99998933e-01 -7.31800225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:166.22, Y:14.85, Z:-0.07 [[ 9.36405358e-01 -3.50917584e-01 -1.36197494e-03 1.66215132e+02] [ 3.50917187e-01 9.36406348e-01 -5.28018057e-04 1.48511643e+01] [ 1.46065280e-03 1.64985233e-05 9.99998933e-01 -7.24976272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:14.86, Z:-0.07 [[ 9.36402661e-01 -3.50924780e-01 -1.36187347e-03 1.66240573e+02] [ 3.50924383e-01 9.36403651e-01 -5.28279644e-04 1.48629075e+01] [ 1.46064971e-03 1.67678588e-05 9.99998933e-01 -7.28694463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:14.87, Z:-0.07 [[ 9.36422952e-01 -3.50870633e-01 -1.36184195e-03 1.66266045e+02] [ 3.50870235e-01 9.36423942e-01 -5.28360890e-04 1.48739995e+01] [ 1.46064772e-03 1.69394600e-05 9.99998933e-01 -7.17564370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:14.88, Z:-0.07 [[ 9.36443075e-01 -3.50816921e-01 -1.36174283e-03 1.66290430e+02] [ 3.50816524e-01 9.36444065e-01 -5.28616215e-04 1.48847173e+01] [ 1.46064351e-03 1.72971082e-05 9.99998933e-01 -7.15025306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:14.90, Z:-0.07 [[ 9.36508110e-01 -3.50643275e-01 -1.36169976e-03 1.66315928e+02] [ 3.50642877e-01 9.36509100e-01 -5.28727149e-04 1.48955540e+01] [ 1.46063883e-03 1.76869436e-05 9.99998933e-01 -7.10589296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:14.91, Z:-0.07 [[ 9.36579669e-01 -3.50452094e-01 -1.36160102e-03 1.66340701e+02] [ 3.50451696e-01 9.36580658e-01 -5.28981311e-04 1.49085306e+01] [ 1.46063178e-03 1.82577560e-05 9.99998933e-01 -6.94151710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:14.92, Z:-0.07 [[ 9.36607253e-01 -3.50378366e-01 -1.36149715e-03 1.66365120e+02] [ 3.50377967e-01 9.36608243e-01 -5.29248507e-04 1.49203021e+01] [ 1.46062668e-03 1.86593879e-05 9.99998933e-01 -7.06100741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:14.93, Z:-0.07 [[ 9.36513761e-01 -3.50628182e-01 -1.36142634e-03 1.66390883e+02] [ 3.50627782e-01 9.36514751e-01 -5.29430593e-04 1.49318826e+01] [ 1.46062914e-03 1.84651376e-05 9.99998933e-01 -7.05200668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:14.94, Z:-0.07 [[ 9.36032457e-01 -3.51911049e-01 -1.36132483e-03 1.66416366e+02] [ 3.51910651e-01 9.36033447e-01 -5.29691489e-04 1.49443794e+01] [ 1.46064986e-03 1.67437207e-05 9.99998933e-01 -7.12692239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:14.96, Z:-0.07 [[ 9.35468077e-01 -3.53408580e-01 -1.36122213e-03 1.66441854e+02] [ 3.53408183e-01 9.35469067e-01 -5.29955262e-04 1.49555750e+01] [ 1.46067193e-03 1.46891889e-05 9.99998933e-01 -7.28140510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:14.97, Z:-0.07 [[ 9.34706384e-01 -3.55418236e-01 -1.36119008e-03 1.66467924e+02] [ 3.55417841e-01 9.34707375e-01 -5.30037589e-04 1.49664771e+01] [ 1.46069943e-03 1.16382808e-05 9.99998933e-01 -7.32387027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:14.98, Z:-0.07 [[ 9.33866061e-01 -3.57620368e-01 -1.36108672e-03 1.66493843e+02] [ 3.57619975e-01 9.33867053e-01 -5.30302873e-04 1.49764821e+01] [ 1.46072115e-03 8.48005752e-06 9.99998933e-01 -7.29791123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:14.99, Z:-0.07 [[ 9.32992091e-01 -3.59894299e-01 -1.36098338e-03 1.66520927e+02] [ 3.59893908e-01 9.32993083e-01 -5.30567936e-04 1.49871680e+01] [ 1.46073646e-03 5.20605936e-06 9.99998933e-01 -7.14749471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.55, Y:15.00, Z:-0.07 [[ 9.31377688e-01 -3.64051851e-01 -1.36089255e-03 1.66546487e+02] [ 3.64051464e-01 9.31378682e-01 -5.30800812e-04 1.49978697e+01] [ 1.46074533e-03 -1.05889414e-06 9.99998933e-01 -6.90179141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:15.01, Z:-0.07 [[ 9.30542109e-01 -3.66182375e-01 -1.36086038e-03 1.66571877e+02] [ 3.66181990e-01 9.30543104e-01 -5.30883271e-04 1.50091737e+01] [ 1.46073934e-03 -4.31332559e-06 9.99998933e-01 -6.90308838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:15.02, Z:-0.07 [[ 9.29440358e-01 -3.68969876e-01 -1.36076000e-03 1.66597436e+02] [ 3.68969494e-01 9.29441354e-01 -5.31140442e-04 1.50199562e+01] [ 1.46072144e-03 -8.41556717e-06 9.99998933e-01 -6.98558211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:15.03, Z:-0.07 [[ 9.29145933e-01 -3.69710676e-01 -1.36065888e-03 1.66623490e+02] [ 3.69710294e-01 9.29146929e-01 -5.31399378e-04 1.50307934e+01] [ 1.46071604e-03 -9.30202296e-06 9.99998933e-01 -7.18243831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73587156000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:166.65, Y:15.04, Z:-0.07 [[ 9.29124141e-01 -3.69765438e-01 -1.36062749e-03 1.66650709e+02] [ 3.69765056e-01 9.29125137e-01 -5.31479739e-04 1.50414300e+01] [ 1.46071604e-03 -9.30184322e-06 9.99998933e-01 -7.09575427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.68, Y:15.05, Z:-0.07 [[ 9.29179476e-01 -3.69626365e-01 -1.36053660e-03 1.66676853e+02] [ 3.69625983e-01 9.29180472e-01 -5.31712300e-04 1.50522815e+01] [ 1.46071893e-03 -8.83352147e-06 9.99998933e-01 -7.18887918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:15.06, Z:-0.07 [[ 9.29890887e-01 -3.67832961e-01 -1.36050445e-03 1.66702030e+02] [ 3.67832576e-01 9.29891882e-01 -5.31794539e-04 1.50642860e+01] [ 1.46073361e-03 -5.92696322e-06 9.99998933e-01 -7.28041032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:166.73, Y:15.07, Z:-0.07 [[ 9.30499067e-01 -3.66291736e-01 -1.36045704e-03 1.66727709e+02] [ 3.66291350e-01 9.30500061e-01 -5.31915804e-04 1.50746087e+01] [ 1.46074172e-03 -3.37648699e-06 9.99998933e-01 -7.16539422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:15.09, Z:-0.07 [[ 9.30894400e-01 -3.65285867e-01 -1.36035702e-03 1.66754011e+02] [ 3.65285480e-01 9.30895394e-01 -5.32171473e-04 1.50870458e+01] [ 1.46074481e-03 -1.52322410e-06 9.99998933e-01 -7.17587720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:15.10, Z:-0.07 [[ 9.31324451e-01 -3.64188024e-01 -1.36026995e-03 1.66779909e+02] [ 3.64187635e-01 9.31325444e-01 -5.32393957e-04 1.50987367e+01] [ 1.46074552e-03 4.38014201e-07 9.99998933e-01 -7.10819167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:15.11, Z:-0.07 [[ 9.32069323e-01 -3.62277416e-01 -1.36016964e-03 1.66804522e+02] [ 3.62277024e-01 9.32070316e-01 -5.32650092e-04 1.51114856e+01] [ 1.46074085e-03 3.70859981e-06 9.99998933e-01 -7.10500476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:15.12, Z:-0.07 [[ 9.32189057e-01 -3.61969213e-01 -1.36006899e-03 1.66828942e+02] [ 3.61968821e-01 9.32190050e-01 -5.32906986e-04 1.51222736e+01] [ 1.46073870e-03 4.46749323e-06 9.99998933e-01 -7.18267908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:15.13, Z:-0.07 [[ 9.32128400e-01 -3.62125389e-01 -1.36002513e-03 1.66854493e+02] [ 3.62124996e-01 9.32129392e-01 -5.33018878e-04 1.51329533e+01] [ 1.46073907e-03 4.34293719e-06 9.99998933e-01 -7.15008848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.88, Y:15.14, Z:-0.07 [[ 9.31999853e-01 -3.62456101e-01 -1.35992480e-03 1.66879584e+02] [ 3.62455708e-01 9.32000845e-01 -5.33274737e-04 1.51417145e+01] [ 1.46073975e-03 4.09946877e-06 9.99998933e-01 -7.03787070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:15.15, Z:-0.07 [[ 9.31642530e-01 -3.63373564e-01 -1.35985657e-03 1.66905137e+02] [ 3.63373173e-01 9.31643522e-01 -5.33448680e-04 1.51528089e+01] [ 1.46074271e-03 2.84808278e-06 9.99998933e-01 -7.08818019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:15.16, Z:-0.07 [[ 9.31350210e-01 -3.64122147e-01 -1.35975698e-03 1.66929690e+02] [ 3.64121756e-01 9.31351202e-01 -5.33702414e-04 1.51635087e+01] [ 1.46074416e-03 1.94675714e-06 9.99998933e-01 -7.14371845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.96, Y:15.17, Z:-0.07 [[ 9.31194819e-01 -3.64519356e-01 -1.35971368e-03 1.66955673e+02] [ 3.64518965e-01 9.31195812e-01 -5.33812696e-04 1.51743964e+01] [ 1.46074474e-03 1.44219403e-06 9.99998933e-01 -7.13969948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:15.19, Z:-0.07 [[ 9.30851135e-01 -3.65396107e-01 -1.35961584e-03 1.66981053e+02] [ 3.65395717e-01 9.30852128e-01 -5.34061784e-04 1.51863471e+01] [ 1.46074539e-03 3.34213721e-07 9.99998933e-01 -7.00437155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:15.20, Z:-0.07 [[ 9.30722456e-01 -3.65723749e-01 -1.35958541e-03 1.67007098e+02] [ 3.65723359e-01 9.30723449e-01 -5.34139224e-04 1.51969070e+01] [ 1.46074543e-03 -9.67739866e-08 9.99998933e-01 -6.88141057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.03, Y:15.21, Z:-0.07 [[ 9.30817159e-01 -3.65482650e-01 -1.35948829e-03 1.67032019e+02] [ 3.65482259e-01 9.30818152e-01 -5.34386303e-04 1.52066830e+01] [ 1.46074530e-03 5.47088009e-07 9.99998933e-01 -6.78108196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.06, Y:15.22, Z:-0.07 [[ 9.30990725e-01 -3.65040301e-01 -1.35944611e-03 1.67057491e+02] [ 3.65039910e-01 9.30991718e-01 -5.34493583e-04 1.52189826e+01] [ 1.46074477e-03 1.35648232e-06 9.99998933e-01 -6.79446953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.08, Y:15.23, Z:-0.07 [[ 9.31185358e-01 -3.64543526e-01 -1.35934964e-03 1.67083196e+02] [ 3.64543133e-01 9.31186350e-01 -5.34738839e-04 1.52305209e+01] [ 1.46074341e-03 2.39940152e-06 9.99998933e-01 -6.85214230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:167.11, Y:15.24, Z:-0.07 [[ 9.31303843e-01 -3.64240724e-01 -1.35925344e-03 1.67108294e+02] [ 3.64240331e-01 9.31304835e-01 -5.34983235e-04 1.52418316e+01] [ 1.46074198e-03 3.13701834e-06 9.99998933e-01 -6.80855397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:15.26, Z:-0.07 [[ 9.31692835e-01 -3.63244565e-01 -1.35915414e-03 1.67132093e+02] [ 3.63244170e-01 9.31693826e-01 -5.35235407e-04 1.52552635e+01] [ 1.46073687e-03 4.97017643e-06 9.99998933e-01 -6.99672215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:15.27, Z:-0.07 [[ 9.31739467e-01 -3.63124934e-01 -1.35911087e-03 1.67157165e+02] [ 3.63124539e-01 9.31740459e-01 -5.35345251e-04 1.52668973e+01] [ 1.46073580e-03 5.27579028e-06 9.99998933e-01 -7.04061715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:15.28, Z:-0.07 [[ 9.31734286e-01 -3.63138230e-01 -1.35901357e-03 1.67181627e+02] [ 3.63137835e-01 9.31735277e-01 -5.35592148e-04 1.52777530e+01] [ 1.46073487e-03 5.52032247e-06 9.99998933e-01 -7.10129025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:15.29, Z:-0.07 [[ 9.31254828e-01 -3.64366024e-01 -1.35897133e-03 1.67206380e+02] [ 3.64365630e-01 9.31255819e-01 -5.35699305e-04 1.52904552e+01] [ 1.46074058e-03 3.71012026e-06 9.99998933e-01 -6.97888702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:15.30, Z:-0.07 [[ 9.30793238e-01 -3.65543571e-01 -1.35887007e-03 1.67231904e+02] [ 3.65543178e-01 9.30794229e-01 -5.35956034e-04 1.53026082e+01] [ 1.46074370e-03 2.13856764e-06 9.99998933e-01 -7.05443875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:15.31, Z:-0.07 [[ 9.30274586e-01 -3.66861483e-01 -1.35876906e-03 1.67256276e+02] [ 3.66861091e-01 9.30275579e-01 -5.36211990e-04 1.53135254e+01] [ 1.46074520e-03 3.44886328e-07 9.99998933e-01 -7.24221416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:15.32, Z:-0.07 [[ 9.29661386e-01 -3.68412623e-01 -1.35872533e-03 1.67282412e+02] [ 3.68412232e-01 9.29662379e-01 -5.36322780e-04 1.53241005e+01] [ 1.46074391e-03 -1.97245293e-06 9.99998933e-01 -7.15859477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.31, Y:15.33, Z:-0.07 [[ 9.28585358e-01 -3.71116407e-01 -1.35863205e-03 1.67308597e+02] [ 3.71116020e-01 9.28586351e-01 -5.36558978e-04 1.53331674e+01] [ 1.46073302e-03 -5.96930872e-06 9.99998933e-01 -7.17290612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:15.34, Z:-0.08 [[ 9.27885656e-01 -3.72862393e-01 -1.35860099e-03 1.67333666e+02] [ 3.72862007e-01 9.27886650e-01 -5.36637614e-04 1.53442900e+01] [ 1.46071971e-03 -8.63234713e-06 9.99998933e-01 -7.56480037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:15.36, Z:-0.07 [[ 9.27314188e-01 -3.74281379e-01 -1.35855815e-03 1.67359089e+02] [ 3.74280994e-01 9.27315183e-01 -5.36746045e-04 1.53555647e+01] [ 1.46070565e-03 -1.07502719e-05 9.99998933e-01 -7.31973411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:15.37, Z:-0.07 [[ 9.26536788e-01 -3.76201720e-01 -1.35846042e-03 1.67384427e+02] [ 3.76201337e-01 9.26537784e-01 -5.36993271e-04 1.53676260e+01] [ 1.46068270e-03 -1.35106078e-05 9.99998933e-01 -7.22977203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:15.38, Z:-0.07 [[ 9.26196024e-01 -3.77039892e-01 -1.35841460e-03 1.67409961e+02] [ 3.77039509e-01 9.26197020e-01 -5.37109160e-04 1.53788369e+01] [ 1.46067114e-03 -1.47076063e-05 9.99998933e-01 -7.22294248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:15.39, Z:-0.07 [[ 9.25901547e-01 -3.77762465e-01 -1.35831792e-03 1.67434416e+02] [ 3.77762083e-01 9.25902543e-01 -5.37353559e-04 1.53893642e+01] [ 1.46066202e-03 -1.55845139e-05 9.99998933e-01 -7.33970086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:15.40, Z:-0.07 [[ 9.25771083e-01 -3.78082078e-01 -1.35827597e-03 1.67460409e+02] [ 3.78081696e-01 9.25772079e-01 -5.37459560e-04 1.54002447e+01] [ 1.46065780e-03 -1.59747646e-05 9.99998933e-01 -7.11319309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:15.41, Z:-0.07 [[ 9.25717552e-01 -3.78213126e-01 -1.35824743e-03 1.67486518e+02] [ 3.78212744e-01 9.25718549e-01 -5.37531689e-04 1.54107701e+01] [ 1.46065638e-03 -1.61039669e-05 9.99998933e-01 -6.69811902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.51, Y:15.42, Z:-0.07 [[ 9.25703645e-01 -3.78247164e-01 -1.35814315e-03 1.67511779e+02] [ 3.78246782e-01 9.25704641e-01 -5.37795020e-04 1.54209095e+01] [ 1.46065886e-03 -1.58744677e-05 9.99998933e-01 -6.75627152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:15.43, Z:-0.07 [[ 9.25691436e-01 -3.78277042e-01 -1.35809787e-03 1.67536332e+02] [ 3.78276660e-01 9.25692432e-01 -5.37909352e-04 1.54324943e+01] [ 1.46065968e-03 -1.57986466e-05 9.99998933e-01 -7.00362589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:15.44, Z:-0.07 [[ 9.25829604e-01 -3.77938751e-01 -1.35805400e-03 1.67562107e+02] [ 3.77938369e-01 9.25830600e-01 -5.38020087e-04 1.54444150e+01] [ 1.46066659e-03 -1.51457888e-05 9.99998933e-01 -6.88131279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:15.46, Z:-0.07 [[ 9.25895018e-01 -3.77778469e-01 -1.35795076e-03 1.67588456e+02] [ 3.77778086e-01 9.25896014e-01 -5.38280531e-04 1.54553089e+01] [ 1.46067199e-03 -1.46127778e-05 9.99998933e-01 -6.83870366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:15.47, Z:-0.07 [[ 9.26107712e-01 -3.77256758e-01 -1.35818695e-03 1.67614067e+02] [ 3.77256376e-01 9.26108707e-01 -5.37684846e-04 1.54666636e+01] [ 1.46067401e-03 -1.44306051e-05 9.99998933e-01 -6.97285282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:15.48, Z:-0.07 [[ 9.26133780e-01 -3.77192759e-01 -1.35782466e-03 1.67639983e+02] [ 3.77192375e-01 9.26134775e-01 -5.38598205e-04 1.54771180e+01] [ 1.46068398e-03 -1.33471164e-05 9.99998933e-01 -7.24736358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:15.49, Z:-0.07 [[ 9.26238024e-01 -3.76936704e-01 -1.35779083e-03 1.67665834e+02] [ 3.76936319e-01 9.26239019e-01 -5.38683471e-04 1.54871539e+01] [ 1.46068842e-03 -1.28515634e-05 9.99998933e-01 -7.07127777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:15.50, Z:-0.07 [[ 9.26344962e-01 -3.76673822e-01 -1.35768877e-03 1.67690674e+02] [ 3.76673437e-01 9.26345957e-01 -5.38940569e-04 1.54974038e+01] [ 1.46069431e-03 -1.21604164e-05 9.99998933e-01 -7.08182877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:15.51, Z:-0.07 [[ 9.26274371e-01 -3.76847378e-01 -1.35764453e-03 1.67717074e+02] [ 3.76846992e-01 9.26275366e-01 -5.39051996e-04 1.55080916e+01] [ 1.46069302e-03 -1.23142101e-05 9.99998933e-01 -7.07766840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:15.52, Z:-0.07 [[ 9.26401326e-01 -3.76535178e-01 -1.35754349e-03 1.67742311e+02] [ 3.76534792e-01 9.26402321e-01 -5.39306348e-04 1.55193883e+01] [ 1.46069925e-03 -1.15482387e-05 9.99998933e-01 -6.93999969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:15.53, Z:-0.07 [[ 9.27085998e-01 -3.74846248e-01 -1.35744023e-03 1.67767196e+02] [ 3.74845860e-01 9.27086992e-01 -5.39566131e-04 1.55317159e+01] [ 1.46071952e-03 -8.60664338e-06 9.99998933e-01 -6.84129178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:15.54, Z:-0.07 [[ 9.27536569e-01 -3.73729943e-01 -1.35740809e-03 1.67792619e+02] [ 3.73729554e-01 9.27537562e-01 -5.39646959e-04 1.55427305e+01] [ 1.46072922e-03 -6.76123152e-06 9.99998933e-01 -6.80017367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:15.55, Z:-0.07 [[ 9.28132244e-01 -3.72248164e-01 -1.35730801e-03 1.67818061e+02] [ 3.72247772e-01 9.28133236e-01 -5.39898566e-04 1.55534553e+01] [ 1.46073893e-03 -4.15761605e-06 9.99998933e-01 -6.85371775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:15.56, Z:-0.07 [[ 9.29970480e-01 -3.67631696e-01 -1.35727697e-03 1.67841543e+02] [ 3.67631300e-01 9.29971470e-01 -5.39976595e-04 1.55648604e+01] [ 1.46074137e-03 3.18479759e-06 9.99998933e-01 -7.05432796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:15.58, Z:-0.07 [[ 9.30571663e-01 -3.66107281e-01 -1.35578411e-03 1.67868221e+02] [ 3.66106877e-01 9.30572651e-01 -5.43728675e-04 1.55775269e+01] [ 1.46071864e-03 9.61661110e-06 9.99998933e-01 -6.87461497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.89, Y:15.59, Z:-0.07 [[ 9.31289588e-01 -3.64277176e-01 -1.35724108e-03 1.67893661e+02] [ 3.64276776e-01 9.31290577e-01 -5.40067170e-04 1.55883059e+01] [ 1.46071997e-03 8.54752813e-06 9.99998933e-01 -6.98300747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:15.60, Z:-0.07 [[ 9.32483321e-01 -3.61210485e-01 -1.35720977e-03 1.67917675e+02] [ 3.61210082e-01 9.32484308e-01 -5.40145839e-04 1.56012148e+01] [ 1.46068315e-03 1.34391341e-05 9.99998933e-01 -7.32598942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:15.61, Z:-0.07 [[ 9.32857959e-01 -3.60241845e-01 -1.35716701e-03 1.67942438e+02] [ 3.60241440e-01 9.32858946e-01 -5.40253252e-04 1.56134941e+01] [ 1.46066722e-03 1.50717474e-05 9.99998933e-01 -6.98359150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:15.63, Z:-0.07 [[ 9.33165389e-01 -3.59444732e-01 -1.35706755e-03 1.67967740e+02] [ 3.59444326e-01 9.33166376e-01 -5.40502965e-04 1.56254875e+01] [ 1.46065075e-03 1.65884276e-05 9.99998933e-01 -6.85856033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:15.64, Z:-0.07 [[ 9.33354612e-01 -3.58953098e-01 -1.35696596e-03 1.67992954e+02] [ 3.58952691e-01 9.33355598e-01 -5.40757893e-04 1.56369804e+01] [ 1.46063850e-03 1.76322896e-05 9.99998933e-01 -6.76365678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:15.65, Z:-0.07 [[ 9.33504101e-01 -3.58564154e-01 -1.35686195e-03 1.68017574e+02] [ 3.58563746e-01 9.33505087e-01 -5.41018757e-04 1.56481446e+01] [ 1.46062746e-03 1.85217245e-05 9.99998933e-01 -6.79050125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:15.66, Z:-0.07 [[ 9.33594163e-01 -3.58329593e-01 -1.35681679e-03 1.68041517e+02] [ 3.58329185e-01 9.33595149e-01 -5.41131981e-04 1.56619251e+01] [ 1.46062118e-03 1.90106035e-05 9.99998933e-01 -6.79711765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:15.67, Z:-0.07 [[ 9.33631940e-01 -3.58231154e-01 -1.35677159e-03 1.68065457e+02] [ 3.58230746e-01 9.33632926e-01 -5.41245289e-04 1.56739889e+01] [ 1.46061756e-03 1.92865895e-05 9.99998933e-01 -6.83810498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.09, Y:15.69, Z:-0.07 [[ 9.33757290e-01 -3.57904294e-01 -1.35672898e-03 1.68090460e+02] [ 3.57903885e-01 9.33758275e-01 -5.41352085e-04 1.56876939e+01] [ 1.46060915e-03 1.99128838e-05 9.99998933e-01 -6.55283250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:168.12, Y:15.70, Z:-0.07 [[ 9.33783006e-01 -3.57837194e-01 -1.35662168e-03 1.68115961e+02] [ 3.57836784e-01 9.33783991e-01 -5.41620844e-04 1.57002632e+01] [ 1.46060369e-03 2.03072002e-05 9.99998933e-01 -6.53685062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:15.71, Z:-0.07 [[ 9.33817633e-01 -3.57746821e-01 -1.35651487e-03 1.68140626e+02] [ 3.57746412e-01 9.33818618e-01 -5.41888223e-04 1.57134203e+01] [ 1.46059763e-03 2.07364515e-05 9.99998933e-01 -6.80342665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:15.73, Z:-0.07 [[ 9.33810548e-01 -3.57765315e-01 -1.35648187e-03 1.68165501e+02] [ 3.57764905e-01 9.33811533e-01 -5.41970805e-04 1.57265861e+01] [ 1.46059677e-03 2.07964455e-05 9.99998933e-01 -6.62340186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:15.74, Z:-0.07 [[ 9.33751580e-01 -3.57919191e-01 -1.35637643e-03 1.68188106e+02] [ 3.57918781e-01 9.33752565e-01 -5.42234570e-04 1.57415498e+01] [ 1.46059613e-03 2.08397892e-05 9.99998933e-01 -6.78262498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:15.75, Z:-0.07 [[ 9.33589639e-01 -3.58341382e-01 -1.35633054e-03 1.68213448e+02] [ 3.58340972e-01 9.33590624e-01 -5.42349321e-04 1.57543721e+01] [ 1.46060368e-03 2.03029015e-05 9.99998933e-01 -6.69570348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:15.77, Z:-0.07 [[ 9.33375357e-01 -3.58899156e-01 -1.35622687e-03 1.68238523e+02] [ 3.58898746e-01 9.33376342e-01 -5.42608441e-04 1.57665869e+01] [ 1.46061179e-03 1.97092231e-05 9.99998933e-01 -6.52273287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:15.78, Z:-0.07 [[ 9.33227560e-01 -3.59283291e-01 -1.35612129e-03 1.68262874e+02] [ 3.59282881e-01 9.33228545e-01 -5.42872202e-04 1.57795828e+01] [ 1.46061601e-03 1.93921370e-05 9.99998933e-01 -6.61640330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:15.80, Z:-0.06 [[ 9.32817547e-01 -3.60346479e-01 -1.35608864e-03 1.68287768e+02] [ 3.60346071e-01 9.32818532e-01 -5.42953745e-04 1.57952736e+01] [ 1.46063608e-03 1.78155677e-05 9.99998933e-01 -6.38871818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:15.81, Z:-0.06 [[ 9.32503816e-01 -3.61157577e-01 -1.35599710e-03 1.68312480e+02] [ 3.61157169e-01 9.32504801e-01 -5.43182261e-04 1.58085385e+01] [ 1.46064820e-03 1.67914574e-05 9.99998933e-01 -6.28552982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:15.82, Z:-0.07 [[ 9.32252461e-01 -3.61805902e-01 -1.35569081e-03 1.68337534e+02] [ 3.61805494e-01 9.32253447e-01 -5.43946553e-04 1.58218751e+01] [ 1.46065051e-03 1.65991292e-05 9.99998933e-01 -6.66954192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:15.84, Z:-0.07 [[ 9.31952737e-01 -3.62577245e-01 -1.35586510e-03 1.68362779e+02] [ 3.62576838e-01 9.31953723e-01 -5.43511773e-04 1.58376857e+01] [ 1.46066853e-03 1.49220044e-05 9.99998933e-01 -6.54107182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:15.85, Z:-0.07 [[ 9.31803166e-01 -3.62961460e-01 -1.35581500e-03 1.68387238e+02] [ 3.62961053e-01 9.31804152e-01 -5.43636706e-04 1.58504154e+01] [ 1.46067322e-03 1.44543623e-05 9.99998933e-01 -6.61223416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:15.86, Z:-0.07 [[ 9.31634109e-01 -3.63395168e-01 -1.35574430e-03 1.68412112e+02] [ 3.63394761e-01 9.31635096e-01 -5.43812971e-04 1.58628253e+01] [ 1.46067798e-03 1.39643363e-05 9.99998933e-01 -6.57281550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.44, Y:15.88, Z:-0.06 [[ 9.30875796e-01 -3.65333293e-01 -1.35564181e-03 1.68436527e+02] [ 3.65332889e-01 9.30876783e-01 -5.44068338e-04 1.58773893e+01] [ 1.46070177e-03 1.11995072e-05 9.99998933e-01 -6.46989105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:15.89, Z:-0.06 [[ 9.30272956e-01 -3.66865630e-01 -1.35553928e-03 1.68461853e+02] [ 3.66865226e-01 9.30273943e-01 -5.44323685e-04 1.58897771e+01] [ 1.46071652e-03 9.06937991e-06 9.99998933e-01 -6.47016204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:15.90, Z:-0.07 [[ 9.29463319e-01 -3.68912052e-01 -1.35543517e-03 1.68487421e+02] [ 3.68911650e-01 9.29464307e-01 -5.44582804e-04 1.59020447e+01] [ 1.46073177e-03 6.13391491e-06 9.99998933e-01 -6.52930225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:15.91, Z:-0.07 [[ 9.27618739e-01 -3.73525954e-01 -1.35533059e-03 1.68511287e+02] [ 3.73525557e-01 9.27619729e-01 -5.44842940e-04 1.59145065e+01] [ 1.46074438e-03 -8.44094259e-07 9.99998933e-01 -6.74918015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:15.93, Z:-0.07 [[ 9.26629468e-01 -3.75973393e-01 -1.35528529e-03 1.68537031e+02] [ 3.75972998e-01 9.26630459e-01 -5.44955618e-04 1.59258721e+01] [ 1.46073744e-03 -4.57873813e-06 9.99998933e-01 -6.73689466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.56, Y:15.94, Z:-0.07 [[ 9.25531930e-01 -3.78667149e-01 -1.35518217e-03 1.68562492e+02] [ 3.78666757e-01 9.25532922e-01 -5.45211923e-04 1.59368385e+01] [ 1.46071956e-03 -8.55139351e-06 9.99998933e-01 -6.79048003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:15.95, Z:-0.07 [[ 9.23709502e-01 -3.83091267e-01 -1.35507899e-03 1.68587229e+02] [ 3.83090879e-01 9.23710496e-01 -5.45468252e-04 1.59493958e+01] [ 1.46066481e-03 -1.52641936e-05 9.99998933e-01 -6.71506893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:15.96, Z:-0.07 [[ 9.22915892e-01 -3.84999246e-01 -1.35497376e-03 1.68611665e+02] [ 3.84998860e-01 9.22916887e-01 -5.45729517e-04 1.59609823e+01] [ 1.46063362e-03 -1.80009097e-05 9.99998933e-01 -6.76879406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:15.97, Z:-0.07 [[ 9.22162988e-01 -3.86799158e-01 -1.35490214e-03 1.68636732e+02] [ 3.86798773e-01 9.22163983e-01 -5.45907278e-04 1.59726640e+01] [ 1.46059843e-03 -2.06589993e-05 9.99998933e-01 -6.71289870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:15.98, Z:-0.07 [[ 9.21058384e-01 -3.89422158e-01 -1.35480102e-03 1.68661146e+02] [ 3.89421776e-01 9.21059380e-01 -5.46158116e-04 1.59830574e+01] [ 1.46053826e-03 -2.45455070e-05 9.99998933e-01 -6.82310836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:15.99, Z:-0.07 [[ 9.20467115e-01 -3.90817674e-01 -1.35475723e-03 1.68687331e+02] [ 3.90817293e-01 9.20468112e-01 -5.46266710e-04 1.59941867e+01] [ 1.46050152e-03 -2.66420124e-05 9.99998933e-01 -6.69559565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.71, Y:16.01, Z:-0.07 [[ 9.19822087e-01 -3.92333395e-01 -1.35465472e-03 1.68712710e+02] [ 3.92333015e-01 9.19823084e-01 -5.46520809e-04 1.60053056e+01] [ 1.46046105e-03 -2.87738605e-05 9.99998933e-01 -6.54473356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:16.02, Z:-0.07 [[ 9.19413817e-01 -3.93289205e-01 -1.35455149e-03 1.68738507e+02] [ 3.93288826e-01 9.19414814e-01 -5.46776533e-04 1.60166237e+01] [ 1.46043602e-03 -3.00160681e-05 9.99998933e-01 -6.51560328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:16.03, Z:-0.06 [[ 9.18123412e-01 -3.96292274e-01 -1.35451941e-03 1.68764723e+02] [ 3.96291898e-01 9.18124410e-01 -5.46856010e-04 1.60272294e+01] [ 1.46033214e-03 -3.47037613e-05 9.99998933e-01 -6.35575030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:16.04, Z:-0.06 [[ 9.17492196e-01 -3.97751476e-01 -1.35448783e-03 1.68790516e+02] [ 3.97751101e-01 9.17493195e-01 -5.46934223e-04 1.60370803e+01] [ 1.46027726e-03 -3.69411439e-05 9.99998933e-01 -6.34108368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:16.05, Z:-0.06 [[ 9.16793901e-01 -3.99358370e-01 -1.35445658e-03 1.68816600e+02] [ 3.99357998e-01 9.16794901e-01 -5.47011593e-04 1.60475637e+01] [ 1.46021254e-03 -3.94161747e-05 9.99998933e-01 -6.30484966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.84, Y:16.06, Z:-0.06 [[ 9.15506898e-01 -4.02299994e-01 -1.35435452e-03 1.68843482e+02] [ 4.02299624e-01 9.15507899e-01 -5.47264177e-04 1.60550135e+01] [ 1.46008663e-03 -4.38321835e-05 9.99998933e-01 -6.30547389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.87, Y:16.06, Z:-0.06 [[ 9.14904956e-01 -4.03667050e-01 -1.35425139e-03 1.68870300e+02] [ 4.03666681e-01 9.14905957e-01 -5.47519239e-04 1.60635526e+01] [ 1.46002814e-03 -4.57381000e-05 9.99998933e-01 -6.28189179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:16.07, Z:-0.06 [[ 9.14479591e-01 -4.04629762e-01 -1.35414804e-03 1.68896170e+02] [ 4.04629393e-01 9.14480592e-01 -5.47774742e-04 1.60724927e+01] [ 1.45998806e-03 -4.69992780e-05 9.99998933e-01 -6.46080192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:16.08, Z:-0.06 [[ 9.14182128e-01 -4.05301374e-01 -1.35407755e-03 1.68922486e+02] [ 4.05301007e-01 9.14183129e-01 -5.47948932e-04 1.60818759e+01] [ 1.45995931e-03 -4.78838747e-05 9.99998933e-01 -6.47615976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.95, Y:16.09, Z:-0.06 [[ 9.14184244e-01 -4.05296600e-01 -1.35397967e-03 1.68949479e+02] [ 4.05296232e-01 9.14185246e-01 -5.48190681e-04 1.60898356e+01] [ 1.45996806e-03 -4.76155770e-05 9.99998933e-01 -6.49143066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:16.10, Z:-0.07 [[ 9.14586055e-01 -4.04389065e-01 -1.35394915e-03 1.68976403e+02] [ 4.04388696e-01 9.14587056e-01 -5.48266069e-04 1.60990474e+01] [ 1.46001717e-03 -4.60852284e-05 9.99998933e-01 -6.52847136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:16.11, Z:-0.06 [[ 9.15085333e-01 -4.03257983e-01 -1.35385182e-03 1.69002577e+02] [ 4.03257613e-01 9.15086333e-01 -5.48506286e-04 1.61078197e+01] [ 1.46008084e-03 -4.40209966e-05 9.99998933e-01 -6.42694393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.03, Y:16.11, Z:-0.06 [[ 9.16599072e-01 -3.99805337e-01 -1.35375090e-03 1.69029676e+02] [ 3.99804962e-01 9.16600071e-01 -5.48755251e-04 1.61149806e+01] [ 1.46024345e-03 -3.82477752e-05 9.99998933e-01 -6.43417744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:16.12, Z:-0.06 [[ 9.17437306e-01 -3.97878068e-01 -1.35365020e-03 1.69056238e+02] [ 3.97877690e-01 9.17438304e-01 -5.49003542e-04 1.61245583e+01] [ 1.46032702e-03 -3.49108856e-05 9.99998933e-01 -6.48730406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:16.13, Z:-0.06 [[ 9.18283767e-01 -3.95920561e-01 -1.35354862e-03 1.69082695e+02] [ 3.95920181e-01 9.18284764e-01 -5.49253887e-04 1.61339129e+01] [ 1.46040398e-03 -3.15262850e-05 9.99998933e-01 -6.40119939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:16.14, Z:-0.07 [[ 9.20121810e-01 -3.91629957e-01 -1.35344383e-03 1.69108143e+02] [ 3.91629572e-01 9.20122805e-01 -5.49511962e-04 1.61424350e+01] [ 1.46053988e-03 -2.44306892e-05 9.99998933e-01 -6.60812948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:16.15, Z:-0.07 [[ 9.20869380e-01 -3.89868891e-01 -1.35339817e-03 1.69134762e+02] [ 3.89868505e-01 9.20870375e-01 -5.49624419e-04 1.61520453e+01] [ 1.46058574e-03 -2.15150200e-05 9.99998933e-01 -6.63138946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:16.16, Z:-0.07 [[ 9.21455836e-01 -3.88480774e-01 -1.35329917e-03 1.69160727e+02] [ 3.88480385e-01 9.21456829e-01 -5.49868048e-04 1.61611536e+01] [ 1.46061993e-03 -1.90510628e-05 9.99998933e-01 -6.62036482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:16.17, Z:-0.07 [[ 9.22524060e-01 -3.85937207e-01 -1.35319814e-03 1.69187917e+02] [ 3.85936815e-01 9.22525052e-01 -5.50116572e-04 1.61697799e+01] [ 1.46066964e-03 -1.47532076e-05 9.99998933e-01 -6.64681515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:16.18, Z:-0.07 [[ 9.22996337e-01 -3.84806356e-01 -1.35309526e-03 1.69214000e+02] [ 3.84805962e-01 9.22997328e-01 -5.50369514e-04 1.61802103e+01] [ 1.46068900e-03 -1.26900780e-05 9.99998933e-01 -6.57400212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:169.24, Y:16.19, Z:-0.06 [[ 9.23423956e-01 -3.83779059e-01 -1.35299121e-03 1.69239811e+02] [ 3.83778664e-01 9.23424947e-01 -5.50625174e-04 1.61903015e+01] [ 1.46070425e-03 -1.07886836e-05 9.99998933e-01 -6.41947897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:16.20, Z:-0.06 [[ 9.23769013e-01 -3.82947750e-01 -1.35294192e-03 1.69266471e+02] [ 3.82947354e-01 9.23770004e-01 -5.50746264e-04 1.62012075e+01] [ 1.46071421e-03 -9.34319575e-06 9.99998933e-01 -6.32756304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:16.21, Z:-0.06 [[ 9.24258584e-01 -3.81764640e-01 -1.35285221e-03 1.69292643e+02] [ 3.81764243e-01 9.24259574e-01 -5.50966552e-04 1.62103340e+01] [ 1.46072615e-03 -7.23503260e-06 9.99998933e-01 -6.20544799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:16.22, Z:-0.06 [[ 9.24253574e-01 -3.81776768e-01 -1.35282040e-03 1.69318319e+02] [ 3.81776370e-01 9.24254564e-01 -5.51044626e-04 1.62204191e+01] [ 1.46072647e-03 -7.16989856e-06 9.99998933e-01 -6.21737245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:16.23, Z:-0.06 [[ 9.24183577e-01 -3.81946183e-01 -1.35271958e-03 1.69344611e+02] [ 3.81945785e-01 9.24184567e-01 -5.51292017e-04 1.62313447e+01] [ 1.46072644e-03 -7.17051411e-06 9.99998933e-01 -6.21321190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:16.24, Z:-0.06 [[ 9.24186509e-01 -3.81939089e-01 -1.35261848e-03 1.69370695e+02] [ 3.81938691e-01 9.24187498e-01 -5.51539960e-04 1.62410573e+01] [ 1.46072776e-03 -6.89154171e-06 9.99998933e-01 -6.26922737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:16.25, Z:-0.06 [[ 9.23991090e-01 -3.82411607e-01 -1.35251783e-03 1.69397017e+02] [ 3.82411209e-01 9.23992079e-01 -5.51786668e-04 1.62509343e+01] [ 1.46072539e-03 -7.37201391e-06 9.99998933e-01 -6.16150112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:16.26, Z:-0.06 [[ 9.23831974e-01 -3.82795839e-01 -1.35241216e-03 1.69422543e+02] [ 3.82795441e-01 9.23832964e-01 -5.52045532e-04 1.62610525e+01] [ 1.46072367e-03 -7.69989705e-06 9.99998933e-01 -6.17418014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:16.27, Z:-0.06 [[ 9.23599743e-01 -3.83355823e-01 -1.35236634e-03 1.69448451e+02] [ 3.83355425e-01 9.23600733e-01 -5.52157763e-04 1.62713548e+01] [ 1.46071944e-03 -8.46420559e-06 9.99998933e-01 -6.15831259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:16.28, Z:-0.06 [[ 9.23177778e-01 -3.84370864e-01 -1.35226265e-03 1.69474533e+02] [ 3.84370467e-01 9.23178769e-01 -5.52411580e-04 1.62816321e+01] [ 1.46071109e-03 -9.79573263e-06 9.99998933e-01 -6.19230700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:16.29, Z:-0.06 [[ 9.22978744e-01 -3.84848555e-01 -1.35215873e-03 1.69499711e+02] [ 3.84848159e-01 9.22979734e-01 -5.52665833e-04 1.62919363e+01] [ 1.46070776e-03 -1.02769825e-05 9.99998933e-01 -6.29678415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:16.30, Z:-0.06 [[ 9.22779114e-01 -3.85326976e-01 -1.35205558e-03 1.69525306e+02] [ 3.85326579e-01 9.22780105e-01 -5.52918089e-04 1.63021365e+01] [ 1.46070424e-03 -1.07616856e-05 9.99998933e-01 -6.22078865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15587156000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:169.55, Y:16.31, Z:-0.06 [[ 9.22494345e-01 -3.86008232e-01 -1.35195116e-03 1.69550642e+02] [ 3.86007836e-01 9.22495336e-01 -5.53173280e-04 1.63112684e+01] [ 1.46069808e-03 -1.15645176e-05 9.99998933e-01 -6.10813304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:16.32, Z:-0.06 [[ 9.21943637e-01 -3.87321705e-01 -1.35190578e-03 1.69576905e+02] [ 3.87321310e-01 9.21944628e-01 -5.53284168e-04 1.63211542e+01] [ 1.46068124e-03 -1.35250993e-05 9.99998933e-01 -6.23576476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:16.33, Z:-0.06 [[ 9.21658681e-01 -3.87999289e-01 -1.35180197e-03 1.69601954e+02] [ 3.87998895e-01 9.21659672e-01 -5.53537671e-04 1.63309317e+01] [ 1.46067359e-03 -1.43248715e-05 9.99998933e-01 -6.30876149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:16.34, Z:-0.06 [[ 9.21117289e-01 -3.89282818e-01 -1.35175672e-03 1.69628366e+02] [ 3.89282424e-01 9.21118281e-01 -5.53648151e-04 1.63391166e+01] [ 1.46065354e-03 -1.62402503e-05 9.99998933e-01 -6.21885329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:16.35, Z:-0.06 [[ 9.20784086e-01 -3.90070302e-01 -1.35165371e-03 1.69655007e+02] [ 3.90069909e-01 9.20785078e-01 -5.53899518e-04 1.63484275e+01] [ 1.46064232e-03 -1.72175803e-05 9.99998933e-01 -6.16503139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:16.36, Z:-0.06 [[ 9.20533410e-01 -3.90661507e-01 -1.35162160e-03 1.69681813e+02] [ 3.90661115e-01 9.20534403e-01 -5.53977868e-04 1.63575960e+01] [ 1.46063201e-03 -1.80708658e-05 9.99998933e-01 -6.13574297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:16.37, Z:-0.06 [[ 9.20364658e-01 -3.91058909e-01 -1.35152015e-03 1.69707912e+02] [ 3.91058517e-01 9.20365650e-01 -5.54225256e-04 1.63668337e+01] [ 1.46062745e-03 -1.84341288e-05 9.99998933e-01 -6.08965404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:16.37, Z:-0.06 [[ 9.20212551e-01 -3.91416701e-01 -1.35141762e-03 1.69734518e+02] [ 3.91416309e-01 9.20213544e-01 -5.54475166e-04 1.63742165e+01] [ 1.46062363e-03 -1.87318881e-05 9.99998933e-01 -6.09145183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:16.38, Z:-0.06 [[ 9.20204565e-01 -3.91435478e-01 -1.35137311e-03 1.69761370e+02] [ 3.91435085e-01 9.20205557e-01 -5.54583619e-04 1.63828242e+01] [ 1.46062475e-03 -1.86444703e-05 9.99998933e-01 -6.11442877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:16.39, Z:-0.06 [[ 9.20275252e-01 -3.91269261e-01 -1.35127173e-03 1.69786919e+02] [ 3.91268868e-01 9.20276244e-01 -5.54830530e-04 1.63909948e+01] [ 1.46063140e-03 -1.81137532e-05 9.99998933e-01 -6.12381045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:16.40, Z:-0.06 [[ 9.20263542e-01 -3.91296802e-01 -1.35122754e-03 1.69813896e+02] [ 3.91296409e-01 9.20264534e-01 -5.54938124e-04 1.64002233e+01] [ 1.46063230e-03 -1.80411607e-05 9.99998933e-01 -6.11209980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:16.41, Z:-0.06 [[ 9.20511057e-01 -3.90714177e-01 -1.35112352e-03 1.69840203e+02] [ 3.90713783e-01 9.20512049e-01 -5.55191273e-04 1.64061526e+01] [ 1.46064658e-03 -1.68428750e-05 9.99998933e-01 -6.13069308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:16.41, Z:-0.06 [[ 9.20606217e-01 -3.90489907e-01 -1.35105259e-03 1.69867258e+02] [ 3.90489512e-01 9.20607209e-01 -5.55363812e-04 1.64147798e+01] [ 1.46065272e-03 -1.63004906e-05 9.99998933e-01 -6.09887839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:16.42, Z:-0.06 [[ 9.21173137e-01 -3.89150647e-01 -1.35095231e-03 1.69893850e+02] [ 3.89150251e-01 9.21174128e-01 -5.55607647e-04 1.64213882e+01] [ 1.46067739e-03 -1.39125924e-05 9.99998933e-01 -6.15184866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:169.92, Y:16.43, Z:-0.06 [[ 9.21517368e-01 -3.88334799e-01 -1.35090852e-03 1.69919582e+02] [ 3.88334402e-01 9.21518358e-01 -5.55714105e-04 1.64295387e+01] [ 1.46069013e-03 -1.25040530e-05 9.99998933e-01 -6.04581479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:16.44, Z:-0.06 [[ 9.21909517e-01 -3.87402913e-01 -1.35086524e-03 1.69945983e+02] [ 3.87402515e-01 9.21910507e-01 -5.55819293e-04 1.64389429e+01] [ 1.46070287e-03 -1.09134950e-05 9.99998933e-01 -6.08764817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.97, Y:16.45, Z:-0.06 [[ 9.23081361e-01 -3.84602362e-01 -1.35076164e-03 1.69973138e+02] [ 3.84601960e-01 9.23082349e-01 -5.56070941e-04 1.64462694e+01] [ 1.46073043e-03 -6.20685515e-06 9.99998933e-01 -5.90055845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:16.46, Z:-0.06 [[ 9.23982010e-01 -3.82433552e-01 -1.35065388e-03 1.69998916e+02] [ 3.82433147e-01 9.23982997e-01 -5.56332577e-04 1.64552630e+01] [ 1.46074146e-03 -2.49351991e-06 9.99998933e-01 -6.26214430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:16.46, Z:-0.06 [[ 9.24781539e-01 -3.80496098e-01 -1.35060707e-03 1.70025574e+02] [ 3.80495691e-01 9.24782525e-01 -5.56446174e-04 1.64644130e+01] [ 1.46074342e-03 6.90976588e-07 9.99998933e-01 -6.10941026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:16.47, Z:-0.06 [[ 9.26266270e-01 -3.76867316e-01 -1.35050367e-03 1.70052120e+02] [ 3.76866905e-01 9.26267254e-01 -5.56697023e-04 1.64732210e+01] [ 1.46072824e-03 6.68953617e-06 9.99998933e-01 -6.12261884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:16.48, Z:-0.06 [[ 9.26792595e-01 -3.75571114e-01 -1.35039918e-03 1.70078124e+02] [ 3.75570701e-01 9.26793579e-01 -5.56950365e-04 1.64834573e+01] [ 1.46071576e-03 9.00710592e-06 9.99998933e-01 -6.18051330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:16.49, Z:-0.06 [[ 9.27117482e-01 -3.74768398e-01 -1.35029473e-03 1.70104201e+02] [ 3.74767984e-01 9.27118465e-01 -5.57203502e-04 1.64928826e+01] [ 1.46070544e-03 1.05458758e-05 9.99998933e-01 -6.16141784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:16.50, Z:-0.06 [[ 9.27294467e-01 -3.74330266e-01 -1.35018872e-03 1.70129756e+02] [ 3.74329851e-01 9.27295450e-01 -5.57460255e-04 1.65016449e+01] [ 1.46069810e-03 1.15138681e-05 9.99998933e-01 -6.25029397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:170.16, Y:16.51, Z:-0.06 [[ 9.27203758e-01 -3.74554894e-01 -1.35014271e-03 1.70156423e+02] [ 3.74554479e-01 9.27204741e-01 -5.57571665e-04 1.65106206e+01] [ 1.46069992e-03 1.12805443e-05 9.99998933e-01 -6.17286154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:16.52, Z:-0.06 [[ 9.26998122e-01 -3.75063539e-01 -1.35003669e-03 1.70182396e+02] [ 3.75063125e-01 9.26999105e-01 -5.57828241e-04 1.65179465e+01] [ 1.46070384e-03 1.07567518e-05 9.99998933e-01 -6.30693532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:16.53, Z:-0.06 [[ 9.26728466e-01 -3.75729328e-01 -1.34999060e-03 1.70208424e+02] [ 3.75728914e-01 9.26729449e-01 -5.57939778e-04 1.65278273e+01] [ 1.46071038e-03 9.82817375e-06 9.99998933e-01 -6.16036807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:16.54, Z:-0.06 [[ 9.26548850e-01 -3.76172042e-01 -1.34988397e-03 1.70234366e+02] [ 3.76171628e-01 9.26549834e-01 -5.58197643e-04 1.65358847e+01] [ 1.46071311e-03 9.40933529e-06 9.99998933e-01 -6.18626404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:170.26, Y:16.55, Z:-0.06 [[ 9.26498650e-01 -3.76295669e-01 -1.34983760e-03 1.70260865e+02] [ 3.76295255e-01 9.26499633e-01 -5.58309735e-04 1.65453218e+01] [ 1.46071358e-03 9.33573071e-06 9.99998933e-01 -6.02212868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.29, Y:16.55, Z:-0.06 [[ 9.26601968e-01 -3.76041183e-01 -1.34973028e-03 1.70285722e+02] [ 3.76040768e-01 9.26602951e-01 -5.58569077e-04 1.65547464e+01] [ 1.46070903e-03 1.00175954e-05 9.99998933e-01 -6.07642901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:16.57, Z:-0.06 [[ 9.26684952e-01 -3.75836638e-01 -1.34968361e-03 1.70312110e+02] [ 3.75836222e-01 9.26685935e-01 -5.58681808e-04 1.65650305e+01] [ 1.46070591e-03 1.04620336e-05 9.99998933e-01 -6.01339490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.34, Y:16.57, Z:-0.06 [[ 9.27071352e-01 -3.74882497e-01 -1.34957769e-03 1.70338351e+02] [ 3.74882080e-01 9.27072335e-01 -5.58937558e-04 1.65733237e+01] [ 1.46069205e-03 1.22425048e-05 9.99998933e-01 -6.01036491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:170.36, Y:16.58, Z:-0.06 [[ 9.27164724e-01 -3.74651508e-01 -1.34953160e-03 1.70364828e+02] [ 3.74651091e-01 9.27165706e-01 -5.59048818e-04 1.65831115e+01] [ 1.46068790e-03 1.27268552e-05 9.99998933e-01 -6.05624144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:16.59, Z:-0.06 [[ 9.27167444e-01 -3.74644777e-01 -1.34942456e-03 1.70390809e+02] [ 3.74644360e-01 9.27168426e-01 -5.59307067e-04 1.65936222e+01] [ 1.46068532e-03 1.30170014e-05 9.99998933e-01 -6.24157378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.42, Y:16.60, Z:-0.06 [[ 9.27136267e-01 -3.74721925e-01 -1.34931653e-03 1.70415951e+02] [ 3.74721507e-01 9.27137249e-01 -5.59567568e-04 1.66034463e+01] [ 1.46068386e-03 1.31774614e-05 9.99998933e-01 -6.33065336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:16.61, Z:-0.06 [[ 9.27007661e-01 -3.75039966e-01 -1.34926969e-03 1.70442006e+02] [ 3.75039549e-01 9.27008643e-01 -5.59680502e-04 1.66136505e+01] [ 1.46068722e-03 1.27986184e-05 9.99998933e-01 -6.24695500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:170.47, Y:16.62, Z:-0.06 [[ 9.26725727e-01 -3.75736087e-01 -1.34916340e-03 1.70467897e+02] [ 3.75735670e-01 9.26726709e-01 -5.59936595e-04 1.66235272e+01] [ 1.46069415e-03 1.19788328e-05 9.99998933e-01 -6.00124869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:16.63, Z:-0.06 [[ 9.26040135e-01 -3.77422639e-01 -1.34905742e-03 1.70494396e+02] [ 3.77422223e-01 9.26041118e-01 -5.60191827e-04 1.66327751e+01] [ 1.46071172e-03 9.59586451e-06 9.99998933e-01 -6.01974561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:16.64, Z:-0.06 [[ 9.25506536e-01 -3.78729233e-01 -1.34902447e-03 1.70520711e+02] [ 3.78728819e-01 9.25507519e-01 -5.60271173e-04 1.66428289e+01] [ 1.46072336e-03 7.62019015e-06 9.99998933e-01 -5.92826737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:16.65, Z:-0.06 [[ 9.24952067e-01 -3.80081379e-01 -1.34891815e-03 1.70546493e+02] [ 3.80080965e-01 9.24953051e-01 -5.60527029e-04 1.66527281e+01] [ 1.46073184e-03 5.76252311e-06 9.99998933e-01 -5.89496621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:16.66, Z:-0.06 [[ 9.23923936e-01 -3.82573839e-01 -1.34881108e-03 1.70573662e+02] [ 3.82573428e-01 9.23924920e-01 -5.60784541e-04 1.66614817e+01] [ 1.46074167e-03 2.10298080e-06 9.99998933e-01 -5.82569411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:170.60, Y:16.67, Z:-0.06 [[ 9.23423634e-01 -3.83779851e-01 -1.34870292e-03 1.70599884e+02] [ 3.83779441e-01 9.23424618e-01 -5.61044553e-04 1.66713059e+01] [ 1.46074308e-03 4.77346237e-07 9.99998933e-01 -5.75663337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:16.68, Z:-0.06 [[ 9.23124786e-01 -3.84498129e-01 -1.34859461e-03 1.70625540e+02] [ 3.84497719e-01 9.23125771e-01 -5.61304783e-04 1.66810222e+01] [ 1.46074308e-03 -3.77193701e-07 9.99998933e-01 -5.94959283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:16.69, Z:-0.06 [[ 9.22570202e-01 -3.85826910e-01 -1.34854751e-03 1.70652691e+02] [ 3.85826502e-01 9.22571187e-01 -5.61417927e-04 1.66897058e+01] [ 1.46074122e-03 -2.35791663e-06 9.99998933e-01 -5.93323278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:16.70, Z:-0.06 [[ 9.22282319e-01 -3.86514561e-01 -1.34844128e-03 1.70678810e+02] [ 3.86514153e-01 9.22283305e-01 -5.61672958e-04 1.66993308e+01] [ 1.46073965e-03 -3.17059977e-06 9.99998933e-01 -5.84794210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:16.71, Z:-0.06 [[ 9.22146698e-01 -3.86838015e-01 -1.34833129e-03 1.70705225e+02] [ 3.86837607e-01 9.22147683e-01 -5.61936874e-04 1.67089395e+01] [ 1.46073912e-03 -3.39701557e-06 9.99998933e-01 -5.87779413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:16.72, Z:-0.06 [[ 9.21968828e-01 -3.87261750e-01 -1.34822171e-03 1.70732497e+02] [ 3.87261342e-01 9.21969813e-01 -5.62199652e-04 1.67169707e+01] [ 1.46073814e-03 -3.78359550e-06 9.99998933e-01 -6.10101945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:170.76, Y:16.73, Z:-0.06 [[ 9.21673733e-01 -3.87963544e-01 -1.34818757e-03 1.70758421e+02] [ 3.87963136e-01 9.21674720e-01 -5.62281500e-04 1.67265620e+01] [ 1.46073513e-03 -4.80699028e-06 9.99998933e-01 -5.89969460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:16.74, Z:-0.06 [[ 9.21631297e-01 -3.88064345e-01 -1.34807894e-03 1.70783612e+02] [ 3.88063937e-01 9.21632283e-01 -5.62541827e-04 1.67360277e+01] [ 1.46073550e-03 -4.68466836e-06 9.99998933e-01 -6.02950921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.81, Y:16.75, Z:-0.06 [[ 9.21353259e-01 -3.88724009e-01 -1.34803167e-03 1.70810032e+02] [ 3.88723602e-01 9.21354245e-01 -5.62655071e-04 1.67459444e+01] [ 1.46073224e-03 -5.60764519e-06 9.99998933e-01 -5.87561023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:16.75, Z:-0.06 [[ 9.20550320e-01 -3.90621673e-01 -1.34792253e-03 1.70837369e+02] [ 3.90621267e-01 9.20551307e-01 -5.62916420e-04 1.67540599e+01] [ 1.46071920e-03 -8.33431700e-06 9.99998933e-01 -6.00418194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:16.76, Z:-0.06 [[ 9.20047147e-01 -3.91805347e-01 -1.34781320e-03 1.70863155e+02] [ 3.91804942e-01 9.20048135e-01 -5.63178078e-04 1.67623472e+01] [ 1.46070920e-03 -9.92948774e-06 9.99998933e-01 -6.05836983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:16.77, Z:-0.06 [[ 9.19431190e-01 -3.93248612e-01 -1.34776545e-03 1.70890187e+02] [ 3.93248209e-01 9.19432177e-01 -5.63292315e-04 1.67714609e+01] [ 1.46069285e-03 -1.20978270e-05 9.99998933e-01 -6.04650927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:16.78, Z:-0.06 [[ 9.18840056e-01 -3.94627844e-01 -1.34765766e-03 1.70916521e+02] [ 3.94627441e-01 9.18841044e-01 -5.63550077e-04 1.67803679e+01] [ 1.46067573e-03 -1.40103118e-05 9.99998933e-01 -6.01150197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:16.79, Z:-0.06 [[ 9.18025035e-01 -3.96520137e-01 -1.34754929e-03 1.70943978e+02] [ 3.96519736e-01 9.18026024e-01 -5.63809107e-04 1.67866983e+01] [ 1.46064698e-03 -1.67390131e-05 9.99998933e-01 -5.96639266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:16.79, Z:-0.06 [[ 9.17810891e-01 -3.97015557e-01 -1.34751573e-03 1.70969723e+02] [ 3.97015157e-01 9.17811880e-01 -5.63889301e-04 1.67946094e+01] [ 1.46063877e-03 -1.74404275e-05 9.99998933e-01 -5.85755794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:16.81, Z:-0.06 [[ 9.17736100e-01 -3.97188413e-01 -1.34744287e-03 1.70995931e+02] [ 3.97188013e-01 9.17737089e-01 -5.64063343e-04 1.68057893e+01] [ 1.46063772e-03 -1.75268636e-05 9.99998933e-01 -5.85339688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:171.02, Y:16.81, Z:-0.06 [[ 9.17616542e-01 -3.97464547e-01 -1.34733659e-03 1.71024389e+02] [ 3.97464147e-01 9.17617531e-01 -5.64317104e-04 1.68113960e+01] [ 1.46063572e-03 -1.76912785e-05 9.99998933e-01 -5.57790152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:16.82, Z:-0.06 [[ 9.17849198e-01 -3.96926989e-01 -1.34723033e-03 1.71050336e+02] [ 3.96926587e-01 9.17850187e-01 -5.64570658e-04 1.68191929e+01] [ 1.46064894e-03 -1.65608130e-05 9.99998933e-01 -5.58899556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:16.83, Z:-0.06 [[ 9.18062147e-01 -3.96434206e-01 -1.34718415e-03 1.71076770e+02] [ 3.96433804e-01 9.18063135e-01 -5.64680832e-04 1.68276949e+01] [ 1.46065890e-03 -1.56572420e-05 9.99998933e-01 -5.56573460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:16.83, Z:-0.06 [[ 9.19121573e-01 -3.93971724e-01 -1.34707853e-03 1.71104689e+02] [ 3.93971319e-01 9.19122560e-01 -5.64932690e-04 1.68335211e+01] [ 1.46069777e-03 -1.14684822e-05 9.99998933e-01 -5.57420825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:16.84, Z:-0.06 [[ 9.19824060e-01 -3.92328796e-01 -1.34697276e-03 1.71130565e+02] [ 3.92328389e-01 9.19825046e-01 -5.65184753e-04 1.68416959e+01] [ 1.46071754e-03 -8.58512097e-06 9.99998933e-01 -5.71726139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:16.85, Z:-0.06 [[ 9.21693735e-01 -3.87916028e-01 -1.34692665e-03 1.71157371e+02] [ 3.87915616e-01 9.21694719e-01 -5.65294642e-04 1.68487609e+01] [ 1.46074203e-03 -1.46535010e-06 9.99998933e-01 -5.92512425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:16.86, Z:-0.06 [[ 9.22794909e-01 -3.85289167e-01 -1.34689422e-03 1.71183945e+02] [ 3.85288753e-01 9.22795892e-01 -5.65371897e-04 1.68579432e+01] [ 1.46074012e-03 2.77911507e-06 9.99998933e-01 -6.09066993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:16.87, Z:-0.06 [[ 9.23904452e-01 -3.82620896e-01 -1.34686182e-03 1.71210409e+02] [ 3.82620478e-01 9.23905433e-01 -5.65449056e-04 1.68666518e+01] [ 1.46072558e-03 7.08398534e-06 9.99998933e-01 -6.13968915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:16.88, Z:-0.06 [[ 9.25096648e-01 -3.79729349e-01 -1.34675838e-03 1.71236542e+02] [ 3.79728928e-01 9.25097628e-01 -5.65695318e-04 1.68757102e+01] [ 1.46069410e-03 1.19197252e-05 9.99998933e-01 -6.15005511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:16.89, Z:-0.06 [[ 9.26238747e-01 -3.76934968e-01 -1.34665423e-03 1.71262994e+02] [ 3.76934544e-01 9.26239726e-01 -5.65943155e-04 1.68854124e+01] [ 1.46064841e-03 1.65979818e-05 9.99998933e-01 -6.01593957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:16.89, Z:-0.06 [[ 9.28509661e-01 -3.71305799e-01 -1.34654397e-03 1.71289881e+02] [ 3.71305368e-01 9.28510637e-01 -5.66205361e-04 1.68935433e+01] [ 1.46051574e-03 2.57481425e-05 9.99998933e-01 -6.25359824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:16.90, Z:-0.06 [[ 9.29340329e-01 -3.69221804e-01 -1.34650984e-03 1.71316428e+02] [ 3.69221371e-01 9.29341304e-01 -5.66286528e-04 1.69037931e+01] [ 1.46045254e-03 2.91127005e-05 9.99998933e-01 -6.16699205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:16.91, Z:-0.06 [[ 9.30071528e-01 -3.67376021e-01 -1.34640017e-03 1.71341629e+02] [ 3.67375585e-01 9.30072502e-01 -5.66547144e-04 1.69137851e+01] [ 1.46038561e-03 3.22948152e-05 9.99998933e-01 -6.21398598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.37, Y:16.92, Z:-0.06 [[ 9.31023943e-01 -3.64955620e-01 -1.34635267e-03 1.71369070e+02] [ 3.64955182e-01 9.31024916e-01 -5.66660000e-04 1.69237747e+01] [ 1.46029364e-03 3.62156420e-05 9.99998933e-01 -5.91163920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:16.93, Z:-0.06 [[ 9.31438077e-01 -3.63897371e-01 -1.34625787e-03 1.71395437e+02] [ 3.63896931e-01 9.31439049e-01 -5.66885150e-04 1.69334354e+01] [ 1.46024516e-03 3.81193070e-05 9.99998933e-01 -5.94572247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:16.94, Z:-0.06 [[ 9.31666562e-01 -3.63311995e-01 -1.34614913e-03 1.71420950e+02] [ 3.63311554e-01 9.31667534e-01 -5.67143243e-04 1.69433158e+01] [ 1.46021338e-03 3.93168630e-05 9.99998933e-01 -5.92765543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:16.95, Z:-0.06 [[ 9.32150664e-01 -3.62068125e-01 -1.34610191e-03 1.71446258e+02] [ 3.62067683e-01 9.32151635e-01 -5.67255298e-04 1.69522672e+01] [ 1.46015616e-03 4.13874026e-05 9.99998933e-01 -5.92996873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:16.96, Z:-0.06 [[ 9.32203747e-01 -3.61931432e-01 -1.34605581e-03 1.71472153e+02] [ 3.61930990e-01 9.32204718e-01 -5.67364666e-04 1.69627186e+01] [ 1.46014668e-03 4.17201562e-05 9.99998933e-01 -5.88447598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:16.97, Z:-0.06 [[ 9.32248032e-01 -3.61817352e-01 -1.34595075e-03 1.71496673e+02] [ 3.61816909e-01 9.32249002e-01 -5.67613785e-04 1.69734244e+01] [ 1.46013376e-03 4.21690930e-05 9.99998933e-01 -5.96857880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:16.99, Z:-0.06 [[ 9.31989405e-01 -3.62483017e-01 -1.34590505e-03 1.71521876e+02] [ 3.62482574e-01 9.31990376e-01 -5.67722143e-04 1.69850297e+01] [ 1.46016019e-03 4.12438969e-05 9.99998933e-01 -5.92766049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:17.00, Z:-0.06 [[ 9.31612895e-01 -3.63449589e-01 -1.34580211e-03 1.71548038e+02] [ 3.63449147e-01 9.31613866e-01 -5.67966061e-04 1.69956629e+01] [ 1.46019493e-03 3.99938790e-05 9.99998933e-01 -6.02206570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:17.01, Z:-0.06 [[ 9.31145253e-01 -3.64646002e-01 -1.34569813e-03 1.71574385e+02] [ 3.64645561e-01 9.31146225e-01 -5.68212305e-04 1.70054559e+01] [ 1.46023808e-03 3.83853400e-05 9.99998933e-01 -6.00759967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:17.01, Z:-0.06 [[ 9.30257561e-01 -3.66904702e-01 -1.34559406e-03 1.71600394e+02] [ 3.66904263e-01 9.30258533e-01 -5.68458647e-04 1.70149597e+01] [ 1.46032051e-03 3.51087570e-05 9.99998933e-01 -5.81488098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:17.03, Z:-0.06 [[ 9.29857948e-01 -3.67916276e-01 -1.34549060e-03 1.71625706e+02] [ 3.67915838e-01 9.29858921e-01 -5.68703434e-04 1.70259525e+01] [ 1.46035168e-03 3.37861085e-05 9.99998933e-01 -5.76757021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:17.04, Z:-0.06 [[ 9.29559511e-01 -3.68669644e-01 -1.34545843e-03 1.71651264e+02] [ 3.68669206e-01 9.29560484e-01 -5.68779514e-04 1.70368329e+01] [ 1.46037673e-03 3.26853137e-05 9.99998933e-01 -5.57269292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:17.05, Z:-0.06 [[ 9.29471635e-01 -3.68891136e-01 -1.34535126e-03 1.71676329e+02] [ 3.68890699e-01 9.29472608e-01 -5.69032901e-04 1.70474841e+01] [ 1.46037834e-03 3.26123738e-05 9.99998933e-01 -5.50346132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:17.06, Z:-0.05 [[ 9.29698891e-01 -3.68318018e-01 -1.34527845e-03 1.71701218e+02] [ 3.68317580e-01 9.29699864e-01 -5.69204980e-04 1.70592508e+01] [ 1.46035364e-03 3.36995343e-05 9.99998933e-01 -5.36257405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:17.07, Z:-0.05 [[ 9.29975107e-01 -3.67620037e-01 -1.34517582e-03 1.71725520e+02] [ 3.67619598e-01 9.29976079e-01 -5.69447431e-04 1.70706492e+01] [ 1.46032162e-03 3.50589423e-05 9.99998933e-01 -5.31889464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:17.08, Z:-0.05 [[ 9.30816342e-01 -3.65484784e-01 -1.34513133e-03 1.71749394e+02] [ 3.65484342e-01 9.30817314e-01 -5.69552502e-04 1.70840203e+01] [ 1.46023430e-03 3.85243382e-05 9.99998933e-01 -5.47725113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:17.10, Z:-0.06 [[ 9.31107099e-01 -3.64743417e-01 -1.34508692e-03 1.71774701e+02] [ 3.64742975e-01 9.31108070e-01 -5.69657357e-04 1.70964863e+01] [ 1.46020006e-03 3.98010044e-05 9.99998933e-01 -5.51476522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:17.11, Z:-0.06 [[ 9.31227139e-01 -3.64436834e-01 -1.34498298e-03 1.71799475e+02] [ 3.64436391e-01 9.31228110e-01 -5.69902651e-04 1.71088856e+01] [ 1.46017948e-03 4.05480708e-05 9.99998933e-01 -5.63663077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:17.12, Z:-0.06 [[ 9.31133914e-01 -3.64674958e-01 -1.34487865e-03 1.71824343e+02] [ 3.64674515e-01 9.31134885e-01 -5.70148744e-04 1.71213115e+01] [ 1.46018240e-03 4.04418613e-05 9.99998933e-01 -5.70572482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.85, Y:17.13, Z:-0.06 [[ 9.30369265e-01 -3.66621362e-01 -1.34477470e-03 1.71848442e+02] [ 3.66620920e-01 9.30370236e-01 -5.70393827e-04 1.71349086e+01] [ 1.46025692e-03 3.76543462e-05 9.99998933e-01 -5.96993548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:17.15, Z:-0.06 [[ 9.29867098e-01 -3.67893153e-01 -1.34467114e-03 1.71873857e+02] [ 3.67892712e-01 9.29868069e-01 -5.70637867e-04 1.71473470e+01] [ 1.46030052e-03 3.59226654e-05 9.99998933e-01 -6.08078150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:17.16, Z:-0.06 [[ 9.29338310e-01 -3.69226892e-01 -1.34457058e-03 1.71898795e+02] [ 3.69226452e-01 9.29339282e-01 -5.70874706e-04 1.71598553e+01] [ 1.46034455e-03 3.40847086e-05 9.99998933e-01 -5.97520932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:17.17, Z:-0.06 [[ 9.28507689e-01 -3.71310737e-01 -1.34446768e-03 1.71921502e+02] [ 3.71310299e-01 9.28508662e-01 -5.71116953e-04 1.71743304e+01] [ 1.46041174e-03 3.10717864e-05 9.99998933e-01 -5.89960135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:17.19, Z:-0.06 [[ 9.28134169e-01 -3.72243412e-01 -1.34442286e-03 1.71945814e+02] [ 3.72242975e-01 9.28135142e-01 -5.71222446e-04 1.71881372e+01] [ 1.46043989e-03 2.97191072e-05 9.99998933e-01 -5.82003616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:17.20, Z:-0.06 [[ 9.27833977e-01 -3.72991024e-01 -1.34432100e-03 1.71969892e+02] [ 3.72990587e-01 9.27834950e-01 -5.71462062e-04 1.72018244e+01] [ 1.46045822e-03 2.88028399e-05 9.99998933e-01 -5.72691832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:17.22, Z:-0.06 [[ 9.27281155e-01 -3.74363264e-01 -1.34421964e-03 1.71993137e+02] [ 3.74362828e-01 9.27282128e-01 -5.71700369e-04 1.72173396e+01] [ 1.46049447e-03 2.69011105e-05 9.99998933e-01 -5.70684743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:17.23, Z:-0.06 [[ 9.26873641e-01 -3.75371080e-01 -1.34417547e-03 1.72017447e+02] [ 3.75370645e-01 9.26874615e-01 -5.71804215e-04 1.72305234e+01] [ 1.46052088e-03 2.54262417e-05 9.99998933e-01 -5.71255009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.04, Y:17.24, Z:-0.06 [[ 9.26426611e-01 -3.76473011e-01 -1.34406908e-03 1.72041549e+02] [ 3.76472577e-01 9.26427586e-01 -5.72054171e-04 1.72436746e+01] [ 1.46054563e-03 2.39610560e-05 9.99998933e-01 -5.73323551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:17.26, Z:-0.06 [[ 9.25288428e-01 -3.79261806e-01 -1.34402292e-03 1.72064900e+02] [ 3.79261375e-01 9.25289404e-01 -5.72162605e-04 1.72567577e+01] [ 1.46060959e-03 1.96794556e-05 9.99998933e-01 -5.98647658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:17.27, Z:-0.06 [[ 9.24547592e-01 -3.81064225e-01 -1.34395331e-03 1.72090163e+02] [ 3.81063795e-01 9.24548569e-01 -5.72326065e-04 1.72694193e+01] [ 1.46064310e-03 1.70107359e-05 9.99998933e-01 -6.03549856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:17.28, Z:-0.06 [[ 9.23699192e-01 -3.83116166e-01 -1.34385403e-03 1.72115356e+02] [ 3.83115738e-01 9.23700170e-01 -5.72559089e-04 1.72827478e+01] [ 1.46067484e-03 1.40207393e-05 9.99998933e-01 -6.07237858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:17.30, Z:-0.06 [[ 9.22195136e-01 -3.86722543e-01 -1.34375482e-03 1.72138992e+02] [ 3.86722119e-01 9.22196115e-01 -5.72791833e-04 1.72970090e+01] [ 1.46071699e-03 8.56613192e-06 9.99998933e-01 -6.17170031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:17.31, Z:-0.06 [[ 9.21351245e-01 -3.88728797e-01 -1.34371161e-03 1.72164353e+02] [ 3.88728375e-01 9.21352225e-01 -5.72893191e-04 1.73095420e+01] [ 1.46073176e-03 5.49702556e-06 9.99998933e-01 -6.11606309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:17.32, Z:-0.06 [[ 9.20511501e-01 -3.90713158e-01 -1.34360515e-03 1.72188200e+02] [ 3.90712738e-01 9.20512481e-01 -5.73142758e-04 1.73215862e+01] [ 1.46073973e-03 2.62085479e-06 9.99998933e-01 -6.30680823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:17.33, Z:-0.06 [[ 9.19029240e-01 -3.94187077e-01 -1.34355874e-03 1.72213633e+02] [ 3.94186660e-01 9.19030222e-01 -5.73251538e-04 1.73342023e+01] [ 1.46073943e-03 -2.77800555e-06 9.99998933e-01 -5.96431656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:17.34, Z:-0.06 [[ 9.18356821e-01 -3.95751115e-01 -1.34344864e-03 1.72238307e+02] [ 3.95750700e-01 9.18357803e-01 -5.73509436e-04 1.73449046e+01] [ 1.46073354e-03 -4.98443732e-06 9.99998933e-01 -5.98785501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:17.36, Z:-0.06 [[ 9.17628125e-01 -3.97437818e-01 -1.34340093e-03 1.72263948e+02] [ 3.97437404e-01 9.17629109e-01 -5.73621165e-04 1.73560997e+01] [ 1.46072254e-03 -7.54686575e-06 9.99998933e-01 -5.94644235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:17.37, Z:-0.06 [[ 9.17011464e-01 -3.98858584e-01 -1.34329356e-03 1.72288286e+02] [ 3.98858172e-01 9.17012448e-01 -5.73872498e-04 1.73667641e+01] [ 1.46071089e-03 -9.53595378e-06 9.99998933e-01 -5.91117844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:17.38, Z:-0.06 [[ 9.16304265e-01 -4.00480573e-01 -1.34322055e-03 1.72314270e+02] [ 4.00480162e-01 9.16305250e-01 -5.74043348e-04 1.73782617e+01] [ 1.46069325e-03 -1.19348134e-05 9.99998933e-01 -5.74594893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:17.39, Z:-0.06 [[ 9.16039947e-01 -4.01084794e-01 -1.34311122e-03 1.72340230e+02] [ 4.01084383e-01 9.16040931e-01 -5.74299030e-04 1.73894858e+01] [ 1.46068746e-03 -1.26200820e-05 9.99998933e-01 -5.66613189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:17.40, Z:-0.06 [[ 9.15931261e-01 -4.01332930e-01 -1.34300183e-03 1.72366037e+02] [ 4.01332519e-01 9.15932246e-01 -5.74554733e-04 1.74002960e+01] [ 1.46068641e-03 -1.27376647e-05 9.99998933e-01 -5.61896680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:17.41, Z:-0.05 [[ 9.16205714e-01 -4.00705984e-01 -1.34296794e-03 1.72391829e+02] [ 4.00705572e-01 9.16206698e-01 -5.74633936e-04 1.74099180e+01] [ 1.46069548e-03 -1.16518398e-05 9.99998933e-01 -5.34771841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:172.42, Y:17.42, Z:-0.05 [[ 9.16521976e-01 -3.99982080e-01 -1.34285605e-03 1.72417492e+02] [ 3.99981667e-01 9.16522960e-01 -5.74895270e-04 1.74209014e+01] [ 1.46070621e-03 -1.02136549e-05 9.99998933e-01 -5.28251964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:17.43, Z:-0.06 [[ 9.17709212e-01 -3.97250549e-01 -1.34274454e-03 1.72442389e+02] [ 3.97250132e-01 9.17710195e-01 -5.75155615e-04 1.74314655e+01] [ 1.46073124e-03 -5.57983895e-06 9.99998933e-01 -5.52219148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:17.44, Z:-0.06 [[ 9.18323194e-01 -3.95829140e-01 -1.34266862e-03 1.72467544e+02] [ 3.95828722e-01 9.18324176e-01 -5.75332798e-04 1.74422061e+01] [ 1.46073854e-03 -3.12534954e-06 9.99998933e-01 -5.64632566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:17.45, Z:-0.06 [[ 9.18886822e-01 -3.94518956e-01 -1.34262221e-03 1.72493250e+02] [ 3.94518536e-01 9.18887803e-01 -5.75441082e-04 1.74538634e+01] [ 1.46074158e-03 -9.24120102e-07 9.99998933e-01 -5.62932805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:17.47, Z:-0.06 [[ 9.19493661e-01 -3.93102539e-01 -1.34251383e-03 1.72518362e+02] [ 3.93102117e-01 9.19494641e-01 -5.75693809e-04 1.74656938e+01] [ 1.46074097e-03 1.60177816e-06 9.99998933e-01 -5.61786224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:17.48, Z:-0.06 [[ 9.20489221e-01 -3.90765649e-01 -1.34240044e-03 1.72542838e+02] [ 3.90765224e-01 9.20490200e-01 -5.75958091e-04 1.74781852e+01] [ 1.46073109e-03 5.59980513e-06 9.99998933e-01 -5.78302257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:17.49, Z:-0.06 [[ 9.20886283e-01 -3.89829004e-01 -1.34235093e-03 1.72568652e+02] [ 3.89828578e-01 9.20887261e-01 -5.76073470e-04 1.74890013e+01] [ 1.46072401e-03 7.21140403e-06 9.99998933e-01 -5.81313302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:17.50, Z:-0.06 [[ 9.21510730e-01 -3.88350581e-01 -1.34224256e-03 1.72594476e+02] [ 3.88350153e-01 9.21511707e-01 -5.76325859e-04 1.75004724e+01] [ 1.46070871e-03 9.83036037e-06 9.99998933e-01 -5.85623573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:17.51, Z:-0.06 [[ 9.21436434e-01 -3.88526828e-01 -1.34213197e-03 1.72620579e+02] [ 3.88526400e-01 9.21437412e-01 -5.76583269e-04 1.75118942e+01] [ 1.46070868e-03 9.83112777e-06 9.99998933e-01 -5.85207514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:17.52, Z:-0.06 [[ 9.21736254e-01 -3.87815003e-01 -1.34202164e-03 1.72645977e+02] [ 3.87814574e-01 9.21737231e-01 -5.76839953e-04 1.75242780e+01] [ 1.46069850e-03 1.12387451e-05 9.99998933e-01 -5.84741223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:17.54, Z:-0.06 [[ 9.22036624e-01 -3.87100328e-01 -1.34190989e-03 1.72670925e+02] [ 3.87099898e-01 9.22037600e-01 -5.77099807e-04 1.75361163e+01] [ 1.46068690e-03 1.26539756e-05 9.99998933e-01 -5.91115985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:17.55, Z:-0.06 [[ 9.22358541e-01 -3.86332657e-01 -1.34179742e-03 1.72695252e+02] [ 3.86332226e-01 9.22359516e-01 -5.77361178e-04 1.75471356e+01] [ 1.46067310e-03 1.41544271e-05 9.99998933e-01 -5.99198736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:17.56, Z:-0.06 [[ 9.22642967e-01 -3.85652893e-01 -1.34174855e-03 1.72720616e+02] [ 3.85652461e-01 9.22643943e-01 -5.77474727e-04 1.75587279e+01] [ 1.46066098e-03 1.53543633e-05 9.99998933e-01 -6.03929340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:17.57, Z:-0.06 [[ 9.23244013e-01 -3.84211781e-01 -1.34163799e-03 1.72744206e+02] [ 3.84211347e-01 9.23244988e-01 -5.77731486e-04 1.75712014e+01] [ 1.46063179e-03 1.79145960e-05 9.99998933e-01 -6.11911800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:17.58, Z:-0.06 [[ 9.23465624e-01 -3.83678827e-01 -1.34159003e-03 1.72769325e+02] [ 3.83678392e-01 9.23466598e-01 -5.77842823e-04 1.75829210e+01] [ 1.46061964e-03 1.88788750e-05 9.99998933e-01 -6.04689241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:17.59, Z:-0.06 [[ 9.23610310e-01 -3.83330400e-01 -1.34147824e-03 1.72793514e+02] [ 3.83329965e-01 9.23611284e-01 -5.78102246e-04 1.75939286e+01] [ 1.46060860e-03 1.97123887e-05 9.99998933e-01 -6.14750055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:17.61, Z:-0.06 [[ 9.23849576e-01 -3.82753394e-01 -1.34142953e-03 1.72817413e+02] [ 3.82752958e-01 9.23850550e-01 -5.78215246e-04 1.76054267e+01] [ 1.46059426e-03 2.07477892e-05 9.99998933e-01 -6.10179761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:17.62, Z:-0.06 [[ 9.23813013e-01 -3.82841634e-01 -1.34137603e-03 1.72842892e+02] [ 3.82841198e-01 9.23813987e-01 -5.78339325e-04 1.76182545e+01] [ 1.46059431e-03 2.07433878e-05 9.99998933e-01 -6.11042726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:17.63, Z:-0.06 [[ 9.23739458e-01 -3.83019079e-01 -1.34126853e-03 1.72868074e+02] [ 3.83018643e-01 9.23740431e-01 -5.78588540e-04 1.76313997e+01] [ 1.46059442e-03 2.07342125e-05 9.99998933e-01 -6.19296813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.89, Y:17.64, Z:-0.06 [[ 9.23580360e-01 -3.83402555e-01 -1.34116132e-03 1.72893424e+02] [ 3.83402119e-01 9.23581334e-01 -5.78836934e-04 1.76434200e+01] [ 1.46059912e-03 2.03983307e-05 9.99998933e-01 -6.05913731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:17.66, Z:-0.06 [[ 9.23226231e-01 -3.84254509e-01 -1.34105158e-03 1.72918943e+02] [ 3.84254073e-01 9.23227205e-01 -5.79091068e-04 1.76560087e+01] [ 1.46061366e-03 1.93275318e-05 9.99998933e-01 -6.09876874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:17.67, Z:-0.06 [[ 9.22623326e-01 -3.85699884e-01 -1.34094156e-03 1.72944008e+02] [ 3.85699450e-01 9.22624300e-01 -5.79345727e-04 1.76685444e+01] [ 1.46063885e-03 1.73174604e-05 9.99998933e-01 -6.02897270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:17.68, Z:-0.06 [[ 9.22296552e-01 -3.86480624e-01 -1.34090752e-03 1.72968717e+02] [ 3.86480190e-01 9.22297526e-01 -5.79424503e-04 1.76805108e+01] [ 1.46065203e-03 1.61670290e-05 9.99998933e-01 -6.01008330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:17.69, Z:-0.06 [[ 9.21862131e-01 -3.87515695e-01 -1.34086043e-03 1.72993934e+02] [ 3.87515262e-01 9.21863106e-01 -5.79533449e-04 1.76932550e+01] [ 1.46066807e-03 1.46460589e-05 9.99998933e-01 -5.86378657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:17.71, Z:-0.06 [[ 9.21448270e-01 -3.88498761e-01 -1.34074730e-03 1.73019021e+02] [ 3.88498329e-01 9.21449246e-01 -5.79795057e-04 1.77063358e+01] [ 1.46068025e-03 1.33730674e-05 9.99998933e-01 -5.78002995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:17.72, Z:-0.06 [[ 9.20568644e-01 -3.90578512e-01 -1.34063374e-03 1.73042855e+02] [ 3.90578081e-01 9.20569621e-01 -5.80057512e-04 1.77204658e+01] [ 1.46070470e-03 1.03606026e-05 9.99998933e-01 -5.92102076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:17.73, Z:-0.06 [[ 9.20101177e-01 -3.91678474e-01 -1.34055601e-03 1.73068319e+02] [ 3.91678044e-01 9.20102154e-01 -5.80237110e-04 1.77330192e+01] [ 1.46071486e-03 8.81049235e-06 9.99998933e-01 -5.87293569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:173.09, Y:17.75, Z:-0.06 [[ 9.19812238e-01 -3.92356535e-01 -1.34044463e-03 1.73093746e+02] [ 3.92356105e-01 9.19813215e-01 -5.80494302e-04 1.77454007e+01] [ 1.46071941e-03 8.01412951e-06 9.99998933e-01 -5.79946101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:17.76, Z:-0.06 [[ 9.19235733e-01 -3.93705310e-01 -1.34033150e-03 1.73117400e+02] [ 3.93704881e-01 9.19236710e-01 -5.80755387e-04 1.77595651e+01] [ 1.46072840e-03 6.15604933e-06 9.99998933e-01 -5.95523795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:17.77, Z:-0.06 [[ 9.18886811e-01 -3.94518988e-01 -1.34028227e-03 1.73142238e+02] [ 3.94518561e-01 9.18887788e-01 -5.80868982e-04 1.77719431e+01] [ 1.46073285e-03 4.98661452e-06 9.99998933e-01 -5.90062736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:17.78, Z:-0.06 [[ 9.18493555e-01 -3.95433678e-01 -1.34024769e-03 1.73166541e+02] [ 3.95433251e-01 9.18494533e-01 -5.80948766e-04 1.77841135e+01] [ 1.46073688e-03 3.61919711e-06 9.99998933e-01 -5.98792306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:17.80, Z:-0.06 [[ 9.17625393e-01 -3.97444136e-01 -1.34019977e-03 1.73191201e+02] [ 3.97443711e-01 9.17626372e-01 -5.81059294e-04 1.77975207e+01] [ 1.46074126e-03 5.40794776e-07 9.99998933e-01 -5.79004628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:17.81, Z:-0.06 [[ 9.17140878e-01 -3.98560929e-01 -1.34008678e-03 1.73215989e+02] [ 3.98560505e-01 9.17141857e-01 -5.81319759e-04 1.78093479e+01] [ 1.46074102e-03 -9.53548571e-07 9.99998933e-01 -5.81774535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:17.82, Z:-0.06 [[ 9.16595228e-01 -3.99814197e-01 -1.34003745e-03 1.73240071e+02] [ 3.99813774e-01 9.16596208e-01 -5.81433438e-04 1.78208689e+01] [ 1.46073859e-03 -2.82631646e-06 9.99998933e-01 -5.82768669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:17.83, Z:-0.06 [[ 9.15573254e-01 -4.02149003e-01 -1.33992912e-03 1.73265057e+02] [ 4.02148582e-01 9.15574235e-01 -5.81682987e-04 1.78330703e+01] [ 1.46072781e-03 -6.27721124e-06 9.99998933e-01 -5.78480099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:17.84, Z:-0.06 [[ 9.15183360e-01 -4.03035511e-01 -1.33982088e-03 1.73290058e+02] [ 4.03035091e-01 9.15184340e-01 -5.81932194e-04 1.78446493e+01] [ 1.46072243e-03 -7.42017097e-06 9.99998933e-01 -5.77961067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:17.86, Z:-0.06 [[ 9.14670440e-01 -4.04198208e-01 -1.33971307e-03 1.73315508e+02] [ 4.04197789e-01 9.14671421e-01 -5.82180279e-04 1.78565736e+01] [ 1.46071349e-03 -9.00597081e-06 9.99998933e-01 -5.86356066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:17.87, Z:-0.06 [[ 9.14512395e-01 -4.04555664e-01 -1.33960546e-03 1.73340578e+02] [ 4.04555245e-01 9.14513376e-01 -5.82427786e-04 1.78681284e+01] [ 1.46071158e-03 -9.30698666e-06 9.99998933e-01 -5.85692518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:17.88, Z:-0.06 [[ 9.14551352e-01 -4.04467589e-01 -1.33949521e-03 1.73365604e+02] [ 4.04467169e-01 9.14552333e-01 -5.82681251e-04 1.78793622e+01] [ 1.46071415e-03 -8.88990839e-06 9.99998933e-01 -5.91635717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.39, Y:17.89, Z:-0.06 [[ 9.14625414e-01 -4.04300084e-01 -1.33941998e-03 1.73391394e+02] [ 4.04299664e-01 9.14626395e-01 -5.82854117e-04 1.78912963e+01] [ 1.46071684e-03 -8.43386138e-06 9.99998933e-01 -5.81171098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:173.42, Y:17.90, Z:-0.06 [[ 9.15264965e-01 -4.02850158e-01 -1.33931096e-03 1.73415713e+02] [ 4.02849736e-01 9.15265945e-01 -5.83104523e-04 1.79020555e+01] [ 1.46072946e-03 -5.84592691e-06 9.99998933e-01 -5.94793578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:17.91, Z:-0.06 [[ 9.15589528e-01 -4.02111953e-01 -1.33926368e-03 1.73441242e+02] [ 4.02111530e-01 9.15590508e-01 -5.83213109e-04 1.79135291e+01] [ 1.46073407e-03 -4.54955008e-06 9.99998933e-01 -6.05635315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:17.93, Z:-0.06 [[ 9.16009392e-01 -4.01154584e-01 -1.33915507e-03 1.73466436e+02] [ 4.01154159e-01 9.16010371e-01 -5.83462373e-04 1.79251675e+01] [ 1.46073854e-03 -2.75061374e-06 9.99998933e-01 -6.24885811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.49, Y:17.94, Z:-0.06 [[ 9.16544495e-01 -3.99930488e-01 -1.33912136e-03 1.73491645e+02] [ 3.99930062e-01 9.16545473e-01 -5.83539746e-04 1.79367343e+01] [ 1.46074095e-03 -7.14745901e-07 9.99998933e-01 -6.40922583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.52, Y:17.95, Z:-0.06 [[ 9.17341148e-01 -3.98099767e-01 -1.33908782e-03 1.73518063e+02] [ 3.98099339e-01 9.17342126e-01 -5.83616688e-04 1.79492923e+01] [ 1.46073934e-03 2.28562492e-06 9.99998933e-01 -6.39413964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:17.96, Z:-0.06 [[ 9.17669293e-01 -3.97342768e-01 -1.33898809e-03 1.73543441e+02] [ 3.97342339e-01 9.17670270e-01 -5.83845423e-04 1.79615136e+01] [ 1.46073632e-03 3.74035813e-06 9.99998933e-01 -6.43900646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.57, Y:17.97, Z:-0.06 [[ 9.18362533e-01 -3.95737875e-01 -1.33887413e-03 1.73568240e+02] [ 3.95737444e-01 9.18363509e-01 -5.84106621e-04 1.79738586e+01] [ 1.46072626e-03 6.57900859e-06 9.99998933e-01 -6.23316051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:17.99, Z:-0.06 [[ 9.18621818e-01 -3.95135626e-01 -1.33882041e-03 1.73593581e+02] [ 3.95135194e-01 9.18622794e-01 -5.84229747e-04 1.79855020e+01] [ 1.46072093e-03 7.67113088e-06 9.99998933e-01 -6.29136911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:173.62, Y:18.00, Z:-0.06 [[ 9.18839316e-01 -3.94629598e-01 -1.33878596e-03 1.73617995e+02] [ 3.94629166e-01 9.18840291e-01 -5.84308681e-04 1.79970209e+01] [ 1.46071598e-03 8.56180400e-06 9.99998933e-01 -6.11305479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.64, Y:18.01, Z:-0.06 [[ 9.19280554e-01 -3.93600649e-01 -1.33873952e-03 1.73643825e+02] [ 3.93600216e-01 9.19281529e-01 -5.84415060e-04 1.80102920e+01] [ 1.46070466e-03 1.03132382e-05 9.99998933e-01 -5.68020749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:18.02, Z:-0.06 [[ 9.19526883e-01 -3.93024833e-01 -1.33863892e-03 1.73669058e+02] [ 3.93024398e-01 9.19527858e-01 -5.84645383e-04 1.80226495e+01] [ 1.46069594e-03 1.14793892e-05 9.99998933e-01 -5.75921090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:173.69, Y:18.03, Z:-0.05 [[ 9.19579543e-01 -3.92901606e-01 -1.33860339e-03 1.73694073e+02] [ 3.92901171e-01 9.19580517e-01 -5.84726719e-04 1.80346951e+01] [ 1.46069367e-03 1.17638879e-05 9.99998933e-01 -5.48083943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:18.05, Z:-0.06 [[ 9.19322632e-01 -3.93502359e-01 -1.33849280e-03 1.73718892e+02] [ 3.93501925e-01 9.19323606e-01 -5.84979766e-04 1.80465920e+01] [ 1.46069895e-03 1.10856441e-05 9.99998933e-01 -5.66234877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:18.06, Z:-0.06 [[ 9.18994468e-01 -3.94268152e-01 -1.33837870e-03 1.73743332e+02] [ 3.94267718e-01 9.18995443e-01 -5.85240713e-04 1.80571263e+01] [ 1.46070570e-03 1.01534642e-05 9.99998933e-01 -5.81880405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:18.07, Z:-0.06 [[ 9.18398188e-01 -3.95655124e-01 -1.33830086e-03 1.73768911e+02] [ 3.95654691e-01 9.18399163e-01 -5.85418654e-04 1.80686204e+01] [ 1.46071828e-03 8.14241914e-06 9.99998933e-01 -5.88798834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:18.08, Z:-0.06 [[ 9.17243394e-01 -3.98324950e-01 -1.33818596e-03 1.73794145e+02] [ 3.98324519e-01 9.17244370e-01 -5.85681186e-04 1.80795744e+01] [ 1.46073496e-03 4.17992066e-06 9.99998933e-01 -6.10093670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:18.09, Z:-0.06 [[ 9.16630691e-01 -3.99732893e-01 -1.33815043e-03 1.73819865e+02] [ 3.99732463e-01 9.16631668e-01 -5.85762349e-04 1.80905554e+01] [ 1.46073954e-03 2.02558003e-06 9.99998933e-01 -6.16373063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:18.10, Z:-0.06 [[ 9.16076717e-01 -4.01000820e-01 -1.33804031e-03 1.73844409e+02] [ 4.01000392e-01 9.16077694e-01 -5.86013782e-04 1.81010233e+01] [ 1.46074089e-03 2.78892794e-07 9.99998933e-01 -6.15356431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:173.87, Y:18.11, Z:-0.06 [[ 9.15559951e-01 -4.02179297e-01 -1.33799250e-03 1.73870086e+02] [ 4.02178869e-01 9.15560928e-01 -5.86122912e-04 1.81123489e+01] [ 1.46074016e-03 -1.48164831e-06 9.99998933e-01 -5.98938028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:18.12, Z:-0.06 [[ 9.14869368e-01 -4.03747755e-01 -1.33788130e-03 1.73895461e+02] [ 4.03747330e-01 9.14870346e-01 -5.86376633e-04 1.81244796e+01] [ 1.46073618e-03 -3.70798318e-06 9.99998933e-01 -6.19068548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:18.14, Z:-0.06 [[ 9.14826115e-01 -4.03845750e-01 -1.33776864e-03 1.73919860e+02] [ 4.03845323e-01 9.14827093e-01 -5.86633547e-04 1.81353516e+01] [ 1.46073646e-03 -3.58392016e-06 9.99998933e-01 -6.28142196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:18.15, Z:-0.06 [[ 9.14714671e-01 -4.04098108e-01 -1.33771981e-03 1.73945560e+02] [ 4.04097682e-01 9.14715650e-01 -5.86744866e-04 1.81465769e+01] [ 1.46073574e-03 -3.86533872e-06 9.99998933e-01 -6.10498465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:18.16, Z:-0.06 [[ 9.14900297e-01 -4.03677664e-01 -1.33760490e-03 1.73971245e+02] [ 4.03677238e-01 9.14901275e-01 -5.87006727e-04 1.81575599e+01] [ 1.46073793e-03 -2.90802043e-06 9.99998933e-01 -5.84637902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37587156000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:174.00, Y:18.17, Z:-0.06 [[ 9.15092879e-01 -4.03240912e-01 -1.33756929e-03 1.73996841e+02] [ 4.03240484e-01 9.15093857e-01 -5.87087856e-04 1.81695331e+01] [ 1.46073928e-03 -2.12217130e-06 9.99998933e-01 -5.53399983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:18.18, Z:-0.06 [[ 9.15343016e-01 -4.02672787e-01 -1.33753521e-03 1.74021909e+02] [ 4.02672359e-01 9.15343994e-01 -5.87165479e-04 1.81814690e+01] [ 1.46074038e-03 -1.13063805e-06 9.99998933e-01 -5.55521923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:18.19, Z:-0.06 [[ 9.16032728e-01 -4.01101298e-01 -1.33750167e-03 1.74046808e+02] [ 4.01100868e-01 9.16033705e-01 -5.87241881e-04 1.81941571e+01] [ 1.46074009e-03 1.45970281e-06 9.99998933e-01 -5.58416945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.07, Y:18.21, Z:-0.05 [[ 9.16386662e-01 -4.00292015e-01 -1.33739503e-03 1.74072568e+02] [ 4.00291584e-01 9.16387638e-01 -5.87484640e-04 1.82062039e+01] [ 1.46073768e-03 3.01511321e-06 9.99998933e-01 -5.42318746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:18.22, Z:-0.06 [[ 9.16818002e-01 -3.99303097e-01 -1.33728371e-03 1.74098223e+02] [ 3.99302664e-01 9.16818977e-01 -5.87737915e-04 1.82183122e+01] [ 1.46073266e-03 4.86775153e-06 9.99998933e-01 -5.53095721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:18.23, Z:-0.06 [[ 9.17931954e-01 -3.96735604e-01 -1.33717023e-03 1.74121889e+02] [ 3.96735168e-01 9.17932928e-01 -5.87995985e-04 1.82318477e+01] [ 1.46071153e-03 9.23784624e-06 9.99998933e-01 -5.68123512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:18.24, Z:-0.06 [[ 9.18533292e-01 -3.95341375e-01 -1.33712072e-03 1.74146513e+02] [ 3.95340938e-01 9.18534265e-01 -5.88108551e-04 1.82445442e+01] [ 1.46069484e-03 1.15787222e-05 9.99998933e-01 -5.76200622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:18.26, Z:-0.06 [[ 9.18981369e-01 -3.94298688e-01 -1.33708651e-03 1.74171385e+02] [ 3.94298249e-01 9.18982342e-01 -5.88186329e-04 1.82577059e+01] [ 1.46067999e-03 1.33214085e-05 9.99998933e-01 -5.70465354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:18.27, Z:-0.06 [[ 9.18904715e-01 -3.94477297e-01 -1.33697201e-03 1.74197376e+02] [ 3.94476859e-01 9.18905687e-01 -5.88446473e-04 1.82693525e+01] [ 1.46067996e-03 1.33217204e-05 9.99998933e-01 -5.70049297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:18.28, Z:-0.06 [[ 9.19943749e-01 -3.92048099e-01 -1.33685759e-03 1.74219868e+02] [ 3.92047657e-01 9.19944720e-01 -5.88706310e-04 1.82842174e+01] [ 1.46063627e-03 1.74648055e-05 9.99998933e-01 -5.67758723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:18.30, Z:-0.06 [[ 9.20353983e-01 -3.91084082e-01 -1.33677962e-03 1.74243196e+02] [ 3.91083639e-01 9.20354954e-01 -5.88883306e-04 1.82970862e+01] [ 1.46061463e-03 1.91884595e-05 9.99998933e-01 -5.68833570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:18.31, Z:-0.06 [[ 9.20648929e-01 -3.90389245e-01 -1.33673192e-03 1.74266765e+02] [ 3.90388801e-01 9.20649899e-01 -5.88991562e-04 1.83094941e+01] [ 1.46059807e-03 2.04092811e-05 9.99998933e-01 -5.75400545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:18.32, Z:-0.06 [[ 9.20871051e-01 -3.89865003e-01 -1.33668464e-03 1.74291032e+02] [ 3.89864558e-01 9.20872021e-01 -5.89098837e-04 1.83241974e+01] [ 1.46058450e-03 2.13580994e-05 9.99998933e-01 -5.77752307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:174.32, Y:18.34, Z:-0.06 [[ 9.20717895e-01 -3.90226565e-01 -1.33657384e-03 1.74315772e+02] [ 3.90226121e-01 9.20718864e-01 -5.89350118e-04 1.83378439e+01] [ 1.46058882e-03 2.10591759e-05 9.99998933e-01 -5.73128420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:174.34, Y:18.35, Z:-0.06 [[ 9.20393441e-01 -3.90991211e-01 -1.33646339e-03 1.74340893e+02] [ 3.90990767e-01 9.20394411e-01 -5.89600480e-04 1.83513534e+01] [ 1.46060204e-03 2.01195690e-05 9.99998933e-01 -5.76674734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:18.36, Z:-0.06 [[ 9.20015201e-01 -3.91880395e-01 -1.33635205e-03 1.74365334e+02] [ 3.91879951e-01 9.20016172e-01 -5.89852727e-04 1.83637798e+01] [ 1.46061721e-03 1.89839000e-05 9.99998933e-01 -5.92184513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:18.38, Z:-0.06 [[ 9.18799605e-01 -3.94722055e-01 -1.33630366e-03 1.74389099e+02] [ 3.94721614e-01 9.18800577e-01 -5.89962334e-04 1.83789029e+01] [ 1.46066772e-03 1.45892233e-05 9.99998933e-01 -5.65660668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:18.39, Z:-0.06 [[ 9.18086121e-01 -3.96378718e-01 -1.33618691e-03 1.74412687e+02] [ 3.96378279e-01 9.18087094e-01 -5.90226636e-04 1.83912056e+01] [ 1.46068923e-03 1.22434157e-05 9.99998933e-01 -5.74068064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:18.40, Z:-0.06 [[ 9.16188980e-01 -4.00744267e-01 -1.33613609e-03 1.74437306e+02] [ 4.00743833e-01 9.16189954e-01 -5.90341655e-04 1.84038977e+01] [ 1.46073050e-03 5.41622149e-06 9.99998933e-01 -5.59734564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.46, Y:18.42, Z:-0.06 [[ 9.15031128e-01 -4.03381024e-01 -1.33602486e-03 1.74462200e+02] [ 4.03380591e-01 9.15032103e-01 -5.90593285e-04 1.84153545e+01] [ 1.46073976e-03 1.48474339e-06 9.99998933e-01 -5.51781558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:18.43, Z:-0.06 [[ 9.13975749e-01 -4.05766615e-01 -1.33597660e-03 1.74487370e+02] [ 4.05766185e-01 9.13976725e-01 -5.90702415e-04 1.84265192e+01] [ 1.46073884e-03 -2.20644871e-06 9.99998933e-01 -5.52095142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:18.44, Z:-0.06 [[ 9.11835745e-01 -4.10553028e-01 -1.33586950e-03 1.74511158e+02] [ 4.10552603e-01 9.11836724e-01 -5.90944533e-04 1.84383700e+01] [ 1.46070894e-03 -9.60035226e-06 9.99998933e-01 -5.56620143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:18.45, Z:-0.06 [[ 9.10945574e-01 -4.12524395e-01 -1.33582314e-03 1.74536151e+02] [ 4.12523972e-01 9.10946553e-01 -5.91049317e-04 1.84490027e+01] [ 1.46068574e-03 -1.26453072e-05 9.99998933e-01 -5.62429258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.56, Y:18.46, Z:-0.06 [[ 9.09918512e-01 -4.14784904e-01 -1.33577731e-03 1.74561849e+02] [ 4.14784483e-01 9.09919493e-01 -5.91152863e-04 1.84605867e+01] [ 1.46065110e-03 -1.61587688e-05 9.99998933e-01 -5.59721344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:18.47, Z:-0.06 [[ 9.08195639e-01 -4.18543781e-01 -1.33567249e-03 1.74587972e+02] [ 4.18543364e-01 9.08196621e-01 -5.91389618e-04 1.84708237e+01] [ 1.46057568e-03 -2.19393831e-05 9.99998933e-01 -5.72791780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:18.48, Z:-0.06 [[ 9.07342000e-01 -4.20391140e-01 -1.33556312e-03 1.74612923e+02] [ 4.20390724e-01 9.07342983e-01 -5.91636498e-04 1.84816242e+01] [ 1.46053257e-03 -2.46417042e-05 9.99998933e-01 -5.87353678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:18.49, Z:-0.06 [[ 9.06655635e-01 -4.21869382e-01 -1.33548862e-03 1.74638242e+02] [ 4.21868968e-01 9.06656618e-01 -5.91804609e-04 1.84924452e+01] [ 1.46049384e-03 -2.68382244e-05 9.99998933e-01 -5.74038943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:18.50, Z:-0.06 [[ 9.05694315e-01 -4.23929268e-01 -1.33537669e-03 1.74663263e+02] [ 4.23928856e-01 9.05695299e-01 -5.92057067e-04 1.85018883e+01] [ 1.46043471e-03 -2.98819941e-05 9.99998933e-01 -5.70457713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:18.51, Z:-0.06 [[ 9.05316247e-01 -4.24736047e-01 -1.33532792e-03 1.74689142e+02] [ 4.24735635e-01 9.05317232e-01 -5.92167056e-04 1.85121084e+01] [ 1.46041007e-03 -3.10628939e-05 9.99998933e-01 -5.66764616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:18.52, Z:-0.06 [[ 9.05063512e-01 -4.25274331e-01 -1.33521640e-03 1.74715556e+02] [ 4.25273919e-01 9.05064496e-01 -5.92418409e-04 1.85225750e+01] [ 1.46039730e-03 -3.16564232e-05 9.99998933e-01 -5.66488035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:18.53, Z:-0.06 [[ 9.05282392e-01 -4.24808201e-01 -1.33510531e-03 1.74741196e+02] [ 4.24807789e-01 9.05283376e-01 -5.92668658e-04 1.85313285e+01] [ 1.46041915e-03 -3.06306331e-05 9.99998933e-01 -5.74654850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:18.54, Z:-0.06 [[ 9.05554517e-01 -4.24227810e-01 -1.33505681e-03 1.74766692e+02] [ 4.24227397e-01 9.05555500e-01 -5.92777877e-04 1.85411869e+01] [ 1.46044090e-03 -2.95749929e-05 9.99998933e-01 -5.77659531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:18.55, Z:-0.06 [[ 9.05872771e-01 -4.23547803e-01 -1.33494729e-03 1.74792434e+02] [ 4.23547389e-01 9.05873754e-01 -5.93024426e-04 1.85515865e+01] [ 1.46046790e-03 -2.82087582e-05 9.99998933e-01 -5.67483136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:18.56, Z:-0.06 [[ 9.06712154e-01 -4.21747896e-01 -1.33483733e-03 1.74817969e+02] [ 4.21747479e-01 9.06713137e-01 -5.93271827e-04 1.85606958e+01] [ 1.46052569e-03 -2.50375022e-05 9.99998933e-01 -5.78859077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:18.57, Z:-0.06 [[ 9.07027730e-01 -4.21068778e-01 -1.33478976e-03 1.74843968e+02] [ 4.21068360e-01 9.07028712e-01 -5.93378827e-04 1.85704842e+01] [ 1.46054594e-03 -2.38266863e-05 9.99998933e-01 -5.62050045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.87, Y:18.58, Z:-0.06 [[ 9.07131388e-01 -4.20845416e-01 -1.33468071e-03 1.74870028e+02] [ 4.20844998e-01 9.07132369e-01 -5.93624030e-04 1.85803713e+01] [ 1.46055602e-03 -2.31987087e-05 9.99998933e-01 -5.60321964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:18.59, Z:-0.06 [[ 9.07339630e-01 -4.20396259e-01 -1.33457124e-03 1.74896596e+02] [ 4.20395840e-01 9.07340611e-01 -5.93870035e-04 1.85891636e+01] [ 1.46057142e-03 -2.22063779e-05 9.99998933e-01 -5.87746871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:18.60, Z:-0.06 [[ 9.07313248e-01 -4.20453194e-01 -1.33453735e-03 1.74924604e+02] [ 4.20452775e-01 9.07314230e-01 -5.93946181e-04 1.85965770e+01] [ 1.46057129e-03 -2.22146914e-05 9.99998933e-01 -6.11339791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.95, Y:18.61, Z:-0.06 [[ 9.07250958e-01 -4.20587587e-01 -1.33444356e-03 1.74950564e+02] [ 4.20587168e-01 9.07251939e-01 -5.94156827e-04 1.86058480e+01] [ 1.46057149e-03 -2.22004852e-05 9.99998933e-01 -5.97598828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:18.61, Z:-0.06 [[ 9.07603714e-01 -4.19825819e-01 -1.33433159e-03 1.74977829e+02] [ 4.19825399e-01 9.07604694e-01 -5.94408179e-04 1.86118753e+01] [ 1.46059351e-03 -2.06992193e-05 9.99998933e-01 -5.98049923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.00, Y:18.62, Z:-0.06 [[ 9.07876829e-01 -4.19234879e-01 -1.33429682e-03 1.75004381e+02] [ 4.19234458e-01 9.07877809e-01 -5.94486216e-04 1.86209104e+01] [ 1.46060783e-03 -1.96629424e-05 9.99998933e-01 -5.84979343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.03, Y:18.63, Z:-0.06 [[ 9.08427288e-01 -4.18040766e-01 -1.33418968e-03 1.75030902e+02] [ 4.18040343e-01 9.08428268e-01 -5.94726573e-04 1.86298631e+01] [ 1.46063557e-03 -1.74792616e-05 9.99998933e-01 -5.75613249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:18.64, Z:-0.06 [[ 9.09058952e-01 -4.16665383e-01 -1.33415632e-03 1.75057400e+02] [ 4.16664958e-01 9.09059931e-01 -5.94801388e-04 1.86388398e+01] [ 1.46066120e-03 -1.51866613e-05 9.99998933e-01 -5.70943437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:18.65, Z:-0.06 [[ 9.10739474e-01 -4.12979213e-01 -1.33404374e-03 1.75083793e+02] [ 4.12978784e-01 9.10740451e-01 -5.95053780e-04 1.86450836e+01] [ 1.46071244e-03 -8.99279570e-06 9.99998933e-01 -5.83591894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:18.65, Z:-0.06 [[ 9.11617938e-01 -4.11036442e-01 -1.33399462e-03 1.75110539e+02] [ 4.11036011e-01 9.11618914e-01 -5.95163888e-04 1.86545510e+01] [ 1.46072877e-03 -5.75774951e-06 9.99998933e-01 -5.79988898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.14, Y:18.66, Z:-0.06 [[ 9.12419845e-01 -4.09253280e-01 -1.33388415e-03 1.75135589e+02] [ 4.09252847e-01 9.12420820e-01 -5.95411372e-04 1.86640015e+01] [ 1.46073772e-03 -2.63073350e-06 9.99998933e-01 -5.82268848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.16, Y:18.67, Z:-0.06 [[ 9.13871971e-01 -4.06000298e-01 -1.33383599e-03 1.75163273e+02] [ 4.05999861e-01 9.13872944e-01 -5.95519239e-04 1.86717719e+01] [ 1.46073761e-03 2.69111546e-06 9.99998933e-01 -5.92260828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:18.68, Z:-0.06 [[ 9.14503406e-01 -4.04576003e-01 -1.33372088e-03 1.75188635e+02] [ 4.04575564e-01 9.14504378e-01 -5.95776924e-04 1.86813008e+01] [ 1.46073063e-03 5.24914877e-06 9.99998933e-01 -6.02237613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:18.69, Z:-0.06 [[ 9.15032107e-01 -4.03378811e-01 -1.33364223e-03 1.75214749e+02] [ 4.03378371e-01 9.15033079e-01 -5.95952915e-04 1.86911025e+01] [ 1.46072154e-03 7.35362006e-06 9.99998933e-01 -5.99318471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:18.70, Z:-0.06 [[ 9.15610668e-01 -4.02063835e-01 -1.33353226e-03 1.75241782e+02] [ 4.02063393e-01 9.15611639e-01 -5.96198906e-04 1.86980163e+01] [ 1.46070767e-03 9.72157523e-06 9.99998933e-01 -6.12513584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:18.71, Z:-0.06 [[ 9.15536272e-01 -4.02233212e-01 -1.33349801e-03 1.75268083e+02] [ 4.02232770e-01 9.15537243e-01 -5.96275501e-04 1.87077519e+01] [ 1.46070890e-03 9.53525257e-06 9.99998933e-01 -6.07206141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:18.72, Z:-0.06 [[ 9.15381687e-01 -4.02584885e-01 -1.33338482e-03 1.75294751e+02] [ 4.02584444e-01 9.15382658e-01 -5.96528496e-04 1.87176602e+01] [ 1.46071070e-03 9.25127398e-06 9.99998933e-01 -6.12463099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:18.73, Z:-0.06 [[ 9.15208958e-01 -4.02977400e-01 -1.33327228e-03 1.75321801e+02] [ 4.02976959e-01 9.15209929e-01 -5.96779935e-04 1.87260306e+01] [ 1.46071285e-03 8.90033578e-06 9.99998933e-01 -6.17922650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:18.74, Z:-0.06 [[ 9.15133264e-01 -4.03149267e-01 -1.33323734e-03 1.75348322e+02] [ 4.03148825e-01 9.15134235e-01 -5.96857975e-04 1.87360192e+01] [ 1.46071399e-03 8.71151906e-06 9.99998933e-01 -6.03562511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:18.75, Z:-0.06 [[ 9.15071876e-01 -4.03288587e-01 -1.33312554e-03 1.75374711e+02] [ 4.03288145e-01 9.15072847e-01 -5.97107588e-04 1.87454492e+01] [ 1.46071366e-03 8.76263554e-06 9.99998933e-01 -6.00886253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:18.75, Z:-0.06 [[ 9.15361648e-01 -4.02630445e-01 -1.33301352e-03 1.75402106e+02] [ 4.02630002e-01 9.15362619e-01 -5.97357568e-04 1.87525675e+01] [ 1.46070509e-03 1.00869732e-05 9.99998933e-01 -5.92540046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:18.76, Z:-0.06 [[ 9.15530526e-01 -4.02246293e-01 -1.33290140e-03 1.75428348e+02] [ 4.02245849e-01 9.15531496e-01 -5.97607627e-04 1.87625428e+01] [ 1.46069867e-03 1.09739691e-05 9.99998933e-01 -5.88449571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:18.77, Z:-0.06 [[ 9.15645657e-01 -4.01984147e-01 -1.33286658e-03 1.75454397e+02] [ 4.01983703e-01 9.15646627e-01 -5.97685277e-04 1.87734397e+01] [ 1.46069480e-03 1.14772835e-05 9.99998933e-01 -5.75825708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:18.78, Z:-0.06 [[ 9.15982142e-01 -4.01216822e-01 -1.33275344e-03 1.75480488e+02] [ 4.01216377e-01 9.15983112e-01 -5.97937466e-04 1.87830485e+01] [ 1.46068221e-03 1.29775354e-05 9.99998933e-01 -5.79499339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:18.79, Z:-0.06 [[ 9.16038285e-01 -4.01088623e-01 -1.33264008e-03 1.75505478e+02] [ 4.01088177e-01 9.16039255e-01 -5.98190007e-04 1.87928397e+01] [ 1.46067783e-03 1.34587678e-05 9.99998933e-01 -5.93687541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:18.80, Z:-0.06 [[ 9.16043603e-01 -4.01076478e-01 -1.33256279e-03 1.75531334e+02] [ 4.01076032e-01 9.16044572e-01 -5.98362127e-04 1.88031777e+01] [ 1.46067589e-03 1.36668028e-05 9.99998933e-01 -5.99384538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:18.81, Z:-0.06 [[ 9.15902160e-01 -4.01399374e-01 -1.33245479e-03 1.75557820e+02] [ 4.01398928e-01 9.15903129e-01 -5.98602530e-04 1.88123680e+01] [ 1.46067819e-03 1.34154267e-05 9.99998933e-01 -5.92971197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:18.82, Z:-0.06 [[ 9.15639165e-01 -4.01998935e-01 -1.33234083e-03 1.75583403e+02] [ 4.01998489e-01 9.15640135e-01 -5.98856077e-04 1.88219907e+01] [ 1.46068424e-03 1.27370791e-05 9.99998933e-01 -5.97735947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:18.83, Z:-0.06 [[ 9.15104810e-01 -4.03213853e-01 -1.33229104e-03 1.75609465e+02] [ 4.03213408e-01 9.15105780e-01 -5.98966812e-04 1.88316644e+01] [ 1.46069895e-03 1.09197991e-05 9.99998933e-01 -6.01719535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:18.84, Z:-0.06 [[ 9.13817040e-01 -4.06123926e-01 -1.33217802e-03 1.75636447e+02] [ 4.06123484e-01 9.13818011e-01 -5.99218086e-04 1.88395894e+01] [ 1.46072507e-03 6.54691871e-06 9.99998933e-01 -6.10471224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:18.85, Z:-0.06 [[ 9.12914735e-01 -4.08148149e-01 -1.33214286e-03 1.75662455e+02] [ 4.08147709e-01 9.12915707e-01 -5.99296250e-04 1.88497624e+01] [ 1.46073579e-03 3.39532292e-06 9.99998933e-01 -5.93705718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:18.86, Z:-0.06 [[ 9.12103100e-01 -4.09958730e-01 -1.33202556e-03 1.75688747e+02] [ 4.09958291e-01 9.12104073e-01 -5.99556841e-04 1.88596594e+01] [ 1.46073950e-03 7.82730455e-07 9.99998933e-01 -5.92639759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:18.87, Z:-0.06 [[ 9.10734121e-01 -4.12991025e-01 -1.33198906e-03 1.75716882e+02] [ 4.12990590e-01 9.10735095e-01 -5.99637926e-04 1.88674800e+01] [ 1.46073426e-03 -3.98822744e-06 9.99998933e-01 -5.71060799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:18.88, Z:-0.06 [[ 9.10390778e-01 -4.13747336e-01 -1.33188884e-03 1.75742646e+02] [ 4.13746901e-01 9.10391752e-01 -5.99860435e-04 1.88766157e+01] [ 1.46073127e-03 -4.95747255e-06 9.99998933e-01 -5.68050497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:18.89, Z:-0.06 [[ 9.10283875e-01 -4.13982480e-01 -1.33183905e-03 1.75768984e+02] [ 4.13982045e-01 9.10284849e-01 -5.99970963e-04 1.88865395e+01] [ 1.46073038e-03 -5.21356101e-06 9.99998933e-01 -5.62249462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:18.89, Z:-0.05 [[ 9.10986979e-01 -4.12432964e-01 -1.33180370e-03 1.75796250e+02] [ 4.12432527e-01 9.10987953e-01 -6.00049437e-04 1.88944849e+01] [ 1.46073729e-03 -2.64193956e-06 9.99998933e-01 -5.42352365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:18.90, Z:-0.05 [[ 9.11619044e-01 -4.11033996e-01 -1.33168980e-03 1.75821614e+02] [ 4.11033558e-01 9.11620016e-01 -6.00302110e-04 1.89042956e+01] [ 1.46073965e-03 -1.22358483e-07 9.99998933e-01 -5.41125905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:18.92, Z:-0.05 [[ 9.11542576e-01 -4.11203550e-01 -1.33164023e-03 1.75847510e+02] [ 4.11203112e-01 9.11543548e-01 -6.00412031e-04 1.89161927e+01] [ 1.46073962e-03 -2.73478562e-07 9.99998933e-01 -5.40709723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.87, Y:18.93, Z:-0.05 [[ 9.12342974e-01 -4.09424627e-01 -1.33152851e-03 1.75872848e+02] [ 4.09424186e-01 9.12343946e-01 -6.00659696e-04 1.89271046e+01] [ 1.46073685e-03 2.84767665e-06 9.99998933e-01 -5.27654511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:18.94, Z:-0.05 [[ 9.14249423e-01 -4.05149626e-01 -1.33141106e-03 1.75899167e+02] [ 4.05149181e-01 9.14250393e-01 -6.00919923e-04 1.89374979e+01] [ 1.46070557e-03 9.97059351e-06 9.99998933e-01 -5.48593006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:18.95, Z:-0.06 [[ 9.15093173e-01 -4.03240267e-01 -1.33137461e-03 1.75924330e+02] [ 4.03239819e-01 9.15094141e-01 -6.01000676e-04 1.89476157e+01] [ 1.46068078e-03 1.31083593e-05 9.99998933e-01 -5.58266407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.95, Y:18.96, Z:-0.05 [[ 9.15846310e-01 -4.01526790e-01 -1.33129567e-03 1.75950350e+02] [ 4.01526341e-01 9.15847278e-01 -6.01175484e-04 1.89583172e+01] [ 1.46065158e-03 1.60340713e-05 9.99998933e-01 -5.49547603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:18.97, Z:-0.06 [[ 9.17017262e-01 -3.98845294e-01 -1.33117799e-03 1.75976337e+02] [ 3.98844841e-01 9.17018228e-01 -6.01435954e-04 1.89684667e+01] [ 1.46059438e-03 2.05936793e-05 9.99998933e-01 -5.75022981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.00, Y:18.98, Z:-0.06 [[ 9.17446377e-01 -3.97857226e-01 -1.33112304e-03 1.76001631e+02] [ 3.97856772e-01 9.17447343e-01 -6.01557545e-04 1.89790783e+01] [ 1.46056931e-03 2.23004756e-05 9.99998933e-01 -5.78947555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.03, Y:18.99, Z:-0.06 [[ 9.17718911e-01 -3.97228181e-01 -1.33107268e-03 1.76027806e+02] [ 3.97227726e-01 9.17719876e-01 -6.01668956e-04 1.89877594e+01] [ 1.46055172e-03 2.34240065e-05 9.99998933e-01 -5.93444478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:19.00, Z:-0.06 [[ 9.17729726e-01 -3.97203195e-01 -1.33103696e-03 1.76052851e+02] [ 3.97202740e-01 9.17730691e-01 -6.01747954e-04 1.89973647e+01] [ 1.46054968e-03 2.35504559e-05 9.99998933e-01 -6.04919192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:19.01, Z:-0.06 [[ 9.17638257e-01 -3.97414466e-01 -1.33098737e-03 1.76077482e+02] [ 3.97414011e-01 9.17639222e-01 -6.01857616e-04 1.90076349e+01] [ 1.46055314e-03 2.33345421e-05 9.99998933e-01 -6.20267579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:19.02, Z:-0.06 [[ 9.17510574e-01 -3.97709160e-01 -1.33093845e-03 1.76103334e+02] [ 3.97708705e-01 9.17511539e-01 -6.01965788e-04 1.90181817e+01] [ 1.46055869e-03 2.29841681e-05 9.99998933e-01 -6.15259655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.13, Y:19.03, Z:-0.06 [[ 9.17520052e-01 -3.97687292e-01 -1.33082549e-03 1.76129148e+02] [ 3.97686837e-01 9.17521017e-01 -6.02215417e-04 1.90277253e+01] [ 1.46055378e-03 2.32929416e-05 9.99998933e-01 -6.23568656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:19.04, Z:-0.06 [[ 9.17616385e-01 -3.97464966e-01 -1.33079043e-03 1.76154922e+02] [ 3.97464510e-01 9.17617350e-01 -6.02292877e-04 1.90389581e+01] [ 1.46054671e-03 2.37318449e-05 9.99998933e-01 -6.22485565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.18, Y:19.05, Z:-0.06 [[ 9.17724106e-01 -3.97216181e-01 -1.33067788e-03 1.76179054e+02] [ 3.97215725e-01 9.17725070e-01 -6.02541447e-04 1.90504086e+01] [ 1.46053566e-03 2.44006326e-05 9.99998933e-01 -6.25410740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:19.06, Z:-0.06 [[ 9.18395488e-01 -3.95661418e-01 -1.33060116e-03 1.76203850e+02] [ 3.95660960e-01 9.18396451e-01 -6.02710827e-04 1.90631605e+01] [ 1.46048880e-03 2.70599738e-05 9.99998933e-01 -6.20851717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:19.07, Z:-0.06 [[ 9.18743791e-01 -3.94851968e-01 -1.33048864e-03 1.76229160e+02] [ 3.94851508e-01 9.18744754e-01 -6.02959100e-04 1.90749469e+01] [ 1.46045905e-03 2.86194815e-05 9.99998933e-01 -6.03169718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:19.09, Z:-0.06 [[ 9.19036191e-01 -3.94170914e-01 -1.33037160e-03 1.76254308e+02] [ 3.94170454e-01 9.19037153e-01 -6.03217240e-04 1.90869177e+01] [ 1.46043162e-03 2.99852990e-05 9.99998933e-01 -6.00715747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:19.10, Z:-0.06 [[ 9.19638492e-01 -3.92763638e-01 -1.33025520e-03 1.76278492e+02] [ 3.92763176e-01 9.19639453e-01 -6.03473826e-04 1.90994384e+01] [ 1.46037774e-03 3.25025035e-05 9.99998933e-01 -6.08041655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:19.11, Z:-0.06 [[ 9.19694518e-01 -3.92632429e-01 -1.33017593e-03 1.76303593e+02] [ 3.92631966e-01 9.19695479e-01 -6.03648487e-04 1.91123190e+01] [ 1.46036876e-03 3.29026130e-05 9.99998933e-01 -6.04556200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:19.12, Z:-0.06 [[ 9.19653146e-01 -3.92729324e-01 -1.33006306e-03 1.76328223e+02] [ 3.92728861e-01 9.19654107e-01 -6.03897082e-04 1.91247083e+01] [ 1.46036605e-03 3.30217006e-05 9.99998933e-01 -6.03902293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:19.14, Z:-0.06 [[ 9.19188542e-01 -3.93815509e-01 -1.32995061e-03 1.76353758e+02] [ 3.93815047e-01 9.19189504e-01 -6.04144633e-04 1.91373817e+01] [ 1.46039817e-03 3.15682635e-05 9.99998933e-01 -5.89273481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:19.15, Z:-0.06 [[ 9.18755753e-01 -3.94824135e-01 -1.32985256e-03 1.76379042e+02] [ 3.94823673e-01 9.18756715e-01 -6.04360377e-04 1.91496165e+01] [ 1.46042703e-03 3.02022998e-05 9.99998933e-01 -5.75958367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:19.16, Z:-0.06 [[ 9.18318790e-01 -3.95839401e-01 -1.32973698e-03 1.76403386e+02] [ 3.95838941e-01 9.18319752e-01 -6.04614583e-04 1.91612366e+01] [ 1.46045401e-03 2.88672559e-05 9.99998933e-01 -5.74395115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:176.43, Y:19.17, Z:-0.06 [[ 9.17418862e-01 -3.97920675e-01 -1.32968684e-03 1.76428328e+02] [ 3.97920216e-01 9.17419825e-01 -6.04724832e-04 1.91748752e+01] [ 1.46051358e-03 2.56766935e-05 9.99998933e-01 -5.65004282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:19.19, Z:-0.06 [[ 9.16880621e-01 -3.99159314e-01 -1.32957226e-03 1.76452187e+02] [ 3.99158857e-01 9.16881585e-01 -6.04976647e-04 1.91864690e+01] [ 1.46054238e-03 2.39808219e-05 9.99998933e-01 -5.80272397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:19.20, Z:-0.06 [[ 9.16241086e-01 -4.00625142e-01 -1.32949403e-03 1.76477478e+02] [ 4.00624686e-01 9.16242050e-01 -6.05148512e-04 1.91986565e+01] [ 1.46057604e-03 2.18338017e-05 9.99998933e-01 -5.76090536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:19.21, Z:-0.06 [[ 9.15682597e-01 -4.01900005e-01 -1.32937906e-03 1.76502293e+02] [ 4.01899549e-01 9.15683562e-01 -6.05400975e-04 1.92102913e+01] [ 1.46060121e-03 2.00782929e-05 9.99998933e-01 -5.84301611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:19.22, Z:-0.06 [[ 9.14764225e-01 -4.03985947e-01 -1.32932912e-03 1.76526997e+02] [ 4.03985494e-01 9.14765191e-01 -6.05510606e-04 1.92234669e+01] [ 1.46064178e-03 1.68697597e-05 9.99998933e-01 -5.60570564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:19.23, Z:-0.06 [[ 9.14413653e-01 -4.04778833e-01 -1.32921542e-03 1.76550894e+02] [ 4.04778380e-01 9.14414619e-01 -6.05760097e-04 1.92349809e+01] [ 1.46065288e-03 1.58776394e-05 9.99998933e-01 -5.64780338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:19.25, Z:-0.06 [[ 9.13776488e-01 -4.06215168e-01 -1.32913779e-03 1.76576091e+02] [ 4.06214716e-01 9.13777455e-01 -6.05930387e-04 1.92480288e+01] [ 1.46067426e-03 1.37696114e-05 9.99998933e-01 -5.68455432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:19.26, Z:-0.06 [[ 9.13599786e-01 -4.06612425e-01 -1.32902435e-03 1.76600702e+02] [ 4.06611974e-01 9.13600753e-01 -6.06179091e-04 1.92608257e+01] [ 1.46067760e-03 1.34078730e-05 9.99998933e-01 -5.73453098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:176.63, Y:19.27, Z:-0.06 [[ 9.13476709e-01 -4.06888851e-01 -1.32891144e-03 1.76625240e+02] [ 4.06888399e-01 9.13477675e-01 -6.06426529e-04 1.92739545e+01] [ 1.46067912e-03 1.32378624e-05 9.99998933e-01 -5.68637667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:19.29, Z:-0.06 [[ 9.13620044e-01 -4.06566906e-01 -1.32879685e-03 1.76649554e+02] [ 4.06566454e-01 9.13621010e-01 -6.06677517e-04 1.92861074e+01] [ 1.46067172e-03 1.40285173e-05 9.99998933e-01 -5.81907612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.67, Y:19.30, Z:-0.06 [[ 9.13770634e-01 -4.06228338e-01 -1.32874718e-03 1.76674940e+02] [ 4.06227885e-01 9.13771600e-01 -6.06786280e-04 1.92984059e+01] [ 1.46066522e-03 1.46893269e-05 9.99998933e-01 -5.72251340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:176.70, Y:19.31, Z:-0.06 [[ 9.13813688e-01 -4.06131478e-01 -1.32863324e-03 1.76700092e+02] [ 4.06131025e-01 9.13814654e-01 -6.07035661e-04 1.93117728e+01] [ 1.46066082e-03 1.51183170e-05 9.99998933e-01 -5.68132564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:19.33, Z:-0.06 [[ 9.13860762e-01 -4.06025544e-01 -1.32851886e-03 1.76724342e+02] [ 4.06025090e-01 9.13861728e-01 -6.07285877e-04 1.93258838e+01] [ 1.46065612e-03 1.55627442e-05 9.99998933e-01 -5.98844140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:19.34, Z:-0.06 [[ 9.13646209e-01 -4.06508105e-01 -1.32848338e-03 1.76749249e+02] [ 4.06507652e-01 9.13647175e-01 -6.07363479e-04 1.93379372e+01] [ 1.46066327e-03 1.48766786e-05 9.99998933e-01 -5.69834988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.77, Y:19.35, Z:-0.06 [[ 9.13319692e-01 -4.07241176e-01 -1.32837109e-03 1.76774149e+02] [ 4.07240723e-01 9.13320658e-01 -6.07608990e-04 1.93501762e+01] [ 1.46067215e-03 1.39744539e-05 9.99998933e-01 -5.56851930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:19.36, Z:-0.06 [[ 9.12311448e-01 -4.09494880e-01 -1.32825884e-03 1.76797085e+02] [ 4.09494429e-01 9.12312415e-01 -6.07854264e-04 1.93637412e+01] [ 1.46070024e-03 1.06378084e-05 9.99998933e-01 -5.68084044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:19.38, Z:-0.06 [[ 9.11584395e-01 -4.11110845e-01 -1.32817117e-03 1.76822828e+02] [ 4.11110395e-01 9.11585362e-01 -6.08045764e-04 1.93758275e+01] [ 1.46071561e-03 8.26005501e-06 9.99998933e-01 -5.61136081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.85, Y:19.39, Z:-0.06 [[ 9.10732183e-01 -4.12995311e-01 -1.32806006e-03 1.76848268e+02] [ 4.12994863e-01 9.10733151e-01 -6.08288356e-04 1.93872377e+01] [ 1.46072856e-03 5.50580085e-06 9.99998933e-01 -5.56795252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:19.40, Z:-0.06 [[ 9.08937939e-01 -4.16929321e-01 -1.32802559e-03 1.76872931e+02] [ 4.16928877e-01 9.08938909e-01 -6.08363600e-04 1.94002536e+01] [ 1.46073875e-03 -7.27459728e-07 9.99998933e-01 -5.72489382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:19.41, Z:-0.06 [[ 9.07977381e-01 -4.19017079e-01 -1.32799124e-03 1.76898153e+02] [ 4.19016637e-01 9.07978352e-01 -6.08438563e-04 1.94121548e+01] [ 1.46073345e-03 -4.00197115e-06 9.99998933e-01 -5.92012326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:19.42, Z:-0.06 [[ 9.06119878e-01 -4.23018915e-01 -1.32795716e-03 1.76924431e+02] [ 4.23018478e-01 9.06120851e-01 -6.08512947e-04 1.94219147e+01] [ 1.46070216e-03 -1.03647370e-05 9.99998933e-01 -5.96147315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:19.43, Z:-0.06 [[ 9.05330635e-01 -4.24705401e-01 -1.32784811e-03 1.76949395e+02] [ 4.24704965e-01 9.05331609e-01 -6.08750805e-04 1.94329667e+01] [ 1.46068262e-03 -1.28229326e-05 9.99998933e-01 -5.89603221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:19.45, Z:-0.06 [[ 9.04577000e-01 -4.26308209e-01 -1.32777388e-03 1.76975230e+02] [ 4.26307774e-01 9.04577974e-01 -6.08912670e-04 1.94452153e+01] [ 1.46065948e-03 -1.52319316e-05 9.99998933e-01 -5.73901078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:19.46, Z:-0.06 [[ 9.03903583e-01 -4.27734204e-01 -1.32767966e-03 1.77001586e+02] [ 4.27733771e-01 9.03904558e-01 -6.09118032e-04 1.94572700e+01] [ 1.46063632e-03 -1.73094573e-05 9.99998933e-01 -5.64103940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:19.47, Z:-0.05 [[ 9.02879179e-01 -4.29892341e-01 -1.32758584e-03 1.77028247e+02] [ 4.29891910e-01 9.02880155e-01 -6.09322459e-04 1.94673555e+01] [ 1.46059397e-03 -2.05738493e-05 9.99998933e-01 -5.30736076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:19.48, Z:-0.05 [[ 9.02582187e-01 -4.30515544e-01 -1.32748548e-03 1.77052683e+02] [ 4.30515113e-01 9.02583163e-01 -6.09541012e-04 1.94778266e+01] [ 1.46058293e-03 -2.13417030e-05 9.99998933e-01 -5.49901375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:177.08, Y:19.49, Z:-0.05 [[ 9.02532676e-01 -4.30619329e-01 -1.32743567e-03 1.77078306e+02] [ 4.30618898e-01 9.02533652e-01 -6.09649474e-04 1.94886095e+01] [ 1.46058221e-03 -2.13903153e-05 9.99998933e-01 -5.43049935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:19.50, Z:-0.06 [[ 9.02635184e-01 -4.30404418e-01 -1.32732277e-03 1.77105591e+02] [ 4.30403987e-01 9.02636159e-01 -6.09895185e-04 1.94994213e+01] [ 1.46059111e-03 -2.07721590e-05 9.99998933e-01 -5.67077420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:19.51, Z:-0.06 [[ 9.03190020e-01 -4.29238891e-01 -1.32723005e-03 1.77130965e+02] [ 4.29238458e-01 9.03190995e-01 -6.10096891e-04 1.95097666e+01] [ 1.46061954e-03 -1.86647560e-05 9.99998933e-01 -5.99430901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:19.52, Z:-0.06 [[ 9.04355017e-01 -4.26778915e-01 -1.32719456e-03 1.77157359e+02] [ 4.26778479e-01 9.04355990e-01 -6.10174094e-04 1.95204385e+01] [ 1.46066578e-03 -1.46040716e-05 9.99998933e-01 -5.78565918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:19.53, Z:-0.06 [[ 9.05014481e-01 -4.25378687e-01 -1.32707946e-03 1.77183319e+02] [ 4.25378249e-01 9.05015454e-01 -6.10424305e-04 1.95321713e+01] [ 1.46068891e-03 -1.20679029e-05 9.99998933e-01 -5.71170357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:19.54, Z:-0.06 [[ 9.05703614e-01 -4.23909427e-01 -1.32696393e-03 1.77209143e+02] [ 4.23908987e-01 9.05704586e-01 -6.10675357e-04 1.95438603e+01] [ 1.46070836e-03 -9.42105716e-06 9.99998933e-01 -5.62176753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:19.55, Z:-0.06 [[ 9.06464929e-01 -4.22279022e-01 -1.32692746e-03 1.77234053e+02] [ 4.22278581e-01 9.06465900e-01 -6.10754592e-04 1.95547154e+01] [ 1.46072334e-03 -6.70542620e-06 9.99998933e-01 -5.75951368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:19.57, Z:-0.06 [[ 9.07828952e-01 -4.19338566e-01 -1.32687669e-03 1.77260072e+02] [ 4.19338121e-01 9.07829922e-01 -6.10864877e-04 1.95657854e+01] [ 1.46073756e-03 -1.84915540e-06 9.99998933e-01 -5.76096678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:19.58, Z:-0.06 [[ 9.08488494e-01 -4.17907760e-01 -1.32676471e-03 1.77284570e+02] [ 4.17907313e-01 9.08489463e-01 -6.11107985e-04 1.95766739e+01] [ 1.46073853e-03 7.19897703e-07 9.99998933e-01 -5.78475780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:19.59, Z:-0.06 [[ 9.09689382e-01 -4.15287212e-01 -1.32671667e-03 1.77311482e+02] [ 4.15286762e-01 9.09690349e-01 -6.11212259e-04 1.95880101e+01] [ 1.46072999e-03 5.04543148e-06 9.99998933e-01 -5.61405365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.34, Y:19.60, Z:-0.05 [[ 9.10212185e-01 -4.14140096e-01 -1.32661996e-03 1.77337254e+02] [ 4.14139644e-01 9.10213151e-01 -6.11422092e-04 1.95994508e+01] [ 1.46072134e-03 7.11791815e-06 9.99998933e-01 -5.31487146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:19.61, Z:-0.05 [[ 9.10753727e-01 -4.12947805e-01 -1.32650380e-03 1.77362016e+02] [ 4.12947352e-01 9.10754693e-01 -6.11674009e-04 1.96109007e+01] [ 1.46070900e-03 9.30815122e-06 9.99998933e-01 -5.40083605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:19.62, Z:-0.05 [[ 9.11105111e-01 -4.12171951e-01 -1.32645330e-03 1.77387316e+02] [ 4.12171498e-01 9.11106076e-01 -6.11783502e-04 1.96229767e+01] [ 1.46069966e-03 1.06728325e-05 9.99998933e-01 -5.35684839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:19.63, Z:-0.05 [[ 9.12163204e-01 -4.09824999e-01 -1.32633767e-03 1.77412152e+02] [ 4.09824542e-01 9.12164168e-01 -6.12034085e-04 1.96342357e+01] [ 1.46066456e-03 1.47092435e-05 9.99998933e-01 -5.29152918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:19.65, Z:-0.05 [[ 9.12086863e-01 -4.09994873e-01 -1.32625911e-03 1.77437946e+02] [ 4.09994417e-01 9.12087827e-01 -6.12204280e-04 1.96463556e+01] [ 1.46066540e-03 1.46246528e-05 9.99998933e-01 -5.28736796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:19.66, Z:-0.05 [[ 9.12475235e-01 -4.09129793e-01 -1.32614504e-03 1.77463097e+02] [ 4.09129335e-01 9.12476198e-01 -6.12451262e-04 1.96585881e+01] [ 1.46064785e-03 1.62817692e-05 9.99998933e-01 -5.18514026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.49, Y:19.67, Z:-0.05 [[ 9.12952515e-01 -4.08063655e-01 -1.32602954e-03 1.77487491e+02] [ 4.08063196e-01 9.12953478e-01 -6.12701234e-04 1.96700472e+01] [ 1.46062439e-03 1.82632804e-05 9.99998933e-01 -5.18139946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:177.51, Y:19.68, Z:-0.05 [[ 9.13516879e-01 -4.06798665e-01 -1.32595096e-03 1.77512489e+02] [ 4.06798204e-01 9.13517841e-01 -6.12871252e-04 1.96829875e+01] [ 1.46059506e-03 2.04737655e-05 9.99998933e-01 -5.23593158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:19.70, Z:-0.05 [[ 9.13245972e-01 -4.07406476e-01 -1.32583651e-03 1.77537333e+02] [ 4.07406016e-01 9.13246934e-01 -6.13118738e-04 1.96957643e+01] [ 1.46060467e-03 1.97744474e-05 9.99998933e-01 -5.30293725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:19.71, Z:-0.05 [[ 9.13011215e-01 -4.07932303e-01 -1.32571826e-03 1.77561280e+02] [ 4.07931843e-01 9.13012177e-01 -6.13374318e-04 1.97075177e+01] [ 1.46061211e-03 1.92149385e-05 9.99998933e-01 -5.38620173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:19.72, Z:-0.06 [[ 9.12249776e-01 -4.09632260e-01 -1.32566672e-03 1.77585495e+02] [ 4.09631801e-01 9.12250739e-01 -6.13485683e-04 1.97198223e+01] [ 1.46064397e-03 1.66169297e-05 9.99998933e-01 -5.50897885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:19.73, Z:-0.05 [[ 9.11800801e-01 -4.10630663e-01 -1.32561670e-03 1.77610990e+02] [ 4.10630205e-01 9.11801765e-01 -6.13593744e-04 1.97323854e+01] [ 1.46066006e-03 1.51370096e-05 9.99998933e-01 -5.43442981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:19.74, Z:-0.05 [[ 9.11345937e-01 -4.11639195e-01 -1.32550107e-03 1.77636125e+02] [ 4.11638737e-01 9.11346901e-01 -6.13843433e-04 1.97445557e+01] [ 1.46067331e-03 1.37961312e-05 9.99998933e-01 -5.36493182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:19.76, Z:-0.05 [[ 9.10890220e-01 -4.12646641e-01 -1.32538432e-03 1.77660791e+02] [ 4.12646185e-01 9.10891184e-01 -6.14095427e-04 1.97566110e+01] [ 1.46068530e-03 1.24587380e-05 9.99998933e-01 -5.29659863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:19.77, Z:-0.05 [[ 9.10738732e-01 -4.12980879e-01 -1.32534801e-03 1.77684727e+02] [ 4.12980422e-01 9.10739696e-01 -6.14173776e-04 1.97684222e+01] [ 1.46068907e-03 1.20090662e-05 9.99998933e-01 -5.30890294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:19.78, Z:-0.05 [[ 9.10489614e-01 -4.13529813e-01 -1.32526904e-03 1.77709577e+02] [ 4.13529357e-01 9.10490578e-01 -6.14344121e-04 1.97807250e+01] [ 1.46069459e-03 1.13162858e-05 9.99998933e-01 -5.21892082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:19.79, Z:-0.05 [[ 9.10403216e-01 -4.13719987e-01 -1.32523491e-03 1.77734926e+02] [ 4.13719531e-01 9.10404181e-01 -6.14417741e-04 1.97928203e+01] [ 1.46069630e-03 1.10923229e-05 9.99998933e-01 -4.98143795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:177.76, Y:19.81, Z:-0.05 [[ 9.10238718e-01 -4.14081781e-01 -1.32511989e-03 1.77759026e+02] [ 4.14081325e-01 9.10239682e-01 -6.14665715e-04 1.98050717e+01] [ 1.46069858e-03 1.07851348e-05 9.99998933e-01 -4.98656820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:177.78, Y:19.82, Z:-0.05 [[ 9.10100087e-01 -4.14386384e-01 -1.32504156e-03 1.77784553e+02] [ 4.14385928e-01 9.10101052e-01 -6.14834523e-04 1.98177222e+01] [ 1.46070077e-03 1.04823782e-05 9.99998933e-01 -5.07688001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:177.81, Y:19.83, Z:-0.05 [[ 9.09713398e-01 -4.15234607e-01 -1.32492790e-03 1.77809867e+02] [ 4.15234151e-01 9.09714362e-01 -6.15079359e-04 1.98305108e+01] [ 1.46070817e-03 9.39062293e-06 9.99998933e-01 -5.20447300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:19.84, Z:-0.05 [[ 9.09450542e-01 -4.15810000e-01 -1.32481122e-03 1.77834190e+02] [ 4.15809545e-01 9.09451507e-01 -6.15330559e-04 1.98430284e+01] [ 1.46071216e-03 8.74355960e-06 9.99998933e-01 -5.38375283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:19.86, Z:-0.05 [[ 9.09110091e-01 -4.16553824e-01 -1.32476036e-03 1.77859359e+02] [ 4.16553369e-01 9.09111056e-01 -6.15440042e-04 1.98554615e+01] [ 1.46071819e-03 7.66936067e-06 9.99998933e-01 -5.46872004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:19.87, Z:-0.06 [[ 9.08692737e-01 -4.17463478e-01 -1.32464506e-03 1.77884788e+02] [ 4.17463024e-01 9.08693702e-01 -6.15688108e-04 1.98677898e+01] [ 1.46072392e-03 6.48097872e-06 9.99998933e-01 -5.57497277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:19.88, Z:-0.06 [[ 9.08441135e-01 -4.18010706e-01 -1.32460919e-03 1.77909728e+02] [ 4.18010252e-01 9.08442100e-01 -6.15765276e-04 1.98800176e+01] [ 1.46072723e-03 5.68628580e-06 9.99998933e-01 -5.62070239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.94, Y:19.89, Z:-0.06 [[ 9.08289319e-01 -4.18340481e-01 -1.32449436e-03 1.77935354e+02] [ 4.18340027e-01 9.08290285e-01 -6.16012170e-04 1.98918669e+01] [ 1.46072819e-03 5.42826823e-06 9.99998933e-01 -5.53127695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:19.90, Z:-0.06 [[ 9.08065768e-01 -4.18825508e-01 -1.32437698e-03 1.77960318e+02] [ 4.18825055e-01 9.08066734e-01 -6.16264430e-04 1.99038383e+01] [ 1.46072994e-03 4.92637340e-06 9.99998933e-01 -5.56629268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.99, Y:19.92, Z:-0.05 [[ 9.08058033e-01 -4.18842279e-01 -1.32434061e-03 1.77985765e+02] [ 4.18841826e-01 9.08058999e-01 -6.16342578e-04 1.99157579e+01] [ 1.46072973e-03 4.98559219e-06 9.99998933e-01 -5.49215305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:19.93, Z:-0.05 [[ 9.08015458e-01 -4.18934570e-01 -1.32428580e-03 1.78010853e+02] [ 4.18934117e-01 9.08016424e-01 -6.16460317e-04 1.99277301e+01] [ 1.46072979e-03 4.96699621e-06 9.99998933e-01 -5.26231762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:178.04, Y:19.94, Z:-0.05 [[ 9.08216747e-01 -4.18498014e-01 -1.32416546e-03 1.78035702e+02] [ 4.18497559e-01 9.08217712e-01 -6.16718690e-04 1.99394978e+01] [ 1.46072607e-03 5.95422814e-06 9.99998933e-01 -5.13861399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:19.95, Z:-0.05 [[ 9.08157493e-01 -4.18626582e-01 -1.32412804e-03 1.78060316e+02] [ 4.18626128e-01 9.08158458e-01 -6.16799026e-04 1.99524347e+01] [ 1.46072655e-03 5.83606236e-06 9.99998933e-01 -5.12221325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:19.96, Z:-0.05 [[ 9.08477909e-01 -4.17930778e-01 -1.32400932e-03 1.78084888e+02] [ 4.17930323e-01 9.08478874e-01 -6.17053765e-04 1.99641986e+01] [ 1.46072026e-03 7.23607184e-06 9.99998933e-01 -5.08739943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23587156000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:178.11, Y:19.98, Z:-0.05 [[ 9.08942137e-01 -4.16920182e-01 -1.32396529e-03 1.78108972e+02] [ 4.16919726e-01 9.08943101e-01 -6.17148231e-04 1.99757228e+01] [ 1.46071067e-03 8.96478827e-06 9.99998933e-01 -5.13212013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.13, Y:19.99, Z:-0.05 [[ 9.08952652e-01 -4.16897259e-01 -1.32388503e-03 1.78133936e+02] [ 4.16896802e-01 9.08953616e-01 -6.17320354e-04 1.99875162e+01] [ 1.46070924e-03 9.19153972e-06 9.99998933e-01 -5.17449065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:20.00, Z:-0.05 [[ 9.08648886e-01 -4.17558916e-01 -1.32376882e-03 1.78159510e+02] [ 4.17558460e-01 9.08649851e-01 -6.17569452e-04 2.00000166e+01] [ 1.46071397e-03 8.40292647e-06 9.99998933e-01 -5.30109188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.18, Y:20.01, Z:-0.05 [[ 9.08151230e-01 -4.18640168e-01 -1.32365220e-03 1.78184425e+02] [ 4.18639713e-01 9.08152195e-01 -6.17819301e-04 2.00105032e+01] [ 1.46072163e-03 6.93998339e-06 9.99998933e-01 -5.32319455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.21, Y:20.02, Z:-0.05 [[ 9.07560324e-01 -4.19919642e-01 -1.32360139e-03 1.78209939e+02] [ 4.19919187e-01 9.07561290e-01 -6.17928129e-04 2.00227000e+01] [ 1.46072954e-03 5.00143311e-06 9.99998933e-01 -5.27752119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.23, Y:20.03, Z:-0.05 [[ 9.06989744e-01 -4.21150629e-01 -1.32348564e-03 1.78234889e+02] [ 4.21150176e-01 9.06990710e-01 -6.18175938e-04 2.00347657e+01] [ 1.46073437e-03 3.29302425e-06 9.99998933e-01 -5.21957579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:20.05, Z:-0.05 [[ 9.06448044e-01 -4.22315277e-01 -1.32336527e-03 1.78259829e+02] [ 4.22314824e-01 9.06449010e-01 -6.18433523e-04 2.00462114e+01] [ 1.46073706e-03 1.70108598e-06 9.99998933e-01 -5.20265044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:20.06, Z:-0.05 [[ 9.06446606e-01 -4.22318362e-01 -1.32330880e-03 1.78284012e+02] [ 4.22317909e-01 9.06447572e-01 -6.18554328e-04 2.00572468e+01] [ 1.46073690e-03 1.82946557e-06 9.99998933e-01 -5.20700838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:20.07, Z:-0.05 [[ 9.06520622e-01 -4.22159460e-01 -1.32325940e-03 1.78309646e+02] [ 4.22159007e-01 9.06521588e-01 -6.18659998e-04 2.00695709e+01] [ 1.46073638e-03 2.20217328e-06 9.99998933e-01 -5.19460350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:20.08, Z:-0.05 [[ 9.07347301e-01 -4.20379739e-01 -1.32314745e-03 1.78334640e+02] [ 4.20379283e-01 9.07348266e-01 -6.18899341e-04 2.00830042e+01] [ 1.46072828e-03 5.33287184e-06 9.99998933e-01 -5.02980755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:20.10, Z:-0.05 [[ 9.07885640e-01 -4.19215833e-01 -1.32311042e-03 1.78358864e+02] [ 4.19215376e-01 9.07886604e-01 -6.18978492e-04 2.00951806e+01] [ 1.46071981e-03 7.29345344e-06 9.99998933e-01 -5.22423910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:20.11, Z:-0.05 [[ 9.08370923e-01 -4.18163264e-01 -1.32305890e-03 1.78384031e+02] [ 4.18162806e-01 9.08371887e-01 -6.19088590e-04 2.01080391e+01] [ 1.46070961e-03 9.10805201e-06 9.99998933e-01 -5.22769723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.41, Y:20.12, Z:-0.05 [[ 9.08778001e-01 -4.17277840e-01 -1.32294537e-03 1.78408989e+02] [ 4.17277380e-01 9.08778963e-01 -6.19331094e-04 2.01207530e+01] [ 1.46069807e-03 1.07992938e-05 9.99998933e-01 -5.13908515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:20.13, Z:-0.05 [[ 9.09361490e-01 -4.16004725e-01 -1.32282475e-03 1.78432876e+02] [ 4.16004264e-01 9.09362452e-01 -6.19588618e-04 2.01343723e+01] [ 1.46067895e-03 1.31292902e-05 9.99998933e-01 -5.29445669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:20.15, Z:-0.05 [[ 9.09460336e-01 -4.15788585e-01 -1.32277218e-03 1.78457187e+02] [ 4.15788124e-01 9.09461298e-01 -6.19700832e-04 2.01469473e+01] [ 1.46067464e-03 1.36003632e-05 9.99998933e-01 -5.27728881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:20.16, Z:-0.05 [[ 9.09448065e-01 -4.15815425e-01 -1.32272042e-03 1.78481636e+02] [ 4.15814963e-01 9.09449027e-01 -6.19811304e-04 2.01593857e+01] [ 1.46067390e-03 1.36792493e-05 9.99998933e-01 -5.39730934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.51, Y:20.17, Z:-0.05 [[ 9.09261929e-01 -4.16222291e-01 -1.32268373e-03 1.78506501e+02] [ 4.16221829e-01 9.09262891e-01 -6.19889593e-04 2.01737649e+01] [ 1.46067909e-03 1.31121673e-05 9.99998933e-01 -5.12314746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:20.19, Z:-0.05 [[ 9.09072164e-01 -4.16636593e-01 -1.32258690e-03 1.78531221e+02] [ 4.16636132e-01 9.09073126e-01 -6.20096113e-04 2.01865143e+01] [ 1.46068294e-03 1.26746266e-05 9.99998933e-01 -5.00765863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:20.20, Z:-0.05 [[ 9.09125008e-01 -4.16521273e-01 -1.32247039e-03 1.78553933e+02] [ 4.16520811e-01 9.09125970e-01 -6.20344479e-04 2.01991043e+01] [ 1.46067885e-03 1.31342384e-05 9.99998933e-01 -5.10511794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:20.21, Z:-0.05 [[ 9.08787367e-01 -4.17257448e-01 -1.32071769e-03 1.78579575e+02] [ 4.17256981e-01 9.08788326e-01 -6.24078790e-04 2.02134189e+01] [ 1.46065434e-03 1.60762454e-05 9.99998933e-01 -5.26422992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:20.23, Z:-0.05 [[ 9.08808905e-01 -4.17210529e-01 -1.32230964e-03 1.78604155e+02] [ 4.17210068e-01 9.08809867e-01 -6.20687296e-04 2.02274143e+01] [ 1.46068532e-03 1.24052470e-05 9.99998933e-01 -5.37965075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:20.24, Z:-0.06 [[ 9.09039333e-01 -4.16708223e-01 -1.32219622e-03 1.78626965e+02] [ 4.16707761e-01 9.09040294e-01 -6.20928817e-04 2.02444952e+01] [ 1.46067578e-03 1.34792918e-05 9.99998933e-01 -5.50836941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:20.26, Z:-0.05 [[ 9.09087649e-01 -4.16602807e-01 -1.32207931e-03 1.78651046e+02] [ 4.16602344e-01 9.09088610e-01 -6.21177638e-04 2.02590991e+01] [ 1.46067159e-03 1.39235784e-05 9.99998933e-01 -5.44463685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:20.27, Z:-0.06 [[ 9.09161161e-01 -4.16442355e-01 -1.32195805e-03 1.78674689e+02] [ 4.16441892e-01 9.09162122e-01 -6.21435580e-04 2.02733370e+01] [ 1.46066629e-03 1.44663803e-05 9.99998933e-01 -5.51017848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:20.29, Z:-0.05 [[ 9.09062853e-01 -4.16656911e-01 -1.32190523e-03 1.78698467e+02] [ 4.16656448e-01 9.09063814e-01 -6.21547937e-04 2.02876440e+01] [ 1.46066845e-03 1.42458055e-05 9.99998933e-01 -5.47865151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:178.72, Y:20.30, Z:-0.05 [[ 9.08628319e-01 -4.17603676e-01 -1.32178855e-03 1.78722886e+02] [ 4.17603213e-01 9.08629281e-01 -6.21795952e-04 2.03039154e+01] [ 1.46068006e-03 1.29982634e-05 9.99998933e-01 -5.19118118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01587156000002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.75, Y:20.32, Z:-0.05 [[ 9.08272272e-01 -4.18377501e-01 -1.32168688e-03 1.78746929e+02] [ 4.18377039e-01 9.08273233e-01 -6.22011998e-04 2.03178496e+01] [ 1.46068864e-03 1.19928077e-05 9.99998933e-01 -5.24656748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:20.33, Z:-0.05 [[ 9.07745042e-01 -4.19520192e-01 -1.32165082e-03 1.78770923e+02] [ 4.19519731e-01 9.07746004e-01 -6.22088605e-04 2.03326554e+01] [ 1.46070198e-03 1.02392506e-05 9.99998933e-01 -5.13464216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:20.35, Z:-0.05 [[ 9.05815957e-01 -4.23669339e-01 -1.32053081e-03 1.78794727e+02] [ 4.23668878e-01 9.05816919e-01 -6.24467245e-04 2.03507890e+01] [ 1.46072678e-03 6.18458604e-06 9.99998933e-01 -4.96523941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:20.36, Z:-0.05 [[ 9.04594440e-01 -4.26271219e-01 -1.32159003e-03 1.78818545e+02] [ 4.26270765e-01 9.04595406e-01 -6.22217805e-04 2.03649614e+01] [ 1.46073781e-03 -5.00426143e-07 9.99998933e-01 -4.87629597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:20.38, Z:-0.05 [[ 9.03251382e-01 -4.29109770e-01 -1.32143555e-03 1.78843049e+02] [ 4.29109318e-01 9.03252349e-01 -6.22545711e-04 2.03789553e+01] [ 1.46073021e-03 -4.72503321e-06 9.99998933e-01 -4.81357315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:20.39, Z:-0.05 [[ 9.00698134e-01 -4.34443466e-01 -1.32131515e-03 1.78865974e+02] [ 4.34443020e-01 9.00699103e-01 -6.22801148e-04 2.03927012e+01] [ 1.46067926e-03 -1.30803117e-05 9.99998933e-01 -4.88954549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:20.41, Z:-0.05 [[ 8.99629311e-01 -4.36652443e-01 -1.32126320e-03 1.78890102e+02] [ 4.36651999e-01 8.99630282e-01 -6.22911335e-04 2.04054835e+01] [ 1.46064414e-03 -1.65429224e-05 9.99998933e-01 -4.94559162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.91, Y:20.42, Z:-0.05 [[ 8.97829968e-01 -4.40340326e-01 -1.32121220e-03 1.78914340e+02] [ 4.40339886e-01 8.97830940e-01 -6.23019482e-04 2.04197577e+01] [ 1.46056580e-03 -2.24168705e-05 9.99998933e-01 -4.86859539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:20.43, Z:-0.05 [[ 8.97035213e-01 -4.41957104e-01 -1.32109631e-03 1.78938897e+02] [ 4.41956665e-01 8.97036185e-01 -6.23265126e-04 2.04330149e+01] [ 1.46052765e-03 -2.47765560e-05 9.99998933e-01 -4.81368963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.96, Y:20.45, Z:-0.05 [[ 8.96216436e-01 -4.43615099e-01 -1.32098116e-03 1.78963518e+02] [ 4.43614661e-01 8.96217409e-01 -6.23509095e-04 2.04464113e+01] [ 1.46048436e-03 -2.72075108e-05 9.99998933e-01 -4.67837555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.99, Y:20.46, Z:-0.05 [[ 8.95330158e-01 -4.45401126e-01 -1.32086387e-03 1.78988267e+02] [ 4.45400690e-01 8.95331132e-01 -6.23757464e-04 2.04587939e+01] [ 1.46043282e-03 -2.98448112e-05 9.99998933e-01 -4.55159740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.01, Y:20.47, Z:-0.05 [[ 8.95246316e-01 -4.45569623e-01 -1.32074643e-03 1.79013944e+02] [ 4.45569187e-01 8.95247290e-01 -6.24006034e-04 2.04711303e+01] [ 1.46043280e-03 -2.98448107e-05 9.99998933e-01 -4.54743675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:20.48, Z:-0.05 [[ 8.93487972e-01 -4.49085182e-01 -1.32062894e-03 1.79037858e+02] [ 4.49084749e-01 8.93488947e-01 -6.24254581e-04 2.04829165e+01] [ 1.46031085e-03 -3.53103584e-05 9.99998933e-01 -4.65023511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.06, Y:20.49, Z:-0.05 [[ 8.92360729e-01 -4.51320935e-01 -1.32057787e-03 1.79063157e+02] [ 4.51320505e-01 8.92361705e-01 -6.24362609e-04 2.04944000e+01] [ 1.46022104e-03 -3.88471974e-05 9.99998933e-01 -4.69055759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:20.51, Z:-0.05 [[ 8.91287091e-01 -4.53437513e-01 -1.32046178e-03 1.79088030e+02] [ 4.53437084e-01 8.91288068e-01 -6.24608037e-04 2.05052993e+01] [ 1.46013254e-03 -4.20412570e-05 9.99998933e-01 -4.75488458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:20.52, Z:-0.05 [[ 8.89435628e-01 -4.57058553e-01 -1.32041121e-03 1.79113819e+02] [ 4.57058128e-01 8.89436606e-01 -6.24714906e-04 2.05156417e+01] [ 1.45995336e-03 -4.78609833e-05 9.99998933e-01 -4.90633201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:20.53, Z:-0.05 [[ 8.88717467e-01 -4.58453401e-01 -1.32029569e-03 1.79139535e+02] [ 4.58452978e-01 8.88718446e-01 -6.24958965e-04 2.05271977e+01] [ 1.45988570e-03 -4.98815422e-05 9.99998933e-01 -4.92520927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:20.54, Z:-0.05 [[ 8.88315147e-01 -4.59232465e-01 -1.32017578e-03 1.79164118e+02] [ 4.59232042e-01 8.88316127e-01 -6.25212164e-04 2.05379962e+01] [ 1.45985116e-03 -5.08815839e-05 9.99998933e-01 -5.05833420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:20.55, Z:-0.05 [[ 8.88109187e-01 -4.59630643e-01 -1.32012351e-03 1.79190180e+02] [ 4.59630221e-01 8.88110167e-01 -6.25322519e-04 2.05491989e+01] [ 1.45983250e-03 -5.14139846e-05 9.99998933e-01 -5.07874000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.22, Y:20.56, Z:-0.05 [[ 8.88784293e-01 -4.58323836e-01 -1.32000770e-03 1.79217392e+02] [ 4.58323411e-01 8.88785272e-01 -6.25566876e-04 2.05581640e+01] [ 1.45991561e-03 -4.89964198e-05 9.99998933e-01 -4.84487514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:20.57, Z:-0.05 [[ 8.89570449e-01 -4.56796097e-01 -1.31989090e-03 1.79242750e+02] [ 4.56795670e-01 8.89571427e-01 -6.25813211e-04 2.05688289e+01] [ 1.46000627e-03 -4.62155112e-05 9.99998933e-01 -4.82702042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.27, Y:20.58, Z:-0.05 [[ 8.90602751e-01 -4.54780165e-01 -1.31985472e-03 1.79268535e+02] [ 4.54779736e-01 8.90603728e-01 -6.25889512e-04 2.05792527e+01] [ 1.46010967e-03 -4.28242610e-05 9.99998933e-01 -4.58426986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:20.59, Z:-0.05 [[ 8.93513277e-01 -4.49034834e-01 -1.31973893e-03 1.79293227e+02] [ 4.49034398e-01 8.93514251e-01 -6.26133564e-04 2.05893918e+01] [ 1.46036133e-03 -3.31495259e-05 9.99998933e-01 -4.56667616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:20.60, Z:-0.05 [[ 8.95016736e-01 -4.46030606e-01 -1.31968847e-03 1.79318576e+02] [ 4.46030167e-01 8.95017708e-01 -6.26239905e-04 2.06009555e+01] [ 1.46046672e-03 -2.81256739e-05 9.99998933e-01 -4.57949862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.34, Y:20.61, Z:-0.05 [[ 8.96566470e-01 -4.42907240e-01 -1.31956860e-03 1.79343842e+02] [ 4.42906798e-01 8.96567441e-01 -6.26492397e-04 2.06120511e+01] [ 1.46056026e-03 -2.27538235e-05 9.99998933e-01 -4.50978070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:20.62, Z:-0.05 [[ 8.99959651e-01 -4.35971197e-01 -1.31944782e-03 1.79368128e+02] [ 4.35970747e-01 8.99960619e-01 -6.26746664e-04 2.06233232e+01] [ 1.46069457e-03 -1.11939413e-05 9.99998933e-01 -4.74077593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:20.64, Z:-0.05 [[ 9.01498696e-01 -4.32779806e-01 -1.31932705e-03 1.79391911e+02] [ 4.32779351e-01 9.01499662e-01 -6.27000778e-04 2.06353118e+01] [ 1.46072617e-03 -5.73712161e-06 9.99998933e-01 -4.79843114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:20.65, Z:-0.05 [[ 9.02849793e-01 -4.29954081e-01 -1.31927625e-03 1.79416978e+02] [ 4.29953624e-01 9.02850756e-01 -6.27107650e-04 2.06479748e+01] [ 1.46073705e-03 -1.04359318e-06 9.99998933e-01 -4.81292092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:20.66, Z:-0.05 [[ 9.05380780e-01 -4.24598521e-01 -1.31915553e-03 1.79440645e+02] [ 4.24598057e-01 9.05381741e-01 -6.27361498e-04 2.06612636e+01] [ 1.46071609e-03 7.89016774e-06 9.99998933e-01 -4.92225287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:20.67, Z:-0.05 [[ 9.06419629e-01 -4.22376274e-01 -1.31910291e-03 1.79464997e+02] [ 4.22375808e-01 9.06420588e-01 -6.27472109e-04 2.06745353e+01] [ 1.46069137e-03 1.15958779e-05 9.99998933e-01 -4.87815795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:20.69, Z:-0.05 [[ 9.07407693e-01 -4.20249376e-01 -1.31898256e-03 1.79488594e+02] [ 4.20248908e-01 9.07408652e-01 -6.27724994e-04 2.06878646e+01] [ 1.46065722e-03 1.53015088e-05 9.99998933e-01 -4.96601584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:20.70, Z:-0.05 [[ 9.08834557e-01 -4.17154659e-01 -1.31859937e-03 1.79513053e+02] [ 4.17154186e-01 9.08835513e-01 -6.28529851e-04 2.07033487e+01] [ 1.46058409e-03 2.11704027e-05 9.99998933e-01 -5.14240251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:20.72, Z:-0.05 [[ 9.09296362e-01 -4.16147073e-01 -1.31883327e-03 1.79537961e+02] [ 4.16146599e-01 9.09297318e-01 -6.28038672e-04 2.07168768e+01] [ 1.46056801e-03 2.22452985e-05 9.99998933e-01 -5.28128373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:20.73, Z:-0.05 [[ 9.09449874e-01 -4.15811480e-01 -1.31879633e-03 1.79561812e+02] [ 4.15811007e-01 9.09450830e-01 -6.28116240e-04 2.07305925e+01] [ 1.46055836e-03 2.28702066e-05 9.99998933e-01 -5.45952575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.59, Y:20.74, Z:-0.05 [[ 9.09457189e-01 -4.15795481e-01 -1.31871564e-03 1.79585705e+02] [ 4.15795007e-01 9.09458145e-01 -6.28285604e-04 2.07444612e+01] [ 1.46055499e-03 2.30834826e-05 9.99998933e-01 -5.48198476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:20.76, Z:-0.05 [[ 9.08587436e-01 -4.17692630e-01 -1.31859728e-03 1.79609296e+02] [ 4.17692157e-01 9.08588392e-01 -6.28533911e-04 2.07597857e+01] [ 1.46059616e-03 2.03102739e-05 9.99998933e-01 -5.42115715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.63, Y:20.77, Z:-0.05 [[ 9.07699840e-01 -4.19617996e-01 -1.31847810e-03 1.79632948e+02] [ 4.19617525e-01 9.07700797e-01 -6.28783809e-04 2.07724552e+01] [ 1.46063262e-03 1.74904462e-05 9.99998933e-01 -5.20147560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:20.79, Z:-0.05 [[ 9.06675603e-01 -4.21826520e-01 -1.31842647e-03 1.79657197e+02] [ 4.21826051e-01 9.06676561e-01 -6.28892047e-04 2.07861493e+01] [ 1.46066972e-03 1.40544451e-05 9.99998933e-01 -5.27082729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:20.80, Z:-0.05 [[ 9.03842330e-01 -4.27863651e-01 -1.31830877e-03 1.79680901e+02] [ 4.27863188e-01 9.03843292e-01 -6.29138666e-04 2.08006135e+01] [ 1.46073011e-03 4.58636216e-06 9.99998933e-01 -5.22029336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:20.81, Z:-0.05 [[ 9.02066474e-01 -4.31595109e-01 -1.31819093e-03 1.79705914e+02] [ 4.31594650e-01 9.02067437e-01 -6.29385483e-04 2.08132654e+01] [ 1.46073681e-03 -1.17660974e-06 9.99998933e-01 -5.13794112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:20.83, Z:-0.05 [[ 9.00123584e-01 -4.35632639e-01 -1.31807170e-03 1.79730849e+02] [ 4.35632184e-01 9.00124549e-01 -6.29635078e-04 2.08254343e+01] [ 1.46071828e-03 -7.44506964e-06 9.99998933e-01 -5.11914800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.76, Y:20.84, Z:-0.05 [[ 8.95978676e-01 -4.44095119e-01 -1.31795122e-03 1.79756060e+02] [ 4.44094672e-01 8.95979646e-01 -6.29887158e-04 2.08381219e+01] [ 1.46058728e-03 -2.09296544e-05 9.99998933e-01 -5.08200611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27587156000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:179.78, Y:20.85, Z:-0.05 [[ 8.93737324e-01 -4.48588740e-01 -1.31791418e-03 1.79781017e+02] [ 4.48588299e-01 8.93738296e-01 -6.29964652e-04 2.08501224e+01] [ 1.46046542e-03 -2.81779575e-05 9.99998933e-01 -4.94621512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:20.86, Z:-0.05 [[ 8.91622524e-01 -4.52777581e-01 -1.31779112e-03 1.79805847e+02] [ 4.52777144e-01 8.91623497e-01 -6.30221977e-04 2.08610492e+01] [ 1.46032391e-03 -3.47455884e-05 9.99998933e-01 -5.14743618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:20.87, Z:-0.05 [[ 8.89386360e-01 -4.57154423e-01 -1.31770772e-03 1.79830699e+02] [ 4.57153990e-01 8.89387335e-01 -6.30396302e-04 2.08715041e+01] [ 1.46014101e-03 -4.17294699e-05 9.99998933e-01 -5.21027345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.86, Y:20.88, Z:-0.05 [[ 8.85230542e-01 -4.65150676e-01 -1.31765646e-03 1.79856941e+02] [ 4.65150252e-01 8.85231521e-01 -6.30503421e-04 2.08813940e+01] [ 1.45971013e-03 -5.47673506e-05 9.99998933e-01 -5.23492927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:20.89, Z:-0.05 [[ 8.83518676e-01 -4.68394079e-01 -1.31753613e-03 1.79882078e+02] [ 4.68393658e-01 8.83519656e-01 -6.30754775e-04 2.08920292e+01] [ 1.45951087e-03 -5.98419443e-05 9.99998933e-01 -5.31864165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:20.90, Z:-0.05 [[ 8.82082782e-01 -4.71092591e-01 -1.31748392e-03 1.79907897e+02] [ 4.71092173e-01 8.82083764e-01 -6.30863815e-04 2.09021257e+01] [ 1.45932644e-03 -6.41822525e-05 9.99998933e-01 -5.23580212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:20.91, Z:-0.05 [[ 8.79963530e-01 -4.75039420e-01 -1.31744800e-03 1.79934943e+02] [ 4.75039006e-01 8.79964513e-01 -6.30938809e-04 2.09095540e+01] [ 1.45902830e-03 -7.06360468e-05 9.99998933e-01 -5.09351952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:20.92, Z:-0.05 [[ 8.79327568e-01 -4.76215596e-01 -1.31733331e-03 1.79961184e+02] [ 4.76215183e-01 8.79328551e-01 -6.31178189e-04 2.09199830e+01] [ 1.45894569e-03 -7.23217398e-05 9.99998933e-01 -5.03346249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:20.93, Z:-0.05 [[ 8.78998582e-01 -4.76822564e-01 -1.31721781e-03 1.79985983e+02] [ 4.76822151e-01 8.78999566e-01 -6.31419126e-04 2.09298406e+01] [ 1.45890877e-03 -7.30621139e-05 9.99998933e-01 -5.06755437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:20.94, Z:-0.05 [[ 8.78893181e-01 -4.77016815e-01 -1.31716756e-03 1.80013053e+02] [ 4.77016403e-01 8.78894165e-01 -6.31523945e-04 2.09369922e+01] [ 1.45889842e-03 -7.32684410e-05 9.99998933e-01 -5.11626817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:180.04, Y:20.95, Z:-0.05 [[ 8.78836706e-01 -4.77120854e-01 -1.31705470e-03 1.80039690e+02] [ 4.77120441e-01 8.78837690e-01 -6.31759228e-04 2.09467441e+01] [ 1.45890281e-03 -7.31805177e-05 9.99998933e-01 -4.92053412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:20.96, Z:-0.05 [[ 8.79112568e-01 -4.76612377e-01 -1.31693602e-03 1.80065563e+02] [ 4.76611964e-01 8.79113552e-01 -6.32006514e-04 2.09554140e+01] [ 1.45895843e-03 -7.20625935e-05 9.99998933e-01 -5.04555111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.09, Y:20.96, Z:-0.05 [[ 8.79907782e-01 -4.75142675e-01 -1.31685529e-03 1.80093521e+02] [ 4.75142260e-01 8.79908764e-01 -6.32174685e-04 2.09615233e+01] [ 1.45908568e-03 -6.94381726e-05 9.99998933e-01 -4.97680018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:20.97, Z:-0.05 [[ 8.80647438e-01 -4.73770363e-01 -1.31673914e-03 1.80118965e+02] [ 4.73769946e-01 8.80648419e-01 -6.32416513e-04 2.09697816e+01] [ 1.45920444e-03 -6.68954494e-05 9.99998933e-01 -5.15368410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.15, Y:20.98, Z:-0.05 [[ 8.81309695e-01 -4.72537288e-01 -1.31665970e-03 1.80145803e+02] [ 4.72536869e-01 8.81310676e-01 -6.32581860e-04 2.09793469e+01] [ 1.45930477e-03 -6.46697269e-05 9.99998933e-01 -5.03076962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:20.99, Z:-0.05 [[ 8.83614581e-01 -4.68213134e-01 -1.31654288e-03 1.80173131e+02] [ 4.68212710e-01 8.83615560e-01 -6.32824892e-04 2.09864736e+01] [ 1.45961470e-03 -5.72488097e-05 9.99998933e-01 -5.23772493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:180.20, Y:21.00, Z:-0.05 [[ 8.85002326e-01 -4.65584739e-01 -1.31648780e-03 1.80199868e+02] [ 4.65584312e-01 8.85003304e-01 -6.32939457e-04 2.09956146e+01] [ 1.45978301e-03 -5.27831759e-05 9.99998933e-01 -5.19618489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:21.00, Z:-0.05 [[ 8.86535229e-01 -4.62659221e-01 -1.31637028e-03 1.80225295e+02] [ 4.62658790e-01 8.86536205e-01 -6.33183788e-04 2.10047355e+01] [ 1.45995823e-03 -4.76905442e-05 9.99998933e-01 -5.33042547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:21.01, Z:-0.05 [[ 8.88092146e-01 -4.59663581e-01 -1.31631902e-03 1.80252122e+02] [ 4.59663147e-01 8.88093120e-01 -6.33290333e-04 2.10139221e+01] [ 1.46011437e-03 -4.26431713e-05 9.99998933e-01 -5.20508329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:21.02, Z:-0.05 [[ 8.91241444e-01 -4.53527238e-01 -1.31619922e-03 1.80279577e+02] [ 4.53526797e-01 8.91242415e-01 -6.33539225e-04 2.10209697e+01] [ 1.46037986e-03 -3.22952008e-05 9.99998933e-01 -5.15305909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.31, Y:21.03, Z:-0.05 [[ 8.92876751e-01 -4.50299206e-01 -1.31607694e-03 1.80305250e+02] [ 4.50298761e-01 8.92877721e-01 -6.33793138e-04 2.10298688e+01] [ 1.46049232e-03 -2.67286571e-05 9.99998933e-01 -5.20262994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.33, Y:21.04, Z:-0.05 [[ 8.94418908e-01 -4.47228226e-01 -1.31602375e-03 1.80331256e+02] [ 4.47227777e-01 8.94419876e-01 -6.33903560e-04 2.10397130e+01] [ 1.46057736e-03 -2.15870454e-05 9.99998933e-01 -5.27608763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:21.05, Z:-0.05 [[ 8.97245720e-01 -4.41529598e-01 -1.31590564e-03 1.80358803e+02] [ 4.41529143e-01 8.97246685e-01 -6.34148635e-04 2.10473956e+01] [ 1.46068737e-03 -1.20235430e-05 9.99998933e-01 -5.29804861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:21.06, Z:-0.05 [[ 8.98367508e-01 -4.39242631e-01 -1.31578636e-03 1.80384368e+02] [ 4.39242173e-01 8.98368472e-01 -6.34396049e-04 2.10571036e+01] [ 1.46071477e-03 -8.02806108e-06 9.99998933e-01 -5.32542703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:21.07, Z:-0.05 [[ 8.99350577e-01 -4.37226266e-01 -1.31573492e-03 1.80410605e+02] [ 4.37225806e-01 8.99351540e-01 -6.34502719e-04 2.10669538e+01] [ 1.46072948e-03 -4.63287226e-06 9.99998933e-01 -5.17514424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:21.07, Z:-0.05 [[ 9.01035030e-01 -4.33744331e-01 -1.31561048e-03 1.80437214e+02] [ 4.33743866e-01 9.01035990e-01 -6.34760624e-04 2.10742016e+01] [ 1.46073621e-03 1.30358140e-06 9.99998933e-01 -5.19868998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:21.08, Z:-0.05 [[ 9.01826541e-01 -4.32096238e-01 -1.31555649e-03 1.80462703e+02] [ 4.32095772e-01 9.01827501e-01 -6.34872505e-04 2.10843861e+01] [ 1.46073104e-03 4.09847945e-06 9.99998933e-01 -5.27625653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.49, Y:21.10, Z:-0.05 [[ 9.02433116e-01 -4.30827970e-01 -1.31550468e-03 1.80488361e+02] [ 4.30827502e-01 9.02434075e-01 -6.34979830e-04 2.10952790e+01] [ 1.46072332e-03 6.27123024e-06 9.99998933e-01 -5.32572460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:21.10, Z:-0.06 [[ 9.04115227e-01 -4.27286703e-01 -1.31538667e-03 1.80515868e+02] [ 4.27286231e-01 9.04116184e-01 -6.35224196e-04 2.11038230e+01] [ 1.46068523e-03 1.22692540e-05 9.99998933e-01 -5.55234542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.54, Y:21.11, Z:-0.05 [[ 9.04938416e-01 -4.25540519e-01 -1.31528239e-03 1.80541294e+02] [ 4.25540044e-01 9.04939372e-01 -6.35440061e-04 2.11146257e+01] [ 1.46065631e-03 1.53287972e-05 9.99998933e-01 -5.42176155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:21.13, Z:-0.06 [[ 9.05891926e-01 -4.23506894e-01 -1.31516264e-03 1.80565636e+02] [ 4.23506417e-01 9.05892880e-01 -6.35687802e-04 2.11266283e+01] [ 1.46061464e-03 1.88846299e-05 9.99998933e-01 -5.54439185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:21.14, Z:-0.06 [[ 9.07616447e-01 -4.19798352e-01 -1.31511056e-03 1.80590523e+02] [ 4.19797871e-01 9.07617399e-01 -6.35795516e-04 2.11387690e+01] [ 1.46052314e-03 2.49778517e-05 9.99998933e-01 -5.50545699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:21.15, Z:-0.06 [[ 9.07537987e-01 -4.19967942e-01 -1.31499216e-03 1.80616098e+02] [ 4.19967461e-01 9.07538940e-01 -6.36040322e-04 2.11513514e+01] [ 1.46052313e-03 2.49768363e-05 9.99998933e-01 -5.50129646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:21.16, Z:-0.05 [[ 9.08227073e-01 -4.18475633e-01 -1.31487326e-03 1.80641592e+02] [ 4.18475150e-01 9.08228024e-01 -6.36286020e-04 2.11632168e+01] [ 1.46047494e-03 2.76504048e-05 9.99998933e-01 -5.46051048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:21.17, Z:-0.05 [[ 9.08824746e-01 -4.17176044e-01 -1.31475274e-03 1.80666540e+02] [ 4.17175560e-01 9.08825697e-01 -6.36534945e-04 2.11746901e+01] [ 1.46042821e-03 3.00159990e-05 9.99998933e-01 -5.47461549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.69, Y:21.19, Z:-0.06 [[ 9.09295565e-01 -4.16148829e-01 -1.31471548e-03 1.80692253e+02] [ 4.16148343e-01 9.09296515e-01 -6.36611906e-04 2.11855528e+01] [ 1.46039150e-03 3.17517156e-05 9.99998933e-01 -5.54989625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:21.20, Z:-0.06 [[ 9.09221554e-01 -4.16310506e-01 -1.31459700e-03 1.80717152e+02] [ 4.16310020e-01 9.09222504e-01 -6.36856461e-04 2.11972716e+01] [ 1.46039121e-03 3.17637180e-05 9.99998933e-01 -5.63994691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:21.21, Z:-0.06 [[ 9.09000278e-01 -4.16793433e-01 -1.31447915e-03 1.80740967e+02] [ 4.16792947e-01 9.09001228e-01 -6.37099620e-04 2.12089579e+01] [ 1.46040210e-03 3.12580933e-05 9.99998933e-01 -5.70672572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:21.22, Z:-0.06 [[ 9.08632060e-01 -4.17595561e-01 -1.31442782e-03 1.80766262e+02] [ 4.17595076e-01 9.08633010e-01 -6.37205508e-04 2.12216222e+01] [ 1.46042669e-03 3.00867697e-05 9.99998933e-01 -5.73124417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:21.23, Z:-0.06 [[ 9.07720833e-01 -4.19572594e-01 -1.31431186e-03 1.80791001e+02] [ 4.19572110e-01 9.07721784e-01 -6.37444584e-04 2.12340514e+01] [ 1.46048379e-03 2.71731269e-05 9.99998933e-01 -5.72756813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.82, Y:21.25, Z:-0.06 [[ 9.07139147e-01 -4.20828754e-01 -1.31419543e-03 1.80816001e+02] [ 4.20828272e-01 9.07140099e-01 -6.37684549e-04 2.12461315e+01] [ 1.46051536e-03 2.54180283e-05 9.99998933e-01 -5.60188993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:21.26, Z:-0.06 [[ 9.06087288e-01 -4.23088760e-01 -1.31407804e-03 1.80841238e+02] [ 4.23088280e-01 9.06088241e-01 -6.37926351e-04 2.12580832e+01] [ 1.46057013e-03 2.20459400e-05 9.99998933e-01 -5.55962249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:21.27, Z:-0.06 [[ 9.05618092e-01 -4.24092142e-01 -1.31395789e-03 1.80865808e+02] [ 4.24091663e-01 9.05619045e-01 -6.38173744e-04 2.12700602e+01] [ 1.46058976e-03 2.07031034e-05 9.99998933e-01 -5.56351678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:21.28, Z:-0.06 [[ 9.05175680e-01 -4.25035600e-01 -1.31390551e-03 1.80889964e+02] [ 4.25035121e-01 9.05176634e-01 -6.38281551e-04 2.12826004e+01] [ 1.46060895e-03 1.93009475e-05 9.99998933e-01 -5.70017267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:21.30, Z:-0.06 [[ 9.04485387e-01 -4.26502589e-01 -1.31385351e-03 1.80913987e+02] [ 4.26502111e-01 9.04486341e-01 -6.38388587e-04 2.12964574e+01] [ 1.46063694e-03 1.70518540e-05 9.99998933e-01 -5.76318765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:21.31, Z:-0.06 [[ 9.04200445e-01 -4.27106344e-01 -1.31374075e-03 1.80938723e+02] [ 4.27105867e-01 9.04201399e-01 -6.38620545e-04 2.13092522e+01] [ 1.46064511e-03 1.63345992e-05 9.99998933e-01 -5.64245648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:21.32, Z:-0.06 [[ 9.03898429e-01 -4.27745140e-01 -1.31362181e-03 1.80962611e+02] [ 4.27744663e-01 9.03899383e-01 -6.38865096e-04 2.13210591e+01] [ 1.46065339e-03 1.55744366e-05 9.99998933e-01 -5.62572360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.99, Y:21.33, Z:-0.05 [[ 9.03185684e-01 -4.29248058e-01 -1.31357011e-03 1.80987708e+02] [ 4.29247583e-01 9.03186639e-01 -6.38971382e-04 2.13330807e+01] [ 1.46067620e-03 1.32630092e-05 9.99998933e-01 -5.39487235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.01, Y:21.35, Z:-0.05 [[ 9.02752098e-01 -4.30159186e-01 -1.31345128e-03 1.81013082e+02] [ 4.30158711e-01 9.02753053e-01 -6.39215565e-04 2.13453267e+01] [ 1.46068660e-03 1.20606846e-05 9.99998933e-01 -5.37997328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.04, Y:21.36, Z:-0.05 [[ 9.02274666e-01 -4.31159717e-01 -1.31341439e-03 1.81038425e+02] [ 4.31159243e-01 9.02275622e-01 -6.39291339e-04 2.13578601e+01] [ 1.46069846e-03 1.05256233e-05 9.99998933e-01 -5.20680040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:21.37, Z:-0.05 [[ 9.01929690e-01 -4.31880897e-01 -1.31328968e-03 1.81062096e+02] [ 4.31880423e-01 9.01930646e-01 -6.39547439e-04 2.13698688e+01] [ 1.46070453e-03 9.64272143e-06 9.99998933e-01 -5.20668025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:21.38, Z:-0.05 [[ 9.01571789e-01 -4.32627537e-01 -1.31323551e-03 1.81086340e+02] [ 4.32627064e-01 9.01572745e-01 -6.39658647e-04 2.13830426e+01] [ 1.46071129e-03 8.55696677e-06 9.99998933e-01 -5.17059171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:21.40, Z:-0.05 [[ 9.01236076e-01 -4.33326447e-01 -1.31319810e-03 1.81110840e+02] [ 4.33325975e-01 9.01237033e-01 -6.39735445e-04 2.13955813e+01] [ 1.46071705e-03 7.50981557e-06 9.99998933e-01 -5.15931956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:181.14, Y:21.41, Z:-0.05 [[ 9.00832219e-01 -4.34165393e-01 -1.31307782e-03 1.81136356e+02] [ 4.34164922e-01 9.00833176e-01 -6.39982227e-04 2.14082883e+01] [ 1.46072220e-03 6.42428195e-06 9.99998933e-01 -5.05901549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:21.42, Z:-0.05 [[ 8.99800048e-01 -4.36300526e-01 -1.31296071e-03 1.81161686e+02] [ 4.36300056e-01 8.99801006e-01 -6.40222394e-04 2.14204435e+01] [ 1.46073273e-03 3.22730889e-06 9.99998933e-01 -5.10897879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:21.43, Z:-0.05 [[ 8.99022555e-01 -4.37900356e-01 -1.31290222e-03 1.81186511e+02] [ 4.37899888e-01 8.99023514e-01 -6.40342321e-04 2.14325696e+01] [ 1.46073609e-03 7.62455804e-07 9.99998933e-01 -5.06701770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:21.44, Z:-0.05 [[ 8.98353183e-01 -4.39271938e-01 -1.31277926e-03 1.81210527e+02] [ 4.39271470e-01 8.98354142e-01 -6.40594289e-04 2.14444731e+01] [ 1.46073579e-03 -1.18655922e-06 9.99998933e-01 -5.18395688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:21.46, Z:-0.05 [[ 8.97560775e-01 -4.40888798e-01 -1.31272583e-03 1.81235427e+02] [ 4.40888333e-01 8.97561735e-01 -6.40703765e-04 2.14570807e+01] [ 1.46073159e-03 -3.69493664e-06 9.99998933e-01 -5.12124861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:21.47, Z:-0.05 [[ 8.96117296e-01 -4.43815355e-01 -1.31260142e-03 1.81260273e+02] [ 4.43814892e-01 8.96118257e-01 -6.40958544e-04 2.14691711e+01] [ 1.46071334e-03 -8.17802089e-06 9.99998933e-01 -5.20384977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:21.48, Z:-0.05 [[ 8.95447943e-01 -4.45164305e-01 -1.31247712e-03 1.81285126e+02] [ 4.45163844e-01 8.95448905e-01 -6.41212977e-04 2.14807103e+01] [ 1.46070133e-03 -1.00945172e-05 9.99998933e-01 -5.31560739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:21.49, Z:-0.05 [[ 8.94863259e-01 -4.46338465e-01 -1.31242294e-03 1.81310659e+02] [ 4.46338004e-01 8.94864221e-01 -6.41323840e-04 2.14923180e+01] [ 1.46068783e-03 -1.18870959e-05 9.99998933e-01 -5.29191106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:21.50, Z:-0.05 [[ 8.94048357e-01 -4.47968541e-01 -1.31230288e-03 1.81336389e+02] [ 4.47968081e-01 8.94049320e-01 -6.41569415e-04 2.15033147e+01] [ 1.46066642e-03 -1.42757240e-05 9.99998933e-01 -5.20267249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:21.51, Z:-0.05 [[ 8.93887211e-01 -4.48290009e-01 -1.31218095e-03 1.81360613e+02] [ 4.48289550e-01 8.93888174e-01 -6.41818714e-04 2.15141342e+01] [ 1.46066395e-03 -1.45234664e-05 9.99998933e-01 -5.20393458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:21.53, Z:-0.05 [[ 8.93651232e-01 -4.48760242e-01 -1.31212796e-03 1.81385946e+02] [ 4.48759783e-01 8.93652195e-01 -6.41927025e-04 2.15264529e+01] [ 1.46065736e-03 -1.51713814e-05 9.99998933e-01 -5.14565275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:21.54, Z:-0.05 [[ 8.93676386e-01 -4.48710147e-01 -1.31200613e-03 1.81411302e+02] [ 4.48709688e-01 8.93677349e-01 -6.42175921e-04 2.15388197e+01] [ 1.46066101e-03 -1.48124062e-05 9.99998933e-01 -5.02432631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:21.55, Z:-0.05 [[ 8.93760338e-01 -4.48542904e-01 -1.31188437e-03 1.81435871e+02] [ 4.48542445e-01 8.93761301e-01 -6.42424570e-04 2.15500512e+01] [ 1.46066646e-03 -1.42622220e-05 9.99998933e-01 -5.00979714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:21.56, Z:-0.05 [[ 8.93875599e-01 -4.48313163e-01 -1.31183154e-03 1.81461768e+02] [ 4.48312703e-01 8.93876562e-01 -6.42532430e-04 2.15615076e+01] [ 1.46067121e-03 -1.37666831e-05 9.99998933e-01 -5.03359665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.49, Y:21.57, Z:-0.05 [[ 8.94250786e-01 -4.47564309e-01 -1.31171078e-03 1.81487122e+02] [ 4.47563847e-01 8.94251748e-01 -6.42778856e-04 2.15724392e+01] [ 1.46068454e-03 -1.22688276e-05 9.99998933e-01 -5.18130769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:181.51, Y:21.58, Z:-0.05 [[ 8.94336091e-01 -4.47393827e-01 -1.31165413e-03 1.81512608e+02] [ 4.47393365e-01 8.94337053e-01 -6.42894440e-04 2.15841787e+01] [ 1.46068789e-03 -1.18616562e-05 9.99998933e-01 -5.28170816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.54, Y:21.60, Z:-0.05 [[ 8.94511804e-01 -4.47042406e-01 -1.31153367e-03 1.81537647e+02] [ 4.47041944e-01 8.94512765e-01 -6.43140091e-04 2.15956775e+01] [ 1.46069451e-03 -1.10141591e-05 9.99998933e-01 -5.41134849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:21.61, Z:-0.06 [[ 8.94847630e-01 -4.46369801e-01 -1.31141340e-03 1.81563851e+02] [ 4.46369338e-01 8.94848591e-01 -6.43385241e-04 2.16069208e+01] [ 1.46070418e-03 -9.64297343e-06 9.99998933e-01 -5.51773335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.59, Y:21.62, Z:-0.05 [[ 8.95077757e-01 -4.45908163e-01 -1.31129319e-03 1.81588134e+02] [ 4.45907699e-01 8.95078717e-01 -6.43630149e-04 2.16182042e+01] [ 1.46071056e-03 -8.61669855e-06 9.99998933e-01 -5.42603018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:21.63, Z:-0.05 [[ 8.95267010e-01 -4.45528071e-01 -1.31124097e-03 1.81613248e+02] [ 4.45527606e-01 8.95267970e-01 -6.43736529e-04 2.16303192e+01] [ 1.46071473e-03 -7.87797075e-06 9.99998933e-01 -5.38679031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:21.64, Z:-0.05 [[ 8.95995721e-01 -4.44060750e-01 -1.31112150e-03 1.81639650e+02] [ 4.44060283e-01 8.95996680e-01 -6.43979750e-04 2.16424554e+01] [ 1.46072664e-03 -5.21388527e-06 9.99998933e-01 -5.01769985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.66, Y:21.65, Z:-0.05 [[ 8.96590793e-01 -4.42858026e-01 -1.31101383e-03 1.81664427e+02] [ 4.42857557e-01 8.96591752e-01 -6.44198872e-04 2.16545192e+01] [ 1.46073283e-03 -3.00960581e-06 9.99998933e-01 -4.91306827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:21.67, Z:-0.05 [[ 8.97390981e-01 -4.41234301e-01 -1.31089113e-03 1.81689187e+02] [ 4.41233831e-01 8.97391939e-01 -6.44448461e-04 2.16670367e+01] [ 1.46073590e-03 -8.72782484e-08 9.99998933e-01 -4.87003682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:21.68, Z:-0.05 [[ 8.99353751e-01 -4.37219754e-01 -1.31085310e-03 1.81713284e+02] [ 4.37219279e-01 8.99354706e-01 -6.44525813e-04 2.16795292e+01] [ 1.46072132e-03 6.52646168e-06 9.99998933e-01 -5.03028743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:21.69, Z:-0.05 [[ 9.00236665e-01 -4.35398931e-01 -1.31077110e-03 1.81737776e+02] [ 4.35398454e-01 9.00237619e-01 -6.44692536e-04 2.16926198e+01] [ 1.46070389e-03 9.66814944e-06 9.99998933e-01 -5.01140997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.76, Y:21.71, Z:-0.05 [[ 9.01222170e-01 -4.33355376e-01 -1.31064687e-03 1.81761309e+02] [ 4.33354897e-01 9.01223123e-01 -6.44944978e-04 2.17050336e+01] [ 1.46067564e-03 1.32634717e-05 9.99998933e-01 -5.21489044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.79, Y:21.72, Z:-0.05 [[ 9.02024640e-01 -4.31682559e-01 -1.31059267e-03 1.81786237e+02] [ 4.31682078e-01 9.02025591e-01 -6.45055108e-04 2.17185198e+01] [ 1.46064717e-03 1.60962347e-05 9.99998933e-01 -5.29723748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:21.73, Z:-0.05 [[ 9.02606410e-01 -4.30464809e-01 -1.31047451e-03 1.81811340e+02] [ 4.30464325e-01 9.02607361e-01 -6.45295060e-04 2.17316938e+01] [ 1.46062076e-03 1.83349298e-05 9.99998933e-01 -5.30651976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:21.74, Z:-0.05 [[ 9.03560650e-01 -4.28458208e-01 -1.31035167e-03 1.81835371e+02] [ 4.28457722e-01 9.03561599e-01 -6.45544422e-04 2.17440078e+01] [ 1.46057225e-03 2.18582476e-05 9.99998933e-01 -5.45786945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:21.76, Z:-0.05 [[ 9.03675653e-01 -4.28215597e-01 -1.31026813e-03 1.81859945e+02] [ 4.28215111e-01 9.03676603e-01 -6.45713940e-04 2.17570270e+01] [ 1.46056343e-03 2.24393552e-05 9.99998933e-01 -5.33530948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:21.77, Z:-0.05 [[ 9.03733425e-01 -4.28093659e-01 -1.31014558e-03 1.81884467e+02] [ 4.28093172e-01 9.03734374e-01 -6.45962483e-04 2.17707431e+01] [ 1.46055604e-03 2.29135088e-05 9.99998933e-01 -5.05999353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:21.78, Z:-0.05 [[ 9.03777159e-01 -4.28001320e-01 -1.31010755e-03 1.81909440e+02] [ 4.28000833e-01 9.03778109e-01 -6.46039610e-04 2.17840776e+01] [ 1.46055233e-03 2.31487201e-05 9.99998933e-01 -4.90790490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:21.80, Z:-0.05 [[ 9.03889407e-01 -4.27764215e-01 -1.30998596e-03 1.81933150e+02] [ 4.27763728e-01 9.03890356e-01 -6.46286073e-04 2.17973717e+01] [ 1.46054173e-03 2.38066591e-05 9.99998933e-01 -4.83118522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:21.81, Z:-0.05 [[ 9.04004661e-01 -4.27520593e-01 -1.30990340e-03 1.81957492e+02] [ 4.27520105e-01 9.04005609e-01 -6.46453356e-04 2.18118392e+01] [ 1.46053214e-03 2.43868068e-05 9.99998933e-01 -4.73164294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:21.83, Z:-0.05 [[ 9.04693690e-01 -4.26060574e-01 -1.30978231e-03 1.81980315e+02] [ 4.26060084e-01 9.04694637e-01 -6.46698599e-04 2.18281781e+01] [ 1.46048581e-03 2.70181792e-05 9.99998933e-01 -4.79885751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:21.84, Z:-0.05 [[ 9.04961779e-01 -4.25490849e-01 -1.30966049e-03 1.82003681e+02] [ 4.25490359e-01 9.04962726e-01 -6.46945222e-04 2.18428360e+01] [ 1.46046320e-03 2.82127892e-05 9.99998933e-01 -4.91526010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:21.86, Z:-0.05 [[ 9.05258321e-01 -4.24859573e-01 -1.30960758e-03 1.82028132e+02] [ 4.24859081e-01 9.05259268e-01 -6.47052293e-04 2.18575820e+01] [ 1.46044076e-03 2.93507983e-05 9.99998933e-01 -4.96939764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:21.87, Z:-0.05 [[ 9.05619374e-01 -4.24089418e-01 -1.30948523e-03 1.82051298e+02] [ 4.24088925e-01 9.05620320e-01 -6.47299815e-04 2.18734268e+01] [ 1.46040944e-03 3.08690699e-05 9.99998933e-01 -5.18155621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:182.08, Y:21.89, Z:-0.05 [[ 9.05625157e-01 -4.24077068e-01 -1.30944710e-03 1.82075708e+02] [ 4.24076575e-01 9.05626104e-01 -6.47376945e-04 2.18874621e+01] [ 1.46040719e-03 3.09750072e-05 9.99998933e-01 -5.13840868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:21.90, Z:-0.05 [[ 9.05370605e-01 -4.24620245e-01 -1.30940962e-03 1.82099701e+02] [ 4.24619753e-01 9.05371552e-01 -6.47452735e-04 2.19028770e+01] [ 1.46042376e-03 3.01834840e-05 9.99998933e-01 -5.25817725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:21.92, Z:-0.05 [[ 9.04887001e-01 -4.25649857e-01 -1.30929023e-03 1.82122704e+02] [ 4.25649365e-01 9.04887948e-01 -6.47694080e-04 2.19196445e+01] [ 1.46045184e-03 2.87913986e-05 9.99998933e-01 -5.19949453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:21.93, Z:-0.05 [[ 9.04448098e-01 -4.26581672e-01 -1.30925307e-03 1.82147107e+02] [ 4.26581181e-01 9.04449046e-01 -6.47769197e-04 2.19342683e+01] [ 1.46047915e-03 2.73708981e-05 9.99998933e-01 -5.14166682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:21.95, Z:-0.05 [[ 9.03997260e-01 -4.27536243e-01 -1.30913372e-03 1.82171206e+02] [ 4.27535753e-01 9.03998208e-01 -6.48010301e-04 2.19488339e+01] [ 1.46050243e-03 2.60980649e-05 9.99998933e-01 -5.14317847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:21.96, Z:-0.05 [[ 9.03918411e-01 -4.27702927e-01 -1.30901435e-03 1.82196658e+02] [ 4.27702436e-01 9.03919358e-01 -6.48251345e-04 2.19616549e+01] [ 1.46050241e-03 2.60976973e-05 9.99998933e-01 -5.13901785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:21.98, Z:-0.05 [[ 9.03456354e-01 -4.28678089e-01 -1.30889478e-03 1.82218743e+02] [ 4.28677599e-01 9.03457301e-01 -6.48492695e-04 2.19778913e+01] [ 1.46052515e-03 2.47909757e-05 9.99998933e-01 -5.10706470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:21.99, Z:-0.05 [[ 9.03218813e-01 -4.29178357e-01 -1.30884279e-03 1.82241846e+02] [ 4.29177868e-01 9.03219761e-01 -6.48597609e-04 2.19928621e+01] [ 1.46053672e-03 2.40992064e-05 9.99998933e-01 -5.06248181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:22.01, Z:-0.05 [[ 9.03025657e-01 -4.29584624e-01 -1.30879116e-03 1.82265418e+02] [ 4.29584135e-01 9.03026606e-01 -6.48701761e-04 2.20086230e+01] [ 1.46054554e-03 2.35584150e-05 9.99998933e-01 -4.99582638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:22.02, Z:-0.05 [[ 9.02901498e-01 -4.29845520e-01 -1.30867383e-03 1.82288197e+02] [ 4.29845031e-01 9.02902447e-01 -6.48938373e-04 2.20239732e+01] [ 1.46054806e-03 2.34004846e-05 9.99998933e-01 -5.04467521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:22.04, Z:-0.05 [[ 9.02460208e-01 -4.30771239e-01 -1.30862289e-03 1.82310307e+02] [ 4.30770751e-01 9.02461157e-01 -6.49041084e-04 2.20430841e+01] [ 1.46056956e-03 2.20172868e-05 9.99998933e-01 -5.15776951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:22.06, Z:-0.05 [[ 9.02190199e-01 -4.31336450e-01 -1.30850708e-03 1.82332889e+02] [ 4.31335962e-01 9.02191147e-01 -6.49274479e-04 2.20578289e+01] [ 1.46057925e-03 2.13629097e-05 9.99998933e-01 -5.25172112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:22.07, Z:-0.05 [[ 9.01812547e-01 -4.32125467e-01 -1.30842779e-03 1.82356191e+02] [ 4.32124979e-01 9.01813496e-01 -6.49434232e-04 2.20732517e+01] [ 1.46059491e-03 2.02636076e-05 9.99998933e-01 -5.32397584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:22.09, Z:-0.05 [[ 9.00856121e-01 -4.34115811e-01 -1.30831256e-03 1.82378477e+02] [ 4.34115325e-01 9.00857071e-01 -6.49666281e-04 2.20913218e+01] [ 1.46063303e-03 1.72973138e-05 9.99998933e-01 -5.32593982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:22.11, Z:-0.05 [[ 9.00230581e-01 -4.35411517e-01 -1.30819109e-03 1.82401534e+02] [ 4.35411033e-01 9.00231531e-01 -6.49910788e-04 2.21061034e+01] [ 1.46065351e-03 1.54687337e-05 9.99998933e-01 -5.41562412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:22.12, Z:-0.05 [[ 8.99428477e-01 -4.37066017e-01 -1.30813820e-03 1.82424858e+02] [ 4.37065533e-01 8.99429429e-01 -6.50017228e-04 2.21213341e+01] [ 1.46067843e-03 1.29018864e-05 9.99998933e-01 -5.34933824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.45, Y:22.14, Z:-0.05 [[ 8.98582895e-01 -4.38801858e-01 -1.30801675e-03 1.82448491e+02] [ 4.38801376e-01 8.98583847e-01 -6.50261525e-04 2.21363477e+01] [ 1.46069869e-03 1.03543333e-05 9.99998933e-01 -5.30547163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:22.15, Z:-0.06 [[ 8.97177650e-01 -4.41667922e-01 -1.30789368e-03 1.82470228e+02] [ 4.41667443e-01 8.97178604e-01 -6.50508969e-04 2.21528351e+01] [ 1.46072317e-03 5.96805186e-06 9.99998933e-01 -5.52519025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:22.17, Z:-0.05 [[ 8.96539053e-01 -4.42962771e-01 -1.30784004e-03 1.82494318e+02] [ 4.42962293e-01 8.96540007e-01 -6.50616792e-04 2.21681147e+01] [ 1.46072993e-03 3.97953895e-06 9.99998933e-01 -5.41984767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:22.18, Z:-0.05 [[ 8.96002705e-01 -4.44046666e-01 -1.30771396e-03 1.82517313e+02] [ 4.44046189e-01 8.96003660e-01 -6.50870110e-04 2.21832462e+01] [ 1.46073320e-03 2.49597886e-06 9.99998933e-01 -5.39636540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:22.20, Z:-0.05 [[ 8.94833096e-01 -4.46398947e-01 -1.30765914e-03 1.82538860e+02] [ 4.46398473e-01 8.94834052e-01 -6.50980227e-04 2.22002283e+01] [ 1.46073481e-03 -1.21839116e-06 9.99998933e-01 -5.38410818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:22.21, Z:-0.05 [[ 8.94019691e-01 -4.48025761e-01 -1.30760522e-03 1.82562621e+02] [ 4.48025288e-01 8.94020647e-01 -6.51088517e-04 2.22148609e+01] [ 1.46073049e-03 -3.75425040e-06 9.99998933e-01 -5.37496011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:22.23, Z:-0.05 [[ 8.93134371e-01 -4.49788046e-01 -1.30748364e-03 1.82586797e+02] [ 4.49787574e-01 8.93135328e-01 -6.51332576e-04 2.22295178e+01] [ 1.46072144e-03 -6.36238463e-06 9.99998933e-01 -5.36006804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:22.24, Z:-0.06 [[ 8.91422723e-01 -4.53170851e-01 -1.30735958e-03 1.82609693e+02] [ 4.53170383e-01 8.91423681e-01 -6.51581493e-04 2.22449275e+01] [ 1.46068903e-03 -1.16220924e-05 9.99998933e-01 -5.54595414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:182.63, Y:22.26, Z:-0.05 [[ 8.90603168e-01 -4.54779383e-01 -1.30730576e-03 1.82633886e+02] [ 4.54778916e-01 8.90604128e-01 -6.51689466e-04 2.22585581e+01] [ 1.46066684e-03 -1.41383922e-05 9.99998933e-01 -5.38221876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.66, Y:22.27, Z:-0.06 [[ 8.89783081e-01 -4.56381814e-01 -1.30718273e-03 1.82657392e+02] [ 4.56381349e-01 8.89784041e-01 -6.51936148e-04 2.22714727e+01] [ 1.46064213e-03 -1.64920622e-05 9.99998933e-01 -5.54381619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:22.29, Z:-0.05 [[ 8.88033425e-01 -4.59777041e-01 -1.30712939e-03 1.82681580e+02] [ 4.59776579e-01 8.88034387e-01 -6.52043083e-04 2.22850155e+01] [ 1.46057028e-03 -2.19514254e-05 9.99998933e-01 -5.40730227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.71, Y:22.30, Z:-0.05 [[ 8.87129802e-01 -4.61518154e-01 -1.30700901e-03 1.82706353e+02] [ 4.61517694e-01 8.87130764e-01 -6.52284277e-04 2.22982521e+01] [ 1.46052894e-03 -2.45469651e-05 9.99998933e-01 -5.19648851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:22.31, Z:-0.05 [[ 8.86189676e-01 -4.63320785e-01 -1.30688907e-03 1.82731580e+02] [ 4.63320326e-01 8.86190639e-01 -6.52524506e-04 2.23114048e+01] [ 1.46048103e-03 -2.72477882e-05 9.99998933e-01 -5.18843033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:22.32, Z:-0.05 [[ 8.85468926e-01 -4.64696754e-01 -1.30676967e-03 1.82755434e+02] [ 4.64696297e-01 8.85469890e-01 -6.52763532e-04 2.23229406e+01] [ 1.46044229e-03 -2.92492014e-05 9.99998933e-01 -5.08525726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:22.33, Z:-0.05 [[ 8.84105062e-01 -4.67286349e-01 -1.30667694e-03 1.82781070e+02] [ 4.67285894e-01 8.84106027e-01 -6.52949096e-04 2.23349918e+01] [ 1.46035516e-03 -3.33161025e-05 9.99998933e-01 -5.06146050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:22.35, Z:-0.05 [[ 8.83681553e-01 -4.68086750e-01 -1.30655800e-03 1.82806662e+02] [ 4.68086296e-01 8.83682518e-01 -6.53187006e-04 2.23472428e+01] [ 1.46033065e-03 -3.43725883e-05 9.99998933e-01 -5.06420020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:22.36, Z:-0.05 [[ 8.83364509e-01 -4.68684795e-01 -1.30644007e-03 1.82832215e+02] [ 4.68684341e-01 8.83365474e-01 -6.53422807e-04 2.23588602e+01] [ 1.46031338e-03 -3.50974849e-05 9.99998933e-01 -5.09392149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:22.37, Z:-0.05 [[ 8.83393279e-01 -4.68630566e-01 -1.30632266e-03 1.82857484e+02] [ 4.68630112e-01 8.83394244e-01 -6.53657448e-04 2.23687878e+01] [ 1.46032178e-03 -3.47455365e-05 9.99998933e-01 -5.16560476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:22.38, Z:-0.05 [[ 8.83800994e-01 -4.67861194e-01 -1.30627155e-03 1.82882770e+02] [ 4.67860739e-01 8.83801958e-01 -6.53759570e-04 2.23803546e+01] [ 1.46035409e-03 -3.33598133e-05 9.99998933e-01 -5.23554366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:22.39, Z:-0.05 [[ 8.84497785e-01 -4.66542563e-01 -1.30615093e-03 1.82907182e+02] [ 4.66542106e-01 8.84498748e-01 -6.54000472e-04 2.23920829e+01] [ 1.46040792e-03 -3.09124351e-05 9.99998933e-01 -5.31143515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:22.40, Z:-0.05 [[ 8.85477209e-01 -4.64680972e-01 -1.30609840e-03 1.82932333e+02] [ 4.64680512e-01 8.85478172e-01 -6.54105348e-04 2.24039313e+01] [ 1.46047194e-03 -2.77230965e-05 9.99998933e-01 -5.20408952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.96, Y:22.41, Z:-0.05 [[ 8.86844490e-01 -4.62066170e-01 -1.30597573e-03 1.82957443e+02] [ 4.62065708e-01 8.86845451e-01 -6.54350177e-04 2.24147849e+01] [ 1.46055172e-03 -2.31397520e-05 9.99998933e-01 -5.17649968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:22.43, Z:-0.05 [[ 8.90041234e-01 -4.55878160e-01 -1.30592245e-03 1.82981653e+02] [ 4.55877691e-01 8.90042192e-01 -6.54456502e-04 2.24261497e+01] [ 1.46067850e-03 -1.28476376e-05 9.99998933e-01 -5.29459470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:22.44, Z:-0.05 [[ 8.91599456e-01 -4.52823040e-01 -1.30587164e-03 1.83006498e+02] [ 4.52822567e-01 8.91600412e-01 -6.54557869e-04 2.24390774e+01] [ 1.46071458e-03 -7.72470869e-06 9.99998933e-01 -5.24825013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.03, Y:22.45, Z:-0.05 [[ 8.93155209e-01 -4.49746671e-01 -1.30574785e-03 1.83031771e+02] [ 4.49746194e-01 8.93156163e-01 -6.54804725e-04 2.24514342e+01] [ 1.46073298e-03 -2.41287375e-06 9.99998933e-01 -5.07300435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:22.46, Z:-0.05 [[ 8.96075694e-01 -4.43899364e-01 -1.30562107e-03 1.83056370e+02] [ 4.43898880e-01 8.96076646e-01 -6.55057404e-04 2.24634413e+01] [ 1.46071612e-03 7.41728594e-06 9.99998933e-01 -5.28194723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:22.48, Z:-0.05 [[ 8.97378882e-01 -4.41258924e-01 -1.30556590e-03 1.83081514e+02] [ 4.41258438e-01 8.97379831e-01 -6.55167345e-04 2.24761548e+01] [ 1.46068695e-03 1.18413689e-05 9.99998933e-01 -5.08069519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.11, Y:22.49, Z:-0.05 [[ 8.98646073e-01 -4.38672464e-01 -1.30544054e-03 1.83106537e+02] [ 4.38671975e-01 8.98647021e-01 -6.55417031e-04 2.24890959e+01] [ 1.46064366e-03 1.63277609e-05 9.99998933e-01 -5.08118467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:22.50, Z:-0.05 [[ 9.00950240e-01 -4.33920455e-01 -1.30531527e-03 1.83130057e+02] [ 4.33919960e-01 9.00951185e-01 -6.55666425e-04 2.25018441e+01] [ 1.46053241e-03 2.43204732e-05 9.99998933e-01 -5.27043418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:22.52, Z:-0.05 [[ 9.01875620e-01 -4.31993822e-01 -1.30526088e-03 1.83154093e+02] [ 4.31993325e-01 9.01876564e-01 -6.55774686e-04 2.25157036e+01] [ 1.46047481e-03 2.75632148e-05 9.99998933e-01 -5.21554126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:22.53, Z:-0.05 [[ 9.02758958e-01 -4.30144813e-01 -1.30513857e-03 1.83178342e+02] [ 4.30144314e-01 9.02759901e-01 -6.56018011e-04 2.25297924e+01] [ 1.46040951e-03 3.08282005e-05 9.99998933e-01 -5.11722085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:22.54, Z:-0.05 [[ 9.03626939e-01 -4.28318400e-01 -1.30501512e-03 1.83201464e+02] [ 4.28317898e-01 9.03627881e-01 -6.56263499e-04 2.25429338e+01] [ 1.46033778e-03 3.40560425e-05 9.99998933e-01 -5.14537354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:22.56, Z:-0.05 [[ 9.05040670e-01 -4.25323033e-01 -1.30496159e-03 1.83225265e+02] [ 4.25322528e-01 9.05041610e-01 -6.56369935e-04 2.25586810e+01] [ 1.46021379e-03 3.90119242e-05 9.99998933e-01 -5.29931617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:22.57, Z:-0.05 [[ 9.05660762e-01 -4.24001040e-01 -1.30484038e-03 1.83248851e+02] [ 4.24000534e-01 9.05661701e-01 -6.56610806e-04 2.25734983e+01] [ 1.46014762e-03 4.14136263e-05 9.99998933e-01 -5.30577832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:183.27, Y:22.59, Z:-0.05 [[ 9.06120052e-01 -4.23018615e-01 -1.30471944e-03 1.83272986e+02] [ 4.23018107e-01 9.06120991e-01 -6.56851020e-04 2.25888823e+01] [ 1.46009388e-03 4.32659317e-05 9.99998933e-01 -5.15793590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:22.61, Z:-0.05 [[ 9.06786351e-01 -4.21588439e-01 -1.30459674e-03 1.83294632e+02] [ 4.21587930e-01 9.06787288e-01 -6.57094638e-04 2.26063593e+01] [ 1.46001524e-03 4.58422107e-05 9.99998933e-01 -5.38564914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:22.62, Z:-0.05 [[ 9.06826930e-01 -4.21501146e-01 -1.30451321e-03 1.83318549e+02] [ 4.21500636e-01 9.06827868e-01 -6.57260432e-04 2.26216335e+01] [ 1.46000496e-03 4.61683127e-05 9.99998933e-01 -5.36313156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:22.64, Z:-0.05 [[ 9.06531113e-01 -4.22136992e-01 -1.30439140e-03 1.83342012e+02] [ 4.22136482e-01 9.06532050e-01 -6.57502072e-04 2.26367129e+01] [ 1.46002856e-03 4.54148867e-05 9.99998933e-01 -5.43321670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.36, Y:22.65, Z:-0.06 [[ 9.05137302e-01 -4.25117353e-01 -1.30427009e-03 1.83363594e+02] [ 4.25116846e-01 9.05138241e-01 -6.57742626e-04 2.26540439e+01] [ 1.46016254e-03 4.08801981e-05 9.99998933e-01 -5.71653394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:22.67, Z:-0.06 [[ 9.04076071e-01 -4.27369579e-01 -1.30414948e-03 1.83386110e+02] [ 4.27369074e-01 9.04077011e-01 -6.57981685e-04 2.26684740e+01] [ 1.46025292e-03 3.75123405e-05 9.99998933e-01 -5.77121895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:22.68, Z:-0.06 [[ 9.02783366e-01 -4.30093586e-01 -1.30409829e-03 1.83409651e+02] [ 4.30093084e-01 9.02784308e-01 -6.58083118e-04 2.26838158e+01] [ 1.46035680e-03 3.32228353e-05 9.99998933e-01 -5.76480325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:22.70, Z:-0.06 [[ 9.01275475e-01 -4.33244524e-01 -1.30398180e-03 1.83433349e+02] [ 4.33244025e-01 9.01276418e-01 -6.58313865e-04 2.26994745e+01] [ 1.46045892e-03 2.83798166e-05 9.99998933e-01 -5.74894082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:22.72, Z:-0.06 [[ 8.98145776e-01 -4.39695878e-01 -1.30386476e-03 1.83455207e+02] [ 4.39695385e-01 8.98146722e-01 -6.58545606e-04 2.27153753e+01] [ 1.46062165e-03 1.81666382e-05 9.99998933e-01 -5.72683808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:22.73, Z:-0.06 [[ 8.96416109e-01 -4.43211530e-01 -1.30381369e-03 1.83479808e+02] [ 4.43211041e-01 8.96417057e-01 -6.58646701e-04 2.27295896e+01] [ 1.46068064e-03 1.25568918e-05 9.99998933e-01 -5.72773834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:22.75, Z:-0.06 [[ 8.93305176e-01 -4.49448732e-01 -1.30369719e-03 1.83503489e+02] [ 4.49448249e-01 8.93306128e-01 -6.58877203e-04 2.27454085e+01] [ 1.46073221e-03 2.63399549e-06 9.99998933e-01 -5.60840338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:22.76, Z:-0.06 [[ 8.91834720e-01 -4.52359516e-01 -1.30366117e-03 1.83527427e+02] [ 4.52359036e-01 8.91835673e-01 -6.58948475e-04 2.27601087e+01] [ 1.46073315e-03 -2.04978025e-06 9.99998933e-01 -5.58206345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:22.77, Z:-0.06 [[ 8.90569068e-01 -4.54846168e-01 -1.30354643e-03 1.83551196e+02] [ 4.54845691e-01 8.90570022e-01 -6.59175381e-04 2.27742016e+01] [ 1.46072276e-03 -5.87127018e-06 9.99998933e-01 -5.51699077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:22.79, Z:-0.05 [[ 8.89430056e-01 -4.57069445e-01 -1.30343225e-03 1.83575500e+02] [ 4.57068969e-01 8.89431011e-01 -6.59401072e-04 2.27883835e+01] [ 1.46070515e-03 -9.26730258e-06 9.99998933e-01 -5.44092031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:22.80, Z:-0.05 [[ 8.87686080e-01 -4.60447309e-01 -1.30331903e-03 1.83599358e+02] [ 4.60446837e-01 8.87687037e-01 -6.59624777e-04 2.28042212e+01] [ 1.46066186e-03 -1.45693923e-05 9.99998933e-01 -5.18758056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:22.82, Z:-0.05 [[ 8.86924081e-01 -4.61913387e-01 -1.30319099e-03 1.83622479e+02] [ 4.61912916e-01 8.86925038e-01 -6.59877644e-04 2.28175060e+01] [ 1.46063904e-03 -1.66993767e-05 9.99998933e-01 -5.29923500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:183.65, Y:22.83, Z:-0.05 [[ 8.86097528e-01 -4.63497003e-01 -1.30313521e-03 1.83647260e+02] [ 4.63496534e-01 8.86098486e-01 -6.59987785e-04 2.28314216e+01] [ 1.46060850e-03 -1.91851064e-05 9.99998933e-01 -5.17937079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:22.84, Z:-0.05 [[ 8.85485277e-01 -4.64665607e-01 -1.30300931e-03 1.83670945e+02] [ 4.64665138e-01 8.85486236e-01 -6.60236243e-04 2.28449649e+01] [ 1.46058589e-03 -2.08335306e-05 9.99998933e-01 -5.37911813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:22.86, Z:-0.05 [[ 8.85399216e-01 -4.64829571e-01 -1.30295461e-03 1.83696261e+02] [ 4.64829103e-01 8.85400175e-01 -6.60344178e-04 2.28580046e+01] [ 1.46058374e-03 -2.09830055e-05 9.99998933e-01 -5.37495809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:22.87, Z:-0.05 [[ 8.85377762e-01 -4.64870436e-01 -1.30283229e-03 1.83721148e+02] [ 4.64869967e-01 8.85378720e-01 -6.60585434e-04 2.28718543e+01] [ 1.46058662e-03 -2.07799485e-05 9.99998933e-01 -5.30513976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:22.89, Z:-0.05 [[ 8.85491750e-01 -4.64653273e-01 -1.30270559e-03 1.83744580e+02] [ 4.64652804e-01 8.85492708e-01 -6.60835198e-04 2.28851047e+01] [ 1.46059553e-03 -2.01416868e-05 9.99998933e-01 -5.41139416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:22.90, Z:-0.05 [[ 8.86248392e-01 -4.63208474e-01 -1.30261929e-03 1.83768235e+02] [ 4.63208002e-01 8.86249350e-01 -6.61005254e-04 2.29006782e+01] [ 1.46062873e-03 -1.75688365e-05 9.99998933e-01 -5.38952112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:22.91, Z:-0.05 [[ 8.86779905e-01 -4.62190116e-01 -1.30249621e-03 1.83791239e+02] [ 4.62189643e-01 8.86780862e-01 -6.61247694e-04 2.29139190e+01] [ 1.46065086e-03 -1.56190911e-05 9.99998933e-01 -5.43172220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:22.93, Z:-0.06 [[ 8.87366731e-01 -4.61062456e-01 -1.30244270e-03 1.83814443e+02] [ 4.61061982e-01 8.87367687e-01 -6.61353080e-04 2.29273366e+01] [ 1.46067064e-03 -1.36440902e-05 9.99998933e-01 -5.69145819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.84, Y:22.94, Z:-0.06 [[ 8.88010630e-01 -4.59821080e-01 -1.30232160e-03 1.83838524e+02] [ 4.59820604e-01 8.88011585e-01 -6.61591463e-04 2.29414350e+01] [ 1.46069037e-03 -1.13340521e-05 9.99998933e-01 -5.69930325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.86, Y:22.96, Z:-0.05 [[ 8.89390893e-01 -4.57145647e-01 -1.30221152e-03 1.83862384e+02] [ 4.57145168e-01 8.89391847e-01 -6.61808055e-04 2.29569313e+01] [ 1.46071898e-03 -6.69364801e-06 9.99998933e-01 -5.39124314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.89, Y:22.97, Z:-0.06 [[ 8.90002568e-01 -4.55953654e-01 -1.30208707e-03 1.83885517e+02] [ 4.55953173e-01 8.90003520e-01 -6.62052812e-04 2.29706649e+01] [ 1.46072748e-03 -4.46202994e-06 9.99998933e-01 -5.51789623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:22.98, Z:-0.05 [[ 8.90512479e-01 -4.54956953e-01 -1.30200202e-03 1.83910187e+02] [ 4.54956471e-01 8.90513431e-01 -6.62220030e-04 2.29848261e+01] [ 1.46073190e-03 -2.63904395e-06 9.99998933e-01 -5.48146000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.93, Y:23.00, Z:-0.06 [[ 8.90917434e-01 -4.54163442e-01 -1.30187774e-03 1.83933670e+02] [ 4.54162958e-01 8.90918385e-01 -6.62464270e-04 2.29979337e+01] [ 1.46073387e-03 -1.06367938e-06 9.99998933e-01 -5.64401919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.96, Y:23.01, Z:-0.05 [[ 8.91228852e-01 -4.53552025e-01 -1.30179298e-03 1.83957627e+02] [ 4.53551541e-01 8.91229802e-01 -6.62630786e-04 2.30125771e+01] [ 1.46073424e-03 1.25461857e-07 9.99998933e-01 -5.36559346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:23.03, Z:-0.05 [[ 8.91315439e-01 -4.53381841e-01 -1.30166873e-03 1.83982253e+02] [ 4.53381356e-01 8.91316390e-01 -6.62874768e-04 2.30266544e+01] [ 1.46073406e-03 6.78178873e-07 9.99998933e-01 -5.37149762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:23.04, Z:-0.05 [[ 8.91575113e-01 -4.52870980e-01 -1.30154223e-03 1.84004712e+02] [ 4.52870494e-01 8.91576063e-01 -6.63123070e-04 2.30418150e+01] [ 1.46073309e-03 1.79395436e-06 9.99998933e-01 -5.31398300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.03, Y:23.06, Z:-0.05 [[ 8.91721617e-01 -4.52582438e-01 -1.30148720e-03 1.84028659e+02] [ 4.52581953e-01 8.91722567e-01 -6.63231049e-04 2.30553622e+01] [ 1.46073223e-03 2.38784484e-06 9.99998933e-01 -5.28105401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.05, Y:23.07, Z:-0.05 [[ 8.91632181e-01 -4.52758611e-01 -1.30144913e-03 1.84052876e+02] [ 4.52758125e-01 8.91633131e-01 -6.63305738e-04 2.30684942e+01] [ 1.46073255e-03 2.18307136e-06 9.99998933e-01 -5.12275168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.08, Y:23.08, Z:-0.05 [[ 8.91424667e-01 -4.53167045e-01 -1.30132552e-03 1.84076286e+02] [ 4.53166559e-01 8.91425616e-01 -6.63548176e-04 2.30813883e+01] [ 1.46073307e-03 1.78600562e-06 9.99998933e-01 -5.21797452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:23.10, Z:-0.05 [[ 8.90970878e-01 -4.54058589e-01 -1.30127166e-03 1.84100101e+02] [ 4.54058104e-01 8.90971828e-01 -6.63653775e-04 2.30951939e+01] [ 1.46073408e-03 4.43244750e-07 9.99998933e-01 -5.27622282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.12, Y:23.11, Z:-0.05 [[ 8.89811233e-01 -4.56326940e-01 -1.30114999e-03 1.84124093e+02] [ 4.56326457e-01 8.89812184e-01 -6.63892228e-04 2.31097350e+01] [ 1.46073103e-03 -3.01040402e-06 9.99998933e-01 -5.35025661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:23.12, Z:-0.05 [[ 8.88996173e-01 -4.57912777e-01 -1.30102885e-03 1.84148585e+02] [ 4.57912296e-01 8.88997125e-01 -6.64129544e-04 2.31225181e+01] [ 1.46072431e-03 -5.34848405e-06 9.99998933e-01 -5.41574949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:23.13, Z:-0.05 [[ 8.88194386e-01 -4.59466038e-01 -1.30090737e-03 1.84173483e+02] [ 4.59465558e-01 8.88195339e-01 -6.64367422e-04 2.31347550e+01] [ 1.46071413e-03 -7.63471502e-06 9.99998933e-01 -5.47388965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.20, Y:23.15, Z:-0.05 [[ 8.87039338e-01 -4.61692019e-01 -1.30078684e-03 1.84198600e+02] [ 4.61691541e-01 8.87040292e-01 -6.64603331e-04 2.31469103e+01] [ 1.46069239e-03 -1.10329791e-05 9.99998933e-01 -5.39076302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:23.16, Z:-0.05 [[ 8.86569329e-01 -4.62593918e-01 -1.30066521e-03 1.84223211e+02] [ 4.62593441e-01 8.86570283e-01 -6.64841279e-04 2.31602158e+01] [ 1.46068265e-03 -1.22513069e-05 9.99998933e-01 -5.40882226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.25, Y:23.17, Z:-0.05 [[ 8.86443105e-01 -4.62835748e-01 -1.30054319e-03 1.84247647e+02] [ 4.62835270e-01 8.86444059e-01 -6.65079885e-04 2.31731126e+01] [ 1.46068153e-03 -1.23817796e-05 9.99998933e-01 -5.20023310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.27, Y:23.19, Z:-0.05 [[ 8.86885927e-01 -4.61986647e-01 -1.30041426e-03 1.84271507e+02] [ 4.61986168e-01 8.86886880e-01 -6.65331874e-04 2.31865327e+01] [ 1.46069479e-03 -1.06999261e-05 9.99998933e-01 -5.04565452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:23.20, Z:-0.05 [[ 8.87394355e-01 -4.61009292e-01 -1.30032607e-03 1.84296274e+02] [ 4.61008812e-01 8.87395308e-01 -6.65504188e-04 2.31999412e+01] [ 1.46070687e-03 -8.89711772e-06 9.99998933e-01 -5.23561724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:23.21, Z:-0.05 [[ 8.87945012e-01 -4.59947784e-01 -1.30028632e-03 1.84320405e+02] [ 4.59947303e-01 8.87945964e-01 -6.65581853e-04 2.32134496e+01] [ 1.46071689e-03 -7.06309748e-06 9.99998933e-01 -4.91608690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.34, Y:23.23, Z:-0.05 [[ 8.89216130e-01 -4.57485501e-01 -1.30015913e-03 1.84344826e+02] [ 4.57485016e-01 8.89217081e-01 -6.65830220e-04 2.32276607e+01] [ 1.46073137e-03 -2.73634705e-06 9.99998933e-01 -4.77050939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:23.24, Z:-0.05 [[ 8.89573644e-01 -4.56789932e-01 -1.30011956e-03 1.84368961e+02] [ 4.56789446e-01 8.89574594e-01 -6.65907474e-04 2.32411188e+01] [ 1.46073316e-03 -1.50715365e-06 9.99998933e-01 -4.71494253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.39, Y:23.25, Z:-0.05 [[ 8.89999834e-01 -4.55958995e-01 -1.29999345e-03 1.84393860e+02] [ 4.55958509e-01 8.90000783e-01 -6.66153565e-04 2.32545507e+01] [ 1.46073390e-03 1.33485983e-07 9.99998933e-01 -4.81123110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.42, Y:23.27, Z:-0.05 [[ 8.90446438e-01 -4.55086202e-01 -1.29995443e-03 1.84418210e+02] [ 4.55085715e-01 8.90447387e-01 -6.66229703e-04 2.32688134e+01] [ 1.46073297e-03 1.65117440e-06 9.99998933e-01 -4.82904100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:23.28, Z:-0.05 [[ 8.90693414e-01 -4.54602631e-01 -1.29983053e-03 1.84443477e+02] [ 4.54602143e-01 8.90694363e-01 -6.66471354e-04 2.32820834e+01] [ 1.46073136e-03 2.71590226e-06 9.99998933e-01 -4.98177823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.47, Y:23.30, Z:-0.05 [[ 8.90523664e-01 -4.54935067e-01 -1.29972085e-03 1.84467368e+02] [ 4.54934579e-01 8.90524612e-01 -6.66685176e-04 2.32950838e+01] [ 1.46073187e-03 2.41096803e-06 9.99998933e-01 -4.99912227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:23.31, Z:-0.05 [[ 8.90531243e-01 -4.54920232e-01 -1.29963527e-03 1.84491944e+02] [ 4.54919743e-01 8.90532191e-01 -6.66851955e-04 2.33084699e+01] [ 1.46073149e-03 2.62275556e-06 9.99998933e-01 -5.09658554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.52, Y:23.32, Z:-0.05 [[ 8.89832095e-01 -4.56286263e-01 -1.29959680e-03 1.84516625e+02] [ 4.56285776e-01 8.89833044e-01 -6.66926932e-04 2.33228173e+01] [ 1.46073377e-03 4.65456076e-07 9.99998933e-01 -5.19211817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:23.34, Z:-0.05 [[ 8.89212984e-01 -4.57491618e-01 -1.29949369e-03 1.84540731e+02] [ 4.57491131e-01 8.89213934e-01 -6.67127776e-04 2.33354253e+01] [ 1.46073326e-03 -1.28815807e-06 9.99998933e-01 -5.29212471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.57, Y:23.35, Z:-0.05 [[ 8.87903591e-01 -4.60027744e-01 -1.29943820e-03 1.84565262e+02] [ 4.60027260e-01 8.87904541e-01 -6.67235848e-04 2.33471068e+01] [ 1.46072408e-03 -5.33588825e-06 9.99998933e-01 -5.37435157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:23.36, Z:-0.05 [[ 8.87288112e-01 -4.61213745e-01 -1.29938370e-03 1.84590118e+02] [ 4.61213262e-01 8.87289063e-01 -6.67341952e-04 2.33597961e+01] [ 1.46071623e-03 -7.16841630e-06 9.99998933e-01 -5.27345073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:184.62, Y:23.37, Z:-0.05 [[ 8.86673859e-01 -4.62393533e-01 -1.29926054e-03 1.84615810e+02] [ 4.62393052e-01 8.86674811e-01 -6.67581660e-04 2.33731216e+01] [ 1.46070703e-03 -8.84183806e-06 9.99998933e-01 -5.03519033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:23.39, Z:-0.05 [[ 8.86326059e-01 -4.63059856e-01 -1.29915271e-03 1.84641259e+02] [ 4.63059375e-01 8.86327011e-01 -6.67791433e-04 2.33866888e+01] [ 1.46070154e-03 -9.70389201e-06 9.99998933e-01 -4.95306365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:23.40, Z:-0.05 [[ 8.85980065e-01 -4.63721508e-01 -1.29904435e-03 1.84666721e+02] [ 4.63721027e-01 8.85981017e-01 -6.68002148e-04 2.34003024e+01] [ 1.46069560e-03 -1.05575956e-05 9.99998933e-01 -4.76678060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:23.41, Z:-0.05 [[ 8.86055103e-01 -4.63578114e-01 -1.29893595e-03 1.84690807e+02] [ 4.63577633e-01 8.86056055e-01 -6.68212877e-04 2.34129371e+01] [ 1.46069893e-03 -1.00842233e-05 9.99998933e-01 -4.81737563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.72, Y:23.43, Z:-0.05 [[ 8.86058063e-01 -4.63572456e-01 -1.29888214e-03 1.84715114e+02] [ 4.63571975e-01 8.86059015e-01 -6.68317456e-04 2.34261621e+01] [ 1.46069979e-03 -9.95728821e-06 9.99998933e-01 -4.95196502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:23.44, Z:-0.05 [[ 8.86148671e-01 -4.63399229e-01 -1.29884404e-03 1.84739910e+02] [ 4.63398747e-01 8.86149623e-01 -6.68391496e-04 2.34398277e+01] [ 1.46070226e-03 -9.58846449e-06 9.99998933e-01 -5.01941286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.77, Y:23.45, Z:-0.05 [[ 8.86243220e-01 -4.63218380e-01 -1.29872098e-03 1.84765346e+02] [ 4.63217898e-01 8.86244172e-01 -6.68630509e-04 2.34529969e+01] [ 1.46070585e-03 -9.02154826e-06 9.99998933e-01 -5.23399245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:23.47, Z:-0.05 [[ 8.86198296e-01 -4.63304321e-01 -1.29861326e-03 1.84790054e+02] [ 4.63303839e-01 8.86199247e-01 -6.68839673e-04 2.34658085e+01] [ 1.46070640e-03 -8.92792817e-06 9.99998933e-01 -5.29740169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:23.48, Z:-0.05 [[ 8.86119592e-01 -4.63454833e-01 -1.29849059e-03 1.84813898e+02] [ 4.63454350e-01 8.86120544e-01 -6.69077732e-04 2.34785596e+01] [ 1.46070650e-03 -8.90822558e-06 9.99998933e-01 -5.28485915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:184.84, Y:23.49, Z:-0.05 [[ 8.86178411e-01 -4.63342356e-01 -1.29840701e-03 1.84838283e+02] [ 4.63341873e-01 8.86179362e-01 -6.69239887e-04 2.34930779e+01] [ 1.46070868e-03 -8.54039729e-06 9.99998933e-01 -4.88701663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:23.51, Z:-0.05 [[ 8.86307560e-01 -4.63095263e-01 -1.29836871e-03 1.84862592e+02] [ 4.63094780e-01 8.86308511e-01 -6.69314183e-04 2.35059736e+01] [ 1.46071147e-03 -8.04955149e-06 9.99998933e-01 -4.72230428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:23.52, Z:-0.05 [[ 8.86486981e-01 -4.62751712e-01 -1.29823790e-03 1.84886278e+02] [ 4.62751228e-01 8.86487932e-01 -6.69567820e-04 2.35181563e+01] [ 1.46071588e-03 -7.19802528e-06 9.99998933e-01 -4.84136097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:23.53, Z:-0.05 [[ 8.86657323e-01 -4.62425244e-01 -1.29818080e-03 1.84910531e+02] [ 4.62424759e-01 8.86658273e-01 -6.69678500e-04 2.35307858e+01] [ 1.46071899e-03 -6.53559876e-06 9.99998933e-01 -4.95897342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.94, Y:23.54, Z:-0.05 [[ 8.86972909e-01 -4.61819634e-01 -1.29814169e-03 1.84935239e+02] [ 4.61819148e-01 8.86973859e-01 -6.69754308e-04 2.35436929e+01] [ 1.46072343e-03 -5.45276249e-06 9.99998933e-01 -4.84892771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:23.56, Z:-0.05 [[ 8.87176155e-01 -4.61429068e-01 -1.29802157e-03 1.84960290e+02] [ 4.61428581e-01 8.87177105e-01 -6.69987022e-04 2.35571110e+01] [ 1.46072651e-03 -4.54774285e-06 9.99998933e-01 -4.75650577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:23.57, Z:-0.05 [[ 8.87401488e-01 -4.60995569e-01 -1.29804274e-03 1.84985105e+02] [ 4.60995082e-01 8.87402437e-01 -6.69946023e-04 2.35709497e+01] [ 1.46072844e-03 -3.88022117e-06 9.99998933e-01 -4.59305936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:23.58, Z:-0.05 [[ 8.87638809e-01 -4.60538447e-01 -1.29788169e-03 1.85008017e+02] [ 4.60537959e-01 8.87639757e-01 -6.70257870e-04 2.35844348e+01] [ 1.46073091e-03 -2.77688899e-06 9.99998933e-01 -4.71689081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:23.60, Z:-0.05 [[ 8.87677306e-01 -4.60464240e-01 -1.29782557e-03 1.85031404e+02] [ 4.60463752e-01 8.87678255e-01 -6.70366529e-04 2.35969957e+01] [ 1.46073135e-03 -2.53247627e-06 9.99998933e-01 -5.05627526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:23.61, Z:-0.05 [[ 8.87741447e-01 -4.60340568e-01 -1.29762032e-03 1.85057260e+02] [ 4.60340080e-01 8.87742396e-01 -6.70763721e-04 2.36106385e+01] [ 1.46073232e-03 -1.88188448e-06 9.99998933e-01 -4.78497317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:23.62, Z:-0.05 [[ 8.88062336e-01 -4.59721224e-01 -1.29766970e-03 1.85080931e+02] [ 4.59720735e-01 8.88063284e-01 -6.70668168e-04 2.36239288e+01] [ 1.46073321e-03 -9.70529937e-07 9.99998933e-01 -5.02445249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:23.64, Z:-0.05 [[ 8.88212219e-01 -4.59431573e-01 -1.29761397e-03 1.85105808e+02] [ 4.59431083e-01 8.88213167e-01 -6.70775990e-04 2.36372335e+01] [ 1.46073348e-03 -3.72758922e-07 9.99998933e-01 -4.92751876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:23.65, Z:-0.05 [[ 8.88261658e-01 -4.59335981e-01 -1.29749645e-03 1.85131301e+02] [ 4.59335491e-01 8.88262606e-01 -6.71003234e-04 2.36506073e+01] [ 1.46073350e-03 4.02787435e-08 9.99998933e-01 -4.62907465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.16, Y:23.66, Z:-0.04 [[ 8.88339054e-01 -4.59186281e-01 -1.29784202e-03 1.85155391e+02] [ 4.59185791e-01 8.88340002e-01 -6.70335197e-04 2.36638514e+01] [ 1.46073371e-03 -4.65678826e-07 9.99998933e-01 -4.25828605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:23.68, Z:-0.04 [[ 8.88206649e-01 -4.59442341e-01 -1.29733016e-03 1.85179896e+02] [ 4.59441851e-01 8.88207597e-01 -6.71324364e-04 2.36775855e+01] [ 1.46073334e-03 2.26995692e-07 9.99998933e-01 -4.28200573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:23.69, Z:-0.04 [[ 8.88019562e-01 -4.59803843e-01 -1.29729033e-03 1.85204366e+02] [ 4.59803353e-01 8.88020510e-01 -6.71401311e-04 2.36897453e+01] [ 1.46073333e-03 -2.80947229e-07 9.99998933e-01 -4.35513678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:23.70, Z:-0.04 [[ 8.87517080e-01 -4.60772993e-01 -1.29723519e-03 1.85228887e+02] [ 4.60772503e-01 8.87518028e-01 -6.71507846e-04 2.37007776e+01] [ 1.46073229e-03 -1.75562192e-06 9.99998933e-01 -4.36920520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:23.71, Z:-0.04 [[ 8.87432007e-01 -4.60936819e-01 -1.29718051e-03 1.85254080e+02] [ 4.60936330e-01 8.87432955e-01 -6.71613459e-04 2.37140354e+01] [ 1.46073210e-03 -1.90634165e-06 9.99998933e-01 -4.36504592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:23.73, Z:-0.04 [[ 8.87115802e-01 -4.61545092e-01 -1.29705648e-03 1.85278983e+02] [ 4.61544603e-01 8.87116750e-01 -6.71852894e-04 2.37268550e+01] [ 1.46073094e-03 -2.63810132e-06 9.99998933e-01 -4.29591601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:23.74, Z:-0.04 [[ 8.86743185e-01 -4.62260578e-01 -1.29693092e-03 1.85303037e+02] [ 4.62260089e-01 8.86744133e-01 -6.72095199e-04 2.37398596e+01] [ 1.46072900e-03 -3.54356309e-06 9.99998933e-01 -4.34223420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:23.75, Z:-0.05 [[ 8.85923629e-01 -4.63829324e-01 -1.29687625e-03 1.85328942e+02] [ 4.63828837e-01 8.85924578e-01 -6.72200665e-04 2.37534799e+01] [ 1.46072092e-03 -6.01014986e-06 9.99998933e-01 -4.53154588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.35, Y:23.77, Z:-0.04 [[ 8.85350864e-01 -4.64921678e-01 -1.29676796e-03 1.85354436e+02] [ 4.64921192e-01 8.85351813e-01 -6.72409501e-04 2.37659591e+01] [ 1.46071362e-03 -7.57657398e-06 9.99998933e-01 -4.49245094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.38, Y:23.78, Z:-0.04 [[ 8.84722863e-01 -4.66115624e-01 -1.29664320e-03 1.85379529e+02] [ 4.66115139e-01 8.84723813e-01 -6.72649997e-04 2.37781207e+01] [ 1.46070379e-03 -9.27619523e-06 9.99998933e-01 -4.49889695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:23.79, Z:-0.05 [[ 8.84177111e-01 -4.67150036e-01 -1.29651653e-03 1.85404064e+02] [ 4.67149552e-01 8.84178061e-01 -6.72894065e-04 2.37898941e+01] [ 1.46069396e-03 -1.07095858e-05 9.99998933e-01 -4.66664372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:23.80, Z:-0.04 [[ 8.83514877e-01 -4.68401304e-01 -1.29646156e-03 1.85430453e+02] [ 4.68400820e-01 8.83515828e-01 -6.72999967e-04 2.38008429e+01] [ 1.46067837e-03 -1.26581732e-05 9.99998933e-01 -4.44942349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.46, Y:23.81, Z:-0.04 [[ 8.83351808e-01 -4.68708761e-01 -1.29635287e-03 1.85455608e+02] [ 4.68708277e-01 8.83352759e-01 -6.73209258e-04 2.38133416e+01] [ 1.46067596e-03 -1.29307051e-05 9.99998933e-01 -4.21497677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:23.83, Z:-0.04 [[ 8.83232968e-01 -4.68932664e-01 -1.29622605e-03 1.85479935e+02] [ 4.68932181e-01 8.83233919e-01 -6.73453352e-04 2.38268582e+01] [ 1.46067509e-03 -1.30259062e-05 9.99998933e-01 -4.13533399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.51, Y:23.84, Z:-0.04 [[ 8.83585525e-01 -4.68268021e-01 -1.29609655e-03 1.85505319e+02] [ 4.68267537e-01 8.83586476e-01 -6.73702491e-04 2.38391203e+01] [ 1.46068672e-03 -1.16461689e-05 9.99998933e-01 -4.04203252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.53, Y:23.85, Z:-0.04 [[ 8.83862155e-01 -4.67745670e-01 -1.29596827e-03 1.85530306e+02] [ 4.67745184e-01 8.83863105e-01 -6.73949157e-04 2.38509983e+01] [ 1.46069534e-03 -1.05047651e-05 9.99998933e-01 -4.01689150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:23.86, Z:-0.04 [[ 8.84294331e-01 -4.66928107e-01 -1.29583767e-03 1.85554623e+02] [ 4.66927620e-01 8.84295281e-01 -6.74200175e-04 2.38631415e+01] [ 1.46070615e-03 -8.87100861e-06 9.99998933e-01 -4.18576814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:23.88, Z:-0.04 [[ 8.85392589e-01 -4.64842215e-01 -1.29578094e-03 1.85580246e+02] [ 4.64841726e-01 8.85393537e-01 -6.74309191e-04 2.38767884e+01] [ 1.46072345e-03 -5.30469013e-06 9.99998933e-01 -4.34703948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:185.60, Y:23.89, Z:-0.04 [[ 8.85944079e-01 -4.63790265e-01 -1.29566734e-03 1.85604075e+02] [ 4.63789774e-01 8.85945027e-01 -6.74527407e-04 2.38896024e+01] [ 1.46072928e-03 -3.32370019e-06 9.99998933e-01 -4.40638308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:23.90, Z:-0.05 [[ 8.86217477e-01 -4.63267638e-01 -1.29557860e-03 1.85627901e+02] [ 4.63267146e-01 8.86218424e-01 -6.74697808e-04 2.39022434e+01] [ 1.46073129e-03 -2.27001165e-06 9.99998933e-01 -4.58999849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:23.92, Z:-0.05 [[ 8.86181146e-01 -4.63337133e-01 -1.29552340e-03 1.85652829e+02] [ 4.63336642e-01 8.86182093e-01 -6.74803786e-04 2.39150828e+01] [ 1.46073129e-03 -2.26506845e-06 9.99998933e-01 -4.68689349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:23.93, Z:-0.05 [[ 8.85976602e-01 -4.63728134e-01 -1.29539790e-03 1.85677486e+02] [ 4.63727643e-01 8.85977549e-01 -6.75044613e-04 2.39283107e+01] [ 1.46073064e-03 -2.63808370e-06 9.99998933e-01 -4.64031348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.70, Y:23.94, Z:-0.04 [[ 8.85831832e-01 -4.64004620e-01 -1.29527314e-03 1.85702623e+02] [ 4.64004129e-01 8.85832779e-01 -6.75283929e-04 2.39409397e+01] [ 1.46073026e-03 -2.82408291e-06 9.99998933e-01 -4.47251473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:23.95, Z:-0.04 [[ 8.85594601e-01 -4.64457237e-01 -1.29514791e-03 1.85727936e+02] [ 4.64456745e-01 8.85595548e-01 -6.75524014e-04 2.39533529e+01] [ 1.46072924e-03 -3.29976496e-06 9.99998933e-01 -4.37001604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:185.75, Y:23.97, Z:-0.04 [[ 8.85606079e-01 -4.64435351e-01 -1.29508963e-03 1.85752483e+02] [ 4.64434860e-01 8.85607026e-01 -6.75635735e-04 2.39658599e+01] [ 1.46072959e-03 -3.13765592e-06 9.99998933e-01 -4.27136776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:23.98, Z:-0.04 [[ 8.85666471e-01 -4.64320176e-01 -1.29496548e-03 1.85777557e+02] [ 4.64319684e-01 8.85667418e-01 -6.75873603e-04 2.39793264e+01] [ 1.46073048e-03 -2.67937375e-06 9.99998933e-01 -4.18226364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:23.99, Z:-0.04 [[ 8.85968960e-01 -4.63742736e-01 -1.29485189e-03 1.85802203e+02] [ 4.63742244e-01 8.85969906e-01 -6.76091148e-04 2.39931907e+01] [ 1.46073217e-03 -1.48175003e-06 9.99998933e-01 -4.16105574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:185.83, Y:24.01, Z:-0.04 [[ 8.86067347e-01 -4.63554721e-01 -1.29481158e-03 1.85827413e+02] [ 4.63554228e-01 8.86068293e-01 -6.76168346e-04 2.40063098e+01] [ 1.46073251e-03 -1.08468929e-06 9.99998933e-01 -4.08257269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:24.02, Z:-0.04 [[ 8.86118628e-01 -4.63456687e-01 -1.29469366e-03 1.85851133e+02] [ 4.63456194e-01 8.86119574e-01 -6.76394062e-04 2.40188908e+01] [ 1.46073274e-03 -6.68415472e-07 9.99998933e-01 -4.22939823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:24.03, Z:-0.04 [[ 8.86225388e-01 -4.63252508e-01 -1.29463867e-03 1.85876240e+02] [ 4.63252014e-01 8.86226333e-01 -6.76499281e-04 2.40315266e+01] [ 1.46073287e-03 -2.13135721e-07 9.99998933e-01 -4.19955428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:24.04, Z:-0.04 [[ 8.86164012e-01 -4.63369904e-01 -1.29456340e-03 1.85900714e+02] [ 4.63369410e-01 8.86164957e-01 -6.76643288e-04 2.40446956e+01] [ 1.46073286e-03 -2.44150809e-07 9.99998933e-01 -4.13285560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:24.06, Z:-0.04 [[ 8.86170270e-01 -4.63357937e-01 -1.29443817e-03 1.85924374e+02] [ 4.63357442e-01 8.86171215e-01 -6.76882778e-04 2.40572456e+01] [ 1.46073285e-03 4.58327960e-08 9.99998933e-01 -4.22230631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:24.07, Z:-0.04 [[ 8.85960237e-01 -4.63759402e-01 -1.29438397e-03 1.85949588e+02] [ 4.63758908e-01 8.85961183e-01 -6.76986413e-04 2.40700395e+01] [ 1.46073277e-03 -4.99052171e-07 9.99998933e-01 -4.09964607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:24.08, Z:-0.04 [[ 8.85767821e-01 -4.64126806e-01 -1.29425895e-03 1.85974323e+02] [ 4.64126312e-01 8.85768766e-01 -6.77225331e-04 2.40821722e+01] [ 1.46073259e-03 -8.35229330e-07 9.99998933e-01 -4.00826691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:24.09, Z:-0.04 [[ 8.85436112e-01 -4.64759311e-01 -1.29413339e-03 1.86000124e+02] [ 4.64758818e-01 8.85437057e-01 -6.77465189e-04 2.40942445e+01] [ 1.46073192e-03 -1.60776243e-06 9.99998933e-01 -4.00020238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:24.11, Z:-0.04 [[ 8.85211856e-01 -4.65186303e-01 -1.29401597e-03 1.86024500e+02] [ 4.65185809e-01 8.85212801e-01 -6.77689393e-04 2.41069949e+01] [ 1.46073133e-03 -2.05918239e-06 9.99998933e-01 -3.95830873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:24.12, Z:-0.04 [[ 8.84875839e-01 -4.65825155e-01 -1.29388960e-03 1.86049530e+02] [ 4.65824662e-01 8.84876785e-01 -6.77930581e-04 2.41194738e+01] [ 1.46072999e-03 -2.84129457e-06 9.99998933e-01 -3.93505614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:24.13, Z:-0.04 [[ 8.84014025e-01 -4.67458587e-01 -1.29376226e-03 1.86073966e+02] [ 4.67458095e-01 8.84014971e-01 -6.78173516e-04 2.41302129e+01] [ 1.46072324e-03 -5.26474167e-06 9.99998933e-01 -3.98460860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:24.14, Z:-0.04 [[ 8.83372111e-01 -4.68670503e-01 -1.29370685e-03 1.86099732e+02] [ 4.68670012e-01 8.83373058e-01 -6.78279193e-04 2.41423157e+01] [ 1.46071523e-03 -7.14868482e-06 9.99998933e-01 -4.07289244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:24.15, Z:-0.04 [[ 8.82636971e-01 -4.70053513e-01 -1.29358105e-03 1.86124664e+02] [ 4.70053023e-01 8.82637918e-01 -6.78519043e-04 2.41541590e+01] [ 1.46070394e-03 -9.16568873e-06 9.99998933e-01 -4.21555996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:186.15, Y:24.16, Z:-0.04 [[ 8.81007654e-01 -4.73100244e-01 -1.29345584e-03 1.86151103e+02] [ 4.73099757e-01 8.81008603e-01 -6.78757641e-04 2.41642723e+01] [ 1.46066613e-03 -1.39429660e-05 9.99998933e-01 -4.28401514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:24.18, Z:-0.04 [[ 8.80233705e-01 -4.74538672e-01 -1.29333112e-03 1.86176778e+02] [ 4.74538186e-01 8.80234655e-01 -6.78995209e-04 2.41753699e+01] [ 1.46064435e-03 -1.60605341e-05 9.99998933e-01 -4.34043633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:24.19, Z:-0.04 [[ 8.79565338e-01 -4.75776360e-01 -1.29320551e-03 1.86202022e+02] [ 4.75775875e-01 8.79566288e-01 -6.79234354e-04 2.41862867e+01] [ 1.46062362e-03 -1.78449890e-05 9.99998933e-01 -4.34208586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:24.20, Z:-0.04 [[ 8.79055536e-01 -4.76717624e-01 -1.29315094e-03 1.86227227e+02] [ 4.76717141e-01 8.79056486e-01 -6.79338226e-04 2.41974493e+01] [ 1.46060523e-03 -1.92911912e-05 9.99998933e-01 -4.26401661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:24.21, Z:-0.04 [[ 8.78571495e-01 -4.77609103e-01 -1.29302750e-03 1.86253308e+02] [ 4.77608620e-01 8.78572447e-01 -6.79573097e-04 2.42062215e+01] [ 1.46058863e-03 -2.05075285e-05 9.99998933e-01 -4.26027335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:24.22, Z:-0.04 [[ 8.78468021e-01 -4.77799397e-01 -1.29297369e-03 1.86277994e+02] [ 4.77798914e-01 8.78468973e-01 -6.79675457e-04 2.42166378e+01] [ 1.46058580e-03 -2.07082723e-05 9.99998933e-01 -4.22080000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.30, Y:24.23, Z:-0.04 [[ 8.78515305e-01 -4.77712453e-01 -1.29285171e-03 1.86304661e+02] [ 4.77711970e-01 8.78516256e-01 -6.79907406e-04 2.42285794e+01] [ 1.46059148e-03 -2.03016763e-05 9.99998933e-01 -4.07060213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:24.24, Z:-0.04 [[ 8.78745567e-01 -4.77288757e-01 -1.29274550e-03 1.86330180e+02] [ 4.77288272e-01 8.78746518e-01 -6.80109295e-04 2.42399532e+01] [ 1.46060413e-03 -1.93692372e-05 9.99998933e-01 -3.80525193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.36, Y:24.25, Z:-0.04 [[ 8.79304006e-01 -4.76259167e-01 -1.29261255e-03 1.86356197e+02] [ 4.76258681e-01 8.79304956e-01 -6.80361877e-04 2.42485028e+01] [ 1.46062921e-03 -1.73730263e-05 9.99998933e-01 -3.99665639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:24.26, Z:-0.04 [[ 8.79728837e-01 -4.75473977e-01 -1.29255502e-03 1.86382264e+02] [ 4.75473490e-01 8.79729786e-01 -6.80471162e-04 2.42598331e+01] [ 1.46064548e-03 -1.59455429e-05 9.99998933e-01 -3.97782365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:24.27, Z:-0.04 [[ 8.80315100e-01 -4.74387662e-01 -1.29243487e-03 1.86408065e+02] [ 4.74387174e-01 8.80316049e-01 -6.80699287e-04 2.42717263e+01] [ 1.46066650e-03 -1.38846650e-05 9.99998933e-01 -3.74112583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:24.28, Z:-0.04 [[ 8.82023106e-01 -4.71204383e-01 -1.29230151e-03 1.86433319e+02] [ 4.71203891e-01 8.82024053e-01 -6.80952386e-04 2.42808546e+01] [ 1.46070876e-03 -8.32175849e-06 9.99998933e-01 -3.87960082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:24.29, Z:-0.04 [[ 8.82814871e-01 -4.69719314e-01 -1.29221048e-03 1.86458428e+02] [ 4.69718820e-01 8.82815817e-01 -6.81125069e-04 2.42917290e+01] [ 1.46072145e-03 -5.66824409e-06 9.99998933e-01 -4.09050238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:24.30, Z:-0.04 [[ 8.83412412e-01 -4.68594537e-01 -1.29215548e-03 1.86483914e+02] [ 4.68594042e-01 8.83413357e-01 -6.81229410e-04 2.43031047e+01] [ 1.46072779e-03 -3.68984108e-06 9.99998933e-01 -3.91318376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.51, Y:24.31, Z:-0.04 [[ 8.84422927e-01 -4.66684494e-01 -1.29202645e-03 1.86510768e+02] [ 4.66683996e-01 8.84423871e-01 -6.81474032e-04 2.43129295e+01] [ 1.46073240e-03 -2.56808541e-07 9.99998933e-01 -3.94068736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:24.32, Z:-0.04 [[ 8.84571484e-01 -4.66402853e-01 -1.29189789e-03 1.86535930e+02] [ 4.66402355e-01 8.84572427e-01 -6.81717669e-04 2.43244585e+01] [ 1.46073231e-03 4.83793827e-07 9.99998933e-01 -4.05811835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:24.34, Z:-0.04 [[ 8.84485495e-01 -4.66565901e-01 -1.29176904e-03 1.86561714e+02] [ 4.66565403e-01 8.84486438e-01 -6.81961721e-04 2.43358708e+01] [ 1.46073229e-03 4.90505358e-07 9.99998933e-01 -4.07592391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:24.35, Z:-0.04 [[ 8.84320505e-01 -4.66878546e-01 -1.29164016e-03 1.86587910e+02] [ 4.66878047e-01 8.84321448e-01 -6.82205748e-04 2.43457370e+01] [ 1.46073232e-03 2.50096948e-07 9.99998933e-01 -4.04282671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.61, Y:24.36, Z:-0.04 [[ 8.84514069e-01 -4.66511730e-01 -1.29150883e-03 1.86612798e+02] [ 4.66511230e-01 8.84515012e-01 -6.82454276e-04 2.43575809e+01] [ 1.46073187e-03 1.13703454e-06 9.99998933e-01 -3.94603852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:24.37, Z:-0.04 [[ 8.85521180e-01 -4.64597216e-01 -1.29137811e-03 1.86639431e+02] [ 4.64596714e-01 8.85522121e-01 -6.82701540e-04 2.43691717e+01] [ 1.46072512e-03 4.57664582e-06 9.99998933e-01 -3.70216236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:24.38, Z:-0.04 [[ 8.86283176e-01 -4.63141949e-01 -1.29126399e-03 1.86663523e+02] [ 4.63141446e-01 8.86284116e-01 -6.82917328e-04 2.43806086e+01] [ 1.46071442e-03 7.22026848e-06 9.99998933e-01 -3.67333151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:24.39, Z:-0.04 [[ 8.87005087e-01 -4.61757847e-01 -1.29120713e-03 1.86688646e+02] [ 4.61757341e-01 8.87006027e-01 -6.83024813e-04 2.43932329e+01] [ 1.46070057e-03 9.62211275e-06 9.99998933e-01 -3.62365342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:24.41, Z:-0.04 [[ 8.87745872e-01 -4.60332054e-01 -1.29107774e-03 1.86713806e+02] [ 4.60331547e-01 8.87746811e-01 -6.83269297e-04 2.44058822e+01] [ 1.46068091e-03 1.22456841e-05 9.99998933e-01 -3.52795325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:24.42, Z:-0.04 [[ 8.89089021e-01 -4.57732506e-01 -1.29094575e-03 1.86738111e+02] [ 4.57731996e-01 8.89089958e-01 -6.83518591e-04 2.44182383e+01] [ 1.46063558e-03 1.68017003e-05 9.99998933e-01 -3.56342577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:24.43, Z:-0.04 [[ 8.89430016e-01 -4.57069558e-01 -1.29088836e-03 1.86762030e+02] [ 4.57069047e-01 8.89430952e-01 -6.83626966e-04 2.44313798e+01] [ 1.46062113e-03 1.80132322e-05 9.99998933e-01 -3.62556061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:186.79, Y:24.44, Z:-0.04 [[ 8.89759550e-01 -4.56427734e-01 -1.29079974e-03 1.86786603e+02] [ 4.56427222e-01 8.89760486e-01 -6.83794237e-04 2.44442282e+01] [ 1.46060526e-03 1.92563113e-05 9.99998933e-01 -3.54773835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.81, Y:24.46, Z:-0.04 [[ 8.89729342e-01 -4.56486619e-01 -1.29067235e-03 1.86810995e+02] [ 4.56486106e-01 8.89730278e-01 -6.84034612e-04 2.44579057e+01] [ 1.46060291e-03 1.94316698e-05 9.99998933e-01 -3.53292013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.84, Y:24.47, Z:-0.04 [[ 8.89642727e-01 -4.56655398e-01 -1.29054201e-03 1.86836069e+02] [ 4.56654886e-01 8.89643663e-01 -6.84280428e-04 2.44714187e+01] [ 1.46060287e-03 1.94327908e-05 9.99998933e-01 -3.52875954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:24.48, Z:-0.04 [[ 8.89417316e-01 -4.57094272e-01 -1.29041215e-03 1.86860973e+02] [ 4.57093760e-01 8.89418251e-01 -6.84525228e-04 2.44842164e+01] [ 1.46060868e-03 1.89892485e-05 9.99998933e-01 -3.82464248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:24.50, Z:-0.04 [[ 8.89105589e-01 -4.57700325e-01 -1.29037184e-03 1.86885581e+02] [ 4.57699813e-01 8.89106525e-01 -6.84601214e-04 2.44972748e+01] [ 1.46062022e-03 1.80798159e-05 9.99998933e-01 -3.93739053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:24.51, Z:-0.04 [[ 8.88780266e-01 -4.58331730e-01 -1.29024489e-03 1.86910625e+02] [ 4.58331219e-01 8.88781202e-01 -6.84840389e-04 2.45107729e+01] [ 1.46062948e-03 1.73131106e-05 9.99998933e-01 -3.99388645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:24.52, Z:-0.04 [[ 8.88226297e-01 -4.59404376e-01 -1.29011621e-03 1.86935341e+02] [ 4.59403865e-01 8.88227234e-01 -6.85082718e-04 2.45237677e+01] [ 1.46064635e-03 1.58241149e-05 9.99998933e-01 -3.98812843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:24.54, Z:-0.04 [[ 8.87762687e-01 -4.60299628e-01 -1.28998786e-03 1.86960357e+02] [ 4.60299118e-01 8.87763624e-01 -6.85324294e-04 2.45366526e+01] [ 1.46065882e-03 1.46250612e-05 9.99998933e-01 -3.99824381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:24.55, Z:-0.04 [[ 8.87128114e-01 -4.61521446e-01 -1.28985861e-03 1.86984912e+02] [ 4.61520937e-01 8.87129052e-01 -6.85567488e-04 2.45490927e+01] [ 1.46067514e-03 1.28894396e-05 9.99998933e-01 -3.88707773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:24.56, Z:-0.04 [[ 8.86330281e-01 -4.63051800e-01 -1.28972644e-03 1.87009256e+02] [ 4.63051292e-01 8.86331220e-01 -6.85816027e-04 2.45612107e+01] [ 1.46069316e-03 1.06500156e-05 9.99998933e-01 -3.97222765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:24.57, Z:-0.04 [[ 8.84393490e-01 -4.66740283e-01 -1.28966895e-03 1.87034200e+02] [ 4.66739779e-01 8.84394430e-01 -6.85924132e-04 2.45728302e+01] [ 1.46072446e-03 4.68703636e-06 9.99998933e-01 -3.95748196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:24.59, Z:-0.04 [[ 8.83204094e-01 -4.68987062e-01 -1.28961535e-03 1.87059657e+02] [ 4.68986560e-01 8.83205036e-01 -6.86024893e-04 2.45854947e+01] [ 1.46073157e-03 1.08772882e-06 9.99998933e-01 -3.85796234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.09, Y:24.60, Z:-0.04 [[ 8.82067418e-01 -4.71121436e-01 -1.28948713e-03 1.87085144e+02] [ 4.71120936e-01 8.82068360e-01 -6.86265808e-04 2.45982139e+01] [ 1.46073033e-03 -2.17167573e-06 9.99998933e-01 -3.69147958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.11, Y:24.61, Z:-0.03 [[ 8.80426262e-01 -4.74181331e-01 -1.28935672e-03 1.87109909e+02] [ 4.74180835e-01 8.80427206e-01 -6.86510730e-04 2.46108143e+01] [ 1.46071531e-03 -6.96617233e-06 9.99998933e-01 -3.49875274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:187.13, Y:24.62, Z:-0.04 [[ 8.79951929e-01 -4.75060987e-01 -1.28922410e-03 1.87134156e+02] [ 4.75060491e-01 8.79952873e-01 -6.86759691e-04 2.46236006e+01] [ 1.46070919e-03 -8.14392147e-06 9.99998933e-01 -3.57387423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:24.64, Z:-0.04 [[ 8.79470069e-01 -4.75952451e-01 -1.28916661e-03 1.87159145e+02] [ 4.75951955e-01 8.79471014e-01 -6.86867594e-04 2.46357711e+01] [ 1.46070098e-03 -9.50188019e-06 9.99998933e-01 -3.71490765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:24.65, Z:-0.04 [[ 8.78689359e-01 -4.77392237e-01 -1.28903989e-03 1.87185657e+02] [ 4.77391743e-01 8.78690305e-01 -6.87105339e-04 2.46462764e+01] [ 1.46068561e-03 -1.16248475e-05 9.99998933e-01 -3.70220999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:24.66, Z:-0.04 [[ 8.78440225e-01 -4.77850509e-01 -1.28891092e-03 1.87210675e+02] [ 4.77850015e-01 8.78441171e-01 -6.87347186e-04 2.46580147e+01] [ 1.46068162e-03 -1.21126833e-05 9.99998933e-01 -3.76372653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:24.67, Z:-0.04 [[ 8.78244295e-01 -4.78210515e-01 -1.28878197e-03 1.87235396e+02] [ 4.78210021e-01 8.78245241e-01 -6.87588871e-04 2.46699227e+01] [ 1.46067886e-03 -1.24374502e-05 9.99998933e-01 -3.87631221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:187.26, Y:24.68, Z:-0.04 [[ 8.78128499e-01 -4.78423117e-01 -1.28874192e-03 1.87260234e+02] [ 4.78422623e-01 8.78129444e-01 -6.87663929e-04 2.46826097e+01] [ 1.46067655e-03 -1.27059970e-05 9.99998933e-01 -3.83962095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:187.29, Y:24.69, Z:-0.04 [[ 8.78471645e-01 -4.77792746e-01 -1.28861418e-03 1.87285796e+02] [ 4.77792251e-01 8.78472590e-01 -6.87903226e-04 2.46942122e+01] [ 1.46068741e-03 -1.13863905e-05 9.99998933e-01 -3.89489467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:24.71, Z:-0.04 [[ 8.78900366e-01 -4.77003654e-01 -1.28848613e-03 1.87311324e+02] [ 4.77003158e-01 8.78901311e-01 -6.88142980e-04 2.47067086e+01] [ 1.46069887e-03 -9.80283619e-06 9.99998933e-01 -4.03372808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:24.72, Z:-0.04 [[ 8.79313630e-01 -4.76241409e-01 -1.28835830e-03 1.87336393e+02] [ 4.76240912e-01 8.79314574e-01 -6.88382229e-04 2.47190894e+01] [ 1.46070835e-03 -8.26505433e-06 9.99998933e-01 -4.03489712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:24.73, Z:-0.04 [[ 8.80572485e-01 -4.73909738e-01 -1.28822881e-03 1.87361795e+02] [ 4.73909238e-01 8.80573427e-01 -6.88624461e-04 2.47284607e+01] [ 1.46072590e-03 -4.11978244e-06 9.99998933e-01 -4.01254668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:24.74, Z:-0.04 [[ 8.81165811e-01 -4.72805620e-01 -1.28817316e-03 1.87386718e+02] [ 4.72805119e-01 8.81166752e-01 -6.88728546e-04 2.47406726e+01] [ 1.46073009e-03 -2.17081837e-06 9.99998933e-01 -3.99511176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:24.75, Z:-0.04 [[ 8.81995370e-01 -4.71256308e-01 -1.28804479e-03 1.87411653e+02] [ 4.71255804e-01 8.81996311e-01 -6.88968549e-04 2.47532787e+01] [ 1.46073153e-03 6.68488323e-07 9.99998933e-01 -3.92727274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:24.77, Z:-0.04 [[ 8.83858642e-01 -4.67752330e-01 -1.28791406e-03 1.87435872e+02] [ 4.67751822e-01 8.83859581e-01 -6.89212834e-04 2.47661363e+01] [ 1.46071609e-03 6.74257190e-06 9.99998933e-01 -3.96652867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:24.78, Z:-0.04 [[ 8.84735312e-01 -4.66092017e-01 -1.28782480e-03 1.87460562e+02] [ 4.66091507e-01 8.84736250e-01 -6.89379584e-04 2.47793457e+01] [ 1.46069960e-03 9.67426028e-06 9.99998933e-01 -3.89256155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:187.48, Y:24.79, Z:-0.04 [[ 8.85682855e-01 -4.64288943e-01 -1.28769571e-03 1.87484956e+02] [ 4.64288431e-01 8.85683791e-01 -6.89620634e-04 2.47925258e+01] [ 1.46067445e-03 1.29229540e-05 9.99998933e-01 -3.80349366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:24.81, Z:-0.04 [[ 8.87641335e-01 -4.60533606e-01 -1.28756617e-03 1.87508438e+02] [ 4.60533090e-01 8.87642269e-01 -6.89862405e-04 2.48053942e+01] [ 1.46060297e-03 1.93835613e-05 9.99998933e-01 -3.92016256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:24.82, Z:-0.04 [[ 8.88457809e-01 -4.58956495e-01 -1.28747819e-03 1.87533213e+02] [ 4.58955977e-01 8.88458742e-01 -6.90026560e-04 2.48183622e+01] [ 1.46056342e-03 2.21636763e-05 9.99998933e-01 -3.95263038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:24.83, Z:-0.04 [[ 8.89156739e-01 -4.57600957e-01 -1.28735039e-03 1.87557313e+02] [ 4.57600437e-01 8.89157671e-01 -6.90264910e-04 2.48313390e+01] [ 1.46052336e-03 2.46615969e-05 9.99998933e-01 -3.95521918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:24.84, Z:-0.04 [[ 8.90336251e-01 -4.55301771e-01 -1.28729482e-03 1.87581389e+02] [ 4.55301249e-01 8.90337181e-01 -6.90368521e-04 2.48448553e+01] [ 1.46045245e-03 2.85531820e-05 9.99998933e-01 -3.88825617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.61, Y:24.86, Z:-0.04 [[ 8.90726224e-01 -4.54538378e-01 -1.28716828e-03 1.87605400e+02] [ 4.54537854e-01 8.90727154e-01 -6.90604374e-04 2.48590220e+01] [ 1.46042193e-03 3.00727189e-05 9.99998933e-01 -3.78019180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:24.87, Z:-0.04 [[ 8.91109417e-01 -4.53786680e-01 -1.28703638e-03 1.87629588e+02] [ 4.53786155e-01 8.91110346e-01 -6.90850092e-04 2.48736999e+01] [ 1.46039001e-03 3.15837311e-05 9.99998933e-01 -3.80466929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:24.89, Z:-0.04 [[ 8.91571211e-01 -4.52878702e-01 -1.28699545e-03 1.87653085e+02] [ 4.52878176e-01 8.91572140e-01 -6.90926338e-04 2.48897701e+01] [ 1.46035511e-03 3.31578790e-05 9.99998933e-01 -3.67801527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:24.90, Z:-0.04 [[ 8.91784782e-01 -4.52458006e-01 -1.28686730e-03 1.87677335e+02] [ 4.52457479e-01 8.91785710e-01 -6.91164943e-04 2.49046118e+01] [ 1.46033298e-03 3.41176442e-05 9.99998933e-01 -3.67924065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:24.92, Z:-0.04 [[ 8.91951367e-01 -4.52129521e-01 -1.28673768e-03 1.87701136e+02] [ 4.52128994e-01 8.91952294e-01 -6.91406165e-04 2.49196098e+01] [ 1.46031377e-03 3.49292614e-05 9.99998933e-01 -3.75165219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:24.93, Z:-0.04 [[ 8.92039338e-01 -4.51955932e-01 -1.28660871e-03 1.87725159e+02] [ 4.51955404e-01 8.92040265e-01 -6.91646075e-04 2.49348276e+01] [ 1.46030032e-03 3.54857463e-05 9.99998933e-01 -3.82274377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:24.95, Z:-0.04 [[ 8.92023422e-01 -4.51987345e-01 -1.28647868e-03 1.87748980e+02] [ 4.51986817e-01 8.92024349e-01 -6.91887859e-04 2.49498414e+01] [ 1.46029486e-03 3.57087725e-05 9.99998933e-01 -3.95890644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:24.97, Z:-0.04 [[ 8.91510139e-01 -4.52998915e-01 -1.28634918e-03 1.87772022e+02] [ 4.52998387e-01 8.91511067e-01 -6.92128538e-04 2.49665987e+01] [ 1.46032800e-03 3.43255060e-05 9.99998933e-01 -4.16221978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:24.98, Z:-0.04 [[ 8.90955000e-01 -4.54089786e-01 -1.28621959e-03 1.87795626e+02] [ 4.54089259e-01 8.90955928e-01 -6.92369272e-04 2.49823211e+01] [ 1.46036278e-03 3.28113626e-05 9.99998933e-01 -4.18343292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:187.82, Y:25.00, Z:-0.04 [[ 8.90259152e-01 -4.55452510e-01 -1.28608930e-03 1.87818105e+02] [ 4.55451984e-01 8.90260080e-01 -6.92611199e-04 2.49969761e+01] [ 1.46040548e-03 3.08515330e-05 9.99998933e-01 -4.08072617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:25.01, Z:-0.04 [[ 8.88468433e-01 -4.58935932e-01 -1.28603267e-03 1.87842359e+02] [ 4.58935410e-01 8.88469363e-01 -6.92716343e-04 2.50134661e+01] [ 1.46051305e-03 2.52506730e-05 9.99998933e-01 -3.87866505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:25.03, Z:-0.04 [[ 8.87464782e-01 -4.60873744e-01 -1.28591771e-03 1.87866488e+02] [ 4.60873223e-01 8.87465713e-01 -6.92929681e-04 2.50279675e+01] [ 1.46056097e-03 2.23056486e-05 9.99998933e-01 -3.83862144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:25.04, Z:-0.04 [[ 8.86351185e-01 -4.63011795e-01 -1.28587680e-03 1.87890594e+02] [ 4.63011277e-01 8.86352118e-01 -6.93005586e-04 2.50424414e+01] [ 1.46060939e-03 1.88708622e-05 9.99998933e-01 -3.75161590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:25.06, Z:-0.04 [[ 8.84376086e-01 -4.66773270e-01 -1.28575241e-03 1.87913557e+02] [ 4.66772756e-01 8.84377020e-01 -6.93236299e-04 2.50579359e+01] [ 1.46067406e-03 1.29274090e-05 9.99998933e-01 -3.76282840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:25.07, Z:-0.04 [[ 8.83356062e-01 -4.68700773e-01 -1.28561938e-03 1.87937263e+02] [ 4.68700260e-01 8.83356998e-01 -6.93482911e-04 2.50730473e+01] [ 1.46069685e-03 1.00221951e-05 9.99998933e-01 -3.73884692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:25.09, Z:-0.04 [[ 8.81435619e-01 -4.72302442e-01 -1.28548744e-03 1.87959265e+02] [ 4.72301933e-01 8.81436557e-01 -6.93727401e-04 2.50885357e+01] [ 1.46072477e-03 4.33783901e-06 9.99998933e-01 -3.86302155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:25.10, Z:-0.04 [[ 8.80418950e-01 -4.74194918e-01 -1.28542994e-03 1.87983271e+02] [ 4.74194410e-01 8.80419888e-01 -6.93833921e-04 2.51025386e+01] [ 1.46073061e-03 1.32083814e-06 9.99998933e-01 -3.97812327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:25.12, Z:-0.04 [[ 8.79359013e-01 -4.76157614e-01 -1.28530105e-03 1.88007493e+02] [ 4.76157108e-01 8.79359953e-01 -6.94072603e-04 2.51167952e+01] [ 1.46073023e-03 -1.66623449e-06 9.99998933e-01 -4.04167385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:188.03, Y:25.13, Z:-0.04 [[ 8.77266648e-01 -4.80001642e-01 -1.28516693e-03 1.88030729e+02] [ 4.80001140e-01 8.77267589e-01 -6.94320864e-04 2.51318532e+01] [ 1.46071045e-03 -7.77705393e-06 9.99998933e-01 -4.21580016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.06, Y:25.15, Z:-0.04 [[ 8.76310378e-01 -4.81745234e-01 -1.28512524e-03 1.88055421e+02] [ 4.81744734e-01 8.76311320e-01 -6.94398025e-04 2.51457737e+01] [ 1.46069273e-03 -1.05941191e-05 9.99998933e-01 -4.17893605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.08, Y:25.16, Z:-0.04 [[ 8.75472680e-01 -4.83265906e-01 -1.28499310e-03 1.88078924e+02] [ 4.83265407e-01 8.75473622e-01 -6.94642462e-04 2.51583323e+01] [ 1.46067458e-03 -1.28522158e-05 9.99998933e-01 -4.28415501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:188.10, Y:25.17, Z:-0.04 [[ 8.74751910e-01 -4.84569340e-01 -1.28493771e-03 1.88103124e+02] [ 4.84568842e-01 8.74752853e-01 -6.94744905e-04 2.51718941e+01] [ 1.46065501e-03 -1.49113455e-05 9.99998933e-01 -4.10854412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:25.19, Z:-0.04 [[ 8.74025575e-01 -4.85878218e-01 -1.28480686e-03 1.88126538e+02] [ 4.85877721e-01 8.74026520e-01 -6.94986809e-04 2.51861180e+01] [ 1.46063422e-03 -1.68227831e-05 9.99998933e-01 -3.94454945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:25.20, Z:-0.04 [[ 8.73815873e-01 -4.86255252e-01 -1.28476625e-03 1.88150837e+02] [ 4.86254755e-01 8.73816817e-01 -6.95061877e-04 2.51997034e+01] [ 1.46062784e-03 -1.73675955e-05 9.99998933e-01 -3.80358502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:25.21, Z:-0.04 [[ 8.73867462e-01 -4.86162533e-01 -1.28463569e-03 1.88174278e+02] [ 4.86162036e-01 8.73868406e-01 -6.95303097e-04 2.52129525e+01] [ 1.46063285e-03 -1.69383468e-05 9.99998933e-01 -3.78557296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:25.23, Z:-0.04 [[ 8.74627453e-01 -4.84793945e-01 -1.28457905e-03 1.88197460e+02] [ 4.84793446e-01 8.74628396e-01 -6.95407713e-04 2.52269269e+01] [ 1.46065876e-03 -1.45328284e-05 9.99998933e-01 -3.84483442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:25.24, Z:-0.04 [[ 8.75210199e-01 -4.83741106e-01 -1.28449452e-03 1.88221547e+02] [ 4.83740606e-01 8.75211142e-01 -6.95563822e-04 2.52411605e+01] [ 1.46067673e-03 -1.25976055e-05 9.99998933e-01 -3.85051137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:25.26, Z:-0.04 [[ 8.75730828e-01 -4.82797956e-01 -1.28437022e-03 1.88245609e+02] [ 4.82797455e-01 8.75731770e-01 -6.95793266e-04 2.52552282e+01] [ 1.46069137e-03 -1.07630596e-05 9.99998933e-01 -3.91155322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.27, Y:25.27, Z:-0.04 [[ 8.76315340e-01 -4.81736210e-01 -1.28424448e-03 1.88269906e+02] [ 4.81735707e-01 8.76316281e-01 -6.96025261e-04 2.52694005e+01] [ 1.46070492e-03 -8.72881088e-06 9.99998933e-01 -3.91093398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:25.28, Z:-0.04 [[ 8.77678197e-01 -4.79248718e-01 -1.28411567e-03 1.88293236e+02] [ 4.79248212e-01 8.77679136e-01 -6.96262841e-04 2.52831743e+01] [ 1.46072460e-03 -4.31542151e-06 9.99998933e-01 -4.14027718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:25.30, Z:-0.04 [[ 8.78229136e-01 -4.78238367e-01 -1.28405960e-03 1.88317608e+02] [ 4.78237860e-01 8.78230075e-01 -6.96366220e-04 2.52971845e+01] [ 1.46072880e-03 -2.51681293e-06 9.99998933e-01 -4.03777118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:25.31, Z:-0.04 [[ 8.79018599e-01 -4.76785753e-01 -1.28392563e-03 1.88340666e+02] [ 4.76785244e-01 8.79019537e-01 -6.96613145e-04 2.53104464e+01] [ 1.46073093e-03 1.79116541e-07 9.99998933e-01 -4.00241487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.37, Y:25.32, Z:-0.04 [[ 8.79776506e-01 -4.75385792e-01 -1.28386728e-03 1.88365187e+02] [ 4.75385281e-01 8.79777443e-01 -6.96720665e-04 2.53249233e+01] [ 1.46072858e-03 2.62686461e-06 9.99998933e-01 -3.82633455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.39, Y:25.34, Z:-0.04 [[ 8.79684029e-01 -4.75556896e-01 -1.28373194e-03 1.88390127e+02] [ 4.75556386e-01 8.79684965e-01 -6.96969945e-04 2.53386735e+01] [ 1.46072855e-03 2.62640778e-06 9.99998933e-01 -3.82217396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:25.35, Z:-0.04 [[ 8.81469264e-01 -4.72239652e-01 -1.28359633e-03 1.88413966e+02] [ 4.72239137e-01 8.81470199e-01 -6.97219600e-04 2.53538231e+01] [ 1.46070666e-03 8.41322220e-06 9.99998933e-01 -3.80894780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.44, Y:25.37, Z:-0.04 [[ 8.82537143e-01 -4.70240942e-01 -1.28345966e-03 1.88437170e+02] [ 4.70240424e-01 8.82538077e-01 -6.97471097e-04 2.53674886e+01] [ 1.46068149e-03 1.20095329e-05 9.99998933e-01 -3.77793380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.46, Y:25.38, Z:-0.04 [[ 8.83494795e-01 -4.68439216e-01 -1.28340010e-03 1.88461116e+02] [ 4.68438697e-01 8.83495727e-01 -6.97580681e-04 2.53826501e+01] [ 1.46065265e-03 1.51146312e-05 9.99998933e-01 -3.65229021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:25.40, Z:-0.04 [[ 8.85435659e-01 -4.64760204e-01 -1.28326517e-03 1.88482919e+02] [ 4.64759681e-01 8.85436588e-01 -6.97828805e-04 2.53985589e+01] [ 1.46057299e-03 2.14725957e-05 9.99998933e-01 -3.80107842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:25.41, Z:-0.04 [[ 8.86019800e-01 -4.63645628e-01 -1.28320624e-03 1.88506830e+02] [ 4.63645103e-01 8.86020728e-01 -6.97937161e-04 2.54128845e+01] [ 1.46054284e-03 2.34338560e-05 9.99998933e-01 -3.79796506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:25.43, Z:-0.04 [[ 8.86804453e-01 -4.62143069e-01 -1.28307323e-03 1.88530105e+02] [ 4.62142543e-01 8.86805381e-01 -6.98181595e-04 2.54292249e+01] [ 1.46049603e-03 2.61878235e-05 9.99998933e-01 -3.86838651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:25.44, Z:-0.04 [[ 8.86889434e-01 -4.61979962e-01 -1.28294025e-03 1.88552930e+02] [ 4.61979435e-01 8.86890362e-01 -6.98425863e-04 2.54438090e+01] [ 1.46048610e-03 2.67345066e-05 9.99998933e-01 -3.92116149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:25.46, Z:-0.04 [[ 8.86729737e-01 -4.62286414e-01 -1.28284935e-03 1.88576865e+02] [ 4.62285887e-01 8.86730664e-01 -6.98592788e-04 2.54587011e+01] [ 1.46049181e-03 2.64198494e-05 9.99998933e-01 -3.96455185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:25.47, Z:-0.04 [[ 8.85990311e-01 -4.63701977e-01 -1.28271744e-03 1.88599532e+02] [ 4.63701451e-01 8.85991239e-01 -6.98834911e-04 2.54737642e+01] [ 1.46052754e-03 2.43630231e-05 9.99998933e-01 -3.98828549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:25.49, Z:-0.04 [[ 8.85247637e-01 -4.65118238e-01 -1.28265988e-03 1.88623842e+02] [ 4.65117713e-01 8.85248566e-01 -6.98940533e-04 2.54886276e+01] [ 1.46056281e-03 2.21476237e-05 9.99998933e-01 -3.96860914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:25.50, Z:-0.04 [[ 8.84373719e-01 -4.66777762e-01 -1.28252923e-03 1.88647638e+02] [ 4.66777239e-01 8.84374649e-01 -6.99180187e-04 2.55031861e+01] [ 1.46059810e-03 1.96811275e-05 9.99998933e-01 -3.94764838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:25.52, Z:-0.04 [[ 8.82620326e-01 -4.70084796e-01 -1.28239924e-03 1.88671287e+02] [ 4.70084275e-01 8.82621258e-01 -6.99418541e-04 2.55183500e+01] [ 1.46065885e-03 1.44853050e-05 9.99998933e-01 -3.95307532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:25.53, Z:-0.04 [[ 8.81691581e-01 -4.71824450e-01 -1.28226985e-03 1.88694669e+02] [ 4.71823931e-01 8.81692514e-01 -6.99655664e-04 2.55319625e+01] [ 1.46068238e-03 1.18749058e-05 9.99998933e-01 -3.99704897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.72, Y:25.55, Z:-0.04 [[ 8.80671335e-01 -4.73726034e-01 -1.28221366e-03 1.88718519e+02] [ 4.73725517e-01 8.80672269e-01 -6.99758623e-04 2.55461890e+01] [ 1.46070389e-03 8.84002956e-06 9.99998933e-01 -3.91823099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:25.56, Z:-0.04 [[ 8.79699500e-01 -4.75528281e-01 -1.28208440e-03 1.88742169e+02] [ 4.75527766e-01 8.79700434e-01 -6.99995370e-04 2.55605441e+01] [ 1.46071780e-03 6.11884447e-06 9.99998933e-01 -3.93206229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:25.57, Z:-0.04 [[ 8.78098415e-01 -4.78478349e-01 -1.28194955e-03 1.88764650e+02] [ 4.78477836e-01 8.78099351e-01 -7.00242243e-04 2.55746865e+01] [ 1.46072982e-03 1.49715543e-06 9.99998933e-01 -3.97501418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:188.79, Y:25.59, Z:-0.04 [[ 8.77216968e-01 -4.80092437e-01 -1.28189113e-03 1.88788808e+02] [ 4.80091926e-01 8.77217904e-01 -7.00349177e-04 2.55884938e+01] [ 1.46073019e-03 -1.06740084e-06 9.99998933e-01 -3.90998190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:25.60, Z:-0.04 [[ 8.76394913e-01 -4.81591438e-01 -1.28176453e-03 1.88812217e+02] [ 4.81590928e-01 8.76395851e-01 -7.00580797e-04 2.56020313e+01] [ 1.46072683e-03 -3.30072388e-06 9.99998933e-01 -4.05557354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.84, Y:25.62, Z:-0.04 [[ 8.74881869e-01 -4.84334669e-01 -1.28167845e-03 1.88836251e+02] [ 4.84334162e-01 8.74882808e-01 -7.00738255e-04 2.56159628e+01] [ 1.46071027e-03 -7.69746170e-06 9.99998933e-01 -3.89512182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:25.63, Z:-0.04 [[ 8.74046596e-01 -4.85840412e-01 -1.28154587e-03 1.88860252e+02] [ 4.85839907e-01 8.74047535e-01 -7.00980634e-04 2.56291171e+01] [ 1.46069673e-03 -9.93638814e-06 9.99998933e-01 -3.88885566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:25.64, Z:-0.04 [[ 8.73188703e-01 -4.87380598e-01 -1.28145560e-03 1.88884460e+02] [ 4.87380094e-01 8.73189643e-01 -7.01145616e-04 2.56419946e+01] [ 1.46067853e-03 -1.23235201e-05 9.99998933e-01 -3.84244118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:25.66, Z:-0.04 [[ 8.71708235e-01 -4.90023582e-01 -1.28136668e-03 1.88908960e+02] [ 4.90023081e-01 8.71709176e-01 -7.01308076e-04 2.56551988e+01] [ 1.46063659e-03 -1.65632247e-05 9.99998933e-01 -3.72504736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:25.67, Z:-0.04 [[ 8.71035508e-01 -4.91218385e-01 -1.28132678e-03 1.88934073e+02] [ 4.91217885e-01 8.71036450e-01 -7.01380971e-04 2.56679626e+01] [ 1.46061356e-03 -1.84829016e-05 9.99998933e-01 -3.67339813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:25.68, Z:-0.04 [[ 8.70459780e-01 -4.92237880e-01 -1.28119518e-03 1.88959269e+02] [ 4.92237381e-01 8.70460722e-01 -7.01621290e-04 2.56805993e+01] [ 1.46059465e-03 -1.99190433e-05 9.99998933e-01 -3.70506558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:25.69, Z:-0.04 [[ 8.70284700e-01 -4.92547358e-01 -1.28106395e-03 1.88984756e+02] [ 4.92546858e-01 8.70285643e-01 -7.01860806e-04 2.56923941e+01] [ 1.46059125e-03 -2.01653028e-05 9.99998933e-01 -3.63740500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:25.71, Z:-0.04 [[ 8.70682956e-01 -4.91843013e-01 -1.28093090e-03 1.89009710e+02] [ 4.91842512e-01 8.70683898e-01 -7.02103547e-04 2.57058883e+01] [ 1.46061063e-03 -1.87066795e-05 9.99998933e-01 -3.61718945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:25.72, Z:-0.04 [[ 8.72705012e-01 -4.88246168e-01 -1.28079840e-03 1.89033166e+02] [ 4.88245663e-01 8.72705952e-01 -7.02345170e-04 2.57184658e+01] [ 1.46067773e-03 -1.24041147e-05 9.99998933e-01 -3.74003430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:25.73, Z:-0.04 [[ 8.74105047e-01 -4.85735244e-01 -1.28070788e-03 1.89057254e+02] [ 4.85734736e-01 8.74105985e-01 -7.02510190e-04 2.57321327e+01] [ 1.46070838e-03 -8.01660297e-06 9.99998933e-01 -3.77623965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:25.75, Z:-0.04 [[ 8.75619534e-01 -4.82999785e-01 -1.28057680e-03 1.89081699e+02] [ 4.82999274e-01 8.75620470e-01 -7.02749053e-04 2.57460138e+01] [ 1.46072690e-03 -3.17686697e-06 9.99998933e-01 -3.80048859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:25.76, Z:-0.04 [[ 8.77186392e-01 -4.80148305e-01 -1.28044035e-03 1.89105057e+02] [ 4.80147790e-01 8.77187326e-01 -7.02997590e-04 2.57593242e+01] [ 1.46072915e-03 1.85931619e-06 9.99998933e-01 -3.92089309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:25.77, Z:-0.04 [[ 8.78876743e-01 -4.77047199e-01 -1.28038092e-03 1.89128655e+02] [ 4.77046681e-01 8.78877676e-01 -7.03105815e-04 2.57725592e+01] [ 1.46071286e-03 7.14188154e-06 9.99998933e-01 -4.02265728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:189.15, Y:25.79, Z:-0.04 [[ 8.82254365e-01 -4.70771278e-01 -1.28028819e-03 1.89152019e+02] [ 4.70770753e-01 8.82255294e-01 -7.03274625e-04 2.57882723e+01] [ 1.46062253e-03 1.77448742e-05 9.99998933e-01 -3.85237745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.18, Y:25.80, Z:-0.04 [[ 8.83751940e-01 -4.67953917e-01 -1.28024674e-03 1.89175145e+02] [ 4.67953389e-01 8.83752868e-01 -7.03350061e-04 2.58031116e+01] [ 1.46055715e-03 2.24911786e-05 9.99998933e-01 -3.81505839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:25.82, Z:-0.04 [[ 8.85059310e-01 -4.65476507e-01 -1.28020626e-03 1.89199053e+02] [ 4.65475976e-01 8.85060236e-01 -7.03423750e-04 2.58185363e+01] [ 1.46048688e-03 2.66664825e-05 9.99998933e-01 -3.70236443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.22, Y:25.84, Z:-0.03 [[ 8.87203200e-01 -4.61377116e-01 -1.28007495e-03 1.89221265e+02] [ 4.61376581e-01 8.87204123e-01 -7.03662615e-04 2.58354455e+01] [ 1.46034160e-03 3.36951193e-05 9.99998933e-01 -3.45738477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:25.85, Z:-0.04 [[ 8.87890782e-01 -4.60052521e-01 -1.27994332e-03 1.89244968e+02] [ 4.60051984e-01 8.87891703e-01 -7.03901960e-04 2.58511998e+01] [ 1.46028293e-03 3.61475968e-05 9.99998933e-01 -3.50336274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:25.87, Z:-0.04 [[ 8.88498914e-01 -4.58876935e-01 -1.27981087e-03 1.89268187e+02] [ 4.58876396e-01 8.88499835e-01 -7.04142706e-04 2.58660102e+01] [ 1.46022659e-03 3.83550325e-05 9.99998933e-01 -3.52080264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:25.88, Z:-0.03 [[ 8.88990985e-01 -4.57922909e-01 -1.27975343e-03 1.89290827e+02] [ 4.57922369e-01 8.88991905e-01 -7.04247086e-04 2.58837118e+01] [ 1.46018131e-03 4.00415902e-05 9.99998933e-01 -3.41517350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:25.90, Z:-0.03 [[ 8.89073285e-01 -4.57763102e-01 -1.27962098e-03 1.89314304e+02] [ 4.57762561e-01 8.89074204e-01 -7.04487660e-04 2.59000906e+01] [ 1.46016646e-03 4.05785805e-05 9.99998933e-01 -3.39483175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:25.92, Z:-0.04 [[ 8.89039974e-01 -4.57827793e-01 -1.27948517e-03 1.89336610e+02] [ 4.57827252e-01 8.89040894e-01 -7.04734225e-04 2.59152079e+01] [ 1.46016156e-03 4.07537163e-05 9.99998933e-01 -3.54340876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:25.93, Z:-0.04 [[ 8.88573998e-01 -4.58731526e-01 -1.27942609e-03 1.89358858e+02] [ 4.58730986e-01 8.88574919e-01 -7.04841479e-04 2.59317841e+01] [ 1.46019894e-03 3.93914217e-05 9.99998933e-01 -3.93896241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:25.95, Z:-0.04 [[ 8.88197944e-01 -4.59459221e-01 -1.27938506e-03 1.89382117e+02] [ 4.59458681e-01 8.88198865e-01 -7.04915946e-04 2.59475313e+01] [ 1.46022849e-03 3.82803236e-05 9.99998933e-01 -4.02825259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.40, Y:25.97, Z:-0.04 [[ 8.87302721e-01 -4.61185694e-01 -1.27925229e-03 1.89404260e+02] [ 4.61185157e-01 8.87303643e-01 -7.05156804e-04 2.59654076e+01] [ 1.46029345e-03 3.57153840e-05 9.99998933e-01 -3.95528106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:25.98, Z:-0.04 [[ 8.86831748e-01 -4.62090699e-01 -1.27911320e-03 1.89427588e+02] [ 4.62090162e-01 8.86832670e-01 -7.05409014e-04 2.59804828e+01] [ 1.46032232e-03 3.45134838e-05 9.99998933e-01 -4.02916917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.45, Y:26.00, Z:-0.04 [[ 8.86123412e-01 -4.63447584e-01 -1.27906994e-03 1.89450903e+02] [ 4.63447049e-01 8.86124334e-01 -7.05487439e-04 2.59954799e+01] [ 1.46037145e-03 3.23677463e-05 9.99998933e-01 -3.82861049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.47, Y:26.01, Z:-0.04 [[ 8.85583093e-01 -4.64479225e-01 -1.27893346e-03 1.89473389e+02] [ 4.64478690e-01 8.85584016e-01 -7.05734767e-04 2.60105442e+01] [ 1.46040217e-03 3.09494379e-05 9.99998933e-01 -3.72840320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:26.03, Z:-0.04 [[ 8.84687323e-01 -4.66183124e-01 -1.27884023e-03 1.89495335e+02] [ 4.66182591e-01 8.84688247e-01 -7.05903667e-04 2.60293937e+01] [ 1.46045530e-03 2.83309721e-05 9.99998933e-01 -3.58216512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.52, Y:26.04, Z:-0.04 [[ 8.84225280e-01 -4.67058904e-01 -1.27879793e-03 1.89517227e+02] [ 4.67058371e-01 8.84226204e-01 -7.05980302e-04 2.60447224e+01] [ 1.46048102e-03 2.69723540e-05 9.99998933e-01 -3.55735226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:26.06, Z:-0.04 [[ 8.83766578e-01 -4.67926276e-01 -1.27873895e-03 1.89539556e+02] [ 4.67925744e-01 8.83767503e-01 -7.06087100e-04 2.60604523e+01] [ 1.46050464e-03 2.56613036e-05 9.99998933e-01 -3.60881422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:26.08, Z:-0.04 [[ 8.82997062e-01 -4.69376771e-01 -1.27868111e-03 1.89560128e+02] [ 4.69376241e-01 8.82997988e-01 -7.06191830e-04 2.60797147e+01] [ 1.46054289e-03 2.33827769e-05 9.99998933e-01 -3.74447983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:26.10, Z:-0.04 [[ 8.82446044e-01 -4.70411888e-01 -1.27862507e-03 1.89582965e+02] [ 4.70411358e-01 8.82446970e-01 -7.06293290e-04 2.60956500e+01] [ 1.46056758e-03 2.17859639e-05 9.99998933e-01 -3.86412598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:189.61, Y:26.11, Z:-0.04 [[ 8.81760465e-01 -4.71695714e-01 -1.27849722e-03 1.89606142e+02] [ 4.71695186e-01 8.81761392e-01 -7.06524645e-04 2.61109530e+01] [ 1.46059413e-03 1.99245181e-05 9.99998933e-01 -3.81994448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:26.13, Z:-0.04 [[ 8.80811529e-01 -4.73465328e-01 -1.27836427e-03 1.89629895e+02] [ 4.73464800e-01 8.80812456e-01 -7.06765120e-04 2.61266780e+01] [ 1.46062795e-03 1.72663834e-05 9.99998933e-01 -3.93081844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.65, Y:26.14, Z:-0.04 [[ 8.78718238e-01 -4.77339108e-01 -1.27822782e-03 1.89650854e+02] [ 4.77338584e-01 8.78719168e-01 -7.07011813e-04 2.61439928e+01] [ 1.46068767e-03 1.11167195e-05 9.99998933e-01 -4.05263768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.67, Y:26.16, Z:-0.04 [[ 8.77402526e-01 -4.79753242e-01 -1.27816861e-03 1.89673905e+02] [ 4.79752721e-01 8.77403457e-01 -7.07118827e-04 2.61596638e+01] [ 1.46071211e-03 7.22297543e-06 9.99998933e-01 -3.93864581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:26.18, Z:-0.04 [[ 8.74590784e-01 -4.84860112e-01 -1.27803909e-03 1.89696641e+02] [ 4.84859596e-01 8.74591717e-01 -7.07352839e-04 2.61771716e+01] [ 1.46072958e-03 -1.02524477e-06 9.99998933e-01 -3.83530010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.72, Y:26.19, Z:-0.04 [[ 8.73075744e-01 -4.87582929e-01 -1.27792574e-03 1.89719434e+02] [ 4.87582416e-01 8.73076679e-01 -7.07557562e-04 2.61915906e+01] [ 1.46072015e-03 -5.34277736e-06 9.99998933e-01 -3.82176511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.74, Y:26.21, Z:-0.04 [[ 8.71532220e-01 -4.90336575e-01 -1.27786967e-03 1.89743390e+02] [ 4.90336065e-01 8.71533157e-01 -7.07658813e-04 2.62063056e+01] [ 1.46069679e-03 -9.83813045e-06 9.99998933e-01 -3.67756330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.77, Y:26.22, Z:-0.04 [[ 8.68780412e-01 -4.95195883e-01 -1.27773574e-03 1.89765781e+02] [ 4.95195377e-01 8.68781352e-01 -7.07900552e-04 2.62210387e+01] [ 1.46062243e-03 -1.77187003e-05 9.99998933e-01 -3.62773465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:26.23, Z:-0.04 [[ 8.67507390e-01 -4.97422654e-01 -1.27767756e-03 1.89789067e+02] [ 4.97422150e-01 8.67508330e-01 -7.08005546e-04 2.62347767e+01] [ 1.46057393e-03 -2.13450784e-05 9.99998933e-01 -3.74479960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:26.25, Z:-0.04 [[ 8.66436600e-01 -4.99285475e-01 -1.27761996e-03 1.89812989e+02] [ 4.99284973e-01 8.66437542e-01 -7.08109474e-04 2.62483718e+01] [ 1.46052667e-03 -2.43644832e-05 9.99998933e-01 -3.81791382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:26.26, Z:-0.04 [[ 8.64796625e-01 -5.02120669e-01 -1.27749026e-03 1.89837038e+02] [ 5.02120170e-01 8.64797568e-01 -7.08343386e-04 2.62628405e+01] [ 1.46044433e-03 -2.88806578e-05 9.99998933e-01 -3.71147419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:26.28, Z:-0.04 [[ 8.64702928e-01 -5.02282007e-01 -1.27735830e-03 1.89861837e+02] [ 5.02281508e-01 8.64703871e-01 -7.08581281e-04 2.62768026e+01] [ 1.46044429e-03 -2.88811419e-05 9.99998933e-01 -3.70731366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.89, Y:26.29, Z:-0.04 [[ 8.63967227e-01 -5.03546423e-01 -1.27722605e-03 1.89885532e+02] [ 5.03545925e-01 8.63968170e-01 -7.08819576e-04 2.62909101e+01] [ 1.46040622e-03 -3.07450899e-05 9.99998933e-01 -3.56218764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:26.30, Z:-0.04 [[ 8.63298946e-01 -5.04691291e-01 -1.27709265e-03 1.89909433e+02] [ 5.04690794e-01 8.63299890e-01 -7.09059851e-04 2.63049677e+01] [ 1.46037027e-03 -3.24062799e-05 9.99998933e-01 -3.59226700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.93, Y:26.32, Z:-0.03 [[ 8.62859275e-01 -5.05442619e-01 -1.27695840e-03 1.89933282e+02] [ 5.05442123e-01 8.62860219e-01 -7.09301540e-04 2.63180074e+01] [ 1.46034783e-03 -3.34011502e-05 9.99998933e-01 -3.49280803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:26.33, Z:-0.04 [[ 8.61602248e-01 -5.07582442e-01 -1.27690015e-03 1.89958368e+02] [ 5.07581947e-01 8.61603194e-01 -7.09406376e-04 2.63300260e+01] [ 1.46026347e-03 -3.69053377e-05 9.99998933e-01 -3.54105699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:26.34, Z:-0.04 [[ 8.60908398e-01 -5.08758391e-01 -1.27676869e-03 1.89982728e+02] [ 5.08757898e-01 8.60909344e-01 -7.09642900e-04 2.63419460e+01] [ 1.46021888e-03 -3.86286232e-05 9.99998933e-01 -3.55822445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.01, Y:26.35, Z:-0.03 [[ 8.60070481e-01 -5.10173636e-01 -1.27671139e-03 1.90007998e+02] [ 5.10173143e-01 8.60071427e-01 -7.09745965e-04 2.63543407e+01] [ 1.46015667e-03 -4.09123120e-05 9.99998933e-01 -3.45737707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.03, Y:26.36, Z:-0.03 [[ 8.58683053e-01 -5.12505400e-01 -1.27657955e-03 1.90033270e+02] [ 5.12504910e-01 8.58684001e-01 -7.09983027e-04 2.63640623e+01] [ 1.46004857e-03 -4.46028939e-05 9.99998933e-01 -3.47987261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:26.37, Z:-0.04 [[ 8.58088940e-01 -5.13499505e-01 -1.27652228e-03 1.90057926e+02] [ 5.13499016e-01 8.58089888e-01 -7.10085980e-04 2.63748871e+01] [ 1.45999966e-03 -4.61760087e-05 9.99998933e-01 -3.65419080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:26.39, Z:-0.04 [[ 8.57659067e-01 -5.14217167e-01 -1.27646555e-03 1.90083495e+02] [ 5.14216679e-01 8.57660016e-01 -7.10187941e-04 2.63864991e+01] [ 1.45996430e-03 -4.72807505e-05 9.99998933e-01 -3.69331295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:26.40, Z:-0.04 [[ 8.57994702e-01 -5.13656949e-01 -1.27633285e-03 1.90109768e+02] [ 5.13656460e-01 8.57995651e-01 -7.10426359e-04 2.63974012e+01] [ 1.46000347e-03 -4.60545585e-05 9.99998933e-01 -3.87922688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:26.41, Z:-0.04 [[ 8.58505748e-01 -5.12802352e-01 -1.27629178e-03 1.90134841e+02] [ 5.12801862e-01 8.58506695e-01 -7.10500122e-04 2.64094002e+01] [ 1.46005117e-03 -4.45163640e-05 9.99998933e-01 -3.95767271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:26.42, Z:-0.04 [[ 8.59321170e-01 -5.11434746e-01 -1.27616370e-03 1.90159998e+02] [ 5.11434253e-01 8.59322116e-01 -7.10730098e-04 2.64211889e+01] [ 1.46012776e-03 -4.19284113e-05 9.99998933e-01 -3.97639417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:26.43, Z:-0.04 [[ 8.61541748e-01 -5.07685128e-01 -1.27603469e-03 1.90186037e+02] [ 5.07684631e-01 8.61542692e-01 -7.10961645e-04 2.64314400e+01] [ 1.46030302e-03 -3.53000640e-05 9.99998933e-01 -3.92783197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:26.44, Z:-0.04 [[ 8.62724610e-01 -5.05672442e-01 -1.27590350e-03 1.90210833e+02] [ 5.05671943e-01 8.62725553e-01 -7.11197006e-04 2.64434785e+01] [ 1.46038728e-03 -3.16214428e-05 9.99998933e-01 -3.91027087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:26.46, Z:-0.04 [[ 8.63944753e-01 -5.03584983e-01 -1.27577017e-03 1.90235222e+02] [ 5.03584482e-01 8.63945695e-01 -7.11436093e-04 2.64557959e+01] [ 1.46046468e-03 -2.78165812e-05 9.99998933e-01 -3.89167180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:190.26, Y:26.47, Z:-0.04 [[ 8.66382103e-01 -4.99380040e-01 -1.27571222e-03 1.90260850e+02] [ 4.99379533e-01 8.66383042e-01 -7.11539994e-04 2.64673430e+01] [ 1.46058431e-03 -2.05990575e-05 9.99998933e-01 -3.64716083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:190.29, Y:26.48, Z:-0.04 [[ 8.67471075e-01 -4.97485987e-01 -1.27557840e-03 1.90285242e+02] [ 4.97485478e-01 8.67472013e-01 -7.11779808e-04 2.64790253e+01] [ 1.46062905e-03 -1.71333372e-05 9.99998933e-01 -3.76039632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:26.49, Z:-0.04 [[ 8.68571226e-01 -4.95562709e-01 -1.27552010e-03 1.90310287e+02] [ 4.95562198e-01 8.68572162e-01 -7.11884279e-04 2.64907022e+01] [ 1.46066455e-03 -1.37773434e-05 9.99998933e-01 -3.72244717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:26.50, Z:-0.04 [[ 8.70898416e-01 -4.91461415e-01 -1.27538329e-03 1.90336381e+02] [ 4.91460899e-01 8.70899350e-01 -7.12129294e-04 2.65002906e+01] [ 1.46071455e-03 -6.60874423e-06 9.99998933e-01 -3.69454814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:190.36, Y:26.51, Z:-0.04 [[ 8.72043406e-01 -4.89426881e-01 -1.27532366e-03 1.90360916e+02] [ 4.89426363e-01 8.72044338e-01 -7.12236069e-04 2.65119726e+01] [ 1.46072625e-03 -3.07625266e-06 9.99998933e-01 -3.60813686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:190.39, Y:26.52, Z:-0.04 [[ 8.73164872e-01 -4.87423308e-01 -1.27526409e-03 1.90386204e+02] [ 4.87422787e-01 8.73165803e-01 -7.12342712e-04 2.65245994e+01] [ 1.46072943e-03 3.99855297e-07 9.99998933e-01 -3.56891869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:26.54, Z:-0.04 [[ 8.74335894e-01 -4.85319604e-01 -1.27512986e-03 1.90410447e+02] [ 4.85319081e-01 8.74336824e-01 -7.12582912e-04 2.65376085e+01] [ 1.46072345e-03 4.19196638e-06 9.99998933e-01 -3.61924459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:190.44, Y:26.55, Z:-0.04 [[ 8.77352975e-01 -4.79843862e-01 -1.27499226e-03 1.90435433e+02] [ 4.79843333e-01 8.77353901e-01 -7.12829023e-04 2.65504946e+01] [ 1.46066607e-03 1.36061270e-05 9.99998933e-01 -3.73862753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:26.56, Z:-0.04 [[ 8.78889679e-01 -4.77023382e-01 -1.27494962e-03 1.90459272e+02] [ 4.77022849e-01 8.78890604e-01 -7.12905288e-04 2.65635754e+01] [ 1.46061373e-03 1.83850003e-05 9.99998933e-01 -3.92151637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:190.48, Y:26.58, Z:-0.04 [[ 8.80440937e-01 -4.74154122e-01 -1.27489170e-03 1.90484282e+02] [ 4.74153587e-01 8.80441859e-01 -7.13008845e-04 2.65770426e+01] [ 1.46054410e-03 2.32677027e-05 9.99998933e-01 -3.81684120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:26.59, Z:-0.04 [[ 8.83119367e-01 -4.69146629e-01 -1.27475389e-03 1.90507931e+02] [ 4.69146088e-01 8.83120286e-01 -7.13255137e-04 2.65900557e+01] [ 1.46038227e-03 3.18436226e-05 9.99998933e-01 -4.04855092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:26.60, Z:-0.04 [[ 8.84172276e-01 -4.67159247e-01 -1.27465967e-03 1.90531678e+02] [ 4.67158703e-01 8.84173194e-01 -7.13423485e-04 2.66038794e+01] [ 1.46030229e-03 3.53209077e-05 9.99998933e-01 -4.00036701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:26.62, Z:-0.04 [[ 8.85136073e-01 -4.65330537e-01 -1.27452557e-03 1.90556187e+02] [ 4.65329991e-01 8.85136990e-01 -7.13662983e-04 2.66181963e+01] [ 1.46021890e-03 3.86138803e-05 9.99998933e-01 -3.82916125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.58, Y:26.63, Z:-0.04 [[ 8.86484987e-01 -4.62755599e-01 -1.27438658e-03 1.90578991e+02] [ 4.62755050e-01 8.86485902e-01 -7.13911077e-04 2.66334586e+01] [ 1.46009209e-03 4.31426239e-05 9.99998933e-01 -3.76747016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:26.65, Z:-0.04 [[ 8.86823997e-01 -4.62105588e-01 -1.27432330e-03 1.90602725e+02] [ 4.62105039e-01 8.86824911e-01 -7.14024015e-04 2.66486251e+01] [ 1.46005614e-03 4.43424123e-05 9.99998933e-01 -3.82186240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:26.66, Z:-0.04 [[ 8.86854968e-01 -4.62046148e-01 -1.27428097e-03 1.90626263e+02] [ 4.62045598e-01 8.86855882e-01 -7.14099550e-04 2.66633947e+01] [ 1.46005052e-03 4.45268184e-05 9.99998933e-01 -3.86753129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:26.68, Z:-0.04 [[ 8.86090658e-01 -4.63510219e-01 -1.27414765e-03 1.90649224e+02] [ 4.63509670e-01 8.86091573e-01 -7.14337347e-04 2.66777391e+01] [ 1.46011416e-03 4.23878913e-05 9.99998933e-01 -3.96481037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:26.69, Z:-0.04 [[ 8.85210613e-01 -4.65188723e-01 -1.27408972e-03 1.90672521e+02] [ 4.65188176e-01 8.85211529e-01 -7.14440657e-04 2.66924140e+01] [ 1.46018865e-03 3.97389764e-05 9.99998933e-01 -3.88035947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:190.70, Y:26.71, Z:-0.04 [[ 8.83083967e-01 -4.69213261e-01 -1.27396446e-03 1.90695501e+02] [ 4.69212718e-01 8.83084885e-01 -7.14663948e-04 2.67078099e+01] [ 1.46034856e-03 3.33479469e-05 9.99998933e-01 -3.75647423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:26.72, Z:-0.04 [[ 8.81854686e-01 -4.71519555e-01 -1.27383032e-03 1.90719623e+02] [ 4.71519014e-01 8.81855605e-01 -7.14902965e-04 2.67225489e+01] [ 1.46042514e-03 2.98053125e-05 9.99998933e-01 -3.83842632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:26.74, Z:-0.04 [[ 8.80670724e-01 -4.73727194e-01 -1.27369659e-03 1.90743586e+02] [ 4.73726655e-01 8.80671644e-01 -7.15141142e-04 2.67374603e+01] [ 1.46049028e-03 2.64198415e-05 9.99998933e-01 -3.70239806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.77, Y:26.75, Z:-0.04 [[ 8.79610080e-01 -4.75693689e-01 -1.27355538e-03 1.90766411e+02] [ 4.75693152e-01 8.79611001e-01 -7.15392537e-04 2.67520195e+01] [ 1.46054103e-03 2.34449159e-05 9.99998933e-01 -3.81150181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:26.77, Z:-0.04 [[ 8.77870245e-01 -4.78896869e-01 -1.27349422e-03 1.90788147e+02] [ 4.78896334e-01 8.77871169e-01 -7.15501377e-04 2.67677411e+01] [ 1.46061523e-03 1.82456535e-05 9.99998933e-01 -3.88856590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:26.78, Z:-0.04 [[ 8.77040158e-01 -4.80415382e-01 -1.27343676e-03 1.90811745e+02] [ 4.80414849e-01 8.77041083e-01 -7.15603638e-04 2.67832080e+01] [ 1.46064335e-03 1.58351992e-05 9.99998933e-01 -3.83737312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.84, Y:26.80, Z:-0.04 [[ 8.76264783e-01 -4.81828193e-01 -1.27330564e-03 1.90835221e+02] [ 4.81827662e-01 8.76265708e-01 -7.15836876e-04 2.67981988e+01] [ 1.46066445e-03 1.37487675e-05 9.99998933e-01 -3.61056480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:26.81, Z:-0.04 [[ 8.75549262e-01 -4.83127176e-01 -1.27316849e-03 1.90857923e+02] [ 4.83126646e-01 8.75550188e-01 -7.16080713e-04 2.68127795e+01] [ 1.46068097e-03 1.18623168e-05 9.99998933e-01 -3.72096152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:190.88, Y:26.83, Z:-0.04 [[ 8.74157222e-01 -4.85641360e-01 -1.27310923e-03 1.90880051e+02] [ 4.85640832e-01 8.74158149e-01 -7.16186051e-04 2.68298303e+01] [ 1.46070838e-03 7.78538087e-06 9.99998933e-01 -3.67365513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:26.85, Z:-0.04 [[ 8.73492329e-01 -4.86836246e-01 -1.27297584e-03 1.90903618e+02] [ 4.86835719e-01 8.73493256e-01 -7.16423074e-04 2.68457157e+01] [ 1.46071653e-03 6.05995095e-06 9.99998933e-01 -3.67814949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.93, Y:26.86, Z:-0.04 [[ 8.72817440e-01 -4.88045178e-01 -1.27284020e-03 1.90925776e+02] [ 4.88044652e-01 8.72818368e-01 -7.16663984e-04 2.68606805e+01] [ 1.46072271e-03 4.31397356e-06 9.99998933e-01 -3.65808934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:26.88, Z:-0.04 [[ 8.71106578e-01 -4.91092363e-01 -1.27278121e-03 1.90947942e+02] [ 4.91091840e-01 8.71107508e-01 -7.16768728e-04 2.68776794e+01] [ 1.46072892e-03 -6.70512532e-07 9.99998933e-01 -3.66635386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:26.89, Z:-0.04 [[ 8.70098501e-01 -4.92876231e-01 -1.27264691e-03 1.90971966e+02] [ 4.92875710e-01 8.70099431e-01 -7.17007095e-04 2.68925759e+01] [ 1.46072511e-03 -3.38995271e-06 9.99998933e-01 -3.69054741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:26.91, Z:-0.04 [[ 8.68166391e-01 -4.96271597e-01 -1.27251158e-03 1.90994145e+02] [ 4.96271079e-01 8.68167323e-01 -7.17247195e-04 2.69072963e+01] [ 1.46070239e-03 -8.82078815e-06 9.99998933e-01 -3.85803306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:26.92, Z:-0.04 [[ 8.67264119e-01 -4.97846691e-01 -1.27241952e-03 1.91017785e+02] [ 4.97846175e-01 8.67265053e-01 -7.17410481e-04 2.69221395e+01] [ 1.46068542e-03 -1.12848207e-05 9.99998933e-01 -3.92203334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:26.94, Z:-0.04 [[ 8.66584732e-01 -4.99028339e-01 -1.27228570e-03 1.91040641e+02] [ 4.99027823e-01 8.66585666e-01 -7.17647720e-04 2.69368108e+01] [ 1.46067110e-03 -1.30034064e-05 9.99998933e-01 -3.93122979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:26.95, Z:-0.04 [[ 8.66024065e-01 -5.00000700e-01 -1.27222757e-03 1.91064430e+02] [ 5.00000185e-01 8.66025000e-01 -7.17750753e-04 2.69520021e+01] [ 1.46065676e-03 -1.45245980e-05 9.99998933e-01 -3.88636525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:26.97, Z:-0.04 [[ 8.65647161e-01 -5.00652948e-01 -1.27209237e-03 1.91086481e+02] [ 5.00652434e-01 8.65648095e-01 -7.17990302e-04 2.69677267e+01] [ 1.46064830e-03 -1.53498745e-05 9.99998933e-01 -3.96121428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:26.98, Z:-0.04 [[ 8.65680319e-01 -5.00595612e-01 -1.27203350e-03 1.91109807e+02] [ 5.00595097e-01 8.65681254e-01 -7.18094580e-04 2.69830493e+01] [ 1.46065055e-03 -1.51333893e-05 9.99998933e-01 -3.90525281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:27.00, Z:-0.04 [[ 8.65744489e-01 -5.00484627e-01 -1.27189958e-03 1.91131381e+02] [ 5.00484112e-01 8.65745423e-01 -7.18331708e-04 2.69990237e+01] [ 1.46065522e-03 -1.46738130e-05 9.99998933e-01 -4.00517167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:27.01, Z:-0.04 [[ 8.65595335e-01 -5.00742547e-01 -1.27184148e-03 1.91155397e+02] [ 5.00742031e-01 8.65596270e-01 -7.18434562e-04 2.70140972e+01] [ 1.46065199e-03 -1.49908799e-05 9.99998933e-01 -4.00118087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:191.18, Y:27.03, Z:-0.04 [[ 8.65446590e-01 -5.00999583e-01 -1.27170685e-03 1.91177835e+02] [ 5.00999068e-01 8.65447524e-01 -7.18672793e-04 2.70290680e+01] [ 1.46065031e-03 -1.51510276e-05 9.99998933e-01 -3.94500160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:27.05, Z:-0.04 [[ 8.64937995e-01 -5.01877123e-01 -1.27164841e-03 1.91200663e+02] [ 5.01876609e-01 8.64938930e-01 -7.18776178e-04 2.70464452e+01] [ 1.46063554e-03 -1.65137657e-05 9.99998933e-01 -3.97035025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:27.06, Z:-0.04 [[ 8.64608436e-01 -5.02444659e-01 -1.27151474e-03 1.91223588e+02] [ 5.02444145e-01 8.64609371e-01 -7.19012565e-04 2.70613630e+01] [ 1.46062758e-03 -1.72008066e-05 9.99998933e-01 -4.06462804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:27.08, Z:-0.04 [[ 8.64174111e-01 -5.03191305e-01 -1.27145650e-03 1.91247279e+02] [ 5.03190791e-01 8.64175046e-01 -7.19115535e-04 2.70763209e+01] [ 1.46061367e-03 -1.83441754e-05 9.99998933e-01 -4.02896473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:27.09, Z:-0.04 [[ 8.63192310e-01 -5.04873668e-01 -1.27132439e-03 1.91269835e+02] [ 5.04873156e-01 8.63193246e-01 -7.19349022e-04 2.70907003e+01] [ 1.46057900e-03 -2.09210121e-05 9.99998933e-01 -4.05049825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:27.10, Z:-0.04 [[ 8.62534387e-01 -5.05996854e-01 -1.27126674e-03 1.91293109e+02] [ 5.05996343e-01 8.62535323e-01 -7.19450896e-04 2.71043017e+01] [ 1.46055235e-03 -2.27051815e-05 9.99998933e-01 -4.11362380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:27.12, Z:-0.04 [[ 8.61802522e-01 -5.07242346e-01 -1.27120998e-03 1.91317050e+02] [ 5.07241837e-01 8.61803459e-01 -7.19551160e-04 2.71179685e+01] [ 1.46051998e-03 -2.46998824e-05 9.99998933e-01 -3.90408651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:27.13, Z:-0.04 [[ 8.60396149e-01 -5.09624226e-01 -1.27107786e-03 1.91341929e+02] [ 5.09623719e-01 8.60397087e-01 -7.19784472e-04 2.71326655e+01] [ 1.46045129e-03 -2.84716391e-05 9.99998933e-01 -3.60863005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.37, Y:27.15, Z:-0.04 [[ 8.59647744e-01 -5.10885644e-01 -1.27095688e-03 1.91365311e+02] [ 5.10885138e-01 8.59648683e-01 -7.19998035e-04 2.71463640e+01] [ 1.46041307e-03 -3.03682937e-05 9.99998933e-01 -3.56818352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.39, Y:27.16, Z:-0.04 [[ 8.59553586e-01 -5.11044046e-01 -1.27089679e-03 1.91389981e+02] [ 5.11043540e-01 8.59554525e-01 -7.20104089e-04 2.71605491e+01] [ 1.46040999e-03 -3.05155405e-05 9.99998933e-01 -3.56402506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:27.17, Z:-0.04 [[ 8.58937566e-01 -5.12078747e-01 -1.27076405e-03 1.91413096e+02] [ 5.12078241e-01 8.58938505e-01 -7.20338257e-04 2.71741769e+01] [ 1.46037808e-03 -3.20050295e-05 9.99998933e-01 -3.66013723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:191.44, Y:27.19, Z:-0.03 [[ 8.58290475e-01 -5.13162592e-01 -1.27067357e-03 1.91437215e+02] [ 5.13162087e-01 8.58291415e-01 -7.20497829e-04 2.71890150e+01] [ 1.46034075e-03 -3.36650764e-05 9.99998933e-01 -3.41750814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:191.46, Y:27.20, Z:-0.03 [[ 8.57785852e-01 -5.14005660e-01 -1.27053920e-03 1.91461128e+02] [ 5.14005156e-01 8.57786792e-01 -7.20734704e-04 2.72033671e+01] [ 1.46031346e-03 -3.48276666e-05 9.99998933e-01 -3.36879196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:27.22, Z:-0.04 [[ 8.57715224e-01 -5.14123507e-01 -1.27040086e-03 1.91484744e+02] [ 5.14123002e-01 8.57716164e-01 -7.20978457e-04 2.72165488e+01] [ 1.46031533e-03 -3.47481066e-05 9.99998933e-01 -3.63798938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:27.23, Z:-0.04 [[ 8.57794852e-01 -5.13990641e-01 -1.27034074e-03 1.91508523e+02] [ 5.13990136e-01 8.57795792e-01 -7.21084367e-04 2.72297525e+01] [ 1.46032356e-03 -3.44001535e-05 9.99998933e-01 -3.69804016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:27.24, Z:-0.04 [[ 8.58165960e-01 -5.13370794e-01 -1.27028285e-03 1.91532357e+02] [ 5.13370288e-01 8.58166899e-01 -7.21186341e-04 2.72441699e+01] [ 1.46035070e-03 -3.32279049e-05 9.99998933e-01 -3.63916917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:27.26, Z:-0.04 [[ 8.58236040e-01 -5.13253628e-01 -1.27014736e-03 1.91555793e+02] [ 5.13253122e-01 8.58236979e-01 -7.21424880e-04 2.72578192e+01] [ 1.46036137e-03 -3.27542667e-05 9.99998933e-01 -3.75752804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:27.27, Z:-0.04 [[ 8.58236309e-01 -5.13253179e-01 -1.27008827e-03 1.91579846e+02] [ 5.13252673e-01 8.58237248e-01 -7.21528906e-04 2.72712516e+01] [ 1.46036406e-03 -3.26338926e-05 9.99998933e-01 -3.66857774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:27.28, Z:-0.04 [[ 8.57790181e-01 -5.13998436e-01 -1.26995036e-03 1.91604068e+02] [ 5.13997931e-01 8.57791120e-01 -7.21771542e-04 2.72842948e+01] [ 1.46034159e-03 -3.36233175e-05 9.99998933e-01 -3.89754391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:27.30, Z:-0.04 [[ 8.57256765e-01 -5.14887586e-01 -1.26990745e-03 1.91628363e+02] [ 5.14887081e-01 8.57257705e-01 -7.21847049e-04 2.72975490e+01] [ 1.46030803e-03 -3.50506712e-05 9.99998933e-01 -3.82937737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.65, Y:27.31, Z:-0.04 [[ 8.56646915e-01 -5.15901590e-01 -1.26977691e-03 1.91653197e+02] [ 5.15901086e-01 8.56647855e-01 -7.22076592e-04 2.73108738e+01] [ 1.46027213e-03 -3.65146033e-05 9.99998933e-01 -3.62811010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.68, Y:27.32, Z:-0.04 [[ 8.55707433e-01 -5.17458383e-01 -1.26964116e-03 1.91678708e+02] [ 5.17457880e-01 8.55708374e-01 -7.22315211e-04 2.73219325e+01] [ 1.46021063e-03 -3.88953277e-05 9.99998933e-01 -3.72998843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:27.34, Z:-0.04 [[ 8.55323510e-01 -5.18092734e-01 -1.26957784e-03 1.91703297e+02] [ 5.18092232e-01 8.55324451e-01 -7.22426482e-04 2.73350316e+01] [ 1.46018488e-03 -3.98500635e-05 9.99998933e-01 -3.69360625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:27.35, Z:-0.04 [[ 8.54590758e-01 -5.19300515e-01 -1.26944447e-03 1.91728301e+02] [ 5.19300014e-01 8.54591700e-01 -7.22660765e-04 2.73467483e+01] [ 1.46013482e-03 -4.16433201e-05 9.99998933e-01 -3.72547031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:27.36, Z:-0.04 [[ 8.54174037e-01 -5.19985676e-01 -1.26930941e-03 1.91752709e+02] [ 5.19985175e-01 8.54174979e-01 -7.22897910e-04 2.73593091e+01] [ 1.46010890e-03 -4.25414510e-05 9.99998933e-01 -3.78295524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:191.78, Y:27.37, Z:-0.04 [[ 8.53739420e-01 -5.20698946e-01 -1.26921744e-03 1.91777060e+02] [ 5.20698445e-01 8.53740362e-01 -7.23059347e-04 2.73720190e+01] [ 1.46007840e-03 -4.35752823e-05 9.99998933e-01 -3.69091775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:191.80, Y:27.38, Z:-0.04 [[ 8.53263323e-01 -5.21478754e-01 -1.26908491e-03 1.91802420e+02] [ 5.21478255e-01 8.53264266e-01 -7.23291886e-04 2.73849229e+01] [ 1.46004616e-03 -4.46417467e-05 9.99998933e-01 -3.69839006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:27.39, Z:-0.04 [[ 8.52407166e-01 -5.22877054e-01 -1.26895189e-03 1.91828790e+02] [ 5.22876555e-01 8.52408109e-01 -7.23525180e-04 2.73945529e+01] [ 1.45997960e-03 -4.67671466e-05 9.99998933e-01 -3.78425826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:27.41, Z:-0.04 [[ 8.52065079e-01 -5.23434323e-01 -1.26891068e-03 1.91854185e+02] [ 5.23433825e-01 8.52066023e-01 -7.23597451e-04 2.74066387e+01] [ 1.45995142e-03 -4.76386527e-05 9.99998933e-01 -3.72651848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:27.42, Z:-0.04 [[ 8.51798547e-01 -5.23867947e-01 -1.26886993e-03 1.91879479e+02] [ 5.23867449e-01 8.51799490e-01 -7.23668910e-04 2.74188620e+01] [ 1.45992970e-03 -4.82995254e-05 9.99998933e-01 -3.56557902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.90, Y:27.43, Z:-0.03 [[ 8.51574435e-01 -5.24232174e-01 -1.26873823e-03 1.91904174e+02] [ 5.24231676e-01 8.51575379e-01 -7.23899733e-04 2.74310347e+01] [ 1.45991777e-03 -4.86582604e-05 9.99998933e-01 -3.41238055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:27.44, Z:-0.03 [[ 8.51885906e-01 -5.23725876e-01 -1.26860545e-03 1.91929939e+02] [ 5.23725378e-01 8.51886849e-01 -7.24132351e-04 2.74410652e+01] [ 1.45995515e-03 -4.75227225e-05 9.99998933e-01 -3.40820618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:27.45, Z:-0.03 [[ 8.52386195e-01 -5.22911240e-01 -1.26856418e-03 1.91955237e+02] [ 5.22910740e-01 8.52387138e-01 -7.24204626e-04 2.74536212e+01] [ 1.46000253e-03 -4.60438114e-05 9.99998933e-01 -3.35321074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:27.46, Z:-0.03 [[ 8.54088054e-01 -5.20126894e-01 -1.26843368e-03 1.91982079e+02] [ 5.20126392e-01 8.54088995e-01 -7.24433137e-04 2.74639446e+01] [ 1.46015240e-03 -4.10161428e-05 9.99998933e-01 -3.21861605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:192.01, Y:27.48, Z:-0.03 [[ 8.55122534e-01 -5.18424386e-01 -1.26829859e-03 1.92006962e+02] [ 5.18423881e-01 8.55123473e-01 -7.24669555e-04 2.74756684e+01] [ 1.46023827e-03 -3.78350133e-05 9.99998933e-01 -3.05237337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:27.49, Z:-0.03 [[ 8.56125058e-01 -5.16767140e-01 -1.26823969e-03 1.92032116e+02] [ 5.16766633e-01 8.56125996e-01 -7.24772629e-04 2.74872137e+01] [ 1.46031165e-03 -3.48879458e-05 9.99998933e-01 -3.20629200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:27.50, Z:-0.03 [[ 8.56760486e-01 -5.15712964e-01 -1.26819813e-03 1.92057582e+02] [ 5.15712456e-01 8.56761424e-01 -7.24845345e-04 2.74994457e+01] [ 1.46035538e-03 -3.30067212e-05 9.99998933e-01 -3.11277210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:27.51, Z:-0.03 [[ 8.57563527e-01 -5.14376506e-01 -1.26806431e-03 1.92083166e+02] [ 5.14375996e-01 8.57564464e-01 -7.25079373e-04 2.75085408e+01] [ 1.46041069e-03 -3.04602181e-05 9.99998933e-01 -3.19239175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.11, Y:27.52, Z:-0.03 [[ 8.57488255e-01 -5.14501978e-01 -1.26800615e-03 1.92108005e+02] [ 5.14501468e-01 8.57489192e-01 -7.25181075e-04 2.75198520e+01] [ 1.46040866e-03 -3.05567699e-05 9.99998933e-01 -3.28491427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:27.53, Z:-0.03 [[ 8.56982115e-01 -5.15344590e-01 -1.26795018e-03 1.92135180e+02] [ 5.15344080e-01 8.56983053e-01 -7.25278917e-04 2.75292215e+01] [ 1.46038038e-03 -3.18795586e-05 9.99998933e-01 -3.25176281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:27.54, Z:-0.03 [[ 8.56710002e-01 -5.15796825e-01 -1.26781181e-03 1.92160324e+02] [ 5.15796316e-01 8.56710940e-01 -7.25520704e-04 2.75403860e+01] [ 1.46036953e-03 -3.23718193e-05 9.99998933e-01 -3.31943193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:192.19, Y:27.55, Z:-0.03 [[ 8.56515925e-01 -5.16119040e-01 -1.26767428e-03 1.92185184e+02] [ 5.16118531e-01 8.56516862e-01 -7.25760933e-04 2.75512060e+01] [ 1.46036343e-03 -3.26443901e-05 9.99998933e-01 -3.16135139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:27.56, Z:-0.03 [[ 8.56106410e-01 -5.16798033e-01 -1.26761560e-03 1.92211183e+02] [ 5.16797525e-01 8.56107348e-01 -7.25863411e-04 2.75627299e+01] [ 1.46033981e-03 -3.36842847e-05 9.99998933e-01 -3.24168621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:27.57, Z:-0.03 [[ 8.55880633e-01 -5.17171863e-01 -1.26748018e-03 1.92237281e+02] [ 5.17171354e-01 8.55881571e-01 -7.26099792e-04 2.75706855e+01] [ 1.46033131e-03 -3.40496936e-05 9.99998933e-01 -3.25959560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:27.58, Z:-0.03 [[ 8.55832292e-01 -5.17251856e-01 -1.26742137e-03 1.92262225e+02] [ 5.17251347e-01 8.55833229e-01 -7.26202435e-04 2.75819307e+01] [ 1.46033088e-03 -3.40679177e-05 9.99998933e-01 -3.27772454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:27.59, Z:-0.03 [[ 8.55788261e-01 -5.17324700e-01 -1.26732986e-03 1.92287532e+02] [ 5.17324191e-01 8.55789199e-01 -7.26362093e-04 2.75930999e+01] [ 1.46033226e-03 -3.40082446e-05 9.99998933e-01 -3.27471180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:27.60, Z:-0.03 [[ 8.56048927e-01 -5.16893247e-01 -1.26719484e-03 1.92314741e+02] [ 5.16892738e-01 8.56049864e-01 -7.26597583e-04 2.76019360e+01] [ 1.46035535e-03 -3.30007276e-05 9.99998933e-01 -3.22520248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:27.61, Z:-0.03 [[ 8.56349024e-01 -5.16395917e-01 -1.26705971e-03 1.92340409e+02] [ 5.16395407e-01 8.56349961e-01 -7.26833141e-04 2.76134404e+01] [ 1.46038020e-03 -3.18809645e-05 9.99998933e-01 -3.16862224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:27.62, Z:-0.03 [[ 8.57276396e-01 -5.14854907e-01 -1.26697540e-03 1.92367765e+02] [ 5.14854395e-01 8.57277332e-01 -7.26980073e-04 2.76215594e+01] [ 1.46043855e-03 -2.90849971e-05 9.99998933e-01 -3.16431135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:27.63, Z:-0.03 [[ 8.57887819e-01 -5.13835465e-01 -1.26684012e-03 1.92393320e+02] [ 5.13834951e-01 8.57888754e-01 -7.27215744e-04 2.76321610e+01] [ 1.46047713e-03 -2.70772023e-05 9.99998933e-01 -3.22247855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:27.64, Z:-0.03 [[ 8.58478704e-01 -5.12847648e-01 -1.26678135e-03 1.92417937e+02] [ 5.12847133e-01 8.58479638e-01 -7.27318099e-04 2.76429097e+01] [ 1.46050937e-03 -2.52780859e-05 9.99998933e-01 -3.25992383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:27.65, Z:-0.03 [[ 8.59956314e-01 -5.10366077e-01 -1.26672287e-03 1.92445017e+02] [ 5.10365559e-01 8.59957247e-01 -7.27419937e-04 2.76515573e+01] [ 1.46057797e-03 -2.09423593e-05 9.99998933e-01 -3.47668901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:27.66, Z:-0.03 [[ 8.60597137e-01 -5.09284756e-01 -1.26668123e-03 1.92470875e+02] [ 5.09284237e-01 8.60598069e-01 -7.27492440e-04 2.76628093e+01] [ 1.46060423e-03 -1.90228730e-05 9.99998933e-01 -3.48265230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:27.67, Z:-0.03 [[ 8.61432601e-01 -5.07870327e-01 -1.26654675e-03 1.92496923e+02] [ 5.07869806e-01 8.61433532e-01 -7.27726486e-04 2.76741095e+01] [ 1.46063653e-03 -1.63535339e-05 9.99998933e-01 -3.45115989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:27.68, Z:-0.03 [[ 8.63259648e-01 -5.04758532e-01 -1.26641282e-03 1.92522429e+02] [ 5.04758007e-01 8.63260577e-01 -7.27959481e-04 2.76833073e+01] [ 1.46068802e-03 -1.08139686e-05 9.99998933e-01 -3.36854924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:27.69, Z:-0.03 [[ 8.64364213e-01 -5.02864698e-01 -1.26627918e-03 1.92547697e+02] [ 5.02864170e-01 8.64365140e-01 -7.28191875e-04 2.76948048e+01] [ 1.46070957e-03 -7.34343408e-06 9.99998933e-01 -3.32334160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:192.57, Y:27.71, Z:-0.03 [[ 8.65571468e-01 -5.00783816e-01 -1.26614453e-03 1.92572438e+02] [ 5.00783287e-01 8.65572394e-01 -7.28425923e-04 2.77055246e+01] [ 1.46072367e-03 -3.55932453e-06 9.99998933e-01 -3.20031615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:192.60, Y:27.72, Z:-0.03 [[ 8.68271327e-01 -4.96087997e-01 -1.26605311e-03 1.92598734e+02] [ 4.96087462e-01 8.68272250e-01 -7.28584789e-04 2.77159115e+01] [ 1.46072095e-03 4.53620783e-06 9.99998933e-01 -3.19968411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:27.73, Z:-0.03 [[ 8.69713623e-01 -4.93555075e-01 -1.26591996e-03 1.92623535e+02] [ 4.93554537e-01 8.69714544e-01 -7.28816067e-04 2.77289749e+01] [ 1.46069987e-03 9.06072322e-06 9.99998933e-01 -3.29982816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:27.74, Z:-0.03 [[ 8.71283755e-01 -4.90777970e-01 -1.26578163e-03 1.92647496e+02] [ 4.90777428e-01 8.71284675e-01 -7.29056234e-04 2.77416728e+01] [ 1.46066087e-03 1.39978021e-05 9.99998933e-01 -3.42975022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:27.75, Z:-0.03 [[ 8.74467687e-01 -4.85082119e-01 -1.26572148e-03 1.92672697e+02] [ 4.85081571e-01 8.74468603e-01 -7.29160649e-04 2.77530209e+01] [ 1.46053648e-03 2.36492645e-05 9.99998933e-01 -3.37319386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:27.77, Z:-0.03 [[ 8.75985859e-01 -4.82335126e-01 -1.26558390e-03 1.92696204e+02] [ 4.82334575e-01 8.75986772e-01 -7.29399363e-04 2.77662914e+01] [ 1.46044969e-03 2.85086557e-05 9.99998933e-01 -3.43064329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:27.78, Z:-0.03 [[ 8.77234552e-01 -4.80060349e-01 -1.26552425e-03 1.92720699e+02] [ 4.80059796e-01 8.77235464e-01 -7.29502830e-04 2.77807350e+01] [ 1.46036814e-03 3.24177729e-05 9.99998933e-01 -3.35036573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:27.79, Z:-0.03 [[ 8.79242339e-01 -4.76373076e-01 -1.26538883e-03 1.92744616e+02] [ 4.76372519e-01 8.79243249e-01 -7.29737661e-04 2.77949135e+01] [ 1.46021196e-03 3.88197833e-05 9.99998933e-01 -3.22952187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:27.81, Z:-0.03 [[ 8.79746631e-01 -4.75441126e-01 -1.26525171e-03 1.92768562e+02] [ 4.75440568e-01 8.79747540e-01 -7.29975320e-04 2.78093860e+01] [ 1.46016237e-03 4.06413345e-05 9.99998933e-01 -3.09131477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:27.82, Z:-0.03 [[ 8.80162183e-01 -4.74671393e-01 -1.26511145e-03 1.92791706e+02] [ 4.74670833e-01 8.80163091e-01 -7.30218321e-04 2.78240489e+01] [ 1.46011816e-03 4.21990427e-05 9.99998933e-01 -3.05519677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:27.84, Z:-0.03 [[ 8.80139044e-01 -4.74714296e-01 -1.26506801e-03 1.92815097e+02] [ 4.74713736e-01 8.80139952e-01 -7.30293587e-04 2.78397002e+01] [ 1.46011770e-03 4.22147411e-05 9.99998933e-01 -2.87480604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:192.84, Y:27.85, Z:-0.03 [[ 8.79792874e-01 -4.75355549e-01 -1.26493118e-03 1.92839641e+02] [ 4.75354989e-01 8.79793783e-01 -7.30530510e-04 2.78540379e+01] [ 1.46014032e-03 4.14241909e-05 9.99998933e-01 -2.73251981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:192.86, Y:27.87, Z:-0.03 [[ 8.79083975e-01 -4.76665255e-01 -1.26479469e-03 1.92864140e+02] [ 4.76664697e-01 8.79084884e-01 -7.30766734e-04 2.78681078e+01] [ 1.46019301e-03 3.95223466e-05 9.99998933e-01 -2.69950261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:27.88, Z:-0.03 [[ 8.78167530e-01 -4.78351533e-01 -1.26465639e-03 1.92888840e+02] [ 4.78350976e-01 8.78168440e-01 -7.31005998e-04 2.78819427e+01] [ 1.46025917e-03 3.69961130e-05 9.99998933e-01 -2.82868436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:192.91, Y:27.90, Z:-0.03 [[ 8.75835819e-01 -4.82607522e-01 -1.26451589e-03 1.92911734e+02] [ 4.82606969e-01 8.75836731e-01 -7.31248967e-04 2.78955245e+01] [ 1.46041571e-03 3.01898589e-05 9.99998933e-01 -2.70524690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:27.91, Z:-0.03 [[ 8.74296681e-01 -4.85390271e-01 -1.26445471e-03 1.92934921e+02] [ 4.85389721e-01 8.74297595e-01 -7.31354735e-04 2.79089783e+01] [ 1.46050218e-03 2.56676984e-05 9.99998933e-01 -2.85973841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:27.92, Z:-0.03 [[ 8.74210062e-01 -4.85546258e-01 -1.26439733e-03 1.92959472e+02] [ 4.85545708e-01 8.74210976e-01 -7.31453923e-04 2.79234171e+01] [ 1.46050474e-03 2.55216825e-05 9.99998933e-01 -2.85557798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:27.94, Z:-0.03 [[ 8.72640720e-01 -4.88361112e-01 -1.26426678e-03 1.92984328e+02] [ 4.88360564e-01 8.72641636e-01 -7.31679497e-04 2.79372497e+01] [ 1.46057564e-03 2.10752847e-05 9.99998933e-01 -2.84101140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.01, Y:27.95, Z:-0.03 [[ 8.70864114e-01 -4.91522224e-01 -1.26413028e-03 1.93008752e+02] [ 4.91521679e-01 8.70865032e-01 -7.31915254e-04 2.79514038e+01] [ 1.46063947e-03 1.60512906e-05 9.99998933e-01 -2.80329492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:27.97, Z:-0.03 [[ 8.67350836e-01 -4.97695619e-01 -1.26399258e-03 1.93032581e+02] [ 4.97695080e-01 8.67351757e-01 -7.32152985e-04 2.79659743e+01] [ 1.46071552e-03 5.95061634e-06 9.99998933e-01 -2.91652535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:27.98, Z:-0.03 [[ 8.65527952e-01 -5.00859029e-01 -1.26384839e-03 1.93055896e+02] [ 5.00858493e-01 8.65528875e-01 -7.32401803e-04 2.79795046e+01] [ 1.46072733e-03 9.05034152e-07 9.99998933e-01 -3.08892179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.08, Y:27.99, Z:-0.03 [[ 8.62002810e-01 -5.06901922e-01 -1.26378590e-03 1.93080758e+02] [ 5.06901393e-01 8.62003736e-01 -7.32509620e-04 2.79916642e+01] [ 1.46069870e-03 -9.18947951e-06 9.99998933e-01 -2.72426119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:28.01, Z:-0.03 [[ 8.60231624e-01 -5.09901909e-01 -1.26364340e-03 1.93105195e+02] [ 5.09901383e-01 8.60232552e-01 -7.32755352e-04 2.80051200e+01] [ 1.46066054e-03 -1.39941913e-05 9.99998933e-01 -2.87230485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:28.02, Z:-0.03 [[ 8.58708032e-01 -5.12463578e-01 -1.26350067e-03 1.93128658e+02] [ 5.12463054e-01 8.58708962e-01 -7.33001388e-04 2.80187735e+01] [ 1.46061586e-03 -1.80632314e-05 9.99998933e-01 -3.02882200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:28.03, Z:-0.03 [[ 8.55838933e-01 -5.17240877e-01 -1.26343887e-03 1.93153614e+02] [ 5.17240358e-01 8.55839865e-01 -7.33107886e-04 2.80320440e+01] [ 1.46049472e-03 -2.60793041e-05 9.99998933e-01 -2.88151551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:28.05, Z:-0.03 [[ 8.54568292e-01 -5.19337499e-01 -1.26330285e-03 1.93178445e+02] [ 5.19336982e-01 8.54569226e-01 -7.33342198e-04 2.80459231e+01] [ 1.46043185e-03 -2.93889017e-05 9.99998933e-01 -2.72267861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:193.20, Y:28.06, Z:-0.03 [[ 8.53531769e-01 -5.21039274e-01 -1.26316308e-03 1.93202343e+02] [ 5.21038758e-01 8.53532703e-01 -7.33582879e-04 2.80590904e+01] [ 1.46037649e-03 -3.20206296e-05 9.99998933e-01 -2.51612811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:28.07, Z:-0.03 [[ 8.51694200e-01 -5.24037588e-01 -1.26310223e-03 1.93228358e+02] [ 5.24037076e-01 8.51695136e-01 -7.33687644e-04 2.80708622e+01] [ 1.46025793e-03 -3.70348848e-05 9.99998933e-01 -2.67271781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:28.08, Z:-0.03 [[ 8.51028448e-01 -5.25118069e-01 -1.26296379e-03 1.93252572e+02] [ 5.25117557e-01 8.51029384e-01 -7.33925863e-04 2.80828671e+01] [ 1.46021703e-03 -3.86126732e-05 9.99998933e-01 -2.71995310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:193.28, Y:28.10, Z:-0.03 [[ 8.50525186e-01 -5.25932803e-01 -1.26286967e-03 1.93277354e+02] [ 5.25932292e-01 8.50526123e-01 -7.34087793e-04 2.80953349e+01] [ 1.46018449e-03 -3.98237802e-05 9.99998933e-01 -2.58711598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:28.11, Z:-0.03 [[ 8.49734336e-01 -5.27209601e-01 -1.26273173e-03 1.93302679e+02] [ 5.27209091e-01 8.49735273e-01 -7.34324979e-04 2.81063561e+01] [ 1.46013087e-03 -4.17425008e-05 9.99998933e-01 -2.81653943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:28.12, Z:-0.03 [[ 8.49422098e-01 -5.27712521e-01 -1.26267178e-03 1.93328079e+02] [ 5.27712012e-01 8.49423036e-01 -7.34428057e-04 2.81191399e+01] [ 1.46010938e-03 -4.24876426e-05 9.99998933e-01 -2.83939197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.35, Y:28.13, Z:-0.03 [[ 8.49211504e-01 -5.28051349e-01 -1.26253600e-03 1.93352880e+02] [ 5.28050839e-01 8.49212442e-01 -7.34661401e-04 2.81316037e+01] [ 1.46010022e-03 -4.28002796e-05 9.99998933e-01 -2.77412098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:28.14, Z:-0.03 [[ 8.49554372e-01 -5.27499549e-01 -1.26239546e-03 1.93378840e+02] [ 5.27499039e-01 8.49555309e-01 -7.34902814e-04 2.81415500e+01] [ 1.46013567e-03 -4.15724923e-05 9.99998933e-01 -2.80916394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:28.15, Z:-0.03 [[ 8.50061909e-01 -5.26681268e-01 -1.26233420e-03 1.93403426e+02] [ 5.26680757e-01 8.50062845e-01 -7.35008021e-04 2.81531908e+01] [ 1.46017836e-03 -4.00448111e-05 9.99998933e-01 -2.82190797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:28.16, Z:-0.03 [[ 8.50924417e-01 -5.25286629e-01 -1.26224224e-03 1.93428143e+02] [ 5.25286116e-01 8.50925353e-01 -7.35165908e-04 2.81649613e+01] [ 1.46024675e-03 -3.74677040e-05 9.99998933e-01 -2.83611835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:28.18, Z:-0.03 [[ 8.53362089e-01 -5.21317131e-01 -1.26218381e-03 1.93454393e+02] [ 5.21316614e-01 8.53363022e-01 -7.35266210e-04 2.81754059e+01] [ 1.46040786e-03 -3.05490825e-05 9.99998933e-01 -2.83494646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:28.19, Z:-0.03 [[ 8.54827948e-01 -5.18909999e-01 -1.26205026e-03 1.93479747e+02] [ 5.18909479e-01 8.54828879e-01 -7.35495381e-04 2.81882967e+01] [ 1.46049291e-03 -2.61678337e-05 9.99998933e-01 -2.69508691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:28.20, Z:-0.03 [[ 8.56565828e-01 -5.16036230e-01 -1.26190789e-03 1.93503309e+02] [ 5.16035706e-01 8.56566757e-01 -7.35739559e-04 2.82006296e+01] [ 1.46057662e-03 -2.09801655e-05 9.99998933e-01 -2.86659359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:28.21, Z:-0.03 [[ 8.60648599e-01 -5.09197798e-01 -1.26181070e-03 1.93529060e+02] [ 5.09197266e-01 8.60649523e-01 -7.35906210e-04 2.82136905e+01] [ 1.46069860e-03 -9.15391017e-06 9.99998933e-01 -2.68233774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:28.23, Z:-0.03 [[ 8.62735571e-01 -5.05653777e-01 -1.26174245e-03 1.93553383e+02] [ 5.05653241e-01 8.62736494e-01 -7.36023209e-04 2.82273833e+01] [ 1.46072417e-03 -3.01075474e-06 9.99998933e-01 -2.52313025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:28.24, Z:-0.03 [[ 8.64731105e-01 -5.02233535e-01 -1.26160124e-03 1.93577144e+02] [ 5.02232995e-01 8.64732026e-01 -7.36265174e-04 2.82407907e+01] [ 1.46072406e-03 3.05362820e-06 9.99998933e-01 -2.53435575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.60, Y:28.25, Z:-0.02 [[ 8.68143891e-01 -4.96310984e-01 -1.26154064e-03 1.93600757e+02] [ 4.96310437e-01 8.68144808e-01 -7.36368988e-04 2.82536929e+01] [ 1.46066798e-03 1.31584501e-05 9.99998933e-01 -2.35743841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:28.27, Z:-0.02 [[ 8.69281379e-01 -4.94315985e-01 -1.26148140e-03 1.93624692e+02] [ 4.94315437e-01 8.69282294e-01 -7.36470466e-04 2.82676429e+01] [ 1.46063257e-03 1.66303339e-05 9.99998933e-01 -2.43432892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:28.28, Z:-0.02 [[ 8.70843276e-01 -4.91559149e-01 -1.26134405e-03 1.93648761e+02] [ 4.91558598e-01 8.70844189e-01 -7.36705626e-04 2.82821686e+01] [ 1.46056853e-03 2.15306294e-05 9.99998933e-01 -2.44885914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:28.30, Z:-0.03 [[ 8.71264109e-01 -4.90812857e-01 -1.26120565e-03 1.93672917e+02] [ 4.90812305e-01 8.71265022e-01 -7.36942487e-04 2.82964903e+01] [ 1.46054521e-03 2.30562886e-05 9.99998933e-01 -2.52122048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:28.31, Z:-0.03 [[ 8.71463165e-01 -4.90459337e-01 -1.26106768e-03 1.93697401e+02] [ 4.90458783e-01 8.71464077e-01 -7.37178513e-04 2.83109293e+01] [ 1.46053126e-03 2.39222025e-05 9.99998933e-01 -2.51631914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:28.33, Z:-0.02 [[ 8.71260156e-01 -4.90819877e-01 -1.26092734e-03 1.93721455e+02] [ 4.90819323e-01 8.71261068e-01 -7.37418470e-04 2.83261648e+01] [ 1.46053655e-03 2.35958251e-05 9.99998933e-01 -2.40622172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:193.74, Y:28.34, Z:-0.02 [[ 8.70883486e-01 -4.91487908e-01 -1.26078679e-03 1.93744840e+02] [ 4.91487355e-01 8.70884398e-01 -7.37658698e-04 2.83408569e+01] [ 1.46054988e-03 2.27540127e-05 9.99998933e-01 -2.16411583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:28.35, Z:-0.02 [[ 8.70416997e-01 -4.92313580e-01 -1.26064334e-03 1.93767720e+02] [ 4.92313028e-01 8.70417910e-01 -7.37903763e-04 2.83548109e+01] [ 1.46056659e-03 2.16528360e-05 9.99998933e-01 -2.38303488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:28.37, Z:-0.02 [[ 8.69818482e-01 -4.93370266e-01 -1.26058108e-03 1.93791092e+02] [ 4.93369714e-01 8.69819395e-01 -7.38010111e-04 2.83689438e+01] [ 1.46059012e-03 2.00023056e-05 9.99998933e-01 -2.45600981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:28.38, Z:-0.03 [[ 8.68371656e-01 -4.95912369e-01 -1.26052070e-03 1.93814900e+02] [ 4.95911820e-01 8.68372571e-01 -7.38113226e-04 2.83834754e+01] [ 1.46064108e-03 1.58494886e-05 9.99998933e-01 -2.60955808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:28.40, Z:-0.03 [[ 8.67636304e-01 -4.97197803e-01 -1.26038251e-03 1.93838326e+02] [ 4.97197255e-01 8.67637219e-01 -7.38349124e-04 2.83980279e+01] [ 1.46066034e-03 1.39597808e-05 9.99998933e-01 -2.66028880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:28.41, Z:-0.03 [[ 8.67042363e-01 -4.98232830e-01 -1.26024382e-03 1.93862298e+02] [ 4.98232283e-01 8.67043279e-01 -7.38585764e-04 2.84129888e+01] [ 1.46067361e-03 1.24909893e-05 9.99998933e-01 -2.54102761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:193.89, Y:28.43, Z:-0.02 [[ 8.66654101e-01 -4.98907889e-01 -1.26010057e-03 1.93885495e+02] [ 4.98907342e-01 8.66655017e-01 -7.38830085e-04 2.84279050e+01] [ 1.46068064e-03 1.16366969e-05 9.99998933e-01 -2.38037335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.91, Y:28.44, Z:-0.02 [[ 8.66215729e-01 -4.99668613e-01 -1.26004059e-03 1.93909151e+02] [ 4.99668067e-01 8.66216645e-01 -7.38932374e-04 2.84437208e+01] [ 1.46068944e-03 1.04728005e-05 9.99998933e-01 -2.24587105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:28.46, Z:-0.02 [[ 8.65956170e-01 -5.00118309e-01 -1.25989676e-03 1.93931547e+02] [ 5.00117763e-01 8.65957087e-01 -7.39177521e-04 2.84585930e+01] [ 1.46069274e-03 9.99858648e-06 9.99998933e-01 -2.42212112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:28.48, Z:-0.03 [[ 8.65238009e-01 -5.01359752e-01 -1.25983431e-03 1.93952459e+02] [ 5.01359207e-01 8.65238926e-01 -7.39283942e-04 2.84755027e+01] [ 1.46070490e-03 8.02703516e-06 9.99998933e-01 -2.55447444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:193.98, Y:28.49, Z:-0.02 [[ 8.64370311e-01 -5.02854231e-01 -1.25977384e-03 1.93975711e+02] [ 5.02853688e-01 8.64371229e-01 -7.39386967e-04 2.84911950e+01] [ 1.46071613e-03 5.62222065e-06 9.99998933e-01 -2.42886864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:28.51, Z:-0.03 [[ 8.63256795e-01 -5.04763428e-01 -1.25963431e-03 1.93998725e+02] [ 5.04762887e-01 8.63257714e-01 -7.39624597e-04 2.85057117e+01] [ 1.46072448e-03 2.66930822e-06 9.99998933e-01 -2.65942805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.02, Y:28.52, Z:-0.02 [[ 8.61804826e-01 -5.07238461e-01 -1.25957353e-03 1.94022564e+02] [ 5.07237921e-01 8.61805746e-01 -7.39728097e-04 2.85205420e+01] [ 1.46072625e-03 -1.40221477e-06 9.99998933e-01 -2.49733381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:28.54, Z:-0.03 [[ 8.58963156e-01 -5.12035848e-01 -1.25942912e-03 1.94045782e+02] [ 5.12035314e-01 8.58964079e-01 -7.39973880e-04 2.85350603e+01] [ 1.46069753e-03 -9.26188449e-06 9.99998933e-01 -2.68955915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:28.55, Z:-0.03 [[ 8.57385146e-01 -5.14673806e-01 -1.25933071e-03 1.94069387e+02] [ 5.14673274e-01 8.57386070e-01 -7.40141321e-04 2.85492938e+01] [ 1.46066396e-03 -1.35576846e-05 9.99998933e-01 -2.78429322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:28.56, Z:-0.03 [[ 8.55964689e-01 -5.17032751e-01 -1.25918985e-03 1.94093116e+02] [ 5.17032221e-01 8.55965615e-01 -7.40380889e-04 2.85633889e+01] [ 1.46062438e-03 -1.73018264e-05 9.99998933e-01 -2.86630352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:28.58, Z:-0.03 [[ 8.54266428e-01 -5.19833901e-01 -1.25904780e-03 1.94116969e+02] [ 5.19833374e-01 8.54267355e-01 -7.40622364e-04 2.85783581e+01] [ 1.46056405e-03 -2.18062460e-05 9.99998933e-01 -2.91041347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:28.59, Z:-0.03 [[ 8.54210891e-01 -5.19925158e-01 -1.25890241e-03 1.94139778e+02] [ 5.19924630e-01 8.54211818e-01 -7.40869427e-04 2.85938008e+01] [ 1.46056597e-03 -2.16756352e-05 9.99998933e-01 -3.03561818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:28.61, Z:-0.03 [[ 8.54359903e-01 -5.19680259e-01 -1.25885730e-03 1.94162098e+02] [ 5.19679731e-01 8.54360830e-01 -7.40946060e-04 2.86087793e+01] [ 1.46057341e-03 -2.11680197e-05 9.99998933e-01 -3.07842575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:28.62, Z:-0.03 [[ 8.55100265e-01 -5.18461139e-01 -1.25879621e-03 1.94186339e+02] [ 5.18460610e-01 8.55101191e-01 -7.41049839e-04 2.86246910e+01] [ 1.46060368e-03 -1.89643350e-05 9.99998933e-01 -3.01860151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:28.64, Z:-0.03 [[ 8.55217173e-01 -5.18268272e-01 -1.25867615e-03 1.94210747e+02] [ 5.18267742e-01 8.55218099e-01 -7.41253705e-04 2.86393597e+01] [ 1.46061090e-03 -1.83983466e-05 9.99998933e-01 -2.86856962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:28.65, Z:-0.03 [[ 8.55152961e-01 -5.18374218e-01 -1.25855554e-03 1.94234665e+02] [ 5.18373688e-01 8.55153887e-01 -7.41458426e-04 2.86542583e+01] [ 1.46061159e-03 -1.83417071e-05 9.99998933e-01 -2.78331072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.26, Y:28.67, Z:-0.03 [[ 8.54620896e-01 -5.19250942e-01 -1.25841802e-03 1.94257781e+02] [ 5.19250413e-01 8.54621822e-01 -7.41691756e-04 2.86693466e+01] [ 1.46059564e-03 -1.95688012e-05 9.99998933e-01 -2.59694675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.28, Y:28.68, Z:-0.03 [[ 8.54233351e-01 -5.19888257e-01 -1.25827665e-03 1.94281261e+02] [ 5.19887728e-01 8.54234277e-01 -7.41931506e-04 2.86833204e+01] [ 1.46058452e-03 -2.03799523e-05 9.99998933e-01 -2.70537895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:28.70, Z:-0.03 [[ 8.53699625e-01 -5.20764215e-01 -1.25821534e-03 1.94304888e+02] [ 5.20763686e-01 8.53700552e-01 -7.42035460e-04 2.86974106e+01] [ 1.46056465e-03 -2.17574665e-05 9.99998933e-01 -2.79176647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:28.71, Z:-0.03 [[ 8.53246555e-01 -5.21506216e-01 -1.25807292e-03 1.94328248e+02] [ 5.21505689e-01 8.53247482e-01 -7.42276848e-04 2.87106316e+01] [ 1.46054954e-03 -2.27470225e-05 9.99998933e-01 -2.85738358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:28.72, Z:-0.03 [[ 8.52585810e-01 -5.22585739e-01 -1.25801103e-03 1.94352964e+02] [ 5.22585212e-01 8.52586738e-01 -7.42381723e-04 2.87231160e+01] [ 1.46052162e-03 -2.44738392e-05 9.99998933e-01 -2.92924574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:28.74, Z:-0.03 [[ 8.52198140e-01 -5.23217688e-01 -1.25796694e-03 1.94376934e+02] [ 5.23217161e-01 8.52199068e-01 -7.42456426e-04 2.87367462e+01] [ 1.46050459e-03 -2.54699075e-05 9.99998933e-01 -2.80663667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:28.75, Z:-0.03 [[ 8.51881520e-01 -5.23733036e-01 -1.25782671e-03 1.94400810e+02] [ 5.23732511e-01 8.51882448e-01 -7.42693930e-04 2.87503778e+01] [ 1.46049384e-03 -2.60775051e-05 9.99998933e-01 -2.67476146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:28.76, Z:-0.03 [[ 8.51730715e-01 -5.23978251e-01 -1.25778312e-03 1.94424953e+02] [ 5.23977725e-01 8.51731643e-01 -7.42767730e-04 2.87644222e+01] [ 1.46048782e-03 -2.64122503e-05 9.99998933e-01 -2.57322886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:28.78, Z:-0.02 [[ 8.51801104e-01 -5.23863817e-01 -1.25764693e-03 1.94449050e+02] [ 5.23863290e-01 8.51802032e-01 -7.42998264e-04 2.87783577e+01] [ 1.46049612e-03 -2.59483167e-05 9.99998933e-01 -2.44076325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:28.79, Z:-0.02 [[ 8.52101452e-01 -5.23375137e-01 -1.25750846e-03 1.94472284e+02] [ 5.23374610e-01 8.52102380e-01 -7.43232539e-04 2.87916118e+01] [ 1.46051539e-03 -2.48384752e-05 9.99998933e-01 -2.40114189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:28.81, Z:-0.02 [[ 8.52006069e-01 -5.23530397e-01 -1.25741414e-03 1.94496705e+02] [ 5.23529870e-01 8.52006997e-01 -7.43392091e-04 2.88062766e+01] [ 1.46051400e-03 -2.49192855e-05 9.99998933e-01 -2.39698125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:28.82, Z:-0.02 [[ 8.52690875e-01 -5.22414290e-01 -1.25727863e-03 1.94521726e+02] [ 5.22413761e-01 8.52691802e-01 -7.43621190e-04 2.88195984e+01] [ 1.46054952e-03 -2.27406569e-05 9.99998933e-01 -2.38418456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:28.83, Z:-0.02 [[ 8.53270813e-01 -5.21466527e-01 -1.25714164e-03 1.94545496e+02] [ 5.21465997e-01 8.53271739e-01 -7.43852719e-04 2.88325784e+01] [ 1.46057773e-03 -2.08488026e-05 9.99998933e-01 -2.48161146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:28.85, Z:-0.03 [[ 8.53848431e-01 -5.20520197e-01 -1.25708211e-03 1.94569798e+02] [ 5.20519666e-01 8.53849357e-01 -7.43953314e-04 2.88466743e+01] [ 1.46060147e-03 -1.91125872e-05 9.99998933e-01 -2.54316444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:28.86, Z:-0.03 [[ 8.55567572e-01 -5.17689627e-01 -1.25694905e-03 1.94593991e+02] [ 5.17689093e-01 8.55568495e-01 -7.44178052e-04 2.88604289e+01] [ 1.46065926e-03 -1.40142039e-05 9.99998933e-01 -2.51124000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:28.87, Z:-0.03 [[ 8.56391063e-01 -5.16326223e-01 -1.25681185e-03 1.94617942e+02] [ 5.16325686e-01 8.56391985e-01 -7.44409686e-04 2.88746502e+01] [ 1.46068184e-03 -1.14184398e-05 9.99998933e-01 -2.53897267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:28.89, Z:-0.03 [[ 8.58320212e-01 -5.13112887e-01 -1.25667196e-03 1.94641818e+02] [ 5.13112347e-01 8.58321132e-01 -7.44645773e-04 2.88879821e+01] [ 1.46071544e-03 -5.66938059e-06 9.99998933e-01 -2.73845692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:28.90, Z:-0.03 [[ 8.59016631e-01 -5.11946138e-01 -1.25661103e-03 1.94665869e+02] [ 5.11945596e-01 8.59017550e-01 -7.44748574e-04 2.89017926e+01] [ 1.46072209e-03 -3.56507176e-06 9.99998933e-01 -2.79769897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.69, Y:28.92, Z:-0.03 [[ 8.59661354e-01 -5.10862777e-01 -1.25648096e-03 1.94689756e+02] [ 5.10862234e-01 8.59662273e-01 -7.44967950e-04 2.89150868e+01] [ 1.46072568e-03 -1.46851476e-06 9.99998933e-01 -2.93134467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:194.71, Y:28.93, Z:-0.03 [[ 8.60083937e-01 -5.10151000e-01 -1.25642033e-03 1.94714619e+02] [ 5.10150456e-01 8.60084855e-01 -7.45070188e-04 2.89288314e+01] [ 1.46072640e-03 -1.40505633e-07 9.99998933e-01 -2.58671399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:28.94, Z:-0.03 [[ 8.60948689e-01 -5.08690257e-01 -1.25627673e-03 1.94738792e+02] [ 5.08689711e-01 8.60949605e-01 -7.45312240e-04 2.89416185e+01] [ 1.46072403e-03 2.62054856e-06 9.99998933e-01 -2.85460646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.76, Y:28.96, Z:-0.03 [[ 8.61268274e-01 -5.08148977e-01 -1.25617893e-03 1.94762355e+02] [ 5.08148430e-01 8.61269190e-01 -7.45477049e-04 2.89552830e+01] [ 1.46072161e-03 3.73038129e-06 9.99998933e-01 -2.65205190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:28.97, Z:-0.03 [[ 8.61459283e-01 -5.07825094e-01 -1.25611916e-03 1.94786935e+02] [ 5.07824547e-01 8.61460198e-01 -7.45577742e-04 2.89699765e+01] [ 1.46071975e-03 4.39672364e-06 9.99998933e-01 -2.62773190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:194.81, Y:28.98, Z:-0.02 [[ 8.62252027e-01 -5.06477902e-01 -1.25599788e-03 1.94809922e+02] [ 5.06477353e-01 8.62252941e-01 -7.45781987e-04 2.89835213e+01] [ 1.46070997e-03 6.91754652e-06 9.99998933e-01 -2.41746318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.83, Y:29.00, Z:-0.03 [[ 8.62608944e-01 -5.05869778e-01 -1.25593749e-03 1.94834002e+02] [ 5.05869228e-01 8.62609858e-01 -7.45883672e-04 2.89968555e+01] [ 1.46070407e-03 8.06579619e-06 9.99998933e-01 -2.58472856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:194.86, Y:29.01, Z:-0.03 [[ 8.62750370e-01 -5.05628542e-01 -1.25579739e-03 1.94857051e+02] [ 5.05627991e-01 8.62751284e-01 -7.46119478e-04 2.90100070e+01] [ 1.46070012e-03 8.74854199e-06 9.99998933e-01 -2.51086076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:29.02, Z:-0.03 [[ 8.63158142e-01 -5.04932120e-01 -1.25570201e-03 1.94881367e+02] [ 5.04931568e-01 8.63159055e-01 -7.46279969e-04 2.90237987e+01] [ 1.46069129e-03 1.01140460e-05 9.99998933e-01 -2.62824191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:194.90, Y:29.04, Z:-0.02 [[ 8.63071686e-01 -5.05079884e-01 -1.25556377e-03 1.94904721e+02] [ 5.05079332e-01 8.63072599e-01 -7.46512472e-04 2.90383987e+01] [ 1.46069112e-03 1.01344656e-05 9.99998933e-01 -2.46250856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:29.05, Z:-0.03 [[ 8.63259123e-01 -5.04759459e-01 -1.25542089e-03 1.94927813e+02] [ 5.04758906e-01 8.63260035e-01 -7.46752691e-04 2.90523539e+01] [ 1.46068516e-03 1.09561988e-05 9.99998933e-01 -2.81728510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:194.95, Y:29.07, Z:-0.03 [[ 8.63357298e-01 -5.04591517e-01 -1.25535851e-03 1.94951882e+02] [ 5.04590965e-01 8.63358211e-01 -7.46857536e-04 2.90679872e+01] [ 1.46068205e-03 1.13623429e-05 9.99998933e-01 -2.63995279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:29.08, Z:-0.03 [[ 8.63384910e-01 -5.04544271e-01 -1.25523570e-03 1.94975047e+02] [ 5.04543718e-01 8.63385823e-01 -7.47063885e-04 2.90822221e+01] [ 1.46067951e-03 1.16823988e-05 9.99998933e-01 -3.09916714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:29.10, Z:-0.03 [[ 8.63419122e-01 -5.04485722e-01 -1.25517461e-03 1.94998672e+02] [ 5.04485169e-01 8.63420035e-01 -7.47166506e-04 2.90966661e+01] [ 1.46067774e-03 1.19008723e-05 9.99998933e-01 -2.88053173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:29.11, Z:-0.03 [[ 8.63499597e-01 -5.04347965e-01 -1.25503487e-03 1.95022176e+02] [ 5.04347412e-01 8.63500509e-01 -7.47401155e-04 2.91124235e+01] [ 1.46067350e-03 1.24070061e-05 9.99998933e-01 -2.88003719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:29.13, Z:-0.03 [[ 8.63456750e-01 -5.04421318e-01 -1.25499151e-03 1.95045558e+02] [ 5.04420764e-01 8.63457662e-01 -7.47473963e-04 2.91274033e+01] [ 1.46067384e-03 1.23676624e-05 9.99998933e-01 -2.52530160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.07, Y:29.14, Z:-0.02 [[ 8.63336322e-01 -5.04627408e-01 -1.25484776e-03 1.95069004e+02] [ 5.04626854e-01 8.63337234e-01 -7.47715214e-04 2.91422371e+01] [ 1.46067438e-03 1.22998268e-05 9.99998933e-01 -2.41105336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:29.16, Z:-0.03 [[ 8.63214929e-01 -5.04835034e-01 -1.25470420e-03 1.95091898e+02] [ 5.04834480e-01 8.63215841e-01 -7.47956037e-04 2.91589327e+01] [ 1.46067495e-03 1.22288756e-05 9.99998933e-01 -2.52386086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:29.17, Z:-0.03 [[ 8.63164062e-01 -5.04922001e-01 -1.25465967e-03 1.95115438e+02] [ 5.04921447e-01 8.63164974e-01 -7.48030725e-04 2.91744621e+01] [ 1.46067545e-03 1.21686647e-05 9.99998933e-01 -2.53047239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.14, Y:29.19, Z:-0.03 [[ 8.63061442e-01 -5.05097390e-01 -1.25451797e-03 1.95138101e+02] [ 5.05096836e-01 8.63062353e-01 -7.48268286e-04 2.91889732e+01] [ 1.46067559e-03 1.21484465e-05 9.99998933e-01 -2.69571457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.16, Y:29.20, Z:-0.02 [[ 8.62864171e-01 -5.05434316e-01 -1.25445639e-03 1.95161979e+02] [ 5.05433762e-01 8.62865083e-01 -7.48371521e-04 2.92041052e+01] [ 1.46067926e-03 1.16983621e-05 9.99998933e-01 -2.34342528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.18, Y:29.22, Z:-0.02 [[ 8.62704693e-01 -5.05706476e-01 -1.25431564e-03 1.95184464e+02] [ 5.05705922e-01 8.62705604e-01 -7.48607338e-04 2.92197369e+01] [ 1.46068071e-03 1.15122133e-05 9.99998933e-01 -2.05207250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:29.23, Z:-0.02 [[ 8.62685650e-01 -5.05738960e-01 -1.25426307e-03 1.95207255e+02] [ 5.05738406e-01 8.62686562e-01 -7.48695417e-04 2.92343138e+01] [ 1.46068034e-03 1.15597870e-05 9.99998933e-01 -2.17046096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:29.25, Z:-0.02 [[ 8.62563687e-01 -5.05946947e-01 -1.25420246e-03 1.95230294e+02] [ 5.05946393e-01 8.62564599e-01 -7.48796927e-04 2.92507269e+01] [ 1.46068216e-03 1.13258260e-05 9.99998933e-01 -2.11687946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:29.27, Z:-0.02 [[ 8.62588251e-01 -5.05905067e-01 -1.25406393e-03 1.95253499e+02] [ 5.05904512e-01 8.62589162e-01 -7.49028872e-04 2.92671659e+01] [ 1.46067945e-03 1.16669046e-05 9.99998933e-01 -2.07629925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.28, Y:29.28, Z:-0.02 [[ 8.62750753e-01 -5.05627893e-01 -1.25392594e-03 1.95276415e+02] [ 5.05627338e-01 8.62751664e-01 -7.49259809e-04 2.92833428e+01] [ 1.46067335e-03 1.24052310e-05 9.99998933e-01 -1.90669620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:29.30, Z:-0.02 [[ 8.63533613e-01 -5.04289726e-01 -1.25378841e-03 1.95298173e+02] [ 5.04289169e-01 8.63534523e-01 -7.49489874e-04 2.92999088e+01] [ 1.46064962e-03 1.49377839e-05 9.99998933e-01 -2.09413985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:29.32, Z:-0.02 [[ 8.63908998e-01 -5.03646375e-01 -1.25372874e-03 1.95320438e+02] [ 5.03645817e-01 8.63909908e-01 -7.49589677e-04 2.93158034e+01] [ 1.46063680e-03 1.61420330e-05 9.99998933e-01 -2.17537995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:29.33, Z:-0.02 [[ 8.64354508e-01 -5.02881411e-01 -1.25366945e-03 1.95342462e+02] [ 5.02880852e-01 8.64355417e-01 -7.49688813e-04 2.93320757e+01] [ 1.46062055e-03 1.75505427e-05 9.99998933e-01 -2.31591438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.36, Y:29.35, Z:-0.02 [[ 8.65508638e-01 -5.00892430e-01 -1.25361204e-03 1.95363257e+02] [ 5.00891869e-01 8.65509546e-01 -7.49784806e-04 2.93514615e+01] [ 1.46057472e-03 2.10211494e-05 9.99998933e-01 -2.32826696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:29.37, Z:-0.03 [[ 8.65916599e-01 -5.00186838e-01 -1.25354923e-03 1.95385039e+02] [ 5.00186276e-01 8.65917506e-01 -7.49889807e-04 2.93686691e+01] [ 1.46055523e-03 2.23339113e-05 9.99998933e-01 -2.54236109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:29.39, Z:-0.03 [[ 8.66327695e-01 -4.99474477e-01 -1.25341554e-03 1.95406916e+02] [ 4.99473914e-01 8.66328602e-01 -7.50113185e-04 2.93859235e+01] [ 1.46053213e-03 2.37954587e-05 9.99998933e-01 -2.56217091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:29.40, Z:-0.03 [[ 8.66336471e-01 -4.99459256e-01 -1.25328212e-03 1.95428900e+02] [ 4.99458693e-01 8.66337377e-01 -7.50336040e-04 2.94033304e+01] [ 1.46052743e-03 2.40808260e-05 9.99998933e-01 -2.59136848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:29.42, Z:-0.03 [[ 8.65272842e-01 -5.01299650e-01 -1.25314951e-03 1.95448256e+02] [ 5.01299088e-01 8.65273749e-01 -7.50557452e-04 2.94231003e+01] [ 1.46057156e-03 2.12342727e-05 9.99998933e-01 -2.72967372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.47, Y:29.44, Z:-0.03 [[ 8.64069901e-01 -5.03370277e-01 -1.25305904e-03 1.95471839e+02] [ 5.03369717e-01 8.64070810e-01 -7.50708466e-04 2.94402639e+01] [ 1.46061607e-03 1.79126163e-05 9.99998933e-01 -2.72403663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:29.46, Z:-0.03 [[ 8.62374404e-01 -5.06269510e-01 -1.25294377e-03 1.95494890e+02] [ 5.06268954e-01 8.62375314e-01 -7.50900806e-04 2.94564547e+01] [ 1.46066596e-03 1.32311056e-05 9.99998933e-01 -2.95856262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:29.47, Z:-0.03 [[ 8.58515471e-01 -5.12786131e-01 -1.25281222e-03 1.95516003e+02] [ 5.12785581e-01 8.58516385e-01 -7.51120224e-04 2.94731077e+01] [ 1.46072385e-03 2.42429336e-06 9.99998933e-01 -3.03473663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:29.49, Z:-0.03 [[ 8.56357268e-01 -5.16382281e-01 -1.25275720e-03 1.95538871e+02] [ 5.16381735e-01 8.56358184e-01 -7.51211976e-04 2.94888960e+01] [ 1.46072143e-03 -3.59509893e-06 9.99998933e-01 -3.05267564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:29.51, Z:-0.03 [[ 8.52009841e-01 -5.23524270e-01 -1.25262790e-03 1.95561811e+02] [ 5.23523731e-01 8.52010762e-01 -7.51427510e-04 2.95061026e+01] [ 1.46064299e-03 -1.55567983e-05 9.99998933e-01 -2.67400424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:29.52, Z:-0.03 [[ 8.49955878e-01 -5.26852386e-01 -1.25250524e-03 1.95584825e+02] [ 5.26851850e-01 8.49956801e-01 -7.51631913e-04 2.95211800e+01] [ 1.46057441e-03 -2.10307393e-05 9.99998933e-01 -2.64743110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:29.54, Z:-0.03 [[ 8.46199099e-01 -5.32865383e-01 -1.25244369e-03 1.95607688e+02] [ 5.32864853e-01 8.46200025e-01 -7.51734465e-04 2.95367981e+01] [ 1.46039115e-03 -3.12661933e-05 9.99998933e-01 -2.62039849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:29.55, Z:-0.03 [[ 8.44566651e-01 -5.35448974e-01 -1.25230041e-03 1.95631477e+02] [ 5.35448447e-01 8.44567579e-01 -7.51973077e-04 2.95524255e+01] [ 1.46029553e-03 -3.54509240e-05 9.99998933e-01 -2.60470478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:29.57, Z:-0.03 [[ 8.43147869e-01 -5.37680298e-01 -1.25215721e-03 1.95654533e+02] [ 5.37679773e-01 8.43148798e-01 -7.52211444e-04 2.95673507e+01] [ 1.46020412e-03 -3.90341297e-05 9.99998933e-01 -2.68756429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:29.58, Z:-0.03 [[ 8.41884102e-01 -5.39656919e-01 -1.25209496e-03 1.95677627e+02] [ 5.39656396e-01 8.41885032e-01 -7.52315043e-04 2.95821834e+01] [ 1.46011203e-03 -4.23389813e-05 9.99998933e-01 -2.95766828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:195.70, Y:29.60, Z:-0.02 [[ 8.40069837e-01 -5.42476822e-01 -1.25195968e-03 1.95701017e+02] [ 5.42476302e-01 8.40070768e-01 -7.52540112e-04 2.95968486e+01] [ 1.45997030e-03 -4.69722064e-05 9.99998933e-01 -2.45922197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:29.61, Z:-0.03 [[ 8.39212507e-01 -5.43802172e-01 -1.25182381e-03 1.95725632e+02] [ 5.43801653e-01 8.39213439e-01 -7.52766055e-04 2.96107683e+01] [ 1.45990318e-03 -4.90131685e-05 9.99998933e-01 -2.58129780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:29.62, Z:-0.02 [[ 8.38221366e-01 -5.45328685e-01 -1.25168877e-03 1.95750411e+02] [ 5.45328167e-01 8.38222299e-01 -7.52990533e-04 2.96247757e+01] [ 1.45982077e-03 -5.14083891e-05 9.99998933e-01 -2.41726992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:29.64, Z:-0.02 [[ 8.36376464e-01 -5.48154034e-01 -1.25154827e-03 1.95775140e+02] [ 5.48153519e-01 8.36377398e-01 -7.53223981e-04 2.96375370e+01] [ 1.45964945e-03 -5.60617790e-05 9.99998933e-01 -2.35166458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:29.65, Z:-0.03 [[ 8.35577783e-01 -5.49370734e-01 -1.25150476e-03 1.95798763e+02] [ 5.49370220e-01 8.35578718e-01 -7.53296267e-04 2.96503875e+01] [ 1.45956967e-03 -5.81018220e-05 9.99998933e-01 -2.58957787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:29.66, Z:-0.02 [[ 8.34759314e-01 -5.50613587e-01 -1.25144489e-03 1.95823722e+02] [ 5.50613075e-01 8.34760249e-01 -7.53395716e-04 2.96636741e+01] [ 1.45948637e-03 -6.01578290e-05 9.99998933e-01 -2.46295473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:29.67, Z:-0.02 [[ 8.34230410e-01 -5.51414596e-01 -1.25131351e-03 1.95850688e+02] [ 5.51414084e-01 8.34231347e-01 -7.53613859e-04 2.96732885e+01] [ 1.45943864e-03 -6.13042960e-05 9.99998933e-01 -2.36321341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:29.69, Z:-0.02 [[ 8.34508142e-01 -5.50994188e-01 -1.25117538e-03 1.95874913e+02] [ 5.50993675e-01 8.34509078e-01 -7.53843116e-04 2.96854004e+01] [ 1.45948039e-03 -6.03015043e-05 9.99998933e-01 -2.33028147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:29.70, Z:-0.02 [[ 8.35164228e-01 -5.49999224e-01 -1.25111545e-03 1.95899547e+02] [ 5.49998711e-01 8.35165163e-01 -7.53942566e-04 2.96982935e+01] [ 1.45955587e-03 -5.84460258e-05 9.99998933e-01 -2.34250819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:29.71, Z:-0.02 [[ 8.37382590e-01 -5.46615801e-01 -1.25097882e-03 1.95924398e+02] [ 5.46615283e-01 8.37383522e-01 -7.54169209e-04 2.97091925e+01] [ 1.45978986e-03 -5.22759754e-05 9.99998933e-01 -2.41753380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:29.72, Z:-0.02 [[ 8.38625011e-01 -5.44707744e-01 -1.25092144e-03 1.95949744e+02] [ 5.44707224e-01 8.38625942e-01 -7.54264366e-04 2.97219873e+01] [ 1.45990881e-03 -4.88409844e-05 9.99998933e-01 -2.45290350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:29.74, Z:-0.02 [[ 8.38525725e-01 -5.44860573e-01 -1.25078394e-03 1.95974035e+02] [ 5.44860053e-01 8.38526657e-01 -7.54492318e-04 2.97368549e+01] [ 1.45990879e-03 -4.88409836e-05 9.99998933e-01 -2.44874302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:29.75, Z:-0.02 [[ 8.39830440e-01 -5.42847370e-01 -1.25064639e-03 1.95999427e+02] [ 5.42846847e-01 8.39831370e-01 -7.54720246e-04 2.97496123e+01] [ 1.46002997e-03 -4.50724141e-05 9.99998933e-01 -2.43146822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:29.76, Z:-0.02 [[ 8.42936097e-01 -5.38012242e-01 -1.25050620e-03 1.96024605e+02] [ 5.38011713e-01 8.42937024e-01 -7.54952466e-04 2.97592728e+01] [ 1.46027164e-03 -3.64102958e-05 9.99998933e-01 -2.49773319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:29.77, Z:-0.02 [[ 8.44540716e-01 -5.35489883e-01 -1.25044510e-03 1.96049144e+02] [ 5.35489352e-01 8.44541641e-01 -7.55053644e-04 2.97715380e+01] [ 1.46037655e-03 -3.19264918e-05 9.99998933e-01 -2.43636975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.07, Y:29.78, Z:-0.02 [[ 8.46150085e-01 -5.32943215e-01 -1.25035297e-03 1.96074500e+02] [ 5.32942681e-01 8.46151008e-01 -7.55206189e-04 2.97844639e+01] [ 1.46046944e-03 -2.73486811e-05 9.99998933e-01 -2.31135256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:29.80, Z:-0.02 [[ 8.49193025e-01 -5.28081096e-01 -1.25021563e-03 1.96100900e+02] [ 5.28080556e-01 8.49193945e-01 -7.55433481e-04 2.97952302e+01] [ 1.46060568e-03 -1.87057208e-05 9.99998933e-01 -2.34309480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:29.81, Z:-0.02 [[ 8.50431678e-01 -5.26084023e-01 -1.25007621e-03 1.96126363e+02] [ 5.26083480e-01 8.50432596e-01 -7.55664114e-04 2.98075155e+01] [ 1.46064837e-03 -1.50037427e-05 9.99998933e-01 -2.37101437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:29.82, Z:-0.02 [[ 8.51476656e-01 -5.24391020e-01 -1.24993353e-03 1.96151332e+02] [ 5.24390475e-01 8.51477574e-01 -7.55900049e-04 2.98200541e+01] [ 1.46067756e-03 -1.18219902e-05 9.99998933e-01 -2.36806950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:29.83, Z:-0.02 [[ 8.52459161e-01 -5.22792326e-01 -1.24979054e-03 1.96175310e+02] [ 5.22791779e-01 8.52460077e-01 -7.56136383e-04 2.98320085e+01] [ 1.46069884e-03 -8.80483512e-06 9.99998933e-01 -2.38037982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:29.84, Z:-0.02 [[ 8.54028007e-01 -5.20225530e-01 -1.24972840e-03 1.96202413e+02] [ 5.20224980e-01 8.54028921e-01 -7.56239080e-04 2.98418722e+01] [ 1.46071907e-03 -4.29057683e-06 9.99998933e-01 -2.43085348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:29.85, Z:-0.03 [[ 8.54656005e-01 -5.19193174e-01 -1.24958717e-03 1.96227230e+02] [ 5.19192623e-01 8.54656918e-01 -7.56472371e-04 2.98537364e+01] [ 1.46072361e-03 -2.25278597e-06 9.99998933e-01 -2.51807646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:29.87, Z:-0.02 [[ 8.55254023e-01 -5.18207483e-01 -1.24952550e-03 1.96252704e+02] [ 5.18206931e-01 8.55254935e-01 -7.56574229e-04 2.98664608e+01] [ 1.46072527e-03 -4.49619699e-07 9.99998933e-01 -2.49409471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:29.88, Z:-0.03 [[ 8.57017174e-01 -5.15286330e-01 -1.24938442e-03 1.96277977e+02] [ 5.15285775e-01 8.57018085e-01 -7.56807121e-04 2.98765171e+01] [ 1.46071741e-03 4.80668050e-06 9.99998933e-01 -2.59496075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.30, Y:29.89, Z:-0.02 [[ 8.57991708e-01 -5.13662018e-01 -1.24932541e-03 1.96302292e+02] [ 5.13661460e-01 8.57992617e-01 -7.56904529e-04 2.98893903e+01] [ 1.46070508e-03 7.68749644e-06 9.99998933e-01 -2.45015039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:29.90, Z:-0.02 [[ 8.60242724e-01 -5.09883216e-01 -1.24926446e-03 1.96328555e+02] [ 5.09882655e-01 8.60243631e-01 -7.57005107e-04 2.99006120e+01] [ 1.46065600e-03 1.42298555e-05 9.99998933e-01 -2.48956461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:196.35, Y:29.91, Z:-0.02 [[ 8.61443205e-01 -5.07852385e-01 -1.24912547e-03 1.96352809e+02] [ 5.07851821e-01 8.61444110e-01 -7.57234390e-04 2.99133503e+01] [ 1.46061507e-03 1.79437763e-05 9.99998933e-01 -2.26992690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:29.93, Z:-0.02 [[ 8.62531708e-01 -5.06001475e-01 -1.24906499e-03 1.96377282e+02] [ 5.06000909e-01 8.62532612e-01 -7.57334136e-04 2.99265379e+01] [ 1.46057148e-03 2.11966855e-05 9.99998933e-01 -2.36720465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:29.94, Z:-0.02 [[ 8.63514767e-01 -5.04322007e-01 -1.24892816e-03 1.96401625e+02] [ 5.04321438e-01 8.63515670e-01 -7.57559715e-04 2.99404686e+01] [ 1.46052307e-03 2.43027547e-05 9.99998933e-01 -2.34470800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:29.95, Z:-0.02 [[ 8.65396452e-01 -5.01086241e-01 -1.24879141e-03 1.96425515e+02] [ 5.01085669e-01 8.65397353e-01 -7.57785075e-04 2.99525926e+01] [ 1.46041645e-03 3.00330365e-05 9.99998933e-01 -2.41055180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:29.97, Z:-0.02 [[ 8.66141908e-01 -4.99796595e-01 -1.24873209e-03 1.96449790e+02] [ 4.99796021e-01 8.66142807e-01 -7.57882809e-04 2.99666308e+01] [ 1.46036757e-03 3.23227307e-05 9.99998933e-01 -2.48507361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:29.98, Z:-0.03 [[ 8.67402238e-01 -4.97606068e-01 -1.24859733e-03 1.96473329e+02] [ 4.97605492e-01 8.67403136e-01 -7.58104762e-04 2.99811569e+01] [ 1.46027477e-03 3.62728776e-05 9.99998933e-01 -2.52151625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:196.50, Y:30.00, Z:-0.02 [[ 8.67915240e-01 -4.96710759e-01 -1.24846308e-03 1.96496343e+02] [ 4.96710182e-01 8.67916137e-01 -7.58325787e-04 2.99954014e+01] [ 1.46022983e-03 3.80381845e-05 9.99998933e-01 -2.34326616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:30.01, Z:-0.02 [[ 8.68283301e-01 -4.96067084e-01 -1.24840488e-03 1.96520605e+02] [ 4.96066505e-01 8.68284197e-01 -7.58421587e-04 3.00097599e+01] [ 1.46019821e-03 3.92329541e-05 9.99998933e-01 -2.42912691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:30.02, Z:-0.02 [[ 8.68555516e-01 -4.95590312e-01 -1.24827258e-03 1.96543448e+02] [ 4.95589733e-01 8.68556412e-01 -7.58639267e-04 3.00236545e+01] [ 1.46016943e-03 4.02892443e-05 9.99998933e-01 -2.36746593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:30.04, Z:-0.02 [[ 8.69124501e-01 -4.94591795e-01 -1.24818217e-03 1.96566220e+02] [ 4.94591215e-01 8.69125396e-01 -7.58787994e-04 3.00390273e+01] [ 1.46011714e-03 4.21413017e-05 9.99998933e-01 -2.19802575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:30.05, Z:-0.02 [[ 8.69228558e-01 -4.94408896e-01 -1.24814135e-03 1.96589860e+02] [ 4.94408315e-01 8.69229453e-01 -7.58855131e-04 3.00546255e+01] [ 1.46010595e-03 4.25270889e-05 9.99998933e-01 -2.12557047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:30.07, Z:-0.02 [[ 8.69373986e-01 -4.94153129e-01 -1.24801102e-03 1.96611563e+02] [ 4.94152548e-01 8.69374881e-01 -7.59069408e-04 3.00702973e+01] [ 1.46008596e-03 4.32073695e-05 9.99998933e-01 -2.20900790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:30.09, Z:-0.02 [[ 8.69358172e-01 -4.94180949e-01 -1.24795420e-03 1.96634624e+02] [ 4.94180368e-01 8.69359067e-01 -7.59162821e-04 3.00858845e+01] [ 1.46008410e-03 4.32699379e-05 9.99998933e-01 -2.25051419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:30.10, Z:-0.02 [[ 8.69309583e-01 -4.94266419e-01 -1.24782523e-03 1.96657291e+02] [ 4.94265837e-01 8.69310477e-01 -7.59374743e-04 3.01016385e+01] [ 1.46008098e-03 4.33743583e-05 9.99998933e-01 -2.19605354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:30.12, Z:-0.02 [[ 8.69203086e-01 -4.94453676e-01 -1.24769671e-03 1.96680592e+02] [ 4.94453095e-01 8.69203981e-01 -7.59585850e-04 3.01176946e+01] [ 1.46008296e-03 4.33068650e-05 9.99998933e-01 -1.86360133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.70, Y:30.13, Z:-0.02 [[ 8.68881486e-01 -4.95018593e-01 -1.24755116e-03 1.96702340e+02] [ 4.95018011e-01 8.68882380e-01 -7.59824821e-04 3.01339809e+01] [ 1.46010264e-03 4.26374228e-05 9.99998933e-01 -2.01082985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:30.15, Z:-0.02 [[ 8.68527452e-01 -4.95639495e-01 -1.24748806e-03 1.96725293e+02] [ 4.95638915e-01 8.68528347e-01 -7.59928413e-04 3.01502491e+01] [ 1.46012928e-03 4.17150604e-05 9.99998933e-01 -2.16876313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:30.17, Z:-0.02 [[ 8.67604246e-01 -4.97253774e-01 -1.24735955e-03 1.96746879e+02] [ 4.97253194e-01 8.67605142e-01 -7.60139293e-04 3.01686490e+01] [ 1.46019769e-03 3.92465578e-05 9.99998933e-01 -2.12321411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:30.18, Z:-0.02 [[ 8.66777575e-01 -4.98693373e-01 -1.24723401e-03 1.96769333e+02] [ 4.98692795e-01 8.66778471e-01 -7.60345215e-04 3.01846107e+01] [ 1.46025471e-03 3.70635658e-05 9.99998933e-01 -2.21337660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:30.20, Z:-0.02 [[ 8.65875293e-01 -5.00258355e-01 -1.24717548e-03 1.96791351e+02] [ 5.00257778e-01 8.65876190e-01 -7.60441212e-04 3.01998684e+01] [ 1.46031662e-03 3.45380215e-05 9.99998933e-01 -2.17816694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:30.22, Z:-0.02 [[ 8.63814185e-01 -5.03808990e-01 -1.24711985e-03 1.96813417e+02] [ 5.03808417e-01 8.63815085e-01 -7.60532430e-04 3.02179461e+01] [ 1.46044402e-03 2.86492218e-05 9.99998933e-01 -1.93482458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.84, Y:30.23, Z:-0.02 [[ 8.62719596e-01 -5.05681069e-01 -1.24698774e-03 1.96835024e+02] [ 5.05680497e-01 8.62720497e-01 -7.60748984e-04 3.02335580e+01] [ 1.46049824e-03 2.57356746e-05 9.99998933e-01 -1.92227657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:30.25, Z:-0.02 [[ 8.61665580e-01 -5.07474997e-01 -1.24693013e-03 1.96858527e+02] [ 5.07474427e-01 8.61666482e-01 -7.60843400e-04 3.02496077e+01] [ 1.46054690e-03 2.28074155e-05 9.99998933e-01 -1.91469015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:30.27, Z:-0.02 [[ 8.60139838e-01 -5.10056766e-01 -1.24678899e-03 1.96880227e+02] [ 5.10056199e-01 8.60140741e-01 -7.61074612e-04 3.02667027e+01] [ 1.46060526e-03 1.86981390e-05 9.99998933e-01 -2.00527870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:30.28, Z:-0.02 [[ 8.59546844e-01 -5.11055446e-01 -1.24669302e-03 1.96902819e+02] [ 5.11054879e-01 8.59547748e-01 -7.61231795e-04 3.02838766e+01] [ 1.46062383e-03 1.71858376e-05 9.99998933e-01 -2.00589519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:30.30, Z:-0.02 [[ 8.59052939e-01 -5.11885235e-01 -1.24655158e-03 1.96925020e+02] [ 5.11884669e-01 8.59053843e-01 -7.61463335e-04 3.03012627e+01] [ 1.46063676e-03 1.60466736e-05 9.99998933e-01 -2.04187705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:30.32, Z:-0.02 [[ 8.57962382e-01 -5.13711006e-01 -1.24640734e-03 1.96945819e+02] [ 5.13710441e-01 8.57963287e-01 -7.61699360e-04 3.03194323e+01] [ 1.46066508e-03 1.32169322e-05 9.99998933e-01 -2.24968468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:30.34, Z:-0.02 [[ 8.57201424e-01 -5.14979772e-01 -1.24634465e-03 1.96968120e+02] [ 5.14979208e-01 8.57202330e-01 -7.61801928e-04 3.03351220e+01] [ 1.46068212e-03 1.11761171e-05 9.99998933e-01 -2.30055809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.99, Y:30.35, Z:-0.02 [[ 8.56300314e-01 -5.16476736e-01 -1.24628483e-03 1.96991229e+02] [ 5.16476174e-01 8.56301221e-01 -7.61899772e-04 3.03519147e+01] [ 1.46069873e-03 8.73859216e-06 9.99998933e-01 -2.25870513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:30.37, Z:-0.02 [[ 8.54493841e-01 -5.19460030e-01 -1.24614862e-03 1.97011790e+02] [ 5.19459471e-01 8.54494750e-01 -7.62122493e-04 3.03696430e+01] [ 1.46071963e-03 3.90527320e-06 9.99998933e-01 -2.30131164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:30.39, Z:-0.02 [[ 8.53454217e-01 -5.21166333e-01 -1.24608929e-03 1.97034117e+02] [ 5.21165775e-01 8.53455127e-01 -7.62219491e-04 3.03859509e+01] [ 1.46072443e-03 1.10034963e-06 9.99998933e-01 -2.24901502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:30.40, Z:-0.02 [[ 8.51641881e-01 -5.24122652e-01 -1.24595480e-03 1.97056057e+02] [ 5.24122097e-01 8.51642792e-01 -7.62439261e-04 3.04036820e+01] [ 1.46072012e-03 -3.70723811e-06 9.99998933e-01 -2.13841835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:30.42, Z:-0.02 [[ 8.50900632e-01 -5.25325198e-01 -1.24580695e-03 1.97078197e+02] [ 5.25324644e-01 8.50901544e-01 -7.62680770e-04 3.04189514e+01] [ 1.46071448e-03 -5.48754517e-06 9.99998933e-01 -2.31010264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:197.10, Y:30.44, Z:-0.02 [[ 8.50286097e-01 -5.26319297e-01 -1.24574262e-03 1.97100592e+02] [ 5.26318744e-01 8.50287009e-01 -7.62785836e-04 3.04351245e+01] [ 1.46070767e-03 -7.07149957e-06 9.99998933e-01 -2.17473439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:197.12, Y:30.45, Z:-0.02 [[ 8.50003812e-01 -5.26775065e-01 -1.24559831e-03 1.97123089e+02] [ 5.26774512e-01 8.50004724e-01 -7.63021416e-04 3.04513042e+01] [ 1.46070510e-03 -7.57832908e-06 9.99998933e-01 -2.13368182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.14, Y:30.47, Z:-0.02 [[ 8.50158844e-01 -5.26524823e-01 -1.24545468e-03 1.97144419e+02] [ 5.26524270e-01 8.50159756e-01 -7.63255777e-04 3.04696633e+01] [ 1.46070856e-03 -6.87346894e-06 9.99998933e-01 -2.09148259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:30.49, Z:-0.03 [[ 8.50379463e-01 -5.26168431e-01 -1.24530626e-03 1.97165821e+02] [ 5.26167877e-01 8.50380375e-01 -7.63497861e-04 3.04856428e+01] [ 1.46071248e-03 -5.97725137e-06 9.99998933e-01 -2.52599071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:197.19, Y:30.50, Z:-0.02 [[ 8.50696565e-01 -5.25655593e-01 -1.24524190e-03 1.97188344e+02] [ 5.25655039e-01 8.50697477e-01 -7.63602825e-04 3.05025183e+01] [ 1.46071624e-03 -4.97337669e-06 9.99998933e-01 -2.34382510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:30.52, Z:-0.02 [[ 8.51254391e-01 -5.24751762e-01 -1.24510484e-03 1.97209835e+02] [ 5.24751206e-01 8.51255301e-01 -7.63826243e-04 3.05217761e+01] [ 1.46072126e-03 -3.15982234e-06 9.99998933e-01 -2.28080111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:197.23, Y:30.54, Z:-0.02 [[ 8.51600823e-01 -5.24189363e-01 -1.24495894e-03 1.97231225e+02] [ 5.24188806e-01 8.51601733e-01 -7.64063967e-04 3.05378281e+01] [ 1.46072340e-03 -1.91603737e-06 9.99998933e-01 -2.15717492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:30.55, Z:-0.02 [[ 8.51653550e-01 -5.24103693e-01 -1.24489533e-03 1.97253529e+02] [ 5.24103136e-01 8.51654460e-01 -7.64167597e-04 3.05549105e+01] [ 1.46072372e-03 -1.64749846e-06 9.99998933e-01 -2.33974050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:30.57, Z:-0.02 [[ 8.51867407e-01 -5.23756023e-01 -1.24475228e-03 1.97275635e+02] [ 5.23755465e-01 8.51868316e-01 -7.64400532e-04 3.05717618e+01] [ 1.46072441e-03 -7.77911947e-07 9.99998933e-01 -2.26958695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:197.30, Y:30.59, Z:-0.02 [[ 8.52100935e-01 -5.23376010e-01 -1.24460767e-03 1.97295131e+02] [ 5.23375451e-01 8.52101844e-01 -7.64635925e-04 3.05908632e+01] [ 1.46072459e-03 1.49886658e-07 9.99998933e-01 -2.22367864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:197.32, Y:30.61, Z:-0.02 [[ 8.51916469e-01 -5.23676217e-01 -1.24454479e-03 1.97316944e+02] [ 5.23675659e-01 8.51917379e-01 -7.64738253e-04 3.06079935e+01] [ 1.46072457e-03 -2.44700205e-07 9.99998933e-01 -2.18592837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:30.62, Z:-0.02 [[ 8.51568318e-01 -5.24242168e-01 -1.24440082e-03 1.97338334e+02] [ 5.24241610e-01 8.51569228e-01 -7.64972454e-04 3.06242316e+01] [ 1.46072426e-03 -9.40382715e-07 9.99998933e-01 -2.42833405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:30.64, Z:-0.02 [[ 8.50659158e-01 -5.25716130e-01 -1.24433834e-03 1.97360247e+02] [ 5.25715573e-01 8.50660068e-01 -7.65074070e-04 3.06428984e+01] [ 1.46072072e-03 -3.35078041e-06 9.99998933e-01 -2.48297605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.38, Y:30.66, Z:-0.03 [[ 8.50301681e-01 -5.26294120e-01 -1.24503616e-03 1.97382339e+02] [ 5.26293565e-01 8.50302593e-01 -7.63939494e-04 3.06588200e+01] [ 1.46071434e-03 -5.67548435e-06 9.99998933e-01 -2.55707971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:30.68, Z:-0.03 [[ 8.48990205e-01 -5.28407119e-01 -1.24414735e-03 1.97404179e+02] [ 5.28406565e-01 8.48991117e-01 -7.65384279e-04 3.06773569e+01] [ 1.46070455e-03 -7.61186969e-06 9.99998933e-01 -2.50987001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:197.43, Y:30.69, Z:-0.02 [[ 8.48359566e-01 -5.29419021e-01 -1.24400765e-03 1.97425558e+02] [ 5.29418468e-01 8.48360478e-01 -7.65611267e-04 3.06932852e+01] [ 1.46069609e-03 -9.08698213e-06 9.99998933e-01 -2.36461119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:197.45, Y:30.71, Z:-0.02 [[ 8.48264161e-01 -5.29571870e-01 -1.24394715e-03 1.97449699e+02] [ 5.29571317e-01 8.48265073e-01 -7.65709549e-04 3.07083795e+01] [ 1.46069516e-03 -9.23476339e-06 9.99998933e-01 -2.36045172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:30.72, Z:-0.02 [[ 8.47496447e-01 -5.30799610e-01 -1.24380915e-03 1.97472230e+02] [ 5.30799058e-01 8.47497359e-01 -7.65933660e-04 3.07248639e+01] [ 1.46068225e-03 -1.10866677e-05 9.99998933e-01 -2.38669950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:197.49, Y:30.74, Z:-0.02 [[ 8.46122344e-01 -5.32987273e-01 -1.24366443e-03 1.97493231e+02] [ 5.32986722e-01 8.46123258e-01 -7.66168567e-04 3.07423921e+01] [ 1.46065149e-03 -1.45842847e-05 9.99998933e-01 -2.30173944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:30.76, Z:-0.02 [[ 8.45133060e-01 -5.34554548e-01 -1.24360167e-03 1.97516773e+02] [ 5.34553999e-01 8.45133974e-01 -7.66270423e-04 3.07582957e+01] [ 1.46062336e-03 -1.71717787e-05 9.99998933e-01 -2.43383656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:30.77, Z:-0.02 [[ 8.44253013e-01 -5.35943378e-01 -1.24345681e-03 1.97540630e+02] [ 5.35942830e-01 8.44253928e-01 -7.66505425e-04 3.07732049e+01] [ 1.46059680e-03 -1.92972455e-05 9.99998933e-01 -2.48064201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:30.79, Z:-0.02 [[ 8.43375561e-01 -5.37323103e-01 -1.24331111e-03 1.97564486e+02] [ 5.37322556e-01 8.43376477e-01 -7.66741679e-04 3.07886197e+01] [ 1.46056736e-03 -2.14079106e-05 9.99998933e-01 -2.44204450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:30.80, Z:-0.02 [[ 8.41763693e-01 -5.39844737e-01 -1.24316262e-03 1.97586738e+02] [ 5.39844193e-01 8.41764610e-01 -7.66982352e-04 3.08049131e+01] [ 1.46050169e-03 -2.54962277e-05 9.99998933e-01 -2.35825824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:30.82, Z:-0.02 [[ 8.40973350e-01 -5.41075115e-01 -1.24311657e-03 1.97610281e+02] [ 5.41074572e-01 8.40974268e-01 -7.67056985e-04 3.08209558e+01] [ 1.46046450e-03 -2.75442852e-05 9.99998933e-01 -2.28534237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:30.84, Z:-0.02 [[ 8.40309223e-01 -5.42105953e-01 -1.24297350e-03 1.97632803e+02] [ 5.42105411e-01 8.40310142e-01 -7.67288758e-04 3.08359959e+01] [ 1.46043504e-03 -2.90628389e-05 9.99998933e-01 -2.27000849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:30.85, Z:-0.02 [[ 8.39533804e-01 -5.43306035e-01 -1.24291133e-03 1.97656297e+02] [ 5.43305494e-01 8.39534723e-01 -7.67389444e-04 3.08516563e+01] [ 1.46039454e-03 -3.10311780e-05 9.99998933e-01 -2.23636341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:30.87, Z:-0.02 [[ 8.39355742e-01 -5.43581083e-01 -1.24284597e-03 1.97679684e+02] [ 5.43580542e-01 8.39356662e-01 -7.67495285e-04 3.08665599e+01] [ 1.46038697e-03 -3.13853133e-05 9.99998933e-01 -2.14921092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:30.88, Z:-0.02 [[ 8.39488467e-01 -5.43376085e-01 -1.24270577e-03 1.97703002e+02] [ 5.43375544e-01 8.39489386e-01 -7.67722233e-04 3.08815897e+01] [ 1.46040020e-03 -3.07619627e-05 9.99998933e-01 -2.07712961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.73, Y:30.90, Z:-0.02 [[ 8.39865449e-01 -5.42793223e-01 -1.24255714e-03 1.97726453e+02] [ 5.42792681e-01 8.39866368e-01 -7.67962707e-04 3.08963773e+01] [ 1.46042691e-03 -2.94655793e-05 9.99998933e-01 -2.09032886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:30.91, Z:-0.02 [[ 8.40949800e-01 -5.41111716e-01 -1.24251119e-03 1.97749651e+02] [ 5.41111172e-01 8.40950718e-01 -7.68037058e-04 3.09116547e+01] [ 1.46048452e-03 -2.64560729e-05 9.99998933e-01 -2.39187097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:30.93, Z:-0.02 [[ 8.41555844e-01 -5.40168694e-01 -1.24244433e-03 1.97772740e+02] [ 5.40168148e-01 8.41556761e-01 -7.68145187e-04 3.09272305e+01] [ 1.46051541e-03 -2.46917839e-05 9.99998933e-01 -2.34568404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:30.94, Z:-0.02 [[ 8.42377981e-01 -5.38885696e-01 -1.24229940e-03 1.97795019e+02] [ 5.38885149e-01 8.42378897e-01 -7.68379508e-04 3.09420644e+01] [ 1.46055553e-03 -2.21907196e-05 9.99998933e-01 -2.35489405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:30.96, Z:-0.02 [[ 8.43335823e-01 -5.37385474e-01 -1.24223620e-03 1.97817953e+02] [ 5.37384924e-01 8.43336737e-01 -7.68481682e-04 3.09567091e+01] [ 1.46059431e-03 -1.94708735e-05 9.99998933e-01 -2.30367604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:30.97, Z:-0.02 [[ 8.44229433e-01 -5.35980524e-01 -1.24217627e-03 1.97840177e+02] [ 5.35979973e-01 8.44230347e-01 -7.68578538e-04 3.09711892e+01] [ 1.46062603e-03 -1.69249788e-05 9.99998933e-01 -2.34806605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.86, Y:30.99, Z:-0.02 [[ 8.46086690e-01 -5.33043873e-01 -1.24208056e-03 1.97862670e+02] [ 5.33043318e-01 8.46087602e-01 -7.68733171e-04 3.09872173e+01] [ 1.46067747e-03 -1.16678421e-05 9.99998933e-01 -2.28860332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:31.00, Z:-0.02 [[ 8.47027062e-01 -5.31548318e-01 -1.24193739e-03 1.97885688e+02] [ 5.31547761e-01 8.47027972e-01 -7.68964414e-04 3.10025377e+01] [ 1.46069745e-03 -8.81536899e-06 9.99998933e-01 -2.33067743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:31.02, Z:-0.02 [[ 8.48372534e-01 -5.29398244e-01 -1.24179347e-03 1.97909068e+02] [ 5.29397685e-01 8.48373443e-01 -7.69196757e-04 3.10186751e+01] [ 1.46071601e-03 -4.83718511e-06 9.99998933e-01 -2.43551276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:31.03, Z:-0.02 [[ 8.48708889e-01 -5.28858847e-01 -1.24165580e-03 1.97931744e+02] [ 5.28858287e-01 8.48709798e-01 -7.69418913e-04 3.10335927e+01] [ 1.46071944e-03 -3.64729061e-06 9.99998933e-01 -2.46478358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:197.95, Y:31.05, Z:-0.02 [[ 8.48876389e-01 -5.28589950e-01 -1.24159163e-03 1.97953962e+02] [ 5.28589390e-01 8.48877297e-01 -7.69522456e-04 3.10481501e+01] [ 1.46072078e-03 -3.06271877e-06 9.99998933e-01 -2.40273643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:31.06, Z:-0.02 [[ 8.48504014e-01 -5.29187488e-01 -1.24152820e-03 1.97977295e+02] [ 5.29186928e-01 8.48504922e-01 -7.69624783e-04 3.10636065e+01] [ 1.46071859e-03 -3.97077516e-06 9.99998933e-01 -2.48512350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:31.08, Z:-0.02 [[ 8.48141468e-01 -5.29768355e-01 -1.24138421e-03 1.98001011e+02] [ 5.29767795e-01 8.48142376e-01 -7.69856956e-04 3.10783942e+01] [ 1.46071641e-03 -4.69776941e-06 9.99998933e-01 -2.42398184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:31.09, Z:-0.02 [[ 8.47581573e-01 -5.30663675e-01 -1.24133965e-03 1.98023865e+02] [ 5.30663116e-01 8.47582482e-01 -7.69928805e-04 3.10927669e+01] [ 1.46071099e-03 -6.15569805e-06 9.99998933e-01 -2.40015158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:31.11, Z:-0.02 [[ 8.46450609e-01 -5.32465797e-01 -1.24127767e-03 1.98047441e+02] [ 5.32465241e-01 8.46451519e-01 -7.70028713e-04 3.11073165e+01] [ 1.46069532e-03 -9.14594058e-06 9.99998933e-01 -2.35249659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:31.12, Z:-0.02 [[ 8.45896108e-01 -5.33346262e-01 -1.24113548e-03 1.98071659e+02] [ 5.33345705e-01 8.45897018e-01 -7.70257825e-04 3.11219014e+01] [ 1.46068693e-03 -1.03961837e-05 9.99998933e-01 -2.38290224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:31.14, Z:-0.02 [[ 8.45484481e-01 -5.33998551e-01 -1.24099453e-03 1.98095798e+02] [ 5.33997995e-01 8.45485391e-01 -7.70484856e-04 3.11359850e+01] [ 1.46068054e-03 -1.12556018e-05 9.99998933e-01 -2.42012813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:31.15, Z:-0.02 [[ 8.45030573e-01 -5.34716551e-01 -1.24085402e-03 1.98118767e+02] [ 5.34715996e-01 8.45031484e-01 -7.70711071e-04 3.11495464e+01] [ 1.46067268e-03 -1.22300764e-05 9.99998933e-01 -2.47140331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:31.16, Z:-0.02 [[ 8.44076685e-01 -5.36221046e-01 -1.24079287e-03 1.98143047e+02] [ 5.36220492e-01 8.44077597e-01 -7.70809503e-04 3.11628973e+01] [ 1.46064975e-03 -1.47162356e-05 9.99998933e-01 -2.43061854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:31.18, Z:-0.02 [[ 8.43512011e-01 -5.37108879e-01 -1.24065352e-03 1.98166703e+02] [ 5.37108326e-01 8.43512923e-01 -7.71033729e-04 3.11761021e+01] [ 1.46063634e-03 -1.59891255e-05 9.99998933e-01 -2.39209305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:31.19, Z:-0.02 [[ 8.42569228e-01 -5.38586629e-01 -1.24055863e-03 1.98191605e+02] [ 5.38586077e-01 8.42570141e-01 -7.71186372e-04 3.11886724e+01] [ 1.46060833e-03 -1.83697012e-05 9.99998933e-01 -2.45663317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:198.22, Y:31.20, Z:-0.02 [[ 8.42302639e-01 -5.39003456e-01 -1.24042049e-03 1.98215166e+02] [ 5.39002904e-01 8.42303552e-01 -7.71408499e-04 3.12015705e+01] [ 1.46060244e-03 -1.88308344e-05 9.99998933e-01 -2.42402394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.24, Y:31.22, Z:-0.03 [[ 8.41900984e-01 -5.39630609e-01 -1.24036054e-03 1.98239998e+02] [ 5.39630058e-01 8.41901898e-01 -7.71504893e-04 3.12153266e+01] [ 1.46058955e-03 -1.98051000e-05 9.99998933e-01 -2.51335908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:31.23, Z:-0.03 [[ 8.41795332e-01 -5.39795406e-01 -1.24022375e-03 1.98265056e+02] [ 5.39794855e-01 8.41796246e-01 -7.71724729e-04 3.12252509e+01] [ 1.46058916e-03 -1.98321214e-05 9.99998933e-01 -2.60920764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:31.24, Z:-0.03 [[ 8.41814777e-01 -5.39765082e-01 -1.24013051e-03 1.98289282e+02] [ 5.39764530e-01 8.41815690e-01 -7.71874526e-04 3.12374571e+01] [ 1.46059224e-03 -1.96030795e-05 9.99998933e-01 -2.64910515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:31.25, Z:-0.03 [[ 8.41778098e-01 -5.39822281e-01 -1.24003803e-03 1.98314287e+02] [ 5.39821730e-01 8.41779012e-01 -7.72023066e-04 3.12505687e+01] [ 1.46059324e-03 -1.95273664e-05 9.99998933e-01 -2.67971407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.34, Y:31.26, Z:-0.02 [[ 8.41954769e-01 -5.39546689e-01 -1.23990320e-03 1.98340011e+02] [ 5.39546137e-01 8.41955682e-01 -7.72239547e-04 3.12620305e+01] [ 1.46060284e-03 -1.87942137e-05 9.99998933e-01 -2.40559199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:31.27, Z:-0.02 [[ 8.42146498e-01 -5.39247382e-01 -1.23975836e-03 1.98363391e+02] [ 5.39246829e-01 8.42147411e-01 -7.72472001e-04 3.12747470e+01] [ 1.46061280e-03 -1.80011759e-05 9.99998933e-01 -2.45448471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:198.39, Y:31.29, Z:-0.02 [[ 8.42587759e-01 -5.38557640e-01 -1.23969522e-03 1.98387581e+02] [ 5.38557087e-01 8.42588671e-01 -7.72573328e-04 3.12879057e+01] [ 1.46062841e-03 -1.66858157e-05 9.99998933e-01 -2.29675804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:31.30, Z:-0.02 [[ 8.43737774e-01 -5.36754164e-01 -1.23955088e-03 1.98413765e+02] [ 5.36753608e-01 8.43738684e-01 -7.72804837e-04 3.12996433e+01] [ 1.46066324e-03 -1.32887741e-05 9.99998933e-01 -2.32245561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:31.31, Z:-0.02 [[ 8.44508726e-01 -5.35540359e-01 -1.23940635e-03 1.98437178e+02] [ 5.35539801e-01 8.44509635e-01 -7.73036565e-04 3.13122568e+01] [ 1.46068288e-03 -1.09153064e-05 9.99998933e-01 -2.43316640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:198.46, Y:31.33, Z:-0.02 [[ 8.45388076e-01 -5.34151164e-01 -1.23934363e-03 1.98461776e+02] [ 5.34150604e-01 8.45388984e-01 -7.73137111e-04 3.13255895e+01] [ 1.46069954e-03 -8.39525185e-06 9.99998933e-01 -2.07677230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:31.34, Z:-0.02 [[ 8.46177482e-01 -5.32899741e-01 -1.23919233e-03 1.98485630e+02] [ 5.32899180e-01 8.46178389e-01 -7.73379540e-04 3.13391610e+01] [ 1.46071152e-03 -5.94822256e-06 9.99998933e-01 -2.39554428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:31.35, Z:-0.02 [[ 8.48117475e-01 -5.29806770e-01 -1.23914515e-03 1.98510268e+02] [ 5.29806205e-01 8.48118380e-01 -7.73455119e-04 3.13529563e+01] [ 1.46072354e-03 -5.25987169e-07 9.99998933e-01 -2.19383254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:31.37, Z:-0.02 [[ 8.49208780e-01 -5.28055786e-01 -1.23899561e-03 1.98533915e+02] [ 5.28055219e-01 8.49209684e-01 -7.73694602e-04 3.13668534e+01] [ 1.46072098e-03 2.77015345e-06 9.99998933e-01 -2.19138740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:31.38, Z:-0.02 [[ 8.51100503e-01 -5.25001332e-01 -1.23893066e-03 1.98557568e+02] [ 5.25000762e-01 8.51101405e-01 -7.73798585e-04 3.13794223e+01] [ 1.46070091e-03 8.14082403e-06 9.99998933e-01 -2.22484991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:198.58, Y:31.39, Z:-0.02 [[ 8.51872862e-01 -5.23747165e-01 -1.23886666e-03 1.98581382e+02] [ 5.23746593e-01 8.51873762e-01 -7.73901033e-04 3.13936978e+01] [ 1.46068648e-03 1.04130933e-05 9.99998933e-01 -1.97355241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:31.41, Z:-0.02 [[ 8.52479730e-01 -5.22758812e-01 -1.23871556e-03 1.98605140e+02] [ 5.22758239e-01 8.52480630e-01 -7.74142816e-04 3.14084833e+01] [ 1.46067100e-03 1.23922946e-05 9.99998933e-01 -2.18890611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:198.63, Y:31.42, Z:-0.02 [[ 8.53529665e-01 -5.21042778e-01 -1.23866856e-03 1.98629390e+02] [ 5.21042203e-01 8.53530564e-01 -7.74218015e-04 3.14230177e+01] [ 1.46064218e-03 1.54194496e-05 9.99998933e-01 -1.82222470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:31.44, Z:-0.02 [[ 8.53681958e-01 -5.20793223e-01 -1.23852542e-03 1.98653080e+02] [ 5.20792647e-01 8.53682856e-01 -7.74446921e-04 3.14383018e+01] [ 1.46063463e-03 1.61164300e-05 9.99998933e-01 -1.88399365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:31.45, Z:-0.02 [[ 8.53821689e-01 -5.20564108e-01 -1.23837536e-03 1.98675980e+02] [ 5.20563532e-01 8.53822587e-01 -7.74686808e-04 3.14534759e+01] [ 1.46062700e-03 1.67913489e-05 9.99998933e-01 -1.93657328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:31.47, Z:-0.02 [[ 8.53829910e-01 -5.20550622e-01 -1.23831001e-03 1.98698457e+02] [ 5.20550046e-01 8.53830808e-01 -7.74791247e-04 3.14689412e+01] [ 1.46062530e-03 1.69376076e-05 9.99998933e-01 -2.01011115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:31.48, Z:-0.02 [[ 8.53378565e-01 -5.21290218e-01 -1.23820851e-03 1.98720724e+02] [ 5.21289643e-01 8.53379463e-01 -7.74953429e-04 3.14841133e+01] [ 1.46063735e-03 1.58633746e-05 9.99998933e-01 -1.95378195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:31.50, Z:-0.02 [[ 8.52877866e-01 -5.22109004e-01 -1.23814432e-03 1.98744951e+02] [ 5.22108429e-01 8.52878765e-01 -7.75055966e-04 3.14989093e+01] [ 1.46065070e-03 1.45824921e-05 9.99998933e-01 -1.92000762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:31.51, Z:-0.02 [[ 8.51180289e-01 -5.24871969e-01 -1.23799767e-03 1.98767467e+02] [ 5.24871396e-01 8.51181189e-01 -7.75290148e-04 3.15131071e+01] [ 1.46068839e-03 1.01221284e-05 9.99998933e-01 -1.87091984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:31.53, Z:-0.02 [[ 8.50140748e-01 -5.26554059e-01 -1.23793412e-03 1.98791092e+02] [ 5.26553488e-01 8.50141649e-01 -7.75391603e-04 3.15278297e+01] [ 1.46070495e-03 7.35346905e-06 9.99998933e-01 -1.86151263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:198.82, Y:31.54, Z:-0.02 [[ 8.48184436e-01 -5.29699566e-01 -1.23778985e-03 1.98815231e+02] [ 5.29698998e-01 8.48185339e-01 -7.75621832e-04 3.15414244e+01] [ 1.46072175e-03 2.21432132e-06 9.99998933e-01 -1.83648421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:31.56, Z:-0.02 [[ 8.47001264e-01 -5.31589434e-01 -1.23764597e-03 1.98838637e+02] [ 5.31588868e-01 8.47002168e-01 -7.75851348e-04 3.15565250e+01] [ 1.46072320e-03 -7.71749579e-07 9.99998933e-01 -2.00935289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:198.86, Y:31.57, Z:-0.02 [[ 8.46206709e-01 -5.32853333e-01 -1.23750256e-03 1.98861708e+02] [ 5.32852768e-01 8.46207614e-01 -7.76080028e-04 3.15700004e+01] [ 1.46072092e-03 -2.68253836e-06 9.99998933e-01 -1.95793645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:198.89, Y:31.58, Z:-0.02 [[ 8.45325374e-01 -5.34250391e-01 -1.23744232e-03 1.98886006e+02] [ 5.34249828e-01 8.45326280e-01 -7.76176065e-04 3.15849395e+01] [ 1.46071488e-03 -4.98202508e-06 9.99998933e-01 -2.04882277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:31.60, Z:-0.02 [[ 8.44051869e-01 -5.36260116e-01 -1.23731698e-03 1.98909820e+02] [ 5.36259554e-01 8.44052776e-01 -7.76375825e-04 3.15989942e+01] [ 1.46070022e-03 -8.22158545e-06 9.99998933e-01 -2.11751225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:31.61, Z:-0.02 [[ 8.43948148e-01 -5.36423333e-01 -1.23716696e-03 1.98933838e+02] [ 5.36422771e-01 8.43949055e-01 -7.76614814e-04 3.16142876e+01] [ 1.46070019e-03 -8.22189368e-06 9.99998933e-01 -2.11335189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:31.63, Z:-0.02 [[ 8.43729371e-01 -5.36767378e-01 -1.23701673e-03 1.98956906e+02] [ 5.36766816e-01 8.43730278e-01 -7.76854035e-04 3.16280667e+01] [ 1.46069837e-03 -8.53496241e-06 9.99998933e-01 -2.23561854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:31.64, Z:-0.02 [[ 8.43619442e-01 -5.36940133e-01 -1.23695144e-03 1.98980616e+02] [ 5.36939571e-01 8.43620349e-01 -7.76957978e-04 3.16421042e+01] [ 1.46069732e-03 -8.71131751e-06 9.99998933e-01 -2.17375151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:31.66, Z:-0.02 [[ 8.43645157e-01 -5.36899730e-01 -1.23680498e-03 1.99004778e+02] [ 5.36899167e-01 8.43646063e-01 -7.77191053e-04 3.16555984e+01] [ 1.46069931e-03 -8.36609375e-06 9.99998933e-01 -2.20987319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21587156000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:199.03, Y:31.67, Z:-0.02 [[ 8.43940755e-01 -5.36434967e-01 -1.23665860e-03 1.99028964e+02] [ 5.36434403e-01 8.43941661e-01 -7.77423891e-04 3.16696812e+01] [ 1.46070507e-03 -7.28651433e-06 9.99998933e-01 -2.01354674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:31.68, Z:-0.02 [[ 8.44536647e-01 -5.35496334e-01 -1.23650857e-03 1.99052076e+02] [ 5.35495769e-01 8.44537552e-01 -7.77662452e-04 3.16842029e+01] [ 1.46071331e-03 -5.38066580e-06 9.99998933e-01 -2.34195574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:31.70, Z:-0.02 [[ 8.44872777e-01 -5.34965852e-01 -1.23635940e-03 1.99075921e+02] [ 5.34965286e-01 8.44873681e-01 -7.77899536e-04 3.16986821e+01] [ 1.46071720e-03 -4.18321730e-06 9.99998933e-01 -2.29265429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.10, Y:31.71, Z:-0.02 [[ 8.45139783e-01 -5.34543936e-01 -1.23621207e-03 1.99099938e+02] [ 5.34543369e-01 8.45140687e-01 -7.78133591e-04 3.17125787e+01] [ 1.46071971e-03 -3.17731123e-06 9.99998933e-01 -2.40611484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:31.73, Z:-0.02 [[ 8.45315109e-01 -5.34266636e-01 -1.23608282e-03 1.99124582e+02] [ 5.34266069e-01 8.45316013e-01 -7.78338848e-04 3.17264199e+01] [ 1.46072108e-03 -2.45552324e-06 9.99998933e-01 -2.35592833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:31.74, Z:-0.02 [[ 8.45374899e-01 -5.34172025e-01 -1.23593366e-03 1.99148012e+02] [ 5.34171458e-01 8.45375803e-01 -7.78575633e-04 3.17409423e+01] [ 1.46072173e-03 -2.01218828e-06 9.99998933e-01 -2.23370961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:31.76, Z:-0.02 [[ 8.45640277e-01 -5.33751810e-01 -1.23578468e-03 1.99171478e+02] [ 5.33751242e-01 8.45641180e-01 -7.78812037e-04 3.17554636e+01] [ 1.46072275e-03 -1.00677933e-06 9.99998933e-01 -2.17927049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:31.77, Z:-0.02 [[ 8.46704067e-01 -5.32062681e-01 -1.23573841e-03 1.99195544e+02] [ 5.32062111e-01 8.46704969e-01 -7.78885445e-04 3.17691493e+01] [ 1.46072173e-03 1.99588861e-06 9.99998933e-01 -1.86398249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:199.22, Y:31.78, Z:-0.02 [[ 8.47350910e-01 -5.31031928e-01 -1.23569308e-03 1.99219950e+02] [ 5.31031357e-01 8.47351811e-01 -7.78957349e-04 3.17835091e+01] [ 1.46071799e-03 3.85844614e-06 9.99998933e-01 -1.56121437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:31.80, Z:-0.02 [[ 8.48320223e-01 -5.29482079e-01 -1.23554826e-03 1.99244191e+02] [ 5.29481506e-01 8.48321123e-01 -7.79186995e-04 3.17981317e+01] [ 1.46070723e-03 6.80013456e-06 9.99998933e-01 -1.63979924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:31.81, Z:-0.02 [[ 8.48799171e-01 -5.28713949e-01 -1.23550330e-03 1.99268260e+02] [ 5.28713375e-01 8.48800071e-01 -7.79258274e-04 3.18131222e+01] [ 1.46070001e-03 8.20665861e-06 9.99998933e-01 -1.63826590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:31.83, Z:-0.01 [[ 8.48985931e-01 -5.28414007e-01 -1.23536319e-03 1.99291677e+02] [ 5.28413432e-01 8.48986830e-01 -7.79480325e-04 3.18279298e+01] [ 1.46069540e-03 8.98532531e-06 9.99998933e-01 -1.46284899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57587156000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:199.32, Y:31.84, Z:-0.01 [[ 8.49236283e-01 -5.28011562e-01 -1.23521128e-03 1.99316670e+02] [ 5.28010986e-01 8.49237182e-01 -7.79720975e-04 3.18415996e+01] [ 1.46068904e-03 9.96221578e-06 9.99998933e-01 -1.41098597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:31.86, Z:-0.02 [[ 8.48945445e-01 -5.28479049e-01 -1.23507588e-03 1.99339327e+02] [ 5.28478474e-01 8.48946344e-01 -7.79935390e-04 3.18559827e+01] [ 1.46069267e-03 9.41158018e-06 9.99998933e-01 -1.75684939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:31.87, Z:-0.02 [[ 8.48573815e-01 -5.29075566e-01 -1.23497075e-03 1.99363488e+02] [ 5.29074991e-01 8.48574714e-01 -7.80101828e-04 3.18708175e+01] [ 1.46069776e-03 8.58184812e-06 9.99998933e-01 -1.89549945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:31.88, Z:-0.02 [[ 8.48086877e-01 -5.29855758e-01 -1.23484224e-03 1.99388007e+02] [ 5.29855184e-01 8.48087776e-01 -7.80305189e-04 3.18849614e+01] [ 1.46070381e-03 7.47902850e-06 9.99998933e-01 -1.86518481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:31.90, Z:-0.02 [[ 8.47114317e-01 -5.31409268e-01 -1.23469118e-03 1.99413652e+02] [ 5.31408695e-01 8.47115216e-01 -7.80544141e-04 3.18971717e+01] [ 1.46071408e-03 5.08448790e-06 9.99998933e-01 -1.84252194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:31.91, Z:-0.02 [[ 8.46591852e-01 -5.32241216e-01 -1.23453890e-03 1.99437702e+02] [ 5.32240643e-01 8.46592752e-01 -7.80784925e-04 3.19107581e+01] [ 1.46071760e-03 3.93437944e-06 9.99998933e-01 -1.88198441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:199.46, Y:31.92, Z:-0.02 [[ 8.46282410e-01 -5.32733103e-01 -1.23438685e-03 1.99460866e+02] [ 5.32732530e-01 8.46283310e-01 -7.81025232e-04 3.19242806e+01] [ 1.46071898e-03 3.36988627e-06 9.99998933e-01 -2.30147028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:31.94, Z:-0.02 [[ 8.45642654e-01 -5.33748047e-01 -1.23432085e-03 1.99484641e+02] [ 5.33747475e-01 8.45643555e-01 -7.81129527e-04 3.19392079e+01] [ 1.46072183e-03 1.74081111e-06 9.99998933e-01 -2.32570952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:199.51, Y:31.95, Z:-0.02 [[ 8.45566537e-01 -5.33868624e-01 -1.23419027e-03 1.99508983e+02] [ 5.33868052e-01 8.45567438e-01 -7.81335788e-04 3.19533164e+01] [ 1.46072177e-03 1.77664271e-06 9.99998933e-01 -1.75190926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:31.97, Z:-0.02 [[ 8.45414347e-01 -5.34109595e-01 -1.23404477e-03 1.99533673e+02] [ 5.34109023e-01 8.45415247e-01 -7.81565525e-04 3.19687194e+01] [ 1.46072191e-03 1.63226275e-06 9.99998933e-01 -1.75946417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:31.98, Z:-0.02 [[ 8.45724612e-01 -5.33618176e-01 -1.23391646e-03 1.99558557e+02] [ 5.33617604e-01 8.45725512e-01 -7.81768036e-04 3.19821035e+01] [ 1.46072027e-03 2.72092288e-06 9.99998933e-01 -1.70466516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:32.00, Z:-0.02 [[ 8.45795854e-01 -5.33505250e-01 -1.23376836e-03 1.99582971e+02] [ 5.33504677e-01 8.45796753e-01 -7.82001706e-04 3.19963670e+01] [ 1.46071929e-03 3.19261224e-06 9.99998933e-01 -1.67441171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.61, Y:32.01, Z:-0.01 [[ 8.45873641e-01 -5.33381910e-01 -1.23362090e-03 1.99607212e+02] [ 5.33381336e-01 8.45874541e-01 -7.82234258e-04 3.20108436e+01] [ 1.46071811e-03 3.68097854e-06 9.99998933e-01 -1.49814129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:32.03, Z:-0.02 [[ 8.45968493e-01 -5.33231457e-01 -1.23347350e-03 1.99631040e+02] [ 5.33230883e-01 8.45969392e-01 -7.82466611e-04 3.20252803e+01] [ 1.46071664e-03 4.21593641e-06 9.99998933e-01 -1.50355904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:32.04, Z:-0.02 [[ 8.46027107e-01 -5.33138456e-01 -1.23332179e-03 1.99654539e+02] [ 5.33137881e-01 8.46028006e-01 -7.82705659e-04 3.20394158e+01] [ 1.46071526e-03 4.65963752e-06 9.99998933e-01 -1.64662592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:32.05, Z:-0.02 [[ 8.46103342e-01 -5.33017462e-01 -1.23325848e-03 1.99677980e+02] [ 5.33016887e-01 8.46104240e-01 -7.82805406e-04 3.20532390e+01] [ 1.46071418e-03 4.98667575e-06 9.99998933e-01 -1.78199008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:32.07, Z:-0.02 [[ 8.46107292e-01 -5.33011192e-01 -1.23319326e-03 1.99702954e+02] [ 5.33010617e-01 8.46108190e-01 -7.82908127e-04 3.20663102e+01] [ 1.46071371e-03 5.11917233e-06 9.99998933e-01 -1.84603125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:32.08, Z:-0.02 [[ 8.46114516e-01 -5.32999724e-01 -1.23304771e-03 1.99727012e+02] [ 5.32999148e-01 8.46115415e-01 -7.83137308e-04 3.20810374e+01] [ 1.46071264e-03 5.41046686e-06 9.99998933e-01 -1.74828245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:32.10, Z:-0.02 [[ 8.46387181e-01 -5.32566635e-01 -1.23289921e-03 1.99750815e+02] [ 5.32566059e-01 8.46388079e-01 -7.83371025e-04 3.20952895e+01] [ 1.46070846e-03 6.43492253e-06 9.99998933e-01 -1.74808655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:32.11, Z:-0.02 [[ 8.46937110e-01 -5.31691651e-01 -1.23285318e-03 1.99775083e+02] [ 5.31691074e-01 8.46938007e-01 -7.83443447e-04 3.21099329e+01] [ 1.46070056e-03 8.03029599e-06 9.99998933e-01 -1.50957486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:32.12, Z:-0.01 [[ 8.47422864e-01 -5.30917103e-01 -1.23280691e-03 1.99798312e+02] [ 5.30916525e-01 8.47423760e-01 -7.83516260e-04 3.21248459e+01] [ 1.46069205e-03 9.45203393e-06 9.99998933e-01 -1.36422306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:32.14, Z:-0.01 [[ 8.48346983e-01 -5.29439210e-01 -1.23265369e-03 1.99820967e+02] [ 5.29438630e-01 8.48347879e-01 -7.83757226e-04 3.21397924e+01] [ 1.46067095e-03 1.22835959e-05 9.99998933e-01 -1.41404340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23587156000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:199.84, Y:32.15, Z:-0.01 [[ 8.48835758e-01 -5.28655215e-01 -1.23258713e-03 1.99844738e+02] [ 5.28654634e-01 8.48836653e-01 -7.83861887e-04 3.21547683e+01] [ 1.46065781e-03 1.37570994e-05 9.99998933e-01 -1.10084070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:32.17, Z:-0.01 [[ 8.49013538e-01 -5.28369657e-01 -1.23243487e-03 1.99867814e+02] [ 5.28369075e-01 8.49014432e-01 -7.84101206e-04 3.21706088e+01] [ 1.46065028e-03 1.45320635e-05 9.99998933e-01 -1.35331133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:32.19, Z:-0.01 [[ 8.49250356e-01 -5.27988933e-01 -1.23228212e-03 1.99891423e+02] [ 5.27988351e-01 8.49251250e-01 -7.84341203e-04 3.21861319e+01] [ 1.46064060e-03 1.54714429e-05 9.99998933e-01 -1.34795548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:32.20, Z:-0.02 [[ 8.50076919e-01 -5.26657112e-01 -1.23212689e-03 1.99913791e+02] [ 5.26656528e-01 8.50077812e-01 -7.84584983e-04 3.22017771e+01] [ 1.46061099e-03 1.80499175e-05 9.99998933e-01 -1.51458142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:32.22, Z:-0.02 [[ 8.50238314e-01 -5.26396516e-01 -1.23205959e-03 1.99937216e+02] [ 5.26395931e-01 8.50239206e-01 -7.84690646e-04 3.22179475e+01] [ 1.46060379e-03 1.86228968e-05 9.99998933e-01 -1.61903852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:199.96, Y:32.23, Z:-0.02 [[ 8.50534692e-01 -5.25917503e-01 -1.23191220e-03 1.99960285e+02] [ 5.25916918e-01 8.50535584e-01 -7.84921966e-04 3.22347798e+01] [ 1.46058936e-03 1.97198946e-05 9.99998933e-01 -1.54932329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:32.25, Z:-0.02 [[ 8.50243357e-01 -5.26388371e-01 -1.23178224e-03 1.99982468e+02] [ 5.26387785e-01 8.50244249e-01 -7.85125862e-04 3.22514713e+01] [ 1.46059689e-03 1.91529233e-05 9.99998933e-01 -1.67578324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.00, Y:32.27, Z:-0.02 [[ 8.50032452e-01 -5.26728880e-01 -1.23163097e-03 2.00004557e+02] [ 5.26728295e-01 8.50033344e-01 -7.85363085e-04 3.22676071e+01] [ 1.46060081e-03 1.88492272e-05 9.99998933e-01 -1.74077763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:32.28, Z:-0.02 [[ 8.49342066e-01 -5.27841396e-01 -1.23152791e-03 2.00026981e+02] [ 5.27840811e-01 8.49342958e-01 -7.85524660e-04 3.22846105e+01] [ 1.46062199e-03 1.71284444e-05 9.99998933e-01 -1.73454682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:32.30, Z:-0.02 [[ 8.48809413e-01 -5.28697517e-01 -1.23137930e-03 2.00050702e+02] [ 5.28696933e-01 8.48810306e-01 -7.85757551e-04 3.23001556e+01] [ 1.46063551e-03 1.59319441e-05 9.99998933e-01 -1.63561508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:32.32, Z:-0.01 [[ 8.47555719e-01 -5.30704990e-01 -1.23124930e-03 2.00073509e+02] [ 5.30704408e-01 8.47556614e-01 -7.85961205e-04 3.23153799e+01] [ 1.46066702e-03 1.27164828e-05 9.99998933e-01 -1.39373645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:32.33, Z:-0.01 [[ 8.46790151e-01 -5.31925676e-01 -1.23120323e-03 2.00096464e+02] [ 5.31925096e-01 8.46791046e-01 -7.86033361e-04 3.23314950e+01] [ 1.46068320e-03 1.06974103e-05 9.99998933e-01 -1.32485882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:32.35, Z:-0.01 [[ 8.45955150e-01 -5.33252631e-01 -1.23113465e-03 2.00119443e+02] [ 5.33252051e-01 8.45956046e-01 -7.86140762e-04 3.23478523e+01] [ 1.46069743e-03 8.53474690e-06 9.99998933e-01 -1.23508702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:32.36, Z:-0.01 [[ 8.43928244e-01 -5.36454662e-01 -1.23098588e-03 2.00142960e+02] [ 5.36454086e-01 8.43929141e-01 -7.86373655e-04 3.23635575e+01] [ 1.46071867e-03 3.27553473e-06 9.99998933e-01 -1.33298451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:32.38, Z:-0.01 [[ 8.42978074e-01 -5.37946514e-01 -1.23083509e-03 2.00165422e+02] [ 5.37945939e-01 8.42978973e-01 -7.86609601e-04 3.23782823e+01] [ 1.46072199e-03 9.71909377e-07 9.99998933e-01 -1.44075751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.19, Y:32.39, Z:-0.01 [[ 8.40852756e-01 -5.41262531e-01 -1.23073238e-03 2.00188991e+02] [ 5.41261959e-01 8.40853657e-01 -7.86770272e-04 3.23935005e+01] [ 1.46071509e-03 -4.59066582e-06 9.99998933e-01 -1.43620218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:32.41, Z:-0.02 [[ 8.39707517e-01 -5.43037542e-01 -1.23058127e-03 2.00212383e+02] [ 5.43036972e-01 8.39708418e-01 -7.87006543e-04 3.24078615e+01] [ 1.46070355e-03 -7.39581690e-06 9.99998933e-01 -1.51143701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:32.42, Z:-0.01 [[ 8.38660835e-01 -5.44652631e-01 -1.23051721e-03 2.00236683e+02] [ 5.44652063e-01 8.38661738e-01 -7.87106688e-04 3.24221773e+01] [ 1.46068743e-03 -1.00881858e-05 9.99998933e-01 -1.46105202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:32.44, Z:-0.01 [[ 8.37841946e-01 -5.45911495e-01 -1.23036979e-03 2.00259361e+02] [ 5.45910927e-01 8.37842849e-01 -7.87337061e-04 3.24359024e+01] [ 1.46067288e-03 -1.20082992e-05 9.99998933e-01 -1.45822433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:32.45, Z:-0.01 [[ 8.36907021e-01 -5.47343698e-01 -1.23030576e-03 2.00283667e+02] [ 5.47343132e-01 8.36907925e-01 -7.87437113e-04 3.24498522e+01] [ 1.46065138e-03 -1.43877570e-05 9.99998933e-01 -1.29241409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:32.46, Z:-0.01 [[ 8.36843904e-01 -5.47440195e-01 -1.23015385e-03 2.00307399e+02] [ 5.47439629e-01 8.36844808e-01 -7.87674350e-04 3.24643465e+01] [ 1.46065246e-03 -1.42744894e-05 9.99998933e-01 -1.28707566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:32.48, Z:-0.01 [[ 8.36910343e-01 -5.47338619e-01 -1.23008203e-03 2.00330985e+02] [ 5.47338052e-01 8.36911247e-01 -7.87786493e-04 3.24785881e+01] [ 1.46065546e-03 -1.39640386e-05 9.99998933e-01 -1.21146745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:32.49, Z:-0.01 [[ 8.37851988e-01 -5.45896084e-01 -1.22993197e-03 2.00355276e+02] [ 5.45895515e-01 8.37852890e-01 -7.88020708e-04 3.24927330e+01] [ 1.46067947e-03 -1.11696295e-05 9.99998933e-01 -1.13832074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:32.51, Z:-0.01 [[ 8.38571620e-01 -5.44789984e-01 -1.22977986e-03 2.00378807e+02] [ 5.44789413e-01 8.38572521e-01 -7.88258011e-04 3.25074501e+01] [ 1.46069467e-03 -8.96025373e-06 9.99998933e-01 -1.09405558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:32.52, Z:-0.01 [[ 8.40380488e-01 -5.41995501e-01 -1.22962471e-03 2.00401845e+02] [ 5.41994927e-01 8.40381388e-01 -7.88499966e-04 3.25225578e+01] [ 1.46071715e-03 -3.81036863e-06 9.99998933e-01 -1.36832772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:32.54, Z:-0.01 [[ 8.41212718e-01 -5.40702923e-01 -1.22955186e-03 2.00424761e+02] [ 5.40702348e-01 8.41213617e-01 -7.88613548e-04 3.25378241e+01] [ 1.46072142e-03 -1.42983219e-06 9.99998933e-01 -1.43462899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:32.55, Z:-0.01 [[ 8.41112116e-01 -5.40859405e-01 -1.22940490e-03 2.00448625e+02] [ 5.40858830e-01 8.41113015e-01 -7.88842587e-04 3.25533688e+01] [ 1.46072139e-03 -1.42943739e-06 9.99998933e-01 -1.43046859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:32.57, Z:-0.01 [[ 8.41817533e-01 -5.39760808e-01 -1.22925811e-03 2.00472291e+02] [ 5.39760231e-01 8.41818431e-01 -7.89071266e-04 3.25691963e+01] [ 1.46072187e-03 7.49386946e-07 9.99998933e-01 -1.44424082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:32.58, Z:-0.01 [[ 8.42611753e-01 -5.38520124e-01 -1.22911040e-03 2.00495244e+02] [ 5.38519545e-01 8.42612649e-01 -7.89301274e-04 3.25843800e+01] [ 1.46071859e-03 3.17455456e-06 9.99998933e-01 -1.42284510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:32.60, Z:-0.01 [[ 8.44099800e-01 -5.36184685e-01 -1.22905981e-03 2.00518792e+02] [ 5.36184104e-01 8.44100695e-01 -7.89380048e-04 3.26005842e+01] [ 1.46070373e-03 7.31320927e-06 9.99998933e-01 -1.27784958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:32.62, Z:-0.01 [[ 8.44807964e-01 -5.35068215e-01 -1.22892974e-03 2.00542038e+02] [ 5.35067632e-01 8.44808857e-01 -7.89582496e-04 3.26159983e+01] [ 1.46069122e-03 9.48505619e-06 9.99998933e-01 -1.21437014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:32.63, Z:-0.01 [[ 8.46158057e-01 -5.32930607e-01 -1.22877560e-03 2.00563948e+02] [ 5.32930022e-01 8.46158949e-01 -7.89822298e-04 3.26322129e+01] [ 1.46065995e-03 1.34630936e-05 9.99998933e-01 -1.23321611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:32.65, Z:-0.01 [[ 8.46576845e-01 -5.32265099e-01 -1.22870869e-03 2.00586515e+02] [ 5.32264513e-01 8.46577736e-01 -7.89926377e-04 3.26481865e+01] [ 1.46064766e-03 1.47353483e-05 9.99998933e-01 -1.18721078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:32.66, Z:-0.01 [[ 8.46651693e-01 -5.32146034e-01 -1.22863903e-03 2.00608966e+02] [ 5.32145448e-01 8.46652584e-01 -7.90034704e-04 3.26643303e+01] [ 1.46064425e-03 1.50695518e-05 9.99998933e-01 -1.08636184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:32.68, Z:-0.01 [[ 8.46372906e-01 -5.32589330e-01 -1.22848663e-03 2.00630153e+02] [ 5.32588744e-01 8.46373798e-01 -7.90271619e-04 3.26803947e+01] [ 1.46064912e-03 1.45863380e-05 9.99998933e-01 -1.11667497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:32.70, Z:-0.01 [[ 8.46044548e-01 -5.33110790e-01 -1.22842033e-03 2.00652956e+02] [ 5.33110204e-01 8.46045439e-01 -7.90374655e-04 3.26964075e+01] [ 1.46065668e-03 1.38087535e-05 9.99998933e-01 -1.06564143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:32.71, Z:-0.01 [[ 8.45658918e-01 -5.33722293e-01 -1.22826752e-03 2.00674706e+02] [ 5.33721707e-01 8.45659810e-01 -7.90612064e-04 3.27120032e+01] [ 1.46066376e-03 1.30351072e-05 9.99998933e-01 -1.00312073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:32.73, Z:-0.01 [[ 8.44995089e-01 -5.34772654e-01 -1.22816308e-03 2.00698119e+02] [ 5.34772070e-01 8.44995981e-01 -7.90774272e-04 3.27294935e+01] [ 1.46067732e-03 1.14130652e-05 9.99998933e-01 -8.54388506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:32.75, Z:-0.01 [[ 8.44823747e-01 -5.35043296e-01 -1.22803111e-03 2.00720267e+02] [ 5.35042712e-01 8.44824639e-01 -7.90979150e-04 3.27452645e+01] [ 1.46067903e-03 1.11888715e-05 9.99998933e-01 -8.16001453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:200.74, Y:32.76, Z:-0.01 [[ 8.44452025e-01 -5.35629788e-01 -1.22796546e-03 2.00742686e+02] [ 5.35629204e-01 8.44452917e-01 -7.91081064e-04 3.27616579e+01] [ 1.46068560e-03 1.02958449e-05 9.99998933e-01 -6.25986334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:32.78, Z:-0.01 [[ 8.44151166e-01 -5.36103816e-01 -1.22781586e-03 2.00764189e+02] [ 5.36103232e-01 8.44152059e-01 -7.91313187e-04 3.27783509e+01] [ 1.46068930e-03 9.75189912e-06 9.99998933e-01 -7.37205977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:32.79, Z:-0.01 [[ 8.43981306e-01 -5.36371185e-01 -1.22775296e-03 2.00786835e+02] [ 5.36370601e-01 8.43982199e-01 -7.91410765e-04 3.27946746e+01] [ 1.46069157e-03 9.40529874e-06 9.99998933e-01 -8.19564149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.81, Y:32.81, Z:-0.01 [[ 8.43684327e-01 -5.36838197e-01 -1.22760353e-03 2.00808330e+02] [ 5.36837614e-01 8.43685220e-01 -7.91642485e-04 3.28103578e+01] [ 1.46069488e-03 8.87260783e-06 9.99998933e-01 -7.78464736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:32.83, Z:-0.01 [[ 8.42810675e-01 -5.38208751e-01 -1.22753851e-03 2.00830396e+02] [ 5.38208169e-01 8.42811569e-01 -7.91743297e-04 3.28264194e+01] [ 1.46070683e-03 6.61844971e-06 9.99998933e-01 -1.02310440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:32.84, Z:-0.01 [[ 8.41996839e-01 -5.39481063e-01 -1.22743843e-03 2.00853606e+02] [ 5.39480482e-01 8.41997733e-01 -7.91898423e-04 3.28418680e+01] [ 1.46071458e-03 4.59689477e-06 9.99998933e-01 -9.46828902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:32.86, Z:-0.01 [[ 8.40352164e-01 -5.42039421e-01 -1.22728850e-03 2.00875692e+02] [ 5.42038842e-01 8.40353061e-01 -7.92130711e-04 3.28576210e+01] [ 1.46072172e-03 4.30720292e-07 9.99998933e-01 -9.32126156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:32.87, Z:-0.01 [[ 8.39525849e-01 -5.43318362e-01 -1.22722348e-03 2.00898073e+02] [ 5.43317784e-01 8.39526746e-01 -7.92231434e-04 3.28728370e+01] [ 1.46072082e-03 -1.67357322e-06 9.99998933e-01 -9.92969454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:32.89, Z:-0.01 [[ 8.38755657e-01 -5.44506604e-01 -1.22715895e-03 2.00920995e+02] [ 5.44506028e-01 8.38756555e-01 -7.92331380e-04 3.28885864e+01] [ 1.46071728e-03 -3.62301650e-06 9.99998933e-01 -7.96585917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:32.90, Z:-0.01 [[ 8.38170616e-01 -5.45406742e-01 -1.22700335e-03 2.00942877e+02] [ 5.45406166e-01 8.38171514e-01 -7.92572265e-04 3.29041556e+01] [ 1.46071351e-03 -4.90440921e-06 9.99998933e-01 -9.64264636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.97, Y:32.92, Z:-0.01 [[ 8.37844319e-01 -5.45907860e-01 -1.22689714e-03 2.00965820e+02] [ 5.45907284e-01 8.37845218e-01 -7.92736635e-04 3.29196683e+01] [ 1.46071107e-03 -5.58220173e-06 9.99998933e-01 -8.40820718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:32.93, Z:-0.01 [[ 8.38052301e-01 -5.45588522e-01 -1.22675041e-03 2.00988700e+02] [ 5.45587946e-01 8.38053199e-01 -7.92963639e-04 3.29346888e+01] [ 1.46071397e-03 -4.75523474e-06 9.99998933e-01 -8.75364230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:32.95, Z:-0.01 [[ 8.38770897e-01 -5.44483129e-01 -1.22668656e-03 2.01012190e+02] [ 5.44482551e-01 8.38771794e-01 -7.93062405e-04 3.29518553e+01] [ 1.46071918e-03 -2.71176161e-06 9.99998933e-01 -7.48455313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:32.97, Z:-0.01 [[ 8.39113279e-01 -5.43955329e-01 -1.22656362e-03 2.01035239e+02] [ 5.43954751e-01 8.39114176e-01 -7.93252501e-04 3.29682384e+01] [ 1.46072084e-03 -1.56640054e-06 9.99998933e-01 -5.89171776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.06, Y:32.98, Z:-0.00 [[ 8.39401159e-01 -5.43510985e-01 -1.22641671e-03 2.01058072e+02] [ 5.43510406e-01 8.39402055e-01 -7.93479569e-04 3.29841036e+01] [ 1.46072157e-03 -5.22572402e-07 9.99998933e-01 -4.76656898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:33.00, Z:-0.01 [[ 8.40442622e-01 -5.41899156e-01 -1.22626290e-03 2.01079948e+02] [ 5.41898574e-01 8.40443517e-01 -7.93717190e-04 3.29993064e+01] [ 1.46071938e-03 2.56363744e-06 9.99998933e-01 -6.09433707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:33.01, Z:-0.01 [[ 8.40987152e-01 -5.41053701e-01 -1.22619642e-03 2.01101832e+02] [ 5.41053119e-01 8.40988045e-01 -7.93819888e-04 3.30143686e+01] [ 1.46071572e-03 4.15492984e-06 9.99998933e-01 -7.19041040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:33.03, Z:-0.01 [[ 8.41268546e-01 -5.40616065e-01 -1.22613157e-03 2.01123845e+02] [ 5.40615482e-01 8.41269440e-01 -7.93920045e-04 3.30309332e+01] [ 1.46071295e-03 5.03425428e-06 9.99998933e-01 -7.18797241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:33.05, Z:-0.01 [[ 8.42247738e-01 -5.39089274e-01 -1.22597886e-03 2.01145084e+02] [ 5.39088689e-01 8.42248630e-01 -7.94155786e-04 3.30485162e+01] [ 1.46069988e-03 7.96457739e-06 9.99998933e-01 -9.67657513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:33.06, Z:-0.01 [[ 8.42655322e-01 -5.38451952e-01 -1.22593148e-03 2.01167895e+02] [ 5.38451367e-01 8.42656214e-01 -7.94228918e-04 3.30644823e+01] [ 1.46069289e-03 9.15674345e-06 9.99998933e-01 -1.03620910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:33.08, Z:-0.01 [[ 8.43386687e-01 -5.37305680e-01 -1.22577992e-03 2.01188759e+02] [ 5.37305092e-01 8.43387578e-01 -7.94462767e-04 3.30814407e+01] [ 1.46067691e-03 1.14215293e-05 9.99998933e-01 -1.14115084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:33.10, Z:-0.01 [[ 8.43497999e-01 -5.37130918e-01 -1.22571392e-03 2.01210387e+02] [ 5.37130330e-01 8.43498890e-01 -7.94564579e-04 3.30973602e+01] [ 1.46067353e-03 1.18455116e-05 9.99998933e-01 -1.12877396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:33.11, Z:-0.01 [[ 8.43378407e-01 -5.37318676e-01 -1.22564933e-03 2.01233198e+02] [ 5.37318089e-01 8.43379298e-01 -7.94664192e-04 3.31140924e+01] [ 1.46067518e-03 1.16390636e-05 9.99998933e-01 -1.02681713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:33.13, Z:-0.01 [[ 8.42590200e-01 -5.38553853e-01 -1.22549908e-03 2.01256234e+02] [ 5.38553266e-01 8.42591092e-01 -7.94895838e-04 3.31323066e+01] [ 1.46068882e-03 9.77491130e-06 9.99998933e-01 -7.24608612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:33.15, Z:-0.01 [[ 8.41928522e-01 -5.39587678e-01 -1.22536816e-03 2.01278062e+02] [ 5.39587092e-01 8.41929414e-01 -7.95097609e-04 3.31475666e+01] [ 1.46069837e-03 8.22251429e-06 9.99998933e-01 -5.97717638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:33.16, Z:-0.01 [[ 8.40269588e-01 -5.42167427e-01 -1.22526643e-03 2.01299985e+02] [ 5.42166843e-01 8.40270481e-01 -7.95254337e-04 3.31629377e+01] [ 1.46071621e-03 3.92919893e-06 9.99998933e-01 -5.16731737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:33.18, Z:-0.00 [[ 8.39176621e-01 -5.43857607e-01 -1.22520160e-03 2.01323068e+02] [ 5.43857026e-01 8.39177516e-01 -7.95354212e-04 3.31786821e+01] [ 1.46072107e-03 1.10816313e-06 9.99998933e-01 -4.77729979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:33.19, Z:-0.01 [[ 8.37320421e-01 -5.46711086e-01 -1.22505051e-03 2.01345511e+02] [ 5.46710507e-01 8.37321318e-01 -7.95586862e-04 3.31939456e+01] [ 1.46071706e-03 -3.58685748e-06 9.99998933e-01 -5.01782650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:33.21, Z:-0.01 [[ 8.36261447e-01 -5.48329547e-01 -1.22498495e-03 2.01369021e+02] [ 5.48328969e-01 8.36262344e-01 -7.95687791e-04 3.32090595e+01] [ 1.46070791e-03 -6.29171192e-06 9.99998933e-01 -5.32432241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:201.39, Y:33.22, Z:-0.01 [[ 8.35131470e-01 -5.50049023e-01 -1.22483230e-03 2.01391870e+02] [ 5.50048448e-01 8.35132368e-01 -7.95922704e-04 3.32235680e+01] [ 1.46069360e-03 -9.01700715e-06 9.99998933e-01 -5.25336881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:33.24, Z:-0.01 [[ 8.34292697e-01 -5.51320411e-01 -1.22476605e-03 2.01414962e+02] [ 5.51319836e-01 8.34293596e-01 -7.96024630e-04 3.32378161e+01] [ 1.46067910e-03 -1.11202843e-05 9.99998933e-01 -8.10099472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:33.25, Z:-0.01 [[ 8.32533687e-01 -5.53973068e-01 -1.22470161e-03 2.01439941e+02] [ 5.53972496e-01 8.32534588e-01 -7.96123759e-04 3.32526951e+01] [ 1.46063757e-03 -1.56511615e-05 9.99998933e-01 -9.71636832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:33.27, Z:-0.01 [[ 8.31828607e-01 -5.55031233e-01 -1.22456948e-03 2.01463059e+02] [ 5.55030662e-01 8.31829508e-01 -7.96326949e-04 3.32665956e+01] [ 1.46061936e-03 -1.72660728e-05 9.99998933e-01 -1.01543098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.49, Y:33.28, Z:-0.01 [[ 8.31033360e-01 -5.56221228e-01 -1.22450409e-03 2.01486707e+02] [ 5.56220658e-01 8.31034262e-01 -7.96427484e-04 3.32791076e+01] [ 1.46059473e-03 -1.92366645e-05 9.99998933e-01 -9.66634469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:33.29, Z:-0.01 [[ 8.30760780e-01 -5.56628267e-01 -1.22443903e-03 2.01510861e+02] [ 5.56627697e-01 8.30761682e-01 -7.96527502e-04 3.32939557e+01] [ 1.46058675e-03 -1.98328669e-05 9.99998933e-01 -8.70529977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:33.31, Z:-0.01 [[ 8.30797259e-01 -5.56573819e-01 -1.22429263e-03 2.01534887e+02] [ 5.56573249e-01 8.30798161e-01 -7.96752461e-04 3.33087827e+01] [ 1.46059162e-03 -1.94687654e-05 9.99998933e-01 -8.12288474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:33.32, Z:-0.01 [[ 8.31292839e-01 -5.55833354e-01 -1.22414100e-03 2.01558608e+02] [ 5.55832783e-01 8.31293740e-01 -7.96985360e-04 3.33220024e+01] [ 1.46061179e-03 -1.78894745e-05 9.99998933e-01 -9.21000615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:33.34, Z:-0.01 [[ 8.31587691e-01 -5.55392125e-01 -1.22407510e-03 2.01582412e+02] [ 5.55391554e-01 8.31588592e-01 -7.97086550e-04 3.33361971e+01] [ 1.46062249e-03 -1.69936103e-05 9.99998933e-01 -9.21022684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:33.35, Z:-0.01 [[ 8.31775053e-01 -5.55111487e-01 -1.22393253e-03 2.01606406e+02] [ 5.55110915e-01 8.31775953e-01 -7.97305419e-04 3.33510464e+01] [ 1.46063104e-03 -1.62395484e-05 9.99998933e-01 -9.39592015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:33.36, Z:-0.01 [[ 8.32279330e-01 -5.54355139e-01 -1.22378447e-03 2.01629611e+02] [ 5.54354565e-01 8.32280229e-01 -7.97532603e-04 3.33648122e+01] [ 1.46064792e-03 -1.46406097e-05 9.99998933e-01 -1.13567036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.65, Y:33.38, Z:-0.01 [[ 8.33279987e-01 -5.52849858e-01 -1.22368350e-03 2.01654138e+02] [ 5.52849283e-01 8.33280886e-01 -7.97687502e-04 3.33784056e+01] [ 1.46067349e-03 -1.18155131e-05 9.99998933e-01 -1.21863097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:33.39, Z:-0.01 [[ 8.33802288e-01 -5.52061814e-01 -1.22354150e-03 2.01677671e+02] [ 5.52061238e-01 8.33803186e-01 -7.97905253e-04 3.33926226e+01] [ 1.46068582e-03 -1.01746073e-05 9.99998933e-01 -1.21384940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:33.41, Z:-0.01 [[ 8.34995582e-01 -5.50255288e-01 -1.22344466e-03 2.01702469e+02] [ 5.50254709e-01 8.34996478e-01 -7.98053714e-04 3.34062574e+01] [ 1.46070525e-03 -6.83485812e-06 9.99998933e-01 -1.19487086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:33.42, Z:-0.01 [[ 8.35829944e-01 -5.48987075e-01 -1.22330227e-03 2.01725398e+02] [ 5.48986495e-01 8.35830839e-01 -7.98271911e-04 3.34206853e+01] [ 1.46071472e-03 -4.35685945e-06 9.99998933e-01 -1.18505353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.75, Y:33.44, Z:-0.01 [[ 8.36601539e-01 -5.47810523e-01 -1.22324018e-03 2.01749024e+02] [ 5.47809941e-01 8.36602433e-01 -7.98367049e-04 3.34353453e+01] [ 1.46071958e-03 -2.18802671e-06 9.99998933e-01 -7.86722328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:33.45, Z:-0.01 [[ 8.38573790e-01 -5.44786658e-01 -1.22309803e-03 2.01773128e+02] [ 5.44786073e-01 8.38574682e-01 -7.98584764e-04 3.34491516e+01] [ 1.46071736e-03 3.34548159e-06 9.99998933e-01 -8.45504578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.80, Y:33.46, Z:-0.01 [[ 8.39597608e-01 -5.43207476e-01 -1.22294388e-03 2.01795818e+02] [ 5.43206888e-01 8.39598498e-01 -7.98820748e-04 3.34630290e+01] [ 1.46070725e-03 6.37644772e-06 9.99998933e-01 -9.30228557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:33.48, Z:-0.01 [[ 8.40508181e-01 -5.41797473e-01 -1.22287667e-03 2.01819883e+02] [ 5.41796884e-01 8.40509071e-01 -7.98923631e-04 3.34781848e+01] [ 1.46069374e-03 8.95107923e-06 9.99998933e-01 -8.05857164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:33.49, Z:-0.01 [[ 8.42318580e-01 -5.38978585e-01 -1.22272517e-03 2.01843253e+02] [ 5.38977992e-01 8.42319467e-01 -7.99155419e-04 3.34922444e+01] [ 1.46065287e-03 1.41214981e-05 9.99998933e-01 -8.90094902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:201.87, Y:33.51, Z:-0.01 [[ 8.42951576e-01 -5.37988053e-01 -1.22265920e-03 2.01865902e+02] [ 5.37987459e-01 8.42952463e-01 -7.99256344e-04 3.35065444e+01] [ 1.46063395e-03 1.59590792e-05 9.99998933e-01 -7.54866133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:201.89, Y:33.52, Z:-0.01 [[ 8.42850649e-01 -5.38146160e-01 -1.22259393e-03 2.01889627e+02] [ 5.38145566e-01 8.42851535e-01 -7.99356178e-04 3.35222951e+01] [ 1.46063562e-03 1.58043732e-05 9.99998933e-01 -7.50706124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.91, Y:33.54, Z:-0.01 [[ 8.43935401e-01 -5.36443421e-01 -1.22244394e-03 2.01913795e+02] [ 5.36442826e-01 8.43936286e-01 -7.99585478e-04 3.35365157e+01] [ 1.46059717e-03 1.90272072e-05 9.99998933e-01 -8.91846118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:33.55, Z:-0.01 [[ 8.44472995e-01 -5.35596739e-01 -1.22229382e-03 2.01937196e+02] [ 5.35596142e-01 8.44473879e-01 -7.99814900e-04 3.35507891e+01] [ 1.46057346e-03 2.07662288e-05 9.99998933e-01 -1.17307898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.96, Y:33.57, Z:-0.01 [[ 8.44724805e-01 -5.35199505e-01 -1.22219174e-03 2.01960364e+02] [ 5.35198908e-01 8.44725689e-01 -7.99970856e-04 3.35656080e+01] [ 1.46056077e-03 2.16395407e-05 9.99998933e-01 -1.06215102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:33.58, Z:-0.01 [[ 8.45504969e-01 -5.33966155e-01 -1.22204065e-03 2.01982567e+02] [ 5.33965556e-01 8.45505851e-01 -8.00201602e-04 3.35810427e+01] [ 1.46052309e-03 2.40468171e-05 9.99998933e-01 -1.14720673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:33.60, Z:-0.01 [[ 8.45774879e-01 -5.33538529e-01 -1.22197506e-03 2.02005522e+02] [ 5.33537929e-01 8.45775761e-01 -8.00301743e-04 3.35971396e+01] [ 1.46050870e-03 2.49050651e-05 9.99998933e-01 -1.05534901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:33.61, Z:-0.01 [[ 8.46052478e-01 -5.33098220e-01 -1.22182172e-03 2.02027610e+02] [ 5.33097619e-01 8.46053360e-01 -8.00535785e-04 3.36126244e+01] [ 1.46049057e-03 2.59450354e-05 9.99998933e-01 -1.11511743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:33.63, Z:-0.01 [[ 8.46207851e-01 -5.32851556e-01 -1.22175511e-03 2.02050275e+02] [ 5.32850955e-01 8.46208732e-01 -8.00637425e-04 3.36289268e+01] [ 1.46048074e-03 2.64922960e-05 9.99998933e-01 -1.13605970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:202.07, Y:33.64, Z:-0.01 [[ 8.45783058e-01 -5.33525564e-01 -1.22160414e-03 2.02073069e+02] [ 5.33524963e-01 8.45783939e-01 -8.00867712e-04 3.36442547e+01] [ 1.46049656e-03 2.56040385e-05 9.99998933e-01 -9.33350672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:33.66, Z:-0.01 [[ 8.44825762e-01 -5.35040130e-01 -1.22153964e-03 2.02097660e+02] [ 5.35039531e-01 8.44826644e-01 -8.00966082e-04 3.36599784e+01] [ 1.46053823e-03 2.31047861e-05 9.99998933e-01 -9.64913175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:33.68, Z:-0.01 [[ 8.43924975e-01 -5.36459827e-01 -1.22140875e-03 2.02120779e+02] [ 5.36459229e-01 8.43925858e-01 -8.01165617e-04 3.36751770e+01] [ 1.46057160e-03 2.08876741e-05 9.99998933e-01 -9.98245865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:33.69, Z:-0.01 [[ 8.42902308e-01 -5.38065245e-01 -1.22125906e-03 2.02144258e+02] [ 5.38064648e-01 8.42903192e-01 -8.01393747e-04 3.36907991e+01] [ 1.46060528e-03 1.83803149e-05 9.99998933e-01 -1.05368184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:33.71, Z:-0.01 [[ 8.40711810e-01 -5.41481451e-01 -1.22111013e-03 2.02166244e+02] [ 5.41480858e-01 8.40712697e-01 -8.01620599e-04 3.37059401e+01] [ 1.46066548e-03 1.27241417e-05 9.99998933e-01 -1.10872365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:33.72, Z:-0.01 [[ 8.39378387e-01 -5.43546164e-01 -1.22104530e-03 2.02189313e+02] [ 5.43545572e-01 8.39379275e-01 -8.01719345e-04 3.37222146e+01] [ 1.46069159e-03 9.25212438e-06 9.99998933e-01 -1.09948739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:202.21, Y:33.74, Z:-0.01 [[ 8.38060066e-01 -5.45576607e-01 -1.22089799e-03 2.02212343e+02] [ 5.45576018e-01 8.38060956e-01 -8.01943607e-04 3.37376028e+01] [ 1.46070861e-03 5.98424707e-06 9.99998933e-01 -9.90427497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:33.75, Z:-0.01 [[ 8.35871170e-01 -5.48924309e-01 -1.22075075e-03 2.02237390e+02] [ 5.48923723e-01 8.35872061e-01 -8.02167682e-04 3.37515212e+01] [ 1.46072079e-03 4.09790863e-07 9.99998933e-01 -1.03661700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:33.77, Z:-0.01 [[ 8.34903185e-01 -5.50395478e-01 -1.22061911e-03 2.02260217e+02] [ 5.50394893e-01 8.34904077e-01 -8.02367951e-04 3.37652668e+01] [ 1.46071956e-03 -1.92296400e-06 9.99998933e-01 -1.02817213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:33.78, Z:-0.01 [[ 8.33952792e-01 -5.51834441e-01 -1.22055398e-03 2.02283548e+02] [ 5.51833857e-01 8.33953686e-01 -8.02467006e-04 3.37798609e+01] [ 1.46071442e-03 -4.32341015e-06 9.99998933e-01 -8.42497321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:33.79, Z:-0.01 [[ 8.32806117e-01 -5.53563439e-01 -1.22040401e-03 2.02306294e+02] [ 5.53562857e-01 8.32807012e-01 -8.02695015e-04 3.37943696e+01] [ 1.46070363e-03 -7.08101370e-06 9.99998933e-01 -7.42036283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:33.81, Z:-0.01 [[ 8.32175327e-01 -5.54511259e-01 -1.22034290e-03 2.02329747e+02] [ 5.54510678e-01 8.32176221e-01 -8.02787919e-04 3.38096714e+01] [ 1.46069528e-03 -8.63286853e-06 9.99998933e-01 -6.11812618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:33.82, Z:-0.01 [[ 8.31764206e-01 -5.55127749e-01 -1.22019372e-03 2.02352747e+02] [ 5.55127168e-01 8.31765101e-01 -8.03014600e-04 3.38241499e+01] [ 1.46069024e-03 -9.44388183e-06 9.99998933e-01 -7.17309303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:33.84, Z:-0.01 [[ 8.30810442e-01 -5.56554149e-01 -1.22012885e-03 2.02376995e+02] [ 5.56553570e-01 8.30811338e-01 -8.03113151e-04 3.38378538e+01] [ 1.46067284e-03 -1.18322741e-05 9.99998933e-01 -9.08142902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:33.85, Z:-0.01 [[ 8.30366679e-01 -5.57216017e-01 -1.21998725e-03 2.02400538e+02] [ 5.57215438e-01 8.30367576e-01 -8.03328193e-04 3.38513678e+01] [ 1.46066519e-03 -1.27387651e-05 9.99998933e-01 -1.06603089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:33.87, Z:-0.01 [[ 8.29853452e-01 -5.57980071e-01 -1.21989086e-03 2.02424280e+02] [ 5.57979492e-01 8.29854349e-01 -8.03474541e-04 3.38655255e+01] [ 1.46065451e-03 -1.39079603e-05 9.99998933e-01 -1.17330946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.45, Y:33.88, Z:-0.01 [[ 8.29654788e-01 -5.58275420e-01 -1.21974953e-03 2.02449264e+02] [ 5.58274841e-01 8.29655685e-01 -8.03689032e-04 3.38804661e+01] [ 1.46065196e-03 -1.41710219e-05 9.99998933e-01 -1.00000117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:33.90, Z:-0.01 [[ 8.29796529e-01 -5.58064722e-01 -1.21961797e-03 2.02471896e+02] [ 5.58064143e-01 8.29797425e-01 -8.03888630e-04 3.38959019e+01] [ 1.46065773e-03 -1.35610618e-05 9.99998933e-01 -1.32347392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:33.91, Z:-0.01 [[ 8.29975825e-01 -5.57798030e-01 -1.21955267e-03 2.02494173e+02] [ 5.57797451e-01 8.29976721e-01 -8.03987674e-04 3.39105334e+01] [ 1.46066307e-03 -1.29730408e-05 9.99998933e-01 -1.26574154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:33.92, Z:-0.01 [[ 8.30496866e-01 -5.57021965e-01 -1.21947736e-03 2.02518664e+02] [ 5.57021384e-01 8.30497761e-01 -8.04101887e-04 3.39248404e+01] [ 1.46067563e-03 -1.14708730e-05 9.99998933e-01 -8.06662263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:33.94, Z:-0.01 [[ 8.30899522e-01 -5.56421151e-01 -1.21942974e-03 2.02541851e+02] [ 5.56420570e-01 8.30900417e-01 -8.04174105e-04 3.39397671e+01] [ 1.46068416e-03 -1.03279109e-05 9.99998933e-01 -7.13192211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:33.95, Z:-0.01 [[ 8.31870788e-01 -5.54968021e-01 -1.21936614e-03 2.02565350e+02] [ 5.54967439e-01 8.31871682e-01 -8.04270531e-04 3.39535772e+01] [ 1.46070059e-03 -7.65934187e-06 9.99998933e-01 -7.67143406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:33.97, Z:-0.01 [[ 8.32368874e-01 -5.54220687e-01 -1.21930086e-03 2.02588071e+02] [ 5.54220104e-01 8.32369767e-01 -8.04369479e-04 3.39679516e+01] [ 1.46070738e-03 -6.22893277e-06 9.99998933e-01 -7.67284789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:33.98, Z:-0.01 [[ 8.32701445e-01 -5.53720883e-01 -1.21922224e-03 2.02611574e+02] [ 5.53720299e-01 8.32702338e-01 -8.04488633e-04 3.39837500e+01] [ 1.46071137e-03 -5.20925596e-06 9.99998933e-01 -5.77053010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:34.00, Z:-0.01 [[ 8.33137336e-01 -5.53064818e-01 -1.21906776e-03 2.02633920e+02] [ 5.53064233e-01 8.33138228e-01 -8.04722654e-04 3.39989704e+01] [ 1.46071574e-03 -3.77828719e-06 9.99998933e-01 -7.68945766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:34.01, Z:-0.01 [[ 8.33322112e-01 -5.52786370e-01 -1.21900054e-03 2.02657892e+02] [ 5.52785784e-01 8.33323004e-01 -8.04824463e-04 3.40132420e+01] [ 1.46071719e-03 -3.16814912e-06 9.99998933e-01 -9.68283187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:34.03, Z:-0.01 [[ 8.33134787e-01 -5.53068659e-01 -1.21885978e-03 2.02680902e+02] [ 5.53068073e-01 8.33135678e-01 -8.05037578e-04 3.40266098e+01] [ 1.46071663e-03 -3.40762099e-06 9.99998933e-01 -1.03713709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:34.04, Z:-0.01 [[ 8.32692496e-01 -5.53734342e-01 -1.21878353e-03 2.02705573e+02] [ 5.53733757e-01 8.32693388e-01 -8.05153002e-04 3.40391011e+01] [ 1.46071386e-03 -4.43672079e-06 9.99998933e-01 -1.13733587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:34.05, Z:-0.01 [[ 8.32387868e-01 -5.54192162e-01 -1.21868822e-03 2.02729040e+02] [ 5.54191576e-01 8.32388760e-01 -8.05297240e-04 3.40535950e+01] [ 1.46071180e-03 -5.06709403e-06 9.99998933e-01 -1.15432116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:34.07, Z:-0.01 [[ 8.32011431e-01 -5.54757148e-01 -1.21855008e-03 2.02753982e+02] [ 5.54756564e-01 8.32012323e-01 -8.05506223e-04 3.40672205e+01] [ 1.46070901e-03 -5.80826646e-06 9.99998933e-01 -9.23226412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.78, Y:34.08, Z:-0.01 [[ 8.31844298e-01 -5.55007730e-01 -1.21840010e-03 2.02778296e+02] [ 5.55007145e-01 8.31845190e-01 -8.05733011e-04 3.40818753e+01] [ 1.46070831e-03 -5.97635019e-06 9.99998933e-01 -8.43955260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:34.10, Z:-0.01 [[ 8.31736558e-01 -5.55169176e-01 -1.21825077e-03 2.02801515e+02] [ 5.55168591e-01 8.31737450e-01 -8.05958730e-04 3.40956517e+01] [ 1.46070823e-03 -5.98922415e-06 9.99998933e-01 -1.13899903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:34.11, Z:-0.01 [[ 8.31347062e-01 -5.55752264e-01 -1.21818574e-03 2.02825639e+02] [ 5.55751680e-01 8.31347954e-01 -8.06057011e-04 3.41101398e+01] [ 1.46070423e-03 -6.89564267e-06 9.99998933e-01 -9.79902222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:34.12, Z:-0.01 [[ 8.31248540e-01 -5.55899614e-01 -1.21804592e-03 2.02851123e+02] [ 5.55899029e-01 8.31249432e-01 -8.06268240e-04 3.41222111e+01] [ 1.46070418e-03 -6.90124757e-06 9.99998933e-01 -8.33444933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:34.14, Z:-0.01 [[ 8.31366927e-01 -5.55722547e-01 -1.21788879e-03 2.02874479e+02] [ 5.55721962e-01 8.31367819e-01 -8.06505515e-04 3.41357677e+01] [ 1.46070685e-03 -6.30553747e-06 9.99998933e-01 -8.62289429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:34.15, Z:-0.01 [[ 8.31818200e-01 -5.55046844e-01 -1.21782072e-03 2.02898592e+02] [ 5.55046258e-01 8.31819091e-01 -8.06608291e-04 3.41488887e+01] [ 1.46071191e-03 -4.99537602e-06 9.99998933e-01 -8.81971443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:202.92, Y:34.16, Z:-0.01 [[ 8.32099656e-01 -5.54624809e-01 -1.21771752e-03 2.02922428e+02] [ 5.54624222e-01 8.32100547e-01 -8.06764054e-04 3.41633475e+01] [ 1.46071478e-03 -4.06754257e-06 9.99998933e-01 -7.62408624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:34.18, Z:-0.01 [[ 8.32499570e-01 -5.54024353e-01 -1.21756553e-03 2.02946747e+02] [ 5.54023765e-01 8.32500460e-01 -8.06993373e-04 3.41773483e+01] [ 1.46071785e-03 -2.73860532e-06 9.99998933e-01 -8.88267646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.97, Y:34.19, Z:-0.01 [[ 8.33531423e-01 -5.52470710e-01 -1.21740802e-03 2.02970644e+02] [ 5.52470120e-01 8.33532312e-01 -8.07230915e-04 3.41895349e+01] [ 1.46072036e-03 2.70775639e-07 9.99998933e-01 -8.81335964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:202.99, Y:34.20, Z:-0.01 [[ 8.34024825e-01 -5.51725574e-01 -1.21733957e-03 2.02994612e+02] [ 5.51724983e-01 8.34025714e-01 -8.07334132e-04 3.42046431e+01] [ 1.46071939e-03 1.70005297e-06 9.99998933e-01 -8.60634091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:34.22, Z:-0.01 [[ 8.34614601e-01 -5.50832993e-01 -1.21718331e-03 2.03017502e+02] [ 5.50832401e-01 8.34615489e-01 -8.07569655e-04 3.42191979e+01] [ 1.46071605e-03 3.54542196e-06 9.99998933e-01 -1.08966606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.04, Y:34.23, Z:-0.01 [[ 8.35174658e-01 -5.49983462e-01 -1.21711540e-03 2.03041371e+02] [ 5.49982869e-01 8.35175545e-01 -8.07671995e-04 3.42324787e+01] [ 1.46071125e-03 5.15456560e-06 9.99998933e-01 -9.97721219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:34.25, Z:-0.01 [[ 8.35030311e-01 -5.50202598e-01 -1.21704834e-03 2.03066552e+02] [ 5.50202005e-01 8.35031198e-01 -8.07773032e-04 3.42457291e+01] [ 1.46071215e-03 4.89253063e-06 9.99998933e-01 -1.04518780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:34.26, Z:-0.01 [[ 8.34839219e-01 -5.50492505e-01 -1.21689382e-03 2.03089430e+02] [ 5.50491912e-01 8.34840106e-01 -8.08005744e-04 3.42592405e+01] [ 1.46071287e-03 4.66467917e-06 9.99998933e-01 -1.16365385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:34.27, Z:-0.01 [[ 8.34664267e-01 -5.50757733e-01 -1.21682663e-03 2.03113206e+02] [ 5.50757140e-01 8.34665154e-01 -8.08106910e-04 3.42734680e+01] [ 1.46071392e-03 4.32200535e-06 9.99998933e-01 -1.04399075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49587156000004 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:203.14, Y:34.29, Z:-0.01 [[ 8.34607238e-01 -5.50844150e-01 -1.21667436e-03 2.03136754e+02] [ 5.50843557e-01 8.34608125e-01 -8.08336099e-04 3.42878107e+01] [ 1.46071352e-03 4.44592581e-06 9.99998933e-01 -7.95945926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:34.30, Z:-0.01 [[ 8.35252180e-01 -5.49865725e-01 -1.21651759e-03 2.03161333e+02] [ 5.49865131e-01 8.35253066e-01 -8.08571969e-04 3.43019721e+01] [ 1.46070606e-03 6.44089662e-06 9.99998933e-01 -9.69269525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:34.32, Z:-0.01 [[ 8.36398503e-01 -5.48120483e-01 -1.21636154e-03 2.03186078e+02] [ 5.48119887e-01 8.36399388e-01 -8.08806644e-04 3.43161545e+01] [ 1.46068754e-03 9.77271434e-06 9.99998933e-01 -1.03078851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:34.33, Z:-0.01 [[ 8.36934761e-01 -5.47301312e-01 -1.21620442e-03 2.03209503e+02] [ 5.47300714e-01 8.36935645e-01 -8.09042851e-04 3.43317327e+01] [ 1.46067504e-03 1.14865403e-05 9.99998933e-01 -1.04527596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:34.35, Z:-0.01 [[ 8.37569086e-01 -5.46330072e-01 -1.21604712e-03 2.03231893e+02] [ 5.46329473e-01 8.37569968e-01 -8.09279207e-04 3.43462860e+01] [ 1.46065812e-03 1.34648622e-05 9.99998933e-01 -1.11101032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:34.36, Z:-0.01 [[ 8.38006558e-01 -5.45658804e-01 -1.21597867e-03 2.03255170e+02] [ 5.45658204e-01 8.38007440e-01 -8.09382047e-04 3.43613639e+01] [ 1.46064561e-03 1.47587267e-05 9.99998933e-01 -1.10029632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67587156000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.28, Y:34.38, Z:-0.01 [[ 8.38681586e-01 -5.44620711e-01 -1.21582210e-03 2.03278167e+02] [ 5.44620109e-01 8.38682467e-01 -8.09617169e-04 3.43774905e+01] [ 1.46062296e-03 1.68498470e-05 9.99998933e-01 -8.46290298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:34.39, Z:-0.01 [[ 8.39015470e-01 -5.44106206e-01 -1.21566184e-03 2.03300094e+02] [ 5.44105604e-01 8.39016350e-01 -8.09857733e-04 3.43930789e+01] [ 1.46060878e-03 1.80347473e-05 9.99998933e-01 -9.89768461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:34.41, Z:-0.01 [[ 8.39286971e-01 -5.43687321e-01 -1.21559202e-03 2.03322806e+02] [ 5.43686718e-01 8.39287851e-01 -8.09962512e-04 3.44088210e+01] [ 1.46059797e-03 1.88897453e-05 9.99998933e-01 -8.73018101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:34.42, Z:-0.01 [[ 8.39410553e-01 -5.43496501e-01 -1.21543618e-03 2.03346409e+02] [ 5.43495897e-01 8.39411433e-01 -8.10196304e-04 3.44243682e+01] [ 1.46058988e-03 1.95027496e-05 9.99998933e-01 -8.27829556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:34.44, Z:-0.01 [[ 8.39433172e-01 -5.43461565e-01 -1.21527834e-03 2.03369658e+02] [ 5.43460961e-01 8.39434051e-01 -8.10432990e-04 3.44402823e+01] [ 1.46058520e-03 1.98479993e-05 9.99998933e-01 -9.07576923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:34.46, Z:-0.01 [[ 8.39327258e-01 -5.43625126e-01 -1.21512023e-03 2.03393255e+02] [ 5.43624521e-01 8.39328138e-01 -8.10669987e-04 3.44562451e+01] [ 1.46058517e-03 1.98482640e-05 9.99998933e-01 -9.03416418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:34.47, Z:-0.01 [[ 8.39480397e-01 -5.43388615e-01 -1.21496222e-03 2.03415315e+02] [ 5.43388011e-01 8.39481276e-01 -8.10906732e-04 3.44725745e+01] [ 1.46057552e-03 2.05444029e-05 9.99998933e-01 -1.14204357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:34.49, Z:-0.01 [[ 8.39357759e-01 -5.43578031e-01 -1.21491317e-03 2.03437025e+02] [ 5.43577427e-01 8.39358638e-01 -8.10980212e-04 3.44900653e+01] [ 1.46057889e-03 2.03031592e-05 9.99998933e-01 -9.89226289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.46, Y:34.51, Z:-0.01 [[ 8.39200506e-01 -5.43820775e-01 -1.21475727e-03 2.03458218e+02] [ 5.43820170e-01 8.39201385e-01 -8.11213659e-04 3.45065781e+01] [ 1.46058083e-03 2.01614069e-05 9.99998933e-01 -8.94487622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:34.52, Z:-0.01 [[ 8.39166695e-01 -5.43872947e-01 -1.21465109e-03 2.03480496e+02] [ 5.43872343e-01 8.39167574e-01 -8.11372623e-04 3.45236188e+01] [ 1.46057942e-03 2.02617512e-05 9.99998933e-01 -8.62471469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:34.54, Z:-0.01 [[ 8.39097369e-01 -5.43979899e-01 -1.21449073e-03 2.03502142e+02] [ 5.43979294e-01 8.39098248e-01 -8.11612585e-04 3.45398580e+01] [ 1.46057797e-03 2.03641778e-05 9.99998933e-01 -9.05610713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.52, Y:34.56, Z:-0.01 [[ 8.39098622e-01 -5.43977967e-01 -1.21442090e-03 2.03523884e+02] [ 5.43977361e-01 8.39099500e-01 -8.11717059e-04 3.45579791e+01] [ 1.46057616e-03 2.04931912e-05 9.99998933e-01 -5.62431450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:34.58, Z:-0.00 [[ 8.38832570e-01 -5.44388139e-01 -1.21437352e-03 2.03546095e+02] [ 5.44387534e-01 8.38833448e-01 -8.11787931e-04 3.45755808e+01] [ 1.46058485e-03 1.98643516e-05 9.99998933e-01 -4.92722419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:34.59, Z:-0.00 [[ 8.38618829e-01 -5.44717345e-01 -1.21422003e-03 2.03568009e+02] [ 5.44716740e-01 8.38619708e-01 -8.12017446e-04 3.45924104e+01] [ 1.46058883e-03 1.95671439e-05 9.99998933e-01 -3.82524339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:34.61, Z:-0.00 [[ 8.37920441e-01 -5.45791041e-01 -1.21416675e-03 2.03590009e+02] [ 5.45790437e-01 8.37921320e-01 -8.12097103e-04 3.46104239e+01] [ 1.46061153e-03 1.77921609e-05 9.99998933e-01 -2.21942596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:34.63, Z:-0.00 [[ 8.37312630e-01 -5.46723044e-01 -1.21400927e-03 2.03611713e+02] [ 5.46722441e-01 8.37313509e-01 -8.12332447e-04 3.46275743e+01] [ 1.46062723e-03 1.64501041e-05 9.99998933e-01 -2.51602444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.63, Y:34.65, Z:-0.00 [[ 8.36462947e-01 -5.48022139e-01 -1.21384725e-03 2.03631680e+02] [ 5.48021537e-01 8.36463828e-01 -8.12574481e-04 3.46455890e+01] [ 1.46064812e-03 1.44740090e-05 9.99998933e-01 -3.57461386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:203.65, Y:34.66, Z:-0.00 [[ 8.35942961e-01 -5.48814989e-01 -1.21377903e-03 2.03654065e+02] [ 5.48814388e-01 8.35943842e-01 -8.12676369e-04 3.46628391e+01] [ 1.46066008e-03 1.32116933e-05 9.99998933e-01 -3.75348309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21587156000004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:203.68, Y:34.68, Z:-0.00 [[ 8.35530559e-01 -5.49442638e-01 -1.21362068e-03 2.03676246e+02] [ 5.49442037e-01 8.35531440e-01 -8.12912772e-04 3.46795951e+01] [ 1.46066718e-03 1.23992410e-05 9.99998933e-01 -3.53646275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:34.70, Z:-0.01 [[ 8.34980890e-01 -5.50277603e-01 -1.21346258e-03 2.03696056e+02] [ 5.50277002e-01 8.34981772e-01 -8.13148706e-04 3.46988096e+01] [ 1.46067666e-03 1.12230767e-05 9.99998933e-01 -8.29234684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:203.72, Y:34.72, Z:-0.01 [[ 8.34761216e-01 -5.50610789e-01 -1.21339384e-03 2.03717730e+02] [ 5.50610188e-01 8.34762097e-01 -8.13251269e-04 3.47161993e+01] [ 1.46068011e-03 1.07636049e-05 9.99998933e-01 -6.52352988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:34.73, Z:-0.01 [[ 8.34587729e-01 -5.50873715e-01 -1.21323946e-03 2.03740040e+02] [ 5.50873115e-01 8.34588611e-01 -8.13481522e-04 3.47336310e+01] [ 1.46068142e-03 1.05806978e-05 9.99998933e-01 -8.42847929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.76, Y:34.75, Z:-0.01 [[ 8.34382227e-01 -5.51184931e-01 -1.21308572e-03 2.03759084e+02] [ 5.51184331e-01 8.34383108e-01 -8.13710709e-04 3.47533124e+01] [ 1.46068332e-03 1.03119099e-05 9.99998933e-01 -7.57480065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:34.77, Z:-0.01 [[ 8.34214946e-01 -5.51438077e-01 -1.21302003e-03 2.03780240e+02] [ 5.51437477e-01 8.34215828e-01 -8.13808628e-04 3.47712933e+01] [ 1.46068557e-03 9.98661588e-06 9.99998933e-01 -8.59675555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:34.79, Z:-0.01 [[ 8.34256266e-01 -5.51375563e-01 -1.21286577e-03 2.03799688e+02] [ 5.51374962e-01 8.34257147e-01 -8.14038471e-04 3.47915820e+01] [ 1.46068286e-03 1.03728783e-05 9.99998933e-01 -8.23487350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:34.81, Z:-0.01 [[ 8.34215794e-01 -5.51436794e-01 -1.21276094e-03 2.03821357e+02] [ 5.51436193e-01 8.34216676e-01 -8.14194608e-04 3.48103678e+01] [ 1.46068227e-03 1.04537234e-05 9.99998933e-01 -7.29431890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.84, Y:34.83, Z:-0.01 [[ 8.34336982e-01 -5.51253417e-01 -1.21260744e-03 2.03842101e+02] [ 5.51252816e-01 8.34337863e-01 -8.14423161e-04 3.48284162e+01] [ 1.46067785e-03 1.10500959e-05 9.99998933e-01 -5.77544984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:34.85, Z:-0.01 [[ 8.34517923e-01 -5.50979460e-01 -1.21254073e-03 2.03861751e+02] [ 5.50978858e-01 8.34518804e-01 -8.14522473e-04 3.48493027e+01] [ 1.46067319e-03 1.16492966e-05 9.99998933e-01 -7.69413937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:34.87, Z:-0.01 [[ 8.34390758e-01 -5.51172018e-01 -1.21238912e-03 2.03883128e+02] [ 5.51171416e-01 8.34391639e-01 -8.14748068e-04 3.48673246e+01] [ 1.46067368e-03 1.15840281e-05 9.99998933e-01 -8.46487531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:34.89, Z:-0.01 [[ 8.34277211e-01 -5.51343872e-01 -1.21223738e-03 2.03902820e+02] [ 5.51343270e-01 8.34278092e-01 -8.14973782e-04 3.48890555e+01] [ 1.46067389e-03 1.15551335e-05 9.99998933e-01 -1.03638493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:34.91, Z:-0.01 [[ 8.34099396e-01 -5.51612842e-01 -1.21210525e-03 2.03923756e+02] [ 5.51612240e-01 8.34100277e-01 -8.15170250e-04 3.49078979e+01] [ 1.46067570e-03 1.13209210e-05 9.99998933e-01 -1.14034263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:34.93, Z:-0.01 [[ 8.33376834e-01 -5.52703884e-01 -1.21195497e-03 2.03942571e+02] [ 5.52703283e-01 8.33377715e-01 -8.15393617e-04 3.49306635e+01] [ 1.46068748e-03 9.67866021e-06 9.99998933e-01 -9.74976151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:203.96, Y:34.95, Z:-0.01 [[ 8.32661435e-01 -5.53781063e-01 -1.21188454e-03 2.03963548e+02] [ 5.53780463e-01 8.32662317e-01 -8.15498282e-04 3.49497750e+01] [ 1.46069809e-03 7.91598832e-06 9.99998933e-01 -6.40087743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:34.97, Z:-0.01 [[ 8.31807747e-01 -5.55062523e-01 -1.21172892e-03 2.03984276e+02] [ 5.55061924e-01 8.31808629e-01 -8.15729450e-04 3.49681021e+01] [ 1.46070742e-03 5.94549170e-06 9.99998933e-01 -7.88418157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.00, Y:34.99, Z:-0.01 [[ 8.30543604e-01 -5.56952291e-01 -1.21166296e-03 2.04004661e+02] [ 5.56951693e-01 8.30544487e-01 -8.15827410e-04 3.49860661e+01] [ 1.46071694e-03 2.74249917e-06 9.99998933e-01 -6.72566380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:204.02, Y:35.01, Z:-0.01 [[ 8.27564054e-01 -5.61369993e-01 -1.21155799e-03 2.04024383e+02] [ 5.61369400e-01 8.27564941e-01 -8.15983265e-04 3.50063542e+01] [ 1.46071144e-03 -4.85316317e-06 9.99998933e-01 -5.10697716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:35.02, Z:-0.01 [[ 8.26033139e-01 -5.63620249e-01 -1.21140440e-03 2.04045573e+02] [ 5.63619658e-01 8.26034027e-01 -8.16211219e-04 3.50234533e+01] [ 1.46069443e-03 -8.55382032e-06 9.99998933e-01 -7.03983013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:204.07, Y:35.04, Z:-0.00 [[ 8.23020737e-01 -5.68010035e-01 -1.21133792e-03 2.04065029e+02] [ 5.68009448e-01 8.23021628e-01 -8.16309874e-04 3.50426960e+01] [ 1.46062951e-03 -1.62114297e-05 9.99998933e-01 -4.96166962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:35.06, Z:-0.00 [[ 8.21628290e-01 -5.70022356e-01 -1.21127291e-03 2.04086394e+02] [ 5.70021772e-01 8.21629182e-01 -8.16406324e-04 3.50601924e+01] [ 1.46058703e-03 -1.96694002e-05 9.99998933e-01 -4.30482077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.11, Y:35.08, Z:-0.00 [[ 8.20236641e-01 -5.72023064e-01 -1.21111463e-03 2.04107655e+02] [ 5.72022481e-01 8.20237535e-01 -8.16641067e-04 3.50776162e+01] [ 1.46053920e-03 -2.29458678e-05 9.99998933e-01 -3.68486839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:35.10, Z:-0.00 [[ 8.17935844e-01 -5.75308168e-01 -1.21100684e-03 2.04127713e+02] [ 5.75307589e-01 8.17936740e-01 -8.16800875e-04 3.50956184e+01] [ 1.46043920e-03 -2.86107118e-05 9.99998933e-01 -4.44479655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:35.11, Z:-0.00 [[ 8.16689621e-01 -5.77075902e-01 -1.21093898e-03 2.04148849e+02] [ 5.77075325e-01 8.16690518e-01 -8.16901461e-04 3.51119637e+01] [ 1.46037653e-03 -3.16480639e-05 9.99998933e-01 -4.65824951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93587156000004 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:204.17, Y:35.13, Z:-0.00 [[ 8.13557726e-01 -5.81482897e-01 -1.21087274e-03 2.04171644e+02] [ 5.81482324e-01 8.13558627e-01 -8.16999644e-04 3.51281839e+01] [ 1.46018728e-03 -3.94247216e-05 9.99998933e-01 -2.94374621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:35.14, Z:-0.01 [[ 8.11760777e-01 -5.83988848e-01 -1.21071554e-03 2.04194469e+02] [ 5.83988278e-01 8.11761679e-01 -8.17232529e-04 3.51433317e+01] [ 1.46006716e-03 -4.36463719e-05 9.99998933e-01 -5.61493370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:35.16, Z:-0.01 [[ 8.10070606e-01 -5.86331091e-01 -1.21064755e-03 2.04217173e+02] [ 5.86330523e-01 8.10071509e-01 -8.17333244e-04 3.51584126e+01] [ 1.45993898e-03 -4.77419734e-05 9.99998933e-01 -6.45314527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:35.17, Z:-0.01 [[ 8.08530029e-01 -5.88453674e-01 -1.21058111e-03 2.04240469e+02] [ 5.88453109e-01 8.08530934e-01 -8.17431632e-04 3.51742776e+01] [ 1.45981292e-03 -5.14521972e-05 9.99998933e-01 -6.64225195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:35.19, Z:-0.01 [[ 8.06059651e-01 -5.91833063e-01 -1.21042602e-03 2.04263634e+02] [ 5.91832501e-01 8.06060558e-01 -8.17661220e-04 3.51893082e+01] [ 1.45959562e-03 -5.72857415e-05 9.99998933e-01 -9.86466253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:35.20, Z:-0.01 [[ 8.05248320e-01 -5.92936487e-01 -1.21037797e-03 2.04288006e+02] [ 5.92935926e-01 8.05249228e-01 -8.17732347e-04 3.52038607e+01] [ 1.45951927e-03 -5.91989822e-05 9.99998933e-01 -9.86887703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.31, Y:35.22, Z:-0.01 [[ 8.04787582e-01 -5.93561693e-01 -1.21022588e-03 2.04312625e+02] [ 5.93561132e-01 8.04788490e-01 -8.17957376e-04 3.52164219e+01] [ 1.45948402e-03 -6.00611033e-05 9.99998933e-01 -8.39789927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:204.34, Y:35.23, Z:-0.01 [[ 8.05019766e-01 -5.93246754e-01 -1.21015974e-03 2.04336205e+02] [ 5.93246193e-01 8.05020674e-01 -8.18055209e-04 3.52306233e+01] [ 1.45951221e-03 -5.93720478e-05 9.99998933e-01 -7.75616192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:204.36, Y:35.24, Z:-0.01 [[ 8.05539447e-01 -5.92540914e-01 -1.21009427e-03 2.04360242e+02] [ 5.92540352e-01 8.05540354e-01 -8.18152043e-04 3.52447708e+01] [ 1.45956833e-03 -5.79759420e-05 9.99998933e-01 -7.16841939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.39, Y:35.26, Z:-0.01 [[ 8.07198472e-01 -5.90278885e-01 -1.20994469e-03 2.04385702e+02] [ 5.90278320e-01 8.07199377e-01 -8.18373201e-04 3.52568133e+01] [ 1.45973502e-03 -5.36145206e-05 9.99998933e-01 -6.15034785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:35.27, Z:-0.01 [[ 8.08257040e-01 -5.88828578e-01 -1.20989830e-03 2.04409535e+02] [ 5.88828011e-01 8.08257944e-01 -8.18441775e-04 3.52715083e+01] [ 1.45983182e-03 -5.09106831e-05 9.99998933e-01 -5.31195474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:35.29, Z:-0.01 [[ 8.11285952e-01 -5.84648306e-01 -1.20974234e-03 2.04433291e+02] [ 5.84647734e-01 8.11286852e-01 -8.18672239e-04 3.52853462e+01] [ 1.46008339e-03 -4.30958298e-05 9.99998933e-01 -7.31059900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:35.30, Z:-0.01 [[ 8.12954226e-01 -5.82326337e-01 -1.20967787e-03 2.04456346e+02] [ 5.82325762e-01 8.12955126e-01 -8.18767484e-04 3.52992347e+01] [ 1.46020370e-03 -3.88061017e-05 9.99998933e-01 -8.34560141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:35.31, Z:-0.01 [[ 8.14690202e-01 -5.79895173e-01 -1.20961392e-03 2.04480559e+02] [ 5.79894596e-01 8.14691099e-01 -8.18861954e-04 3.53138028e+01] [ 1.46031579e-03 -3.43297633e-05 9.99998933e-01 -5.68885538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:35.33, Z:-0.01 [[ 8.17821791e-01 -5.75470290e-01 -1.20945380e-03 2.04504263e+02] [ 5.75469708e-01 8.17822685e-01 -8.19098385e-04 3.53276639e+01] [ 1.46048554e-03 -2.61275145e-05 9.99998933e-01 -5.51320100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:35.34, Z:-0.01 [[ 8.19088464e-01 -5.73665953e-01 -1.20938545e-03 2.04527965e+02] [ 5.73665369e-01 8.19089356e-01 -8.19199281e-04 3.53428913e+01] [ 1.46054149e-03 -2.27858719e-05 9.99998933e-01 -6.12404650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:204.55, Y:35.36, Z:-0.01 [[ 8.21507386e-01 -5.70196591e-01 -1.20922696e-03 2.04553025e+02] [ 5.70196003e-01 8.21508276e-01 -8.19433168e-04 3.53557414e+01] [ 1.46062795e-03 -1.63259791e-05 9.99998933e-01 -6.05196014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:35.37, Z:-0.01 [[ 8.22311868e-01 -5.69035790e-01 -1.20917785e-03 2.04575677e+02] [ 5.69035200e-01 8.22312757e-01 -8.19505631e-04 3.53696078e+01] [ 1.46065040e-03 -1.41755531e-05 9.99998933e-01 -8.36436959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:35.38, Z:-0.01 [[ 8.23121377e-01 -5.67864188e-01 -1.20910965e-03 2.04598922e+02] [ 5.67863597e-01 8.23122265e-01 -8.19606247e-04 3.53838586e+01] [ 1.46067011e-03 -1.19739293e-05 9.99998933e-01 -8.62204734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:35.40, Z:-0.01 [[ 8.23729276e-01 -5.66982026e-01 -1.20904227e-03 2.04622506e+02] [ 5.66981433e-01 8.23730164e-01 -8.19705628e-04 3.53982571e+01] [ 1.46068294e-03 -1.02889933e-05 9.99998933e-01 -7.59578534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:35.41, Z:-0.01 [[ 8.25105071e-01 -5.64978018e-01 -1.20888320e-03 2.04646082e+02] [ 5.64977423e-01 8.25105956e-01 -8.19940156e-04 3.54110817e+01] [ 1.46070489e-03 -6.45493236e-06 9.99998933e-01 -8.03003074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:35.43, Z:-0.01 [[ 8.25849686e-01 -5.63889027e-01 -1.20881395e-03 2.04669075e+02] [ 5.63888431e-01 8.25850571e-01 -8.20042231e-04 3.54250204e+01] [ 1.46071251e-03 -4.40458273e-06 9.99998933e-01 -8.82291264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:35.44, Z:-0.01 [[ 8.26343126e-01 -5.63165675e-01 -1.20874674e-03 2.04693090e+02] [ 5.63165078e-01 8.26344010e-01 -8.20141287e-04 3.54402789e+01] [ 1.46071605e-03 -3.00583616e-06 9.99998933e-01 -8.79582297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.72, Y:35.45, Z:-0.01 [[ 8.27517686e-01 -5.61438347e-01 -1.20859300e-03 2.04716831e+02] [ 5.61437748e-01 8.27518569e-01 -8.20367785e-04 3.54547583e+01] [ 1.46071908e-03 3.19121395e-07 9.99998933e-01 -6.06037136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:35.47, Z:-0.01 [[ 8.27643553e-01 -5.61252785e-01 -1.20843676e-03 2.04740691e+02] [ 5.61252185e-01 8.27644435e-01 -8.20597868e-04 3.54701665e+01] [ 1.46071880e-03 9.24764945e-07 9.99998933e-01 -6.84629734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.76, Y:35.48, Z:-0.01 [[ 8.27771068e-01 -5.61064702e-01 -1.20827674e-03 2.04764207e+02] [ 5.61064101e-01 8.27771950e-01 -8.20833409e-04 3.54840442e+01] [ 1.46071825e-03 1.54144218e-06 9.99998933e-01 -7.16497165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.79, Y:35.50, Z:-0.01 [[ 8.27666119e-01 -5.61219508e-01 -1.20820717e-03 2.04787648e+02] [ 5.61218907e-01 8.27667001e-01 -8.20935810e-04 3.55002084e+01] [ 1.46071839e-03 1.39205029e-06 9.99998933e-01 -7.12337426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:35.52, Z:-0.01 [[ 8.27634569e-01 -5.61266034e-01 -1.20805359e-03 2.04811132e+02] [ 5.61265434e-01 8.27635450e-01 -8.21161750e-04 3.55153506e+01] [ 1.46071817e-03 1.58313006e-06 9.99998933e-01 -7.23277528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:35.53, Z:-0.01 [[ 8.27749958e-01 -5.61095846e-01 -1.20789506e-03 2.04834205e+02] [ 5.61095245e-01 8.27750839e-01 -8.21394869e-04 3.55302978e+01] [ 1.46071740e-03 2.16539438e-06 9.99998933e-01 -8.32774439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:204.86, Y:35.55, Z:-0.01 [[ 8.28324385e-01 -5.60247494e-01 -1.20773716e-03 2.04858294e+02] [ 5.60246892e-01 8.28325265e-01 -8.21626967e-04 3.55452793e+01] [ 1.46071366e-03 3.94266092e-06 9.99998933e-01 -6.26896523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.88, Y:35.56, Z:-0.01 [[ 8.28736567e-01 -5.59637601e-01 -1.20758083e-03 2.04881754e+02] [ 5.59636997e-01 8.28737447e-01 -8.21856678e-04 3.55608859e+01] [ 1.46070935e-03 5.29577452e-06 9.99998933e-01 -6.61441644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:35.58, Z:-0.01 [[ 8.29202356e-01 -5.58947220e-01 -1.20742324e-03 2.04904269e+02] [ 5.58946616e-01 8.29203235e-01 -8.22088136e-04 3.55759657e+01] [ 1.46070313e-03 6.79228750e-06 9.99998933e-01 -8.28415437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:35.59, Z:-0.01 [[ 8.29825126e-01 -5.58022224e-01 -1.20735484e-03 2.04927601e+02] [ 5.58021618e-01 8.29826004e-01 -8.22188577e-04 3.55921970e+01] [ 1.46069394e-03 8.54264016e-06 9.99998933e-01 -7.79546170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:35.61, Z:-0.01 [[ 8.31235944e-01 -5.55918472e-01 -1.20719761e-03 2.04949320e+02] [ 5.55917864e-01 8.31236821e-01 -8.22419358e-04 3.56089617e+01] [ 1.46066522e-03 1.25218119e-05 9.99998933e-01 -8.51736406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:35.63, Z:-0.01 [[ 8.31886947e-01 -5.54943827e-01 -1.20712900e-03 2.04971841e+02] [ 5.54943218e-01 8.31887822e-01 -8.22520055e-04 3.56260267e+01] [ 1.46064834e-03 1.43556453e-05 9.99998933e-01 -7.72735449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:35.64, Z:-0.01 [[ 8.33472734e-01 -5.52559268e-01 -1.20697474e-03 2.04993883e+02] [ 5.52558655e-01 8.33473608e-01 -8.22746362e-04 3.56435992e+01] [ 1.46059772e-03 1.88123220e-05 9.99998933e-01 -7.35927955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:35.66, Z:-0.01 [[ 8.33968610e-01 -5.51810567e-01 -1.20682109e-03 2.05016733e+02] [ 5.51809954e-01 8.33969483e-01 -8.22971668e-04 3.56604369e+01] [ 1.46057642e-03 2.03966462e-05 9.99998933e-01 -7.40275299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:35.68, Z:-0.01 [[ 8.34319011e-01 -5.51280629e-01 -1.20666661e-03 2.05038752e+02] [ 5.51280015e-01 8.34319883e-01 -8.23198119e-04 3.56770611e+01] [ 1.46055912e-03 2.15986569e-05 9.99998933e-01 -7.09958379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:35.70, Z:-0.01 [[ 8.34801393e-01 -5.50549887e-01 -1.20651238e-03 2.05060563e+02] [ 5.50549271e-01 8.34802265e-01 -8.23424100e-04 3.56951267e+01] [ 1.46053531e-03 2.31510755e-05 9.99998933e-01 -6.07205104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:35.71, Z:-0.01 [[ 8.34798679e-01 -5.50554003e-01 -1.20635420e-03 2.05081613e+02] [ 5.50553388e-01 8.34799550e-01 -8.23655776e-04 3.57118317e+01] [ 1.46053093e-03 2.34243636e-05 9.99998933e-01 -7.55259485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:35.73, Z:-0.01 [[ 8.34670007e-01 -5.50749058e-01 -1.20628546e-03 2.05101242e+02] [ 5.50748443e-01 8.34670878e-01 -8.23756432e-04 3.57304405e+01] [ 1.46053442e-03 2.32049471e-05 9.99998933e-01 -8.48329163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:35.75, Z:-0.01 [[ 8.34418516e-01 -5.51130007e-01 -1.20622266e-03 2.05123511e+02] [ 5.51129392e-01 8.34419388e-01 -8.23848385e-04 3.57474990e+01] [ 1.46054314e-03 2.26495878e-05 9.99998933e-01 -9.16893108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.15, Y:35.76, Z:-0.01 [[ 8.33926378e-01 -5.51874389e-01 -1.20607210e-03 2.05145338e+02] [ 5.51873774e-01 8.33927250e-01 -8.24068729e-04 3.57640833e+01] [ 1.46055882e-03 2.16130875e-05 9.99998933e-01 -9.23997441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:35.78, Z:-0.01 [[ 8.32815404e-01 -5.53549499e-01 -1.20600759e-03 2.05167554e+02] [ 5.53548886e-01 8.32816277e-01 -8.24163135e-04 3.57820649e+01] [ 1.46059784e-03 1.87915977e-05 9.99998933e-01 -1.13371201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:35.80, Z:-0.01 [[ 8.31943171e-01 -5.54859538e-01 -1.20587759e-03 2.05189549e+02] [ 5.54858926e-01 8.31944044e-01 -8.24353295e-04 3.57986363e+01] [ 1.46062297e-03 1.67231488e-05 9.99998933e-01 -8.96697128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.21, Y:35.82, Z:-0.01 [[ 8.31022102e-01 -5.56238090e-01 -1.20571756e-03 2.05212131e+02] [ 5.56237479e-01 8.31022977e-01 -8.24587289e-04 3.58155909e+01] [ 1.46064586e-03 1.45849638e-05 9.99998933e-01 -7.43456025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:35.83, Z:-0.01 [[ 8.29082238e-01 -5.59125379e-01 -1.20555794e-03 2.05233474e+02] [ 5.59124771e-01 8.29083114e-01 -8.24820602e-04 3.58320367e+01] [ 1.46068586e-03 9.78680600e-06 9.99998933e-01 -1.03984077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.26, Y:35.85, Z:-0.01 [[ 8.28061426e-01 -5.60636086e-01 -1.20544925e-03 2.05256703e+02] [ 5.60635479e-01 8.28062304e-01 -8.24979412e-04 3.58482263e+01] [ 1.46070031e-03 7.31601115e-06 9.99998933e-01 -7.72514547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:35.86, Z:-0.01 [[ 8.25530352e-01 -5.64356435e-01 -1.20537335e-03 2.05281640e+02] [ 5.64355832e-01 8.25531232e-01 -8.25090297e-04 3.58629094e+01] [ 1.46071836e-03 8.77604107e-07 9.99998933e-01 -6.94564485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:35.88, Z:-0.01 [[ 8.24314805e-01 -5.66130417e-01 -1.20523748e-03 2.05305168e+02] [ 5.66129816e-01 8.24315686e-01 -8.25288724e-04 3.58779275e+01] [ 1.46071721e-03 -2.02315614e-06 9.99998933e-01 -6.04739566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:35.89, Z:-0.01 [[ 8.23312348e-01 -5.67587285e-01 -1.20508207e-03 2.05327948e+02] [ 5.67586684e-01 8.23313230e-01 -8.25515579e-04 3.58932411e+01] [ 1.46071216e-03 -4.33136839e-06 9.99998933e-01 -6.59890018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:35.91, Z:-0.01 [[ 8.21630737e-01 -5.70018842e-01 -1.20501477e-03 2.05351786e+02] [ 5.70018244e-01 8.21631621e-01 -8.25613809e-04 3.59085619e+01] [ 1.46069367e-03 -8.53072122e-06 9.99998933e-01 -7.25880714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:35.92, Z:-0.01 [[ 8.20859953e-01 -5.71128257e-01 -1.20486124e-03 2.05375503e+02] [ 5.71127660e-01 8.20860837e-01 -8.25837804e-04 3.59233354e+01] [ 1.46068271e-03 -1.02323995e-05 9.99998933e-01 -7.63550103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:35.94, Z:-0.01 [[ 8.19888004e-01 -5.72522672e-01 -1.20470865e-03 2.05399833e+02] [ 5.72522076e-01 8.19888889e-01 -8.26060335e-04 3.59375489e+01] [ 1.46066551e-03 -1.24453398e-05 9.99998933e-01 -6.45963846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:35.95, Z:-0.01 [[ 8.19399546e-01 -5.73221538e-01 -1.20461075e-03 2.05422824e+02] [ 5.73220943e-01 8.19400432e-01 -8.26203070e-04 3.59524901e+01] [ 1.46065597e-03 -1.35176922e-05 9.99998933e-01 -6.35624364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.45, Y:35.97, Z:-0.00 [[ 8.19177254e-01 -5.73539166e-01 -1.20450323e-03 2.05446902e+02] [ 5.73538571e-01 8.19178140e-01 -8.26359800e-04 3.59671973e+01] [ 1.46065242e-03 -1.38939083e-05 9.99998933e-01 -3.67220450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:35.98, Z:-0.01 [[ 8.19419036e-01 -5.73193679e-01 -1.20434397e-03 2.05471407e+02] [ 5.73193083e-01 8.19419920e-01 -8.26591846e-04 3.59788320e+01] [ 1.46066066e-03 -1.29965379e-05 9.99998933e-01 -5.86402236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.49, Y:35.99, Z:-0.01 [[ 8.19840460e-01 -5.72590752e-01 -1.20427452e-03 2.05494847e+02] [ 5.72590156e-01 8.19841345e-01 -8.26693014e-04 3.59934998e+01] [ 1.46067081e-03 -1.17993529e-05 9.99998933e-01 -5.76486840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:205.52, Y:36.01, Z:-0.00 [[ 8.20618852e-01 -5.71474627e-01 -1.20417601e-03 2.05517825e+02] [ 5.71474029e-01 8.20619736e-01 -8.26836476e-04 3.60081828e+01] [ 1.46068667e-03 -9.63771617e-06 9.99998933e-01 -3.95230486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:36.02, Z:-0.01 [[ 8.22474170e-01 -5.68801187e-01 -1.20406787e-03 2.05540503e+02] [ 5.68800586e-01 8.22475051e-01 -8.26993925e-04 3.60230817e+01] [ 1.46071091e-03 -4.69336767e-06 9.99998933e-01 -5.42338845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:205.56, Y:36.04, Z:-0.00 [[ 8.23454353e-01 -5.67381247e-01 -1.20400081e-03 2.05563852e+02] [ 5.67380644e-01 8.23455233e-01 -8.27091545e-04 3.60389312e+01] [ 1.46071700e-03 -2.05462206e-06 9.99998933e-01 -2.34013572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:36.05, Z:-0.01 [[ 8.25105952e-01 -5.64976742e-01 -1.20383941e-03 2.05587015e+02] [ 5.64976136e-01 8.25106830e-01 -8.27326400e-04 3.60527879e+01] [ 1.46071629e-03 2.49139927e-06 9.99998933e-01 -6.03235643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:36.07, Z:-0.01 [[ 8.25622623e-01 -5.64221441e-01 -1.20376949e-03 2.05610862e+02] [ 5.64220835e-01 8.25623501e-01 -8.27428121e-04 3.60672803e+01] [ 1.46071307e-03 3.95155084e-06 9.99998933e-01 -5.51372114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:36.08, Z:-0.00 [[ 8.25789865e-01 -5.63976639e-01 -1.20361213e-03 2.05634507e+02] [ 5.63976032e-01 8.25790743e-01 -8.27656963e-04 3.60824099e+01] [ 1.46071094e-03 4.66234104e-06 9.99998933e-01 -3.91384142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:36.10, Z:-0.00 [[ 8.25884087e-01 -5.63838652e-01 -1.20344919e-03 2.05657182e+02] [ 5.63838045e-01 8.25884964e-01 -8.27893808e-04 3.60978951e+01] [ 1.46070912e-03 5.19388280e-06 9.99998933e-01 -4.01750066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:36.11, Z:-0.00 [[ 8.25598068e-01 -5.64257373e-01 -1.20339860e-03 2.05680137e+02] [ 5.64256765e-01 8.25598945e-01 -8.27967339e-04 3.61138037e+01] [ 1.46071129e-03 4.54243255e-06 9.99998933e-01 -3.99312224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:36.13, Z:-0.00 [[ 8.25255648e-01 -5.64758062e-01 -1.20324351e-03 2.05703625e+02] [ 5.64757455e-01 8.25256525e-01 -8.28192670e-04 3.61294549e+01] [ 1.46071304e-03 3.92993843e-06 9.99998933e-01 -4.64754582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:36.14, Z:-0.01 [[ 8.24490483e-01 -5.65874541e-01 -1.20308731e-03 2.05728433e+02] [ 5.65873935e-01 8.24491361e-01 -8.28419503e-04 3.61446163e+01] [ 1.46071660e-03 2.22824447e-06 9.99998933e-01 -6.16640441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:36.16, Z:-0.01 [[ 8.24052591e-01 -5.66512030e-01 -1.20295087e-03 2.05751575e+02] [ 5.66511424e-01 8.24053469e-01 -8.28617583e-04 3.61596400e+01] [ 1.46071767e-03 1.33905474e-06 9.99998933e-01 -6.52059472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:36.17, Z:-0.01 [[ 8.23583579e-01 -5.67193655e-01 -1.20279593e-03 2.05774962e+02] [ 5.67193050e-01 8.23584457e-01 -8.28842428e-04 3.61747580e+01] [ 1.46071820e-03 4.03520761e-07 9.99998933e-01 -5.85755823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:36.19, Z:-0.01 [[ 8.23197189e-01 -5.67754297e-01 -1.20263813e-03 2.05798061e+02] [ 5.67753692e-01 8.23198067e-01 -8.29071331e-04 3.61885542e+01] [ 1.46071820e-03 -3.13050464e-07 9.99998933e-01 -5.96127897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:205.82, Y:36.20, Z:-0.00 [[ 8.23148306e-01 -5.67825166e-01 -1.20253102e-03 2.05821774e+02] [ 5.67824561e-01 8.23149185e-01 -8.29226656e-04 3.62041840e+01] [ 1.46071820e-03 -2.50133848e-07 9.99998933e-01 -3.68414521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:36.22, Z:-0.01 [[ 8.22966742e-01 -5.68088282e-01 -1.20237497e-03 2.05845588e+02] [ 5.68087676e-01 8.22967620e-01 -8.29452873e-04 3.62196744e+01] [ 1.46071812e-03 -4.42274245e-07 9.99998933e-01 -5.42185129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:36.23, Z:-0.00 [[ 8.23284850e-01 -5.67627176e-01 -1.20221697e-03 2.05868504e+02] [ 5.67626569e-01 8.23285728e-01 -8.29681809e-04 3.62348771e+01] [ 1.46071802e-03 6.54166828e-07 9.99998933e-01 -4.32188797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:36.25, Z:-0.00 [[ 8.23552103e-01 -5.67239357e-01 -1.20215130e-03 2.05891355e+02] [ 5.67238750e-01 8.23552981e-01 -8.29776960e-04 3.62507364e+01] [ 1.46071743e-03 1.45776163e-06 9.99998933e-01 -3.19504378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:36.27, Z:-0.00 [[ 8.23863887e-01 -5.66786425e-01 -1.20199306e-03 2.05914072e+02] [ 5.66785817e-01 8.23864763e-01 -8.30006118e-04 3.62660035e+01] [ 1.46071593e-03 2.53944820e-06 9.99998933e-01 -3.59267659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:36.28, Z:-0.00 [[ 8.24796922e-01 -5.65427796e-01 -1.20188513e-03 2.05938680e+02] [ 5.65427187e-01 8.24797798e-01 -8.30162379e-04 3.62806997e+01] [ 1.46070909e-03 5.13684990e-06 9.99998933e-01 -9.80828230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:36.30, Z:-0.00 [[ 8.25502264e-01 -5.64397526e-01 -1.20174864e-03 2.05961422e+02] [ 5.64396915e-01 8.25503139e-01 -8.30359906e-04 3.62959144e+01] [ 1.46070035e-03 7.20075533e-06 9.99998933e-01 -1.50913260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:36.31, Z:0.00 [[ 8.26912308e-01 -5.62329610e-01 -1.20168321e-03 2.05983751e+02] [ 5.62328997e-01 8.26913181e-01 -8.30454593e-04 3.63125679e+01] [ 1.46067689e-03 1.09718124e-05 9.99998933e-01 8.91653144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:36.33, Z:-0.00 [[ 8.27494009e-01 -5.61473260e-01 -1.20152409e-03 2.06005766e+02] [ 5.61472646e-01 8.27494881e-01 -8.30684748e-04 3.63282933e+01] [ 1.46066231e-03 1.27637433e-05 9.99998933e-01 -8.37736218e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:36.34, Z:-0.00 [[ 8.28278074e-01 -5.60315972e-01 -1.20145487e-03 2.06028596e+02] [ 5.60315356e-01 8.28278946e-01 -8.30784852e-04 3.63449796e+01] [ 1.46064179e-03 1.49272661e-05 9.99998933e-01 -1.05063512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:36.36, Z:-0.00 [[ 8.28494378e-01 -5.59996091e-01 -1.20129933e-03 2.06051147e+02] [ 5.59995475e-01 8.28495249e-01 -8.31009692e-04 3.63614987e+01] [ 1.46063297e-03 1.57646685e-05 9.99998933e-01 -7.56668198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:36.38, Z:-0.00 [[ 8.28774442e-01 -5.59581524e-01 -1.20114428e-03 2.06072820e+02] [ 5.59580907e-01 8.28775312e-01 -8.31233739e-04 3.63770709e+01] [ 1.46062177e-03 1.67678704e-05 9.99998933e-01 -8.83403548e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:36.39, Z:-0.00 [[ 8.29070996e-01 -5.59142059e-01 -1.20107696e-03 2.06095893e+02] [ 5.59141441e-01 8.29071865e-01 -8.31331009e-04 3.63925537e+01] [ 1.46061125e-03 1.76605266e-05 9.99998933e-01 -1.15454840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:36.41, Z:-0.00 [[ 8.29319661e-01 -5.58773172e-01 -1.20091849e-03 2.06118087e+02] [ 5.58772553e-01 8.29320530e-01 -8.31559868e-04 3.64076609e+01] [ 1.46059970e-03 1.85886584e-05 9.99998933e-01 -1.96230965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:36.42, Z:-0.00 [[ 8.29908787e-01 -5.57897807e-01 -1.20084951e-03 2.06139836e+02] [ 5.57897187e-01 8.29909656e-01 -8.31659469e-04 3.64249748e+01] [ 1.46057760e-03 2.02509395e-05 9.99998933e-01 -2.78096299e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:36.44, Z:-0.00 [[ 8.30129451e-01 -5.57569416e-01 -1.20068893e-03 2.06161412e+02] [ 5.57568795e-01 8.30130319e-01 -8.31891238e-04 3.64417560e+01] [ 1.46056539e-03 2.11107368e-05 9.99998933e-01 -1.17571904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:36.46, Z:0.00 [[ 8.30377718e-01 -5.57199609e-01 -1.20057940e-03 2.06183668e+02] [ 5.57198988e-01 8.30378586e-01 -8.32049275e-04 3.64587670e+01] [ 1.46055296e-03 2.19535506e-05 9.99998933e-01 9.88374734e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:36.48, Z:0.00 [[ 8.30670971e-01 -5.56762334e-01 -1.20041851e-03 2.06204728e+02] [ 5.56761713e-01 8.30671838e-01 -8.32281340e-04 3.64763656e+01] [ 1.46053675e-03 2.30048858e-05 9.99998933e-01 5.69643574e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:36.49, Z:0.00 [[ 8.30650238e-01 -5.56793267e-01 -1.20035065e-03 2.06227161e+02] [ 5.56792645e-01 8.30651105e-01 -8.32379191e-04 3.64939602e+01] [ 1.46053572e-03 2.30695590e-05 9.99998933e-01 1.52030689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:36.51, Z:0.00 [[ 8.30543336e-01 -5.56952715e-01 -1.20019001e-03 2.06250447e+02] [ 5.56952093e-01 8.30544203e-01 -8.32610745e-04 3.65103475e+01] [ 1.46053567e-03 2.30709661e-05 9.99998933e-01 1.56191123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:36.53, Z:0.00 [[ 8.30528731e-01 -5.56974494e-01 -1.20003014e-03 2.06270258e+02] [ 5.56973872e-01 8.30529598e-01 -8.32841112e-04 3.65290073e+01] [ 1.46053180e-03 2.33130414e-05 9.99998933e-01 1.79708699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:36.55, Z:0.00 [[ 8.30271048e-01 -5.57358545e-01 -1.19996065e-03 2.06290842e+02] [ 5.57357923e-01 8.30271915e-01 -8.32941211e-04 3.65460115e+01] [ 1.46054053e-03 2.27593959e-05 9.99998933e-01 1.48386820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:36.56, Z:0.00 [[ 8.29849754e-01 -5.57985615e-01 -1.19989226e-03 2.06312684e+02] [ 5.57984993e-01 8.29850621e-01 -8.33039725e-04 3.65636783e+01] [ 1.46055552e-03 2.17759368e-05 9.99998933e-01 1.70268591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:36.58, Z:0.00 [[ 8.29153905e-01 -5.59019107e-01 -1.19973697e-03 2.06334637e+02] [ 5.59018486e-01 8.29154773e-01 -8.33263310e-04 3.65811726e+01] [ 1.46057775e-03 2.02283830e-05 9.99998933e-01 1.65854353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:36.60, Z:0.00 [[ 8.27497587e-01 -5.61467991e-01 -1.19958024e-03 2.06356365e+02] [ 5.61467373e-01 8.27498456e-01 -8.33488873e-04 3.65997064e+01] [ 1.46062812e-03 1.61848622e-05 9.99998933e-01 8.69318251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:36.62, Z:0.00 [[ 8.26595941e-01 -5.62794556e-01 -1.19942348e-03 2.06377810e+02] [ 5.62793939e-01 8.26596811e-01 -8.33714407e-04 3.66161048e+01] [ 1.46064955e-03 1.41166807e-05 9.99998933e-01 3.08099942e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:36.64, Z:0.00 [[ 8.24395485e-01 -5.66012938e-01 -1.19935547e-03 2.06398789e+02] [ 5.66012324e-01 8.24396357e-01 -8.33812229e-04 3.66352224e+01] [ 1.46069279e-03 8.54106054e-06 9.99998933e-01 1.61467827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:36.65, Z:0.00 [[ 8.23234142e-01 -5.67700721e-01 -1.19919445e-03 2.06419629e+02] [ 5.67700109e-01 8.23235016e-01 -8.34043748e-04 3.66516546e+01] [ 1.46070610e-03 5.83047087e-06 9.99998933e-01 6.49090379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:206.44, Y:36.67, Z:0.00 [[ 8.22095227e-01 -5.69348751e-01 -1.19911443e-03 2.06441870e+02] [ 5.69348140e-01 8.22096101e-01 -8.34158771e-04 3.66688225e+01] [ 1.46071455e-03 3.04437284e-06 9.99998933e-01 3.16471739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:36.69, Z:0.00 [[ 8.19230802e-01 -5.73462688e-01 -1.19896025e-03 2.06464423e+02] [ 5.73462081e-01 8.19231680e-01 -8.34380328e-04 3.66875595e+01] [ 1.46071220e-03 -4.00817202e-06 9.99998933e-01 3.45442377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:206.49, Y:36.70, Z:0.01 [[ 8.17948814e-01 -5.75289754e-01 -1.19882251e-03 2.06487503e+02] [ 5.75289149e-01 8.17949692e-01 -8.34578172e-04 3.67040140e+01] [ 1.46070078e-03 -7.02735765e-06 9.99998933e-01 5.39097094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:206.51, Y:36.72, Z:0.00 [[ 8.15565248e-01 -5.78663883e-01 -1.19866498e-03 2.06510255e+02] [ 5.78663281e-01 8.15566129e-01 -8.34804376e-04 3.67205482e+01] [ 1.46066170e-03 -1.27859708e-05 9.99998933e-01 3.78450763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:206.53, Y:36.74, Z:0.00 [[ 8.14681041e-01 -5.79908066e-01 -1.19861622e-03 2.06532663e+02] [ 5.79907466e-01 8.14681922e-01 -8.34874371e-04 3.67367631e+01] [ 1.46064135e-03 -1.49301736e-05 9.99998933e-01 3.54717088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:36.75, Z:0.00 [[ 8.13891793e-01 -5.81015243e-01 -1.19846045e-03 2.06554725e+02] [ 5.81014643e-01 8.13892675e-01 -8.35097918e-04 3.67538062e+01] [ 1.46062280e-03 -1.66437310e-05 9.99998933e-01 2.23875468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:36.77, Z:0.00 [[ 8.13569348e-01 -5.81466664e-01 -1.19830547e-03 2.06576859e+02] [ 5.81466064e-01 8.13570230e-01 -8.35320247e-04 3.67704001e+01] [ 1.46061653e-03 -1.71830172e-05 9.99998933e-01 2.62504498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:36.79, Z:0.00 [[ 8.13541533e-01 -5.81505579e-01 -1.19825743e-03 2.06600036e+02] [ 5.81504980e-01 8.13542415e-01 -8.35389153e-04 3.67864595e+01] [ 1.46061670e-03 -1.71688913e-05 9.99998933e-01 3.58007113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:36.80, Z:0.01 [[ 8.13570033e-01 -5.81465704e-01 -1.19811125e-03 2.06623290e+02] [ 5.81465104e-01 8.13570915e-01 -8.35598751e-04 3.68028340e+01] [ 1.46062048e-03 -1.68417802e-05 9.99998933e-01 5.26458394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:36.82, Z:0.01 [[ 8.14808385e-01 -5.79729127e-01 -1.19795893e-03 2.06646585e+02] [ 5.79728525e-01 8.14809265e-01 -8.35817076e-04 3.68194240e+01] [ 1.46065554e-03 -1.34601992e-05 9.99998933e-01 7.58441600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:36.84, Z:0.01 [[ 8.15457174e-01 -5.78816173e-01 -1.19782995e-03 2.06669356e+02] [ 5.78815569e-01 8.15458054e-01 -8.36001871e-04 3.68352613e+01] [ 1.46067148e-03 -1.15989010e-05 9.99998933e-01 8.52019452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:36.85, Z:0.01 [[ 8.17148013e-01 -5.76426657e-01 -1.19766691e-03 2.06691749e+02] [ 5.76426050e-01 8.17148891e-01 -8.36235384e-04 3.68508508e+01] [ 1.46070055e-03 -7.03832219e-06 9.99998933e-01 6.40634159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:36.87, Z:0.01 [[ 8.17867599e-01 -5.75405210e-01 -1.19759609e-03 2.06713788e+02] [ 5.75404603e-01 8.17868476e-01 -8.36336799e-04 3.68667199e+01] [ 1.46070864e-03 -5.08952980e-06 9.99998933e-01 5.43929759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:36.88, Z:0.00 [[ 8.18577440e-01 -5.74394934e-01 -1.19751713e-03 2.06735698e+02] [ 5.74394325e-01 8.18578316e-01 -8.36449839e-04 3.68827003e+01] [ 1.46071410e-03 -3.14807419e-06 9.99998933e-01 3.75881117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:36.90, Z:0.00 [[ 8.19932708e-01 -5.72458663e-01 -1.19743701e-03 2.06757433e+02] [ 5.72458052e-01 8.19933582e-01 -8.36564519e-04 3.68985354e+01] [ 1.46071742e-03 4.44153528e-07 9.99998933e-01 2.62512872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.78, Y:36.91, Z:0.01 [[ 8.20593061e-01 -5.71511675e-01 -1.19736637e-03 2.06779999e+02] [ 5.71511062e-01 8.20593935e-01 -8.36665614e-04 3.69147404e+01] [ 1.46071575e-03 2.25387211e-06 9.99998933e-01 5.75347947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.80, Y:36.93, Z:0.01 [[ 8.21357599e-01 -5.70412360e-01 -1.19721183e-03 2.06802431e+02] [ 5.70411746e-01 8.21358472e-01 -8.36886689e-04 3.69309315e+01] [ 1.46071059e-03 4.47955145e-06 9.99998933e-01 6.75410766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:206.82, Y:36.95, Z:0.00 [[ 8.22963624e-01 -5.68092810e-01 -1.19705419e-03 2.06824136e+02] [ 5.68092194e-01 8.22964494e-01 -8.37112108e-04 3.69466901e+01] [ 1.46069047e-03 8.87567122e-06 9.99998933e-01 4.30345227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:206.85, Y:36.96, Z:0.00 [[ 8.23740562e-01 -5.66965655e-01 -1.19694684e-03 2.06846746e+02] [ 5.66965037e-01 8.23741432e-01 -8.37265585e-04 3.69622800e+01] [ 1.46067553e-03 1.10626170e-05 9.99998933e-01 2.05207850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:36.98, Z:0.00 [[ 8.25017082e-01 -5.65106523e-01 -1.19687090e-03 2.06868354e+02] [ 5.65105903e-01 8.25017950e-01 -8.37374123e-04 3.69797967e+01] [ 1.46064555e-03 1.44891453e-05 9.99998933e-01 4.79954030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:37.00, Z:0.00 [[ 8.25608080e-01 -5.64242737e-01 -1.19671174e-03 2.06890526e+02] [ 5.64242116e-01 8.25608947e-01 -8.37601522e-04 3.69976745e+01] [ 1.46062649e-03 1.62954212e-05 9.99998933e-01 4.83153815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:37.01, Z:0.00 [[ 8.26219622e-01 -5.63346877e-01 -1.19655291e-03 2.06911377e+02] [ 5.63346255e-01 8.26220488e-01 -8.37828348e-04 3.70144655e+01] [ 1.46060452e-03 1.81566189e-05 9.99998933e-01 3.41052075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:37.03, Z:0.00 [[ 8.26536106e-01 -5.62882433e-01 -1.19648383e-03 2.06932980e+02] [ 5.62881810e-01 8.26536972e-01 -8.37926990e-04 3.70312981e+01] [ 1.46059251e-03 1.90979268e-05 9.99998933e-01 2.00612086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:37.05, Z:0.01 [[ 8.26324378e-01 -5.63193209e-01 -1.19639874e-03 2.06955580e+02] [ 5.63192586e-01 8.26325244e-01 -8.38048463e-04 3.70473230e+01] [ 1.46059769e-03 1.86969739e-05 9.99998933e-01 5.57498353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:37.06, Z:0.01 [[ 8.25956912e-01 -5.63731983e-01 -1.19624091e-03 2.06978464e+02] [ 5.63731360e-01 8.25957778e-01 -8.38273692e-04 3.70638774e+01] [ 1.46060618e-03 1.80194330e-05 9.99998933e-01 5.62198009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:37.08, Z:0.01 [[ 8.24751138e-01 -5.65494589e-01 -1.19608292e-03 2.07000527e+02] [ 5.65493967e-01 8.24752005e-01 -8.38499056e-04 3.70818078e+01] [ 1.46063847e-03 1.51753721e-05 9.99998933e-01 7.02273731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:37.10, Z:0.01 [[ 8.24293085e-01 -5.66162062e-01 -1.19592241e-03 2.07022128e+02] [ 5.66161441e-01 8.24293952e-01 -8.38727928e-04 3.70981878e+01] [ 1.46064754e-03 1.42724752e-05 9.99998933e-01 7.25640016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:37.12, Z:0.01 [[ 8.23438936e-01 -5.67403639e-01 -1.19585593e-03 2.07043343e+02] [ 5.67403019e-01 8.23439804e-01 -8.38822708e-04 3.71158963e+01] [ 1.46066643e-03 1.21870146e-05 9.99998933e-01 7.57770825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:37.13, Z:0.01 [[ 8.22808186e-01 -5.68317920e-01 -1.19569812e-03 2.07064436e+02] [ 5.68317301e-01 8.22809055e-01 -8.39047595e-04 3.71323868e+01] [ 1.46067702e-03 1.08393013e-05 9.99998933e-01 6.94227811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:37.15, Z:0.01 [[ 8.21924214e-01 -5.69595609e-01 -1.19559016e-03 2.07086647e+02] [ 5.69594991e-01 8.21925083e-01 -8.39201397e-04 3.71489895e+01] [ 1.46069098e-03 8.75777912e-06 9.99998933e-01 7.24454503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:37.16, Z:0.01 [[ 8.20890065e-01 -5.71084996e-01 -1.19542720e-03 2.07108934e+02] [ 5.71084379e-01 8.20890935e-01 -8.39433472e-04 3.71649364e+01] [ 1.46070321e-03 6.39279674e-06 9.99998933e-01 6.10845067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.13, Y:37.18, Z:0.01 [[ 8.18894771e-01 -5.73942441e-01 -1.19535624e-03 2.07131142e+02] [ 5.73941827e-01 8.18895643e-01 -8.39534503e-04 3.71810620e+01] [ 1.46071650e-03 1.42546779e-06 9.99998933e-01 7.56814981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:37.20, Z:0.01 [[ 8.16721507e-01 -5.77030806e-01 -1.19528660e-03 2.07153712e+02] [ 5.77030195e-01 8.16722382e-01 -8.39633643e-04 3.71969270e+01] [ 1.46071180e-03 -3.96960603e-06 9.99998933e-01 6.08004355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:37.21, Z:0.01 [[ 8.15454039e-01 -5.78820595e-01 -1.19523773e-03 2.07176529e+02] [ 5.78819986e-01 8.15454915e-01 -8.39703213e-04 3.72130543e+01] [ 1.46069999e-03 -7.08810751e-06 9.99998933e-01 7.17384516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:37.23, Z:0.01 [[ 8.14505717e-01 -5.80154297e-01 -1.19507601e-03 2.07198313e+02] [ 5.80153689e-01 8.14506594e-01 -8.39933300e-04 3.72282066e+01] [ 1.46068821e-03 -9.19728323e-06 9.99998933e-01 6.94514231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.22, Y:37.24, Z:0.01 [[ 8.12979803e-01 -5.82290659e-01 -1.19500590e-03 2.07222082e+02] [ 5.82290053e-01 8.12980681e-01 -8.40033049e-04 3.72422350e+01] [ 1.46066010e-03 -1.29101444e-05 9.99998933e-01 7.84394729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:37.26, Z:0.00 [[ 8.12408550e-01 -5.83087404e-01 -1.19484504e-03 2.07244870e+02] [ 5.83086798e-01 8.12409429e-01 -8.40261791e-04 3.72566035e+01] [ 1.46064944e-03 -1.40625025e-05 9.99998933e-01 4.64820236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:37.27, Z:0.01 [[ 8.12044553e-01 -5.83594222e-01 -1.19477514e-03 2.07268488e+02] [ 5.83593617e-01 8.12045432e-01 -8.40361159e-04 3.72719302e+01] [ 1.46064161e-03 -1.48524460e-05 9.99998933e-01 5.27244654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:37.29, Z:0.00 [[ 8.12433649e-01 -5.83052433e-01 -1.19461442e-03 2.07291601e+02] [ 5.83051827e-01 8.12434527e-01 -8.40589572e-04 3.72873241e+01] [ 1.46065380e-03 -1.35988683e-05 9.99998933e-01 4.67638246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:37.30, Z:0.01 [[ 8.12731441e-01 -5.82637261e-01 -1.19453872e-03 2.07314428e+02] [ 5.82636655e-01 8.12732319e-01 -8.40697141e-04 3.73034813e+01] [ 1.46066170e-03 -1.27210425e-05 9.99998933e-01 6.77570369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:37.32, Z:0.00 [[ 8.14017713e-01 -5.80838821e-01 -1.19437463e-03 2.07337237e+02] [ 5.80838213e-01 8.14018589e-01 -8.40930189e-04 3.73177542e+01] [ 1.46068805e-03 -9.20635696e-06 9.99998933e-01 4.64424085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:37.33, Z:0.00 [[ 8.14676322e-01 -5.79914704e-01 -1.19430319e-03 2.07359987e+02] [ 5.79914094e-01 8.14677198e-01 -8.41031635e-04 3.73330448e+01] [ 1.46069819e-03 -7.42469469e-06 9.99998933e-01 2.32041236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:207.38, Y:37.35, Z:0.00 [[ 8.15343784e-01 -5.78975896e-01 -1.19423553e-03 2.07383241e+02] [ 5.78975285e-01 8.15344658e-01 -8.41127698e-04 3.73490764e+01] [ 1.46070623e-03 -5.62461920e-06 9.99998933e-01 3.71231680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.41, Y:37.36, Z:0.00 [[ 8.16532084e-01 -5.77298822e-01 -1.19408480e-03 2.07406191e+02] [ 5.77298209e-01 8.16532957e-01 -8.41341628e-04 3.73649318e+01] [ 1.46071512e-03 -2.36058369e-06 9.99998933e-01 2.95542907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:37.38, Z:0.00 [[ 8.16867096e-01 -5.76824689e-01 -1.19392813e-03 2.07428455e+02] [ 5.76824075e-01 8.16867969e-01 -8.41563897e-04 3.73815839e+01] [ 1.46071648e-03 -1.24063337e-06 9.99998933e-01 1.96087732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:37.40, Z:0.00 [[ 8.17671070e-01 -5.75684459e-01 -1.19377049e-03 2.07450803e+02] [ 5.75683843e-01 8.17671941e-01 -8.41787454e-04 3.73969110e+01] [ 1.46071659e-03 1.07086501e-06 9.99998933e-01 1.41525527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.47, Y:37.41, Z:0.00 [[ 8.18047658e-01 -5.75149201e-01 -1.19370210e-03 2.07473957e+02] [ 5.75148585e-01 8.18048529e-01 -8.41884417e-04 3.74129538e+01] [ 1.46071540e-03 2.14549970e-06 9.99998933e-01 4.04054941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:37.43, Z:0.00 [[ 8.18340686e-01 -5.74732196e-01 -1.19354247e-03 2.07496755e+02] [ 5.74731579e-01 8.18341556e-01 -8.42110673e-04 3.74291838e+01] [ 1.46071352e-03 3.16687757e-06 9.99998933e-01 2.50768036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:37.45, Z:0.00 [[ 8.18866777e-01 -5.73982384e-01 -1.19340375e-03 2.07519846e+02] [ 5.73981766e-01 8.18867647e-01 -8.42307209e-04 3.74450057e+01] [ 1.46070922e-03 4.74539751e-06 9.99998933e-01 3.42195816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:37.46, Z:0.00 [[ 8.19126437e-01 -5.73611765e-01 -1.19323923e-03 2.07541815e+02] [ 5.73611146e-01 8.19127306e-01 -8.42540213e-04 3.74600491e+01] [ 1.46070581e-03 5.69164097e-06 9.99998933e-01 7.18496631e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:37.48, Z:0.00 [[ 8.19506428e-01 -5.73068749e-01 -1.19312746e-03 2.07564373e+02] [ 5.73068130e-01 8.19507296e-01 -8.42698453e-04 3.74770556e+01] [ 1.46070081e-03 6.85347443e-06 9.99998933e-01 3.45584782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:37.49, Z:0.00 [[ 8.19500509e-01 -5.73077213e-01 -1.19296775e-03 2.07587253e+02] [ 5.73076594e-01 8.19501377e-01 -8.42924488e-04 3.74938941e+01] [ 1.46069953e-03 7.11515022e-06 9.99998933e-01 3.85618111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:207.61, Y:37.51, Z:0.01 [[ 8.19407791e-01 -5.73209778e-01 -1.19280548e-03 2.07610673e+02] [ 5.73209158e-01 8.19408659e-01 -8.43154061e-04 3.75095240e+01] [ 1.46069929e-03 7.15998408e-06 9.99998933e-01 5.98639178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:37.53, Z:0.00 [[ 8.18990942e-01 -5.73805206e-01 -1.19264483e-03 2.07635150e+02] [ 5.73804586e-01 8.18991810e-01 -8.43381229e-04 3.75255165e+01] [ 1.46070289e-03 6.37651186e-06 9.99998933e-01 4.29154823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:37.54, Z:0.00 [[ 8.18881532e-01 -5.73961335e-01 -1.19250439e-03 2.07658281e+02] [ 5.73960715e-01 8.18882400e-01 -8.43579759e-04 3.75421136e+01] [ 1.46070303e-03 6.34121130e-06 9.99998933e-01 4.33314949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:37.56, Z:0.01 [[ 8.18174508e-01 -5.74968740e-01 -1.19234352e-03 2.07682719e+02] [ 5.74968121e-01 8.18175377e-01 -8.43807077e-04 3.75573411e+01] [ 1.46070880e-03 4.82192528e-06 9.99998933e-01 5.64699867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:37.57, Z:0.01 [[ 8.17817278e-01 -5.75476740e-01 -1.19220273e-03 2.07704928e+02] [ 5.75476121e-01 8.17818147e-01 -8.44005948e-04 3.75723951e+01] [ 1.46071082e-03 4.15844187e-06 9.99998933e-01 5.08308211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:37.59, Z:0.01 [[ 8.17249795e-01 -5.76282354e-01 -1.19213283e-03 2.07728613e+02] [ 5.76281736e-01 8.17250664e-01 -8.44104675e-04 3.75868260e+01] [ 1.46071398e-03 2.83999606e-06 9.99998933e-01 5.11323491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.75, Y:37.60, Z:0.01 [[ 8.17119863e-01 -5.76466572e-01 -1.19197042e-03 2.07752064e+02] [ 5.76465953e-01 8.17120733e-01 -8.44333954e-04 3.76022493e+01] [ 1.46071404e-03 2.79168071e-06 9.99998933e-01 7.34153975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.77, Y:37.62, Z:0.01 [[ 8.17489758e-01 -5.75941902e-01 -1.19180570e-03 2.07774742e+02] [ 5.75941283e-01 8.17490627e-01 -8.44566404e-04 3.76168701e+01] [ 1.46071117e-03 4.01428315e-06 9.99998933e-01 7.46075057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:37.63, Z:0.01 [[ 8.17689406e-01 -5.75658419e-01 -1.19173827e-03 2.07797386e+02] [ 5.75657800e-01 8.17690274e-01 -8.44661537e-04 3.76328013e+01] [ 1.46070932e-03 4.63736017e-06 9.99998933e-01 5.93573132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:207.82, Y:37.65, Z:0.01 [[ 8.18171781e-01 -5.74972622e-01 -1.19157646e-03 2.07819302e+02] [ 5.74972002e-01 8.18172649e-01 -8.44889747e-04 3.76482598e+01] [ 1.46070374e-03 6.14184964e-06 9.99998933e-01 7.62652650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:37.66, Z:0.01 [[ 8.19615347e-01 -5.72912964e-01 -1.19150635e-03 2.07842885e+02] [ 5.72912341e-01 8.19616213e-01 -8.44988601e-04 3.76642828e+01] [ 1.46068285e-03 9.93693306e-06 9.99998933e-01 6.61465341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:207.86, Y:37.68, Z:0.01 [[ 8.20657407e-01 -5.71419287e-01 -1.19136487e-03 2.07864841e+02] [ 5.71418662e-01 8.20658271e-01 -8.45188028e-04 3.76803469e+01] [ 1.46066018e-03 1.28416946e-05 9.99998933e-01 8.23212773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:37.70, Z:0.00 [[ 8.22613332e-01 -5.68599935e-01 -1.19129431e-03 2.07885942e+02] [ 5.68599307e-01 8.22614195e-01 -8.45287467e-04 3.76979941e+01] [ 1.46060601e-03 1.79756181e-05 9.99998933e-01 4.89176881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:37.71, Z:0.00 [[ 8.23458546e-01 -5.67375188e-01 -1.19118564e-03 2.07907851e+02] [ 5.67374558e-01 8.23459407e-01 -8.45440577e-04 3.77146260e+01] [ 1.46057503e-03 2.03368395e-05 9.99998933e-01 3.90031416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:37.73, Z:0.00 [[ 8.24156528e-01 -5.66360838e-01 -1.19102659e-03 2.07929791e+02] [ 5.66360208e-01 8.24157388e-01 -8.45664586e-04 3.77309407e+01] [ 1.46054467e-03 2.24099204e-05 9.99998933e-01 3.04443956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:37.75, Z:0.00 [[ 8.24575134e-01 -5.65751208e-01 -1.19095740e-03 2.07951784e+02] [ 5.65750576e-01 8.24575994e-01 -8.45762016e-04 3.77479563e+01] [ 1.46052577e-03 2.36094921e-05 9.99998933e-01 4.18107181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:37.77, Z:0.00 [[ 8.24917728e-01 -5.65251558e-01 -1.19079194e-03 2.07972694e+02] [ 5.65250926e-01 8.24918587e-01 -8.45994919e-04 3.77651850e+01] [ 1.46050635e-03 2.47799614e-05 9.99998933e-01 3.41734623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:37.78, Z:0.01 [[ 8.24589139e-01 -5.65730797e-01 -1.19072009e-03 2.07995266e+02] [ 5.65730165e-01 8.24589998e-01 -8.46096025e-04 3.77820534e+01] [ 1.46051846e-03 2.40553176e-05 9.99998933e-01 5.05187720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:37.80, Z:0.01 [[ 8.23989519e-01 -5.66603790e-01 -1.19067034e-03 2.08017627e+02] [ 5.66603158e-01 8.23990379e-01 -8.46166037e-04 3.77989395e+01] [ 1.46054179e-03 2.25943721e-05 9.99998933e-01 5.91430097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:37.82, Z:0.01 [[ 8.23345848e-01 -5.67538719e-01 -1.19059576e-03 2.08039960e+02] [ 5.67538088e-01 8.23346708e-01 -8.46270953e-04 3.78161476e+01] [ 1.46056464e-03 2.10652309e-05 9.99998933e-01 6.78192305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:37.83, Z:0.01 [[ 8.22675784e-01 -5.68509575e-01 -1.19043750e-03 2.08062028e+02] [ 5.68508945e-01 8.22676645e-01 -8.46493524e-04 3.78330107e+01] [ 1.46058480e-03 1.96153567e-05 9.99998933e-01 7.57539139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:37.85, Z:0.01 [[ 8.21307597e-01 -5.70484368e-01 -1.19027099e-03 2.08084577e+02] [ 5.70483740e-01 8.21308459e-01 -8.46727596e-04 3.78502078e+01] [ 1.46062449e-03 1.63935636e-05 9.99998933e-01 5.79612028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.11, Y:37.87, Z:0.01 [[ 8.20630618e-01 -5.71457762e-01 -1.19010521e-03 2.08106965e+02] [ 5.71457134e-01 8.20631480e-01 -8.46960542e-04 3.78661240e+01] [ 1.46063997e-03 1.49476425e-05 9.99998933e-01 6.47961763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.13, Y:37.88, Z:0.00 [[ 8.18605520e-01 -5.74354931e-01 -1.19005364e-03 2.08129776e+02] [ 5.74354307e-01 8.18606385e-01 -8.47032987e-04 3.78828204e+01] [ 1.46068308e-03 9.87344349e-06 9.99998933e-01 4.75490270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.15, Y:37.90, Z:0.00 [[ 8.17809192e-01 -5.75488236e-01 -1.18988888e-03 2.08151741e+02] [ 5.75487612e-01 8.17810058e-01 -8.47264376e-04 3.78983100e+01] [ 1.46069378e-03 8.13428439e-06 9.99998933e-01 4.10372379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:37.91, Z:0.00 [[ 8.16359923e-01 -5.77542259e-01 -1.18981720e-03 2.08175109e+02] [ 5.77541638e-01 8.16360790e-01 -8.47365033e-04 3.79149518e+01] [ 1.46070922e-03 4.58588075e-06 9.99998933e-01 3.78574591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:37.93, Z:0.00 [[ 8.15789793e-01 -5.78347299e-01 -1.18967820e-03 2.08197828e+02] [ 5.78346678e-01 8.15790661e-01 -8.47560137e-04 3.79317514e+01] [ 1.46071248e-03 3.38447583e-06 9.99998933e-01 4.87996962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:37.95, Z:0.00 [[ 8.15268656e-01 -5.79081690e-01 -1.18951886e-03 2.08220908e+02] [ 5.79081070e-01 8.15269524e-01 -8.47783698e-04 3.79468665e+01] [ 1.46071449e-03 2.34362004e-06 9.99998933e-01 4.43647803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:37.96, Z:0.01 [[ 8.14994249e-01 -5.79467824e-01 -1.18946951e-03 2.08243844e+02] [ 5.79467204e-01 8.14995117e-01 -8.47852932e-04 3.79625659e+01] [ 1.46071534e-03 1.73669014e-06 9.99998933e-01 6.05999430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:37.98, Z:0.01 [[ 8.14865699e-01 -5.79648582e-01 -1.18930614e-03 2.08266173e+02] [ 5.79647961e-01 8.14866567e-01 -8.48082041e-04 3.79785122e+01] [ 1.46071536e-03 1.69408784e-06 9.99998933e-01 5.51491667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.29, Y:37.99, Z:0.01 [[ 8.14825979e-01 -5.79704415e-01 -1.18923517e-03 2.08288409e+02] [ 5.79703795e-01 8.14826847e-01 -8.48181546e-04 3.79947613e+01] [ 1.46071533e-03 1.71621844e-06 9.99998933e-01 7.12268147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.31, Y:38.01, Z:0.01 [[ 8.14748672e-01 -5.79813062e-01 -1.18907260e-03 2.08311100e+02] [ 5.79812441e-01 8.14749540e-01 -8.48409392e-04 3.80106072e+01] [ 1.46071520e-03 1.80133808e-06 9.99998933e-01 6.54243873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:38.03, Z:0.00 [[ 8.14434937e-01 -5.80253669e-01 -1.18890951e-03 2.08334083e+02] [ 5.80253048e-01 8.14435805e-01 -8.48637872e-04 3.80269749e+01] [ 1.46071571e-03 1.29196308e-06 9.99998933e-01 4.76864826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:38.04, Z:0.00 [[ 8.14279006e-01 -5.80472469e-01 -1.18874586e-03 2.08355962e+02] [ 5.80471849e-01 8.14279873e-01 -8.48867046e-04 3.80428587e+01] [ 1.46071578e-03 1.18110552e-06 9.99998933e-01 1.90700763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:38.06, Z:0.00 [[ 8.14022527e-01 -5.80832087e-01 -1.18867469e-03 2.08378391e+02] [ 5.80831466e-01 8.14023395e-01 -8.48966692e-04 3.80592938e+01] [ 1.46071610e-03 6.58345993e-07 9.99998933e-01 3.53955782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:38.08, Z:0.01 [[ 8.14029760e-01 -5.80821949e-01 -1.18851728e-03 2.08401984e+02] [ 5.80821328e-01 8.14030628e-01 -8.49187010e-04 3.80753124e+01] [ 1.46071592e-03 9.47313627e-07 9.99998933e-01 5.79062805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:208.42, Y:38.09, Z:0.01 [[ 8.14121468e-01 -5.80693398e-01 -1.18837727e-03 2.08424789e+02] [ 5.80692777e-01 8.14122336e-01 -8.49382895e-04 3.80919333e+01] [ 1.46071552e-03 1.41875231e-06 9.99998933e-01 9.09981566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.45, Y:38.11, Z:0.01 [[ 8.14921401e-01 -5.79570271e-01 -1.18821211e-03 2.08447487e+02] [ 5.79569648e-01 8.14922267e-01 -8.49613880e-04 3.81086859e+01] [ 1.46071145e-03 3.71685909e-06 9.99998933e-01 9.90328119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.47, Y:38.13, Z:0.01 [[ 8.15271781e-01 -5.79077293e-01 -1.18813497e-03 2.08470130e+02] [ 5.79076670e-01 8.15272647e-01 -8.49721745e-04 3.81250295e+01] [ 1.46070851e-03 4.73292151e-06 9.99998933e-01 1.00848465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:208.49, Y:38.14, Z:0.01 [[ 8.16170234e-01 -5.77810296e-01 -1.18797535e-03 2.08492110e+02] [ 5.77809671e-01 8.16171098e-01 -8.49944847e-04 3.81423146e+01] [ 1.46069803e-03 7.27604003e-06 9.99998933e-01 1.29457828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.51, Y:38.16, Z:0.01 [[ 8.16705768e-01 -5.77053098e-01 -1.18781187e-03 2.08513543e+02] [ 5.77052472e-01 8.16706632e-01 -8.50173248e-04 3.81592544e+01] [ 1.46068894e-03 8.91162110e-06 9.99998933e-01 1.19035312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:208.53, Y:38.18, Z:0.01 [[ 8.17341803e-01 -5.76151861e-01 -1.18770021e-03 2.08534377e+02] [ 5.76151234e-01 8.17342666e-01 -8.50329202e-04 3.81757006e+01] [ 1.46067681e-03 1.07146586e-05 9.99998933e-01 1.05988295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:38.19, Z:0.01 [[ 8.18301181e-01 -5.74788453e-01 -1.18763120e-03 2.08555881e+02] [ 5.74787824e-01 8.18302043e-01 -8.50425579e-04 3.81931159e+01] [ 1.46065584e-03 1.32683020e-05 9.99998933e-01 9.47545868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:38.21, Z:0.01 [[ 8.18523053e-01 -5.74472455e-01 -1.18746611e-03 2.08577511e+02] [ 5.74471825e-01 8.18523915e-01 -8.50656031e-04 3.82098973e+01] [ 1.46064787e-03 1.41157453e-05 9.99998933e-01 7.66723592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.60, Y:38.23, Z:0.01 [[ 8.18818360e-01 -5.74051465e-01 -1.18735318e-03 2.08599501e+02] [ 5.74050834e-01 8.18819220e-01 -8.50813637e-04 3.82277739e+01] [ 1.46063842e-03 1.50607430e-05 9.99998933e-01 7.79786553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:38.24, Z:0.01 [[ 8.18805132e-01 -5.74070332e-01 -1.18719440e-03 2.08621830e+02] [ 5.74069701e-01 8.18805993e-01 -8.51035134e-04 3.82440410e+01] [ 1.46063591e-03 1.52996002e-05 9.99998933e-01 6.90302985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:38.26, Z:0.01 [[ 8.18538111e-01 -5.74451001e-01 -1.18703141e-03 2.08643773e+02] [ 5.74450370e-01 8.18538971e-01 -8.51262419e-04 3.82608276e+01] [ 1.46064001e-03 1.49001014e-05 9.99998933e-01 7.49479150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:208.67, Y:38.28, Z:0.01 [[ 8.17799123e-01 -5.75502551e-01 -1.18686934e-03 2.08666021e+02] [ 5.75501921e-01 8.17799984e-01 -8.51488320e-04 3.82797028e+01] [ 1.46065543e-03 1.33008152e-05 9.99998933e-01 1.14028523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:38.30, Z:0.01 [[ 8.17379662e-01 -5.76098151e-01 -1.18672772e-03 2.08687805e+02] [ 5.76097521e-01 8.17380524e-01 -8.51685649e-04 3.82964227e+01] [ 1.46066265e-03 1.24796297e-05 9.99998933e-01 1.03893862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:38.31, Z:0.01 [[ 8.16643146e-01 -5.77141719e-01 -1.18665921e-03 2.08709312e+02] [ 5.77141090e-01 8.16644008e-01 -8.51781090e-04 3.83132647e+01] [ 1.46067654e-03 1.07313965e-05 9.99998933e-01 8.91643973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:38.33, Z:0.01 [[ 8.16167144e-01 -5.77814663e-01 -1.18659065e-03 2.08731935e+02] [ 5.77814035e-01 8.16168007e-01 -8.51876596e-04 3.83303669e+01] [ 1.46068411e-03 9.64495818e-06 9.99998933e-01 9.68338967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:38.35, Z:0.01 [[ 8.15946668e-01 -5.78125962e-01 -1.18643227e-03 2.08753591e+02] [ 5.78125334e-01 8.15947530e-01 -8.52097113e-04 3.83470633e+01] [ 1.46068595e-03 9.35924545e-06 9.99998933e-01 9.07496863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:38.37, Z:0.01 [[ 8.15802613e-01 -5.78329222e-01 -1.18636330e-03 2.08775003e+02] [ 5.78328594e-01 8.15803475e-01 -8.52193139e-04 3.83657161e+01] [ 1.46068749e-03 9.11357186e-06 9.99998933e-01 1.00069855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.80, Y:38.38, Z:0.01 [[ 8.15789512e-01 -5.78347702e-01 -1.18620117e-03 2.08797297e+02] [ 5.78347074e-01 8.15790375e-01 -8.52418745e-04 3.83831650e+01] [ 1.46068592e-03 9.35829476e-06 9.99998933e-01 9.95217083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:38.40, Z:0.01 [[ 8.15810576e-01 -5.78317989e-01 -1.18603539e-03 2.08818503e+02] [ 5.78317361e-01 8.15811438e-01 -8.52649346e-04 3.83998340e+01] [ 1.46068369e-03 9.69549669e-06 9.99998933e-01 8.23176488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:38.42, Z:0.01 [[ 8.15799499e-01 -5.78333616e-01 -1.18596477e-03 2.08839411e+02] [ 5.78332987e-01 8.15800361e-01 -8.52747567e-04 3.84174835e+01] [ 1.46068307e-03 9.78849160e-06 9.99998933e-01 6.43072728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:38.43, Z:0.01 [[ 8.15608954e-01 -5.78602305e-01 -1.18589518e-03 2.08860618e+02] [ 5.78601676e-01 8.15609817e-01 -8.52844329e-04 3.84344539e+01] [ 1.46068544e-03 9.42653244e-06 9.99998933e-01 5.60654107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:38.45, Z:0.01 [[ 8.15112123e-01 -5.79302011e-01 -1.18582600e-03 2.08881657e+02] [ 5.79301384e-01 8.15112986e-01 -8.52940508e-04 3.84525632e+01] [ 1.46069232e-03 8.29150548e-06 9.99998933e-01 7.42414448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:38.47, Z:0.01 [[ 8.14853283e-01 -5.79666043e-01 -1.18566525e-03 2.08902599e+02] [ 5.79665415e-01 8.14854146e-01 -8.53163909e-04 3.84698892e+01] [ 1.46069439e-03 7.91427394e-06 9.99998933e-01 7.86862028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:38.49, Z:0.01 [[ 8.14604282e-01 -5.80015911e-01 -1.18559799e-03 2.08923762e+02] [ 5.80015284e-01 8.14605145e-01 -8.53257361e-04 3.84873482e+01] [ 1.46069707e-03 7.40214455e-06 9.99998933e-01 7.81514435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.94, Y:38.51, Z:0.01 [[ 8.14365794e-01 -5.80350711e-01 -1.18552872e-03 2.08944442e+02] [ 5.80350084e-01 8.14366657e-01 -8.53353601e-04 3.85061837e+01] [ 1.46069943e-03 6.92029172e-06 9.99998933e-01 9.48609291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:38.52, Z:0.01 [[ 8.14403368e-01 -5.80297982e-01 -1.18537129e-03 2.08966033e+02] [ 5.80297355e-01 8.14404231e-01 -8.53572226e-04 3.85239738e+01] [ 1.46069763e-03 7.28427288e-06 9.99998933e-01 8.49935690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:38.54, Z:0.01 [[ 8.15100505e-01 -5.79318360e-01 -1.18521423e-03 2.08985985e+02] [ 5.79317731e-01 8.15101366e-01 -8.53790246e-04 3.85430466e+01] [ 1.46068611e-03 9.30923959e-06 9.99998933e-01 7.44781454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.01, Y:38.56, Z:0.01 [[ 8.15558308e-01 -5.78673691e-01 -1.18510691e-03 2.09007216e+02] [ 5.78673061e-01 8.15559169e-01 -8.53939191e-04 3.85611013e+01] [ 1.46067695e-03 1.06477574e-05 9.99998933e-01 8.33365206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:38.58, Z:0.01 [[ 8.16043133e-01 -5.77989793e-01 -1.18495173e-03 2.09028385e+02] [ 5.77989162e-01 8.16043994e-01 -8.54154465e-04 3.85798855e+01] [ 1.46066531e-03 1.21376264e-05 9.99998933e-01 7.43070239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41587156000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:209.05, Y:38.60, Z:0.01 [[ 8.17091408e-01 -5.76506919e-01 -1.18479598e-03 2.09047847e+02] [ 5.76506286e-01 8.17092266e-01 -8.54370460e-04 3.86005941e+01] [ 1.46063811e-03 1.50564330e-05 9.99998933e-01 8.05370539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:209.07, Y:38.62, Z:0.01 [[ 8.16986634e-01 -5.76655388e-01 -1.18464139e-03 2.09070812e+02] [ 5.76654755e-01 8.16987493e-01 -8.54584749e-04 3.86174084e+01] [ 1.46063810e-03 1.50552255e-05 9.99998933e-01 8.09530935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:38.64, Z:0.01 [[ 8.17042743e-01 -5.76575886e-01 -1.18448606e-03 2.09091187e+02] [ 5.76575253e-01 8.17043602e-01 -8.54799988e-04 3.86358638e+01] [ 1.46063382e-03 1.54627760e-05 9.99998933e-01 5.37761610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:38.66, Z:0.00 [[ 8.16913973e-01 -5.76758319e-01 -1.18438021e-03 2.09111041e+02] [ 5.76757685e-01 8.16914831e-01 -8.54946630e-04 3.86557388e+01] [ 1.46063534e-03 1.53174602e-05 9.99998933e-01 4.45922610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:38.67, Z:0.00 [[ 8.16649879e-01 -5.77132197e-01 -1.18422586e-03 2.09131868e+02] [ 5.77131564e-01 8.16650737e-01 -8.55160372e-04 3.86732088e+01] [ 1.46063951e-03 1.49124923e-05 9.99998933e-01 3.60231896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.15, Y:38.69, Z:0.00 [[ 8.16203419e-01 -5.77763426e-01 -1.18415890e-03 2.09153401e+02] [ 5.77762794e-01 8.16204278e-01 -8.55253076e-04 3.86917943e+01] [ 1.46064951e-03 1.38975280e-05 9.99998933e-01 4.09741149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.17, Y:38.71, Z:0.00 [[ 8.15608826e-01 -5.78602490e-01 -1.18400671e-03 2.09173115e+02] [ 5.78601858e-01 8.15609685e-01 -8.55463726e-04 3.87098660e+01] [ 1.46066078e-03 1.26552851e-05 9.99998933e-01 4.66245012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:38.73, Z:0.01 [[ 8.14477349e-01 -5.80194145e-01 -1.18392287e-03 2.09193029e+02] [ 5.80193515e-01 8.14478209e-01 -8.55579732e-04 3.87305348e+01] [ 1.46068173e-03 9.94593920e-06 9.99998933e-01 5.50364698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:38.75, Z:0.01 [[ 8.13793985e-01 -5.81152260e-01 -1.18376166e-03 2.09213767e+02] [ 5.81151630e-01 8.13794846e-01 -8.55802721e-04 3.87482349e+01] [ 1.46069083e-03 8.50208707e-06 9.99998933e-01 5.13747501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:38.77, Z:0.01 [[ 8.12156376e-01 -5.83438618e-01 -1.18365200e-03 2.09234238e+02] [ 5.83437990e-01 8.12157238e-01 -8.55954371e-04 3.87686237e+01] [ 1.46070837e-03 4.58125741e-06 9.99998933e-01 8.35055985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.25, Y:38.79, Z:0.01 [[ 8.11255777e-01 -5.84690229e-01 -1.18351088e-03 2.09254626e+02] [ 5.84689602e-01 8.11256640e-01 -8.56149454e-04 3.87866607e+01] [ 1.46071328e-03 2.56968780e-06 9.99998933e-01 1.05369260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:38.81, Z:0.01 [[ 8.10209073e-01 -5.86139794e-01 -1.18344325e-03 2.09276094e+02] [ 5.86139168e-01 8.10209937e-01 -8.56242916e-04 3.88051068e+01] [ 1.46071553e-03 7.33349088e-08 9.99998933e-01 9.86698325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.30, Y:38.83, Z:0.01 [[ 8.07671020e-01 -5.89632194e-01 -1.18328122e-03 2.09296065e+02] [ 5.89631572e-01 8.07671886e-01 -8.56466785e-04 3.88254331e+01] [ 1.46070336e-03 -5.95656219e-06 9.99998933e-01 1.19100689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.32, Y:38.84, Z:0.01 [[ 8.06173580e-01 -5.91677918e-01 -1.18311726e-03 2.09316856e+02] [ 5.91677298e-01 8.06174449e-01 -8.56693206e-04 3.88432182e+01] [ 1.46068536e-03 -9.38019679e-06 9.99998933e-01 1.13996453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:38.86, Z:0.01 [[ 8.02757280e-01 -5.96304746e-01 -1.18304618e-03 2.09338755e+02] [ 5.96304131e-01 8.02758151e-01 -8.56791358e-04 3.88612255e+01] [ 1.46060872e-03 -1.76598244e-05 9.99998933e-01 9.52216139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:38.88, Z:0.01 [[ 8.00941106e-01 -5.98741969e-01 -1.18288566e-03 2.09360366e+02] [ 5.98741356e-01 8.00941979e-01 -8.57012913e-04 3.88774134e+01] [ 1.46055238e-03 -2.18256949e-05 9.99998933e-01 8.75382627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:209.38, Y:38.89, Z:0.01 [[ 7.99141383e-01 -6.01141956e-01 -1.18281612e-03 2.09381671e+02] [ 6.01141345e-01 7.99142258e-01 -8.57108874e-04 3.88940698e+01] [ 1.46048245e-03 -2.60885054e-05 9.99998933e-01 9.76395859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:38.91, Z:0.01 [[ 7.95899203e-01 -6.05427997e-01 -1.18274842e-03 2.09404712e+02] [ 6.05427391e-01 7.95900081e-01 -8.57202291e-04 3.89106436e+01] [ 1.46032383e-03 -3.38216706e-05 9.99998933e-01 6.48407736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:38.93, Z:0.01 [[ 7.94510271e-01 -6.07249563e-01 -1.18259430e-03 2.09426818e+02] [ 6.07248959e-01 7.94511150e-01 -8.57414856e-04 3.89264350e+01] [ 1.46024916e-03 -3.69042508e-05 9.99998933e-01 5.70723388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:38.94, Z:0.01 [[ 7.93414686e-01 -6.08680325e-01 -1.18252760e-03 2.09449266e+02] [ 6.08679722e-01 7.93415566e-01 -8.57506849e-04 3.89425364e+01] [ 1.46018335e-03 -3.94220417e-05 9.99998933e-01 6.88078678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:38.96, Z:0.01 [[ 7.92217496e-01 -6.10237692e-01 -1.18236458e-03 2.09471900e+02] [ 6.10237091e-01 7.92218377e-01 -8.57731559e-04 3.89594094e+01] [ 1.46011108e-03 -4.20127752e-05 9.99998933e-01 6.45067059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.49, Y:38.98, Z:0.01 [[ 7.92084080e-01 -6.10410856e-01 -1.18220138e-03 2.09493414e+02] [ 6.10410254e-01 7.92084961e-01 -8.57956442e-04 3.89752055e+01] [ 1.46010986e-03 -4.20542058e-05 9.99998933e-01 7.78237649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:38.99, Z:0.01 [[ 7.92483771e-01 -6.09891856e-01 -1.18209018e-03 2.09515541e+02] [ 6.09891254e-01 7.92484651e-01 -8.58109626e-04 3.89909724e+01] [ 1.46014240e-03 -4.09085091e-05 9.99998933e-01 5.49211148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:39.01, Z:0.00 [[ 7.92839673e-01 -6.09429123e-01 -1.18201968e-03 2.09537725e+02] [ 6.09428520e-01 7.92840553e-01 -8.58206726e-04 3.90063742e+01] [ 1.46016931e-03 -3.99361641e-05 9.99998933e-01 4.59907578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:39.02, Z:0.01 [[ 7.93289149e-01 -6.08843929e-01 -1.18191274e-03 2.09560326e+02] [ 6.08843325e-01 7.93290028e-01 -8.58353984e-04 3.90220394e+01] [ 1.46020320e-03 -3.86767786e-05 9.99998933e-01 5.77026611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.58, Y:39.04, Z:0.01 [[ 7.94539400e-01 -6.07211450e-01 -1.18175181e-03 2.09582901e+02] [ 6.07210844e-01 7.94540278e-01 -8.58575488e-04 3.90374685e+01] [ 1.46028628e-03 -3.54004587e-05 9.99998933e-01 7.93897304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.61, Y:39.05, Z:0.01 [[ 7.95059937e-01 -6.06529720e-01 -1.18169188e-03 2.09605291e+02] [ 6.06529113e-01 7.95060814e-01 -8.58657955e-04 3.90537185e+01] [ 1.46031848e-03 -3.40459900e-05 9.99998933e-01 8.72904079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:39.07, Z:0.01 [[ 7.95773534e-01 -6.05593170e-01 -1.18152724e-03 2.09628213e+02] [ 6.05592562e-01 7.95774410e-01 -8.58884448e-04 3.90704112e+01] [ 1.46036370e-03 -3.20465950e-05 9.99998933e-01 1.04903595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:39.09, Z:0.01 [[ 7.96714197e-01 -6.04355105e-01 -1.18138209e-03 2.09650598e+02] [ 6.04354495e-01 7.96715072e-01 -8.59084058e-04 3.90865415e+01] [ 1.46041675e-03 -2.95291079e-05 9.99998933e-01 1.10864063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:209.67, Y:39.10, Z:0.01 [[ 7.98976689e-01 -6.01360836e-01 -1.18121572e-03 2.09673676e+02] [ 6.01360222e-01 7.98977562e-01 -8.59312738e-04 3.91022769e+01] [ 1.46052189e-03 -2.37653047e-05 9.99998933e-01 1.03335959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:39.12, Z:0.01 [[ 8.00003717e-01 -5.99993881e-01 -1.18116400e-03 2.09695723e+02] [ 5.99993266e-01 8.00004589e-01 -8.59383828e-04 3.91181597e+01] [ 1.46056166e-03 -2.11801909e-05 9.99998933e-01 8.16594692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:39.13, Z:0.01 [[ 8.02258763e-01 -5.96975278e-01 -1.18109525e-03 2.09719365e+02] [ 5.96974660e-01 8.02259632e-01 -8.59478310e-04 3.91341450e+01] [ 1.46063234e-03 -1.55599278e-05 9.99998933e-01 6.64672369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.74, Y:39.15, Z:0.01 [[ 8.03322403e-01 -5.95543216e-01 -1.18095855e-03 2.09741813e+02] [ 5.95542596e-01 8.03323271e-01 -8.59666103e-04 3.91510616e+01] [ 1.46065980e-03 -1.27220784e-05 9.99998933e-01 7.51343094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.76, Y:39.17, Z:0.01 [[ 8.05526049e-01 -5.92559186e-01 -1.18080202e-03 2.09764000e+02] [ 5.92558562e-01 8.05526915e-01 -8.59881045e-04 3.91684347e+01] [ 1.46069822e-03 -7.03776634e-06 9.99998933e-01 8.35626687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:39.19, Z:0.01 [[ 8.06376315e-01 -5.91401594e-01 -1.18065300e-03 2.09786354e+02] [ 5.91400968e-01 8.06377179e-01 -8.60085608e-04 3.91851471e+01] [ 1.46070764e-03 -4.68666418e-06 9.99998933e-01 7.88408686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:39.20, Z:0.01 [[ 8.07086523e-01 -5.90432003e-01 -1.18048893e-03 2.09807977e+02] [ 5.90431376e-01 8.07087387e-01 -8.60310742e-04 3.92004838e+01] [ 1.46071272e-03 -2.65249742e-06 9.99998933e-01 6.78769806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:39.22, Z:0.01 [[ 8.07423721e-01 -5.89970797e-01 -1.18041780e-03 2.09831072e+02] [ 5.89970170e-01 8.07424584e-01 -8.60408322e-04 3.92167659e+01] [ 1.46071414e-03 -1.69720202e-06 9.99998933e-01 6.77473118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:39.23, Z:0.01 [[ 8.07940067e-01 -5.89263485e-01 -1.18025471e-03 2.09854111e+02] [ 5.89262856e-01 8.07940929e-01 -8.60631985e-04 3.92327890e+01] [ 1.46071509e-03 -1.41197159e-07 9.99998933e-01 8.77263564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:39.25, Z:0.01 [[ 8.07996760e-01 -5.89185746e-01 -1.18008427e-03 2.09875953e+02] [ 5.89185117e-01 8.07997622e-01 -8.60865630e-04 3.92488219e+01] [ 1.46071504e-03 2.88552921e-07 9.99998933e-01 8.60918189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:39.27, Z:0.01 [[ 8.07992328e-01 -5.89191824e-01 -1.17996832e-03 2.09898319e+02] [ 5.89191195e-01 8.07993189e-01 -8.61024520e-04 3.92653578e+01] [ 1.46071498e-03 4.74259092e-07 9.99998933e-01 8.74835538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:39.28, Z:0.01 [[ 8.07785746e-01 -5.89475018e-01 -1.17991683e-03 2.09920887e+02] [ 5.89474389e-01 8.07786608e-01 -8.61095080e-04 3.92822253e+01] [ 1.46071505e-03 4.95798022e-08 9.99998933e-01 1.04144352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.94, Y:39.30, Z:0.01 [[ 8.07586452e-01 -5.89748023e-01 -1.17975355e-03 2.09943650e+02] [ 5.89747394e-01 8.07587314e-01 -8.61318722e-04 3.92982863e+01] [ 1.46071502e-03 -1.67252135e-07 9.99998933e-01 1.06418543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:39.31, Z:0.01 [[ 8.07344636e-01 -5.90079017e-01 -1.17959105e-03 2.09967126e+02] [ 5.90078389e-01 8.07345498e-01 -8.61541216e-04 3.93141344e+01] [ 1.46071492e-03 -4.90505472e-07 9.99998933e-01 7.89592695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.99, Y:39.33, Z:0.01 [[ 8.07276172e-01 -5.90172679e-01 -1.17944989e-03 2.09989355e+02] [ 5.90172050e-01 8.07277033e-01 -8.61734413e-04 3.93305567e+01] [ 1.46071492e-03 -4.20704038e-07 9.99998933e-01 7.84741972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:39.35, Z:0.01 [[ 8.06940749e-01 -5.90631220e-01 -1.17929234e-03 2.10011629e+02] [ 5.90630591e-01 8.06941610e-01 -8.61949968e-04 3.93472895e+01] [ 1.46071462e-03 -9.83581351e-07 9.99998933e-01 9.01908687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:39.36, Z:0.01 [[ 8.06551649e-01 -5.91162455e-01 -1.17912424e-03 2.10033728e+02] [ 5.91161826e-01 8.06552511e-01 -8.62179866e-04 3.93632320e+01] [ 1.46071398e-03 -1.66064786e-06 9.99998933e-01 6.63094974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:39.38, Z:0.01 [[ 8.06022345e-01 -5.91883932e-01 -1.17905127e-03 2.10055733e+02] [ 5.91883303e-01 8.06023208e-01 -8.62279646e-04 3.93785166e+01] [ 1.46071215e-03 -2.84409747e-06 9.99998933e-01 5.63895629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:39.39, Z:0.01 [[ 8.05757996e-01 -5.92243752e-01 -1.17894457e-03 2.10078062e+02] [ 5.92243124e-01 8.05758859e-01 -8.62425501e-04 3.93947672e+01] [ 1.46071115e-03 -3.31557282e-06 9.99998933e-01 7.53076148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:39.41, Z:0.01 [[ 8.05518164e-01 -5.92569910e-01 -1.17878041e-03 2.10100781e+02] [ 5.92569282e-01 8.05519027e-01 -8.62649825e-04 3.94111877e+01] [ 1.46071038e-03 -3.62895698e-06 9.99998933e-01 7.53371287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:39.43, Z:0.01 [[ 8.05401077e-01 -5.92729040e-01 -1.17861329e-03 2.10122736e+02] [ 5.92728412e-01 8.05401940e-01 -8.62878096e-04 3.94268090e+01] [ 1.46071034e-03 -3.63463509e-06 9.99998933e-01 5.75993201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:39.44, Z:0.00 [[ 8.05416698e-01 -5.92707815e-01 -1.17854053e-03 2.10144689e+02] [ 5.92707187e-01 8.05417560e-01 -8.62977466e-04 3.94423999e+01] [ 1.46071072e-03 -3.47297820e-06 9.99998933e-01 4.82254844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:39.46, Z:0.00 [[ 8.05191367e-01 -5.93013890e-01 -1.17847044e-03 2.10167201e+02] [ 5.93013262e-01 8.05192229e-01 -8.63073159e-04 3.94585597e+01] [ 1.46070962e-03 -3.90954547e-06 9.99998933e-01 4.90149401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:39.47, Z:0.01 [[ 8.05046899e-01 -5.93209998e-01 -1.17830984e-03 2.10189829e+02] [ 5.93209370e-01 8.05047762e-01 -8.63292361e-04 3.94747636e+01] [ 1.46070936e-03 -3.99360155e-06 9.99998933e-01 5.33265691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:39.49, Z:0.01 [[ 8.04779339e-01 -5.93572934e-01 -1.17814885e-03 2.10212608e+02] [ 5.93572306e-01 8.04780201e-01 -8.63512011e-04 3.94910861e+01] [ 1.46070823e-03 -4.37990674e-06 9.99998933e-01 7.69787918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:39.51, Z:0.01 [[ 8.04863682e-01 -5.93458562e-01 -1.17798102e-03 2.10233746e+02] [ 5.93457934e-01 8.04864544e-01 -8.63740911e-04 3.95070597e+01] [ 1.46070959e-03 -3.88848938e-06 9.99998933e-01 7.68120951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:39.52, Z:0.01 [[ 8.04818214e-01 -5.93520223e-01 -1.17790805e-03 2.10255903e+02] [ 5.93519594e-01 8.04819076e-01 -8.63840411e-04 3.95242563e+01] [ 1.46070962e-03 -3.87700795e-06 9.99998933e-01 7.73626461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:39.54, Z:0.01 [[ 8.04795711e-01 -5.93550736e-01 -1.17774278e-03 2.10278724e+02] [ 5.93550107e-01 8.04796573e-01 -8.64065674e-04 3.95404321e+01] [ 1.46071017e-03 -3.65300353e-06 9.99998933e-01 7.87364684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:39.56, Z:0.01 [[ 8.04574705e-01 -5.93850281e-01 -1.17769146e-03 2.10301685e+02] [ 5.93849652e-01 8.04575567e-01 -8.64135614e-04 3.95567117e+01] [ 1.46070895e-03 -4.11000686e-06 9.99998933e-01 8.39318558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:39.57, Z:0.01 [[ 8.04072521e-01 -5.94530062e-01 -1.17752674e-03 2.10323615e+02] [ 5.94529434e-01 8.04073383e-01 -8.64360016e-04 3.95716406e+01] [ 1.46070592e-03 -5.06616814e-06 9.99998933e-01 7.44465969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:39.59, Z:0.01 [[ 8.03792115e-01 -5.94909110e-01 -1.17745482e-03 2.10346587e+02] [ 5.94908482e-01 8.03792978e-01 -8.64457974e-04 3.95882359e+01] [ 1.46070384e-03 -5.63335618e-06 9.99998933e-01 8.23478776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:39.60, Z:0.01 [[ 8.03606388e-01 -5.95159968e-01 -1.17729019e-03 2.10368596e+02] [ 5.95159340e-01 8.03607250e-01 -8.64682126e-04 3.96043434e+01] [ 1.46070312e-03 -5.81117166e-06 9.99998933e-01 7.93913829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:39.62, Z:0.01 [[ 8.03176746e-01 -5.95739648e-01 -1.17717793e-03 2.10391087e+02] [ 5.95739021e-01 8.03177609e-01 -8.64834924e-04 3.96205049e+01] [ 1.46069941e-03 -6.67552773e-06 9.99998933e-01 8.80633893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:39.64, Z:0.01 [[ 8.02932251e-01 -5.96069135e-01 -1.17701180e-03 2.10413356e+02] [ 5.96068508e-01 8.02933114e-01 -8.65060966e-04 3.96365310e+01] [ 1.46069789e-03 -6.99431830e-06 9.99998933e-01 8.83787999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:39.65, Z:0.01 [[ 8.02451082e-01 -5.96716747e-01 -1.17693980e-03 2.10435914e+02] [ 5.96716120e-01 8.02451945e-01 -8.65158911e-04 3.96522737e+01] [ 1.46069244e-03 -8.05124678e-06 9.99998933e-01 9.54757300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:39.67, Z:0.01 [[ 8.02337923e-01 -5.96868891e-01 -1.17677569e-03 2.10458732e+02] [ 5.96868264e-01 8.02338786e-01 -8.65382080e-04 3.96692774e+01] [ 1.46069242e-03 -8.05120061e-06 9.99998933e-01 9.58917639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.48, Y:39.69, Z:0.01 [[ 8.02220185e-01 -5.97027127e-01 -1.17661156e-03 2.10480991e+02] [ 5.97026499e-01 8.02221048e-01 -8.65605180e-04 3.96862656e+01] [ 1.46069233e-03 -8.06233100e-06 9.99998933e-01 1.14448670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:39.70, Z:0.01 [[ 8.02199184e-01 -5.97055345e-01 -1.17644634e-03 2.10502570e+02] [ 5.97054717e-01 8.02200047e-01 -8.65829672e-04 3.97026143e+01] [ 1.46069354e-03 -7.83497842e-06 9.99998933e-01 9.77613537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:39.72, Z:0.01 [[ 8.02348071e-01 -5.96855250e-01 -1.17633366e-03 2.10524260e+02] [ 5.96854622e-01 8.02348933e-01 -8.65982736e-04 3.97187583e+01] [ 1.46069640e-03 -7.28060071e-06 9.99998933e-01 8.54640786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:39.74, Z:0.01 [[ 8.02527077e-01 -5.96614538e-01 -1.17626352e-03 2.10547173e+02] [ 5.96613909e-01 8.02527939e-01 -8.66077997e-04 3.97350877e+01] [ 1.46069906e-03 -6.72413144e-06 9.99998933e-01 9.40243956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:39.75, Z:0.01 [[ 8.02922599e-01 -5.96082140e-01 -1.17610281e-03 2.10570265e+02] [ 5.96081510e-01 8.02923460e-01 -8.66296171e-04 3.97529249e+01] [ 1.46070421e-03 -5.48436816e-06 9.99998933e-01 1.01221691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:39.77, Z:0.01 [[ 8.03182234e-01 -5.95732252e-01 -1.17596272e-03 2.10591792e+02] [ 5.95731621e-01 8.03183095e-01 -8.66486304e-04 3.97692763e+01] [ 1.46070721e-03 -4.61177030e-06 9.99998933e-01 9.98207449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:39.79, Z:0.01 [[ 8.03398538e-01 -5.95440515e-01 -1.17589291e-03 2.10613783e+02] [ 5.95439884e-01 8.03399398e-01 -8.66581032e-04 3.97862644e+01] [ 1.46070911e-03 -3.96360187e-06 9.99998933e-01 1.12222067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:39.80, Z:0.01 [[ 8.03564652e-01 -5.95216321e-01 -1.17572790e-03 2.10634229e+02] [ 5.95215689e-01 8.03565512e-01 -8.66804849e-04 3.98031480e+01] [ 1.46071078e-03 -3.27795364e-06 9.99998933e-01 1.20278865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:39.82, Z:0.01 [[ 8.03749417e-01 -5.94966800e-01 -1.17564587e-03 2.10654808e+02] [ 5.94966168e-01 8.03750277e-01 -8.66916093e-04 3.98212268e+01] [ 1.46071198e-03 -2.68621196e-06 9.99998933e-01 1.17246090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:39.84, Z:0.01 [[ 8.03227932e-01 -5.95670637e-01 -1.17557460e-03 2.10676800e+02] [ 5.95670006e-01 8.03228792e-01 -8.67012723e-04 3.98380986e+01] [ 1.46070939e-03 -3.84569133e-06 9.99998933e-01 1.18025605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:39.85, Z:0.01 [[ 8.01296473e-01 -5.98266313e-01 -1.17541234e-03 2.10698885e+02] [ 5.98265684e-01 8.01297335e-01 -8.67232646e-04 3.98545637e+01] [ 1.46069085e-03 -8.29840648e-06 9.99998933e-01 1.15623344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:39.87, Z:0.01 [[ 7.99841982e-01 -6.00209482e-01 -1.17525090e-03 2.10720783e+02] [ 6.00208855e-01 7.99842845e-01 -8.67451366e-04 3.98710385e+01] [ 1.46066856e-03 -1.15719780e-05 9.99998933e-01 1.16260020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:39.89, Z:0.01 [[ 7.96597292e-01 -6.04509201e-01 -1.17518062e-03 2.10742897e+02] [ 6.04508579e-01 7.96598158e-01 -8.67546565e-04 3.98858743e+01] [ 1.46058660e-03 -1.93215241e-05 9.99998933e-01 1.05693198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:39.90, Z:0.01 [[ 7.94909363e-01 -6.06727059e-01 -1.17511105e-03 2.10766024e+02] [ 6.06726439e-01 7.94910231e-01 -8.67640790e-04 3.99017051e+01] [ 1.46052894e-03 -2.32751569e-05 9.99998933e-01 9.78901036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:39.92, Z:0.01 [[ 7.93363703e-01 -6.08746790e-01 -1.17495169e-03 2.10788228e+02] [ 6.08746172e-01 7.93364573e-01 -8.67856543e-04 3.99165399e+01] [ 1.46046993e-03 -2.67214624e-05 9.99998933e-01 8.32431798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.81, Y:39.93, Z:0.01 [[ 7.91947841e-01 -6.10587616e-01 -1.17488548e-03 2.10811726e+02] [ 6.10587000e-01 7.91948712e-01 -8.67946172e-04 3.99325504e+01] [ 1.46040622e-03 -3.00017019e-05 9.99998933e-01 8.41441032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:39.95, Z:0.01 [[ 7.90156160e-01 -6.12904449e-01 -1.17472887e-03 2.10835548e+02] [ 6.12903835e-01 7.90157032e-01 -8.68158084e-04 3.99471502e+01] [ 1.46031823e-03 -3.40153697e-05 9.99998933e-01 7.00054601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:39.96, Z:0.01 [[ 7.89643872e-01 -6.13564320e-01 -1.17457260e-03 2.10857675e+02] [ 6.13563707e-01 7.89644745e-01 -8.68369456e-04 3.99621442e+01] [ 1.46029560e-03 -3.49724975e-05 9.99998933e-01 6.62766977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:39.98, Z:0.01 [[ 7.89344326e-01 -6.13949637e-01 -1.17446598e-03 2.10879924e+02] [ 6.13949023e-01 7.89345199e-01 -8.68513631e-04 3.99772481e+01] [ 1.46028271e-03 -3.55059363e-05 9.99998933e-01 6.04397387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93587156000004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:210.90, Y:39.99, Z:0.01 [[ 7.89383216e-01 -6.13899633e-01 -1.17436025e-03 2.10903955e+02] [ 6.13899020e-01 7.89384088e-01 -8.68656574e-04 3.99911966e+01] [ 1.46028925e-03 -3.52356866e-05 9.99998933e-01 8.27853787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:40.01, Z:0.01 [[ 7.89386939e-01 -6.13894846e-01 -1.17420640e-03 2.10928114e+02] [ 6.13894232e-01 7.89387811e-01 -8.68864485e-04 4.00063792e+01] [ 1.46029565e-03 -3.49682625e-05 9.99998933e-01 6.78661350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:40.02, Z:0.01 [[ 7.89870023e-01 -6.13273160e-01 -1.17405278e-03 2.10951007e+02] [ 6.13272545e-01 7.89870894e-01 -8.69072018e-04 4.00201684e+01] [ 1.46032866e-03 -3.35604028e-05 9.99998933e-01 5.91283047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:40.04, Z:0.01 [[ 7.90199550e-01 -6.12848507e-01 -1.17397881e-03 2.10973842e+02] [ 6.12847892e-01 7.90200421e-01 -8.69171932e-04 4.00356108e+01] [ 1.46034927e-03 -3.26511685e-05 9.99998933e-01 9.09000710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:40.05, Z:0.01 [[ 7.90705512e-01 -6.12195570e-01 -1.17381191e-03 2.10996427e+02] [ 6.12194954e-01 7.90706382e-01 -8.69397266e-04 4.00502981e+01] [ 1.46038173e-03 -3.11645195e-05 9.99998933e-01 7.40394589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:40.06, Z:0.01 [[ 7.91875681e-01 -6.10681200e-01 -1.17373955e-03 2.11022428e+02] [ 6.10680582e-01 7.91876550e-01 -8.69494945e-04 4.00640816e+01] [ 1.46044104e-03 -2.82480515e-05 9.99998933e-01 7.89168354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:40.08, Z:0.01 [[ 7.93012328e-01 -6.09204454e-01 -1.17496949e-03 2.11046016e+02] [ 6.09203837e-01 7.93013198e-01 -8.67835022e-04 4.00792736e+01] [ 1.46045527e-03 -2.75920479e-05 9.99998933e-01 8.58493042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.07, Y:40.09, Z:0.01 [[ 7.94189259e-01 -6.07669354e-01 -1.17349509e-03 2.11069187e+02] [ 6.07668732e-01 7.94190126e-01 -8.69824151e-04 4.00944833e+01] [ 1.46054370e-03 -2.22912772e-05 9.99998933e-01 8.70489830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17587156000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:211.09, Y:40.11, Z:0.01 [[ 7.96995145e-01 -6.03984571e-01 -1.17333211e-03 2.11092924e+02] [ 6.03983944e-01 7.96996009e-01 -8.70043952e-04 4.01097486e+01] [ 1.46063413e-03 -1.52529473e-05 9.99998933e-01 9.62072866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:40.13, Z:0.01 [[ 7.98403593e-01 -6.02121521e-01 -1.17316864e-03 2.11115872e+02] [ 6.02120892e-01 7.98404455e-01 -8.70264315e-04 4.01258592e+01] [ 1.46066794e-03 -1.15671920e-05 9.99998933e-01 8.49651078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:40.14, Z:0.01 [[ 8.01390933e-01 -5.98139781e-01 -1.17300410e-03 2.11137974e+02] [ 5.98139147e-01 8.01391791e-01 -8.70486039e-04 4.01422739e+01] [ 1.46070818e-03 -4.02005313e-06 9.99998933e-01 8.07990849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:40.16, Z:0.01 [[ 8.02592343e-01 -5.96526743e-01 -1.17284989e-03 2.11159629e+02] [ 5.96526107e-01 8.02593200e-01 -8.70693768e-04 4.01583639e+01] [ 1.46071346e-03 -8.23425339e-07 9.99998933e-01 6.96445233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:40.18, Z:0.01 [[ 8.03624402e-01 -5.95135653e-01 -1.17277801e-03 2.11182288e+02] [ 5.95135016e-01 8.03625258e-01 -8.70790576e-04 4.01753800e+01] [ 1.46071255e-03 1.82729846e-06 9.99998933e-01 7.53470471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:40.19, Z:0.01 [[ 8.05309213e-01 -5.92853857e-01 -1.17261187e-03 2.11204149e+02] [ 5.92853217e-01 8.05310067e-01 -8.71014245e-04 4.01922472e+01] [ 1.46070029e-03 6.24907855e-06 9.99998933e-01 5.42854665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.23, Y:40.21, Z:0.01 [[ 8.05721480e-01 -5.92293442e-01 -1.17256025e-03 2.11226477e+02] [ 5.92292801e-01 8.05722333e-01 -8.71083730e-04 4.02084337e+01] [ 1.46069516e-03 7.35187963e-06 9.99998933e-01 6.50313404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:40.22, Z:0.00 [[ 8.05705179e-01 -5.92315617e-01 -1.17239307e-03 2.11248945e+02] [ 5.92314976e-01 8.05706032e-01 -8.71308678e-04 4.02241932e+01] [ 1.46069390e-03 7.59194285e-06 9.99998933e-01 3.17592406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41587156000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:211.27, Y:40.24, Z:0.01 [[ 8.05217155e-01 -5.92978886e-01 -1.17227902e-03 2.11271607e+02] [ 5.92978245e-01 8.05218008e-01 -8.71462097e-04 4.02412320e+01] [ 1.46069880e-03 6.58027636e-06 9.99998933e-01 5.91073341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:40.26, Z:0.00 [[ 8.04440040e-01 -5.94032699e-01 -1.17211158e-03 2.11294815e+02] [ 5.94032060e-01 8.04440894e-01 -8.71687235e-04 4.02567346e+01] [ 1.46070521e-03 4.94825670e-06 9.99998933e-01 2.77383102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.32, Y:40.27, Z:0.01 [[ 8.03485441e-01 -5.95323250e-01 -1.17205953e-03 2.11318667e+02] [ 5.95322612e-01 8.03486296e-01 -8.71757218e-04 4.02736676e+01] [ 1.46071111e-03 2.69069095e-06 9.99998933e-01 5.24791555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:40.29, Z:0.01 [[ 8.01826945e-01 -5.97555166e-01 -1.17192015e-03 2.11342804e+02] [ 5.97554530e-01 8.01827801e-01 -8.71944548e-04 4.02899185e+01] [ 1.46071313e-03 -1.13756271e-06 9.99998933e-01 6.55158784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:40.31, Z:0.01 [[ 8.01069062e-01 -5.98570786e-01 -1.17177835e-03 2.11366579e+02] [ 5.98570150e-01 8.01069919e-01 -8.72135070e-04 4.03068480e+01] [ 1.46071096e-03 -2.75112155e-06 9.99998933e-01 7.91564342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.39, Y:40.32, Z:0.01 [[ 7.99855720e-01 -6.00191181e-01 -1.17163512e-03 2.11390261e+02] [ 6.00190547e-01 7.99856578e-01 -8.72327446e-04 4.03221786e+01] [ 1.46070330e-03 -5.46822596e-06 9.99998933e-01 1.14589914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:211.41, Y:40.34, Z:0.01 [[ 7.99355853e-01 -6.00856762e-01 -1.17158411e-03 2.11413667e+02] [ 6.00856128e-01 7.99356711e-01 -8.72395943e-04 4.03383427e+01] [ 1.46069863e-03 -6.59869200e-06 9.99998933e-01 1.23047762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:40.35, Z:0.01 [[ 7.98773063e-01 -6.01631300e-01 -1.17141706e-03 2.11436944e+02] [ 6.01630667e-01 7.98773922e-01 -8.72620200e-04 4.03545194e+01] [ 1.46069302e-03 -7.73491609e-06 9.99998933e-01 1.12079870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.46, Y:40.37, Z:0.01 [[ 7.98781578e-01 -6.01619996e-01 -1.17124662e-03 2.11458306e+02] [ 6.01619363e-01 7.98782436e-01 -8.72848910e-04 4.03702432e+01] [ 1.46069458e-03 -7.42901415e-06 9.99998933e-01 1.17005984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:40.39, Z:0.01 [[ 7.98762893e-01 -6.01644803e-01 -1.17113074e-03 2.11481168e+02] [ 6.01644170e-01 7.98763752e-01 -8.73004363e-04 4.03864643e+01] [ 1.46069532e-03 -7.28048955e-06 9.99998933e-01 1.11693476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.50, Y:40.40, Z:0.01 [[ 7.99096100e-01 -6.01202172e-01 -1.17096433e-03 2.11503498e+02] [ 6.01201538e-01 7.99096958e-01 -8.73227513e-04 4.04017273e+01] [ 1.46070031e-03 -6.19285350e-06 9.99998933e-01 1.12652131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:40.42, Z:0.01 [[ 7.99152781e-01 -6.01126827e-01 -1.17089503e-03 2.11526045e+02] [ 6.01126193e-01 7.99153638e-01 -8.73320417e-04 4.04177250e+01] [ 1.46070136e-03 -5.93923322e-06 9.99998933e-01 9.78659744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:40.43, Z:0.01 [[ 7.99241556e-01 -6.01008789e-01 -1.17080937e-03 2.11550343e+02] [ 6.01008154e-01 7.99242414e-01 -8.73435241e-04 4.04340366e+01] [ 1.46070277e-03 -5.58023881e-06 9.99998933e-01 7.85221047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:40.45, Z:0.01 [[ 7.99049089e-01 -6.01264653e-01 -1.17066936e-03 2.11572665e+02] [ 6.01264019e-01 7.99049946e-01 -8.73622863e-04 4.04503376e+01] [ 1.46070184e-03 -5.81381077e-06 9.99998933e-01 7.54342556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:40.47, Z:0.01 [[ 7.99036078e-01 -6.01281944e-01 -1.17050955e-03 2.11594803e+02] [ 6.01281309e-01 7.99036936e-01 -8.73836931e-04 4.04675027e+01] [ 1.46070273e-03 -5.57827815e-06 9.99998933e-01 7.67607082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:40.48, Z:0.01 [[ 7.98904383e-01 -6.01456912e-01 -1.17035039e-03 2.11616103e+02] [ 6.01456277e-01 7.98905240e-01 -8.74050039e-04 4.04839257e+01] [ 1.46070250e-03 -5.63218241e-06 9.99998933e-01 6.12021574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:40.50, Z:0.01 [[ 7.98619156e-01 -6.01835587e-01 -1.17027615e-03 2.11638901e+02] [ 6.01834953e-01 7.98620013e-01 -8.74149427e-04 4.04998985e+01] [ 1.46070019e-03 -6.20061624e-06 9.99998933e-01 6.67821348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:40.52, Z:0.01 [[ 7.98209926e-01 -6.02378240e-01 -1.17011311e-03 2.11661792e+02] [ 6.02377606e-01 7.98210784e-01 -8.74367614e-04 4.05160569e+01] [ 1.46069693e-03 -6.92102707e-06 9.99998933e-01 7.93820568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:40.53, Z:0.01 [[ 7.97769965e-01 -6.02960789e-01 -1.16994812e-03 2.11683819e+02] [ 6.02960155e-01 7.97770823e-01 -8.74588325e-04 4.05332444e+01] [ 1.46069294e-03 -7.71180338e-06 9.99998933e-01 9.85513665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:40.55, Z:0.01 [[ 7.97240915e-01 -6.03660132e-01 -1.16989689e-03 2.11706146e+02] [ 6.03659498e-01 7.97241774e-01 -8.74656846e-04 4.05503098e+01] [ 1.46068614e-03 -8.90714662e-06 9.99998933e-01 1.17764793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:40.57, Z:0.01 [[ 7.96549349e-01 -6.04572383e-01 -1.16973085e-03 2.11728819e+02] [ 6.04571750e-01 7.96550208e-01 -8.74878843e-04 4.05663177e+01] [ 1.46067694e-03 -1.03020576e-05 9.99998933e-01 1.24145259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:40.58, Z:0.01 [[ 7.95043513e-01 -6.06551271e-01 -1.16967927e-03 2.11752677e+02] [ 6.06550640e-01 7.95044374e-01 -8.74947807e-04 4.05805967e+01] [ 1.46064762e-03 -1.38481302e-05 9.99998933e-01 1.34125022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:40.60, Z:0.01 [[ 7.94117065e-01 -6.07763704e-01 -1.16962828e-03 2.11775698e+02] [ 6.07763074e-01 7.94117926e-01 -8.75015965e-04 4.05966876e+01] [ 1.46062573e-03 -1.59917679e-05 9.99998933e-01 1.44122768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:40.61, Z:0.01 [[ 7.93422554e-01 -6.08670094e-01 -1.16946432e-03 2.11799068e+02] [ 6.08669465e-01 7.93423415e-01 -8.75235042e-04 4.06129498e+01] [ 1.46060977e-03 -1.73859997e-05 9.99998933e-01 1.38954347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:40.63, Z:0.01 [[ 7.92485544e-01 -6.09889576e-01 -1.16930081e-03 2.11822841e+02] [ 6.09888948e-01 7.92486407e-01 -8.75453431e-04 4.06279183e+01] [ 1.46058492e-03 -1.93594527e-05 9.99998933e-01 1.21590268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:40.64, Z:0.01 [[ 7.92097583e-01 -6.10393358e-01 -1.16924774e-03 2.11844584e+02] [ 6.10392730e-01 7.92098446e-01 -8.75524305e-04 4.06439115e+01] [ 1.46057354e-03 -2.01996350e-05 9.99998933e-01 1.01198228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:40.66, Z:0.01 [[ 7.91811164e-01 -6.10764859e-01 -1.16916815e-03 2.11867646e+02] [ 6.10764232e-01 7.91812027e-01 -8.75630575e-04 4.06604845e+01] [ 1.46056579e-03 -2.07520232e-05 9.99998933e-01 1.00630791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.89, Y:40.67, Z:0.01 [[ 7.91554553e-01 -6.11097393e-01 -1.16900881e-03 2.11891701e+02] [ 6.11096765e-01 7.91555416e-01 -8.75843254e-04 4.06742405e+01] [ 1.46056078e-03 -2.10997868e-05 9.99998933e-01 1.05287622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:211.91, Y:40.69, Z:0.01 [[ 7.91442975e-01 -6.11241893e-01 -1.16884962e-03 2.11914365e+02] [ 6.11241266e-01 7.91443837e-01 -8.76055652e-04 4.06914682e+01] [ 1.46056074e-03 -2.11010281e-05 9.99998933e-01 1.05703656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:40.71, Z:0.01 [[ 7.91200018e-01 -6.11556347e-01 -1.16868964e-03 2.11937983e+02] [ 6.11555720e-01 7.91200881e-01 -8.76269014e-04 4.07066440e+01] [ 1.46055615e-03 -2.14147740e-05 9.99998933e-01 9.77048361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.96, Y:40.72, Z:0.01 [[ 7.91253820e-01 -6.11486735e-01 -1.16852802e-03 2.11960771e+02] [ 6.11486108e-01 7.91254682e-01 -8.76484482e-04 4.07216317e+01] [ 1.46056190e-03 -2.10169578e-05 9.99998933e-01 1.06822220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:40.74, Z:0.01 [[ 7.91334610e-01 -6.11382179e-01 -1.16844054e-03 2.11984832e+02] [ 6.11381551e-01 7.91335473e-01 -8.76601091e-04 4.07359512e+01] [ 1.46056673e-03 -2.06782068e-05 9.99998933e-01 1.05301020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.01, Y:40.75, Z:0.01 [[ 7.91413643e-01 -6.11279871e-01 -1.16828157e-03 2.12007799e+02] [ 6.11279242e-01 7.91414505e-01 -8.76812902e-04 4.07520077e+01] [ 1.46057306e-03 -2.02245812e-05 9.99998933e-01 1.41732273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:40.77, Z:0.02 [[ 7.91780823e-01 -6.10804194e-01 -1.16811342e-03 2.12032303e+02] [ 6.10803565e-01 7.91781684e-01 -8.77036861e-04 4.07656040e+01] [ 1.46058860e-03 -1.90668739e-05 9.99998933e-01 1.55028116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:40.78, Z:0.02 [[ 7.92056520e-01 -6.10446643e-01 -1.16806124e-03 2.12054683e+02] [ 6.10446013e-01 7.92057381e-01 -8.77106356e-04 4.07801075e+01] [ 1.46059815e-03 -1.83205169e-05 9.99998933e-01 1.66006153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:40.80, Z:0.02 [[ 7.92427768e-01 -6.09964645e-01 -1.16796562e-03 2.12077258e+02] [ 6.09964014e-01 7.92428629e-01 -8.77233662e-04 4.07951610e+01] [ 1.46061091e-03 -1.72726843e-05 9.99998933e-01 1.56157699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:40.81, Z:0.02 [[ 7.92985504e-01 -6.09239383e-01 -1.16787423e-03 2.12100251e+02] [ 6.09238752e-01 7.92986364e-01 -8.77355316e-04 4.08103358e+01] [ 1.46062775e-03 -1.57841892e-05 9.99998933e-01 1.77545935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:40.82, Z:0.02 [[ 7.94257552e-01 -6.07580099e-01 -1.16770795e-03 2.12123455e+02] [ 6.07579466e-01 7.94258411e-01 -8.77576564e-04 4.08238707e+01] [ 1.46065992e-03 -1.24535593e-05 9.99998933e-01 1.53511771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:40.84, Z:0.02 [[ 7.95076828e-01 -6.06507604e-01 -1.16754226e-03 2.12146986e+02] [ 6.06506969e-01 7.95077686e-01 -8.77796947e-04 4.08394949e+01] [ 1.46067732e-03 -1.02065045e-05 9.99998933e-01 1.58830611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:40.85, Z:0.01 [[ 7.96836733e-01 -6.04193560e-01 -1.16737697e-03 2.12170580e+02] [ 6.04192922e-01 7.96837588e-01 -8.78016705e-04 4.08534712e+01] [ 1.46070189e-03 -5.68494243e-06 9.99998933e-01 1.40385181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:40.87, Z:0.01 [[ 7.97771136e-01 -6.02959245e-01 -1.16731963e-03 2.12193005e+02] [ 6.02958606e-01 7.97771990e-01 -8.78092939e-04 4.08679667e+01] [ 1.46070916e-03 -3.32821421e-06 9.99998933e-01 1.35228735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:40.88, Z:0.01 [[ 7.98649240e-01 -6.01795670e-01 -1.16720890e-03 2.12216587e+02] [ 6.01795030e-01 7.98650093e-01 -8.78240101e-04 4.08838907e+01] [ 1.46071259e-03 -1.01472525e-06 9.99998933e-01 1.43318241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:40.90, Z:0.01 [[ 8.01034619e-01 -5.98616887e-01 -1.16704594e-03 2.12239694e+02] [ 5.98616242e-01 8.01035469e-01 -8.78456595e-04 4.08979664e+01] [ 1.46070414e-03 5.06148822e-06 9.99998933e-01 1.37039410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:40.91, Z:0.01 [[ 8.02234015e-01 -5.97008563e-01 -1.16695315e-03 2.12261572e+02] [ 5.97007916e-01 8.02234863e-01 -8.78579846e-04 4.09131838e+01] [ 1.46069019e-03 8.14636983e-06 9.99998933e-01 1.34528204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.29, Y:40.93, Z:0.02 [[ 8.04669327e-01 -5.93722084e-01 -1.16681575e-03 2.12285153e+02] [ 5.93721434e-01 8.04670173e-01 -8.78762284e-04 4.09284170e+01] [ 1.46064240e-03 1.43495374e-05 9.99998933e-01 1.72202674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:40.94, Z:0.01 [[ 8.05797043e-01 -5.92190649e-01 -1.16665361e-03 2.12307722e+02] [ 5.92189997e-01 8.05797887e-01 -8.78977492e-04 4.09440832e+01] [ 1.46060926e-03 1.73968678e-05 9.99998933e-01 1.47689232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:40.96, Z:0.02 [[ 8.06876202e-01 -5.90719420e-01 -1.16656269e-03 2.12330607e+02] [ 5.90718767e-01 8.06877045e-01 -8.79098136e-04 4.09599400e+01] [ 1.46057300e-03 2.02128910e-05 9.99998933e-01 1.65405746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:40.98, Z:0.02 [[ 8.08733239e-01 -5.88174453e-01 -1.16640146e-03 2.12353442e+02] [ 5.88173797e-01 8.08734080e-01 -8.79312013e-04 4.09750683e+01] [ 1.46049747e-03 2.50820791e-05 9.99998933e-01 1.61220507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:40.99, Z:0.02 [[ 8.09521820e-01 -5.87088632e-01 -1.16631529e-03 2.12375671e+02] [ 5.87087974e-01 8.09522660e-01 -8.79426290e-04 4.09919159e+01] [ 1.46045983e-03 2.71850909e-05 9.99998933e-01 1.79236691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:41.01, Z:0.01 [[ 8.11421565e-01 -5.84460165e-01 -1.16614320e-03 2.12397516e+02] [ 5.84459504e-01 8.11422402e-01 -8.79654428e-04 4.10084395e+01] [ 1.46035769e-03 3.22070973e-05 9.99998933e-01 1.47322169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:41.03, Z:0.01 [[ 8.11956200e-01 -5.83717201e-01 -1.16608756e-03 2.12419837e+02] [ 5.83716539e-01 8.11957036e-01 -8.79728178e-04 4.10258344e+01] [ 1.46032547e-03 3.36361545e-05 9.99998933e-01 1.35973255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:41.04, Z:0.01 [[ 8.12587237e-01 -5.82838419e-01 -1.16592915e-03 2.12441515e+02] [ 5.82837755e-01 8.12588073e-01 -8.79938075e-04 4.10420613e+01] [ 1.46028184e-03 3.54789222e-05 9.99998933e-01 1.28905987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:41.06, Z:0.01 [[ 8.13447886e-01 -5.81636637e-01 -1.16584713e-03 2.12463648e+02] [ 5.81635972e-01 8.13448721e-01 -8.80046727e-04 4.10596382e+01] [ 1.46022428e-03 3.77735204e-05 9.99998933e-01 1.21467041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:41.08, Z:0.01 [[ 8.13718978e-01 -5.81257315e-01 -1.16569055e-03 2.12484356e+02] [ 5.81256650e-01 8.13719812e-01 -8.80254086e-04 4.10762780e+01] [ 1.46019962e-03 3.87140723e-05 9.99998933e-01 1.26765675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:41.09, Z:0.01 [[ 8.14046385e-01 -5.80798695e-01 -1.16560384e-03 2.12505669e+02] [ 5.80798030e-01 8.14047218e-01 -8.80368892e-04 4.10938481e+01] [ 1.46017366e-03 3.96807028e-05 9.99998933e-01 1.25551662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:41.11, Z:0.02 [[ 8.14484538e-01 -5.80184091e-01 -1.16553639e-03 2.12527447e+02] [ 5.80183424e-01 8.14485371e-01 -8.80458172e-04 4.11131664e+01] [ 1.46014016e-03 4.08946732e-05 9.99998933e-01 1.78309443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:41.13, Z:0.02 [[ 8.14355636e-01 -5.80365005e-01 -1.16539131e-03 2.12548709e+02] [ 5.80364339e-01 8.14356469e-01 -8.80650166e-04 4.11314885e+01] [ 1.46014249e-03 4.08108710e-05 9.99998933e-01 1.77170022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:41.15, Z:0.01 [[ 8.14382125e-01 -5.80327835e-01 -1.16522280e-03 2.12569161e+02] [ 5.80327168e-01 8.14382958e-01 -8.80873072e-04 4.11512348e+01] [ 1.46013275e-03 4.11568371e-05 9.99998933e-01 1.47371330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:41.17, Z:0.02 [[ 8.14239117e-01 -5.80528468e-01 -1.16517045e-03 2.12590225e+02] [ 5.80527801e-01 8.14239950e-01 -8.80942307e-04 4.11697278e+01] [ 1.46014042e-03 4.08838467e-05 9.99998933e-01 1.51498548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:41.19, Z:0.02 [[ 8.13888876e-01 -5.81019397e-01 -1.16500428e-03 2.12609771e+02] [ 5.81018731e-01 8.13889709e-01 -8.81162013e-04 4.11894046e+01] [ 1.46015721e-03 4.02786556e-05 9.99998933e-01 1.53567689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:41.21, Z:0.02 [[ 8.13305618e-01 -5.81835557e-01 -1.16493186e-03 2.12630357e+02] [ 5.81834891e-01 8.13306451e-01 -8.81257742e-04 4.12078896e+01] [ 1.46019368e-03 3.89338722e-05 9.99998933e-01 1.62814617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:41.23, Z:0.02 [[ 8.12628117e-01 -5.82781423e-01 -1.16476720e-03 2.12651346e+02] [ 5.82780757e-01 8.12628951e-01 -8.81475320e-04 4.12259904e+01] [ 1.46023099e-03 3.75077196e-05 9.99998933e-01 1.77415523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:212.67, Y:41.25, Z:0.02 [[ 8.11095276e-01 -5.84912896e-01 -1.16459729e-03 2.12670171e+02] [ 5.84912233e-01 8.11096112e-01 -8.81699746e-04 4.12462004e+01] [ 1.46031788e-03 3.39552983e-05 9.99998933e-01 1.95444373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:41.26, Z:0.02 [[ 8.09890893e-01 -5.86579394e-01 -1.16452628e-03 2.12690065e+02] [ 5.86578732e-01 8.09891730e-01 -8.81793524e-04 4.12646367e+01] [ 1.46038211e-03 3.10701972e-05 9.99998933e-01 1.88564449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.71, Y:41.28, Z:0.02 [[ 8.06845815e-01 -5.90760928e-01 -1.16445560e-03 2.12711477e+02] [ 5.90760270e-01 8.06846655e-01 -8.81886849e-04 4.12848165e+01] [ 1.46052140e-03 2.36326079e-05 9.99998933e-01 1.99829620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.73, Y:41.30, Z:0.02 [[ 8.05268649e-01 -5.92908970e-01 -1.16431137e-03 2.12732112e+02] [ 5.92908315e-01 8.05269491e-01 -8.82077226e-04 4.13018602e+01] [ 1.46057592e-03 1.99792427e-05 9.99998933e-01 1.78706355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:41.32, Z:0.02 [[ 8.03851576e-01 -5.94828789e-01 -1.16419898e-03 2.12753326e+02] [ 5.94828135e-01 8.03852419e-01 -8.82225543e-04 4.13196960e+01] [ 1.46061732e-03 1.66800858e-05 9.99998933e-01 1.82087628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:41.34, Z:0.02 [[ 8.01785471e-01 -5.97610830e-01 -1.16405158e-03 2.12774898e+02] [ 5.97610179e-01 8.01786315e-01 -8.82419984e-04 4.13396639e+01] [ 1.46066437e-03 1.18624492e-05 9.99998933e-01 2.01466497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.80, Y:41.36, Z:0.01 [[ 8.01120572e-01 -5.98501859e-01 -1.16390229e-03 2.12796187e+02] [ 5.98501208e-01 8.01121417e-01 -8.82616852e-04 4.13575326e+01] [ 1.46067488e-03 1.04855902e-05 9.99998933e-01 1.44429660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.82, Y:41.38, Z:0.02 [[ 8.00784728e-01 -5.98951137e-01 -1.16384929e-03 2.12818014e+02] [ 5.98950486e-01 8.00785574e-01 -8.82686731e-04 4.13760080e+01] [ 1.46067994e-03 9.75395461e-06 9.99998933e-01 1.78207670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:41.40, Z:0.02 [[ 8.00468278e-01 -5.99373991e-01 -1.16370098e-03 2.12837455e+02] [ 5.99373341e-01 8.00469124e-01 -8.82882212e-04 4.13960123e+01] [ 1.46068334e-03 9.22785771e-06 9.99998933e-01 1.54553053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:212.86, Y:41.41, Z:0.01 [[ 8.00300346e-01 -5.99598200e-01 -1.16364828e-03 2.12858190e+02] [ 5.99597550e-01 8.00301192e-01 -8.82951673e-04 4.14141460e+01] [ 1.46068534e-03 8.90587228e-06 9.99998933e-01 1.20227753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:41.43, Z:0.02 [[ 7.99140934e-01 -6.01142590e-01 -1.16356026e-03 2.12878389e+02] [ 6.01141941e-01 7.99141781e-01 -8.83067645e-04 4.14331301e+01] [ 1.46069919e-03 6.23062831e-06 9.99998933e-01 1.53379870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:41.45, Z:0.01 [[ 7.98246037e-01 -6.02330401e-01 -1.16339191e-03 2.12898842e+02] [ 6.02329753e-01 7.98246884e-01 -8.83289390e-04 4.14504566e+01] [ 1.46070602e-03 4.33669528e-06 9.99998933e-01 1.29236007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:41.47, Z:0.01 [[ 7.96958253e-01 -6.04033269e-01 -1.16329963e-03 2.12920173e+02] [ 6.04032623e-01 7.96959102e-01 -8.83410901e-04 4.14683189e+01] [ 1.46071180e-03 1.37068192e-06 9.99998933e-01 1.38514121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:41.49, Z:0.02 [[ 7.94209867e-01 -6.07642439e-01 -1.16314311e-03 2.12942217e+02] [ 6.07641796e-01 7.94210719e-01 -8.83616932e-04 4.14864747e+01] [ 1.46070388e-03 -4.99708396e-06 9.99998933e-01 1.62587815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.96, Y:41.50, Z:0.01 [[ 7.92916437e-01 -6.09329280e-01 -1.16300651e-03 2.12963384e+02] [ 6.09328639e-01 7.92917290e-01 -8.83796696e-04 4.15032090e+01] [ 1.46069117e-03 -7.87624453e-06 9.99998933e-01 1.48336461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:41.52, Z:0.02 [[ 7.90948032e-01 -6.11882226e-01 -1.16292049e-03 2.12984265e+02] [ 6.11881587e-01 7.90948887e-01 -8.83909861e-04 4.15218293e+01] [ 1.46065940e-03 -1.24428714e-05 9.99998933e-01 1.73279634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.01, Y:41.54, Z:0.02 [[ 7.90256994e-01 -6.12774454e-01 -1.16276664e-03 2.13005294e+02] [ 6.12773817e-01 7.90257849e-01 -8.84112199e-04 4.15388374e+01] [ 1.46064684e-03 -1.38371049e-05 9.99998933e-01 1.61937313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.03, Y:41.56, Z:0.02 [[ 7.89693094e-01 -6.13500990e-01 -1.16266393e-03 2.13027583e+02] [ 6.13500353e-01 7.89693950e-01 -8.84247247e-04 4.15565255e+01] [ 1.46063524e-03 -1.50107906e-05 9.99998933e-01 2.07865359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.05, Y:41.57, Z:0.02 [[ 7.89012428e-01 -6.14376136e-01 -1.16249798e-03 2.13048839e+02] [ 6.14375500e-01 7.89013284e-01 -8.84465373e-04 4.15726621e+01] [ 1.46062077e-03 -1.63561042e-05 9.99998933e-01 2.14413678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:41.59, Z:0.02 [[ 7.88409228e-01 -6.15150013e-01 -1.16238482e-03 2.13071898e+02] [ 6.15149377e-01 7.88410085e-01 -8.84614058e-04 4.15905827e+01] [ 1.46060627e-03 -1.76024133e-05 9.99998933e-01 2.02643308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.09, Y:41.61, Z:0.02 [[ 7.88042398e-01 -6.15619873e-01 -1.16223830e-03 2.13093702e+02] [ 6.15619237e-01 7.88043255e-01 -8.84806529e-04 4.16060410e+01] [ 1.46059853e-03 -1.82311941e-05 9.99998933e-01 2.05467195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:41.62, Z:0.02 [[ 7.87753269e-01 -6.15989802e-01 -1.16216541e-03 2.13115323e+02] [ 6.15989167e-01 7.87754126e-01 -8.84902255e-04 4.16220993e+01] [ 1.46059136e-03 -1.87966573e-05 9.99998933e-01 2.03475392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.14, Y:41.64, Z:0.02 [[ 7.87726501e-01 -6.16024033e-01 -1.16207150e-03 2.13137859e+02] [ 6.16023397e-01 7.87727358e-01 -8.85025558e-04 4.16385281e+01] [ 1.46059253e-03 -1.87051471e-05 9.99998933e-01 2.30141398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:41.66, Z:0.02 [[ 7.88599692e-01 -6.14905826e-01 -1.16190344e-03 2.13161417e+02] [ 6.14905189e-01 7.88600548e-01 -8.85246142e-04 4.16555342e+01] [ 1.46062070e-03 -1.63556187e-05 9.99998933e-01 2.37546746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:213.18, Y:41.67, Z:0.02 [[ 7.89476439e-01 -6.13779767e-01 -1.16175328e-03 2.13183678e+02] [ 6.13779128e-01 7.89477294e-01 -8.85443162e-04 4.16716715e+01] [ 1.46064493e-03 -1.40233998e-05 9.99998933e-01 2.47996966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:213.21, Y:41.69, Z:0.02 [[ 7.91369660e-01 -6.11336823e-01 -1.16158187e-03 2.13205722e+02] [ 6.11336182e-01 7.91370513e-01 -8.85667965e-04 4.16872762e+01] [ 1.46068308e-03 -9.22627075e-06 9.99998933e-01 2.27257593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:41.70, Z:0.02 [[ 7.92380283e-01 -6.10026343e-01 -1.16150735e-03 2.13228169e+02] [ 6.10025700e-01 7.92381134e-01 -8.85765692e-04 4.17042764e+01] [ 1.46069691e-03 -6.68606316e-06 9.99998933e-01 2.12451587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:41.72, Z:0.02 [[ 7.93535579e-01 -6.08522749e-01 -1.16134498e-03 2.13250110e+02] [ 6.08522104e-01 7.93536429e-01 -8.85978523e-04 4.17212110e+01] [ 1.46070763e-03 -3.64861095e-06 9.99998933e-01 2.16299283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:41.74, Z:0.02 [[ 7.95972493e-01 -6.05331679e-01 -1.16118795e-03 2.13272989e+02] [ 6.05331031e-01 7.95973340e-01 -8.86184285e-04 4.17384877e+01] [ 1.46071007e-03 2.47521687e-06 9.99998933e-01 2.08310696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:41.76, Z:0.02 [[ 7.95854104e-01 -6.05487322e-01 -1.16103608e-03 2.13295502e+02] [ 6.05486674e-01 7.95854951e-01 -8.86383208e-04 4.17559084e+01] [ 1.46071011e-03 2.43983831e-06 9.99998933e-01 2.08726692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:41.77, Z:0.02 [[ 7.96845709e-01 -6.04181735e-01 -1.16086270e-03 2.13316690e+02] [ 6.04181084e-01 7.96846554e-01 -8.86610218e-04 4.17726352e+01] [ 1.46070315e-03 5.12026059e-06 9.99998933e-01 1.95236198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:41.79, Z:0.02 [[ 7.98702110e-01 -6.01725513e-01 -1.16078736e-03 2.13338920e+02] [ 6.01724859e-01 7.98702953e-01 -8.86708846e-04 4.17899463e+01] [ 1.46067963e-03 9.74161241e-06 9.99998933e-01 1.97661476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.36, Y:41.81, Z:0.02 [[ 7.99655312e-01 -6.00458187e-01 -1.16063221e-03 2.13361463e+02] [ 6.00457532e-01 7.99656155e-01 -8.86911879e-04 4.18073325e+01] [ 1.46066019e-03 1.23134416e-05 9.99998933e-01 2.12446071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:41.82, Z:0.02 [[ 8.00550864e-01 -5.99263688e-01 -1.16047977e-03 2.13383483e+02] [ 5.99263031e-01 8.00551705e-01 -8.87111297e-04 4.18248604e+01] [ 1.46063765e-03 1.47450901e-05 9.99998933e-01 2.07125433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.40, Y:41.84, Z:0.02 [[ 8.02656694e-01 -5.96440178e-01 -1.16042537e-03 2.13404784e+02] [ 5.96439518e-01 8.02657532e-01 -8.87182447e-04 4.18429034e+01] [ 1.46057542e-03 1.99793790e-05 9.99998933e-01 1.90759566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.43, Y:41.86, Z:0.02 [[ 8.03474153e-01 -5.95338508e-01 -1.16037227e-03 2.13426247e+02] [ 5.95337848e-01 8.03474990e-01 -8.87251902e-04 4.18602368e+01] [ 1.46054532e-03 2.20704427e-05 9.99998933e-01 2.25837305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:41.88, Z:0.02 [[ 8.04991645e-01 -5.93285011e-01 -1.16020183e-03 2.13446832e+02] [ 5.93284348e-01 8.04992481e-01 -8.87474715e-04 4.18784336e+01] [ 1.46047920e-03 2.60801450e-05 9.99998933e-01 2.16014441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.47, Y:41.90, Z:0.02 [[ 8.05304853e-01 -5.92859805e-01 -1.16014872e-03 2.13468067e+02] [ 5.92859141e-01 8.05305688e-01 -8.87544138e-04 4.18964005e+01] [ 1.46046361e-03 2.69388275e-05 9.99998933e-01 2.45449463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.49, Y:41.91, Z:0.03 [[ 8.05418937e-01 -5.92704809e-01 -1.15998109e-03 2.13489530e+02] [ 5.92704145e-01 8.05419772e-01 -8.87763166e-04 4.19148705e+01] [ 1.46045320e-03 2.74956638e-05 9.99998933e-01 2.54833438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.51, Y:41.93, Z:0.03 [[ 8.05106685e-01 -5.93128891e-01 -1.15981167e-03 2.13510785e+02] [ 5.93128227e-01 8.05107520e-01 -8.87984448e-04 4.19328037e+01] [ 1.46046233e-03 2.70051738e-05 9.99998933e-01 2.61852336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.53, Y:41.95, Z:0.02 [[ 8.04738253e-01 -5.93628672e-01 -1.15964179e-03 2.13531694e+02] [ 5.93628008e-01 8.04739088e-01 -8.88206248e-04 4.19508193e+01] [ 1.46047377e-03 2.63776988e-05 9.99998933e-01 2.37810537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:41.97, Z:0.02 [[ 8.03839362e-01 -5.94845304e-01 -1.15957080e-03 2.13551627e+02] [ 5.94844642e-01 8.03840198e-01 -8.88298914e-04 4.19687069e+01] [ 1.46051006e-03 2.42851544e-05 9.99998933e-01 2.11500607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:213.57, Y:41.99, Z:0.03 [[ 8.03408002e-01 -5.95427777e-01 -1.15943881e-03 2.13574507e+02] [ 5.95427115e-01 8.03408838e-01 -8.88471156e-04 4.19865348e+01] [ 1.46052380e-03 2.34435288e-05 9.99998933e-01 2.50687197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:42.01, Z:0.02 [[ 8.02483013e-01 -5.96673839e-01 -1.15929182e-03 2.13596669e+02] [ 5.96673178e-01 8.02483850e-01 -8.88662908e-04 4.20051524e+01] [ 1.46055488e-03 2.14185514e-05 9.99998933e-01 2.43450357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:42.02, Z:0.02 [[ 8.02007727e-01 -5.97312534e-01 -1.15914560e-03 2.13617539e+02] [ 5.97311873e-01 8.02008564e-01 -8.88853604e-04 4.20223224e+01] [ 1.46056809e-03 2.04960314e-05 9.99998933e-01 2.41647492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:213.64, Y:42.04, Z:0.02 [[ 8.01552962e-01 -5.97922659e-01 -1.15905400e-03 2.13639096e+02] [ 5.97921998e-01 8.01553800e-01 -8.88973025e-04 4.20403779e+01] [ 1.46058125e-03 1.95350763e-05 9.99998933e-01 2.49184839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:42.06, Z:0.03 [[ 8.00952943e-01 -5.98726181e-01 -1.15899851e-03 2.13660327e+02] [ 5.98725521e-01 8.00953782e-01 -8.89045362e-04 4.20602756e+01] [ 1.46059898e-03 1.81615103e-05 9.99998933e-01 2.63563165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:42.08, Z:0.03 [[ 8.00607215e-01 -5.99188404e-01 -1.15885105e-03 2.13681972e+02] [ 5.99187745e-01 8.00608054e-01 -8.89237533e-04 4.20783973e+01] [ 1.46060630e-03 1.75606364e-05 9.99998933e-01 2.69001093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:42.10, Z:0.03 [[ 8.00335200e-01 -5.99551687e-01 -1.15868204e-03 2.13703527e+02] [ 5.99551027e-01 8.00336039e-01 -8.89457705e-04 4.20956379e+01] [ 1.46061086e-03 1.71753042e-05 9.99998933e-01 2.62780016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:42.11, Z:0.03 [[ 7.99581467e-01 -6.00556521e-01 -1.15860290e-03 2.13725592e+02] [ 6.00555862e-01 7.99582307e-01 -8.89560781e-04 4.21133754e+01] [ 1.46062990e-03 1.54705525e-05 9.99998933e-01 2.88654357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:42.13, Z:0.03 [[ 7.99069983e-01 -6.01236909e-01 -1.15843006e-03 2.13746397e+02] [ 6.01236251e-01 7.99070822e-01 -8.89785806e-04 4.21307178e+01] [ 1.46063973e-03 1.45109835e-05 9.99998933e-01 2.87465397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.77, Y:42.15, Z:0.03 [[ 7.98116928e-01 -6.02501475e-01 -1.15835482e-03 2.13767116e+02] [ 6.02500818e-01 7.98117769e-01 -8.89883744e-04 4.21481267e+01] [ 1.46065983e-03 1.23215558e-05 9.99998933e-01 2.75597403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:42.17, Z:0.03 [[ 7.97498437e-01 -6.03319899e-01 -1.15828053e-03 2.13789474e+02] [ 6.03319243e-01 7.97499278e-01 -8.89980428e-04 4.21651174e+01] [ 1.46067079e-03 1.09450678e-05 9.99998933e-01 2.76328379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:42.18, Z:0.03 [[ 7.96762982e-01 -6.04290832e-01 -1.15811239e-03 2.13812100e+02] [ 6.04290176e-01 7.96763823e-01 -8.90199175e-04 4.21821987e+01] [ 1.46068125e-03 9.44181128e-06 9.99998933e-01 2.85159742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:42.20, Z:0.03 [[ 7.95437885e-01 -6.06034018e-01 -1.15793990e-03 2.13834513e+02] [ 6.06033363e-01 7.95438728e-01 -8.90423481e-04 4.21989232e+01] [ 1.46069716e-03 6.52635681e-06 9.99998933e-01 2.91098731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:42.22, Z:0.03 [[ 7.94953146e-01 -6.06669725e-01 -1.15776683e-03 2.13856615e+02] [ 6.06669072e-01 7.94953989e-01 -8.90648453e-04 4.22155097e+01] [ 1.46070082e-03 5.64245881e-06 9.99998933e-01 2.93491970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:42.23, Z:0.03 [[ 7.94416863e-01 -6.07371803e-01 -1.15771303e-03 2.13879545e+02] [ 6.07371150e-01 7.94417707e-01 -8.90718388e-04 4.22323244e+01] [ 1.46070496e-03 4.44021543e-06 9.99998933e-01 3.04795168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.90, Y:42.25, Z:0.03 [[ 7.94436802e-01 -6.07345723e-01 -1.15754389e-03 2.13902137e+02] [ 6.07345069e-01 7.94437646e-01 -8.90938145e-04 4.22494126e+01] [ 1.46070391e-03 4.76547972e-06 9.99998933e-01 3.08156318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:213.92, Y:42.27, Z:0.03 [[ 7.94902816e-01 -6.06735671e-01 -1.15739405e-03 2.13923787e+02] [ 6.06735016e-01 7.94903658e-01 -8.91132745e-04 4.22660759e+01] [ 1.46069879e-03 6.13242866e-06 9.99998933e-01 2.96758662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:42.28, Z:0.03 [[ 7.96054096e-01 -6.05224368e-01 -1.15731982e-03 2.13946116e+02] [ 6.05223712e-01 7.96054938e-01 -8.91229146e-04 4.22841655e+01] [ 1.46068375e-03 9.02921600e-06 9.99998933e-01 3.03818814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:42.30, Z:0.03 [[ 7.96648439e-01 -6.04441830e-01 -1.15717235e-03 2.13967671e+02] [ 6.04441173e-01 7.96649279e-01 -8.91420576e-04 4.23007788e+01] [ 1.46067240e-03 1.07061978e-05 9.99998933e-01 2.93116708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:42.32, Z:0.03 [[ 7.97132779e-01 -6.03802943e-01 -1.15709874e-03 2.13990003e+02] [ 6.03802285e-01 7.97133619e-01 -8.91516116e-04 4.23180956e+01] [ 1.46066236e-03 1.19978563e-05 9.99998933e-01 2.98999634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:42.33, Z:0.03 [[ 7.98145249e-01 -6.02463960e-01 -1.15693061e-03 2.14011679e+02] [ 6.02463300e-01 7.98146087e-01 -8.91734247e-04 4.23345853e+01] [ 1.46063738e-03 1.47252199e-05 9.99998933e-01 3.05021997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:42.35, Z:0.03 [[ 7.98530383e-01 -6.01953395e-01 -1.15681569e-03 2.14032914e+02] [ 6.01952734e-01 7.98531221e-01 -8.91883302e-04 4.23514633e+01] [ 1.46062563e-03 1.58475470e-05 9.99998933e-01 3.02182162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.05, Y:42.37, Z:0.03 [[ 7.99183803e-01 -6.01085610e-01 -1.15672296e-03 2.14054839e+02] [ 6.01084949e-01 7.99184640e-01 -8.92003547e-04 4.23696205e+01] [ 1.46060572e-03 1.75860232e-05 9.99998933e-01 3.24651058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.08, Y:42.39, Z:0.03 [[ 7.99375335e-01 -6.00830872e-01 -1.15655570e-03 2.14076793e+02] [ 6.00830210e-01 7.99376171e-01 -8.92220364e-04 4.23871454e+01] [ 1.46059661e-03 1.83253483e-05 9.99998933e-01 3.29939409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.10, Y:42.40, Z:0.03 [[ 7.99346121e-01 -6.00869738e-01 -1.15648295e-03 2.14098950e+02] [ 6.00869076e-01 7.99346957e-01 -8.92314658e-04 4.24048529e+01] [ 1.46059600e-03 1.83734215e-05 9.99998933e-01 3.38762695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:214.12, Y:42.42, Z:0.03 [[ 7.99313965e-01 -6.00912512e-01 -1.15631857e-03 2.14121063e+02] [ 6.00911850e-01 7.99314802e-01 -8.92527618e-04 4.24226745e+01] [ 1.46059356e-03 1.85642597e-05 9.99998933e-01 3.41301877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.14, Y:42.44, Z:0.03 [[ 7.99161005e-01 -6.01115922e-01 -1.15615415e-03 2.14141982e+02] [ 6.01115259e-01 7.99161841e-01 -8.92740548e-04 4.24413941e+01] [ 1.46059484e-03 1.84615313e-05 9.99998933e-01 3.17974726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.16, Y:42.46, Z:0.03 [[ 7.98681688e-01 -6.01752628e-01 -1.15606429e-03 2.14163734e+02] [ 6.01751966e-01 7.98682524e-01 -8.92856902e-04 4.24589883e+01] [ 1.46060733e-03 1.74445000e-05 9.99998933e-01 3.17371101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.19, Y:42.48, Z:0.03 [[ 7.98293811e-01 -6.02267096e-01 -1.15590237e-03 2.14185923e+02] [ 6.02266434e-01 7.98294648e-01 -8.93066469e-04 4.24767384e+01] [ 1.46061523e-03 1.67682334e-05 9.99998933e-01 3.21311082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:214.21, Y:42.49, Z:0.03 [[ 7.97907287e-01 -6.02779085e-01 -1.15573625e-03 2.14206914e+02] [ 6.02778424e-01 7.97908124e-01 -8.93281401e-04 4.24943401e+01] [ 1.46062269e-03 1.61028634e-05 9.99998933e-01 3.07671668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.23, Y:42.51, Z:0.03 [[ 7.97375167e-01 -6.03482814e-01 -1.15564804e-03 2.14229355e+02] [ 6.03482153e-01 7.97376004e-01 -8.93395506e-04 4.25128433e+01] [ 1.46063485e-03 1.49584233e-05 9.99998933e-01 2.96521168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.25, Y:42.53, Z:0.03 [[ 7.95825063e-01 -6.05525502e-01 -1.15550704e-03 2.14250985e+02] [ 6.05524843e-01 7.95825902e-01 -8.93577839e-04 4.25312843e+01] [ 1.46066660e-03 1.14434224e-05 9.99998933e-01 2.96902084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.27, Y:42.55, Z:0.03 [[ 7.93119576e-01 -6.09064860e-01 -1.15535013e-03 2.14272402e+02] [ 6.09064204e-01 7.93120418e-01 -8.93780672e-04 4.25485823e+01] [ 1.46070217e-03 5.19254254e-06 9.99998933e-01 2.91909226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.29, Y:42.57, Z:0.03 [[ 7.91300631e-01 -6.11426183e-01 -1.15518096e-03 2.14294510e+02] [ 6.11425529e-01 7.91301474e-01 -8.93999260e-04 4.25650539e+01] [ 1.46071095e-03 1.11504829e-06 9.99998933e-01 2.90202775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.32, Y:42.58, Z:0.03 [[ 7.89296946e-01 -6.14010584e-01 -1.15501153e-03 2.14316634e+02] [ 6.14009933e-01 7.89297791e-01 -8.94218103e-04 4.25812036e+01] [ 1.46070743e-03 -3.38493548e-06 9.99998933e-01 3.02486226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:214.34, Y:42.60, Z:0.03 [[ 7.85303395e-01 -6.19110042e-01 -1.15493267e-03 2.14339173e+02] [ 6.19109396e-01 7.85304244e-01 -8.94319941e-04 4.25967945e+01] [ 1.46065599e-03 -1.27171822e-05 9.99998933e-01 2.96538898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:214.36, Y:42.61, Z:0.03 [[ 7.83406202e-01 -6.21508962e-01 -1.15485956e-03 2.14361790e+02] [ 6.21508318e-01 7.83407053e-01 -8.94414337e-04 4.26131428e+01] [ 1.46061165e-03 -1.70650869e-05 9.99998933e-01 3.01936505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:42.63, Z:0.03 [[ 7.80430149e-01 -6.25241912e-01 -1.15470464e-03 2.14386408e+02] [ 6.25241273e-01 7.80431003e-01 -8.94614307e-04 4.26281126e+01] [ 1.46051766e-03 -2.37850197e-05 9.99998933e-01 3.34742578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.41, Y:42.64, Z:0.03 [[ 7.79428659e-01 -6.26489930e-01 -1.15455898e-03 2.14409483e+02] [ 6.26489292e-01 7.79429514e-01 -8.94802251e-04 4.26443866e+01] [ 1.46048194e-03 -2.58843177e-05 9.99998933e-01 3.38324322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:42.66, Z:0.03 [[ 7.78817097e-01 -6.27250027e-01 -1.15439041e-03 2.14432512e+02] [ 6.27249389e-01 7.78817952e-01 -8.95019671e-04 4.26605393e+01] [ 1.46046109e-03 -2.70340559e-05 9.99998933e-01 3.45106038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73587156000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:214.46, Y:42.68, Z:0.04 [[ 7.78599729e-01 -6.27519824e-01 -1.15422312e-03 2.14456622e+02] [ 6.27519186e-01 7.78600584e-01 -8.95235350e-04 4.26759755e+01] [ 1.46045673e-03 -2.72671542e-05 9.99998933e-01 3.64768203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:214.48, Y:42.69, Z:0.04 [[ 7.78970070e-01 -6.27060044e-01 -1.15407337e-03 2.14478801e+02] [ 6.27059405e-01 7.78970924e-01 -8.95428358e-04 4.26912494e+01] [ 1.46047695e-03 -2.61606708e-05 9.99998933e-01 3.60138782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.50, Y:42.71, Z:0.04 [[ 7.80230707e-01 -6.25490778e-01 -1.15399914e-03 2.14502146e+02] [ 6.25490137e-01 7.80231560e-01 -8.95524014e-04 4.27071930e+01] [ 1.46052856e-03 -2.30997462e-05 9.99998933e-01 3.75649607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.53, Y:42.72, Z:0.04 [[ 7.80944106e-01 -6.24599850e-01 -1.15383191e-03 2.14525209e+02] [ 6.24599208e-01 7.80944958e-01 -8.95739427e-04 4.27236614e+01] [ 1.46055792e-03 -2.11600712e-05 9.99998933e-01 3.69471980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.55, Y:42.74, Z:0.04 [[ 7.81784216e-01 -6.23548000e-01 -1.15367386e-03 2.14547477e+02] [ 6.23547357e-01 7.81785067e-01 -8.95942939e-04 4.27392351e+01] [ 1.46058843e-03 -1.89362406e-05 9.99998933e-01 3.67601589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.57, Y:42.75, Z:0.04 [[ 7.83784738e-01 -6.21031523e-01 -1.15358177e-03 2.14570336e+02] [ 6.21030877e-01 7.83785587e-01 -8.96061503e-04 4.27540425e+01] [ 1.46064320e-03 -1.40905657e-05 9.99998933e-01 3.65111505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:42.77, Z:0.04 [[ 7.85740134e-01 -6.18555665e-01 -1.15348852e-03 2.14593672e+02] [ 6.18555016e-01 7.85740981e-01 -8.96181528e-04 4.27703413e+01] [ 1.46068136e-03 -9.33031404e-06 9.99998933e-01 3.72956627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.62, Y:42.79, Z:0.04 [[ 7.86832459e-01 -6.17165578e-01 -1.15332267e-03 2.14616321e+02] [ 6.17164927e-01 7.86833304e-01 -8.96394909e-04 4.27875242e+01] [ 1.46069677e-03 -6.47769150e-06 9.99998933e-01 3.73702342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.64, Y:42.80, Z:0.04 [[ 7.88009312e-01 -6.15662240e-01 -1.15315716e-03 2.14638517e+02] [ 6.15661587e-01 7.88010156e-01 -8.96607780e-04 4.28048190e+01] [ 1.46070711e-03 -3.41928626e-06 9.99998933e-01 3.75139016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.66, Y:42.82, Z:0.04 [[ 7.90405257e-01 -6.12583220e-01 -1.15299161e-03 2.14659581e+02] [ 6.12582563e-01 7.90406098e-01 -8.96820621e-04 4.28212091e+01] [ 1.46070886e-03 2.54917944e-06 9.99998933e-01 3.66091639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.68, Y:42.84, Z:0.04 [[ 7.91445173e-01 -6.11239077e-01 -1.15290281e-03 2.14681043e+02] [ 6.11238419e-01 7.91446012e-01 -8.96934764e-04 4.28375420e+01] [ 1.46070191e-03 5.17620089e-06 9.99998933e-01 3.60309539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.70, Y:42.86, Z:0.04 [[ 7.91335540e-01 -6.11381005e-01 -1.15281174e-03 2.14703389e+02] [ 6.11380347e-01 7.91336380e-01 -8.97051786e-04 4.28551800e+01] [ 1.46070230e-03 5.06251558e-06 9.99998933e-01 3.60725492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:42.87, Z:0.04 [[ 7.92771920e-01 -6.09517313e-01 -1.15265083e-03 2.14725098e+02] [ 6.09516652e-01 7.92772758e-01 -8.97258503e-04 4.28720926e+01] [ 1.46068477e-03 8.76147003e-06 9.99998933e-01 3.64643900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.75, Y:42.89, Z:0.04 [[ 7.93195533e-01 -6.08965941e-01 -1.15248607e-03 2.14746537e+02] [ 6.08965280e-01 7.93196371e-01 -8.97470081e-04 4.28894361e+01] [ 1.46067648e-03 1.00452578e-05 9.99998933e-01 3.74697189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.77, Y:42.91, Z:0.04 [[ 7.93544984e-01 -6.08510502e-01 -1.15231345e-03 2.14768062e+02] [ 6.08509840e-01 7.93545821e-01 -8.97691657e-04 4.29062326e+01] [ 1.46066833e-03 1.11646367e-05 9.99998933e-01 3.69952603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.79, Y:42.92, Z:0.04 [[ 7.93981195e-01 -6.07941226e-01 -1.15219546e-03 2.14790238e+02] [ 6.07940563e-01 7.93982031e-01 -8.97843074e-04 4.29235511e+01] [ 1.46065831e-03 1.24041574e-05 9.99998933e-01 3.75961196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.81, Y:42.94, Z:0.04 [[ 7.93923714e-01 -6.08016290e-01 -1.15211938e-03 2.14812111e+02] [ 6.08015627e-01 7.93924550e-01 -8.97940695e-04 4.29415832e+01] [ 1.46065843e-03 1.23898251e-05 9.99998933e-01 3.97535001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:42.96, Z:0.04 [[ 7.93895254e-01 -6.08053450e-01 -1.15194523e-03 2.14833150e+02] [ 6.08052787e-01 7.93896090e-01 -8.98164046e-04 4.29588851e+01] [ 1.46065656e-03 1.26046636e-05 9.99998933e-01 3.93619656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.85, Y:42.98, Z:0.04 [[ 7.93494901e-01 -6.08575809e-01 -1.15182649e-03 2.14853901e+02] [ 6.08575146e-01 7.93495737e-01 -8.98316298e-04 4.29756354e+01] [ 1.46066298e-03 1.18364260e-05 9.99998933e-01 3.81679338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:42.99, Z:0.04 [[ 7.93174802e-01 -6.08992945e-01 -1.15175193e-03 2.14875091e+02] [ 6.08992282e-01 7.93175638e-01 -8.98411887e-04 4.29921257e+01] [ 1.46066807e-03 1.11896345e-05 9.99998933e-01 3.76057715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.90, Y:43.01, Z:0.04 [[ 7.92584890e-01 -6.09760498e-01 -1.15166636e-03 2.14897286e+02] [ 6.09759836e-01 7.92585727e-01 -8.98521559e-04 4.30096320e+01] [ 1.46067728e-03 9.91471768e-06 9.99998933e-01 3.64232685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.92, Y:43.03, Z:0.04 [[ 7.92450728e-01 -6.09934847e-01 -1.15149611e-03 2.14918833e+02] [ 6.09934185e-01 7.92451564e-01 -8.98739699e-04 4.30262046e+01] [ 1.46067755e-03 9.87008966e-06 9.99998933e-01 3.62286090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.94, Y:43.04, Z:0.04 [[ 7.92129991e-01 -6.10351334e-01 -1.15140223e-03 2.14940832e+02] [ 6.10350672e-01 7.92130828e-01 -8.98859950e-04 4.30432854e+01] [ 1.46068157e-03 9.25479951e-06 9.99998933e-01 3.80276088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.96, Y:43.06, Z:0.04 [[ 7.91700447e-01 -6.10908403e-01 -1.15123008e-03 2.14961817e+02] [ 6.10907741e-01 7.91701284e-01 -8.99080380e-04 4.30604462e+01] [ 1.46068609e-03 8.50697114e-06 9.99998933e-01 3.94487426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:43.08, Z:0.04 [[ 7.91500838e-01 -6.11166998e-01 -1.15113345e-03 2.14982836e+02] [ 6.11166336e-01 7.91501675e-01 -8.99204081e-04 4.30776815e+01] [ 1.46068791e-03 8.18676968e-06 9.99998933e-01 3.94100586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.00, Y:43.10, Z:0.04 [[ 7.90649935e-01 -6.12267389e-01 -1.15104054e-03 2.15004657e+02] [ 6.12266729e-01 7.90650772e-01 -8.99323002e-04 4.30956938e+01] [ 1.46069724e-03 6.30584832e-06 9.99998933e-01 3.97193584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.03, Y:43.11, Z:0.04 [[ 7.89988658e-01 -6.13120377e-01 -1.15086762e-03 2.15026483e+02] [ 6.13119717e-01 7.89989496e-01 -8.99544225e-04 4.31129276e+01] [ 1.46070223e-03 5.01010386e-06 9.99998933e-01 4.02210940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.05, Y:43.13, Z:0.04 [[ 7.89132527e-01 -6.14221890e-01 -1.15069543e-03 2.15047497e+02] [ 6.14221231e-01 7.89133366e-01 -8.99764442e-04 4.31298260e+01] [ 1.46070717e-03 3.25182505e-06 9.99998933e-01 3.94436627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.07, Y:43.15, Z:0.04 [[ 7.86969376e-01 -6.16990986e-01 -1.15060261e-03 2.15069175e+02] [ 6.16990330e-01 7.86970217e-01 -8.99883121e-04 4.31469096e+01] [ 1.46070976e-03 -1.73022516e-06 9.99998933e-01 3.84181495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:43.16, Z:0.04 [[ 7.85808606e-01 -6.18468682e-01 -1.15043510e-03 2.15091550e+02] [ 6.18468027e-01 7.85809448e-01 -9.00097223e-04 4.31644378e+01] [ 1.46070471e-03 -4.20318150e-06 9.99998933e-01 3.93095785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.11, Y:43.18, Z:0.04 [[ 7.84403044e-01 -6.20250386e-01 -1.15026198e-03 2.15113278e+02] [ 6.20249732e-01 7.84403888e-01 -9.00318404e-04 4.31820736e+01] [ 1.46069280e-03 -7.23718649e-06 9.99998933e-01 3.91533036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:43.20, Z:0.04 [[ 7.84129269e-01 -6.20596461e-01 -1.15009049e-03 2.15134872e+02] [ 6.20595807e-01 7.84130112e-01 -9.00537415e-04 4.32002325e+01] [ 1.46069092e-03 -7.60359112e-06 9.99998933e-01 4.07029794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.16, Y:43.22, Z:0.04 [[ 7.84285926e-01 -6.20398472e-01 -1.14991513e-03 2.15155507e+02] [ 6.20397818e-01 7.84286769e-01 -9.00761277e-04 4.32180846e+01] [ 1.46069414e-03 -6.95044621e-06 9.99998933e-01 3.98599595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.18, Y:43.24, Z:0.04 [[ 7.85012147e-01 -6.19479303e-01 -1.14983892e-03 2.15177250e+02] [ 6.19478648e-01 7.85012989e-01 -9.00858557e-04 4.32355929e+01] [ 1.46070172e-03 -5.11574683e-06 9.99998933e-01 3.81885296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:43.25, Z:0.04 [[ 7.85535949e-01 -6.18814957e-01 -1.14966936e-03 2.15198597e+02] [ 6.18814301e-01 7.85536790e-01 -9.01074894e-04 4.32530355e+01] [ 1.46070620e-03 -3.60511776e-06 9.99998933e-01 3.88197777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:43.27, Z:0.04 [[ 7.86724227e-01 -6.17303547e-01 -1.14949650e-03 2.15218457e+02] [ 6.17302889e-01 7.86725067e-01 -9.01295358e-04 4.32714957e+01] [ 1.46071053e-03 -5.16614948e-07 9.99998933e-01 3.84250088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.24, Y:43.29, Z:0.04 [[ 7.87083550e-01 -6.16845332e-01 -1.14937910e-03 2.15239262e+02] [ 6.16844673e-01 7.87084390e-01 -9.01445038e-04 4.32898283e+01] [ 1.46071051e-03 5.24183293e-07 9.99998933e-01 3.83593585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:43.31, Z:0.04 [[ 7.87257498e-01 -6.16623314e-01 -1.14920790e-03 2.15259707e+02] [ 6.16622655e-01 7.87258336e-01 -9.01663249e-04 4.33079472e+01] [ 1.46071008e-03 1.21352834e-06 9.99998933e-01 3.86708602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:43.33, Z:0.04 [[ 7.86758595e-01 -6.17259745e-01 -1.14909103e-03 2.15278908e+02] [ 6.17259086e-01 7.86759434e-01 -9.01812157e-04 4.33270032e+01] [ 1.46071055e-03 2.21584825e-07 9.99998933e-01 4.00735239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:43.34, Z:0.04 [[ 7.86224602e-01 -6.17939766e-01 -1.14899620e-03 2.15300195e+02] [ 6.17939108e-01 7.86225442e-01 -9.01932964e-04 4.33449151e+01] [ 1.46071029e-03 -8.87802385e-07 9.99998933e-01 3.96043688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.32, Y:43.36, Z:0.04 [[ 7.85228035e-01 -6.19205631e-01 -1.14882920e-03 2.15321954e+02] [ 6.19204973e-01 7.85228876e-01 -9.02145633e-04 4.33629067e+01] [ 1.46070752e-03 -2.97071063e-06 9.99998933e-01 3.83165999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:215.34, Y:43.38, Z:0.04 [[ 7.84751634e-01 -6.19809288e-01 -1.14866174e-03 2.15343654e+02] [ 6.19808631e-01 7.84752475e-01 -9.02358802e-04 4.33810186e+01] [ 1.46070551e-03 -3.82291528e-06 9.99998933e-01 3.81060679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99587156000004 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:215.36, Y:43.40, Z:0.04 [[ 7.83898865e-01 -6.20887470e-01 -1.14849159e-03 2.15363513e+02] [ 6.20886814e-01 7.83899706e-01 -9.02575306e-04 4.33995945e+01] [ 1.46069992e-03 -5.55552803e-06 9.99998933e-01 3.81949238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156000004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:215.38, Y:43.42, Z:0.04 [[ 7.83697106e-01 -6.21142115e-01 -1.14839707e-03 2.15384218e+02] [ 6.21141459e-01 7.83697948e-01 -9.02695560e-04 4.34175113e+01] [ 1.46069865e-03 -5.87713208e-06 9.99998933e-01 3.89210701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05587156000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:215.41, Y:43.44, Z:0.04 [[ 7.83402716e-01 -6.21513367e-01 -1.14830408e-03 2.15405681e+02] [ 6.21512711e-01 7.83403558e-01 -9.02813833e-04 4.34361365e+01] [ 1.46069637e-03 -6.41877290e-06 9.99998933e-01 4.01138665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000004 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:215.43, Y:43.45, Z:0.04 [[ 7.83553600e-01 -6.21323135e-01 -1.14813139e-03 2.15426892e+02] [ 6.21322479e-01 7.83554441e-01 -9.03033395e-04 4.34549977e+01] [ 1.46069899e-03 -5.78477294e-06 9.99998933e-01 3.88795495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.45, Y:43.47, Z:0.04 [[ 7.83567472e-01 -6.21305640e-01 -1.14797037e-03 2.15447491e+02] [ 6.21304984e-01 7.83568313e-01 -9.03238043e-04 4.34720963e+01] [ 1.46070010e-03 -5.49176127e-06 9.99998933e-01 3.77917900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:215.47, Y:43.49, Z:0.04 [[ 7.83448104e-01 -6.21456154e-01 -1.14787781e-03 2.15468080e+02] [ 6.21455497e-01 7.83448945e-01 -9.03355654e-04 4.34906743e+01] [ 1.46069959e-03 -5.62270217e-06 9.99998933e-01 4.04657257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.49, Y:43.51, Z:0.04 [[ 7.83041181e-01 -6.21968802e-01 -1.14769985e-03 2.15488340e+02] [ 6.21968146e-01 7.83042022e-01 -9.03581701e-04 4.35078104e+01] [ 1.46069684e-03 -6.29106250e-06 9.99998933e-01 4.15490272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:215.51, Y:43.52, Z:0.04 [[ 7.82184552e-01 -6.23045752e-01 -1.14762292e-03 2.15509739e+02] [ 6.23045097e-01 7.82185394e-01 -9.03679391e-04 4.35247835e+01] [ 1.46068749e-03 -8.17677412e-06 9.99998933e-01 4.00745644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.53, Y:43.54, Z:0.04 [[ 7.81403122e-01 -6.24025516e-01 -1.14754698e-03 2.15531720e+02] [ 6.24024862e-01 7.81403964e-01 -9.03775821e-04 4.35425011e+01] [ 1.46067693e-03 -9.88459530e-06 9.99998933e-01 4.07894923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.55, Y:43.56, Z:0.04 [[ 7.80691658e-01 -6.24915369e-01 -1.14737674e-03 2.15553675e+02] [ 6.24914716e-01 7.80692501e-01 -9.03991884e-04 4.35604614e+01] [ 1.46066684e-03 -1.12736891e-05 9.99998933e-01 4.00384855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.58, Y:43.58, Z:0.04 [[ 7.79550213e-01 -6.26338685e-01 -1.14720552e-03 2.15575489e+02] [ 6.26338033e-01 7.79551057e-01 -9.04209124e-04 4.35779368e+01] [ 1.46064643e-03 -1.36620333e-05 9.99998933e-01 4.00629063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.60, Y:43.59, Z:0.04 [[ 7.79010051e-01 -6.27010387e-01 -1.14703394e-03 2.15596937e+02] [ 6.27009734e-01 7.79010895e-01 -9.04426724e-04 4.35945694e+01] [ 1.46063689e-03 -1.46439398e-05 9.99998933e-01 4.00474182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:215.62, Y:43.61, Z:0.04 [[ 7.77533245e-01 -6.28840789e-01 -1.14693965e-03 2.15620095e+02] [ 6.28840139e-01 7.77534091e-01 -9.04546283e-04 4.36110415e+01] [ 1.46060028e-03 -1.79268832e-05 9.99998933e-01 4.13702542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.64, Y:43.63, Z:0.04 [[ 7.76652420e-01 -6.29928332e-01 -1.14676779e-03 2.15642498e+02] [ 6.29927682e-01 7.76653266e-01 -9.04764119e-04 4.36284149e+01] [ 1.46057750e-03 -1.96935313e-05 9.99998933e-01 4.10208661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.66, Y:43.65, Z:0.04 [[ 7.75752500e-01 -6.31036247e-01 -1.14659657e-03 2.15663912e+02] [ 6.31035598e-01 7.75753347e-01 -9.04981047e-04 4.36455122e+01] [ 1.46055197e-03 -2.15019433e-05 9.99998933e-01 4.08604027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.69, Y:43.66, Z:0.04 [[ 7.74836736e-01 -6.32160358e-01 -1.14650514e-03 2.15685687e+02] [ 6.32159711e-01 7.74837584e-01 -9.05096862e-04 4.36623290e+01] [ 1.46052163e-03 -2.34720604e-05 9.99998933e-01 4.03821543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.71, Y:43.68, Z:0.04 [[ 7.73229136e-01 -6.34125689e-01 -1.14633609e-03 2.15709152e+02] [ 6.34125043e-01 7.73229985e-01 -9.05310927e-04 4.36778029e+01] [ 1.46046235e-03 -2.69076335e-05 9.99998933e-01 4.00437967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.73, Y:43.69, Z:0.04 [[ 7.72768961e-01 -6.34686395e-01 -1.14616612e-03 2.15731129e+02] [ 6.34685749e-01 7.72769810e-01 -9.05526060e-04 4.36939502e+01] [ 1.46044765e-03 -2.76928706e-05 9.99998933e-01 3.99332951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.75, Y:43.71, Z:0.04 [[ 7.72120469e-01 -6.35475151e-01 -1.14607386e-03 2.15754066e+02] [ 6.35474506e-01 7.72121319e-01 -9.05642813e-04 4.37105259e+01] [ 1.46042156e-03 -2.90353671e-05 9.99998933e-01 4.07798240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.78, Y:43.73, Z:0.04 [[ 7.72045622e-01 -6.35566082e-01 -1.14590552e-03 2.15776614e+02] [ 6.35565437e-01 7.72046472e-01 -9.05855762e-04 4.37272486e+01] [ 1.46042351e-03 -2.89359669e-05 9.99998933e-01 4.14269401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.80, Y:43.74, Z:0.04 [[ 7.72292451e-01 -6.35266131e-01 -1.14573438e-03 2.15798422e+02] [ 6.35265485e-01 7.72293301e-01 -9.06072172e-04 4.37434486e+01] [ 1.46043995e-03 -2.80928072e-05 9.99998933e-01 4.14652609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.82, Y:43.76, Z:0.04 [[ 7.73260421e-01 -6.34087541e-01 -1.14563954e-03 2.15820439e+02] [ 6.34086894e-01 7.73261269e-01 -9.06192071e-04 4.37596459e+01] [ 1.46048379e-03 -2.57125545e-05 9.99998933e-01 3.97204048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.84, Y:43.78, Z:0.04 [[ 7.73647049e-01 -6.33615760e-01 -1.14555463e-03 2.15842588e+02] [ 6.33615112e-01 7.73647897e-01 -9.06299401e-04 4.37765375e+01] [ 1.46050151e-03 -2.46848654e-05 9.99998933e-01 3.91408872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.87, Y:43.79, Z:0.04 [[ 7.74335199e-01 -6.32774595e-01 -1.14538389e-03 2.15865709e+02] [ 6.32773946e-01 7.74336046e-01 -9.06515125e-04 4.37905763e+01] [ 1.46053177e-03 -2.28225143e-05 9.99998933e-01 3.58796341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.89, Y:43.81, Z:0.04 [[ 7.74307175e-01 -6.32808886e-01 -1.14530486e-03 2.15888451e+02] [ 6.32808237e-01 7.74308022e-01 -9.06614958e-04 4.38070536e+01] [ 1.46053275e-03 -2.27598852e-05 9.99998933e-01 3.56838798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.91, Y:43.82, Z:0.04 [[ 7.73992848e-01 -6.33193304e-01 -1.14513598e-03 2.15912072e+02] [ 6.33192655e-01 7.73993695e-01 -9.06828228e-04 4.38226055e+01] [ 1.46052559e-03 -2.32131262e-05 9.99998933e-01 3.57048838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.93, Y:43.84, Z:0.04 [[ 7.73641157e-01 -6.33622955e-01 -1.14496858e-03 2.15934212e+02] [ 6.33622306e-01 7.73642004e-01 -9.07039538e-04 4.38391682e+01] [ 1.46051686e-03 -2.37545134e-05 9.99998933e-01 3.76099427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.96, Y:43.86, Z:0.04 [[ 7.73460138e-01 -6.33843912e-01 -1.14479652e-03 2.15956050e+02] [ 6.33843263e-01 7.73460985e-01 -9.07256641e-04 4.38555401e+01] [ 1.46051454e-03 -2.38947153e-05 9.99998933e-01 3.71087434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:215.98, Y:43.87, Z:0.04 [[ 7.73285524e-01 -6.34056928e-01 -1.14470114e-03 2.15979961e+02] [ 6.34056279e-01 7.73286371e-01 -9.07376969e-04 4.38706056e+01] [ 1.46051044e-03 -2.41434704e-05 9.99998933e-01 3.55267156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:216.00, Y:43.89, Z:0.04 [[ 7.73225617e-01 -6.34129983e-01 -1.14452792e-03 2.16003365e+02] [ 6.34129334e-01 7.73226464e-01 -9.07595407e-04 4.38865512e+01] [ 1.46051274e-03 -2.40027102e-05 9.99998933e-01 3.54008752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89587156000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.03, Y:43.90, Z:0.04 [[ 7.73838578e-01 -6.33381833e-01 -1.14435026e-03 2.16026912e+02] [ 6.33381183e-01 7.73839423e-01 -9.07819358e-04 4.39010431e+01] [ 1.46053964e-03 -2.23042806e-05 9.99998933e-01 3.56374325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.05, Y:43.92, Z:0.04 [[ 7.74050795e-01 -6.33122467e-01 -1.14427829e-03 2.16048790e+02] [ 6.33121816e-01 7.74051640e-01 -9.07910069e-04 4.39176596e+01] [ 1.46054875e-03 -2.16990370e-05 9.99998933e-01 3.61446107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.07, Y:43.94, Z:0.04 [[ 7.73935679e-01 -6.33263180e-01 -1.14415984e-03 2.16070972e+02] [ 6.33262530e-01 7.73936525e-01 -9.08059315e-04 4.39355053e+01] [ 1.46054762e-03 -2.17740513e-05 9.99998933e-01 3.61862096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:216.09, Y:43.95, Z:0.04 [[ 7.74263893e-01 -6.32861845e-01 -1.14399471e-03 2.16093784e+02] [ 6.32861194e-01 7.74264738e-01 -9.08267296e-04 4.39517859e+01] [ 1.46056248e-03 -2.07512885e-05 9.99998933e-01 3.69660512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.12, Y:43.97, Z:0.04 [[ 7.74594082e-01 -6.32457666e-01 -1.14382196e-03 2.16117692e+02] [ 6.32457014e-01 7.74594926e-01 -9.08484806e-04 4.39673583e+01] [ 1.46057686e-03 -1.97112651e-05 9.99998933e-01 3.95219101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.14, Y:43.98, Z:0.04 [[ 7.74685116e-01 -6.32346158e-01 -1.14367068e-03 2.16141087e+02] [ 6.32345505e-01 7.74685960e-01 -9.08675206e-04 4.39835058e+01] [ 1.46058289e-03 -1.92578563e-05 9.99998933e-01 3.87842849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.16, Y:44.00, Z:0.04 [[ 7.74447907e-01 -6.32636651e-01 -1.14349903e-03 2.16164454e+02] [ 6.32635998e-01 7.74448751e-01 -9.08891157e-04 4.39994748e+01] [ 1.46057926e-03 -1.95297982e-05 9.99998933e-01 3.93652430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.19, Y:44.01, Z:0.04 [[ 7.74530759e-01 -6.32535213e-01 -1.14332768e-03 2.16188006e+02] [ 6.32534560e-01 7.74531603e-01 -9.09106652e-04 4.40128950e+01] [ 1.46058539e-03 -1.90632083e-05 9.99998933e-01 3.84157328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.21, Y:44.03, Z:0.04 [[ 7.74746366e-01 -6.32271114e-01 -1.14315657e-03 2.16211556e+02] [ 6.32270461e-01 7.74747209e-01 -9.09321763e-04 4.40286584e+01] [ 1.46059525e-03 -1.82904026e-05 9.99998933e-01 3.91888016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:216.24, Y:44.04, Z:0.04 [[ 7.75682033e-01 -6.31122870e-01 -1.14298818e-03 2.16236421e+02] [ 6.31122215e-01 7.75682875e-01 -9.09533385e-04 4.40427478e+01] [ 1.46062368e-03 -1.58565241e-05 9.99998933e-01 3.95176142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:216.26, Y:44.06, Z:0.04 [[ 7.76557570e-01 -6.30045264e-01 -1.14282083e-03 2.16258836e+02] [ 6.30044607e-01 7.76558411e-01 -9.09743607e-04 4.40590882e+01] [ 1.46064678e-03 -1.35598154e-05 9.99998933e-01 4.02760550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.28, Y:44.07, Z:0.04 [[ 7.79009962e-01 -6.27010505e-01 -1.14265027e-03 2.16281673e+02] [ 6.27009845e-01 7.79010800e-01 -9.09957783e-04 4.40744635e+01] [ 1.46068999e-03 -7.58679069e-06 9.99998933e-01 3.96239080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.30, Y:44.09, Z:0.04 [[ 7.80389397e-01 -6.25292798e-01 -1.14253367e-03 2.16304629e+02] [ 6.25292136e-01 7.80390233e-01 -9.10104164e-04 4.40913122e+01] [ 1.46070369e-03 -4.18167635e-06 9.99998933e-01 3.96864694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.33, Y:44.11, Z:0.04 [[ 7.81810553e-01 -6.23515000e-01 -1.14236560e-03 2.16327436e+02] [ 6.23514335e-01 7.81811387e-01 -9.10315077e-04 4.41080042e+01] [ 1.46070954e-03 -5.87391697e-07 9.99998933e-01 4.11227599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.35, Y:44.12, Z:0.04 [[ 7.84887625e-01 -6.19637080e-01 -1.14219823e-03 2.16349062e+02] [ 6.19636411e-01 7.84888457e-01 -9.10525034e-04 4.41235385e+01] [ 1.46069328e-03 6.91222299e-06 9.99998933e-01 4.05209774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.37, Y:44.14, Z:0.04 [[ 7.86348964e-01 -6.17781517e-01 -1.14204782e-03 2.16371257e+02] [ 6.17780846e-01 7.86349793e-01 -9.10713640e-04 4.41410905e+01] [ 1.46067112e-03 1.06034566e-05 9.99998933e-01 4.08042505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.39, Y:44.16, Z:0.04 [[ 7.87634062e-01 -6.16142256e-01 -1.14188011e-03 2.16391968e+02] [ 6.16141583e-01 7.87634890e-01 -9.10923873e-04 4.41578281e+01] [ 1.46064331e-03 1.39148516e-05 9.99998933e-01 4.03196347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.41, Y:44.17, Z:0.04 [[ 7.90071874e-01 -6.13013157e-01 -1.14173030e-03 2.16413773e+02] [ 6.13012480e-01 7.90072699e-01 -9.11111600e-04 4.41749569e+01] [ 1.46057334e-03 1.99487250e-05 9.99998933e-01 3.96258149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.43, Y:44.19, Z:0.04 [[ 7.91146595e-01 -6.11625508e-01 -1.14155242e-03 2.16434272e+02] [ 6.11624829e-01 7.91147418e-01 -9.11334418e-04 4.41917923e+01] [ 1.46053163e-03 2.27973162e-05 9.99998933e-01 3.82763250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.45, Y:44.21, Z:0.04 [[ 7.93349095e-01 -6.08765891e-01 -1.14145678e-03 2.16454601e+02] [ 6.08765210e-01 7.93349916e-01 -9.11454196e-04 4.42096707e+01] [ 1.46043687e-03 2.82221863e-05 9.99998933e-01 3.91462690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:44.23, Z:0.04 [[ 7.94181731e-01 -6.07679254e-01 -1.14130809e-03 2.16475606e+02] [ 6.07678571e-01 7.94182550e-01 -9.11640338e-04 4.42288308e+01] [ 1.46039189e-03 3.04596298e-05 9.99998933e-01 4.01288709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.50, Y:44.25, Z:0.04 [[ 7.95231734e-01 -6.06304533e-01 -1.14114403e-03 2.16495951e+02] [ 6.06303849e-01 7.95232552e-01 -9.11845662e-04 4.42485082e+01] [ 1.46033104e-03 3.32485909e-05 9.99998933e-01 4.25877686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.52, Y:44.27, Z:0.04 [[ 7.95318313e-01 -6.06190960e-01 -1.14096643e-03 2.16516529e+02] [ 6.06190275e-01 7.95319130e-01 -9.12067837e-04 4.42659464e+01] [ 1.46031970e-03 3.37415026e-05 9.99998933e-01 4.21518665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.54, Y:44.28, Z:0.04 [[ 7.95060653e-01 -6.06528858e-01 -1.14086971e-03 2.16536848e+02] [ 6.06528173e-01 7.95061471e-01 -9.12188796e-04 4.42830659e+01] [ 1.46033038e-03 3.32757977e-05 9.99998933e-01 3.97790752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.56, Y:44.30, Z:0.04 [[ 7.94147083e-01 -6.07724534e-01 -1.14077763e-03 2.16557445e+02] [ 6.07723850e-01 7.94147902e-01 -9.12303937e-04 4.43020083e+01] [ 1.46037565e-03 3.12257357e-05 9.99998933e-01 3.85049247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.58, Y:44.32, Z:0.04 [[ 7.93343368e-01 -6.08773357e-01 -1.14060753e-03 2.16577832e+02] [ 6.08772674e-01 7.93344187e-01 -9.12516553e-04 4.43199472e+01] [ 1.46041012e-03 2.95682577e-05 9.99998933e-01 3.83353718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:216.60, Y:44.34, Z:0.04 [[ 7.90847060e-01 -6.12012767e-01 -1.14051451e-03 2.16598774e+02] [ 6.12012087e-01 7.90847882e-01 -9.12632797e-04 4.43399831e+01] [ 1.46051641e-03 2.37442968e-05 9.99998933e-01 3.99081995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:216.62, Y:44.36, Z:0.04 [[ 7.89317913e-01 -6.13983657e-01 -1.14036494e-03 2.16620270e+02] [ 6.13982979e-01 7.89318737e-01 -9.12819660e-04 4.43586622e+01] [ 1.46056777e-03 2.03402481e-05 9.99998933e-01 4.07106683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.64, Y:44.38, Z:0.04 [[ 7.86831729e-01 -6.17166534e-01 -1.14019039e-03 2.16639897e+02] [ 6.17165858e-01 7.86832555e-01 -9.13037631e-04 4.43774193e+01] [ 1.46063519e-03 1.47203954e-05 9.99998933e-01 4.10143616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.66, Y:44.40, Z:0.04 [[ 7.85744446e-01 -6.18550212e-01 -1.14009427e-03 2.16660903e+02] [ 6.18549538e-01 7.85745274e-01 -9.13157644e-04 4.43960496e+01] [ 1.46065754e-03 1.23037649e-05 9.99998933e-01 3.99134667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:216.68, Y:44.41, Z:0.04 [[ 7.84680800e-01 -6.19898978e-01 -1.13992237e-03 2.16681879e+02] [ 6.19898305e-01 7.84681628e-01 -9.13372182e-04 4.44142178e+01] [ 1.46067462e-03 1.00696711e-05 9.99998933e-01 4.11036144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:216.70, Y:44.43, Z:0.04 [[ 7.82073414e-01 -6.23185266e-01 -1.13974718e-03 2.16701547e+02] [ 6.23184596e-01 7.82074245e-01 -9.13590740e-04 4.44327916e+01] [ 1.46070320e-03 4.22214467e-06 9.99998933e-01 4.08982029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.72, Y:44.45, Z:0.04 [[ 7.80349604e-01 -6.25342464e-01 -1.13964963e-03 2.16722111e+02] [ 6.25341796e-01 7.80350436e-01 -9.13712406e-04 4.44512590e+01] [ 1.46070925e-03 3.44567105e-07 9.99998933e-01 4.10062279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:216.74, Y:44.47, Z:0.04 [[ 7.76797442e-01 -6.29749502e-01 -1.13947515e-03 2.16742038e+02] [ 6.29748839e-01 7.76798278e-01 -9.13929952e-04 4.44699822e+01] [ 1.46068926e-03 -7.64470122e-06 9.99998933e-01 3.94320637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.76, Y:44.49, Z:0.04 [[ 7.74777212e-01 -6.32233322e-01 -1.13938293e-03 2.16763395e+02] [ 6.32232661e-01 7.74778050e-01 -9.14044905e-04 4.44877996e+01] [ 1.46065853e-03 -1.21739371e-05 9.99998933e-01 3.85708541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.78, Y:44.51, Z:0.04 [[ 7.72849640e-01 -6.34588162e-01 -1.13921293e-03 2.16784658e+02] [ 6.34587504e-01 7.72850480e-01 -9.14256730e-04 4.45054174e+01] [ 1.46061776e-03 -1.63473057e-05 9.99998933e-01 3.90233074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97587156000003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:216.81, Y:44.52, Z:0.04 [[ 7.70954764e-01 -6.36888887e-01 -1.13903856e-03 2.16806259e+02] [ 6.36888231e-01 7.70955605e-01 -9.14473922e-04 4.45239221e+01] [ 1.46056644e-03 -2.04222268e-05 9.99998933e-01 3.83628961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.83, Y:44.54, Z:0.04 [[ 7.67441809e-01 -6.41117596e-01 -1.13886091e-03 2.16827881e+02] [ 6.41116944e-01 7.67442654e-01 -9.14695107e-04 4.45415410e+01] [ 1.46043757e-03 -2.81677582e-05 9.99998933e-01 4.00658130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.85, Y:44.56, Z:0.04 [[ 7.65857025e-01 -6.43009891e-01 -1.13878261e-03 2.16851016e+02] [ 6.43009241e-01 7.65857871e-01 -9.14792574e-04 4.45593064e+01] [ 1.46036630e-03 -3.16474258e-05 9.99998933e-01 4.15726909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:216.87, Y:44.58, Z:0.04 [[ 7.63349680e-01 -6.45984497e-01 -1.13862897e-03 2.16873634e+02] [ 6.45983850e-01 7.63350528e-01 -9.14983769e-04 4.45759386e+01] [ 1.46023836e-03 -3.70833611e-05 9.99998933e-01 4.27438706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:216.90, Y:44.59, Z:0.04 [[ 7.62499291e-01 -6.46988049e-01 -1.13845520e-03 2.16895479e+02] [ 6.46987403e-01 7.62500140e-01 -9.15199938e-04 4.45930394e+01] [ 1.46019567e-03 -3.87268675e-05 9.99998933e-01 4.36998961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.92, Y:44.61, Z:0.04 [[ 7.61986422e-01 -6.47591999e-01 -1.13828156e-03 2.16916579e+02] [ 6.47591353e-01 7.61987271e-01 -9.15415842e-04 4.46092502e+01] [ 1.46017204e-03 -3.96068571e-05 9.99998933e-01 4.17657720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.94, Y:44.63, Z:0.04 [[ 7.60876502e-01 -6.48895718e-01 -1.13819493e-03 2.16938496e+02] [ 6.48895073e-01 7.60877353e-01 -9.15523546e-04 4.46260979e+01] [ 1.46010605e-03 -4.19687292e-05 9.99998933e-01 4.08563374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:216.96, Y:44.64, Z:0.04 [[ 7.60553655e-01 -6.49274089e-01 -1.13802637e-03 2.16960900e+02] [ 6.49273445e-01 7.60554505e-01 -9.15733021e-04 4.46436570e+01] [ 1.46009281e-03 -4.24262076e-05 9.99998933e-01 4.06367051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21587156000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:216.98, Y:44.66, Z:0.04 [[ 7.60362399e-01 -6.49498058e-01 -1.13785092e-03 2.16984454e+02] [ 6.49497413e-01 7.60363249e-01 -9.15950979e-04 4.46591413e+01] [ 1.46008841e-03 -4.25765458e-05 9.99998933e-01 3.91524679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:217.01, Y:44.67, Z:0.04 [[ 7.60435377e-01 -6.49412614e-01 -1.13767543e-03 2.17006425e+02] [ 6.49411970e-01 7.60436226e-01 -9.16168903e-04 4.46746627e+01] [ 1.46010125e-03 -4.21327949e-05 9.99998933e-01 3.92866324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.03, Y:44.69, Z:0.04 [[ 7.62111765e-01 -6.47444487e-01 -1.13757543e-03 2.17029519e+02] [ 6.47443840e-01 7.62112613e-01 -9.16293051e-04 4.46908967e+01] [ 1.46020947e-03 -3.81984888e-05 9.99998933e-01 4.11796116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.05, Y:44.71, Z:0.04 [[ 7.63302594e-01 -6.46040136e-01 -1.13740702e-03 2.17051396e+02] [ 6.46039486e-01 7.63303440e-01 -9.16502045e-04 4.47083320e+01] [ 1.46028380e-03 -3.52414620e-05 9.99998933e-01 4.23450282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:217.07, Y:44.73, Z:0.04 [[ 7.64688547e-01 -6.44399048e-01 -1.13723107e-03 2.17073040e+02] [ 6.44398397e-01 7.64689392e-01 -9.16720320e-04 4.47250261e+01] [ 1.46036224e-03 -3.18243520e-05 9.99998933e-01 4.17131497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000004 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:217.10, Y:44.74, Z:0.04 [[ 7.67815858e-01 -6.40669583e-01 -1.13705575e-03 2.17095897e+02] [ 6.40668927e-01 7.67816700e-01 -9.16937727e-04 4.47406669e+01] [ 1.46050451e-03 -2.44369614e-05 9.99998933e-01 4.07960646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39587156000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:217.12, Y:44.76, Z:0.04 [[ 7.69315657e-01 -6.38867849e-01 -1.13688033e-03 2.17116864e+02] [ 6.38867191e-01 7.69316496e-01 -9.17155174e-04 4.47573251e+01] [ 1.46056175e-03 -2.07337085e-05 9.99998933e-01 4.11033768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156000002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:217.14, Y:44.77, Z:0.04 [[ 7.71857711e-01 -6.35794292e-01 -1.13678141e-03 2.17137711e+02] [ 6.35793630e-01 7.71858548e-01 -9.17277769e-04 4.47738103e+01] [ 1.46063442e-03 -1.47504595e-05 9.99998933e-01 3.85558936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:217.16, Y:44.79, Z:0.04 [[ 7.72707368e-01 -6.34761397e-01 -1.13663665e-03 2.17160050e+02] [ 6.34760734e-01 7.72708204e-01 -9.17457108e-04 4.47911692e+01] [ 1.46065482e-03 -1.25664486e-05 9.99998933e-01 3.87419401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.18, Y:44.81, Z:0.04 [[ 7.73884385e-01 -6.33325878e-01 -1.13646965e-03 2.17182588e+02] [ 6.33325213e-01 7.73885219e-01 -9.17663933e-04 4.48083298e+01] [ 1.46067738e-03 -9.58909319e-06 9.99998933e-01 3.85023780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.20, Y:44.83, Z:0.04 [[ 7.74146519e-01 -6.33005431e-01 -1.13629852e-03 2.17204303e+02] [ 6.33004766e-01 7.74147353e-01 -9.17875780e-04 4.48258987e+01] [ 1.46068285e-03 -8.71203936e-06 9.99998933e-01 3.84267330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.23, Y:44.84, Z:0.04 [[ 7.74193751e-01 -6.32947664e-01 -1.13619111e-03 2.17226062e+02] [ 6.32946998e-01 7.74194585e-01 -9.18008723e-04 4.48428413e+01] [ 1.46068448e-03 -8.43213450e-06 9.99998933e-01 3.74611603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:217.25, Y:44.86, Z:0.04 [[ 7.74150197e-01 -6.33000934e-01 -1.13601754e-03 2.17249397e+02] [ 6.33000268e-01 7.74151030e-01 -9.18223456e-04 4.48583295e+01] [ 1.46068546e-03 -8.25654029e-06 9.99998933e-01 3.94848124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:217.27, Y:44.88, Z:0.04 [[ 7.74064560e-01 -6.33105652e-01 -1.13594229e-03 2.17271508e+02] [ 6.33104986e-01 7.74065393e-01 -9.18316542e-04 4.48750083e+01] [ 1.46068501e-03 -8.33443883e-06 9.99998933e-01 4.05481989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.29, Y:44.89, Z:0.04 [[ 7.74014057e-01 -6.33167395e-01 -1.13577012e-03 2.17294378e+02] [ 6.33166728e-01 7.74014890e-01 -9.18529427e-04 4.48915332e+01] [ 1.46068587e-03 -8.17716555e-06 9.99998933e-01 4.05063578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.32, Y:44.91, Z:0.04 [[ 7.73871393e-01 -6.33341754e-01 -1.13559869e-03 2.17315956e+02] [ 6.33341088e-01 7.73872226e-01 -9.18741333e-04 4.49074857e+01] [ 1.46068553e-03 -8.23367221e-06 9.99998933e-01 4.01803127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.34, Y:44.92, Z:0.04 [[ 7.73703211e-01 -6.33547198e-01 -1.13544493e-03 2.17337852e+02] [ 6.33546532e-01 7.73704044e-01 -9.18931314e-04 4.49249327e+01] [ 1.46068469e-03 -8.37708977e-06 9.99998933e-01 4.06330717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:217.36, Y:44.94, Z:0.04 [[ 7.73966576e-01 -6.33225434e-01 -1.13527520e-03 2.17359581e+02] [ 6.33224767e-01 7.73967409e-01 -9.19140952e-04 4.49423066e+01] [ 1.46068944e-03 -7.50000083e-06 9.99998933e-01 4.11824458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:217.38, Y:44.96, Z:0.04 [[ 7.74036744e-01 -6.33139661e-01 -1.13510636e-03 2.17381639e+02] [ 6.33138993e-01 7.74037576e-01 -9.19349422e-04 4.49589295e+01] [ 1.46069156e-03 -7.06986425e-06 9.99998933e-01 4.08730175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:217.41, Y:44.97, Z:0.04 [[ 7.74115899e-01 -6.33042879e-01 -1.13493836e-03 2.17405671e+02] [ 6.33042211e-01 7.74116731e-01 -9.19556770e-04 4.49738511e+01] [ 1.46069364e-03 -6.62037339e-06 9.99998933e-01 4.10466850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.43, Y:44.99, Z:0.04 [[ 7.74097356e-01 -6.33065554e-01 -1.13477076e-03 2.17428662e+02] [ 6.33064885e-01 7.74098188e-01 -9.19763547e-04 4.49906402e+01] [ 1.46069461e-03 -6.39699241e-06 9.99998933e-01 4.07479274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.45, Y:45.01, Z:0.04 [[ 7.74020807e-01 -6.33159145e-01 -1.13460325e-03 2.17451812e+02] [ 6.33158477e-01 7.74021639e-01 -9.19970146e-04 4.50054845e+01] [ 1.46069497e-03 -6.30762769e-06 9.99998933e-01 3.95492208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.47, Y:45.02, Z:0.04 [[ 7.73906577e-01 -6.33298763e-01 -1.13445565e-03 2.17473802e+02] [ 6.33298094e-01 7.73907409e-01 -9.20152112e-04 4.50235784e+01] [ 1.46069483e-03 -6.33683214e-06 9.99998933e-01 3.95908245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:217.50, Y:45.04, Z:0.04 [[ 7.73865389e-01 -6.33349093e-01 -1.13428963e-03 2.17496055e+02] [ 6.33348424e-01 7.73866220e-01 -9.20356729e-04 4.50398515e+01] [ 1.46069553e-03 -6.16833090e-06 9.99998933e-01 3.91501070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93587156000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:217.52, Y:45.06, Z:0.04 [[ 7.74391408e-01 -6.32705825e-01 -1.13412393e-03 2.17518376e+02] [ 6.32705156e-01 7.74392238e-01 -9.20560868e-04 4.50552491e+01] [ 1.46070099e-03 -4.69163040e-06 9.99998933e-01 3.77176247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.54, Y:45.07, Z:0.04 [[ 7.74802368e-01 -6.32202503e-01 -1.13398103e-03 2.17540118e+02] [ 6.32201832e-01 7.74803198e-01 -9.20736869e-04 4.50712148e+01] [ 1.46070428e-03 -3.51577556e-06 9.99998933e-01 3.74030227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.56, Y:45.09, Z:0.04 [[ 7.75347748e-01 -6.31533518e-01 -1.13383237e-03 2.17563055e+02] [ 6.31532846e-01 7.75348577e-01 -9.20919895e-04 4.50878378e+01] [ 1.46070709e-03 -2.01921644e-06 9.99998933e-01 3.74981210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.59, Y:45.10, Z:0.04 [[ 7.77228155e-01 -6.29217855e-01 -1.13366896e-03 2.17585071e+02] [ 6.29217181e-01 7.77228982e-01 -9.21121014e-04 4.51031037e+01] [ 1.46070616e-03 2.59720081e-06 9.99998933e-01 3.65373299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.61, Y:45.12, Z:0.04 [[ 7.78286464e-01 -6.27908350e-01 -1.13352431e-03 2.17606508e+02] [ 6.27907674e-01 7.78287289e-01 -9.21298977e-04 4.51203094e+01] [ 1.46069888e-03 5.28590792e-06 9.99998933e-01 3.76741898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:217.63, Y:45.14, Z:0.04 [[ 7.80808675e-01 -6.24769181e-01 -1.13337659e-03 2.17628193e+02] [ 6.24768501e-01 7.80809497e-01 -9.21480670e-04 4.51364630e+01] [ 1.46066393e-03 1.14021073e-05 9.99998933e-01 3.86463698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11587156000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:217.65, Y:45.15, Z:0.04 [[ 7.81963866e-01 -6.23322732e-01 -1.13323102e-03 2.17649947e+02] [ 6.23322050e-01 7.81964687e-01 -9.21659660e-04 4.51531727e+01] [ 1.46063805e-03 1.43366706e-05 9.99998933e-01 3.97606407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.67, Y:45.17, Z:0.04 [[ 7.83203065e-01 -6.21764967e-01 -1.13308453e-03 2.17672157e+02] [ 6.21764284e-01 7.83203885e-01 -9.21839720e-04 4.51701113e+01] [ 1.46060385e-03 1.74762061e-05 9.99998933e-01 4.07899310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.69, Y:45.19, Z:0.04 [[ 7.85158021e-01 -6.19294436e-01 -1.13292448e-03 2.17693693e+02] [ 6.19293750e-01 7.85158838e-01 -9.22036376e-04 4.51874950e+01] [ 1.46053766e-03 2.23312081e-05 9.99998933e-01 4.13670956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:217.71, Y:45.20, Z:0.04 [[ 7.85938431e-01 -6.18303727e-01 -1.13276040e-03 2.17714613e+02] [ 6.18303040e-01 7.85939247e-01 -9.22237908e-04 4.52040498e+01] [ 1.46050399e-03 2.44330167e-05 9.99998933e-01 3.96155734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.74, Y:45.22, Z:0.04 [[ 7.86933168e-01 -6.17037201e-01 -1.13261785e-03 2.17736223e+02] [ 6.17036512e-01 7.86933982e-01 -9.22412944e-04 4.52212945e+01] [ 1.46045857e-03 2.70107733e-05 9.99998933e-01 3.81160689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.76, Y:45.24, Z:0.04 [[ 7.87195566e-01 -6.16702406e-01 -1.13245593e-03 2.17757963e+02] [ 6.16701717e-01 7.87196380e-01 -9.22611689e-04 4.52391435e+01] [ 1.46044206e-03 2.78883150e-05 9.99998933e-01 3.72122009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:217.78, Y:45.26, Z:0.04 [[ 7.87568606e-01 -6.16225939e-01 -1.13229481e-03 2.17779186e+02] [ 6.16225249e-01 7.87569420e-01 -9.22809383e-04 4.52557417e+01] [ 1.46041985e-03 2.90270467e-05 9.99998933e-01 3.68910046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.80, Y:45.27, Z:0.04 [[ 7.88097238e-01 -6.15549723e-01 -1.13215110e-03 2.17802131e+02] [ 6.15549031e-01 7.88098051e-01 -9.22985666e-04 4.52722784e+01] [ 1.46038964e-03 3.05079439e-05 9.99998933e-01 3.72014389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35587156000003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:217.82, Y:45.29, Z:0.04 [[ 7.88360652e-01 -6.15212322e-01 -1.13199032e-03 2.17823948e+02] [ 6.15211630e-01 7.88361464e-01 -9.23182813e-04 4.52895483e+01] [ 1.46037098e-03 3.13873969e-05 9.99998933e-01 3.87860359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.85, Y:45.31, Z:0.04 [[ 7.88665447e-01 -6.14821545e-01 -1.13182005e-03 2.17846339e+02] [ 6.14820852e-01 7.88666258e-01 -9.23391513e-04 4.53082864e+01] [ 1.46034928e-03 3.23804126e-05 9.99998933e-01 4.01336026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.87, Y:45.33, Z:0.04 [[ 7.89836909e-01 -6.13315887e-01 -1.13166990e-03 2.17866240e+02] [ 6.13315192e-01 7.89837719e-01 -9.23575497e-04 4.53270090e+01] [ 1.46027909e-03 3.54036760e-05 9.99998933e-01 4.02715807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.89, Y:45.35, Z:0.04 [[ 7.90556478e-01 -6.12388092e-01 -1.13157583e-03 2.17886183e+02] [ 6.12387396e-01 7.90557287e-01 -9.23690737e-04 4.53452737e+01] [ 1.46023272e-03 3.72669207e-05 9.99998933e-01 3.99596048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.90, Y:45.37, Z:0.04 [[ 7.92490033e-01 -6.09883815e-01 -1.13146063e-03 2.17904908e+02] [ 6.09883116e-01 7.92490840e-01 -9.23831819e-04 4.53652128e+01] [ 1.46010226e-03 4.20687713e-05 9.99998933e-01 3.97104459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.93, Y:45.39, Z:0.04 [[ 7.93415749e-01 -6.08679037e-01 -1.13131164e-03 2.17925107e+02] [ 6.08678337e-01 7.93416554e-01 -9.24014238e-04 4.53850166e+01] [ 1.46002948e-03 4.45225600e-05 9.99998933e-01 3.91081826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:217.94, Y:45.41, Z:0.04 [[ 7.95080988e-01 -6.06502220e-01 -1.13114639e-03 2.17944042e+02] [ 6.06501518e-01 7.95081791e-01 -9.24216483e-04 4.54057650e+01] [ 1.45989325e-03 4.87849484e-05 9.99998933e-01 3.90308009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.96, Y:45.42, Z:0.04 [[ 7.95469761e-01 -6.05992227e-01 -1.13098080e-03 2.17963806e+02] [ 6.05991524e-01 7.95470564e-01 -9.24419075e-04 4.54244222e+01] [ 1.45985271e-03 4.99826400e-05 9.99998933e-01 3.76700004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.98, Y:45.44, Z:0.04 [[ 7.95420313e-01 -6.06057131e-01 -1.13083100e-03 2.17983978e+02] [ 6.06056428e-01 7.95421116e-01 -9.24602293e-04 4.54438755e+01] [ 1.45984867e-03 5.01000496e-05 9.99998933e-01 4.08121995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.00, Y:45.47, Z:0.04 [[ 7.94253145e-01 -6.07585931e-01 -1.13065990e-03 2.18001575e+02] [ 6.07585229e-01 7.94253948e-01 -9.24811482e-04 4.54671517e+01] [ 1.45993353e-03 4.75621758e-05 9.99998933e-01 4.27498325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:218.02, Y:45.49, Z:0.04 [[ 7.93071204e-01 -6.09127891e-01 -1.13050857e-03 2.18020537e+02] [ 6.09127191e-01 7.93072008e-01 -9.24996426e-04 4.54868332e+01] [ 1.46001583e-03 4.49645185e-05 9.99998933e-01 4.21924571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:218.04, Y:45.51, Z:0.04 [[ 7.89517851e-01 -6.13726556e-01 -1.13041384e-03 2.18038594e+02] [ 6.13725860e-01 7.89518659e-01 -9.25112176e-04 4.55070757e+01] [ 1.46024873e-03 3.66283681e-05 9.99998933e-01 4.26002517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71587156000004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:218.06, Y:45.53, Z:0.04 [[ 7.87483573e-01 -6.16334604e-01 -1.13029811e-03 2.18058989e+02] [ 6.16333910e-01 7.87484384e-01 -9.25253559e-04 4.55269293e+01] [ 1.46035790e-03 3.19809249e-05 9.99998933e-01 4.41865166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.08, Y:45.55, Z:0.05 [[ 7.85458638e-01 -6.18913120e-01 -1.13015112e-03 2.18079362e+02] [ 6.18912429e-01 7.85459451e-01 -9.25433064e-04 4.55467642e+01] [ 1.46045054e-03 2.74248199e-05 9.99998933e-01 4.50907818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:218.10, Y:45.57, Z:0.04 [[ 7.81471003e-01 -6.23940538e-01 -1.12998262e-03 2.18097695e+02] [ 6.23939851e-01 7.81471820e-01 -9.25638756e-04 4.55663043e+01] [ 1.46059312e-03 1.83186570e-05 9.99998933e-01 4.31608016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.12, Y:45.59, Z:0.04 [[ 7.79388725e-01 -6.26539654e-01 -1.12983536e-03 2.18118218e+02] [ 6.26538970e-01 7.79389544e-01 -9.25818477e-04 4.55853253e+01] [ 1.46064385e-03 1.36866017e-05 9.99998933e-01 4.25995828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.14, Y:45.61, Z:0.04 [[ 7.75703572e-01 -6.31096420e-01 -1.12966531e-03 2.18136521e+02] [ 6.31095741e-01 7.75704395e-01 -9.26025914e-04 4.56058492e+01] [ 1.46069799e-03 5.39464249e-06 9.99998933e-01 4.05123988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.16, Y:45.62, Z:0.04 [[ 7.73877142e-01 -6.33334741e-01 -1.12951778e-03 2.18156785e+02] [ 6.33334064e-01 7.73877966e-01 -9.26205838e-04 4.56249153e+01] [ 1.46070725e-03 1.40744366e-06 9.99998933e-01 4.01604892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.18, Y:45.64, Z:0.04 [[ 7.70393112e-01 -6.37568175e-01 -1.12934423e-03 2.18176270e+02] [ 6.37567502e-01 7.70393940e-01 -9.26417399e-04 4.56448875e+01] [ 1.46069420e-03 -6.32759482e-06 9.99998933e-01 3.82516356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.20, Y:45.66, Z:0.04 [[ 7.68700616e-01 -6.39607761e-01 -1.12917906e-03 2.18196344e+02] [ 6.39607090e-01 7.68701445e-01 -9.26618668e-04 4.56637389e+01] [ 1.46067407e-03 -9.93859465e-06 9.99998933e-01 3.80670130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95587156000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:218.22, Y:45.68, Z:0.04 [[ 7.65768577e-01 -6.43115240e-01 -1.12900752e-03 2.18215081e+02] [ 6.43114572e-01 7.65769409e-01 -9.26827634e-04 4.56830548e+01] [ 1.46061640e-03 -1.63457096e-05 9.99998933e-01 3.80100873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.24, Y:45.70, Z:0.04 [[ 7.64675360e-01 -6.44414710e-01 -1.12885367e-03 2.18236076e+02] [ 6.44414044e-01 7.64676193e-01 -9.27014977e-04 4.57011296e+01] [ 1.46058962e-03 -1.85836492e-05 9.99998933e-01 4.04898929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.26, Y:45.72, Z:0.04 [[ 7.63455949e-01 -6.45858916e-01 -1.12870225e-03 2.18257203e+02] [ 6.45858251e-01 7.63456784e-01 -9.27199304e-04 4.57198248e+01] [ 1.46055533e-03 -2.11058379e-05 9.99998933e-01 4.17849971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.28, Y:45.74, Z:0.04 [[ 7.61571746e-01 -6.48079627e-01 -1.12853464e-03 2.18277520e+02] [ 6.48078964e-01 7.61572582e-01 -9.27403267e-04 4.57379908e+01] [ 1.46049220e-03 -2.50954354e-05 9.99998933e-01 4.29718429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.30, Y:45.76, Z:0.04 [[ 7.60534604e-01 -6.49296421e-01 -1.12838245e-03 2.18298964e+02] [ 6.49295759e-01 7.60535441e-01 -9.27588408e-04 4.57557122e+01] [ 1.46045467e-03 -2.71908547e-05 9.99998933e-01 4.22573277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:218.32, Y:45.77, Z:0.04 [[ 7.58902492e-01 -6.51203297e-01 -1.12821724e-03 2.18320835e+02] [ 6.51202637e-01 7.58903330e-01 -9.27789302e-04 4.57720427e+01] [ 1.46038727e-03 -3.05964289e-05 9.99998933e-01 3.95179197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:218.34, Y:45.79, Z:0.04 [[ 7.58054078e-01 -6.52190725e-01 -1.12810526e-03 2.18343866e+02] [ 6.52190066e-01 7.58054917e-01 -9.27925444e-04 4.57903245e+01] [ 1.46035011e-03 -3.23213743e-05 9.99998933e-01 3.88328037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.37, Y:45.81, Z:0.04 [[ 7.57555977e-01 -6.52769229e-01 -1.12897084e-03 2.18366625e+02] [ 6.52768572e-01 7.57556818e-01 -9.26873412e-04 4.58086865e+01] [ 1.46029400e-03 -3.47981868e-05 9.99998933e-01 3.77266221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.39, Y:45.82, Z:0.04 [[ 7.58002783e-01 -6.52250339e-01 -1.12949537e-03 2.18387582e+02] [ 6.52249683e-01 7.58003624e-01 -9.26236028e-04 4.58247705e+01] [ 1.46029935e-03 -3.46235092e-05 9.99998933e-01 3.63731987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.41, Y:45.84, Z:0.04 [[ 7.58148723e-01 -6.52080702e-01 -1.12772778e-03 2.18409486e+02] [ 6.52080042e-01 7.58149561e-01 -9.28383161e-04 4.58420825e+01] [ 1.46036706e-03 -3.15162695e-05 9.99998933e-01 3.59156285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.43, Y:45.86, Z:0.04 [[ 7.58533152e-01 -6.51633476e-01 -1.12756424e-03 2.18431124e+02] [ 6.51632815e-01 7.58533989e-01 -9.28581745e-04 4.58591795e+01] [ 1.46039075e-03 -3.03978216e-05 9.99998933e-01 3.63171822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.45, Y:45.87, Z:0.04 [[ 7.59985830e-01 -6.49938664e-01 -1.12740135e-03 2.18452855e+02] [ 6.49938001e-01 7.59986666e-01 -9.28779468e-04 4.58749493e+01] [ 1.46045968e-03 -2.68817441e-05 9.99998933e-01 3.79414064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.48, Y:45.89, Z:0.04 [[ 7.60646495e-01 -6.49165340e-01 -1.12732836e-03 2.18475253e+02] [ 6.49164676e-01 7.60647330e-01 -9.28868052e-04 4.58921772e+01] [ 1.46048825e-03 -2.52815212e-05 9.99998933e-01 3.90863170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.50, Y:45.91, Z:0.04 [[ 7.61958340e-01 -6.47625060e-01 -1.12716800e-03 2.18498625e+02] [ 6.47624394e-01 7.61959173e-01 -9.29062609e-04 4.59087609e+01] [ 1.46054022e-03 -2.20744883e-05 9.99998933e-01 4.19756135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.52, Y:45.92, Z:0.04 [[ 7.62509513e-01 -6.46976022e-01 -1.12701350e-03 2.18519831e+02] [ 6.46975355e-01 7.62510345e-01 -9.29249993e-04 4.59247322e+01] [ 1.46056191e-03 -2.05879967e-05 9.99998933e-01 4.11658602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.54, Y:45.94, Z:0.04 [[ 7.62819182e-01 -6.46610876e-01 -1.12691632e-03 2.18541372e+02] [ 6.46610209e-01 7.62820014e-01 -9.29367821e-04 4.59406793e+01] [ 1.46057367e-03 -1.97359973e-05 9.99998933e-01 4.00796938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.56, Y:45.96, Z:0.04 [[ 7.63577517e-01 -6.45715190e-01 -1.12676168e-03 2.18564216e+02] [ 6.45714521e-01 7.63578348e-01 -9.29555276e-04 4.59556344e+01] [ 1.46059878e-03 -1.77788669e-05 9.99998933e-01 3.96030825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.59, Y:45.97, Z:0.04 [[ 7.63997687e-01 -6.45217998e-01 -1.12659152e-03 2.18586838e+02] [ 6.45217328e-01 7.63998518e-01 -9.29761459e-04 4.59729092e+01] [ 1.46061308e-03 -1.65607637e-05 9.99998933e-01 4.00098668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:218.61, Y:45.99, Z:0.04 [[ 7.64966977e-01 -6.44068518e-01 -1.12641445e-03 2.18609944e+02] [ 6.44067847e-01 7.64967806e-01 -9.29975925e-04 4.59878365e+01] [ 1.46063901e-03 -1.40864586e-05 9.99998933e-01 4.00439655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.63, Y:46.00, Z:0.04 [[ 7.65610150e-01 -6.43303839e-01 -1.12631651e-03 2.18632535e+02] [ 6.43303167e-01 7.65610978e-01 -9.30094532e-04 4.60048085e+01] [ 1.46065367e-03 -1.24731619e-05 9.99998933e-01 4.08130101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.65, Y:46.02, Z:0.04 [[ 7.66078643e-01 -6.42745863e-01 -1.12613944e-03 2.18653815e+02] [ 6.42745190e-01 7.66079470e-01 -9.30308874e-04 4.60212641e+01] [ 1.46066449e-03 -1.11309483e-05 9.99998933e-01 3.94824526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.68, Y:46.04, Z:0.04 [[ 7.67319604e-01 -6.41263875e-01 -1.12604383e-03 2.18676762e+02] [ 6.41263201e-01 7.67320430e-01 -9.30424585e-04 4.60367806e+01] [ 1.46068411e-03 -8.15744633e-06 9.99998933e-01 3.98732260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:46.05, Z:0.04 [[ 7.68961654e-01 -6.39293912e-01 -1.12587150e-03 2.18699499e+02] [ 6.39293235e-01 7.68962479e-01 -9.30633072e-04 4.60527558e+01] [ 1.46070099e-03 -4.14088505e-06 9.99998933e-01 3.96133294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.72, Y:46.07, Z:0.04 [[ 7.69702913e-01 -6.38401251e-01 -1.12569699e-03 2.18720736e+02] [ 6.38400573e-01 7.69703737e-01 -9.30844104e-04 4.60695804e+01] [ 1.46070522e-03 -2.17218632e-06 9.99998933e-01 3.89111631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:46.09, Z:0.04 [[ 7.70357671e-01 -6.37611003e-01 -1.12554064e-03 2.18742752e+02] [ 6.37610323e-01 7.70358494e-01 -9.31033125e-04 4.60868868e+01] [ 1.46070675e-03 -4.27819194e-07 9.99998933e-01 3.98908598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.76, Y:46.10, Z:0.04 [[ 7.71007579e-01 -6.36824974e-01 -1.12536091e-03 2.18763900e+02] [ 6.36824293e-01 7.71008400e-01 -9.31250316e-04 4.61040048e+01] [ 1.46070617e-03 1.34388602e-06 9.99998933e-01 3.97747252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:46.12, Z:0.04 [[ 7.72032515e-01 -6.35582040e-01 -1.12523841e-03 2.18786611e+02] [ 6.35581357e-01 7.72033335e-01 -9.31398313e-04 4.61201567e+01] [ 1.46070160e-03 3.88922801e-06 9.99998933e-01 3.76155309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:46.14, Z:0.04 [[ 7.71910551e-01 -6.35730159e-01 -1.12506019e-03 2.18808422e+02] [ 6.35729476e-01 7.71911371e-01 -9.31613535e-04 4.61384627e+01] [ 1.46070158e-03 3.88839180e-06 9.99998933e-01 3.76571352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:46.16, Z:0.03 [[ 7.73000190e-01 -6.34404793e-01 -1.12488140e-03 2.18831243e+02] [ 6.34404109e-01 7.73001008e-01 -9.31829367e-04 4.61552257e+01] [ 1.46069147e-03 6.67489538e-06 9.99998933e-01 3.49132210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.85, Y:46.17, Z:0.04 [[ 7.73464821e-01 -6.33838233e-01 -1.12478748e-03 2.18852374e+02] [ 6.33837548e-01 7.73465639e-01 -9.31942717e-04 4.61729181e+01] [ 1.46068539e-03 7.89236546e-06 9.99998933e-01 3.53586185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.87, Y:46.19, Z:0.04 [[ 7.73928340e-01 -6.33272185e-01 -1.12461103e-03 2.18873479e+02] [ 6.33271499e-01 7.73929157e-01 -9.32155607e-04 4.61905486e+01] [ 1.46067748e-03 9.23753163e-06 9.99998933e-01 3.50077108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.89, Y:46.21, Z:0.04 [[ 7.74786645e-01 -6.32221788e-01 -1.12443479e-03 2.18894569e+02] [ 6.32221101e-01 7.74787461e-01 -9.32368150e-04 4.62073187e+01] [ 1.46066143e-03 1.14949917e-05 9.99998933e-01 3.59112068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.92, Y:46.22, Z:0.04 [[ 7.75163183e-01 -6.31760062e-01 -1.12427458e-03 2.18916002e+02] [ 6.31759374e-01 7.75163998e-01 -9.32561294e-04 4.62247022e+01] [ 1.46065216e-03 1.26161770e-05 9.99998933e-01 3.63427555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.94, Y:46.24, Z:0.04 [[ 7.75475828e-01 -6.31376256e-01 -1.12409968e-03 2.18937429e+02] [ 6.31375568e-01 7.75476642e-01 -9.32772062e-04 4.62412189e+01] [ 1.46064318e-03 1.36131104e-05 9.99998933e-01 3.66028153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:46.26, Z:0.04 [[ 7.75253553e-01 -6.31649163e-01 -1.12394073e-03 2.18959182e+02] [ 6.31648474e-01 7.75254368e-01 -9.32963558e-04 4.62576104e+01] [ 1.46064561e-03 1.33478672e-05 9.99998933e-01 3.64123382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:46.27, Z:0.04 [[ 7.74854071e-01 -6.32139150e-01 -1.12378404e-03 2.18981583e+02] [ 6.32138462e-01 7.74854886e-01 -9.33152254e-04 4.62744422e+01] [ 1.46065163e-03 1.26697080e-05 9.99998933e-01 3.62905819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.00, Y:46.29, Z:0.04 [[ 7.74296138e-01 -6.32822430e-01 -1.12361269e-03 2.19003097e+02] [ 6.32821742e-01 7.74296953e-01 -9.33358531e-04 4.62907328e+01] [ 1.46066010e-03 1.16493655e-05 9.99998933e-01 3.68680228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.02, Y:46.31, Z:0.04 [[ 7.74153715e-01 -6.32996654e-01 -1.12345841e-03 2.19024369e+02] [ 6.32995966e-01 7.74154530e-01 -9.33544195e-04 4.63087604e+01] [ 1.46066077e-03 1.15620638e-05 9.99998933e-01 3.73539480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.05, Y:46.33, Z:0.04 [[ 7.73902839e-01 -6.33303351e-01 -1.12328806e-03 2.19046765e+02] [ 6.33302662e-01 7.73903654e-01 -9.33749123e-04 4.63258695e+01] [ 1.46066318e-03 1.12497761e-05 9.99998933e-01 3.80647768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:46.34, Z:0.04 [[ 7.73280133e-01 -6.34063541e-01 -1.12311276e-03 2.19069448e+02] [ 6.34062853e-01 7.73280949e-01 -9.33959929e-04 4.63440115e+01] [ 1.46067164e-03 1.00885765e-05 9.99998933e-01 3.67987591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.09, Y:46.36, Z:0.04 [[ 7.74031258e-01 -6.33146384e-01 -1.12654086e-03 2.19090182e+02] [ 6.33145701e-01 7.74032077e-01 -9.29836971e-04 4.63578256e+01] [ 1.46070167e-03 6.45837968e-06 9.99998933e-01 3.51821639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:219.11, Y:46.38, Z:0.03 [[ 7.74389832e-01 -6.32707774e-01 -1.12296207e-03 2.19111090e+02] [ 6.32707085e-01 7.74390646e-01 -9.34139158e-04 4.63754376e+01] [ 1.46064843e-03 1.28818068e-05 9.99998933e-01 3.47118589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21587156000004 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:219.13, Y:46.39, Z:0.04 [[ 7.74920400e-01 -6.32057840e-01 -1.12281169e-03 2.19132785e+02] [ 6.32057149e-01 7.74921213e-01 -9.34319880e-04 4.63937247e+01] [ 1.46063480e-03 1.43423812e-05 9.99998933e-01 3.53049179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:219.15, Y:46.41, Z:0.04 [[ 7.76274408e-01 -6.30394149e-01 -1.12264517e-03 2.19153276e+02] [ 6.30393457e-01 7.76275219e-01 -9.34519922e-04 4.64116885e+01] [ 1.46059751e-03 1.77357310e-05 9.99998933e-01 3.55732986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.17, Y:46.43, Z:0.04 [[ 7.77270045e-01 -6.29166128e-01 -1.12249490e-03 2.19174610e+02] [ 6.29165434e-01 7.77270855e-01 -9.34700377e-04 4.64299020e+01] [ 1.46056439e-03 2.02796114e-05 9.99998933e-01 3.70431756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.20, Y:46.45, Z:0.04 [[ 7.77568108e-01 -6.28797724e-01 -1.12231386e-03 2.19195540e+02] [ 6.28797029e-01 7.77568918e-01 -9.34917707e-04 4.64475229e+01] [ 1.46055050e-03 2.12545723e-05 9.99998933e-01 3.72031421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.22, Y:46.47, Z:0.04 [[ 7.77597217e-01 -6.28761726e-01 -1.12221289e-03 2.19216024e+02] [ 6.28761031e-01 7.77598027e-01 -9.35038885e-04 4.64651214e+01] [ 1.46054719e-03 2.14798992e-05 9.99998933e-01 3.67866837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:219.24, Y:46.48, Z:0.04 [[ 7.77509036e-01 -6.28870766e-01 -1.12211306e-03 2.19237263e+02] [ 6.28870071e-01 7.77509845e-01 -9.35158677e-04 4.64833798e+01] [ 1.46054790e-03 2.14310027e-05 9.99998933e-01 3.83075528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39587156000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.26, Y:46.50, Z:0.04 [[ 7.77421004e-01 -6.28979590e-01 -1.12193590e-03 2.19258348e+02] [ 6.28978895e-01 7.77421813e-01 -9.35371167e-04 4.65025407e+01] [ 1.46054682e-03 2.15031864e-05 9.99998933e-01 3.96561868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:219.28, Y:46.52, Z:0.04 [[ 7.77365127e-01 -6.29048648e-01 -1.12175880e-03 2.19278690e+02] [ 6.29047952e-01 7.77365936e-01 -9.35583517e-04 4.65199177e+01] [ 1.46054462e-03 2.16499251e-05 9.99998933e-01 3.93490319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.30, Y:46.54, Z:0.04 [[ 7.77253362e-01 -6.29186740e-01 -1.12159898e-03 2.19300529e+02] [ 6.29186044e-01 7.77254171e-01 -9.35775074e-04 4.65380906e+01] [ 1.46054475e-03 2.16398986e-05 9.99998933e-01 4.03606107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156000002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:219.32, Y:46.56, Z:0.04 [[ 7.77106847e-01 -6.29367691e-01 -1.12142351e-03 2.19320093e+02] [ 6.29366995e-01 7.77107656e-01 -9.35985305e-04 4.65568080e+01] [ 1.46054571e-03 2.15736454e-05 9.99998933e-01 3.93356375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51587156000002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:219.34, Y:46.58, Z:0.04 [[ 7.76925329e-01 -6.29591754e-01 -1.12126593e-03 2.19339943e+02] [ 6.29591058e-01 7.76926137e-01 -9.36174039e-04 4.65755316e+01] [ 1.46054826e-03 2.13983186e-05 9.99998933e-01 3.90662961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156000002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:219.36, Y:46.59, Z:0.04 [[ 7.76682295e-01 -6.29891542e-01 -1.12111522e-03 2.19360597e+02] [ 6.29890847e-01 7.76683104e-01 -9.36354483e-04 4.65941491e+01] [ 1.46055302e-03 2.10697305e-05 9.99998933e-01 3.90457586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.38, Y:46.61, Z:0.04 [[ 7.76172406e-01 -6.30519737e-01 -1.12094766e-03 2.19380927e+02] [ 6.30519042e-01 7.76173215e-01 -9.36555043e-04 4.66127343e+01] [ 1.46056599e-03 2.01493397e-05 9.99998933e-01 3.97244802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.40, Y:46.63, Z:0.04 [[ 7.75339318e-01 -6.31543890e-01 -1.12076927e-03 2.19401430e+02] [ 6.31543196e-01 7.75340128e-01 -9.36768470e-04 4.66319330e+01] [ 1.46058779e-03 1.84992221e-05 9.99998933e-01 3.96837960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.42, Y:46.65, Z:0.04 [[ 7.74748894e-01 -6.32268057e-01 -1.12059174e-03 2.19422406e+02] [ 6.32267363e-01 7.74749704e-01 -9.36980791e-04 4.66504189e+01] [ 1.46060114e-03 1.74112497e-05 9.99998933e-01 4.07454231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:219.44, Y:46.67, Z:0.04 [[ 7.73953533e-01 -6.33241402e-01 -1.12041251e-03 2.19443740e+02] [ 6.33240708e-01 7.73954344e-01 -9.37195053e-04 4.66689175e+01] [ 1.46061884e-03 1.58546099e-05 9.99998933e-01 4.08034932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:219.46, Y:46.69, Z:0.04 [[ 7.72246994e-01 -6.35321435e-01 -1.12023403e-03 2.19463673e+02] [ 6.35320743e-01 7.72247806e-01 -9.37408342e-04 4.66869617e+01] [ 1.46065389e-03 1.22028561e-05 9.99998933e-01 4.25212338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:219.48, Y:46.70, Z:0.04 [[ 7.71261260e-01 -6.36517725e-01 -1.12007184e-03 2.19483908e+02] [ 6.36517035e-01 7.71262073e-01 -9.37602097e-04 4.67048904e+01] [ 1.46066928e-03 1.01913666e-05 9.99998933e-01 4.30733728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.50, Y:46.72, Z:0.04 [[ 7.69190936e-01 -6.39018035e-01 -1.11991306e-03 2.19504840e+02] [ 6.39017347e-01 7.69191751e-01 -9.37791718e-04 4.67217964e+01] [ 1.46069371e-03 5.69701848e-06 9.99998933e-01 4.25979417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.53, Y:46.74, Z:0.04 [[ 7.67893617e-01 -6.40576412e-01 -1.11975669e-03 2.19525894e+02] [ 6.40575725e-01 7.67894433e-01 -9.37978391e-04 4.67384348e+01] [ 1.46070176e-03 2.97866625e-06 9.99998933e-01 4.27284812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:219.55, Y:46.75, Z:0.04 [[ 7.65476452e-01 -6.43462935e-01 -1.11960124e-03 2.19548515e+02] [ 6.43462251e-01 7.65477271e-01 -9.38163906e-04 4.67545304e+01] [ 1.46070300e-03 -2.27875386e-06 9.99998933e-01 4.42821851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:219.57, Y:46.77, Z:0.04 [[ 7.64207968e-01 -6.44968937e-01 -1.11942482e-03 2.19570462e+02] [ 6.44968254e-01 7.64208788e-01 -9.38374362e-04 4.67720798e+01] [ 1.46069660e-03 -4.88030630e-06 9.99998933e-01 4.45320601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87587156000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:219.59, Y:46.79, Z:0.05 [[ 7.62892376e-01 -6.46524531e-01 -1.11924797e-03 2.19592381e+02] [ 6.46523850e-01 7.62893197e-01 -9.38585249e-04 4.67887911e+01] [ 1.46068505e-03 -7.58097640e-06 9.99998933e-01 4.50101557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:219.62, Y:46.80, Z:0.04 [[ 7.60881884e-01 -6.48889441e-01 -1.11907103e-03 2.19615676e+02] [ 6.48888762e-01 7.60882707e-01 -9.38796172e-04 4.68028060e+01] [ 1.46065672e-03 -1.18396129e-05 9.99998933e-01 4.47321158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.64, Y:46.82, Z:0.05 [[ 7.60061958e-01 -6.49849651e-01 -1.11891179e-03 2.19637788e+02] [ 6.49848972e-01 7.60062781e-01 -9.38985917e-04 4.68190737e+01] [ 1.46064288e-03 -1.34362058e-05 9.99998933e-01 4.53499670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:219.66, Y:46.83, Z:0.05 [[ 7.59437426e-01 -6.50579391e-01 -1.11875320e-03 2.19661958e+02] [ 6.50578713e-01 7.59438250e-01 -9.39174840e-04 4.68331147e+01] [ 1.46063177e-03 -1.45924914e-05 9.99998933e-01 4.62599845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:219.68, Y:46.85, Z:0.05 [[ 7.59445308e-01 -6.50570191e-01 -1.11857958e-03 2.19684374e+02] [ 6.50569513e-01 7.59446131e-01 -9.39381577e-04 4.68490452e+01] [ 1.46063459e-03 -1.43048407e-05 9.99998933e-01 4.63901398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156000004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:219.71, Y:46.86, Z:0.04 [[ 7.60530692e-01 -6.49301021e-01 -1.11846141e-03 2.19708178e+02] [ 6.49300341e-01 7.60531515e-01 -9.39522257e-04 4.68636773e+01] [ 1.46065791e-03 -1.16818597e-05 9.99998933e-01 4.42360792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05587156000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:219.73, Y:46.88, Z:0.04 [[ 7.61234405e-01 -6.48475851e-01 -1.11828997e-03 2.19730362e+02] [ 6.48475170e-01 7.61235227e-01 -9.39726273e-04 4.68801201e+01] [ 1.46067151e-03 -9.83130574e-06 9.99998933e-01 4.48949987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.75, Y:46.90, Z:0.04 [[ 7.62146123e-01 -6.47404075e-01 -1.11811852e-03 2.19753532e+02] [ 6.47403393e-01 7.62146943e-01 -9.39930225e-04 4.68963475e+01] [ 1.46068527e-03 -7.50954427e-06 9.99998933e-01 4.45516971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:219.78, Y:46.91, Z:0.04 [[ 7.64427010e-01 -6.44709311e-01 -1.11794736e-03 2.19777784e+02] [ 6.44708626e-01 7.64427828e-01 -9.40133759e-04 4.69103590e+01] [ 1.46070306e-03 -2.08666468e-06 9.99998933e-01 4.22320231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.80, Y:46.93, Z:0.04 [[ 7.65635633e-01 -6.43273525e-01 -1.11777737e-03 2.19799735e+02] [ 6.43272837e-01 7.65636449e-01 -9.40335824e-04 4.69268802e+01] [ 1.46070423e-03 9.18795663e-07 9.99998933e-01 4.23881268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.82, Y:46.94, Z:0.04 [[ 7.68295580e-01 -6.40094253e-01 -1.11762448e-03 2.19823318e+02] [ 6.40093562e-01 7.68296393e-01 -9.40517496e-04 4.69417567e+01] [ 1.46068670e-03 7.21119897e-06 9.99998933e-01 4.23578243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:219.85, Y:46.96, Z:0.04 [[ 7.69567729e-01 -6.38564219e-01 -1.11745496e-03 2.19845685e+02] [ 6.38563526e-01 7.69568540e-01 -9.40718872e-04 4.69579200e+01] [ 1.46066759e-03 1.03809080e-05 9.99998933e-01 4.21487288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.87, Y:46.97, Z:0.04 [[ 7.72048519e-01 -6.35562614e-01 -1.11728537e-03 2.19868803e+02] [ 6.35561918e-01 7.72049327e-01 -9.40920249e-04 4.69730590e+01] [ 1.46061315e-03 1.63320522e-05 9.99998933e-01 4.24669035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.89, Y:46.99, Z:0.04 [[ 7.73373802e-01 -6.33949300e-01 -1.11710594e-03 2.19891146e+02] [ 6.33948601e-01 7.73374608e-01 -9.41133233e-04 4.69904660e+01] [ 1.46057212e-03 1.96600410e-05 9.99998933e-01 4.43719273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.91, Y:47.01, Z:0.04 [[ 7.74712640e-01 -6.32312484e-01 -1.11692182e-03 2.19912658e+02] [ 6.32311784e-01 7.74713445e-01 -9.41351687e-04 4.70074607e+01] [ 1.46052277e-03 2.30342229e-05 9.99998933e-01 4.26661873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.93, Y:47.02, Z:0.04 [[ 7.77259590e-01 -6.29179055e-01 -1.11675674e-03 2.19934733e+02] [ 6.29178351e-01 7.77260391e-01 -9.41547484e-04 4.70247340e+01] [ 1.46041274e-03 2.91876456e-05 9.99998933e-01 4.29189060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35587156000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:219.96, Y:47.04, Z:0.04 [[ 7.79380827e-01 -6.26549503e-01 -1.11659149e-03 2.19955288e+02] [ 6.26548796e-01 7.79381626e-01 -9.41743418e-04 4.70415413e+01] [ 1.46029976e-03 3.43777102e-05 9.99998933e-01 4.23898794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.98, Y:47.06, Z:0.04 [[ 7.80149990e-01 -6.25591517e-01 -1.11641721e-03 2.19976554e+02] [ 6.25590809e-01 7.80150788e-01 -9.41949975e-04 4.70591721e+01] [ 1.46024968e-03 3.64419172e-05 9.99998933e-01 4.29253377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:220.00, Y:47.08, Z:0.04 [[ 7.80618052e-01 -6.25007368e-01 -1.11625440e-03 2.19997496e+02] [ 6.25006660e-01 7.80618849e-01 -9.42142881e-04 4.70769903e+01] [ 1.46021546e-03 3.77873097e-05 9.99998933e-01 4.33297238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:220.02, Y:47.10, Z:0.04 [[ 7.81421815e-01 -6.24002165e-01 -1.11609131e-03 2.20017929e+02] [ 6.24001454e-01 7.81422611e-01 -9.42336035e-04 4.70958751e+01] [ 1.46015871e-03 3.99193325e-05 9.99998933e-01 4.36938807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:220.04, Y:47.11, Z:0.04 [[ 7.81595059e-01 -6.23785154e-01 -1.11591909e-03 2.20038239e+02] [ 6.23784444e-01 7.81595854e-01 -9.42539941e-04 4.71142638e+01] [ 1.46014015e-03 4.05915939e-05 9.99998933e-01 4.28751914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:220.06, Y:47.13, Z:0.04 [[ 7.81498058e-01 -6.23906676e-01 -1.11580136e-03 2.20058182e+02] [ 6.23905965e-01 7.81498853e-01 -9.42679290e-04 4.71342039e+01] [ 1.46014138e-03 4.05469113e-05 9.99998933e-01 4.44042740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:220.08, Y:47.15, Z:0.04 [[ 7.81241507e-01 -6.24227893e-01 -1.11563103e-03 2.20078767e+02] [ 6.24227182e-01 7.81242303e-01 -9.42880825e-04 4.71532032e+01] [ 1.46015067e-03 4.02104232e-05 9.99998933e-01 4.46292744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.10, Y:47.17, Z:0.04 [[ 7.80529066e-01 -6.25118495e-01 -1.11546020e-03 2.20098440e+02] [ 6.25117785e-01 7.80529862e-01 -9.43082885e-04 4.71715259e+01] [ 1.46018855e-03 3.88095973e-05 9.99998933e-01 4.34914679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.12, Y:47.19, Z:0.04 [[ 7.80205959e-01 -6.25521717e-01 -1.11531065e-03 2.20118851e+02] [ 6.25521007e-01 7.80206755e-01 -9.43259708e-04 4.71896844e+01] [ 1.46020233e-03 3.82866044e-05 9.99998933e-01 4.31025407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.14, Y:47.21, Z:0.04 [[ 7.79790726e-01 -6.26039280e-01 -1.11519502e-03 2.20139412e+02] [ 6.26038570e-01 7.79791523e-01 -9.43396395e-04 4.72090675e+01] [ 1.46022282e-03 3.74966642e-05 9.99998933e-01 4.44570796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65587156000004 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:220.16, Y:47.23, Z:0.04 [[ 7.78925865e-01 -6.27115024e-01 -1.11501371e-03 2.20159476e+02] [ 6.27114315e-01 7.78926663e-01 -9.43610638e-04 4.72298594e+01] [ 1.46026632e-03 3.57616733e-05 9.99998933e-01 4.30460207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156000004 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:220.18, Y:47.25, Z:0.04 [[ 7.78805194e-01 -6.27264877e-01 -1.11485553e-03 2.20181092e+02] [ 6.27264168e-01 7.78805991e-01 -9.43797485e-04 4.72484074e+01] [ 1.46026718e-03 3.57254554e-05 9.99998933e-01 4.30876238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71587156000004 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:220.20, Y:47.27, Z:0.04 [[ 7.77901620e-01 -6.28385094e-01 -1.11467390e-03 2.20200703e+02] [ 6.28384386e-01 7.77902418e-01 -9.44011948e-04 4.72687735e+01] [ 1.46031056e-03 3.39047469e-05 9.99998933e-01 4.18541598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156000004 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:220.22, Y:47.29, Z:0.04 [[ 7.77272524e-01 -6.29163080e-01 -1.11457896e-03 2.20220706e+02] [ 6.29162372e-01 7.77273323e-01 -9.44124035e-04 4.72878994e+01] [ 1.46034048e-03 3.25905300e-05 9.99998933e-01 4.09538186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77587156000004 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:220.24, Y:47.31, Z:0.04 [[ 7.76644537e-01 -6.29938110e-01 -1.11441041e-03 2.20239841e+02] [ 6.29937403e-01 7.76645336e-01 -9.44322948e-04 4.73064230e+01] [ 1.46036666e-03 3.13944617e-05 9.99998933e-01 4.18769871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:220.26, Y:47.33, Z:0.04 [[ 7.75254364e-01 -6.31648184e-01 -1.11425728e-03 2.20259488e+02] [ 6.31647479e-01 7.75255165e-01 -9.44503589e-04 4.73268058e+01] [ 1.46042769e-03 2.84127247e-05 9.99998933e-01 4.18726463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83587156000004 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:220.28, Y:47.35, Z:0.04 [[ 7.74249353e-01 -6.32879687e-01 -1.11408490e-03 2.20278881e+02] [ 6.32878983e-01 7.74250154e-01 -9.44706882e-04 4.73457101e+01] [ 1.46046620e-03 2.63577749e-05 9.99998933e-01 3.87943803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000004 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:220.30, Y:47.37, Z:0.04 [[ 7.72081872e-01 -6.35522102e-01 -1.11392904e-03 2.20298181e+02] [ 6.35521400e-01 7.72082675e-01 -9.44890621e-04 4.73665920e+01] [ 1.46054419e-03 2.16071757e-05 9.99998933e-01 3.82999447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89587156000005 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:220.32, Y:47.39, Z:0.04 [[ 7.70921430e-01 -6.36929280e-01 -1.11377622e-03 2.20318710e+02] [ 6.36928579e-01 7.70922235e-01 -9.45070723e-04 4.73853077e+01] [ 1.46057807e-03 1.91793679e-05 9.99998933e-01 3.99486354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156000002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:220.34, Y:47.40, Z:0.04 [[ 7.69159031e-01 -6.39056449e-01 -1.11360231e-03 2.20338413e+02] [ 6.39055750e-01 7.69159837e-01 -9.45275603e-04 4.74049604e+01] [ 1.46062264e-03 1.54133080e-05 9.99998933e-01 4.05988696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.36, Y:47.42, Z:0.04 [[ 7.68350503e-01 -6.40028331e-01 -1.11342904e-03 2.20358542e+02] [ 6.40027633e-01 7.68351310e-01 -9.45479654e-04 4.74238114e+01] [ 1.46063842e-03 1.38344163e-05 9.99998933e-01 4.01244257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156000002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:220.38, Y:47.44, Z:0.04 [[ 7.67647546e-01 -6.40871286e-01 -1.11325588e-03 2.20378793e+02] [ 6.40870589e-01 7.67648353e-01 -9.45683494e-04 4.74426439e+01] [ 1.46065044e-03 1.24986622e-05 9.99998933e-01 4.05026086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01587156000002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:220.40, Y:47.46, Z:0.04 [[ 7.66640847e-01 -6.42075208e-01 -1.11307947e-03 2.20398035e+02] [ 6.42074512e-01 7.66641655e-01 -9.45891080e-04 4.74613264e+01] [ 1.46066630e-03 1.04787793e-05 9.99998933e-01 3.98886411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156000002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:220.42, Y:47.48, Z:0.04 [[ 7.66090984e-01 -6.42731176e-01 -1.11291971e-03 2.20419017e+02] [ 6.42730480e-01 7.66091793e-01 -9.46079020e-04 4.74805574e+01] [ 1.46067314e-03 9.47518910e-06 9.99998933e-01 4.04843177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07587156000002 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:220.44, Y:47.50, Z:0.04 [[ 7.65079226e-01 -6.43935199e-01 -1.11274525e-03 2.20438236e+02] [ 6.43934503e-01 7.65080035e-01 -9.46284169e-04 4.75000031e+01] [ 1.46068486e-03 7.44730028e-06 9.99998933e-01 4.22952529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:220.46, Y:47.52, Z:0.04 [[ 7.64289154e-01 -6.44872740e-01 -1.11263485e-03 2.20459133e+02] [ 6.44872046e-01 7.64289964e-01 -9.46413960e-04 4.75184826e+01] [ 1.46069221e-03 5.82681484e-06 9.99998933e-01 4.19224212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13587156000003 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:220.48, Y:47.54, Z:0.04 [[ 7.63364266e-01 -6.45967305e-01 -1.11246215e-03 2.20480029e+02] [ 6.45966612e-01 7.63365077e-01 -9.46616913e-04 4.75363359e+01] [ 1.46069833e-03 4.00011932e-06 9.99998933e-01 4.19332314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:220.50, Y:47.55, Z:0.04 [[ 7.61451635e-01 -6.48220773e-01 -1.11228914e-03 2.20500653e+02] [ 6.48220081e-01 7.61452447e-01 -9.46820156e-04 4.75534453e+01] [ 1.46070378e-03 -5.04033822e-08 9.99998933e-01 3.95849033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:220.52, Y:47.57, Z:0.04 [[ 7.59637053e-01 -6.50346300e-01 -1.11217326e-03 2.20521716e+02] [ 6.50345611e-01 7.59637867e-01 -9.46956257e-04 4.75697444e+01] [ 1.46069842e-03 -3.95393876e-06 9.99998933e-01 3.92357711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.54, Y:47.59, Z:0.04 [[ 7.58889246e-01 -6.51218762e-01 -1.11205673e-03 2.20543228e+02] [ 6.51218074e-01 7.58890060e-01 -9.47093088e-04 4.75866287e+01] [ 1.46069359e-03 -5.45268038e-06 9.99998933e-01 3.92006484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:47.60, Z:0.04 [[ 7.58279254e-01 -6.51928935e-01 -1.11187738e-03 2.20565313e+02] [ 6.51928247e-01 7.58280069e-01 -9.47303598e-04 4.76041376e+01] [ 1.46068908e-03 -6.54360317e-06 9.99998933e-01 3.89237244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156000003 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:220.59, Y:47.62, Z:0.04 [[ 7.58047099e-01 -6.52198865e-01 -1.11170804e-03 2.20587888e+02] [ 6.52198177e-01 7.58047914e-01 -9.47502276e-04 4.76199299e+01] [ 1.46068787e-03 -6.80260796e-06 9.99998933e-01 3.58782209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31587156000003 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:220.61, Y:47.64, Z:0.04 [[ 7.58471098e-01 -6.51705730e-01 -1.11153998e-03 2.20609340e+02] [ 6.51705041e-01 7.58471912e-01 -9.47699394e-04 4.76375815e+01] [ 1.46069298e-03 -5.59360914e-06 9.99998933e-01 3.50269856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:220.63, Y:47.65, Z:0.04 [[ 7.60329849e-01 -6.49536208e-01 -1.11137340e-03 2.20629745e+02] [ 6.49535517e-01 7.60330661e-01 -9.47894709e-04 4.76546512e+01] [ 1.46070320e-03 -1.16385194e-06 9.99998933e-01 3.64956384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37587156000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:220.65, Y:47.67, Z:0.04 [[ 7.61296773e-01 -6.48402644e-01 -1.11125147e-03 2.20651382e+02] [ 6.48401951e-01 7.61297584e-01 -9.48037627e-04 4.76728831e+01] [ 1.46070316e-03 1.20036587e-06 9.99998933e-01 3.71048825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.67, Y:47.69, Z:0.04 [[ 7.62441087e-01 -6.47056686e-01 -1.11108561e-03 2.20673316e+02] [ 6.47055991e-01 7.62441897e-01 -9.48231973e-04 4.76904675e+01] [ 1.46069806e-03 4.03641743e-06 9.99998933e-01 3.69999764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43587156000004 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:220.70, Y:47.71, Z:0.04 [[ 7.64584110e-01 -6.44523006e-01 -1.11092062e-03 2.20695602e+02] [ 6.44522308e-01 7.64584917e-01 -9.48425233e-04 4.77074923e+01] [ 1.46067503e-03 9.13774287e-06 9.99998933e-01 3.81909251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156000004 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:220.72, Y:47.73, Z:0.04 [[ 7.65505692e-01 -6.43428164e-01 -1.11075606e-03 2.20717473e+02] [ 6.43427465e-01 7.65506497e-01 -9.48617912e-04 4.77253996e+01] [ 1.46065847e-03 1.14814534e-05 9.99998933e-01 3.82907837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:220.74, Y:47.74, Z:0.04 [[ 7.67191670e-01 -6.41416953e-01 -1.11059199e-03 2.20739930e+02] [ 6.41416251e-01 7.67192474e-01 -9.48809956e-04 4.77424680e+01] [ 1.46062061e-03 1.55673408e-05 9.99998933e-01 4.17356754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.76, Y:47.76, Z:0.04 [[ 7.68043225e-01 -6.40397042e-01 -1.11040810e-03 2.20760449e+02] [ 6.40396339e-01 7.68044027e-01 -9.49025127e-04 4.77597104e+01] [ 1.46059519e-03 1.77910389e-05 9.99998933e-01 4.15060372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55587156000004 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:220.78, Y:47.78, Z:0.04 [[ 7.69633928e-01 -6.38484444e-01 -1.11024311e-03 2.20781230e+02] [ 6.38483738e-01 7.69634728e-01 -9.49218095e-04 4.77775027e+01] [ 1.46054265e-03 2.16782763e-05 9.99998933e-01 3.80042601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000004 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:220.80, Y:47.80, Z:0.04 [[ 7.70165159e-01 -6.37843550e-01 -1.11008315e-03 2.20802796e+02] [ 6.37842844e-01 7.70165959e-01 -9.49405135e-04 4.77959792e+01] [ 1.46052019e-03 2.31401646e-05 9.99998933e-01 3.88320972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61587156000004 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:220.82, Y:47.81, Z:0.04 [[ 7.71198110e-01 -6.36594253e-01 -1.10992270e-03 2.20824018e+02] [ 6.36593545e-01 7.71198908e-01 -9.49592671e-04 4.78145082e+01] [ 1.46047641e-03 2.57544444e-05 9.99998933e-01 3.88138703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000005 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:220.84, Y:47.83, Z:0.04 [[ 7.71545864e-01 -6.36172735e-01 -1.10976328e-03 2.20844671e+02] [ 6.36172026e-01 7.71546662e-01 -9.49778949e-04 4.78332937e+01] [ 1.46045762e-03 2.67976665e-05 9.99998933e-01 3.89700451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.87, Y:47.85, Z:0.04 [[ 7.71669778e-01 -6.36022422e-01 -1.10960344e-03 2.20865435e+02] [ 6.36021714e-01 7.71670576e-01 -9.49965650e-04 4.78519441e+01] [ 1.46044778e-03 2.73279024e-05 9.99998933e-01 4.12517772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.89, Y:47.87, Z:0.04 [[ 7.71691209e-01 -6.35996421e-01 -1.10942329e-03 2.20886770e+02] [ 6.35995711e-01 7.71692006e-01 -9.50175992e-04 4.78695641e+01] [ 1.46044161e-03 2.76540067e-05 9.99998933e-01 4.07398185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73587156000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:220.91, Y:47.89, Z:0.04 [[ 7.71343665e-01 -6.36417882e-01 -1.10924031e-03 2.20907237e+02] [ 6.36417173e-01 7.71344462e-01 -9.50389554e-04 4.78869187e+01] [ 1.46045128e-03 2.71373792e-05 9.99998933e-01 4.01186748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156000002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:220.93, Y:47.90, Z:0.04 [[ 7.70762221e-01 -6.37121942e-01 -1.10907622e-03 2.20928091e+02] [ 6.37121233e-01 7.70763018e-01 -9.50580999e-04 4.79047118e+01] [ 1.46047095e-03 2.60559097e-05 9.99998933e-01 4.07400070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:220.95, Y:47.92, Z:0.04 [[ 7.70375239e-01 -6.37589806e-01 -1.10895683e-03 2.20948698e+02] [ 6.37589098e-01 7.70376037e-01 -9.50720270e-04 4.79230460e+01] [ 1.46048332e-03 2.53525732e-05 9.99998933e-01 4.06541585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:220.97, Y:47.94, Z:0.04 [[ 7.69891017e-01 -6.38174421e-01 -1.10877985e-03 2.20969776e+02] [ 6.38173713e-01 7.69891815e-01 -9.50926619e-04 4.79420574e+01] [ 1.46049758e-03 2.45157061e-05 9.99998933e-01 4.05897036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:220.99, Y:47.96, Z:0.04 [[ 7.69031599e-01 -6.39209801e-01 -1.10860328e-03 2.20989632e+02] [ 6.39209094e-01 7.69032398e-01 -9.51132421e-04 4.79604359e+01] [ 1.46052501e-03 2.28215855e-05 9.99998933e-01 4.05776588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.01, Y:47.98, Z:0.04 [[ 7.68457871e-01 -6.39899423e-01 -1.10844318e-03 2.21010630e+02] [ 6.39898716e-01 7.68458671e-01 -9.51318972e-04 4.79790858e+01] [ 1.46054123e-03 2.17571863e-05 9.99998933e-01 4.07832580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:221.03, Y:48.00, Z:0.04 [[ 7.67235639e-01 -6.41364363e-01 -1.10826791e-03 2.21031126e+02] [ 6.41363657e-01 7.67236440e-01 -9.51523116e-04 4.79984322e+01] [ 1.46057654e-03 1.92396890e-05 9.99998933e-01 4.22802434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:221.05, Y:48.02, Z:0.04 [[ 7.66441031e-01 -6.42313722e-01 -1.10808814e-03 2.21052119e+02] [ 6.42313017e-01 7.66441832e-01 -9.51732415e-04 4.80165656e+01] [ 1.46059589e-03 1.77073371e-05 9.99998933e-01 4.29235449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97587156000003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:221.07, Y:48.03, Z:0.04 [[ 7.64465463e-01 -6.44663733e-01 -1.10790878e-03 2.21073408e+02] [ 6.44663030e-01 7.64466266e-01 -9.51941165e-04 4.80340018e+01] [ 1.46064083e-03 1.34983143e-05 9.99998933e-01 4.13114801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.10, Y:48.05, Z:0.04 [[ 7.63169503e-01 -6.46197403e-01 -1.10774667e-03 2.21095233e+02] [ 6.46196701e-01 7.63170307e-01 -9.52129766e-04 4.80522799e+01] [ 1.46066315e-03 1.08141560e-05 9.99998933e-01 4.33512095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.12, Y:48.07, Z:0.04 [[ 7.60553577e-01 -6.49274233e-01 -1.10756982e-03 2.21117034e+02] [ 6.49273535e-01 7.60554383e-01 -9.52335443e-04 4.80691949e+01] [ 1.46069395e-03 5.18635425e-06 9.99998933e-01 4.19243387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.14, Y:48.09, Z:0.04 [[ 7.59438312e-01 -6.50578376e-01 -1.10739305e-03 2.21138272e+02] [ 6.50577679e-01 7.59439120e-01 -9.52540953e-04 4.80870106e+01] [ 1.46070015e-03 2.95089424e-06 9.99998933e-01 4.10415724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:48.10, Z:0.04 [[ 7.57952015e-01 -6.52309372e-01 -1.10721706e-03 2.21159292e+02] [ 6.52308676e-01 7.57952824e-01 -9.52745476e-04 4.81032734e+01] [ 1.46070310e-03 -1.11940922e-07 9.99998933e-01 4.06995617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156000004 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:221.18, Y:48.12, Z:0.04 [[ 7.57549631e-01 -6.52776632e-01 -1.10705964e-03 2.21180803e+02] [ 6.52775936e-01 7.57550440e-01 -9.52928357e-04 4.81200223e+01] [ 1.46070288e-03 -7.71367606e-07 9.99998933e-01 4.01333532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.20, Y:48.14, Z:0.04 [[ 7.57238962e-01 -6.53136992e-01 -1.10691250e-03 2.21203238e+02] [ 6.53136296e-01 7.57239771e-01 -9.53099238e-04 4.81372349e+01] [ 1.46070254e-03 -1.24085630e-06 9.99998933e-01 4.00369590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:48.15, Z:0.04 [[ 7.57404521e-01 -6.52944995e-01 -1.10673970e-03 2.21223797e+02] [ 6.52944299e-01 7.57405330e-01 -9.53299859e-04 4.81546100e+01] [ 1.46070292e-03 -6.05752372e-07 9.99998933e-01 4.01788501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.25, Y:48.17, Z:0.04 [[ 7.57490473e-01 -6.52845280e-01 -1.10655655e-03 2.21245559e+02] [ 6.52844584e-01 7.57491281e-01 -9.53512401e-04 4.81728623e+01] [ 1.46070301e-03 -1.32891351e-07 9.99998933e-01 4.05748675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.27, Y:48.19, Z:0.04 [[ 7.58098701e-01 -6.52138892e-01 -1.10638397e-03 2.21266771e+02] [ 6.52138195e-01 7.58099509e-01 -9.53712614e-04 4.81890135e+01] [ 1.46070223e-03 1.49305177e-06 9.99998933e-01 4.19911214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:48.21, Z:0.04 [[ 7.58444640e-01 -6.51736530e-01 -1.10620061e-03 2.21287489e+02] [ 6.51735832e-01 7.58445446e-01 -9.53925236e-04 4.82062417e+01] [ 1.46070074e-03 2.54890536e-06 9.99998933e-01 4.16423591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:221.31, Y:48.22, Z:0.04 [[ 7.59547560e-01 -6.50450829e-01 -1.10601938e-03 2.21309728e+02] [ 6.50450129e-01 7.59548365e-01 -9.54135318e-04 4.82231243e+01] [ 1.46069332e-03 5.30070367e-06 9.99998933e-01 4.07691007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:48.24, Z:0.04 [[ 7.60043745e-01 -6.49870974e-01 -1.10584979e-03 2.21331598e+02] [ 6.49870273e-01 7.60044550e-01 -9.54331837e-04 4.82411105e+01] [ 1.46068766e-03 6.67504008e-06 9.99998933e-01 3.99309083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:221.35, Y:48.26, Z:0.04 [[ 7.60564294e-01 -6.49261683e-01 -1.10568102e-03 2.21352827e+02] [ 6.49260981e-01 7.60565097e-01 -9.54527330e-04 4.82589214e+01] [ 1.46068041e-03 8.10386166e-06 9.99998933e-01 3.85102848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.37, Y:48.28, Z:0.04 [[ 7.62299753e-01 -6.47223195e-01 -1.10551259e-03 2.21374485e+02] [ 6.47222491e-01 7.62300554e-01 -9.54722358e-04 4.82768410e+01] [ 1.46065132e-03 1.22720031e-05 9.99998933e-01 3.59038446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.40, Y:48.30, Z:0.03 [[ 7.64801628e-01 -6.44264890e-01 -1.10534408e-03 2.21395929e+02] [ 6.44264182e-01 7.64802426e-01 -9.54917417e-04 4.82953705e+01] [ 1.46058960e-03 1.81887950e-05 9.99998933e-01 3.44259124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:48.31, Z:0.03 [[ 7.66172626e-01 -6.42633866e-01 -1.10517629e-03 2.21416194e+02] [ 6.42633157e-01 7.66173422e-01 -9.55111568e-04 4.83136425e+01] [ 1.46054374e-03 2.15574082e-05 9.99998933e-01 3.43360823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:48.33, Z:0.04 [[ 7.67485547e-01 -6.41065297e-01 -1.10505334e-03 2.21436573e+02] [ 6.41064586e-01 7.67486342e-01 -9.55253805e-04 4.83325020e+01] [ 1.46049341e-03 2.47329294e-05 9.99998933e-01 3.64383147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:48.35, Z:0.04 [[ 7.68603995e-01 -6.39723907e-01 -1.10488652e-03 2.21456966e+02] [ 6.39723194e-01 7.68604789e-01 -9.55446710e-04 4.83517246e+01] [ 1.46044317e-03 2.75386240e-05 9.99998933e-01 4.03685632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:48.37, Z:0.04 [[ 7.70780506e-01 -6.37099828e-01 -1.10470691e-03 2.21476755e+02] [ 6.37099112e-01 7.70781297e-01 -9.55654332e-04 4.83700342e+01] [ 1.46033464e-03 3.27919359e-05 9.99998933e-01 3.88532946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:48.39, Z:0.04 [[ 7.70671173e-01 -6.37232079e-01 -1.10454215e-03 2.21498152e+02] [ 6.37231363e-01 7.70671964e-01 -9.55844728e-04 4.83888343e+01] [ 1.46033459e-03 3.27930790e-05 9.99998933e-01 3.88948980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.52, Y:48.41, Z:0.04 [[ 7.71861036e-01 -6.35790313e-01 -1.10437810e-03 2.21517923e+02] [ 6.35789595e-01 7.71861825e-01 -9.56034232e-04 4.84081822e+01] [ 1.46026460e-03 3.57734679e-05 9.99998933e-01 4.25071922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:48.43, Z:0.04 [[ 7.72267513e-01 -6.35296520e-01 -1.10419870e-03 2.21537852e+02] [ 6.35295802e-01 7.72268302e-01 -9.56241387e-04 4.84268776e+01] [ 1.46023448e-03 3.69813587e-05 9.99998933e-01 3.95023163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:48.45, Z:0.04 [[ 7.72539716e-01 -6.34965486e-01 -1.10403711e-03 2.21558658e+02] [ 6.34964767e-01 7.72540504e-01 -9.56427917e-04 4.84452152e+01] [ 1.46021210e-03 3.78538840e-05 9.99998933e-01 3.99439084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:48.46, Z:0.04 [[ 7.72915454e-01 -6.34508064e-01 -1.10385939e-03 2.21578473e+02] [ 6.34507344e-01 7.72916241e-01 -9.56632986e-04 4.84639525e+01] [ 1.46018220e-03 3.89895272e-05 9.99998933e-01 3.67109144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.60, Y:48.48, Z:0.04 [[ 7.72968156e-01 -6.34443860e-01 -1.10371071e-03 2.21597992e+02] [ 6.34443140e-01 7.72968943e-01 -9.56804500e-04 4.84834038e+01] [ 1.46017284e-03 3.93377227e-05 9.99998933e-01 3.75964618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:48.50, Z:0.04 [[ 7.72981047e-01 -6.34428155e-01 -1.10353114e-03 2.21617621e+02] [ 6.34427434e-01 7.72981833e-01 -9.57011563e-04 4.85037171e+01] [ 1.46016460e-03 3.96413710e-05 9.99998933e-01 3.68603191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:221.64, Y:48.52, Z:0.04 [[ 7.72894687e-01 -6.34533360e-01 -1.10335201e-03 2.21638494e+02] [ 6.34532639e-01 7.72895474e-01 -9.57218037e-04 4.85230021e+01] [ 1.46016255e-03 3.97158717e-05 9.99998933e-01 3.70820105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:48.54, Z:0.04 [[ 7.72643027e-01 -6.34839771e-01 -1.10317358e-03 2.21658516e+02] [ 6.34839051e-01 7.72643814e-01 -9.57423626e-04 4.85430822e+01] [ 1.46017084e-03 3.94090182e-05 9.99998933e-01 3.77681629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:48.56, Z:0.04 [[ 7.71958146e-01 -6.35672404e-01 -1.10309314e-03 2.21677404e+02] [ 6.35671684e-01 7.71958933e-01 -9.57516296e-04 4.85649277e+01] [ 1.46020929e-03 3.79574283e-05 9.99998933e-01 4.00285245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:48.58, Z:0.04 [[ 7.71313884e-01 -6.36453986e-01 -1.10292189e-03 2.21697082e+02] [ 6.36453267e-01 7.71314671e-01 -9.57713510e-04 4.85846818e+01] [ 1.46024042e-03 3.67394846e-05 9.99998933e-01 4.08628557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.72, Y:48.61, Z:0.04 [[ 7.69727976e-01 -6.38371073e-01 -1.10274412e-03 2.21716100e+02] [ 6.38370355e-01 7.69728766e-01 -9.57918157e-04 4.86050357e+01] [ 1.46032111e-03 3.33772472e-05 9.99998933e-01 4.20045711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:48.62, Z:0.04 [[ 7.69067222e-01 -6.39166952e-01 -1.10256364e-03 2.21735753e+02] [ 6.39166235e-01 7.69068011e-01 -9.58125851e-04 4.86242483e+01] [ 1.46034880e-03 3.21417368e-05 9.99998933e-01 3.98822810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.75, Y:48.64, Z:0.04 [[ 7.68246349e-01 -6.40153366e-01 -1.10240125e-03 2.21754999e+02] [ 6.40152649e-01 7.68247140e-01 -9.58312656e-04 4.86429939e+01] [ 1.46038368e-03 3.05151193e-05 9.99998933e-01 3.96602459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.77, Y:48.66, Z:0.04 [[ 7.67006000e-01 -6.41638980e-01 -1.10222864e-03 2.21773506e+02] [ 6.41638264e-01 7.67006792e-01 -9.58511142e-04 4.86639524e+01] [ 1.46043497e-03 2.79517232e-05 9.99998933e-01 3.90423504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.79, Y:48.68, Z:0.04 [[ 7.66282278e-01 -6.42503118e-01 -1.10206666e-03 2.21792881e+02] [ 6.42502403e-01 7.66283070e-01 -9.58697350e-04 4.86839814e+01] [ 1.46046106e-03 2.65523116e-05 9.99998933e-01 4.09527376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.81, Y:48.70, Z:0.04 [[ 7.64535638e-01 -6.44580518e-01 -1.10188595e-03 2.21810141e+02] [ 6.44579805e-01 7.64536432e-01 -9.58904999e-04 4.87046216e+01] [ 1.46052344e-03 2.28636113e-05 9.99998933e-01 3.90433708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:48.72, Z:0.04 [[ 7.63349279e-01 -6.45985035e-01 -1.10173062e-03 2.21829221e+02] [ 6.45984323e-01 7.63350073e-01 -9.59083441e-04 4.87237980e+01] [ 1.46055970e-03 2.04149456e-05 9.99998933e-01 3.82988793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.85, Y:48.75, Z:0.04 [[ 7.61015430e-01 -6.48732844e-01 -1.10157088e-03 2.21848187e+02] [ 6.48732135e-01 7.61016227e-01 -9.59266874e-04 4.87452662e+01] [ 1.46062124e-03 1.53924630e-05 9.99998933e-01 3.95101384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.87, Y:48.76, Z:0.04 [[ 7.59765839e-01 -6.50195860e-01 -1.10139684e-03 2.21868660e+02] [ 6.50195152e-01 7.59766638e-01 -9.59466658e-04 4.87649269e+01] [ 1.46064582e-03 1.28471037e-05 9.99998933e-01 3.96947099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:48.78, Z:0.04 [[ 7.58511553e-01 -6.51658662e-01 -1.10121963e-03 2.21888125e+02] [ 6.51657956e-01 7.58512352e-01 -9.59670007e-04 4.87834212e+01] [ 1.46066596e-03 1.03022536e-05 9.99998933e-01 3.87417747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:48.80, Z:0.04 [[ 7.56191489e-01 -6.54349463e-01 -1.10106107e-03 2.21908545e+02] [ 6.54348759e-01 7.56192291e-01 -9.59851892e-04 4.88032850e+01] [ 1.46069246e-03 5.35388553e-06 9.99998933e-01 3.70190362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:48.82, Z:0.04 [[ 7.54291303e-01 -6.56538970e-01 -1.10088540e-03 2.21927816e+02] [ 6.56538268e-01 7.54292106e-01 -9.60053338e-04 4.88235524e+01] [ 1.46070159e-03 1.38649242e-06 9.99998933e-01 3.55104258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:48.84, Z:0.04 [[ 7.53489740e-01 -6.57458744e-01 -1.10071109e-03 2.21947583e+02] [ 6.57458042e-01 7.53490544e-01 -9.60253135e-04 4.88423015e+01] [ 1.46070222e-03 -1.30476440e-07 9.99998933e-01 3.52495702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:48.86, Z:0.04 [[ 7.52810005e-01 -6.58236952e-01 -1.10055534e-03 2.21967567e+02] [ 6.58236251e-01 7.52810809e-01 -9.60431618e-04 4.88615569e+01] [ 1.46070153e-03 -1.40288852e-06 9.99998933e-01 3.54591916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:221.99, Y:48.88, Z:0.04 [[ 7.52081764e-01 -6.59068896e-01 -1.10038284e-03 2.21986709e+02] [ 6.59068196e-01 7.52082569e-01 -9.60629205e-04 4.88812964e+01] [ 1.46069959e-03 -2.75562770e-06 9.99998933e-01 3.52106205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.01, Y:48.90, Z:0.04 [[ 7.52059082e-01 -6.59094778e-01 -1.10024091e-03 2.22006568e+02] [ 6.59094078e-01 7.52059887e-01 -9.60791739e-04 4.89008468e+01] [ 1.46069987e-03 -2.59011445e-06 9.99998933e-01 3.74150121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.03, Y:48.92, Z:0.04 [[ 7.52131356e-01 -6.59012301e-01 -1.10006504e-03 2.22026861e+02] [ 6.59011601e-01 7.52132161e-01 -9.60993058e-04 4.89199635e+01] [ 1.46070054e-03 -2.16261285e-06 9.99998933e-01 3.87556924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:222.05, Y:48.94, Z:0.04 [[ 7.52231241e-01 -6.58898285e-01 -1.09987993e-03 2.22046953e+02] [ 6.58897584e-01 7.52232045e-01 -9.61204874e-04 4.89384874e+01] [ 1.46070117e-03 -1.65989530e-06 9.99998933e-01 3.67850121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:48.96, Z:0.04 [[ 7.52563351e-01 -6.58518939e-01 -1.09971400e-03 2.22066658e+02] [ 6.58518237e-01 7.52564155e-01 -9.61394679e-04 4.89587388e+01] [ 1.46070194e-03 -6.71322583e-07 9.99998933e-01 3.86769975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:48.98, Z:0.04 [[ 7.52426835e-01 -6.58674919e-01 -1.09954569e-03 2.22085947e+02] [ 6.58674217e-01 7.52427638e-01 -9.61587138e-04 4.89772640e+01] [ 1.46070190e-03 -7.18428653e-07 9.99998933e-01 3.92200817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:49.00, Z:0.04 [[ 7.52246904e-01 -6.58880404e-01 -1.09936766e-03 2.22106295e+02] [ 6.58879702e-01 7.52247707e-01 -9.61790638e-04 4.89963350e+01] [ 1.46070180e-03 -8.47004717e-07 9.99998933e-01 4.15331132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.13, Y:49.01, Z:0.04 [[ 7.52049826e-01 -6.59105341e-01 -1.09918159e-03 2.22125711e+02] [ 6.59104639e-01 7.52050629e-01 -9.62003240e-04 4.90143918e+01] [ 1.46070168e-03 -1.00131414e-06 9.99998933e-01 3.94376573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:49.03, Z:0.04 [[ 7.52057320e-01 -6.59096791e-01 -1.09905451e-03 2.22145851e+02] [ 6.59096088e-01 7.52058123e-01 -9.62148396e-04 4.90327695e+01] [ 1.46070179e-03 -7.91785919e-07 9.99998933e-01 3.74581074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:49.05, Z:0.04 [[ 7.52682253e-01 -6.58383033e-01 -1.09889791e-03 2.22165801e+02] [ 6.58382330e-01 7.52683055e-01 -9.62327221e-04 4.90505537e+01] [ 1.46070175e-03 8.31653746e-07 9.99998933e-01 3.76871301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:49.07, Z:0.04 [[ 7.53882100e-01 -6.57008806e-01 -1.09872251e-03 2.22186168e+02] [ 6.57008101e-01 7.53882901e-01 -9.62527437e-04 4.90705109e+01] [ 1.46069712e-03 3.76261266e-06 9.99998933e-01 4.13825251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:49.09, Z:0.04 [[ 7.54613186e-01 -6.56168981e-01 -1.09854132e-03 2.22206060e+02] [ 6.56168275e-01 7.54613986e-01 -9.62734190e-04 4.90898753e+01] [ 1.46069096e-03 5.66395093e-06 9.99998933e-01 4.17267481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.23, Y:49.11, Z:0.04 [[ 7.55222505e-01 -6.55467590e-01 -1.09835644e-03 2.22225878e+02] [ 6.55466882e-01 7.55223304e-01 -9.62945074e-04 4.91088587e+01] [ 1.46068366e-03 7.30152327e-06 9.99998933e-01 4.06198257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:49.13, Z:0.04 [[ 7.56603366e-01 -6.53873183e-01 -1.09823029e-03 2.22245645e+02] [ 6.53872474e-01 7.56604163e-01 -9.63088922e-04 4.91280959e+01] [ 1.46066363e-03 1.05737639e-05 9.99998933e-01 4.01606088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.27, Y:49.15, Z:0.04 [[ 7.57013438e-01 -6.53398384e-01 -1.09804813e-03 2.22265358e+02] [ 6.53397674e-01 7.57014235e-01 -9.63296561e-04 4.91473700e+01] [ 1.46065448e-03 1.17663473e-05 9.99998933e-01 4.04541061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:49.17, Z:0.04 [[ 7.57357073e-01 -6.53000045e-01 -1.09787603e-03 2.22283791e+02] [ 6.52999335e-01 7.57357868e-01 -9.63492666e-04 4.91669825e+01] [ 1.46064580e-03 1.27956685e-05 9.99998933e-01 3.90918013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.30, Y:49.19, Z:0.04 [[ 7.57082363e-01 -6.53318522e-01 -1.09771128e-03 2.22304080e+02] [ 6.53317811e-01 7.57083159e-01 -9.63680328e-04 4.91867996e+01] [ 1.46064893e-03 1.24310490e-05 9.99998933e-01 4.06352018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.32, Y:49.21, Z:0.04 [[ 7.56713094e-01 -6.53746196e-01 -1.09752849e-03 2.22323651e+02] [ 6.53745486e-01 7.56713890e-01 -9.63888468e-04 4.92063346e+01] [ 1.46065347e-03 1.18827321e-05 9.99998933e-01 4.13972607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:49.22, Z:0.04 [[ 7.56359371e-01 -6.54155408e-01 -1.09734176e-03 2.22343560e+02] [ 6.54154698e-01 7.56360167e-01 -9.64100999e-04 4.92247526e+01] [ 1.46065748e-03 1.13755572e-05 9.99998933e-01 4.00981739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89587156000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:222.36, Y:49.24, Z:0.04 [[ 7.55931731e-01 -6.54649535e-01 -1.09717616e-03 2.22363562e+02] [ 6.54648825e-01 7.55932527e-01 -9.64289419e-04 4.92434463e+01] [ 1.46066277e-03 1.06718848e-05 9.99998933e-01 4.00030664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:49.26, Z:0.04 [[ 7.55564784e-01 -6.55073014e-01 -1.09702132e-03 2.22383585e+02] [ 6.55072304e-01 7.55565580e-01 -9.64465545e-04 4.92634908e+01] [ 1.46066690e-03 1.00879185e-05 9.99998933e-01 4.17957355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.40, Y:49.28, Z:0.04 [[ 7.55068166e-01 -6.55645378e-01 -1.09684845e-03 2.22403489e+02] [ 6.55644668e-01 7.55068963e-01 -9.64662102e-04 4.92834115e+01] [ 1.46067247e-03 9.24280827e-06 9.99998933e-01 4.20583487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:49.30, Z:0.04 [[ 7.53659232e-01 -6.57264451e-01 -1.09666610e-03 2.22421916e+02] [ 6.57263743e-01 7.53660030e-01 -9.64869362e-04 4.93029213e+01] [ 1.46068773e-03 6.38384025e-06 9.99998933e-01 4.34558274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:49.32, Z:0.04 [[ 7.52438249e-01 -6.58661885e-01 -1.09650000e-03 2.22442711e+02] [ 6.58661178e-01 7.52439048e-01 -9.65058084e-04 4.93223750e+01] [ 1.46069639e-03 3.92463446e-06 9.99998933e-01 4.40784644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.46, Y:49.34, Z:0.04 [[ 7.51118298e-01 -6.60166722e-01 -1.09631842e-03 2.22463434e+02] [ 6.60166016e-01 7.51119098e-01 -9.65264313e-04 4.93407521e+01] [ 1.46070108e-03 1.27552348e-06 9.99998933e-01 4.39827883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.48, Y:49.36, Z:0.04 [[ 7.48650635e-01 -6.62963818e-01 -1.09613881e-03 2.22484119e+02] [ 6.62963115e-01 7.48651438e-01 -9.65468228e-04 4.93582959e+01] [ 1.46069640e-03 -3.90120021e-06 9.99998933e-01 4.28165882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:49.38, Z:0.04 [[ 7.47252924e-01 -6.64538838e-01 -1.09601619e-03 2.22505215e+02] [ 6.64538136e-01 7.47253727e-01 -9.65607412e-04 4.93762953e+01] [ 1.46068581e-03 -6.79159525e-06 9.99998933e-01 4.29362359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:49.39, Z:0.04 [[ 7.44550047e-01 -6.67565748e-01 -1.09583795e-03 2.22526292e+02] [ 6.67565049e-01 7.44550853e-01 -9.65809654e-04 4.93933549e+01] [ 1.46064852e-03 -1.24494891e-05 9.99998933e-01 4.15663979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:49.41, Z:0.04 [[ 7.43096947e-01 -6.69182880e-01 -1.09567943e-03 2.22547149e+02] [ 6.69182183e-01 7.43097755e-01 -9.65989449e-04 4.94115217e+01] [ 1.46062053e-03 -1.53853432e-05 9.99998933e-01 4.11147704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.57, Y:49.43, Z:0.04 [[ 7.41144825e-01 -6.71344285e-01 -1.09550316e-03 2.22568412e+02] [ 6.71343590e-01 7.41145634e-01 -9.66189308e-04 4.94284478e+01] [ 1.46057306e-03 -1.93728217e-05 9.99998933e-01 3.98553313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.59, Y:49.45, Z:0.04 [[ 7.40425305e-01 -6.72137759e-01 -1.09535387e-03 2.22590008e+02] [ 6.72137065e-01 7.40426115e-01 -9.66358535e-04 4.94464934e+01] [ 1.46055467e-03 -2.07116203e-05 9.99998933e-01 4.00788803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:49.46, Z:0.04 [[ 7.39829188e-01 -6.72793856e-01 -1.09518004e-03 2.22611646e+02] [ 6.72793163e-01 7.39829998e-01 -9.66555495e-04 4.94620236e+01] [ 1.46053965e-03 -2.17436751e-05 9.99998933e-01 3.95193174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:49.48, Z:0.04 [[ 7.39707396e-01 -6.72927759e-01 -1.09502273e-03 2.22633173e+02] [ 6.72927065e-01 7.39708206e-01 -9.66733677e-04 4.94799771e+01] [ 1.46053923e-03 -2.17703830e-05 9.99998933e-01 3.95747051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:49.50, Z:0.04 [[ 7.39581778e-01 -6.73065818e-01 -1.09485036e-03 2.22654547e+02] [ 6.73065124e-01 7.39582588e-01 -9.66928857e-04 4.94978751e+01] [ 1.46053902e-03 -2.17826278e-05 9.99998933e-01 3.92575910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:49.51, Z:0.04 [[ 7.39431636e-01 -6.73230761e-01 -1.09467864e-03 2.22677144e+02] [ 6.73230066e-01 7.39432446e-01 -9.67123226e-04 4.95132680e+01] [ 1.46053801e-03 -2.18490622e-05 9.99998933e-01 3.88609380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:49.53, Z:0.04 [[ 7.39406208e-01 -6.73258689e-01 -1.09449764e-03 2.22698904e+02] [ 6.73257994e-01 7.39407018e-01 -9.67328017e-04 4.95302360e+01] [ 1.46054123e-03 -2.16309452e-05 9.99998933e-01 3.94361659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.72, Y:49.55, Z:0.04 [[ 7.40158990e-01 -6.72431016e-01 -1.09432767e-03 2.22721376e+02] [ 6.72430320e-01 7.40159799e-01 -9.67520264e-04 4.95458502e+01] [ 1.46056798e-03 -1.97402841e-05 9.99998933e-01 4.11914497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:49.56, Z:0.04 [[ 7.40534840e-01 -6.72017078e-01 -1.09415840e-03 2.22743036e+02] [ 6.72016382e-01 7.40535648e-01 -9.67711649e-04 4.95636989e+01] [ 1.46058206e-03 -1.86681797e-05 9.99998933e-01 4.13555474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:49.58, Z:0.04 [[ 7.40959651e-01 -6.71548657e-01 -1.09398873e-03 2.22764432e+02] [ 6.71547960e-01 7.40960458e-01 -9.67903427e-04 4.95811684e+01] [ 1.46059664e-03 -1.74885131e-05 9.99998933e-01 4.10223324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:49.60, Z:0.04 [[ 7.40842797e-01 -6.71677567e-01 -1.09381987e-03 2.22785619e+02] [ 6.71676869e-01 7.40843604e-01 -9.68094216e-04 4.96001920e+01] [ 1.46059662e-03 -1.74878779e-05 9.99998933e-01 4.10639364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:49.62, Z:0.04 [[ 7.41963858e-01 -6.70438988e-01 -1.09365140e-03 2.22808935e+02] [ 6.70438289e-01 7.41964664e-01 -9.68284501e-04 4.96166919e+01] [ 1.46062637e-03 -1.47936668e-05 9.99998933e-01 4.06399373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:49.63, Z:0.04 [[ 7.42522773e-01 -6.69819928e-01 -1.09348340e-03 2.22830500e+02] [ 6.69819228e-01 7.42523578e-01 -9.68474184e-04 4.96337338e+01] [ 1.46064051e-03 -1.33220684e-05 9.99998933e-01 4.01801761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:49.65, Z:0.04 [[ 7.44090003e-01 -6.68078492e-01 -1.09330542e-03 2.22853190e+02] [ 6.68077790e-01 7.44090806e-01 -9.68675057e-04 4.96503861e+01] [ 1.46066949e-03 -9.63164468e-06 9.99998933e-01 3.77939768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:49.67, Z:0.04 [[ 7.45144911e-01 -6.66901692e-01 -1.09313855e-03 2.22874535e+02] [ 6.66900988e-01 7.45145713e-01 -9.68863332e-04 4.96671480e+01] [ 1.46068410e-03 -7.07159944e-06 9.99998933e-01 3.78749283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:49.68, Z:0.04 [[ 7.46912140e-01 -6.64921846e-01 -1.09301623e-03 2.22897274e+02] [ 6.64921139e-01 7.46912940e-01 -9.69001307e-04 4.96840004e+01] [ 1.46069810e-03 -3.01075923e-06 9.99998933e-01 3.98635525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:49.70, Z:0.04 [[ 7.47519844e-01 -6.64238578e-01 -1.09283421e-03 2.22918375e+02] [ 6.64237871e-01 7.47520643e-01 -9.69206546e-04 4.97021312e+01] [ 1.46070051e-03 -1.40074440e-06 9.99998933e-01 4.00793848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:222.94, Y:49.72, Z:0.04 [[ 7.48557889e-01 -6.63068543e-01 -1.09264794e-03 2.22939948e+02] [ 6.63067835e-01 7.48558686e-01 -9.69416492e-04 4.97188548e+01] [ 1.46070069e-03 1.16465587e-06 9.99998933e-01 3.75103348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:49.74, Z:0.04 [[ 7.48667973e-01 -6.62944246e-01 -1.09247950e-03 2.22961790e+02] [ 6.62943536e-01 7.48668770e-01 -9.69606278e-04 4.97359870e+01] [ 1.46070019e-03 1.66094129e-06 9.99998933e-01 3.77406063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.98, Y:49.75, Z:0.04 [[ 7.48371004e-01 -6.63279464e-01 -1.09231562e-03 2.22984173e+02] [ 6.63278755e-01 7.48371801e-01 -9.69790866e-04 4.97511944e+01] [ 1.46070057e-03 1.25361864e-06 9.99998933e-01 3.88689274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:223.01, Y:49.77, Z:0.04 [[ 7.47859684e-01 -6.63855933e-01 -1.09214258e-03 2.23005793e+02] [ 6.63855224e-01 7.47860482e-01 -9.69985703e-04 4.97685640e+01] [ 1.46070104e-03 3.88647314e-07 9.99998933e-01 4.19911776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:49.79, Z:0.04 [[ 7.46730059e-01 -6.65126324e-01 -1.09196543e-03 2.23028470e+02] [ 6.65125616e-01 7.46730858e-01 -9.70185090e-04 4.97858962e+01] [ 1.46069992e-03 -1.82780606e-06 9.99998933e-01 4.23258180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:49.80, Z:0.04 [[ 7.45827763e-01 -6.66137940e-01 -1.09178621e-03 2.23049995e+02] [ 6.66137234e-01 7.45828562e-01 -9.70386730e-04 4.98033539e+01] [ 1.46069675e-03 -3.53807872e-06 9.99998933e-01 4.25794682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:49.82, Z:0.04 [[ 7.44299016e-01 -6.67845628e-01 -1.09159946e-03 2.23074295e+02] [ 6.67844923e-01 7.44299817e-01 -9.70596754e-04 4.98174218e+01] [ 1.46068608e-03 -6.60495061e-06 9.99998933e-01 3.75636434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:49.83, Z:0.04 [[ 7.43458530e-01 -6.68781148e-01 -1.09147403e-03 2.23096806e+02] [ 6.68780443e-01 7.43459331e-01 -9.70737783e-04 4.98339747e+01] [ 1.46067768e-03 -8.25320361e-06 9.99998933e-01 3.81024599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:49.85, Z:0.04 [[ 7.42549760e-01 -6.69790014e-01 -1.09129564e-03 2.23120952e+02] [ 6.69789311e-01 7.42550562e-01 -9.70938288e-04 4.98495702e+01] [ 1.46066696e-03 -9.96816333e-06 9.99998933e-01 3.91541982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:49.87, Z:0.04 [[ 7.42232869e-01 -6.70141163e-01 -1.09111690e-03 2.23142839e+02] [ 6.70140459e-01 7.42233671e-01 -9.71139113e-04 4.98663319e+01] [ 1.46066400e-03 -1.03902101e-05 9.99998933e-01 3.92869103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.17, Y:49.88, Z:0.04 [[ 7.42028035e-01 -6.70367962e-01 -1.09093610e-03 2.23166793e+02] [ 6.70367258e-01 7.42028837e-01 -9.71342175e-04 4.98821483e+01] [ 1.46066272e-03 -1.05647162e-05 9.99998933e-01 3.95148692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:49.90, Z:0.04 [[ 7.41950598e-01 -6.70453668e-01 -1.09075507e-03 2.23188144e+02] [ 6.70452964e-01 7.41951399e-01 -9.71545417e-04 4.98987894e+01] [ 1.46066344e-03 -1.04612669e-05 9.99998933e-01 3.93225374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:49.92, Z:0.04 [[ 7.42017128e-01 -6.70380036e-01 -1.09059098e-03 2.23210213e+02] [ 6.70379332e-01 7.42017929e-01 -9.71729579e-04 4.99158480e+01] [ 1.46066617e-03 -1.00696599e-05 9.99998933e-01 3.95438756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:49.93, Z:0.04 [[ 7.42635932e-01 -6.69694470e-01 -1.09041266e-03 2.23233700e+02] [ 6.69693765e-01 7.42636733e-01 -9.71929636e-04 4.99319171e+01] [ 1.46067640e-03 -8.45268838e-06 9.99998933e-01 4.10768576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.26, Y:49.95, Z:0.04 [[ 7.43219061e-01 -6.69047262e-01 -1.09023305e-03 2.23255866e+02] [ 6.69046556e-01 7.43219860e-01 -9.72131071e-04 4.99492296e+01] [ 1.46068448e-03 -6.91032347e-06 9.99998933e-01 4.17596971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:223.28, Y:49.96, Z:0.04 [[ 7.45065902e-01 -6.66989965e-01 -1.09005352e-03 2.23278353e+02] [ 6.66989256e-01 7.45066700e-01 -9.72332328e-04 4.99649808e+01] [ 1.46069849e-03 -2.60232536e-06 9.99998933e-01 4.13007804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:49.98, Z:0.04 [[ 7.46411414e-01 -6.65483894e-01 -1.08986380e-03 2.23299390e+02] [ 6.65483184e-01 7.46412209e-01 -9.72544939e-04 4.99828847e+01] [ 1.46070064e-03 6.32611904e-07 9.99998933e-01 3.97947374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:50.00, Z:0.04 [[ 7.49165443e-01 -6.62382028e-01 -1.08968512e-03 2.23319620e+02] [ 6.62381314e-01 7.49166236e-01 -9.72745102e-04 5.00008200e+01] [ 1.46068417e-03 6.95995503e-06 9.99998933e-01 3.90513139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:50.02, Z:0.04 [[ 7.50389522e-01 -6.60994991e-01 -1.08955413e-03 2.23340911e+02] [ 6.60994275e-01 7.50390313e-01 -9.72891801e-04 5.00191150e+01] [ 1.46066747e-03 9.85877325e-06 9.99998933e-01 3.92238460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:50.04, Z:0.04 [[ 7.51351746e-01 -6.59901028e-01 -1.08937684e-03 2.23361286e+02] [ 6.59900311e-01 7.51352536e-01 -9.73090276e-04 5.00366945e+01] [ 1.46064932e-03 1.22529648e-05 9.99998933e-01 4.00815327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:50.06, Z:0.04 [[ 7.52920221e-01 -6.58110899e-01 -1.08918924e-03 2.23382191e+02] [ 6.58110179e-01 7.52921008e-01 -9.73300207e-04 5.00555866e+01] [ 1.46061294e-03 1.60108796e-05 9.99998933e-01 4.14405084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:50.07, Z:0.04 [[ 7.53161917e-01 -6.57834281e-01 -1.08901353e-03 2.23402266e+02] [ 6.57833560e-01 7.53162704e-01 -9.73496767e-04 5.00739578e+01] [ 1.46060392e-03 1.68110418e-05 9.99998933e-01 4.14305396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:50.09, Z:0.04 [[ 7.52654928e-01 -6.58414288e-01 -1.08882798e-03 2.23422442e+02] [ 6.58413568e-01 7.52655715e-01 -9.73704258e-04 5.00926920e+01] [ 1.46061340e-03 1.59641930e-05 9.99998933e-01 4.19945914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:50.11, Z:0.04 [[ 7.52180175e-01 -6.58956599e-01 -1.08865488e-03 2.23442845e+02] [ 6.58955880e-01 7.52180962e-01 -9.73897751e-04 5.01115882e+01] [ 1.46062183e-03 1.51710445e-05 9.99998933e-01 4.15243525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:50.13, Z:0.04 [[ 7.51066341e-01 -6.60225845e-01 -1.08848217e-03 2.23462395e+02] [ 6.60225127e-01 7.51067130e-01 -9.74090752e-04 5.01298572e+01] [ 1.46064307e-03 1.29635015e-05 9.99998933e-01 4.08776125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.48, Y:50.15, Z:0.04 [[ 7.50484665e-01 -6.60886967e-01 -1.08829957e-03 2.23483279e+02] [ 6.60886249e-01 7.50485454e-01 -9.74294716e-04 5.01480751e+01] [ 1.46065168e-03 1.19510243e-05 9.99998933e-01 4.11157206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:50.17, Z:0.04 [[ 7.50057861e-01 -6.61371318e-01 -1.08812771e-03 2.23504001e+02] [ 6.61370600e-01 7.50058651e-01 -9.74486620e-04 5.01664395e+01] [ 1.46065710e-03 1.12656755e-05 9.99998933e-01 4.15355736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:50.19, Z:0.04 [[ 7.49216656e-01 -6.62324104e-01 -1.08795601e-03 2.23523975e+02] [ 6.62323387e-01 7.49217446e-01 -9.74678273e-04 5.01867092e+01] [ 1.46066854e-03 9.66648860e-06 9.99998933e-01 4.32522039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:50.21, Z:0.04 [[ 7.48795465e-01 -6.62800248e-01 -1.08776299e-03 2.23543280e+02] [ 6.62799531e-01 7.48796255e-01 -9.74893639e-04 5.02055221e+01] [ 1.46067260e-03 9.02713647e-06 9.99998933e-01 4.09118826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:50.23, Z:0.04 [[ 7.47832887e-01 -6.63886128e-01 -1.08759025e-03 2.23562848e+02] [ 6.63885412e-01 7.47833678e-01 -9.75086308e-04 5.02252739e+01] [ 1.46068289e-03 7.16630773e-06 9.99998933e-01 4.09905369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.58, Y:50.24, Z:0.04 [[ 7.47407477e-01 -6.64365021e-01 -1.08740326e-03 2.23583111e+02] [ 6.64364305e-01 7.47408268e-01 -9.75294787e-04 5.02441597e+01] [ 1.46068593e-03 6.51070160e-06 9.99998933e-01 4.03309851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:50.26, Z:0.04 [[ 7.46089538e-01 -6.65844741e-01 -1.08721436e-03 2.23602574e+02] [ 6.65844027e-01 7.46090330e-01 -9.75505321e-04 5.02631121e+01] [ 1.46069521e-03 3.89912542e-06 9.99998933e-01 3.86067477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:50.28, Z:0.04 [[ 7.45277416e-01 -6.66753622e-01 -1.08704702e-03 2.23623046e+02] [ 6.66752908e-01 7.45278209e-01 -9.75691762e-04 5.02810101e+01] [ 1.46069847e-03 2.36927392e-06 9.99998933e-01 3.83938565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:50.30, Z:0.04 [[ 7.44283324e-01 -6.67863124e-01 -1.08688190e-03 2.23642487e+02] [ 6.67862411e-01 7.44284118e-01 -9.75875666e-04 5.02991932e+01] [ 1.46070031e-03 4.40420262e-07 9.99998933e-01 3.82678401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:50.32, Z:0.04 [[ 7.41812285e-01 -6.70606705e-01 -1.08674808e-03 2.23662555e+02] [ 6.70605995e-01 7.41813081e-01 -9.76024669e-04 5.03184537e+01] [ 1.46069263e-03 -4.75268553e-06 9.99998933e-01 4.13930233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:50.34, Z:0.04 [[ 7.38642014e-01 -6.74097021e-01 -1.08656303e-03 2.23682837e+02] [ 6.74096315e-01 7.38642813e-01 -9.76230631e-04 5.03360945e+01] [ 1.46065613e-03 -1.13631738e-05 9.99998933e-01 4.28367739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:223.70, Y:50.35, Z:0.04 [[ 7.37132305e-01 -6.75747575e-01 -1.08639457e-03 2.23702543e+02] [ 6.75746870e-01 7.37133105e-01 -9.76418069e-04 5.03539510e+01] [ 1.46062954e-03 -1.43784257e-05 9.99998933e-01 4.39073061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:50.37, Z:0.04 [[ 7.35980067e-01 -6.77002334e-01 -1.08620261e-03 2.23724125e+02] [ 6.77001630e-01 7.35980869e-01 -9.76631563e-04 5.03725244e+01] [ 1.46060619e-03 -1.65795721e-05 9.99998933e-01 4.35745804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.75, Y:50.39, Z:0.04 [[ 7.33966730e-01 -6.79184555e-01 -1.08601563e-03 2.23745073e+02] [ 6.79183853e-01 7.33967533e-01 -9.76839437e-04 5.03897853e+01] [ 1.46055447e-03 -2.06366347e-05 9.99998933e-01 4.25718656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:50.41, Z:0.04 [[ 7.33265753e-01 -6.79941289e-01 -1.08584894e-03 2.23766476e+02] [ 6.79940587e-01 7.33266557e-01 -9.77024693e-04 5.04075619e+01] [ 1.46053614e-03 -2.18940196e-05 9.99998933e-01 4.21112211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:50.43, Z:0.04 [[ 7.32717076e-01 -6.80532517e-01 -1.08565834e-03 2.23787206e+02] [ 6.80531816e-01 7.32717880e-01 -9.77236439e-04 5.04250589e+01] [ 1.46052245e-03 -2.27872162e-05 9.99998933e-01 4.03545790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:223.81, Y:50.44, Z:0.04 [[ 7.32392574e-01 -6.80881736e-01 -1.08549369e-03 2.23807134e+02] [ 6.80881035e-01 7.32393378e-01 -9.77419292e-04 5.04429755e+01] [ 1.46051534e-03 -2.32374391e-05 9.99998933e-01 4.10188443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.83, Y:50.46, Z:0.04 [[ 7.32670455e-01 -6.80582710e-01 -1.08532738e-03 2.23829172e+02] [ 6.80582009e-01 7.32671259e-01 -9.77603937e-04 5.04597983e+01] [ 1.46052851e-03 -2.23927638e-05 9.99998933e-01 4.09446953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.85, Y:50.48, Z:0.04 [[ 7.32908624e-01 -6.80326224e-01 -1.08513732e-03 2.23849524e+02] [ 6.80325522e-01 7.32909427e-01 -9.77814849e-04 5.04768255e+01] [ 1.46054046e-03 -2.15976805e-05 9.99998933e-01 4.12196992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:50.49, Z:0.04 [[ 7.33424215e-01 -6.79770361e-01 -1.08496794e-03 2.23871022e+02] [ 6.79769658e-01 7.33425017e-01 -9.78002761e-04 5.04937830e+01] [ 1.46055992e-03 -2.02373765e-05 9.99998933e-01 4.02079266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.89, Y:50.51, Z:0.04 [[ 7.34604132e-01 -6.78495094e-01 -1.08480222e-03 2.23892986e+02] [ 6.78494389e-01 7.34604933e-01 -9.78186540e-04 5.05113915e+01] [ 1.46059583e-03 -1.74523462e-05 9.99998933e-01 4.18900731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:50.53, Z:0.04 [[ 7.37456768e-01 -6.75393470e-01 -1.08461834e-03 2.23914850e+02] [ 6.75392762e-01 7.37457565e-01 -9.78390385e-04 5.05284596e+01] [ 1.46065848e-03 -1.10227653e-05 9.99998933e-01 4.15376188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:50.55, Z:0.04 [[ 7.39102149e-01 -6.73592486e-01 -1.08443373e-03 2.23935586e+02] [ 6.73591775e-01 7.39102945e-01 -9.78594964e-04 5.05460093e+01] [ 1.46068238e-03 -7.18399812e-06 9.99998933e-01 4.16190593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:50.56, Z:0.04 [[ 7.41070174e-01 -6.71426706e-01 -1.08426717e-03 2.23957081e+02] [ 6.71425993e-01 7.41070967e-01 -9.78779470e-04 5.05643565e+01] [ 1.46069760e-03 -2.66089030e-06 9.99998933e-01 4.26911825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:50.58, Z:0.04 [[ 7.45235310e-01 -6.66800688e-01 -1.08407938e-03 2.23977358e+02] [ 6.66799970e-01 7.45236098e-01 -9.78987422e-04 5.05818179e+01] [ 1.46068457e-03 6.71189787e-06 9.99998933e-01 4.16949781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.00, Y:50.60, Z:0.04 [[ 7.46948651e-01 -6.64880845e-01 -1.08395134e-03 2.23996792e+02] [ 6.64880124e-01 7.46949437e-01 -9.79129165e-04 5.05998524e+01] [ 1.46066107e-03 1.06615043e-05 9.99998933e-01 4.15640097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:50.62, Z:0.04 [[ 7.50168544e-01 -6.61245780e-01 -1.08375820e-03 2.24016863e+02] [ 6.61245055e-01 7.50169326e-01 -9.79342898e-04 5.06191491e+01] [ 1.46058852e-03 1.80424839e-05 9.99998933e-01 3.94576205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:50.64, Z:0.04 [[ 7.51352988e-01 -6.59899624e-01 -1.08357454e-03 2.24036976e+02] [ 6.59898897e-01 7.51353769e-01 -9.79546068e-04 5.06387675e+01] [ 1.46054989e-03 2.09352221e-05 9.99998933e-01 3.87895217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:50.66, Z:0.04 [[ 7.52363960e-01 -6.58746763e-01 -1.08339060e-03 2.24056807e+02] [ 6.58746035e-01 7.52364740e-01 -9.79749466e-04 5.06584095e+01] [ 1.46051167e-03 2.34489284e-05 9.99998933e-01 3.93181120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.08, Y:50.68, Z:0.04 [[ 7.53660236e-01 -6.57263322e-01 -1.08320626e-03 2.24076153e+02] [ 6.57262592e-01 7.53661014e-01 -9.79953229e-04 5.06776961e+01] [ 1.46045764e-03 2.66008292e-05 9.99998933e-01 4.07478523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:50.70, Z:0.04 [[ 7.54565536e-01 -6.56223802e-01 -1.08303868e-03 2.24094714e+02] [ 6.56223071e-01 7.54566313e-01 -9.80138404e-04 5.06967763e+01] [ 1.46041465e-03 2.88636945e-05 9.99998933e-01 4.04146175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:50.72, Z:0.04 [[ 7.54446277e-01 -6.56360909e-01 -1.08284804e-03 2.24115697e+02] [ 6.56360178e-01 7.54447053e-01 -9.80348972e-04 5.07160440e+01] [ 1.46041426e-03 2.88822997e-05 9.99998933e-01 4.04562214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:50.74, Z:0.04 [[ 7.54454535e-01 -6.56351416e-01 -1.08266986e-03 2.24135111e+02] [ 6.56350685e-01 7.54455312e-01 -9.80545712e-04 5.07357334e+01] [ 1.46040859e-03 2.91660572e-05 9.99998933e-01 4.17253228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:50.76, Z:0.04 [[ 7.54228752e-01 -6.56610857e-01 -1.08248692e-03 2.24155374e+02] [ 6.56610125e-01 7.54229528e-01 -9.80747626e-04 5.07556383e+01] [ 1.46041314e-03 2.89361849e-05 9.99998933e-01 4.21804347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:50.78, Z:0.04 [[ 7.53214160e-01 -6.57774473e-01 -1.08230299e-03 2.24174788e+02] [ 6.57773743e-01 7.53214937e-01 -9.80950557e-04 5.07762545e+01] [ 1.46045102e-03 2.69553584e-05 9.99998933e-01 4.31587474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.19, Y:50.80, Z:0.04 [[ 7.52459573e-01 -6.58637549e-01 -1.08211436e-03 2.24194781e+02] [ 6.58636818e-01 7.52460350e-01 -9.81158599e-04 5.07960897e+01] [ 1.46047605e-03 2.55618206e-05 9.99998933e-01 4.25863658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:50.82, Z:0.04 [[ 7.50371729e-01 -6.61015202e-01 -1.08192617e-03 2.24213273e+02] [ 6.61014474e-01 7.50372509e-01 -9.81366069e-04 5.08156621e+01] [ 1.46054555e-03 2.12204926e-05 9.99998933e-01 4.08727607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:50.84, Z:0.04 [[ 7.49018691e-01 -6.62547984e-01 -1.08179772e-03 2.24233448e+02] [ 6.62547257e-01 7.49019472e-01 -9.81507646e-04 5.08355006e+01] [ 1.46058347e-03 1.84254588e-05 9.99998933e-01 4.18684034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.25, Y:50.86, Z:0.04 [[ 7.46521057e-01 -6.65360911e-01 -1.08161219e-03 2.24252680e+02] [ 6.65360187e-01 7.46521840e-01 -9.81712061e-04 5.08553201e+01] [ 1.46063995e-03 1.32070385e-05 9.99998933e-01 4.19056721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:224.27, Y:50.87, Z:0.04 [[ 7.45403876e-01 -6.66612250e-01 -1.08149238e-03 2.24271345e+02] [ 6.66611527e-01 7.45404660e-01 -9.81844030e-04 5.08745372e+01] [ 1.46065872e-03 1.09350596e-05 9.99998933e-01 4.18737329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:50.89, Z:0.04 [[ 7.43780641e-01 -6.68422911e-01 -1.08136082e-03 2.24290159e+02] [ 6.68422190e-01 7.43781427e-01 -9.81988903e-04 5.08947592e+01] [ 1.46067997e-03 7.57876968e-06 9.99998933e-01 4.08787535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.31, Y:50.91, Z:0.04 [[ 7.42951864e-01 -6.69343977e-01 -1.08117672e-03 2.24310392e+02] [ 6.69343256e-01 7.42952651e-01 -9.82191556e-04 5.09143617e+01] [ 1.46068711e-03 6.04270190e-06 9.99998933e-01 4.07395598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:50.93, Z:0.04 [[ 7.42246276e-01 -6.70126330e-01 -1.08099233e-03 2.24330344e+02] [ 6.70125610e-01 7.42247063e-01 -9.82394456e-04 5.09334208e+01] [ 1.46069177e-03 4.77798522e-06 9.99998933e-01 4.12536654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:50.95, Z:0.04 [[ 7.40941291e-01 -6.71568936e-01 -1.08080609e-03 2.24349516e+02] [ 6.71568217e-01 7.40942079e-01 -9.82599307e-04 5.09541682e+01] [ 1.46069788e-03 2.21338112e-06 9.99998933e-01 4.01009701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:50.98, Z:0.04 [[ 7.39874342e-01 -6.72744224e-01 -1.08061995e-03 2.24368517e+02] [ 6.72743506e-01 7.39875131e-01 -9.82803972e-04 5.09755005e+01] [ 1.46069952e-03 1.71388156e-07 9.99998933e-01 4.07172414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.39, Y:51.00, Z:0.04 [[ 7.39513885e-01 -6.73140436e-01 -1.08042885e-03 2.24388010e+02] [ 6.73139718e-01 7.39514674e-01 -9.83014004e-04 5.09958002e+01] [ 1.46069947e-03 -3.27069878e-07 9.99998933e-01 4.23416556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:51.01, Z:0.04 [[ 7.39465705e-01 -6.73193364e-01 -1.08023854e-03 2.24406973e+02] [ 6.73192646e-01 7.39466494e-01 -9.83223100e-04 5.10144236e+01] [ 1.46069947e-03 -1.48876745e-07 9.99998933e-01 4.15271475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:51.03, Z:0.04 [[ 7.39848755e-01 -6.72772364e-01 -1.08006656e-03 2.24425335e+02] [ 6.72771645e-01 7.39849543e-01 -9.83411982e-04 5.10339622e+01] [ 1.46069915e-03 9.37975298e-07 9.99998933e-01 4.01995843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:51.05, Z:0.04 [[ 7.40243385e-01 -6.72338133e-01 -1.07989783e-03 2.24445735e+02] [ 6.72337414e-01 7.40244172e-01 -9.83597233e-04 5.10537312e+01] [ 1.46069800e-03 2.04563361e-06 9.99998933e-01 4.25016155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.46, Y:51.08, Z:0.04 [[ 7.41581652e-01 -6.70861750e-01 -1.07971270e-03 2.24463331e+02] [ 6.70861028e-01 7.41582438e-01 -9.83800406e-04 5.10758394e+01] [ 1.46069004e-03 5.23115746e-06 9.99998933e-01 4.43806547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:51.10, Z:0.04 [[ 7.42560974e-01 -6.69777601e-01 -1.07952670e-03 2.24482007e+02] [ 6.69776878e-01 7.42561758e-01 -9.84004461e-04 5.10961666e+01] [ 1.46067939e-03 7.64128485e-06 9.99998933e-01 4.41670134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.50, Y:51.12, Z:0.04 [[ 7.43453864e-01 -6.68786354e-01 -1.07939759e-03 2.24500060e+02] [ 6.68785630e-01 7.43454647e-01 -9.84146076e-04 5.11159811e+01] [ 1.46066662e-03 9.78160882e-06 9.99998933e-01 4.40307133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:51.14, Z:0.04 [[ 7.44984990e-01 -6.67080355e-01 -1.07926898e-03 2.24517661e+02] [ 6.67079629e-01 7.44985771e-01 -9.84287089e-04 5.11379395e+01] [ 1.46063862e-03 1.33207555e-05 9.99998933e-01 4.31822759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.53, Y:51.16, Z:0.04 [[ 7.45951474e-01 -6.65999425e-01 -1.07908054e-03 2.24534398e+02] [ 6.65998698e-01 7.45952254e-01 -9.84493635e-04 5.11592863e+01] [ 1.46061476e-03 1.57182437e-05 9.99998933e-01 4.26658541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.55, Y:51.18, Z:0.04 [[ 7.46013343e-01 -6.65930123e-01 -1.07895189e-03 2.24553660e+02] [ 6.65929395e-01 7.46014123e-01 -9.84634608e-04 5.11803473e+01] [ 1.46061119e-03 1.60447744e-05 9.99998933e-01 4.38268523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:51.20, Z:0.04 [[ 7.46122243e-01 -6.65808107e-01 -1.07875810e-03 2.24569230e+02] [ 6.65807379e-01 7.46123022e-01 -9.84846876e-04 5.12028041e+01] [ 1.46060529e-03 1.65710560e-05 9.99998933e-01 4.25199375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:51.22, Z:0.04 [[ 7.45947159e-01 -6.66004259e-01 -1.07858440e-03 2.24587135e+02] [ 6.66003530e-01 7.45947939e-01 -9.85037071e-04 5.12234117e+01] [ 1.46060670e-03 1.64445851e-05 9.99998933e-01 4.10237953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.61, Y:51.24, Z:0.04 [[ 7.45619302e-01 -6.66371288e-01 -1.07841185e-03 2.24606220e+02] [ 6.66370560e-01 7.45620082e-01 -9.85225941e-04 5.12446306e+01] [ 1.46061181e-03 1.59815681e-05 9.99998933e-01 4.15234124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:51.27, Z:0.04 [[ 7.44416564e-01 -6.67714623e-01 -1.07822975e-03 2.24623900e+02] [ 6.67713896e-01 7.44417344e-01 -9.85425189e-04 5.12665821e+01] [ 1.46063574e-03 1.36178425e-05 9.99998933e-01 4.13638378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.64, Y:51.29, Z:0.04 [[ 7.42687860e-01 -6.69636902e-01 -1.07804438e-03 2.24642397e+02] [ 6.69636177e-01 7.42688642e-01 -9.85627947e-04 5.12879713e+01] [ 1.46066416e-03 1.01163943e-05 9.99998933e-01 4.06147675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:51.31, Z:0.04 [[ 7.41536445e-01 -6.70911722e-01 -1.07785562e-03 2.24661238e+02] [ 6.70910998e-01 7.41537228e-01 -9.85834328e-04 5.13082166e+01] [ 1.46067787e-03 7.88689499e-06 9.99998933e-01 4.04485714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.68, Y:51.33, Z:0.04 [[ 7.40436707e-01 -6.72125227e-01 -1.07766199e-03 2.24679534e+02] [ 6.72124504e-01 7.40437491e-01 -9.86045947e-04 5.13278999e+01] [ 1.46068770e-03 5.78158429e-06 9.99998933e-01 3.95686730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:51.35, Z:0.04 [[ 7.37819750e-01 -6.74996930e-01 -1.07748818e-03 2.24697288e+02] [ 6.74996210e-01 7.37820537e-01 -9.86235838e-04 5.13492943e+01] [ 1.46069907e-03 3.63841945e-07 9.99998933e-01 4.07308197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:51.37, Z:0.04 [[ 7.36440242e-01 -6.76501743e-01 -1.07730315e-03 2.24717377e+02] [ 6.76501024e-01 7.36441030e-01 -9.86437912e-04 5.13694575e+01] [ 1.46069721e-03 -2.34410815e-06 9.99998933e-01 4.14197212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:51.39, Z:0.04 [[ 7.33993346e-01 -6.79155805e-01 -1.07711398e-03 2.24737488e+02] [ 6.79155089e-01 7.33994136e-01 -9.86644425e-04 5.13890045e+01] [ 1.46068064e-03 -7.33699913e-06 9.99998933e-01 4.26845452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:51.41, Z:0.04 [[ 7.32866300e-01 -6.80371830e-01 -1.07692356e-03 2.24758399e+02] [ 6.80371114e-01 7.32867091e-01 -9.86852232e-04 5.14082613e+01] [ 1.46066829e-03 -9.47693538e-06 9.99998933e-01 4.29699390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:51.43, Z:0.04 [[ 7.31240224e-01 -6.82119180e-01 -1.07673242e-03 2.24778663e+02] [ 6.82118466e-01 7.31241017e-01 -9.87060736e-04 5.14267907e+01] [ 1.46064397e-03 -1.26805492e-05 9.99998933e-01 4.07978869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.80, Y:51.45, Z:0.04 [[ 7.30373106e-01 -6.83047558e-01 -1.07656544e-03 2.24798830e+02] [ 6.83046845e-01 7.30373900e-01 -9.87242817e-04 5.14461842e+01] [ 1.46062910e-03 -1.42890257e-05 9.99998933e-01 4.13962134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.82, Y:51.46, Z:0.04 [[ 7.29115895e-01 -6.84389401e-01 -1.07638006e-03 2.24818970e+02] [ 6.84388689e-01 7.29116690e-01 -9.87444899e-04 5.14647864e+01] [ 1.46060349e-03 -1.67005642e-05 9.99998933e-01 4.07894113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:51.48, Z:0.04 [[ 7.28352298e-01 -6.85201993e-01 -1.07621547e-03 2.24839728e+02] [ 6.85201282e-01 7.28353093e-01 -9.87624250e-04 5.14839762e+01] [ 1.46058697e-03 -1.80858264e-05 9.99998933e-01 4.00612635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:51.50, Z:0.04 [[ 7.27833374e-01 -6.85753178e-01 -1.07602680e-03 2.24859736e+02] [ 6.85752467e-01 7.27834169e-01 -9.87829767e-04 5.15015715e+01] [ 1.46057647e-03 -1.89125586e-05 9.99998933e-01 3.99014082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:224.88, Y:51.52, Z:0.04 [[ 7.27684628e-01 -6.85911018e-01 -1.07589856e-03 2.24879986e+02] [ 6.85910307e-01 7.27685423e-01 -9.87969419e-04 5.15188944e+01] [ 1.46057481e-03 -1.90397518e-05 9.99998933e-01 4.09889510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:51.54, Z:0.04 [[ 7.27683358e-01 -6.85912365e-01 -1.07573465e-03 2.24901206e+02] [ 6.85911654e-01 7.27684153e-01 -9.88147859e-04 5.15370877e+01] [ 1.46057789e-03 -1.88001789e-05 9.99998933e-01 4.06170750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:51.55, Z:0.04 [[ 7.28206624e-01 -6.85356809e-01 -1.07554358e-03 2.24921420e+02] [ 6.85356097e-01 7.28207418e-01 -9.88355783e-04 5.15549892e+01] [ 1.46059518e-03 -1.74031203e-05 9.99998933e-01 4.15713366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:51.57, Z:0.04 [[ 7.28466348e-01 -6.85080742e-01 -1.07537138e-03 2.24941134e+02] [ 6.85080029e-01 7.28467142e-01 -9.88543105e-04 5.15732008e+01] [ 1.46060456e-03 -1.65950723e-05 9.99998933e-01 4.15789676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:51.59, Z:0.04 [[ 7.29421771e-01 -6.84063391e-01 -1.07524231e-03 2.24961271e+02] [ 6.84062677e-01 7.29422564e-01 -9.88683477e-04 5.15918886e+01] [ 1.46062817e-03 -1.43658804e-05 9.99998933e-01 4.36168804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:51.61, Z:0.04 [[ 7.29910150e-01 -6.83542257e-01 -1.07507297e-03 2.24981897e+02] [ 6.83541542e-01 7.29910942e-01 -9.88867581e-04 5.16108505e+01] [ 1.46064030e-03 -1.30725487e-05 9.99998933e-01 4.39182104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:51.63, Z:0.04 [[ 7.30866383e-01 -6.82519725e-01 -1.07488590e-03 2.25001854e+02] [ 6.82519008e-01 7.30867174e-01 -9.89070875e-04 5.16284644e+01] [ 1.46065920e-03 -1.07514085e-05 9.99998933e-01 4.31287624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:51.65, Z:0.04 [[ 7.31225420e-01 -6.82135053e-01 -1.07471742e-03 2.25022231e+02] [ 6.82134335e-01 7.31226210e-01 -9.89253913e-04 5.16475786e+01] [ 1.46066632e-03 -9.73404645e-06 9.99998933e-01 4.28987973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:51.67, Z:0.04 [[ 7.31346008e-01 -6.82005764e-01 -1.07453493e-03 2.25042686e+02] [ 6.82005046e-01 7.31346797e-01 -9.89452096e-04 5.16672238e+01] [ 1.46066971e-03 -9.20640515e-06 9.99998933e-01 4.25078785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:51.69, Z:0.04 [[ 7.31280656e-01 -6.82075837e-01 -1.07435059e-03 2.25061507e+02] [ 6.82075119e-01 7.31281446e-01 -9.89652216e-04 5.16865632e+01] [ 1.46067051e-03 -9.07428370e-06 9.99998933e-01 4.13778984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:51.71, Z:0.04 [[ 7.30760223e-01 -6.82633388e-01 -1.07418739e-03 2.25081603e+02] [ 6.82632670e-01 7.30761013e-01 -9.89829321e-04 5.17053468e+01] [ 1.46066481e-03 -9.94751198e-06 9.99998933e-01 4.05514027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:51.72, Z:0.04 [[ 7.30351071e-01 -6.83071123e-01 -1.07400295e-03 2.25101477e+02] [ 6.83070406e-01 7.30351861e-01 -9.90029409e-04 5.17234606e+01] [ 1.46066055e-03 -1.05505907e-05 9.99998933e-01 3.93324483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:51.74, Z:0.04 [[ 7.29757800e-01 -6.83704907e-01 -1.07387761e-03 2.25122202e+02] [ 6.83704190e-01 7.29758590e-01 -9.90165345e-04 5.17423792e+01] [ 1.46065231e-03 -1.16337372e-05 9.99998933e-01 3.85467154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:225.14, Y:51.76, Z:0.04 [[ 7.29028801e-01 -6.84482180e-01 -1.07369094e-03 2.25142181e+02] [ 6.84481464e-01 7.29029591e-01 -9.90367714e-04 5.17606347e+01] [ 1.46064152e-03 -1.29149615e-05 9.99998933e-01 3.78339544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:51.78, Z:0.04 [[ 7.28546713e-01 -6.84995281e-01 -1.07353632e-03 2.25162577e+02] [ 6.84994565e-01 7.28547504e-01 -9.90535292e-04 5.17798268e+01] [ 1.46063421e-03 -1.37153157e-05 9.99998933e-01 3.62917376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:51.80, Z:0.04 [[ 7.28314977e-01 -6.85241667e-01 -1.07335240e-03 2.25182390e+02] [ 6.85240950e-01 7.28315768e-01 -9.90734549e-04 5.17976628e+01] [ 1.46063207e-03 -1.39382101e-05 9.99998933e-01 3.64333478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:51.82, Z:0.04 [[ 7.28277309e-01 -6.85281701e-01 -1.07318519e-03 2.25202922e+02] [ 6.85280984e-01 7.28278100e-01 -9.90915642e-04 5.18161365e+01] [ 1.46063363e-03 -1.37720273e-05 9.99998933e-01 3.64543010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:51.84, Z:0.03 [[ 7.28199212e-01 -6.85364689e-01 -1.07300279e-03 2.25223667e+02] [ 6.85363972e-01 7.28200002e-01 -9.91113116e-04 5.18356314e+01] [ 1.46063457e-03 -1.36696640e-05 9.99998933e-01 3.49969233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:51.85, Z:0.04 [[ 7.28266286e-01 -6.85293416e-01 -1.07283132e-03 2.25243060e+02] [ 6.85292699e-01 7.28267076e-01 -9.91298691e-04 5.18540030e+01] [ 1.46063819e-03 -1.32740538e-05 9.99998933e-01 3.52120834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:51.87, Z:0.04 [[ 7.28212880e-01 -6.85350167e-01 -1.07266457e-03 2.25263140e+02] [ 6.85349450e-01 7.28213670e-01 -9.91479089e-04 5.18729265e+01] [ 1.46063936e-03 -1.31422316e-05 9.99998933e-01 3.67760784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.28, Y:51.89, Z:0.04 [[ 7.28175382e-01 -6.85390008e-01 -1.07248183e-03 2.25283474e+02] [ 6.85389291e-01 7.28176172e-01 -9.91676720e-04 5.18901889e+01] [ 1.46064103e-03 -1.29529886e-05 9.99998933e-01 3.75065954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:51.91, Z:0.04 [[ 7.27997566e-01 -6.85578875e-01 -1.07235797e-03 2.25303866e+02] [ 6.85578158e-01 7.27998355e-01 -9.91810643e-04 5.19087205e+01] [ 1.46063926e-03 -1.31494667e-05 9.99998933e-01 3.63111059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.32, Y:51.93, Z:0.04 [[ 7.27644218e-01 -6.85953892e-01 -1.07217780e-03 2.25324606e+02] [ 6.85953175e-01 7.27645008e-01 -9.92005370e-04 5.19268226e+01] [ 1.46063477e-03 -1.36367961e-05 9.99998933e-01 3.77963801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:51.94, Z:0.04 [[ 7.27311659e-01 -6.86306492e-01 -1.07199640e-03 2.25345502e+02] [ 6.86305775e-01 7.27312449e-01 -9.92201361e-04 5.19445610e+01] [ 1.46063056e-03 -1.40777027e-05 9.99998933e-01 3.73998073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:51.96, Z:0.04 [[ 7.27189355e-01 -6.86436081e-01 -1.07180459e-03 2.25366258e+02] [ 6.86435364e-01 7.27190145e-01 -9.92408514e-04 5.19640548e+01] [ 1.46063075e-03 -1.40556681e-05 9.99998933e-01 3.74414124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.39, Y:51.98, Z:0.04 [[ 7.26845720e-01 -6.86799935e-01 -1.07162772e-03 2.25388443e+02] [ 6.86799218e-01 7.26846510e-01 -9.92599467e-04 5.19806081e+01] [ 1.46062612e-03 -1.45264069e-05 9.99998933e-01 3.77521289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:52.00, Z:0.04 [[ 7.26715724e-01 -6.86937485e-01 -1.07144917e-03 2.25410140e+02] [ 6.86936768e-01 7.26716514e-01 -9.92792161e-04 5.19986832e+01] [ 1.46062596e-03 -1.45401574e-05 9.99998933e-01 3.85754812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:52.02, Z:0.04 [[ 7.26701456e-01 -6.86952580e-01 -1.07126461e-03 2.25431759e+02] [ 6.86951862e-01 7.26702245e-01 -9.92991273e-04 5.20170134e+01] [ 1.46062831e-03 -1.42990159e-05 9.99998933e-01 3.88935119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:52.03, Z:0.04 [[ 7.26629864e-01 -6.87028306e-01 -1.07107968e-03 2.25452336e+02] [ 6.87027589e-01 7.26630653e-01 -9.93190703e-04 5.20341272e+01] [ 1.46062946e-03 -1.41792657e-05 9.99998933e-01 3.86375372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:52.05, Z:0.04 [[ 7.26985802e-01 -6.86651656e-01 -1.07091238e-03 2.25474443e+02] [ 6.86650938e-01 7.26986591e-01 -9.93371063e-04 5.20512368e+01] [ 1.46063883e-03 -1.31763327e-05 9.99998933e-01 4.11681312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:52.07, Z:0.04 [[ 7.27414309e-01 -6.86197695e-01 -1.07072727e-03 2.25495545e+02] [ 6.86196975e-01 7.27415097e-01 -9.93570553e-04 5.20685969e+01] [ 1.46064900e-03 -1.19923746e-05 9.99998933e-01 4.08694398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:52.09, Z:0.04 [[ 7.28589534e-01 -6.84949739e-01 -1.07055900e-03 2.25517140e+02] [ 6.84949018e-01 7.28590320e-01 -9.93751826e-04 5.20850370e+01] [ 1.46066898e-03 -9.24115589e-06 9.99998933e-01 4.05942409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:52.10, Z:0.04 [[ 7.28907035e-01 -6.84611852e-01 -1.07042620e-03 2.25538418e+02] [ 6.84611131e-01 7.28907821e-01 -9.93894847e-04 5.21034413e+01] [ 1.46067422e-03 -8.36874778e-06 9.99998933e-01 4.27911903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:52.12, Z:0.04 [[ 7.29756048e-01 -6.83706783e-01 -1.07023805e-03 2.25559990e+02] [ 6.83706060e-01 7.29756833e-01 -9.94097411e-04 5.21204703e+01] [ 1.46068467e-03 -6.27964418e-06 9.99998933e-01 4.28466120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:52.14, Z:0.04 [[ 7.29633471e-01 -6.83837593e-01 -1.07006895e-03 2.25581457e+02] [ 6.83836870e-01 7.29634255e-01 -9.94279397e-04 5.21384179e+01] [ 1.46068459e-03 -6.29307752e-06 9.99998933e-01 4.31601722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:225.60, Y:52.15, Z:0.04 [[ 7.29476664e-01 -6.84004863e-01 -1.06987481e-03 2.25604146e+02] [ 6.84004140e-01 7.29477448e-01 -9.94488259e-04 5.21539769e+01] [ 1.46068435e-03 -6.34282113e-06 9.99998933e-01 4.25443201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:52.17, Z:0.04 [[ 7.28936893e-01 -6.84580063e-01 -1.06974290e-03 2.25625460e+02] [ 6.84579340e-01 7.28937678e-01 -9.94630136e-04 5.21720512e+01] [ 1.46067986e-03 -7.30128484e-06 9.99998933e-01 4.20415206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:225.65, Y:52.19, Z:0.04 [[ 7.28604268e-01 -6.84934068e-01 -1.06955626e-03 2.25646257e+02] [ 6.84933345e-01 7.28605053e-01 -9.94830792e-04 5.21898801e+01] [ 1.46067759e-03 -7.73678438e-06 9.99998933e-01 4.05082545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:52.21, Z:0.04 [[ 7.27603027e-01 -6.85997589e-01 -1.06935994e-03 2.25668185e+02] [ 6.85996867e-01 7.27603812e-01 -9.95041773e-04 5.22076826e+01] [ 1.46066663e-03 -9.58216321e-06 9.99998933e-01 3.84005214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:52.22, Z:0.04 [[ 7.27416091e-01 -6.86195808e-01 -1.06917471e-03 2.25689733e+02] [ 6.86195086e-01 7.27416877e-01 -9.95240759e-04 5.22249818e+01] [ 1.46066577e-03 -9.70829241e-06 9.99998933e-01 3.86780851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.71, Y:52.24, Z:0.04 [[ 7.27578760e-01 -6.86023327e-01 -1.06898703e-03 2.25710221e+02] [ 6.86022605e-01 7.27579546e-01 -9.95442309e-04 5.22434323e+01] [ 1.46066974e-03 -9.08658583e-06 9.99998933e-01 3.87680572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.73, Y:52.26, Z:0.04 [[ 7.28379681e-01 -6.85172896e-01 -1.06879852e-03 2.25730214e+02] [ 6.85172173e-01 7.28380465e-01 -9.95644667e-04 5.22612662e+01] [ 1.46068070e-03 -7.10366084e-06 9.99998933e-01 3.87821669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.75, Y:52.28, Z:0.04 [[ 7.28773306e-01 -6.84754208e-01 -1.06862829e-03 2.25751110e+02] [ 6.84753484e-01 7.28774090e-01 -9.95827346e-04 5.22799916e+01] [ 1.46068557e-03 -6.01455690e-06 9.99998933e-01 3.94218022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.77, Y:52.30, Z:0.04 [[ 7.29360575e-01 -6.84128650e-01 -1.06844325e-03 2.25771603e+02] [ 6.84127925e-01 7.29361358e-01 -9.96025838e-04 5.22990859e+01] [ 1.46069103e-03 -4.48988615e-06 9.99998933e-01 3.96678943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:52.32, Z:0.04 [[ 7.29007472e-01 -6.84504905e-01 -1.06825542e-03 2.25790702e+02] [ 6.84504180e-01 7.29008255e-01 -9.96227250e-04 5.23176009e+01] [ 1.46068946e-03 -4.96819018e-06 9.99998933e-01 3.75465638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.81, Y:52.34, Z:0.04 [[ 7.28459936e-01 -6.85087572e-01 -1.06805683e-03 2.25811172e+02] [ 6.85086847e-01 7.28460719e-01 -9.96440114e-04 5.23368340e+01] [ 1.46068618e-03 -5.84498210e-06 9.99998933e-01 3.85761444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.83, Y:52.36, Z:0.04 [[ 7.27198993e-01 -6.86425876e-01 -1.06786755e-03 2.25831573e+02] [ 6.86425153e-01 7.27199777e-01 -9.96642914e-04 5.23559458e+01] [ 1.46067453e-03 -8.25342530e-06 9.99998933e-01 3.82133982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:52.37, Z:0.04 [[ 7.26599178e-01 -6.87060765e-01 -1.06767810e-03 2.25851787e+02] [ 6.87060041e-01 7.26599963e-01 -9.96845828e-04 5.23744255e+01] [ 1.46066853e-03 -9.25160175e-06 9.99998933e-01 3.72437391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:52.39, Z:0.04 [[ 7.25513515e-01 -6.88207091e-01 -1.06754943e-03 2.25872447e+02] [ 6.88206369e-01 7.25514301e-01 -9.96983605e-04 5.23927746e+01] [ 1.46065357e-03 -1.13692373e-05 9.99998933e-01 3.81003483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.89, Y:52.41, Z:0.04 [[ 7.25028724e-01 -6.88717801e-01 -1.06736282e-03 2.25893256e+02] [ 6.88717079e-01 7.25029510e-01 -9.97183347e-04 5.24121707e+01] [ 1.46064747e-03 -1.21244362e-05 9.99998933e-01 3.94651616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:52.43, Z:0.04 [[ 7.23976197e-01 -6.89824128e-01 -1.06717402e-03 2.25913014e+02] [ 6.89823407e-01 7.23976983e-01 -9.97385364e-04 5.24313805e+01] [ 1.46062991e-03 -1.40783536e-05 9.99998933e-01 4.09808158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:52.45, Z:0.04 [[ 7.23671420e-01 -6.90143853e-01 -1.06698187e-03 2.25932960e+02] [ 6.90143132e-01 7.23672206e-01 -9.97590874e-04 5.24497442e+01] [ 1.46062633e-03 -1.44422070e-05 9.99998933e-01 4.03903998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.95, Y:52.47, Z:0.04 [[ 7.22637664e-01 -6.91226207e-01 -1.06680888e-03 2.25953358e+02] [ 6.91225487e-01 7.22638451e-01 -9.97775840e-04 5.24682632e+01] [ 1.46060592e-03 -1.63750815e-05 9.99998933e-01 4.28419765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17587156000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.97, Y:52.49, Z:0.04 [[ 7.22278587e-01 -6.91601406e-01 -1.06661390e-03 2.25973271e+02] [ 6.91600687e-01 7.22279374e-01 -9.97984225e-04 5.24858043e+01] [ 1.46060051e-03 -1.68482691e-05 9.99998933e-01 4.33432262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:52.50, Z:0.04 [[ 7.21547007e-01 -6.92364629e-01 -1.06643679e-03 2.25994099e+02] [ 6.92363910e-01 7.21547795e-01 -9.98173448e-04 5.25045463e+01] [ 1.46058510e-03 -1.81332813e-05 9.99998933e-01 4.35539593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:226.01, Y:52.52, Z:0.04 [[ 7.20352139e-01 -6.93607712e-01 -1.06625124e-03 2.26014750e+02] [ 6.93606994e-01 7.20352928e-01 -9.98371612e-04 5.25234557e+01] [ 1.46055545e-03 -2.03801909e-05 9.99998933e-01 4.41443803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:52.54, Z:0.04 [[ 7.19303778e-01 -6.94694852e-01 -1.06605958e-03 2.26034405e+02] [ 6.94694135e-01 7.19304568e-01 -9.98576226e-04 5.25413645e+01] [ 1.46052729e-03 -2.23056840e-05 9.99998933e-01 4.13677779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.06, Y:52.56, Z:0.04 [[ 7.19040876e-01 -6.94966965e-01 -1.06589125e-03 2.26055088e+02] [ 6.94966248e-01 7.19041666e-01 -9.98755867e-04 5.25596758e+01] [ 1.46052255e-03 -2.26121508e-05 9.99998933e-01 4.19652408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:52.58, Z:0.04 [[ 7.18862116e-01 -6.95151870e-01 -1.06569852e-03 2.26075534e+02] [ 6.95151153e-01 7.18862905e-01 -9.98961473e-04 5.25778957e+01] [ 1.46052107e-03 -2.27059974e-05 9.99998933e-01 3.95915269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:52.60, Z:0.04 [[ 7.19228605e-01 -6.94772681e-01 -1.06552807e-03 2.26096929e+02] [ 6.94771963e-01 7.19229394e-01 -9.99143251e-04 5.25954863e+01] [ 1.46053654e-03 -2.16866198e-05 9.99998933e-01 3.93287928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.12, Y:52.61, Z:0.04 [[ 7.19628170e-01 -6.94358814e-01 -1.06533693e-03 2.26116909e+02] [ 6.94358095e-01 7.19628958e-01 -9.99347014e-04 5.26139065e+01] [ 1.46055271e-03 -2.05670554e-05 9.99998933e-01 3.75062973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:52.63, Z:0.04 [[ 7.20772969e-01 -6.93170392e-01 -1.06516647e-03 2.26137055e+02] [ 6.93169672e-01 7.20773756e-01 -9.99528660e-04 5.26328990e+01] [ 1.46058771e-03 -1.79078548e-05 9.99998933e-01 3.84975116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.16, Y:52.65, Z:0.04 [[ 7.21436617e-01 -6.92479655e-01 -1.06497462e-03 2.26156897e+02] [ 6.92478934e-01 7.21437403e-01 -9.99733032e-04 5.26512813e+01] [ 1.46060731e-03 -1.62284737e-05 9.99998933e-01 3.63715039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:52.67, Z:0.04 [[ 7.22248923e-01 -6.91632388e-01 -1.06480244e-03 2.26178790e+02] [ 6.91631665e-01 7.22249708e-01 -9.99916387e-04 5.26689713e+01] [ 1.46062781e-03 -1.42625508e-05 9.99998933e-01 3.57945604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:52.69, Z:0.04 [[ 7.22322543e-01 -6.91555501e-01 -1.06462186e-03 2.26199394e+02] [ 6.91554778e-01 7.22323327e-01 -1.00010862e-03 5.26874399e+01] [ 1.46063182e-03 -1.38433311e-05 9.99998933e-01 3.75721585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.22, Y:52.71, Z:0.04 [[ 7.22919058e-01 -6.90931909e-01 -1.06443479e-03 2.26219052e+02] [ 6.90931185e-01 7.22919841e-01 -1.00030768e-03 5.27054583e+01] [ 1.46064552e-03 -1.23097022e-05 9.99998933e-01 3.88610856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.24, Y:52.72, Z:0.04 [[ 7.22889026e-01 -6.90963329e-01 -1.06429726e-03 2.26239410e+02] [ 6.90962605e-01 7.22889810e-01 -1.00045399e-03 5.27244767e+01] [ 1.46064666e-03 -1.21723946e-05 9.99998933e-01 4.12585331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:52.74, Z:0.04 [[ 7.22898757e-01 -6.90953150e-01 -1.06410281e-03 2.26259217e+02] [ 6.90952425e-01 7.22899540e-01 -1.00066076e-03 5.27423192e+01] [ 1.46064914e-03 -1.18679981e-05 9.99998933e-01 4.00068741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.28, Y:52.76, Z:0.04 [[ 7.22575217e-01 -6.91291490e-01 -1.06392696e-03 2.26280121e+02] [ 6.91290765e-01 7.22576000e-01 -1.00084770e-03 5.27606711e+01] [ 1.46064558e-03 -1.22951381e-05 9.99998933e-01 4.02361095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.30, Y:52.78, Z:0.04 [[ 7.21750547e-01 -6.92152452e-01 -1.06373549e-03 2.26301246e+02] [ 6.92151728e-01 7.21751331e-01 -1.00105116e-03 5.27771449e+01] [ 1.46063252e-03 -1.37571387e-05 9.99998933e-01 4.02421335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:52.79, Z:0.04 [[ 7.21042225e-01 -6.92890307e-01 -1.06353304e-03 2.26322389e+02] [ 6.92889584e-01 7.21043010e-01 -1.00126620e-03 5.27945171e+01] [ 1.46062071e-03 -1.49557535e-05 9.99998933e-01 4.02142713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:52.81, Z:0.04 [[ 7.19338699e-01 -6.94658698e-01 -1.06333560e-03 2.26345367e+02] [ 6.94657976e-01 7.19339484e-01 -1.00147584e-03 5.28105346e+01] [ 1.46058318e-03 -1.82542290e-05 9.99998933e-01 3.94610058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.37, Y:52.83, Z:0.04 [[ 7.18452663e-01 -6.95575043e-01 -1.06314951e-03 2.26366769e+02] [ 6.95574322e-01 7.18453450e-01 -1.00167334e-03 5.28292180e+01] [ 1.46056241e-03 -1.98446202e-05 9.99998933e-01 4.05278090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:226.39, Y:52.85, Z:0.04 [[ 7.17301228e-01 -6.96762383e-01 -1.06295781e-03 2.26388070e+02] [ 6.96761663e-01 7.17302015e-01 -1.00187673e-03 5.28452677e+01] [ 1.46053180e-03 -2.19808387e-05 9.99998933e-01 4.09202313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:52.86, Z:0.04 [[ 7.16728084e-01 -6.97351937e-01 -1.06275463e-03 2.26409222e+02] [ 6.97351218e-01 7.16728871e-01 -1.00209221e-03 5.28623521e+01] [ 1.46051787e-03 -2.28856077e-05 9.99998933e-01 3.92405167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.43, Y:52.88, Z:0.04 [[ 7.16733197e-01 -6.97346682e-01 -1.06261934e-03 2.26432339e+02] [ 6.97345962e-01 7.16733985e-01 -1.00223565e-03 5.28780291e+01] [ 1.46052110e-03 -2.26777447e-05 9.99998933e-01 3.93334116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:226.45, Y:52.90, Z:0.04 [[ 7.16840860e-01 -6.97236009e-01 -1.06243459e-03 2.26454367e+02] [ 6.97235289e-01 7.16841647e-01 -1.00243146e-03 5.28958151e+01] [ 1.46052867e-03 -2.21830547e-05 9.99998933e-01 3.94764266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89587156000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.48, Y:52.91, Z:0.04 [[ 7.17461874e-01 -6.96596965e-01 -1.06224615e-03 2.26477777e+02] [ 6.96596243e-01 7.17462660e-01 -1.00263110e-03 5.29099071e+01] [ 1.46055173e-03 -2.06070880e-05 9.99998933e-01 3.71368119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:52.93, Z:0.04 [[ 7.18065993e-01 -6.95974211e-01 -1.06205078e-03 2.26499908e+02] [ 6.95973489e-01 7.18066778e-01 -1.00283801e-03 5.29275397e+01] [ 1.46057277e-03 -1.90553186e-05 9.99998933e-01 3.64480456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:52.95, Z:0.04 [[ 7.18853466e-01 -6.95160821e-01 -1.06186387e-03 2.26521778e+02] [ 6.95160097e-01 7.18854250e-01 -1.00303588e-03 5.29458424e+01] [ 1.46059660e-03 -1.71295691e-05 9.99998933e-01 3.64843459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:52.96, Z:0.04 [[ 7.21294206e-01 -6.92627996e-01 -1.06167742e-03 2.26542274e+02] [ 6.92627269e-01 7.21294988e-01 -1.00323320e-03 5.29630169e+01] [ 1.46065000e-03 -1.17204374e-05 9.99998933e-01 3.59960872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.56, Y:52.98, Z:0.04 [[ 7.24140055e-01 -6.89652125e-01 -1.06148064e-03 2.26564000e+02] [ 6.89651395e-01 7.24140833e-01 -1.00344136e-03 5.29804437e+01] [ 1.46068694e-03 -5.41952065e-06 9.99998933e-01 4.09454042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:53.00, Z:0.04 [[ 7.25443993e-01 -6.88280384e-01 -1.06128891e-03 2.26584123e+02] [ 6.88279652e-01 7.25444770e-01 -1.00364410e-03 5.29978052e+01] [ 1.46069503e-03 -2.37597927e-06 9.99998933e-01 4.10795715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:53.02, Z:0.04 [[ 7.26601039e-01 -6.87058807e-01 -1.06108612e-03 2.26605295e+02] [ 6.87058074e-01 7.26601814e-01 -1.00385845e-03 5.30162641e+01] [ 1.46069689e-03 3.76812299e-07 9.99998933e-01 4.10903763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:53.03, Z:0.04 [[ 7.29139318e-01 -6.84364471e-01 -1.06089559e-03 2.26626297e+02] [ 6.84363734e-01 7.29140090e-01 -1.00405976e-03 5.30337192e+01] [ 1.46068433e-03 6.06098376e-06 9.99998933e-01 4.09838366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:53.05, Z:0.04 [[ 7.31377162e-01 -6.81972376e-01 -1.06069436e-03 2.26647214e+02] [ 6.81971636e-01 7.31377931e-01 -1.00427230e-03 5.30521945e+01] [ 1.46065441e-03 1.11383617e-05 9.99998933e-01 4.05351622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:53.07, Z:0.04 [[ 7.32229970e-01 -6.81056640e-01 -1.06050566e-03 2.26667319e+02] [ 6.81055899e-01 7.32230738e-01 -1.00447152e-03 5.30698402e+01] [ 1.46063684e-03 1.32405129e-05 9.99998933e-01 3.97242462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:53.09, Z:0.04 [[ 7.32106859e-01 -6.81188977e-01 -1.06036782e-03 2.26687861e+02] [ 6.81188237e-01 7.32107627e-01 -1.00461702e-03 5.30895836e+01] [ 1.46063740e-03 1.31769230e-05 9.99998933e-01 3.97658526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.71, Y:53.11, Z:0.04 [[ 7.32653112e-01 -6.80601420e-01 -1.06018620e-03 2.26708289e+02] [ 6.80600679e-01 7.32653879e-01 -1.00480864e-03 5.31077777e+01] [ 1.46062372e-03 1.46127299e-05 9.99998933e-01 3.90762236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.73, Y:53.13, Z:0.04 [[ 7.33341057e-01 -6.79860111e-01 -1.05999419e-03 2.26728303e+02] [ 6.79859369e-01 7.33341823e-01 -1.00501116e-03 5.31257906e+01] [ 1.46060507e-03 1.63689644e-05 9.99998933e-01 3.94340380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:53.14, Z:0.04 [[ 7.33469096e-01 -6.79721974e-01 -1.05980404e-03 2.26749127e+02] [ 6.79721231e-01 7.33469861e-01 -1.00521164e-03 5.31443306e+01] [ 1.46059876e-03 1.69203678e-05 9.99998933e-01 4.09974482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.77, Y:53.16, Z:0.04 [[ 7.33439587e-01 -6.79753815e-01 -1.05961302e-03 2.26770760e+02] [ 6.79753072e-01 7.33440352e-01 -1.00541296e-03 5.31629354e+01] [ 1.46059624e-03 1.71344587e-05 9.99998933e-01 4.08127742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:53.18, Z:0.04 [[ 7.33320518e-01 -6.79882266e-01 -1.05943424e-03 2.26790422e+02] [ 6.79881522e-01 7.33321283e-01 -1.00560131e-03 5.31816610e+01] [ 1.46059617e-03 1.71383092e-05 9.99998933e-01 3.92940866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:53.20, Z:0.04 [[ 7.33094987e-01 -6.80125443e-01 -1.05923226e-03 2.26810284e+02] [ 6.80124699e-01 7.33095752e-01 -1.00581401e-03 5.32009280e+01] [ 1.46059837e-03 1.69471849e-05 9.99998933e-01 4.13961849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:53.22, Z:0.04 [[ 7.32662147e-01 -6.80591696e-01 -1.05904174e-03 2.26830303e+02] [ 6.80590952e-01 7.32662913e-01 -1.00601457e-03 5.32200544e+01] [ 1.46060577e-03 1.62945684e-05 9.99998933e-01 4.16539787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:53.24, Z:0.04 [[ 7.32382257e-01 -6.80892876e-01 -1.05885092e-03 2.26850951e+02] [ 6.80892133e-01 7.32383022e-01 -1.00621538e-03 5.32394153e+01] [ 1.46060932e-03 1.59710308e-05 9.99998933e-01 4.18364866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:53.26, Z:0.04 [[ 7.32331936e-01 -6.80946998e-01 -1.05865473e-03 2.26870750e+02] [ 6.80946255e-01 7.32332701e-01 -1.00642175e-03 5.32580180e+01] [ 1.46060735e-03 1.61478201e-05 9.99998933e-01 4.09512105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:53.28, Z:0.04 [[ 7.32208353e-01 -6.81079883e-01 -1.05852123e-03 2.26890801e+02] [ 6.81079139e-01 7.32209118e-01 -1.00656214e-03 5.32775222e+01] [ 1.46060812e-03 1.60764804e-05 9.99998933e-01 4.11829475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:53.30, Z:0.04 [[ 7.32198274e-01 -6.81090719e-01 -1.05833167e-03 2.26910556e+02] [ 6.81089975e-01 7.32199039e-01 -1.00676141e-03 5.32970295e+01] [ 1.46060528e-03 1.63298707e-05 9.99998933e-01 4.16643706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.93, Y:53.32, Z:0.04 [[ 7.32181985e-01 -6.81108230e-01 -1.05813952e-03 2.26930972e+02] [ 6.81107486e-01 7.32182749e-01 -1.00696332e-03 5.33163213e+01] [ 1.46060251e-03 1.65736563e-05 9.99998933e-01 4.32076267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:53.34, Z:0.04 [[ 7.32279074e-01 -6.81003846e-01 -1.05794384e-03 2.26950078e+02] [ 6.81003102e-01 7.32279838e-01 -1.00716886e-03 5.33361084e+01] [ 1.46059682e-03 1.70656431e-05 9.99998933e-01 3.85256731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:53.36, Z:0.04 [[ 7.32059924e-01 -6.81239422e-01 -1.05776899e-03 2.26970378e+02] [ 6.81238677e-01 7.32060688e-01 -1.00735247e-03 5.33555301e+01] [ 1.46059931e-03 1.68492182e-05 9.99998933e-01 3.95039213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:53.37, Z:0.04 [[ 7.31626306e-01 -6.81705091e-01 -1.05758272e-03 2.26991289e+02] [ 6.81704346e-01 7.31627070e-01 -1.00754799e-03 5.33748478e+01] [ 1.46060674e-03 1.61898799e-05 9.99998933e-01 4.00622746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:53.39, Z:0.04 [[ 7.31370994e-01 -6.81978996e-01 -1.05738965e-03 2.27010608e+02] [ 6.81978252e-01 7.31371758e-01 -1.00775057e-03 5.33934042e+01] [ 1.46060965e-03 1.59227961e-05 9.99998933e-01 3.92024071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:53.41, Z:0.04 [[ 7.30655486e-01 -6.82745519e-01 -1.05718602e-03 2.27031197e+02] [ 6.82744775e-01 7.30656251e-01 -1.00796414e-03 5.34128340e+01] [ 1.46062258e-03 1.46862964e-05 9.99998933e-01 3.77099653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.05, Y:53.43, Z:0.04 [[ 7.30219513e-01 -6.83211787e-01 -1.05699494e-03 2.27050838e+02] [ 6.83211043e-01 7.30220278e-01 -1.00816448e-03 5.34312570e+01] [ 1.46062899e-03 1.40307594e-05 9.99998933e-01 3.75155439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.07, Y:53.45, Z:0.04 [[ 7.29912289e-01 -6.83540002e-01 -1.05679303e-03 2.27070041e+02] [ 6.83539258e-01 7.29913054e-01 -1.00837608e-03 5.34495746e+01] [ 1.46063242e-03 1.36665704e-05 9.99998933e-01 3.79377860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.09, Y:53.47, Z:0.04 [[ 7.30172097e-01 -6.83262463e-01 -1.05659177e-03 2.27089628e+02] [ 6.83261719e-01 7.30172861e-01 -1.00858692e-03 5.34694922e+01] [ 1.46062422e-03 1.45133205e-05 9.99998933e-01 4.01019195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:53.49, Z:0.04 [[ 7.30320869e-01 -6.83103442e-01 -1.05640146e-03 2.27109331e+02] [ 6.83102697e-01 7.30321633e-01 -1.00878622e-03 5.34898152e+01] [ 1.46061818e-03 1.51069408e-05 9.99998933e-01 4.00988156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:53.51, Z:0.04 [[ 7.31114982e-01 -6.82253448e-01 -1.05621072e-03 2.27128632e+02] [ 6.82252702e-01 7.31115745e-01 -1.00898588e-03 5.35107243e+01] [ 1.46059638e-03 1.70820756e-05 9.99998933e-01 4.11915746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:227.15, Y:53.53, Z:0.04 [[ 7.31678779e-01 -6.81648773e-01 -1.05601974e-03 2.27148028e+02] [ 6.81648026e-01 7.31679541e-01 -1.00918572e-03 5.35309074e+01] [ 1.46057825e-03 1.85660038e-05 9.99998933e-01 4.16675987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:53.55, Z:0.04 [[ 7.32457221e-01 -6.80812239e-01 -1.05582901e-03 2.27166764e+02] [ 6.80811491e-01 7.32457981e-01 -1.00938523e-03 5.35521326e+01] [ 1.46055221e-03 2.05109816e-05 9.99998933e-01 4.15294368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:53.57, Z:0.04 [[ 7.32614467e-01 -6.80643025e-01 -1.05563632e-03 2.27185315e+02] [ 6.80642277e-01 7.32615228e-01 -1.00958671e-03 5.35716387e+01] [ 1.46054340e-03 2.11271192e-05 9.99998933e-01 4.05053142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:53.59, Z:0.04 [[ 7.32698612e-01 -6.80552444e-01 -1.05543325e-03 2.27202948e+02] [ 6.80551695e-01 7.32699372e-01 -1.00979896e-03 5.35931656e+01] [ 1.46053643e-03 2.16014088e-05 9.99998933e-01 4.01533076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.22, Y:53.61, Z:0.04 [[ 7.32434736e-01 -6.80836429e-01 -1.05524366e-03 2.27221682e+02] [ 6.80835680e-01 7.32435496e-01 -1.00999704e-03 5.36133892e+01] [ 1.46054069e-03 2.13093837e-05 9.99998933e-01 3.99234012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:53.63, Z:0.04 [[ 7.31129459e-01 -6.82237936e-01 -1.05505301e-03 2.27239661e+02] [ 6.82237188e-01 7.31130220e-01 -1.01019616e-03 5.36343167e+01] [ 1.46057528e-03 1.87877775e-05 9.99998933e-01 4.15426418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.26, Y:53.65, Z:0.04 [[ 7.30153477e-01 -6.83282363e-01 -1.05485178e-03 2.27259222e+02] [ 6.83281616e-01 7.30154239e-01 -1.01040624e-03 5.36541857e+01] [ 1.46059726e-03 1.69908051e-05 9.99998933e-01 4.33370584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:53.67, Z:0.04 [[ 7.27655121e-01 -6.85942353e-01 -1.05466319e-03 2.27278128e+02] [ 6.85941609e-01 7.27655886e-01 -1.01060305e-03 5.36747176e+01] [ 1.46064731e-03 1.19331161e-05 9.99998933e-01 4.35143255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:53.69, Z:0.04 [[ 7.26065788e-01 -6.87624432e-01 -1.05447517e-03 2.27297398e+02] [ 6.87623689e-01 7.26066554e-01 -1.01079920e-03 5.36946004e+01] [ 1.46066937e-03 8.82461078e-06 9.99998933e-01 4.35849838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:53.71, Z:0.04 [[ 7.23510984e-01 -6.90312063e-01 -1.05428758e-03 2.27315660e+02] [ 6.90311323e-01 7.23511752e-01 -1.01099482e-03 5.37149377e+01] [ 1.46069137e-03 3.67920810e-06 9.99998933e-01 4.28201997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:53.73, Z:0.04 [[ 7.22446924e-01 -6.91425579e-01 -1.05408857e-03 2.27335452e+02] [ 6.91424839e-01 7.22447693e-01 -1.01120227e-03 5.37346968e+01] [ 1.46069497e-03 1.71694626e-06 9.99998933e-01 4.27179509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:53.75, Z:0.04 [[ 7.20807590e-01 -6.93134408e-01 -1.05389703e-03 2.27354562e+02] [ 6.93133670e-01 7.20808360e-01 -1.01140185e-03 5.37549060e+01] [ 1.46069522e-03 -1.46538523e-06 9.99998933e-01 4.17070475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:53.77, Z:0.04 [[ 7.20358810e-01 -6.93600803e-01 -1.05370597e-03 2.27373226e+02] [ 6.93600066e-01 7.20359581e-01 -1.01160087e-03 5.37738211e+01] [ 1.46069437e-03 -2.13493609e-06 9.99998933e-01 4.08693735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:53.79, Z:0.04 [[ 7.20028150e-01 -6.93944057e-01 -1.05350473e-03 2.27392474e+02] [ 6.93943319e-01 7.20028921e-01 -1.01181040e-03 5.37931422e+01] [ 1.46069369e-03 -2.54060279e-06 9.99998933e-01 4.01480840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:53.81, Z:0.04 [[ 7.20685647e-01 -6.93261198e-01 -1.05330814e-03 2.27411965e+02] [ 6.93260459e-01 7.20686417e-01 -1.01201501e-03 5.38133747e+01] [ 1.46069561e-03 -8.72196417e-07 9.99998933e-01 4.06065015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:53.83, Z:0.04 [[ 7.22407825e-01 -6.91466431e-01 -1.05312440e-03 2.27430112e+02] [ 6.91465690e-01 7.22408592e-01 -1.01220618e-03 5.38336437e+01] [ 1.46069271e-03 3.02627848e-06 9.99998933e-01 4.16620297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:53.85, Z:0.04 [[ 7.23487674e-01 -6.90336495e-01 -1.05292940e-03 2.27449374e+02] [ 6.90335753e-01 7.23488441e-01 -1.01240898e-03 5.38541510e+01] [ 1.46068512e-03 5.59061032e-06 9.99998933e-01 4.22598310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:53.87, Z:0.04 [[ 7.24598025e-01 -6.89170947e-01 -1.05274726e-03 2.27467751e+02] [ 6.89170203e-01 7.24598790e-01 -1.01259834e-03 5.38738389e+01] [ 1.46067275e-03 8.20471658e-06 9.99998933e-01 4.26404426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:53.89, Z:0.04 [[ 7.26752484e-01 -6.86898623e-01 -1.05255459e-03 2.27485730e+02] [ 6.86897877e-01 7.26753246e-01 -1.01279858e-03 5.38948198e+01] [ 1.46063742e-03 1.30563713e-05 9.99998933e-01 4.28944727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:53.92, Z:0.04 [[ 7.27471486e-01 -6.86137107e-01 -1.05237551e-03 2.27504626e+02] [ 6.86136359e-01 7.27472247e-01 -1.01298462e-03 5.39151196e+01] [ 1.46062032e-03 1.48443237e-05 9.99998933e-01 4.21220231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:53.94, Z:0.04 [[ 7.28917532e-01 -6.84600704e-01 -1.05219668e-03 2.27522188e+02] [ 6.84599955e-01 7.28918291e-01 -1.01317034e-03 5.39366163e+01] [ 1.46058254e-03 1.81838277e-05 9.99998933e-01 4.35081550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:53.96, Z:0.04 [[ 7.29363345e-01 -6.84125722e-01 -1.05200565e-03 2.27540646e+02] [ 6.84124972e-01 7.29364104e-01 -1.01336866e-03 5.39570304e+01] [ 1.46056672e-03 1.94106217e-05 9.99998933e-01 4.18140052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:53.98, Z:0.04 [[ 7.30303290e-01 -6.83122242e-01 -1.05186609e-03 2.27557411e+02] [ 6.83121491e-01 7.30304047e-01 -1.01351349e-03 5.39788371e+01] [ 1.46053567e-03 2.16199050e-05 9.99998933e-01 4.32436566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:54.00, Z:0.05 [[ 7.30724510e-01 -6.82671652e-01 -1.05167709e-03 2.27575653e+02] [ 6.82670900e-01 7.30725266e-01 -1.01370957e-03 5.39995224e+01] [ 1.46051781e-03 2.27930812e-05 9.99998933e-01 4.57208299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:54.02, Z:0.05 [[ 7.31126270e-01 -6.82241359e-01 -1.05147574e-03 2.27592784e+02] [ 6.82240606e-01 7.31127026e-01 -1.01391838e-03 5.40223458e+01] [ 1.46049939e-03 2.39429188e-05 9.99998933e-01 4.63151019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:54.04, Z:0.05 [[ 7.31042474e-01 -6.82331148e-01 -1.05128134e-03 2.27610989e+02] [ 6.82330395e-01 7.31043230e-01 -1.01411991e-03 5.40432005e+01] [ 1.46049771e-03 2.40435163e-05 9.99998933e-01 4.66963428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:54.07, Z:0.04 [[ 7.30529044e-01 -6.82880817e-01 -1.05108590e-03 2.27626775e+02] [ 6.82880064e-01 7.30529800e-01 -1.01432243e-03 5.40655375e+01] [ 1.46051090e-03 2.32263820e-05 9.99998933e-01 4.33880328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:54.09, Z:0.04 [[ 7.29969967e-01 -6.83478415e-01 -1.05091234e-03 2.27645750e+02] [ 6.83477662e-01 7.29970723e-01 -1.01450222e-03 5.40866872e+01] [ 1.46052561e-03 2.22810445e-05 9.99998933e-01 4.46684178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:54.11, Z:0.04 [[ 7.29122816e-01 -6.84382068e-01 -1.05072447e-03 2.27663798e+02] [ 6.84381316e-01 7.29123573e-01 -1.01469676e-03 5.41070104e+01] [ 1.46054825e-03 2.07423671e-05 9.99998933e-01 4.18997521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:54.13, Z:0.04 [[ 7.27355190e-01 -6.86260391e-01 -1.05058641e-03 2.27679881e+02] [ 6.86259640e-01 7.27355949e-01 -1.01483969e-03 5.41293489e+01] [ 1.46059455e-03 1.71738614e-05 9.99998933e-01 4.31864562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:54.15, Z:0.05 [[ 7.26172270e-01 -6.87511986e-01 -1.05039371e-03 2.27697806e+02] [ 6.87511237e-01 7.26173030e-01 -1.01503909e-03 5.41503516e+01] [ 1.46061913e-03 1.49357621e-05 9.99998933e-01 4.63745709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:54.17, Z:0.05 [[ 7.23568854e-01 -6.90251411e-01 -1.05025294e-03 2.27715820e+02] [ 6.90250664e-01 7.23569617e-01 -1.01518473e-03 5.41724368e+01] [ 1.46066381e-03 9.61825884e-06 9.99998933e-01 4.55410250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:54.19, Z:0.04 [[ 7.22037104e-01 -6.91853537e-01 -1.05006228e-03 2.27733877e+02] [ 6.91852792e-01 7.22037868e-01 -1.01538190e-03 5.41919342e+01] [ 1.46068029e-03 6.65488660e-06 9.99998933e-01 4.22241953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:54.21, Z:0.04 [[ 7.19018325e-01 -6.94990321e-01 -1.04986092e-03 2.27751894e+02] [ 6.94989579e-01 7.19019092e-01 -1.01559006e-03 5.42127719e+01] [ 1.46069530e-03 5.85462914e-07 9.99998933e-01 4.25728273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:227.77, Y:54.23, Z:0.04 [[ 7.17453741e-01 -6.96605360e-01 -1.04967011e-03 2.27770182e+02] [ 6.96604620e-01 7.17454509e-01 -1.01578723e-03 5.42322922e+01] [ 1.46069338e-03 -2.42470381e-06 9.99998933e-01 4.41866559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:54.25, Z:0.04 [[ 7.15873158e-01 -6.98229562e-01 -1.04947942e-03 2.27788751e+02] [ 6.98228823e-01 7.15873927e-01 -1.01598420e-03 5.42526056e+01] [ 1.46068516e-03 -5.46095948e-06 9.99998933e-01 4.43807254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.81, Y:54.27, Z:0.05 [[ 7.13345889e-01 -7.00811346e-01 -1.04928860e-03 2.27807623e+02] [ 7.00810609e-01 7.13346660e-01 -1.01618124e-03 5.42728418e+01] [ 1.46065786e-03 -1.04638718e-05 9.99998933e-01 4.74758689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.83, Y:54.29, Z:0.05 [[ 7.11083931e-01 -7.03106352e-01 -1.04909897e-03 2.27827706e+02] [ 7.03105618e-01 7.11084705e-01 -1.01637698e-03 5.42919482e+01] [ 1.46061934e-03 -1.48980432e-05 9.99998933e-01 4.72783661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:54.31, Z:0.05 [[ 7.10160858e-01 -7.04038675e-01 -1.04890632e-03 2.27847650e+02] [ 7.04037942e-01 7.10161632e-01 -1.01657575e-03 5.43114113e+01] [ 1.46060167e-03 -1.65375416e-05 9.99998933e-01 4.64095120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:54.33, Z:0.04 [[ 7.09549272e-01 -7.04655044e-01 -1.04871437e-03 2.27866454e+02] [ 7.04654311e-01 7.09550046e-01 -1.01677374e-03 5.43301914e+01] [ 1.46059007e-03 -1.75300322e-05 9.99998933e-01 4.40810847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:54.35, Z:0.04 [[ 7.09424076e-01 -7.04781087e-01 -1.04851360e-03 2.27886757e+02] [ 7.04780353e-01 7.09424851e-01 -1.01698073e-03 5.43501632e+01] [ 1.46059039e-03 -1.75011655e-05 9.99998933e-01 4.41226884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:54.37, Z:0.04 [[ 7.09371969e-01 -7.04833534e-01 -1.04833289e-03 2.27905889e+02] [ 7.04832800e-01 7.09372744e-01 -1.01716697e-03 5.43709248e+01] [ 1.46059217e-03 -1.73496696e-05 9.99998933e-01 4.31475535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:54.39, Z:0.04 [[ 7.09653720e-01 -7.04549856e-01 -1.04814829e-03 2.27924562e+02] [ 7.04549122e-01 7.09654494e-01 -1.01735717e-03 5.43907566e+01] [ 1.46060199e-03 -1.65006555e-05 9.99998933e-01 4.31980607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:54.41, Z:0.04 [[ 7.11554200e-01 -7.02630431e-01 -1.04795287e-03 2.27942876e+02] [ 7.02629694e-01 7.11554971e-01 -1.01755842e-03 5.44111838e+01] [ 1.46064359e-03 -1.22748369e-05 9.99998933e-01 4.43952790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:227.96, Y:54.43, Z:0.05 [[ 7.12771179e-01 -7.01395857e-01 -1.04776184e-03 2.27962050e+02] [ 7.01395119e-01 7.12771949e-01 -1.01775509e-03 5.44312787e+01] [ 1.46066445e-03 -9.46854431e-06 9.99998933e-01 4.58078576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.98, Y:54.45, Z:0.05 [[ 7.15107777e-01 -6.99013426e-01 -1.04758035e-03 2.27979725e+02] [ 6.99012685e-01 7.15108545e-01 -1.01794186e-03 5.44518553e+01] [ 1.46068868e-03 -4.33381640e-06 9.99998933e-01 4.66296184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:54.47, Z:0.05 [[ 7.15950875e-01 -6.98149874e-01 -1.04738844e-03 2.27998113e+02] [ 6.98149132e-01 7.15951642e-01 -1.01813928e-03 5.44726107e+01] [ 1.46069328e-03 -2.29561624e-06 9.99998933e-01 4.76434837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:54.49, Z:0.05 [[ 7.17085998e-01 -6.96983913e-01 -1.04720141e-03 2.28015830e+02] [ 6.96983169e-01 7.17086762e-01 -1.01833161e-03 5.44933838e+01] [ 1.46069502e-03 3.49581117e-07 9.99998933e-01 4.84024639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:54.51, Z:0.05 [[ 7.17159627e-01 -6.96908153e-01 -1.04700390e-03 2.28034755e+02] [ 6.96907409e-01 7.17160391e-01 -1.01853464e-03 5.45133569e+01] [ 1.46069482e-03 7.87149917e-07 9.99998933e-01 4.84537183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:54.53, Z:0.05 [[ 7.17077321e-01 -6.96992840e-01 -1.04681932e-03 2.28053315e+02] [ 6.96992096e-01 7.17078086e-01 -1.01872431e-03 5.45345599e+01] [ 1.46069475e-03 8.79311595e-07 9.99998933e-01 4.63351017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.07, Y:54.55, Z:0.04 [[ 7.16784285e-01 -6.97294194e-01 -1.04663608e-03 2.28071927e+02] [ 6.97293449e-01 7.16785050e-01 -1.01891254e-03 5.45541829e+01] [ 1.46069489e-03 5.28021011e-07 9.99998933e-01 4.49394780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:54.57, Z:0.04 [[ 7.16511500e-01 -6.97574495e-01 -1.04644427e-03 2.28090514e+02] [ 6.97573750e-01 7.16512264e-01 -1.01910949e-03 5.45733317e+01] [ 1.46069494e-03 2.31612444e-07 9.99998933e-01 4.25069621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:54.59, Z:0.04 [[ 7.16468518e-01 -6.97618641e-01 -1.04625447e-03 2.28109214e+02] [ 6.97617896e-01 7.16469282e-01 -1.01930432e-03 5.45928359e+01] [ 1.46069488e-03 4.13613444e-07 9.99998933e-01 4.10613685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:54.61, Z:0.04 [[ 7.16969395e-01 -6.97103860e-01 -1.04606259e-03 2.28127205e+02] [ 6.97103115e-01 7.16970158e-01 -1.01950119e-03 5.46148231e+01] [ 1.46069388e-03 1.73766519e-06 9.99998933e-01 4.40503644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:228.15, Y:54.63, Z:0.04 [[ 7.17298472e-01 -6.96765246e-01 -1.04587104e-03 2.28146021e+02] [ 6.96764500e-01 7.17299235e-01 -1.01969766e-03 5.46347895e+01] [ 1.46069239e-03 2.70176551e-06 9.99998933e-01 4.26764997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.16, Y:54.66, Z:0.04 [[ 7.17749778e-01 -6.96300340e-01 -1.04566795e-03 2.28163422e+02] [ 6.96299593e-01 7.17750539e-01 -1.01990588e-03 5.46553283e+01] [ 1.46068954e-03 3.93904879e-06 9.99998933e-01 4.11654933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:54.68, Z:0.04 [[ 7.17819333e-01 -6.96228635e-01 -1.04547754e-03 2.28182044e+02] [ 6.96227887e-01 7.17820095e-01 -1.02010103e-03 5.46760945e+01] [ 1.46068833e-03 4.35761914e-06 9.99998933e-01 4.02921343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:54.70, Z:0.04 [[ 7.18265851e-01 -6.95767975e-01 -1.04529985e-03 2.28199109e+02] [ 6.95767227e-01 7.18266612e-01 -1.02028308e-03 5.46978604e+01] [ 1.46068427e-03 5.54911766e-06 9.99998933e-01 3.99062310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:54.72, Z:0.04 [[ 7.18245360e-01 -6.95789128e-01 -1.04511179e-03 2.28216591e+02] [ 6.95788379e-01 7.18246121e-01 -1.02047567e-03 5.47175754e+01] [ 1.46068337e-03 5.77527589e-06 9.99998933e-01 3.98248201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:54.74, Z:0.04 [[ 7.17983790e-01 -6.96059039e-01 -1.04490298e-03 2.28233086e+02] [ 6.96058290e-01 7.17984551e-01 -1.02068943e-03 5.47393799e+01] [ 1.46068430e-03 5.52508492e-06 9.99998933e-01 4.04682337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.25, Y:54.76, Z:0.04 [[ 7.17732874e-01 -6.96317765e-01 -1.04470526e-03 2.28252341e+02] [ 6.96317017e-01 7.17733635e-01 -1.02089177e-03 5.47601888e+01] [ 1.46068518e-03 5.28153654e-06 9.99998933e-01 4.36421407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:54.78, Z:0.04 [[ 7.16979715e-01 -6.97093248e-01 -1.04451393e-03 2.28269917e+02] [ 6.97092501e-01 7.16980476e-01 -1.02108749e-03 5.47811633e+01] [ 1.46068929e-03 3.97619140e-06 9.99998933e-01 3.95395266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:54.80, Z:0.04 [[ 7.16282084e-01 -6.97810064e-01 -1.04431194e-03 2.28287015e+02] [ 6.97809317e-01 7.16282845e-01 -1.02129403e-03 5.48008899e+01] [ 1.46069198e-03 2.80401151e-06 9.99998933e-01 3.98379033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:228.30, Y:54.82, Z:0.05 [[ 7.15217928e-01 -6.98900726e-01 -1.04410701e-03 2.28303474e+02] [ 6.98899979e-01 7.15218691e-01 -1.02150349e-03 5.48239865e+01] [ 1.46069438e-03 8.71242154e-07 9.99998933e-01 4.50761738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:228.32, Y:54.84, Z:0.05 [[ 7.14751112e-01 -6.99378123e-01 -1.04391562e-03 2.28321453e+02] [ 6.99377376e-01 7.14751874e-01 -1.02169905e-03 5.48442126e+01] [ 1.46069461e-03 1.69567300e-07 9.99998933e-01 4.54872424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:54.87, Z:0.05 [[ 7.14268935e-01 -6.99870559e-01 -1.04374310e-03 2.28339932e+02] [ 6.99869813e-01 7.14269698e-01 -1.02187526e-03 5.48652149e+01] [ 1.46069448e-03 -5.90531423e-07 9.99998933e-01 4.58419339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:54.89, Z:0.05 [[ 7.13496805e-01 -7.00657706e-01 -1.04355342e-03 2.28357635e+02] [ 7.00656960e-01 7.13497568e-01 -1.02206893e-03 5.48873806e+01] [ 1.46069330e-03 -1.93005402e-06 9.99998933e-01 4.68885904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:54.91, Z:0.05 [[ 7.12818569e-01 -7.01347702e-01 -1.04336054e-03 2.28375615e+02] [ 7.01346957e-01 7.12819332e-01 -1.02226579e-03 5.49093373e+01] [ 1.46069132e-03 -3.06770131e-06 9.99998933e-01 4.67215216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:228.39, Y:54.93, Z:0.05 [[ 7.12440978e-01 -7.01731263e-01 -1.04316751e-03 2.28393866e+02] [ 7.01730518e-01 7.12441742e-01 -1.02246273e-03 5.49295254e+01] [ 1.46069014e-03 -3.57812928e-06 9.99998933e-01 4.68815224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:54.95, Z:0.05 [[ 7.12111221e-01 -7.02065895e-01 -1.04299383e-03 2.28412279e+02] [ 7.02065150e-01 7.12111985e-01 -1.02263986e-03 5.49504874e+01] [ 1.46068898e-03 -4.01630297e-06 9.99998933e-01 4.65848098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:54.97, Z:0.05 [[ 7.11729249e-01 -7.02453123e-01 -1.04280024e-03 2.28428586e+02] [ 7.02452378e-01 7.11730012e-01 -1.02283723e-03 5.49723724e+01] [ 1.46068743e-03 -4.53433616e-06 9.99998933e-01 4.55052714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:54.99, Z:0.05 [[ 7.11490228e-01 -7.02695217e-01 -1.04266843e-03 2.28447063e+02] [ 7.02694472e-01 7.11490992e-01 -1.02297158e-03 5.49931137e+01] [ 1.46068643e-03 -4.84306191e-06 9.99998933e-01 4.63035364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:55.01, Z:0.05 [[ 7.11542597e-01 -7.02642189e-01 -1.04247960e-03 2.28465401e+02] [ 7.02641444e-01 7.11543361e-01 -1.02316397e-03 5.50143879e+01] [ 1.46068761e-03 -4.46462157e-06 9.99998933e-01 4.70497819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:55.03, Z:0.05 [[ 7.11501681e-01 -7.02683621e-01 -1.04228976e-03 2.28483542e+02] [ 7.02682876e-01 7.11502445e-01 -1.02335732e-03 5.50347913e+01] [ 1.46068814e-03 -4.27871103e-06 9.99998933e-01 4.67814494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:55.06, Z:0.05 [[ 7.11508986e-01 -7.02676224e-01 -1.04211910e-03 2.28500186e+02] [ 7.02675479e-01 7.11509750e-01 -1.02353109e-03 5.50556332e+01] [ 1.46068886e-03 -4.01996834e-06 9.99998933e-01 4.65677078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:55.08, Z:0.05 [[ 7.11317455e-01 -7.02870110e-01 -1.04192092e-03 2.28519163e+02] [ 7.02869365e-01 7.11318219e-01 -1.02373278e-03 5.50762830e+01] [ 1.46068851e-03 -4.13529945e-06 9.99998933e-01 4.76707867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.54, Y:55.10, Z:0.05 [[ 7.11163851e-01 -7.03025527e-01 -1.04173168e-03 2.28537762e+02] [ 7.03024782e-01 7.11164614e-01 -1.02392532e-03 5.50966427e+01] [ 1.46068834e-03 -4.18451601e-06 9.99998933e-01 4.95605149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:55.12, Z:0.05 [[ 7.11039821e-01 -7.03150971e-01 -1.04153565e-03 2.28554345e+02] [ 7.03150225e-01 7.11040584e-01 -1.02412468e-03 5.51177708e+01] [ 1.46068838e-03 -4.16260209e-06 9.99998933e-01 4.61391683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:55.14, Z:0.05 [[ 7.10897138e-01 -7.03295226e-01 -1.04136053e-03 2.28573656e+02] [ 7.03294480e-01 7.10897901e-01 -1.02430271e-03 5.51377522e+01] [ 1.46068822e-03 -4.20924458e-06 9.99998933e-01 4.70104514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.59, Y:55.16, Z:0.05 [[ 7.10301021e-01 -7.03897277e-01 -1.04116936e-03 2.28593096e+02] [ 7.03896531e-01 7.10301784e-01 -1.02449700e-03 5.51586611e+01] [ 1.46068510e-03 -5.17423465e-06 9.99998933e-01 4.69036821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:55.18, Z:0.05 [[ 7.09878702e-01 -7.04323182e-01 -1.04098909e-03 2.28611662e+02] [ 7.04322437e-01 7.09879465e-01 -1.02468014e-03 5.51792052e+01] [ 1.46068275e-03 -5.79336709e-06 9.99998933e-01 4.58993909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:55.20, Z:0.05 [[ 7.09855278e-01 -7.04346790e-01 -1.04079564e-03 2.28629165e+02] [ 7.04346045e-01 7.09856041e-01 -1.02487659e-03 5.52002460e+01] [ 1.46068361e-03 -5.56622964e-06 9.99998933e-01 4.67791593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:55.22, Z:0.05 [[ 7.10147026e-01 -7.04052640e-01 -1.04061999e-03 2.28647984e+02] [ 7.04051893e-01 7.10147788e-01 -1.02505490e-03 5.52211628e+01] [ 1.46068660e-03 -4.71078633e-06 9.99998933e-01 4.77455417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.67, Y:55.24, Z:0.05 [[ 7.10885294e-01 -7.03307199e-01 -1.04042790e-03 2.28665210e+02] [ 7.03306451e-01 7.10886056e-01 -1.02524984e-03 5.52420400e+01] [ 1.46069128e-03 -2.90462058e-06 9.99998933e-01 4.96166843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:55.26, Z:0.05 [[ 7.10955185e-01 -7.03236549e-01 -1.04025630e-03 2.28685041e+02] [ 7.03235801e-01 7.10955946e-01 -1.02542393e-03 5.52617945e+01] [ 1.46069198e-03 -2.51501388e-06 9.99998933e-01 4.98271347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:55.28, Z:0.05 [[ 7.11064178e-01 -7.03126342e-01 -1.04006322e-03 2.28704421e+02] [ 7.03125594e-01 7.11064939e-01 -1.02561972e-03 5.52803690e+01] [ 1.46069273e-03 -2.01363149e-06 9.99998933e-01 4.91608362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:55.30, Z:0.05 [[ 7.11122521e-01 -7.03067335e-01 -1.03988887e-03 2.28723666e+02] [ 7.03066587e-01 7.11123282e-01 -1.02579646e-03 5.53007817e+01] [ 1.46069317e-03 -1.64415426e-06 9.99998933e-01 4.88612763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:55.32, Z:0.05 [[ 7.11278130e-01 -7.02909910e-01 -1.03969699e-03 2.28741963e+02] [ 7.02909161e-01 7.11278890e-01 -1.02599091e-03 5.53218741e+01] [ 1.46069370e-03 -1.04763624e-06 9.99998933e-01 4.82197957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:55.34, Z:0.05 [[ 7.11108399e-01 -7.03081620e-01 -1.03950188e-03 2.28761188e+02] [ 7.03080871e-01 7.11109159e-01 -1.02618855e-03 5.53423164e+01] [ 1.46069362e-03 -1.12258452e-06 9.99998933e-01 4.84066147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:55.36, Z:0.05 [[ 7.10412516e-01 -7.03784752e-01 -1.03930681e-03 2.28779596e+02] [ 7.03784004e-01 7.10413276e-01 -1.02638608e-03 5.53634417e+01] [ 1.46069223e-03 -2.28999417e-06 9.99998933e-01 4.83010244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:55.38, Z:0.05 [[ 7.09809966e-01 -7.04392456e-01 -1.03910901e-03 2.28798850e+02] [ 7.04391708e-01 7.09810727e-01 -1.02658629e-03 5.53830838e+01] [ 1.46069036e-03 -3.25859638e-06 9.99998933e-01 4.79734081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:55.40, Z:0.05 [[ 7.08223378e-01 -7.05987654e-01 -1.03891026e-03 2.28818101e+02] [ 7.05986908e-01 7.08224140e-01 -1.02678738e-03 5.54019373e+01] [ 1.46068054e-03 -6.26221751e-06 9.99998933e-01 4.65694582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:55.42, Z:0.05 [[ 7.07098629e-01 -7.07114171e-01 -1.03873560e-03 2.28837503e+02] [ 7.07113425e-01 7.07099392e-01 -1.02696405e-03 5.54216007e+01] [ 1.46067014e-03 -8.33901515e-06 9.99998933e-01 4.72905052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:55.44, Z:0.05 [[ 7.04584043e-01 -7.09619791e-01 -1.03854304e-03 2.28856898e+02] [ 7.09619048e-01 7.04584808e-01 -1.02715874e-03 5.54416896e+01] [ 1.46063382e-03 -1.32502612e-05 9.99998933e-01 5.01553566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.88, Y:55.46, Z:0.05 [[ 7.03074714e-01 -7.11115229e-01 -1.03835086e-03 2.28876572e+02] [ 7.11114487e-01 7.03075480e-01 -1.02735298e-03 5.54604214e+01] [ 1.46060538e-03 -1.60804345e-05 9.99998933e-01 4.96604427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:55.48, Z:0.05 [[ 6.99793406e-01 -7.14344532e-01 -1.03817257e-03 2.28897891e+02] [ 7.14343794e-01 6.99794176e-01 -1.02753312e-03 5.54783408e+01] [ 1.46051978e-03 -2.25512316e-05 9.99998933e-01 4.94885095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:55.50, Z:0.05 [[ 6.97028781e-01 -7.17042399e-01 -1.03797775e-03 2.28919597e+02] [ 7.17041663e-01 6.97029553e-01 -1.02772988e-03 5.54961600e+01] [ 1.46042706e-03 -2.79159808e-05 9.99998933e-01 4.92580335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:228.94, Y:55.52, Z:0.05 [[ 6.95782836e-01 -7.18251466e-01 -1.03777997e-03 2.28941641e+02] [ 7.18250731e-01 6.95783610e-01 -1.02792955e-03 5.55157449e+01] [ 1.46038220e-03 -3.01704842e-05 9.99998933e-01 4.92229234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:55.53, Z:0.05 [[ 6.95482271e-01 -7.18542503e-01 -1.04056984e-03 2.28961941e+02] [ 7.18541772e-01 6.95483049e-01 -1.02511250e-03 5.55325404e+01] [ 1.46028559e-03 -3.47453216e-05 9.99998933e-01 4.74125948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:55.55, Z:0.05 [[ 6.95101915e-01 -7.18910461e-01 -1.03762863e-03 2.28983557e+02] [ 7.18909727e-01 6.95102689e-01 -1.02808103e-03 5.55498836e+01] [ 1.46035665e-03 -3.13402186e-05 9.99998933e-01 4.79246457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:55.57, Z:0.05 [[ 6.95339021e-01 -7.18681132e-01 -1.03743757e-03 2.29004055e+02] [ 7.18680397e-01 6.95339794e-01 -1.02827379e-03 5.55682778e+01] [ 1.46037260e-03 -3.05871513e-05 9.99998933e-01 4.91883231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:55.58, Z:0.05 [[ 6.96348313e-01 -7.17703247e-01 -1.03724273e-03 2.29025242e+02] [ 7.17702511e-01 6.96349085e-01 -1.02847029e-03 5.55848624e+01] [ 1.46041949e-03 -2.82581630e-05 9.99998933e-01 5.02479985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:55.60, Z:0.05 [[ 6.97237724e-01 -7.16839230e-01 -1.03715293e-03 2.29045916e+02] [ 7.16838492e-01 6.97238495e-01 -1.02856084e-03 5.56034049e+01] [ 1.46045571e-03 -2.63197256e-05 9.99998933e-01 5.11690663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:55.62, Z:0.05 [[ 6.99568779e-01 -7.14564516e-01 -1.03696229e-03 2.29067740e+02] [ 7.14563776e-01 6.99569547e-01 -1.02875300e-03 5.56217286e+01] [ 1.46053763e-03 -2.12922105e-05 9.99998933e-01 5.26681342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:55.64, Z:0.05 [[ 6.99431913e-01 -7.14698485e-01 -1.03676573e-03 2.29087821e+02] [ 7.14697744e-01 6.99432681e-01 -1.02895105e-03 5.56419052e+01] [ 1.46053759e-03 -2.12929287e-05 9.99998933e-01 5.27097377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:55.66, Z:0.05 [[ 7.00454830e-01 -7.13695983e-01 -1.03656863e-03 2.29108019e+02] [ 7.13695241e-01 7.00455597e-01 -1.02914957e-03 5.56602847e+01] [ 1.46057022e-03 -1.89213083e-05 9.99998933e-01 5.11443523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.13, Y:55.68, Z:0.05 [[ 7.02083130e-01 -7.12094239e-01 -1.03643437e-03 2.29129846e+02] [ 7.12093495e-01 7.02083894e-01 -1.02928477e-03 5.56780797e+01] [ 1.46061163e-03 -1.53947005e-05 9.99998933e-01 4.95037351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:55.70, Z:0.05 [[ 7.02550215e-01 -7.11633418e-01 -1.03624362e-03 2.29150032e+02] [ 7.11632674e-01 7.02550979e-01 -1.02947677e-03 5.56963188e+01] [ 1.46062404e-03 -1.41656950e-05 9.99998933e-01 4.83486387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:229.17, Y:55.71, Z:0.05 [[ 7.03473815e-01 -7.10720422e-01 -1.03604055e-03 2.29172270e+02] [ 7.10719676e-01 7.03474578e-01 -1.02968109e-03 5.57139107e+01] [ 1.46064357e-03 -1.19807218e-05 9.99998933e-01 5.03853766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:55.73, Z:0.05 [[ 7.03777525e-01 -7.10419681e-01 -1.03584131e-03 2.29191855e+02] [ 7.10418934e-01 7.03778287e-01 -1.02988149e-03 5.57320621e+01] [ 1.46065070e-03 -1.10738308e-05 9.99998933e-01 4.81780263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:55.75, Z:0.05 [[ 7.04834776e-01 -7.09370754e-01 -1.03566194e-03 2.29213443e+02] [ 7.09370006e-01 7.04835537e-01 -1.03006183e-03 5.57502381e+01] [ 1.46066708e-03 -8.64412049e-06 9.99998933e-01 4.91205993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.23, Y:55.77, Z:0.05 [[ 7.05442372e-01 -7.08766526e-01 -1.03546924e-03 2.29233755e+02] [ 7.08765777e-01 7.05443132e-01 -1.03025551e-03 5.57700898e+01] [ 1.46067528e-03 -7.11927288e-06 9.99998933e-01 4.96611600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.25, Y:55.79, Z:0.05 [[ 7.07112960e-01 -7.07099844e-01 -1.03527432e-03 2.29253701e+02] [ 7.07099094e-01 7.07113718e-01 -1.03045134e-03 5.57899268e+01] [ 1.46068866e-03 -3.39603522e-06 9.99998933e-01 5.11323077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:55.81, Z:0.05 [[ 7.07881101e-01 -7.06330854e-01 -1.03507872e-03 2.29273785e+02] [ 7.06330102e-01 7.07881858e-01 -1.03064778e-03 5.58092745e+01] [ 1.46069178e-03 -1.53116950e-06 9.99998933e-01 5.17759119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:55.83, Z:0.05 [[ 7.08350140e-01 -7.05860473e-01 -1.03488284e-03 2.29293074e+02] [ 7.05859721e-01 7.08350896e-01 -1.03084443e-03 5.58282825e+01] [ 1.46069252e-03 -2.83314053e-07 9.99998933e-01 5.18092960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:55.85, Z:0.05 [[ 7.08967564e-01 -7.05240330e-01 -1.03470464e-03 2.29311743e+02] [ 7.05239576e-01 7.08968319e-01 -1.03102327e-03 5.58471670e+01] [ 1.46069200e-03 1.24739248e-06 9.99998933e-01 5.35639858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.33, Y:55.87, Z:0.05 [[ 7.08359343e-01 -7.05851239e-01 -1.03456697e-03 2.29332494e+02] [ 7.05850485e-01 7.08360098e-01 -1.03116139e-03 5.58663980e+01] [ 1.46069251e-03 1.83213399e-07 9.99998933e-01 5.49171777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:55.89, Z:0.05 [[ 7.07509643e-01 -7.06702933e-01 -1.03437374e-03 2.29352290e+02] [ 7.06702180e-01 7.07510399e-01 -1.03135518e-03 5.58858333e+01] [ 1.46069191e-03 -1.30044298e-06 9.99998933e-01 5.47067612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:55.91, Z:0.06 [[ 7.06424922e-01 -7.07787228e-01 -1.03417874e-03 2.29372226e+02] [ 7.07786476e-01 7.06425679e-01 -1.03155068e-03 5.59057177e+01] [ 1.46068882e-03 -3.26461677e-06 9.99998933e-01 5.54949315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:55.93, Z:0.06 [[ 7.04183986e-01 -7.10016792e-01 -1.03398431e-03 2.29392427e+02] [ 7.10016042e-01 7.04184745e-01 -1.03174554e-03 5.59256006e+01] [ 1.46067263e-03 -7.60676278e-06 9.99998933e-01 5.74898593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:55.94, Z:0.05 [[ 7.02093626e-01 -7.12083894e-01 -1.03378239e-03 2.29413142e+02] [ 7.12083146e-01 7.02094387e-01 -1.03194781e-03 5.59423727e+01] [ 1.46064623e-03 -1.16150336e-05 9.99998933e-01 5.49189629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:55.96, Z:0.05 [[ 7.01135695e-01 -7.13027116e-01 -1.03360667e-03 2.29434263e+02] [ 7.13026370e-01 7.01136457e-01 -1.03212379e-03 5.59605404e+01] [ 1.46063157e-03 -1.33299804e-05 9.99998933e-01 5.44918817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:55.98, Z:0.05 [[ 7.00374966e-01 -7.13774361e-01 -1.03340532e-03 2.29454222e+02] [ 7.13773615e-01 7.00375729e-01 -1.03232534e-03 5.59783154e+01] [ 1.46061937e-03 -1.46026256e-05 9.99998933e-01 5.24065600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:56.00, Z:0.05 [[ 6.99639600e-01 -7.14495180e-01 -1.03323033e-03 2.29475264e+02] [ 7.14494435e-01 6.99640363e-01 -1.03250047e-03 5.59964650e+01] [ 1.46060625e-03 -1.58591047e-05 9.99998933e-01 5.12213160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:56.02, Z:0.05 [[ 6.99356445e-01 -7.14772338e-01 -1.03311274e-03 2.29496091e+02] [ 7.14771593e-01 6.99357208e-01 -1.03261811e-03 5.60156980e+01] [ 1.46060170e-03 -1.62715121e-05 9.99998933e-01 5.14285712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.52, Y:56.03, Z:0.05 [[ 6.99591451e-01 -7.14542325e-01 -1.03291353e-03 2.29517204e+02] [ 7.14541579e-01 6.99592214e-01 -1.03281734e-03 5.60324527e+01] [ 1.46060996e-03 -1.55094815e-05 9.99998933e-01 5.08104698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:56.05, Z:0.05 [[ 6.99906650e-01 -7.14233585e-01 -1.03273501e-03 2.29537948e+02] [ 7.14232839e-01 6.99907412e-01 -1.03299581e-03 5.60515507e+01] [ 1.46061919e-03 -1.46126188e-05 9.99998933e-01 5.06512796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:56.07, Z:0.05 [[ 7.00536280e-01 -7.13616041e-01 -1.03254245e-03 2.29560162e+02] [ 7.13615293e-01 7.00537041e-01 -1.03318825e-03 5.60693091e+01] [ 1.46063394e-03 -1.30522237e-05 9.99998933e-01 4.95833189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:56.09, Z:0.05 [[ 7.00771736e-01 -7.13384824e-01 -1.03234955e-03 2.29580702e+02] [ 7.13384076e-01 7.00772497e-01 -1.03338096e-03 5.60879216e+01] [ 1.46064046e-03 -1.22975638e-05 9.99998933e-01 4.90192323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:56.11, Z:0.05 [[ 7.01759123e-01 -7.12413551e-01 -1.03215702e-03 2.29601830e+02] [ 7.12412802e-01 7.01759882e-01 -1.03357322e-03 5.61068878e+01] [ 1.46065796e-03 -1.00024422e-05 9.99998933e-01 4.79691464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:56.13, Z:0.05 [[ 7.02279223e-01 -7.11900856e-01 -1.03196498e-03 2.29622133e+02] [ 7.11900105e-01 7.02279981e-01 -1.03376493e-03 5.61264169e+01] [ 1.46066648e-03 -8.66434351e-06 9.99998933e-01 4.81260001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:56.14, Z:0.05 [[ 7.03816603e-01 -7.10380972e-01 -1.03176871e-03 2.29643308e+02] [ 7.10380219e-01 7.03817359e-01 -1.03396078e-03 5.61449721e+01] [ 1.46068279e-03 -5.22932026e-06 9.99998933e-01 4.94263647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:56.16, Z:0.05 [[ 7.04457609e-01 -7.09745315e-01 -1.03156805e-03 2.29662482e+02] [ 7.09744562e-01 7.04458364e-01 -1.03416094e-03 5.61640586e+01] [ 1.46068762e-03 -3.62726717e-06 9.99998933e-01 4.87655157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:56.18, Z:0.05 [[ 7.05478287e-01 -7.08730783e-01 -1.03138892e-03 2.29682643e+02] [ 7.08730029e-01 7.05479041e-01 -1.03433955e-03 5.61828215e+01] [ 1.46069155e-03 -1.27220462e-06 9.99998933e-01 4.86240616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:56.20, Z:0.05 [[ 7.05711223e-01 -7.08498840e-01 -1.03118904e-03 2.29702323e+02] [ 7.08498085e-01 7.05711976e-01 -1.03453879e-03 5.62015799e+01] [ 1.46069199e-03 -5.09829337e-07 9.99998933e-01 4.79203153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:56.22, Z:0.05 [[ 7.06075868e-01 -7.08135443e-01 -1.03100787e-03 2.29723006e+02] [ 7.08134687e-01 7.06076621e-01 -1.03471931e-03 5.62208419e+01] [ 1.46069197e-03 4.97894904e-07 9.99998933e-01 4.76915389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:56.24, Z:0.05 [[ 7.05644661e-01 -7.08565134e-01 -1.03081093e-03 2.29743260e+02] [ 7.08564378e-01 7.05645414e-01 -1.03491547e-03 5.62407389e+01] [ 1.46069203e-03 -1.13323455e-07 9.99998933e-01 4.81690676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:56.26, Z:0.05 [[ 7.04210749e-01 -7.09990253e-01 -1.03061319e-03 2.29763080e+02] [ 7.09989498e-01 7.04211503e-01 -1.03511235e-03 5.62592934e+01] [ 1.46068934e-03 -2.78729519e-06 9.99998933e-01 4.93278180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:229.78, Y:56.28, Z:0.05 [[ 7.03340930e-01 -7.10851936e-01 -1.03040442e-03 2.29783494e+02] [ 7.10851182e-01 7.03341684e-01 -1.03532013e-03 5.62786741e+01] [ 1.46068570e-03 -4.28117351e-06 9.99998933e-01 5.07613684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:56.30, Z:0.05 [[ 7.01541628e-01 -7.12627731e-01 -1.03020367e-03 2.29804347e+02] [ 7.12626979e-01 7.01542384e-01 -1.03551985e-03 5.62963865e+01] [ 1.46067170e-03 -7.69065436e-06 9.99998933e-01 4.82478383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:56.31, Z:0.05 [[ 7.00246456e-01 -7.13900442e-01 -1.02999188e-03 2.29825468e+02] [ 7.13899690e-01 7.00247213e-01 -1.03573046e-03 5.63143918e+01] [ 1.46065738e-03 -1.00443000e-05 9.99998933e-01 4.82345662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:56.33, Z:0.05 [[ 7.00061570e-01 -7.14081744e-01 -1.02979669e-03 2.29845848e+02] [ 7.14080993e-01 7.00062327e-01 -1.03592450e-03 5.63339960e+01] [ 1.46065664e-03 -1.01473147e-05 9.99998933e-01 4.81448288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:56.35, Z:0.05 [[ 6.99947883e-01 -7.14193182e-01 -1.02960136e-03 2.29864929e+02] [ 7.14192430e-01 6.99948640e-01 -1.03611861e-03 5.63527227e+01] [ 1.46065691e-03 -1.01044691e-05 9.99998933e-01 4.85050689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:56.37, Z:0.05 [[ 7.00490451e-01 -7.13661031e-01 -1.02939444e-03 2.29883832e+02] [ 7.13660279e-01 7.00491208e-01 -1.03632413e-03 5.63713346e+01] [ 1.46066591e-03 -8.70276583e-06 9.99998933e-01 4.82236619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:56.39, Z:0.05 [[ 7.00673782e-01 -7.13481038e-01 -1.02925246e-03 2.29903720e+02] [ 7.13480285e-01 7.00674538e-01 -1.03646513e-03 5.63912320e+01] [ 1.46066921e-03 -8.12739583e-06 9.99998933e-01 4.84431641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:56.41, Z:0.05 [[ 7.00964185e-01 -7.13195732e-01 -1.02905476e-03 2.29924165e+02] [ 7.13194979e-01 7.00964940e-01 -1.03666138e-03 5.64094531e+01] [ 1.46067378e-03 -7.25418361e-06 9.99998933e-01 4.63042514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:56.43, Z:0.05 [[ 7.01070231e-01 -7.13091490e-01 -1.02890932e-03 2.29943658e+02] [ 7.13090736e-01 7.01070986e-01 -1.03680571e-03 5.64285060e+01] [ 1.46067580e-03 -6.83208202e-06 9.99998933e-01 4.59097294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:56.45, Z:0.05 [[ 7.01657751e-01 -7.12513398e-01 -1.02876729e-03 2.29964030e+02] [ 7.12512644e-01 7.01658505e-01 -1.03694663e-03 5.64482930e+01] [ 1.46068168e-03 -5.42806060e-06 9.99998933e-01 4.67836098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:56.47, Z:0.05 [[ 7.01986394e-01 -7.12189613e-01 -1.02857347e-03 2.29984128e+02] [ 7.12188857e-01 7.01987148e-01 -1.03713884e-03 5.64684423e+01] [ 1.46068487e-03 -4.48120642e-06 9.99998933e-01 4.78638638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:56.49, Z:0.05 [[ 7.03207505e-01 -7.10983929e-01 -1.02837363e-03 2.30002857e+02] [ 7.10983172e-01 7.03208257e-01 -1.03733695e-03 5.64885135e+01] [ 1.46069073e-03 -1.69321650e-06 9.99998933e-01 4.74405014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:56.51, Z:0.05 [[ 7.03892272e-01 -7.10306000e-01 -1.02816281e-03 2.30021001e+02] [ 7.10305242e-01 7.03893022e-01 -1.03754587e-03 5.65082616e+01] [ 1.46069168e-03 1.10839333e-08 9.99998933e-01 4.68614991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:56.53, Z:0.05 [[ 7.05662868e-01 -7.08547006e-01 -1.02795819e-03 2.30040517e+02] [ 7.08546246e-01 7.05663617e-01 -1.03774856e-03 5.65288857e+01] [ 1.46068633e-03 3.94471404e-06 9.99998933e-01 4.63333345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.06, Y:56.55, Z:0.05 [[ 7.06975023e-01 -7.07237768e-01 -1.02776542e-03 2.30058668e+02] [ 7.07237006e-01 7.06975770e-01 -1.03793944e-03 5.65499576e+01] [ 1.46067522e-03 6.92351492e-06 9.99998933e-01 4.85587886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:56.57, Z:0.05 [[ 7.07146971e-01 -7.07065843e-01 -1.02756750e-03 2.30076186e+02] [ 7.07065081e-01 7.07147717e-01 -1.03813534e-03 5.65698884e+01] [ 1.46067205e-03 7.55716281e-06 9.99998933e-01 4.81236299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:56.59, Z:0.05 [[ 7.06979492e-01 -7.07233302e-01 -1.02744055e-03 2.30093327e+02] [ 7.07232539e-01 7.06980238e-01 -1.03826097e-03 5.65918313e+01] [ 1.46067290e-03 7.38982377e-06 9.99998933e-01 4.90499418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:56.61, Z:0.05 [[ 7.06425445e-01 -7.07786716e-01 -1.02726863e-03 2.30111553e+02] [ 7.07785954e-01 7.06426192e-01 -1.03843104e-03 5.66128970e+01] [ 1.46067716e-03 6.48780481e-06 9.99998933e-01 5.10812645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:56.63, Z:0.05 [[ 7.05096122e-01 -7.09110995e-01 -1.02707091e-03 2.30129351e+02] [ 7.09110235e-01 7.05096870e-01 -1.03862656e-03 5.66330427e+01] [ 1.46068600e-03 4.02506937e-06 9.99998933e-01 4.84509950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:56.65, Z:0.05 [[ 7.04374781e-01 -7.09827524e-01 -1.02686520e-03 2.30147762e+02] [ 7.09826764e-01 7.04375529e-01 -1.03882990e-03 5.66524764e+01] [ 1.46068878e-03 2.82917823e-06 9.99998933e-01 4.59808653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:56.67, Z:0.05 [[ 7.03623989e-01 -7.10571761e-01 -1.02666106e-03 2.30166976e+02] [ 7.10571002e-01 7.03624738e-01 -1.03903161e-03 5.66730666e+01] [ 1.46069064e-03 1.57198847e-06 9.99998933e-01 4.75332584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:56.69, Z:0.05 [[ 7.01932973e-01 -7.12242267e-01 -1.02646522e-03 2.30184625e+02] [ 7.12241509e-01 7.01933724e-01 -1.03922505e-03 5.66941728e+01] [ 1.46069056e-03 -1.62480580e-06 9.99998933e-01 4.65201292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:56.72, Z:0.05 [[ 7.00681934e-01 -7.13473037e-01 -1.02625988e-03 2.30203348e+02] [ 7.13472280e-01 7.00682685e-01 -1.03942779e-03 5.67150108e+01] [ 1.46068623e-03 -3.89970011e-06 9.99998933e-01 4.70742742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:56.74, Z:0.05 [[ 6.98151348e-01 -7.15949469e-01 -1.02606577e-03 2.30222105e+02] [ 7.15948714e-01 6.98152102e-01 -1.03961937e-03 5.67351197e+01] [ 1.46066491e-03 -8.79880591e-06 9.99998933e-01 4.77084714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:56.75, Z:0.05 [[ 6.96771263e-01 -7.17292656e-01 -1.02585828e-03 2.30242154e+02] [ 7.17291903e-01 6.96772018e-01 -1.03982407e-03 5.67548108e+01] [ 1.46064751e-03 -1.13203003e-05 9.99998933e-01 4.81438497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:56.77, Z:0.05 [[ 6.94112336e-01 -7.19865969e-01 -1.02566252e-03 2.30262875e+02] [ 7.19865217e-01 6.94113094e-01 -1.04001713e-03 5.67741576e+01] [ 1.46059872e-03 -1.64500584e-05 9.99998933e-01 4.96480225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.28, Y:56.79, Z:0.05 [[ 6.91882879e-01 -7.22009023e-01 -1.02546457e-03 2.30283543e+02] [ 7.22008274e-01 6.91883639e-01 -1.04021227e-03 5.67920007e+01] [ 1.46054480e-03 -2.06888489e-05 9.99998933e-01 5.06912878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.30, Y:56.81, Z:0.05 [[ 6.90695582e-01 -7.23144911e-01 -1.02525188e-03 2.30303319e+02] [ 7.23144163e-01 6.90696342e-01 -1.04042186e-03 5.68116576e+01] [ 1.46051350e-03 -2.27901351e-05 9.99998933e-01 5.11831171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:56.83, Z:0.05 [[ 6.89090195e-01 -7.24674860e-01 -1.02505669e-03 2.30323012e+02] [ 7.24674113e-01 6.89090957e-01 -1.04061413e-03 5.68303904e+01] [ 1.46046420e-03 -2.57550500e-05 9.99998933e-01 5.01653410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:56.85, Z:0.05 [[ 6.88953075e-01 -7.24805222e-01 -1.02485164e-03 2.30342222e+02] [ 7.24804475e-01 6.88953837e-01 -1.04081604e-03 5.68502658e+01] [ 1.46046437e-03 -2.57436455e-05 9.99998933e-01 5.02057259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.36, Y:56.87, Z:0.05 [[ 6.88145878e-01 -7.25571637e-01 -1.02465468e-03 2.30362684e+02] [ 7.25570891e-01 6.88146640e-01 -1.04100990e-03 5.68692962e+01] [ 1.46043993e-03 -2.70929384e-05 9.99998933e-01 5.24896912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.38, Y:56.89, Z:0.05 [[ 6.87481114e-01 -7.26201534e-01 -1.02445966e-03 2.30382846e+02] [ 7.26200789e-01 6.87481877e-01 -1.04120178e-03 5.68877993e+01] [ 1.46041978e-03 -2.81568517e-05 9.99998933e-01 4.91817533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:56.91, Z:0.05 [[ 6.86414976e-01 -7.27209345e-01 -1.02425344e-03 2.30404000e+02] [ 7.27208600e-01 6.86415740e-01 -1.04140461e-03 5.69058103e+01] [ 1.46038285e-03 -3.00101856e-05 9.99998933e-01 5.19087938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:56.92, Z:0.05 [[ 6.85647674e-01 -7.27932839e-01 -1.02405413e-03 2.30424741e+02] [ 7.27932095e-01 6.85648438e-01 -1.04160056e-03 5.69231132e+01] [ 1.46035637e-03 -3.12708643e-05 9.99998933e-01 5.04226970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:56.94, Z:0.05 [[ 6.85267367e-01 -7.28290867e-01 -1.02384540e-03 2.30445418e+02] [ 7.28290123e-01 6.85268131e-01 -1.04180570e-03 5.69422934e+01] [ 1.46034620e-03 -3.17410456e-05 9.99998933e-01 5.10666719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:56.96, Z:0.05 [[ 6.84477673e-01 -7.29033105e-01 -1.02364550e-03 2.30466422e+02] [ 7.29032361e-01 6.84478437e-01 -1.04200207e-03 5.69597865e+01] [ 1.46031728e-03 -3.30435420e-05 9.99998933e-01 4.58241997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:56.98, Z:0.05 [[ 6.83932713e-01 -7.29544376e-01 -1.02343533e-03 2.30487105e+02] [ 7.29543633e-01 6.83933478e-01 -1.04220846e-03 5.69786859e+01] [ 1.46029900e-03 -3.38402677e-05 9.99998933e-01 4.91325192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:57.00, Z:0.05 [[ 6.82737196e-01 -7.30663311e-01 -1.02323973e-03 2.30507821e+02] [ 7.30662568e-01 6.82737962e-01 -1.04240046e-03 5.69955192e+01] [ 1.46024838e-03 -3.59574054e-05 9.99998933e-01 4.94452705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:57.01, Z:0.05 [[ 6.81708158e-01 -7.31623496e-01 -1.02309654e-03 2.30528521e+02] [ 7.31622754e-01 6.81708925e-01 -1.04254098e-03 5.70140605e+01] [ 1.46020152e-03 -3.78120191e-05 9.99998933e-01 5.01406182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:57.03, Z:0.05 [[ 6.79883496e-01 -7.33319429e-01 -1.02290382e-03 2.30551110e+02] [ 7.33318689e-01 6.79884264e-01 -1.04273004e-03 5.70305817e+01] [ 1.46011041e-03 -4.11795473e-05 9.99998933e-01 4.99388711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:57.05, Z:0.05 [[ 6.78601176e-01 -7.34506227e-01 -1.02271034e-03 2.30572355e+02] [ 7.34505488e-01 6.78601945e-01 -1.04291977e-03 5.70492979e+01] [ 1.46004429e-03 -4.34597722e-05 9.99998933e-01 4.92185284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.60, Y:57.07, Z:0.05 [[ 6.77148456e-01 -7.35845719e-01 -1.02251775e-03 2.30595520e+02] [ 7.35844982e-01 6.77149227e-01 -1.04310856e-03 5.70652587e+01] [ 1.45996407e-03 -4.60752027e-05 9.99998933e-01 4.81497740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:57.08, Z:0.05 [[ 6.76881056e-01 -7.36091700e-01 -1.02232278e-03 2.30615831e+02] [ 7.36090962e-01 6.76881827e-01 -1.04329961e-03 5.70824886e+01] [ 1.45995589e-03 -4.63328180e-05 9.99998933e-01 4.62467976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:230.64, Y:57.10, Z:0.05 [[ 6.77393731e-01 -7.35619935e-01 -1.02211772e-03 2.30639326e+02] [ 7.35619196e-01 6.77394501e-01 -1.04350046e-03 5.70988780e+01] [ 1.45999667e-03 -4.50287478e-05 9.99998933e-01 4.90783105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:57.12, Z:0.05 [[ 6.77736093e-01 -7.35304524e-01 -1.02191660e-03 2.30660417e+02] [ 7.35303785e-01 6.77736862e-01 -1.04369739e-03 5.71164605e+01] [ 1.46002596e-03 -4.40677486e-05 9.99998933e-01 4.73416598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.68, Y:57.13, Z:0.05 [[ 6.79462353e-01 -7.33709661e-01 -1.02170397e-03 2.30683998e+02] [ 7.33708920e-01 6.79463120e-01 -1.04390549e-03 5.71311217e+01] [ 1.46013371e-03 -4.03388378e-05 9.99998933e-01 4.94469084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:57.15, Z:0.05 [[ 6.80276582e-01 -7.32954793e-01 -1.02149918e-03 2.30704984e+02] [ 7.32954051e-01 6.80277348e-01 -1.04410585e-03 5.71494725e+01] [ 1.46018514e-03 -3.84312085e-05 9.99998933e-01 4.91659776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.73, Y:57.16, Z:0.05 [[ 6.82895282e-01 -7.30515565e-01 -1.02130627e-03 2.30727668e+02] [ 7.30514819e-01 6.82896045e-01 -1.04429452e-03 5.71649510e+01] [ 1.46031941e-03 -3.29355653e-05 9.99998933e-01 5.13774339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:57.18, Z:0.05 [[ 6.85529153e-01 -7.28044461e-01 -1.02110209e-03 2.30751658e+02] [ 7.28043712e-01 6.85529913e-01 -1.04449412e-03 5.71812626e+01] [ 1.46043419e-03 -2.73757821e-05 9.99998933e-01 5.09441966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:230.77, Y:57.20, Z:0.05 [[ 6.87024741e-01 -7.26633307e-01 -1.02090714e-03 2.30773986e+02] [ 7.26632556e-01 6.87025500e-01 -1.04468463e-03 5.71991530e+01] [ 1.46049189e-03 -2.41001806e-05 9.99998933e-01 5.07600409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:230.80, Y:57.21, Z:0.05 [[ 6.89926637e-01 -7.23878576e-01 -1.02071094e-03 2.30797799e+02] [ 7.23877823e-01 6.89927392e-01 -1.04487629e-03 5.72145211e+01] [ 1.46058000e-03 -1.79820262e-05 9.99998933e-01 5.06470610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:57.23, Z:0.05 [[ 6.91461426e-01 -7.22412663e-01 -1.02051140e-03 2.30818169e+02] [ 7.22411907e-01 6.91462179e-01 -1.04507114e-03 5.72328285e+01] [ 1.46061767e-03 -1.46032043e-05 9.99998933e-01 4.96942360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:57.25, Z:0.05 [[ 6.93347943e-01 -7.20602241e-01 -1.02030001e-03 2.30838458e+02] [ 7.20601483e-01 6.93348693e-01 -1.04527748e-03 5.72507500e+01] [ 1.46065298e-03 -1.04887085e-05 9.99998933e-01 4.95348773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:230.86, Y:57.27, Z:0.05 [[ 6.96904010e-01 -7.17163691e-01 -1.02015630e-03 2.30861838e+02] [ 7.17162929e-01 6.96904757e-01 -1.04541772e-03 5.72674495e+01] [ 1.46068741e-03 -3.06247675e-06 9.99998933e-01 5.06757429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:57.28, Z:0.05 [[ 7.00509027e-01 -7.13642811e-01 -1.01995797e-03 2.30883157e+02] [ 7.13642045e-01 7.00509770e-01 -1.04561119e-03 5.72838196e+01] [ 1.46068343e-03 4.57518324e-06 9.99998933e-01 4.84192772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.90, Y:57.30, Z:0.05 [[ 7.02166440e-01 -7.12012114e-01 -1.01974777e-03 2.30904021e+02] [ 7.12011346e-01 7.02167180e-01 -1.04581615e-03 5.73023501e+01] [ 1.46066718e-03 8.26501618e-06 9.99998933e-01 4.92364996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:57.32, Z:0.05 [[ 7.03491380e-01 -7.10703059e-01 -1.01955160e-03 2.30924664e+02] [ 7.10702289e-01 7.03492119e-01 -1.04600736e-03 5.73208172e+01] [ 1.46064714e-03 1.12595059e-05 9.99998933e-01 4.91425513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.95, Y:57.34, Z:0.05 [[ 7.05948687e-01 -7.08262248e-01 -1.01934953e-03 2.30946792e+02] [ 7.08261476e-01 7.05949423e-01 -1.04620424e-03 5.73375410e+01] [ 1.46059618e-03 1.66005074e-05 9.99998933e-01 4.99011859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.97, Y:57.36, Z:0.05 [[ 7.06987145e-01 -7.07225663e-01 -1.01913565e-03 2.30966559e+02] [ 7.07224889e-01 7.06987879e-01 -1.04641254e-03 5.73554800e+01] [ 1.46056636e-03 1.90421188e-05 9.99998933e-01 4.95021554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:57.37, Z:0.05 [[ 7.08882018e-01 -7.05326341e-01 -1.01892725e-03 2.30988665e+02] [ 7.05325564e-01 7.08882750e-01 -1.04661544e-03 5.73730651e+01] [ 1.46050538e-03 2.32514265e-05 9.99998933e-01 5.01487117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:57.39, Z:0.05 [[ 7.09898705e-01 -7.04303053e-01 -1.01873004e-03 2.31008551e+02] [ 7.04302275e-01 7.09899436e-01 -1.04680735e-03 5.73915498e+01] [ 1.46046549e-03 2.56333008e-05 9.99998933e-01 4.89769040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.03, Y:57.41, Z:0.05 [[ 7.12086622e-01 -7.02090881e-01 -1.01858586e-03 2.31029155e+02] [ 7.02090101e-01 7.12087350e-01 -1.04694762e-03 5.74103108e+01] [ 1.46037449e-03 3.03783440e-05 9.99998933e-01 5.17247550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:57.43, Z:0.05 [[ 7.13238387e-01 -7.00920798e-01 -1.01838965e-03 2.31048533e+02] [ 7.00920017e-01 7.13239114e-01 -1.04713845e-03 5.74301009e+01] [ 1.46031645e-03 3.30496439e-05 9.99998933e-01 5.22411452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.07, Y:57.45, Z:0.05 [[ 7.14459517e-01 -6.99676040e-01 -1.01819260e-03 2.31067008e+02] [ 6.99675258e-01 7.14460242e-01 -1.04733001e-03 5.74492743e+01] [ 1.46024985e-03 3.58707230e-05 9.99998933e-01 5.18468954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:57.47, Z:0.05 [[ 7.16862901e-01 -6.97213414e-01 -1.01798379e-03 2.31086271e+02] [ 6.97212629e-01 7.16863623e-01 -1.04753293e-03 5.74693977e+01] [ 1.46010956e-03 4.11863404e-05 9.99998933e-01 5.18699516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:57.49, Z:0.05 [[ 7.18774491e-01 -6.95242544e-01 -1.01778291e-03 2.31105498e+02] [ 6.95241756e-01 7.18775210e-01 -1.04772807e-03 5.74899204e+01] [ 1.45998226e-03 4.54750324e-05 9.99998933e-01 5.10929690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.12, Y:57.51, Z:0.05 [[ 7.19454158e-01 -6.94539185e-01 -1.01758079e-03 2.31124281e+02] [ 6.94538396e-01 7.19454876e-01 -1.04792435e-03 5.75099294e+01] [ 1.45992798e-03 4.71846022e-05 9.99998933e-01 4.92733424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.14, Y:57.53, Z:0.05 [[ 7.19906001e-01 -6.94070829e-01 -1.01736773e-03 2.31142005e+02] [ 6.94070039e-01 7.19906718e-01 -1.04813115e-03 5.75317321e+01] [ 1.45988712e-03 4.84314440e-05 9.99998933e-01 5.02095458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:57.55, Z:0.05 [[ 7.19856457e-01 -6.94122213e-01 -1.01716949e-03 2.31160327e+02] [ 6.94121424e-01 7.19857174e-01 -1.04832350e-03 5.75525346e+01] [ 1.45988138e-03 4.86033033e-05 9.99998933e-01 5.08030655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:57.57, Z:0.05 [[ 7.19349702e-01 -6.94647372e-01 -1.01697104e-03 2.31178074e+02] [ 6.94646583e-01 7.19350419e-01 -1.04851598e-03 5.75733985e+01] [ 1.45990741e-03 4.78142038e-05 9.99998933e-01 5.19894993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:57.59, Z:0.05 [[ 7.18786182e-01 -6.95230458e-01 -1.01676139e-03 2.31196250e+02] [ 6.95229669e-01 7.18786900e-01 -1.04871924e-03 5.75935544e+01] [ 1.45993632e-03 4.69222130e-05 9.99998933e-01 5.15888601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:57.61, Z:0.05 [[ 7.17966553e-01 -6.96076860e-01 -1.01655386e-03 2.31214546e+02] [ 6.96076071e-01 7.17967272e-01 -1.04892036e-03 5.76145168e+01] [ 1.45998160e-03 4.54909202e-05 9.99998933e-01 5.08670914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:57.64, Z:0.05 [[ 7.16753594e-01 -6.97325787e-01 -1.01635569e-03 2.31230985e+02] [ 6.97324999e-01 7.16754313e-01 -1.04911235e-03 5.76365075e+01] [ 1.46005042e-03 4.32248218e-05 9.99998933e-01 4.85054396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.25, Y:57.66, Z:0.05 [[ 7.16201733e-01 -6.97892574e-01 -1.01615021e-03 2.31248818e+02] [ 6.97891786e-01 7.16202453e-01 -1.04931133e-03 5.76583683e+01] [ 1.46007586e-03 4.23557043e-05 9.99998933e-01 4.83959401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.26, Y:57.68, Z:0.05 [[ 7.15735452e-01 -6.98370768e-01 -1.01595356e-03 2.31264596e+02] [ 6.98369981e-01 7.15736172e-01 -1.04950170e-03 5.76821569e+01] [ 1.46009602e-03 4.16541028e-05 9.99998933e-01 4.87695924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:57.70, Z:0.05 [[ 7.15461117e-01 -6.98651815e-01 -1.01575722e-03 2.31282230e+02] [ 6.98651028e-01 7.15461836e-01 -1.04969169e-03 5.77040422e+01] [ 1.46010453e-03 4.13537591e-05 9.99998933e-01 4.81604632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.30, Y:57.73, Z:0.05 [[ 7.15235553e-01 -6.98882731e-01 -1.01556232e-03 2.31299058e+02] [ 6.98881944e-01 7.15236273e-01 -1.04988022e-03 5.77257169e+01] [ 1.46011016e-03 4.11534906e-05 9.99998933e-01 4.93847531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.32, Y:57.75, Z:0.05 [[ 7.14931759e-01 -6.99193499e-01 -1.01535632e-03 2.31316608e+02] [ 6.99192711e-01 7.14932479e-01 -1.05007940e-03 5.77477793e+01] [ 1.46011991e-03 4.08053738e-05 9.99998933e-01 5.08180253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:57.77, Z:0.05 [[ 7.14370076e-01 -6.99767364e-01 -1.01516309e-03 2.31330743e+02] [ 6.99766577e-01 7.14370796e-01 -1.05026617e-03 5.77713136e+01] [ 1.46014486e-03 3.99015232e-05 9.99998933e-01 5.04667226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:57.79, Z:0.05 [[ 7.13953278e-01 -7.00192607e-01 -1.01502249e-03 2.31348329e+02] [ 7.00191820e-01 7.13953999e-01 -1.05040204e-03 5.77937567e+01] [ 1.46016311e-03 3.92275324e-05 9.99998933e-01 5.03743231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:57.82, Z:0.05 [[ 7.12745004e-01 -7.01422505e-01 -1.01483545e-03 2.31363878e+02] [ 7.01421719e-01 7.12745725e-01 -1.05058272e-03 5.78174012e+01] [ 1.46022199e-03 3.69699579e-05 9.99998933e-01 5.32796632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:57.84, Z:0.05 [[ 7.11793147e-01 -7.02388416e-01 -1.01463194e-03 2.31380999e+02] [ 7.02387631e-01 7.11793869e-01 -1.05077923e-03 5.78388372e+01] [ 1.46026395e-03 3.52725320e-05 9.99998933e-01 5.26222174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.40, Y:57.86, Z:0.06 [[ 7.09495560e-01 -7.04709175e-01 -1.01444832e-03 2.31396055e+02] [ 7.04708392e-01 7.09496284e-01 -1.05095647e-03 5.78625598e+01] [ 1.46036598e-03 3.07587005e-05 9.99998933e-01 5.58278805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:57.88, Z:0.05 [[ 7.08336088e-01 -7.05874605e-01 -1.01432718e-03 2.31413447e+02] [ 7.05873823e-01 7.08336813e-01 -1.05107337e-03 5.78846230e+01] [ 1.46041129e-03 2.85261975e-05 9.99998933e-01 5.48660130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.43, Y:57.91, Z:0.05 [[ 7.05749783e-01 -7.08460455e-01 -1.01412676e-03 2.31429335e+02] [ 7.08459675e-01 7.05750511e-01 -1.05126672e-03 5.79066878e+01] [ 1.46050137e-03 2.34633459e-05 9.99998933e-01 5.36507443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:57.93, Z:0.05 [[ 7.04557395e-01 -7.09646285e-01 -1.01391653e-03 2.31447299e+02] [ 7.09645506e-01 7.04558124e-01 -1.05146943e-03 5.79277745e+01] [ 1.46053451e-03 2.12992516e-05 9.99998933e-01 5.34902155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:57.95, Z:0.05 [[ 7.02624461e-01 -7.11560144e-01 -1.01371095e-03 2.31462817e+02] [ 7.11559367e-01 7.02625192e-01 -1.05166760e-03 5.79499407e+01] [ 1.46058360e-03 1.76118619e-05 9.99998933e-01 5.13172494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:57.97, Z:0.05 [[ 7.01729060e-01 -7.12443190e-01 -1.01349735e-03 2.31480046e+02] [ 7.12442413e-01 7.01729792e-01 -1.05187340e-03 5.79713880e+01] [ 1.46060133e-03 1.60716361e-05 9.99998933e-01 4.97138508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:57.99, Z:0.05 [[ 7.00500492e-01 -7.13651199e-01 -1.01328466e-03 2.31496800e+02] [ 7.13650424e-01 7.00501225e-01 -1.05207825e-03 5.79941622e+01] [ 1.46062405e-03 1.38503075e-05 9.99998933e-01 5.05742042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.51, Y:58.02, Z:0.05 [[ 6.99626828e-01 -7.14507715e-01 -1.01307790e-03 2.31512558e+02] [ 7.14506941e-01 6.99627561e-01 -1.05227731e-03 5.80167383e+01] [ 1.46063748e-03 1.23502459e-05 9.99998933e-01 5.00689546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:58.04, Z:0.05 [[ 6.99162744e-01 -7.14961839e-01 -1.01292692e-03 2.31530730e+02] [ 7.14961065e-01 6.99163477e-01 -1.05242262e-03 5.80381538e+01] [ 1.46064352e-03 1.16113796e-05 9.99998933e-01 5.00740630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.55, Y:58.06, Z:0.05 [[ 6.98800367e-01 -7.15316029e-01 -1.01272315e-03 2.31548475e+02] [ 7.15315254e-01 6.98801101e-01 -1.05261867e-03 5.80586170e+01] [ 1.46064706e-03 1.11539924e-05 9.99998933e-01 5.00512479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:231.56, Y:58.08, Z:0.05 [[ 6.98741063e-01 -7.15373959e-01 -1.01257428e-03 2.31564560e+02] [ 7.15373185e-01 6.98741797e-01 -1.05276186e-03 5.80805349e+01] [ 1.46064639e-03 1.12394515e-05 9.99998933e-01 4.92539760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:231.58, Y:58.10, Z:0.05 [[ 6.98602725e-01 -7.15509055e-01 -1.01236188e-03 2.31583527e+02] [ 7.15508280e-01 6.98603458e-01 -1.05296607e-03 5.81006489e+01] [ 1.46064627e-03 1.12516596e-05 9.99998933e-01 4.92943597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.60, Y:58.12, Z:0.05 [[ 6.98803564e-01 -7.15312907e-01 -1.01215824e-03 2.31601218e+02] [ 7.15312132e-01 6.98804297e-01 -1.05316178e-03 5.81224880e+01] [ 1.46064074e-03 1.19441392e-05 9.99998933e-01 5.07434673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:231.62, Y:58.14, Z:0.05 [[ 6.98923606e-01 -7.15195616e-01 -1.01195741e-03 2.31616834e+02] [ 7.15194841e-01 6.98924338e-01 -1.05335471e-03 5.81446104e+01] [ 1.46063634e-03 1.24677506e-05 9.99998933e-01 5.19340980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.64, Y:58.17, Z:0.05 [[ 6.98965546e-01 -7.15154628e-01 -1.01174442e-03 2.31635101e+02] [ 7.15153852e-01 6.98966278e-01 -1.05355925e-03 5.81660027e+01] [ 1.46063301e-03 1.28486945e-05 9.99998933e-01 5.17368613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.65, Y:58.19, Z:0.05 [[ 6.98660250e-01 -7.15452885e-01 -1.01154465e-03 2.31652113e+02] [ 7.15452110e-01 6.98660983e-01 -1.05375102e-03 5.81887348e+01] [ 1.46063599e-03 1.25021985e-05 9.99998933e-01 5.11380762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:231.67, Y:58.21, Z:0.05 [[ 6.98107753e-01 -7.15991999e-01 -1.01134463e-03 2.31669617e+02] [ 7.15991223e-01 6.98108485e-01 -1.05394296e-03 5.82097228e+01] [ 1.46064299e-03 1.16518760e-05 9.99998933e-01 5.07322256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.69, Y:58.23, Z:0.05 [[ 6.97462052e-01 -7.16621004e-01 -1.01113305e-03 2.31687598e+02] [ 7.16620229e-01 6.97462785e-01 -1.05414590e-03 5.82307987e+01] [ 1.46065077e-03 1.06283627e-05 9.99998933e-01 5.10289932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:58.25, Z:0.05 [[ 6.96330868e-01 -7.17720210e-01 -1.01093478e-03 2.31704559e+02] [ 7.17719436e-01 6.96331602e-01 -1.05433601e-03 5.82531807e+01] [ 1.46066410e-03 8.59916506e-06 9.99998933e-01 5.04158378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:58.27, Z:0.05 [[ 6.95728123e-01 -7.18304502e-01 -1.01073385e-03 2.31722921e+02] [ 7.18303728e-01 6.95728857e-01 -1.05452859e-03 5.82741394e+01] [ 1.46066934e-03 7.65130343e-06 9.99998933e-01 5.09518887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:58.30, Z:0.05 [[ 6.94305128e-01 -7.19680045e-01 -1.01052686e-03 2.31741216e+02] [ 7.19679273e-01 6.94305864e-01 -1.05472691e-03 5.82954306e+01] [ 1.46068064e-03 5.04707019e-06 9.99998933e-01 5.13451984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:58.32, Z:0.05 [[ 6.93609795e-01 -7.20350215e-01 -1.01032121e-03 2.31759716e+02] [ 7.20349442e-01 6.93610531e-01 -1.05492387e-03 5.83156216e+01] [ 1.46068406e-03 3.92120765e-06 9.99998933e-01 4.96520533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:58.34, Z:0.05 [[ 6.92815545e-01 -7.21114138e-01 -1.01017011e-03 2.31778660e+02] [ 7.21113367e-01 6.92816281e-01 -1.05506854e-03 5.83363207e+01] [ 1.46068714e-03 2.52071811e-06 9.99998933e-01 5.00190870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.80, Y:58.36, Z:0.05 [[ 6.91378770e-01 -7.22491783e-01 -1.00997871e-03 2.31797375e+02] [ 7.22491012e-01 6.91379508e-01 -1.05525172e-03 5.83568446e+01] [ 1.46068928e-03 -1.21904041e-07 9.99998933e-01 5.21541995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:58.38, Z:0.05 [[ 6.90541729e-01 -7.23291850e-01 -1.00977934e-03 2.31816070e+02] [ 7.23291080e-01 6.90542468e-01 -1.05544247e-03 5.83762618e+01] [ 1.46068845e-03 -1.53732113e-06 9.99998933e-01 4.84323780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:58.40, Z:0.05 [[ 6.90255822e-01 -7.23564704e-01 -1.00957229e-03 2.31835683e+02] [ 7.23563934e-01 6.90256560e-01 -1.05564048e-03 5.83964314e+01] [ 1.46068809e-03 -1.82811463e-06 9.99998933e-01 4.96345089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:58.42, Z:0.05 [[ 6.90165113e-01 -7.23651227e-01 -1.00937428e-03 2.31855423e+02] [ 7.23650457e-01 6.90165851e-01 -1.05582978e-03 5.84168744e+01] [ 1.46068818e-03 -1.73727509e-06 9.99998933e-01 5.01562861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.87, Y:58.44, Z:0.05 [[ 6.90590882e-01 -7.23244920e-01 -1.00917407e-03 2.31873304e+02] [ 7.23244150e-01 6.90591620e-01 -1.05602111e-03 5.84370604e+01] [ 1.46068906e-03 -6.00697433e-07 9.99998933e-01 4.85006598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.89, Y:58.46, Z:0.05 [[ 6.91035030e-01 -7.22820565e-01 -1.00902788e-03 2.31892007e+02] [ 7.22819794e-01 6.91035766e-01 -1.05616078e-03 5.84575904e+01] [ 1.46068908e-03 4.98769983e-07 9.99998933e-01 5.02420694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:58.48, Z:0.05 [[ 6.91915296e-01 -7.21977981e-01 -1.00882959e-03 2.31910815e+02] [ 7.21977208e-01 6.91916032e-01 -1.05635015e-03 5.84785667e+01] [ 1.46068691e-03 2.55285686e-06 9.99998933e-01 5.16414573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.93, Y:58.50, Z:0.05 [[ 6.93057677e-01 -7.20881432e-01 -1.00863190e-03 2.31928927e+02] [ 7.20880657e-01 6.93058411e-01 -1.05653887e-03 5.84986357e+01] [ 1.46068008e-03 5.13914375e-06 9.99998933e-01 5.24971545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:58.52, Z:0.05 [[ 6.93593252e-01 -7.20366145e-01 -1.00842234e-03 2.31947612e+02] [ 7.20365370e-01 6.93593986e-01 -1.05673885e-03 5.85188422e+01] [ 1.46067456e-03 6.51439937e-06 9.99998933e-01 5.12897862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:58.54, Z:0.05 [[ 6.94112395e-01 -7.19865936e-01 -1.00822658e-03 2.31966196e+02] [ 7.19865160e-01 6.94113128e-01 -1.05692559e-03 5.85395779e+01] [ 1.46066803e-03 7.83797098e-06 9.99998933e-01 5.25399736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.98, Y:58.56, Z:0.05 [[ 6.95025110e-01 -7.18984757e-01 -1.00802374e-03 2.31983175e+02] [ 7.18983980e-01 6.95025841e-01 -1.05711901e-03 5.85612961e+01] [ 1.46065500e-03 9.97133214e-06 9.99998933e-01 5.25380716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.00, Y:58.58, Z:0.05 [[ 6.95685683e-01 -7.18345610e-01 -1.00780851e-03 2.32001466e+02] [ 7.18344831e-01 6.95686413e-01 -1.05732416e-03 5.85814632e+01] [ 1.46064286e-03 1.16112472e-05 9.99998933e-01 5.13381136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:58.60, Z:0.05 [[ 6.96916664e-01 -7.17151412e-01 -1.00761511e-03 2.32019616e+02] [ 7.17150632e-01 6.96917393e-01 -1.05750844e-03 5.86019653e+01] [ 1.46061816e-03 1.43834444e-05 9.99998933e-01 5.14533598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.04, Y:58.62, Z:0.05 [[ 6.97449925e-01 -7.16632812e-01 -1.00740993e-03 2.32038054e+02] [ 7.16632032e-01 6.97450652e-01 -1.05770386e-03 5.86229628e+01] [ 1.46060400e-03 1.57532512e-05 9.99998933e-01 5.14318305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:58.65, Z:0.05 [[ 6.98310220e-01 -7.15794539e-01 -1.00721792e-03 2.32053727e+02] [ 7.15793758e-01 6.98310946e-01 -1.05788667e-03 5.86453641e+01] [ 1.46058080e-03 1.77727725e-05 9.99998933e-01 5.06659136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.07, Y:58.67, Z:0.05 [[ 6.98328968e-01 -7.15776249e-01 -1.00701599e-03 2.32071430e+02] [ 7.15775467e-01 6.98329694e-01 -1.05807886e-03 5.86671740e+01] [ 1.46057688e-03 1.80897779e-05 9.99998933e-01 4.99169655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:58.69, Z:0.05 [[ 6.97476636e-01 -7.16606816e-01 -1.00682556e-03 2.32086970e+02] [ 7.16606035e-01 6.97477362e-01 -1.05826003e-03 5.86883634e+01] [ 1.46059439e-03 1.66143710e-05 9.99998933e-01 4.64812520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.10, Y:58.71, Z:0.05 [[ 6.96707046e-01 -7.17355057e-01 -1.00659974e-03 2.32104688e+02] [ 7.17354277e-01 6.96707773e-01 -1.05847479e-03 5.87089704e+01] [ 1.46060810e-03 1.53582194e-05 9.99998933e-01 4.57590481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:58.73, Z:0.04 [[ 6.94796263e-01 -7.19205909e-01 -1.00638840e-03 2.32121467e+02] [ 7.19205130e-01 6.94796992e-01 -1.05867568e-03 5.87291029e+01] [ 1.46064144e-03 1.17642049e-05 9.99998933e-01 4.35004831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:58.75, Z:0.05 [[ 6.92447623e-01 -7.21467447e-01 -1.00616649e-03 2.32138332e+02] [ 7.21466670e-01 6.92448354e-01 -1.05888655e-03 5.87495602e+01] [ 1.46067050e-03 7.30789064e-06 9.99998933e-01 4.54013554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:232.16, Y:58.77, Z:0.05 [[ 6.91071941e-01 -7.22785280e-01 -1.00600386e-03 2.32157122e+02] [ 7.22784504e-01 6.91072673e-01 -1.05904103e-03 5.87700697e+01] [ 1.46068105e-03 4.74954097e-06 9.99998933e-01 5.14949864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:58.79, Z:0.05 [[ 6.88340878e-01 -7.25386672e-01 -1.00579759e-03 2.32174655e+02] [ 7.25385899e-01 6.88341613e-01 -1.05923690e-03 5.87905899e+01] [ 1.46068866e-03 -4.75333870e-07 9.99998933e-01 5.18180045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:58.81, Z:0.05 [[ 6.86959054e-01 -7.26695429e-01 -1.00561382e-03 2.32192971e+02] [ 7.26694657e-01 6.86959790e-01 -1.05941134e-03 5.88104607e+01] [ 1.46068563e-03 -3.00197850e-06 9.99998933e-01 4.90574785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:58.83, Z:0.05 [[ 6.85544092e-01 -7.28030416e-01 -1.00539653e-03 2.32210254e+02] [ 7.28029645e-01 6.85544829e-01 -1.05961751e-03 5.88295692e+01] [ 1.46067817e-03 -5.54395505e-06 9.99998933e-01 4.91127455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:232.23, Y:58.85, Z:0.05 [[ 6.83061690e-01 -7.30359992e-01 -1.00518141e-03 2.32229353e+02] [ 7.30359223e-01 6.83062429e-01 -1.05982154e-03 5.88500664e+01] [ 1.46065290e-03 -1.02200258e-05 9.99998933e-01 5.39556233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:58.87, Z:0.05 [[ 6.81978081e-01 -7.31371921e-01 -1.00498396e-03 2.32248428e+02] [ 7.31371153e-01 6.81978821e-01 -1.06000874e-03 5.88708426e+01] [ 1.46063840e-03 -1.21135546e-05 9.99998933e-01 5.34306410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:232.27, Y:58.89, Z:0.05 [[ 6.80438138e-01 -7.32804838e-01 -1.00478032e-03 2.32266875e+02] [ 7.32804072e-01 6.80438880e-01 -1.06020174e-03 5.88911277e+01] [ 1.46061255e-03 -1.49054116e-05 9.99998933e-01 5.44583234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:58.91, Z:0.05 [[ 6.80025029e-01 -7.33188210e-01 -1.00456488e-03 2.32284842e+02] [ 7.33187443e-01 6.80025771e-01 -1.06040583e-03 5.89106620e+01] [ 1.46060706e-03 -1.54318536e-05 9.99998933e-01 5.20907400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.30, Y:58.93, Z:0.05 [[ 6.80194933e-01 -7.33030589e-01 -1.00435039e-03 2.32304416e+02] [ 7.33029822e-01 6.80195674e-01 -1.06060894e-03 5.89309990e+01] [ 1.46061359e-03 -1.47979609e-05 9.99998933e-01 5.22826467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.32, Y:58.95, Z:0.05 [[ 6.80377318e-01 -7.32861308e-01 -1.00416466e-03 2.32322701e+02] [ 7.32860540e-01 6.80378059e-01 -1.06078476e-03 5.89501588e+01] [ 1.46061971e-03 -1.41787640e-05 9.99998933e-01 5.20388680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:58.97, Z:0.05 [[ 6.80716123e-01 -7.32546621e-01 -1.00395396e-03 2.32342520e+02] [ 7.32545853e-01 6.80716863e-01 -1.06098413e-03 5.89700362e+01] [ 1.46062873e-03 -1.32133028e-05 9.99998933e-01 5.19002562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:58.99, Z:0.05 [[ 6.81782358e-01 -7.31554378e-01 -1.00374801e-03 2.32361666e+02] [ 7.31553609e-01 6.81783097e-01 -1.06117893e-03 5.89890275e+01] [ 1.46064852e-03 -1.08024046e-05 9.99998933e-01 4.92994962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:59.01, Z:0.05 [[ 6.83120076e-01 -7.30305385e-01 -1.00354310e-03 2.32379685e+02] [ 7.30304614e-01 6.83120813e-01 -1.06137268e-03 5.90088117e+01] [ 1.46066736e-03 -7.84717202e-06 9.99998933e-01 4.90160896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:59.03, Z:0.05 [[ 6.83653485e-01 -7.29806074e-01 -1.00333191e-03 2.32398408e+02] [ 7.29805302e-01 6.83654222e-01 -1.06157229e-03 5.90281674e+01] [ 1.46067400e-03 -6.48935175e-06 9.99998933e-01 4.86602245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:59.05, Z:0.05 [[ 6.83873140e-01 -7.29600248e-01 -1.00318772e-03 2.32418433e+02] [ 7.29599476e-01 6.83873876e-01 -1.06170852e-03 5.90479171e+01] [ 1.46067668e-03 -5.85129365e-06 9.99998933e-01 4.95050761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.44, Y:59.07, Z:0.05 [[ 6.83950115e-01 -7.29528090e-01 -1.00298971e-03 2.32439139e+02] [ 7.29527318e-01 6.83950850e-01 -1.06189555e-03 5.90672077e+01] [ 1.46067830e-03 -5.42480984e-06 9.99998933e-01 5.12460753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:232.46, Y:59.09, Z:0.05 [[ 6.83714666e-01 -7.29748758e-01 -1.00279031e-03 2.32458555e+02] [ 7.29747985e-01 6.83715402e-01 -1.06208382e-03 5.90869195e+01] [ 1.46067753e-03 -5.62192399e-06 9.99998933e-01 5.23943517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:232.48, Y:59.11, Z:0.05 [[ 6.83027012e-01 -7.30392426e-01 -1.00259147e-03 2.32479672e+02] [ 7.30391653e-01 6.83027748e-01 -1.06227148e-03 5.91053722e+01] [ 1.46067284e-03 -6.72432634e-06 9.99998933e-01 5.21239735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:59.12, Z:0.05 [[ 6.82686593e-01 -7.30710621e-01 -1.00239016e-03 2.32501320e+02] [ 7.30709849e-01 6.82687328e-01 -1.06246141e-03 5.91238028e+01] [ 1.46067090e-03 -7.12820440e-06 9.99998933e-01 4.97033657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:232.52, Y:59.14, Z:0.05 [[ 6.82631916e-01 -7.30761700e-01 -1.00218568e-03 2.32520901e+02] [ 7.30760928e-01 6.82632652e-01 -1.06265426e-03 5.91427674e+01] [ 1.46067170e-03 -6.95641710e-06 9.99998933e-01 5.02562589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:59.16, Z:0.05 [[ 6.83058345e-01 -7.30363124e-01 -1.00196979e-03 2.32540652e+02] [ 7.30362351e-01 6.83059080e-01 -1.06285779e-03 5.91614039e+01] [ 1.46067669e-03 -5.80712837e-06 9.99998933e-01 4.68971766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:59.18, Z:0.05 [[ 6.84521098e-01 -7.28992361e-01 -1.00177526e-03 2.32561257e+02] [ 7.28991586e-01 6.84521831e-01 -1.06304110e-03 5.91804703e+01] [ 1.46068588e-03 -2.61167814e-06 9.99998933e-01 4.76462988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:232.58, Y:59.20, Z:0.05 [[ 6.86228118e-01 -7.27385707e-01 -1.00157728e-03 2.32581132e+02] [ 7.27384930e-01 6.86228849e-01 -1.06322760e-03 5.91997245e+01] [ 1.46068779e-03 1.08446008e-06 9.99998933e-01 5.09257582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:59.22, Z:0.05 [[ 6.86670963e-01 -7.26967665e-01 -1.00136988e-03 2.32599907e+02] [ 7.26966887e-01 6.86671693e-01 -1.06342290e-03 5.92191880e+01] [ 1.46068641e-03 2.25887606e-06 9.99998933e-01 4.85266368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:59.24, Z:0.05 [[ 6.87757322e-01 -7.25939987e-01 -1.00115177e-03 2.32620381e+02] [ 7.25939207e-01 6.87758050e-01 -1.06362820e-03 5.92382070e+01] [ 1.46068043e-03 4.74275621e-06 9.99998933e-01 5.03070692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.64, Y:59.26, Z:0.05 [[ 6.88036817e-01 -7.25675090e-01 -1.00094944e-03 2.32640217e+02] [ 7.25674310e-01 6.88037545e-01 -1.06381857e-03 5.92575806e+01] [ 1.46067743e-03 5.58304988e-06 9.99998933e-01 5.04318792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:59.28, Z:0.05 [[ 6.88279954e-01 -7.25444487e-01 -1.00074665e-03 2.32659177e+02] [ 7.25443707e-01 6.88280681e-01 -1.06400930e-03 5.92766313e+01] [ 1.46067427e-03 6.35091018e-06 9.99998933e-01 5.03536294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:59.30, Z:0.05 [[ 6.88823074e-01 -7.24928804e-01 -1.00059791e-03 2.32678246e+02] [ 7.24928023e-01 6.88823801e-01 -1.06414916e-03 5.92968271e+01] [ 1.46066803e-03 7.64903028e-06 9.99998933e-01 5.21632723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:59.32, Z:0.05 [[ 6.88979973e-01 -7.24779688e-01 -1.00039530e-03 2.32697600e+02] [ 7.24778907e-01 6.88980699e-01 -1.06433960e-03 5.93168545e+01] [ 1.46066478e-03 8.24326162e-06 9.99998933e-01 5.31464071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.72, Y:59.33, Z:0.05 [[ 6.89075050e-01 -7.24689296e-01 -1.00018839e-03 2.32717792e+02] [ 7.24688514e-01 6.89075776e-01 -1.06453401e-03 5.93346281e+01] [ 1.46066199e-03 8.71878734e-06 9.99998933e-01 5.31695188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:232.74, Y:59.35, Z:0.05 [[ 6.88738720e-01 -7.25008948e-01 -9.99969681e-04 2.32736408e+02] [ 7.25008167e-01 6.88739446e-01 -1.06473941e-03 5.93537912e+01] [ 1.46066416e-03 8.34107119e-06 9.99998933e-01 5.25546027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:232.76, Y:59.37, Z:0.05 [[ 6.88592017e-01 -7.25148284e-01 -9.99754363e-04 2.32755143e+02] [ 7.25147502e-01 6.88592743e-01 -1.06494154e-03 5.93741178e+01] [ 1.46066413e-03 8.34086745e-06 9.99998933e-01 5.25949864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:59.39, Z:0.05 [[ 6.87442074e-01 -7.26238526e-01 -9.99538855e-04 2.32774434e+02] [ 7.26237745e-01 6.87442800e-01 -1.06514378e-03 5.93941938e+01] [ 1.46067424e-03 6.32180425e-06 9.99998933e-01 5.06705095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:59.41, Z:0.05 [[ 6.86548801e-01 -7.27083038e-01 -9.99333662e-04 2.32794314e+02] [ 7.27082258e-01 6.86549529e-01 -1.06533626e-03 5.94145723e+01] [ 1.46067998e-03 4.80755660e-06 9.99998933e-01 5.02797702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:59.43, Z:0.05 [[ 6.84813498e-01 -7.28717692e-01 -9.99128050e-04 2.32814044e+02] [ 7.28716913e-01 6.84814227e-01 -1.06552906e-03 5.94346180e+01] [ 1.46068698e-03 1.60717176e-06 9.99998933e-01 5.08529683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:59.45, Z:0.05 [[ 6.83922803e-01 -7.29553701e-01 -9.98921746e-04 2.32832705e+02] [ 7.29552922e-01 6.83923532e-01 -1.06572243e-03 5.94541418e+01] [ 1.46068783e-03 1.05592670e-07 9.99998933e-01 5.02113723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:59.47, Z:0.05 [[ 6.81979248e-01 -7.31370841e-01 -9.98771292e-04 2.32853580e+02] [ 7.31370065e-01 6.81979980e-01 -1.06586341e-03 5.94715655e+01] [ 1.46068345e-03 -3.57469497e-06 9.99998933e-01 4.70480735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:59.49, Z:0.05 [[ 6.80915346e-01 -7.32361451e-01 -9.98623082e-04 2.32873931e+02] [ 7.32360675e-01 6.80916078e-01 -1.06600226e-03 5.94904261e+01] [ 1.46067747e-03 -5.49498002e-06 9.99998933e-01 4.88836384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.89, Y:59.51, Z:0.05 [[ 6.79607413e-01 -7.33575332e-01 -9.98415535e-04 2.32894656e+02] [ 7.33574557e-01 6.79608147e-01 -1.06619661e-03 5.95083357e+01] [ 1.46066686e-03 -7.81711452e-06 9.99998933e-01 4.80520201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:59.53, Z:0.05 [[ 6.79339352e-01 -7.33823581e-01 -9.98196527e-04 2.32914222e+02] [ 7.33822807e-01 6.79340085e-01 -1.06640161e-03 5.95277347e+01] [ 1.46066556e-03 -8.05079882e-06 9.99998933e-01 4.99903072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:59.54, Z:0.05 [[ 6.79433901e-01 -7.33736041e-01 -9.97991689e-04 2.32935236e+02] [ 7.33735266e-01 6.79434634e-01 -1.06659327e-03 5.95447413e+01] [ 1.46066804e-03 -7.58206809e-06 9.99998933e-01 5.03075985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:59.56, Z:0.05 [[ 6.79658179e-01 -7.33528298e-01 -9.97841785e-04 2.32955349e+02] [ 7.33527522e-01 6.79658912e-01 -1.06673349e-03 5.95635542e+01] [ 1.46067127e-03 -6.93026744e-06 9.99998933e-01 5.15058929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:59.58, Z:0.05 [[ 6.81134870e-01 -7.32157288e-01 -9.97627536e-04 2.32976452e+02] [ 7.32156511e-01 6.81135600e-01 -1.06693383e-03 5.95819396e+01] [ 1.46068301e-03 -3.69366231e-06 9.99998933e-01 5.32689931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:59.60, Z:0.05 [[ 6.83156480e-01 -7.30271339e-01 -9.97425742e-04 2.32997211e+02] [ 7.30270559e-01 6.83157208e-01 -1.06712244e-03 5.95991457e+01] [ 1.46068752e-03 6.20956861e-07 9.99998933e-01 5.30563728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:59.62, Z:0.05 [[ 6.84402610e-01 -7.29103609e-01 -9.97211525e-04 2.33017430e+02] [ 7.29102828e-01 6.84403336e-01 -1.06732259e-03 5.96185806e+01] [ 1.46068364e-03 3.40862077e-06 9.99998933e-01 5.25950509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:59.64, Z:0.05 [[ 6.85585463e-01 -7.27991469e-01 -9.97011252e-04 2.33036951e+02] [ 7.27990687e-01 6.85586188e-01 -1.06750963e-03 5.96380277e+01] [ 1.46067505e-03 6.05418036e-06 9.99998933e-01 5.20455482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:59.66, Z:0.05 [[ 6.88260166e-01 -7.25463266e-01 -9.96810911e-04 2.33056064e+02] [ 7.25462480e-01 6.88260888e-01 -1.06769667e-03 5.96564655e+01] [ 1.46064068e-03 1.17041736e-05 9.99998933e-01 5.15049016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:59.68, Z:0.05 [[ 6.89355204e-01 -7.24422811e-01 -9.96599064e-04 2.33075943e+02] [ 7.24422024e-01 6.89355924e-01 -1.06789438e-03 5.96765637e+01] [ 1.46061852e-03 1.42002354e-05 9.99998933e-01 5.25539693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.10, Y:59.70, Z:0.05 [[ 6.91784031e-01 -7.22103775e-01 -9.96396905e-04 2.33095711e+02] [ 7.22102985e-01 6.91784748e-01 -1.06808297e-03 5.96965169e+01] [ 1.46055893e-03 1.93815613e-05 9.99998933e-01 5.31643211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:59.72, Z:0.05 [[ 6.94652719e-01 -7.19344568e-01 -9.96189233e-04 2.33114040e+02] [ 7.19343776e-01 6.94653432e-01 -1.06827663e-03 5.97162465e+01] [ 1.46046526e-03 2.54787384e-05 9.99998933e-01 5.09406921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:59.74, Z:0.05 [[ 6.96120370e-01 -7.17924396e-01 -9.95970041e-04 2.33133234e+02] [ 7.17923601e-01 6.96121082e-01 -1.06848094e-03 5.97370692e+01] [ 1.46040428e-03 2.87609506e-05 9.99998933e-01 5.13523098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:59.76, Z:0.05 [[ 6.97579412e-01 -7.16506784e-01 -9.95769224e-04 2.33150780e+02] [ 7.16505988e-01 6.97580122e-01 -1.06866806e-03 5.97569913e+01] [ 1.46033673e-03 3.20062256e-05 9.99998933e-01 4.97148059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:59.78, Z:0.05 [[ 6.99844957e-01 -7.14294089e-01 -9.95557714e-04 2.33169121e+02] [ 7.14293290e-01 6.99845664e-01 -1.06886507e-03 5.97782624e+01] [ 1.46022075e-03 3.69196300e-05 9.99998933e-01 5.01322469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:59.80, Z:0.05 [[ 7.00423508e-01 -7.13726782e-01 -9.95359812e-04 2.33187833e+02] [ 7.13725982e-01 7.00424214e-01 -1.06904933e-03 5.97993412e+01] [ 1.46018325e-03 3.83731202e-05 9.99998933e-01 5.03211156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:59.82, Z:0.05 [[ 7.00148052e-01 -7.13996999e-01 -9.95159460e-04 2.33205518e+02] [ 7.13996199e-01 7.00148758e-01 -1.06923580e-03 5.98205766e+01] [ 1.46019081e-03 3.80832885e-05 9.99998933e-01 5.09751398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:59.84, Z:0.05 [[ 6.99668499e-01 -7.14466935e-01 -9.94959399e-04 2.33223088e+02] [ 7.14466136e-01 6.99669205e-01 -1.06942193e-03 5.98414330e+01] [ 1.46020906e-03 3.73760381e-05 9.99998933e-01 4.99973282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:59.86, Z:0.05 [[ 6.98329199e-01 -7.15776041e-01 -9.94813644e-04 2.33240637e+02] [ 7.15775242e-01 6.98329907e-01 -1.06955750e-03 5.98628310e+01] [ 1.46027175e-03 3.48402537e-05 9.99998933e-01 5.11754935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:59.88, Z:0.05 [[ 6.97391080e-01 -7.16690095e-01 -9.94607753e-04 2.33257854e+02] [ 7.16689298e-01 6.97391788e-01 -1.06974893e-03 5.98830241e+01] [ 1.46030974e-03 3.32086279e-05 9.99998933e-01 5.01681428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:59.90, Z:0.05 [[ 6.96197313e-01 -7.17849784e-01 -9.94389264e-04 2.33276003e+02] [ 7.17848987e-01 6.96198023e-01 -1.06995199e-03 5.99049975e+01] [ 1.46035664e-03 3.10763719e-05 9.99998933e-01 5.07653066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:59.93, Z:0.05 [[ 6.93386682e-01 -7.20565001e-01 -9.94183142e-04 2.33293524e+02] [ 7.20564207e-01 6.93387395e-01 -1.07014348e-03 5.99272823e+01] [ 1.46046199e-03 2.56504484e-05 9.99998933e-01 5.08475480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.31, Y:59.95, Z:0.05 [[ 6.91859535e-01 -7.22031436e-01 -9.93971895e-04 2.33311047e+02] [ 7.22030643e-01 6.91860249e-01 -1.07033965e-03 5.99472741e+01] [ 1.46050852e-03 2.28465268e-05 9.99998933e-01 5.16682051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:233.33, Y:59.97, Z:0.05 [[ 6.90426026e-01 -7.23402319e-01 -9.93748531e-04 2.33329143e+02] [ 7.23401527e-01 6.90426741e-01 -1.07054699e-03 5.99688755e+01] [ 1.46054674e-03 2.02543002e-05 9.99998933e-01 5.24114628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:59.99, Z:0.05 [[ 6.87110741e-01 -7.26552024e-01 -9.93538340e-04 2.33344859e+02] [ 7.26551235e-01 6.87111459e-01 -1.07074203e-03 5.99905133e+01] [ 1.46062136e-03 1.38618388e-05 9.99998933e-01 4.84019016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:60.01, Z:0.05 [[ 6.85208781e-01 -7.28346030e-01 -9.93315648e-04 2.33361558e+02] [ 7.28345243e-01 6.85209501e-01 -1.07094858e-03 6.00103880e+01] [ 1.46065046e-03 1.03466422e-05 9.99998933e-01 4.74158708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.38, Y:60.03, Z:0.05 [[ 6.81545562e-01 -7.31775007e-01 -9.93080370e-04 2.33380110e+02] [ 7.31774223e-01 6.81546286e-01 -1.07116670e-03 6.00313604e+01] [ 1.46068326e-03 3.33829691e-06 9.99998933e-01 5.13016805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.40, Y:60.05, Z:0.05 [[ 6.79624491e-01 -7.33559518e-01 -9.92875590e-04 2.33398451e+02] [ 7.33558735e-01 6.79625216e-01 -1.07135648e-03 6.00519252e+01] [ 1.46068703e-03 -2.12458924e-07 9.99998933e-01 5.08681742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:60.07, Z:0.05 [[ 6.76000865e-01 -7.36900159e-01 -9.92668887e-04 2.33416349e+02] [ 7.36899380e-01 6.76001594e-01 -1.07154797e-03 6.00719352e+01] [ 1.46066962e-03 -7.12973335e-06 9.99998933e-01 5.19842998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.44, Y:60.09, Z:0.05 [[ 6.74166328e-01 -7.38578891e-01 -9.92450632e-04 2.33435191e+02] [ 7.38578113e-01 6.74167058e-01 -1.07175008e-03 6.00925483e+01] [ 1.46064950e-03 -1.04645025e-05 9.99998933e-01 5.37200506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.45, Y:60.11, Z:0.06 [[ 6.72445572e-01 -7.40145910e-01 -9.92246974e-04 2.33453921e+02] [ 7.40145134e-01 6.72446304e-01 -1.07193859e-03 6.01132126e+01] [ 1.46062378e-03 -1.35864101e-05 9.99998933e-01 5.52142582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:60.13, Z:0.05 [[ 6.69182503e-01 -7.43097432e-01 -9.92042910e-04 2.33472051e+02] [ 7.43096659e-01 6.69183238e-01 -1.07212741e-03 6.01332804e+01] [ 1.46055361e-03 -1.97348652e-05 9.99998933e-01 5.28661746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:60.15, Z:0.05 [[ 6.67609419e-01 -7.44511034e-01 -9.91827225e-04 2.33491328e+02] [ 7.44510262e-01 6.67610155e-01 -1.07232691e-03 6.01533251e+01] [ 1.46051314e-03 -2.25300041e-05 9.99998933e-01 5.18251282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:60.17, Z:0.05 [[ 6.64659938e-01 -7.47145356e-01 -9.91628427e-04 2.33512410e+02] [ 7.47144587e-01 6.64660677e-01 -1.07251071e-03 6.01717843e+01] [ 1.46041782e-03 -2.80349073e-05 9.99998933e-01 5.22975322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:233.53, Y:60.19, Z:0.05 [[ 6.63305226e-01 -7.48348311e-01 -9.91419668e-04 2.33531464e+02] [ 7.48347543e-01 6.63305966e-01 -1.07270365e-03 6.01902580e+01] [ 1.46037055e-03 -3.03965323e-05 9.99998933e-01 5.24945145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:60.21, Z:0.05 [[ 6.60971106e-01 -7.50410697e-01 -9.91199526e-04 2.33551742e+02] [ 7.50409931e-01 6.60971848e-01 -1.07290703e-03 6.02080193e+01] [ 1.46027590e-03 -3.46454225e-05 9.99998933e-01 5.04237663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:60.23, Z:0.05 [[ 6.60202204e-01 -7.51087257e-01 -9.90978689e-04 2.33570850e+02] [ 7.51086491e-01 6.60202947e-01 -1.07311097e-03 6.02268922e+01] [ 1.46024702e-03 -3.58404813e-05 9.99998933e-01 5.07336023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:60.25, Z:0.05 [[ 6.59879261e-01 -7.51371000e-01 -9.90757034e-04 2.33589602e+02] [ 7.51370234e-01 6.59880004e-01 -1.07331557e-03 6.02450038e+01] [ 1.46023895e-03 -3.61666592e-05 9.99998933e-01 5.07712225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:233.61, Y:60.26, Z:0.05 [[ 6.60260194e-01 -7.51036281e-01 -9.90525009e-04 2.33611583e+02] [ 7.51035514e-01 6.60260936e-01 -1.07352966e-03 6.02627700e+01] [ 1.46026469e-03 -3.51105605e-05 9.99998933e-01 5.44902256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:60.28, Z:0.05 [[ 6.60721804e-01 -7.50630214e-01 -9.90323605e-04 2.33631157e+02] [ 7.50629446e-01 6.60722545e-01 -1.07371542e-03 6.02805540e+01] [ 1.46029237e-03 -3.39388722e-05 9.99998933e-01 5.18068517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:60.30, Z:0.05 [[ 6.62491263e-01 -7.49068986e-01 -9.90085065e-04 2.33652115e+02] [ 7.49068217e-01 6.62492002e-01 -1.07393533e-03 6.02977512e+01] [ 1.46037509e-03 -3.01684797e-05 9.99998933e-01 5.33495005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:60.32, Z:0.05 [[ 6.63540807e-01 -7.48139438e-01 -9.89859523e-04 2.33672316e+02] [ 7.48138667e-01 6.63541544e-01 -1.07414318e-03 6.03174741e+01] [ 1.46042179e-03 -2.78143535e-05 9.99998933e-01 5.40261681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:60.33, Z:0.05 [[ 6.66266938e-01 -7.45712671e-01 -9.89653730e-04 2.33693258e+02] [ 7.45711897e-01 6.66267673e-01 -1.07433275e-03 6.03347426e+01] [ 1.46051783e-03 -2.22041683e-05 9.99998933e-01 5.09564285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.71, Y:60.35, Z:0.05 [[ 6.67718256e-01 -7.44413428e-01 -9.89436995e-04 2.33713479e+02] [ 7.44412652e-01 6.67718989e-01 -1.07453232e-03 6.03537348e+01] [ 1.46056216e-03 -1.90645711e-05 9.99998933e-01 5.30444603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:60.37, Z:0.05 [[ 6.70693747e-01 -7.41733725e-01 -9.89280212e-04 2.33734247e+02] [ 7.41732947e-01 6.70694476e-01 -1.07467665e-03 6.03707697e+01] [ 1.46062869e-03 -1.30028202e-05 9.99998933e-01 4.81062782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.75, Y:60.39, Z:0.05 [[ 6.72303819e-01 -7.40274676e-01 -9.89042688e-04 2.33753724e+02] [ 7.40273896e-01 6.72304547e-01 -1.07489520e-03 6.03904698e+01] [ 1.46065559e-03 -9.50633761e-06 9.99998933e-01 5.18683466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:233.77, Y:60.41, Z:0.05 [[ 6.73954204e-01 -7.38772464e-01 -9.88833147e-04 2.33772798e+02] [ 7.38771682e-01 6.73954929e-01 -1.07508793e-03 6.04099193e+01] [ 1.46067433e-03 -5.96189839e-06 9.99998933e-01 4.94506665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.79, Y:60.43, Z:0.05 [[ 6.76991968e-01 -7.35989740e-01 -9.88611210e-04 2.33791548e+02] [ 7.35988955e-01 6.76992690e-01 -1.07529197e-03 6.04291229e+01] [ 1.46068642e-03 3.57098454e-07 9.99998933e-01 5.10131698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.81, Y:60.45, Z:0.05 [[ 6.79650149e-01 -7.33535751e-01 -9.88386585e-04 2.33809311e+02] [ 7.33534963e-01 6.79650868e-01 -1.07549841e-03 6.04487392e+01] [ 1.46067433e-03 5.94653505e-06 9.99998933e-01 4.80295455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:233.83, Y:60.47, Z:0.05 [[ 6.80973987e-01 -7.32306939e-01 -9.88149679e-04 2.33828235e+02] [ 7.32306149e-01 6.80974703e-01 -1.07571603e-03 6.04699760e+01] [ 1.46065925e-03 8.90654434e-06 9.99998933e-01 5.39771748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:60.49, Z:0.05 [[ 6.82092885e-01 -7.31264877e-01 -9.87943207e-04 2.33846434e+02] [ 7.31264085e-01 6.82093600e-01 -1.07590562e-03 6.04904064e+01] [ 1.46064173e-03 1.14201811e-05 9.99998933e-01 5.10681544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:60.51, Z:0.05 [[ 6.84245054e-01 -7.29251486e-01 -9.87792516e-04 2.33863168e+02] [ 7.29250692e-01 6.84245767e-01 -1.07604395e-03 6.05110046e+01] [ 1.46059950e-03 1.59293745e-05 9.99998933e-01 5.32161702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:60.53, Z:0.05 [[ 6.86220074e-01 -7.27393315e-01 -9.87570883e-04 2.33879292e+02] [ 7.27392519e-01 6.86220784e-01 -1.07624732e-03 6.05318248e+01] [ 1.46054677e-03 2.01908450e-05 9.99998933e-01 5.23954578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:60.55, Z:0.05 [[ 6.87080223e-01 -7.26580891e-01 -9.87353279e-04 2.33896349e+02] [ 7.26580094e-01 6.87080932e-01 -1.07644692e-03 6.05527032e+01] [ 1.46051737e-03 2.22141487e-05 9.99998933e-01 5.16858118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:60.58, Z:0.05 [[ 6.88646053e-01 -7.25096986e-01 -9.87148957e-04 2.33911396e+02] [ 7.25096187e-01 6.88646760e-01 -1.07663426e-03 6.05753767e+01] [ 1.46046118e-03 2.56419851e-05 9.99998933e-01 5.18168947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:60.60, Z:0.05 [[ 6.89071056e-01 -7.24693112e-01 -9.86944203e-04 2.33928444e+02] [ 7.24692312e-01 6.89071762e-01 -1.07682192e-03 6.05971907e+01] [ 1.46044081e-03 2.67759410e-05 9.99998933e-01 5.21928449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:60.62, Z:0.05 [[ 6.88933866e-01 -7.24823534e-01 -9.86739677e-04 2.33946927e+02] [ 7.24822734e-01 6.88934572e-01 -1.07700930e-03 6.06177573e+01] [ 1.46044077e-03 2.67768318e-05 9.99998933e-01 5.22332285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.96, Y:60.64, Z:0.05 [[ 6.88984432e-01 -7.24775468e-01 -9.86535774e-04 2.33964332e+02] [ 7.24774668e-01 6.88985138e-01 -1.07719604e-03 6.06396834e+01] [ 1.46043375e-03 2.71551666e-05 9.99998933e-01 5.49510007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:60.66, Z:0.05 [[ 6.88249092e-01 -7.25473786e-01 -9.86337033e-04 2.33979479e+02] [ 7.25472987e-01 6.88249798e-01 -1.07737799e-03 6.06628272e+01] [ 1.46045575e-03 2.59435517e-05 9.99998933e-01 5.49614926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.99, Y:60.69, Z:0.05 [[ 6.87010060e-01 -7.26647235e-01 -9.86126386e-04 2.33994705e+02] [ 7.26646437e-01 6.87010767e-01 -1.07757076e-03 6.06872114e+01] [ 1.46049326e-03 2.37367294e-05 9.99998933e-01 5.46803088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:60.71, Z:0.05 [[ 6.86280253e-01 -7.27336540e-01 -9.85925192e-04 2.34011169e+02] [ 7.27335742e-01 6.86280960e-01 -1.07775481e-03 6.07087131e+01] [ 1.46051215e-03 2.25432152e-05 9.99998933e-01 5.14001717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:60.73, Z:0.05 [[ 6.85511625e-01 -7.28061014e-01 -9.85711730e-04 2.34027692e+02] [ 7.28060216e-01 6.85512334e-01 -1.07795001e-03 6.07306790e+01] [ 1.46053093e-03 2.12897683e-05 9.99998933e-01 5.14319852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:60.75, Z:0.05 [[ 6.84007883e-01 -7.29473950e-01 -9.85509114e-04 2.34041677e+02] [ 7.29473154e-01 6.84008593e-01 -1.07813522e-03 6.07544754e+01] [ 1.46056826e-03 1.85505478e-05 9.99998933e-01 5.21510122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:60.78, Z:0.05 [[ 6.83211700e-01 -7.30219695e-01 -9.85306884e-04 2.34057669e+02] [ 7.30218899e-01 6.83212410e-01 -1.07832001e-03 6.07762762e+01] [ 1.46058440e-03 1.72311369e-05 9.99998933e-01 5.43032631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.07, Y:60.80, Z:0.06 [[ 6.82026368e-01 -7.31326919e-01 -9.85088069e-04 2.34071713e+02] [ 7.31326124e-01 6.82027080e-01 -1.07851986e-03 6.07983663e+01] [ 1.46060735e-03 1.51583476e-05 9.99998933e-01 5.55340025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:60.82, Z:0.06 [[ 6.80598653e-01 -7.32655788e-01 -9.84858314e-04 2.34086954e+02] [ 7.32654994e-01 6.80599365e-01 -1.07872963e-03 6.08228335e+01] [ 1.46063145e-03 1.26205682e-05 9.99998933e-01 5.62063826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:60.84, Z:0.05 [[ 6.79724496e-01 -7.33466863e-01 -9.84655140e-04 2.34102598e+02] [ 7.33466070e-01 6.79725209e-01 -1.07891505e-03 6.08449822e+01] [ 1.46064336e-03 1.11538530e-05 9.99998933e-01 5.47141721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:234.12, Y:60.87, Z:0.06 [[ 6.79157165e-01 -7.33992218e-01 -9.84439842e-04 2.34119123e+02] [ 7.33991425e-01 6.79157878e-01 -1.07911146e-03 6.08669743e+01] [ 1.46064949e-03 1.03158768e-05 9.99998933e-01 5.60854375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:234.14, Y:60.89, Z:0.06 [[ 6.78431410e-01 -7.34663088e-01 -9.84224318e-04 2.34135823e+02] [ 7.34662295e-01 6.78432124e-01 -1.07930800e-03 6.08888620e+01] [ 1.46065714e-03 9.16394943e-06 9.99998933e-01 5.69831355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:234.15, Y:60.91, Z:0.06 [[ 6.77075522e-01 -7.35912882e-01 -9.83999930e-04 2.34151316e+02] [ 7.35912090e-01 6.77076237e-01 -1.07951253e-03 6.09123189e+01] [ 1.46067015e-03 6.77406529e-06 9.99998933e-01 5.70770340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:60.94, Z:0.06 [[ 6.75501590e-01 -7.37357874e-01 -9.83795320e-04 2.34167726e+02] [ 7.37357083e-01 6.75502307e-01 -1.07969897e-03 6.09355718e+01] [ 1.46068054e-03 3.92992151e-06 9.99998933e-01 5.65928591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:234.19, Y:60.96, Z:0.06 [[ 6.74651292e-01 -7.38135941e-01 -9.83591331e-04 2.34185400e+02] [ 7.38135151e-01 6.74652009e-01 -1.07988477e-03 6.09575398e+01] [ 1.46068362e-03 2.52231757e-06 9.99998933e-01 5.94493981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:60.98, Z:0.06 [[ 6.73685387e-01 -7.39017613e-01 -9.83382756e-04 2.34202954e+02] [ 7.39016824e-01 6.73686105e-01 -1.08007467e-03 6.09799473e+01] [ 1.46068550e-03 8.94120639e-07 9.99998933e-01 5.89339812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:61.00, Z:0.06 [[ 6.72333976e-01 -7.40247295e-01 -9.83172522e-04 2.34218125e+02] [ 7.40246507e-01 6.72334695e-01 -1.08026601e-03 6.10025426e+01] [ 1.46068499e-03 -1.49048547e-06 9.99998933e-01 5.88392600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:61.02, Z:0.06 [[ 6.71836678e-01 -7.40698665e-01 -9.82950868e-04 2.34235162e+02] [ 7.40697877e-01 6.71837397e-01 -1.08046766e-03 6.10242813e+01] [ 1.46068410e-03 -2.17182071e-06 9.99998933e-01 5.95652053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:234.25, Y:61.05, Z:0.06 [[ 6.71415197e-01 -7.41080743e-01 -9.82744465e-04 2.34251382e+02] [ 7.41079955e-01 6.71415916e-01 -1.08065536e-03 6.10455714e+01] [ 1.46068315e-03 -2.72379468e-06 9.99998933e-01 5.95015306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.27, Y:61.07, Z:0.06 [[ 6.71166594e-01 -7.41305900e-01 -9.82530096e-04 2.34269344e+02] [ 7.41305112e-01 6.71167314e-01 -1.08085023e-03 6.10676074e+01] [ 1.46068274e-03 -2.92401765e-06 9.99998933e-01 5.74992522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:61.09, Z:0.06 [[ 6.70768583e-01 -7.41666059e-01 -9.82324184e-04 2.34284716e+02] [ 7.41665271e-01 6.70769302e-01 -1.08103734e-03 6.10902997e+01] [ 1.46068161e-03 -3.42984968e-06 9.99998933e-01 5.54136135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.30, Y:61.11, Z:0.06 [[ 6.70404411e-01 -7.41995257e-01 -9.82111082e-04 2.34301246e+02] [ 7.41994469e-01 6.70405131e-01 -1.08123090e-03 6.11112884e+01] [ 1.46068051e-03 -3.85902378e-06 9.99998933e-01 5.56122567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:234.32, Y:61.13, Z:0.06 [[ 6.69824777e-01 -7.42518555e-01 -9.81961661e-04 2.34318821e+02] [ 7.42517767e-01 6.69825496e-01 -1.08136659e-03 6.11333694e+01] [ 1.46067771e-03 -4.79784736e-06 9.99998933e-01 5.57372754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.34, Y:61.16, Z:0.06 [[ 6.68881033e-01 -7.43368819e-01 -9.81762741e-04 2.34335821e+02] [ 7.43368032e-01 6.68881753e-01 -1.08154716e-03 6.11562726e+01] [ 1.46067161e-03 -6.38465762e-06 9.99998933e-01 5.68891503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:61.18, Z:0.06 [[ 6.68428866e-01 -7.43775429e-01 -9.81560491e-04 2.34353658e+02] [ 7.43774642e-01 6.68429586e-01 -1.08173068e-03 6.11779969e+01] [ 1.46066877e-03 -6.99979367e-06 9.99998933e-01 5.71659628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:61.20, Z:0.06 [[ 6.67849554e-01 -7.44295647e-01 -9.81354035e-04 2.34368606e+02] [ 7.44294861e-01 6.67850275e-01 -1.08191794e-03 6.12006492e+01] [ 1.46066438e-03 -7.85834889e-06 9.99998933e-01 5.80152372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:234.39, Y:61.22, Z:0.06 [[ 6.67829334e-01 -7.44313790e-01 -9.81136653e-04 2.34386319e+02] [ 7.44313003e-01 6.67830055e-01 -1.08211504e-03 6.12228492e+01] [ 1.46066569e-03 -7.60460251e-06 9.99998933e-01 6.01862482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:61.25, Z:0.06 [[ 6.67419199e-01 -7.44681577e-01 -9.81011590e-04 2.34402400e+02] [ 7.44680790e-01 6.67419920e-01 -1.08222841e-03 6.12455015e+01] [ 1.46066223e-03 -8.24047012e-06 9.99998933e-01 5.96270957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.42, Y:61.27, Z:0.06 [[ 6.67410612e-01 -7.44689272e-01 -9.80810779e-04 2.34419560e+02] [ 7.44688486e-01 6.67411333e-01 -1.08241037e-03 6.12670443e+01] [ 1.46066362e-03 -7.98632737e-06 9.99998933e-01 6.01108850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.44, Y:61.29, Z:0.06 [[ 6.66934001e-01 -7.45116149e-01 -9.80609187e-04 2.34435703e+02] [ 7.45115363e-01 6.66934722e-01 -1.08259297e-03 6.12898384e+01] [ 1.46065982e-03 -8.64890989e-06 9.99998933e-01 5.78609023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:234.45, Y:61.31, Z:0.06 [[ 6.66479086e-01 -7.45523083e-01 -9.80406811e-04 2.34454093e+02] [ 7.45522296e-01 6.66479807e-01 -1.08277621e-03 6.13115120e+01] [ 1.46065600e-03 -9.26743681e-06 9.99998933e-01 5.92113355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.47, Y:61.33, Z:0.05 [[ 6.64944183e-01 -7.46892411e-01 -9.80194402e-04 2.34471478e+02] [ 7.46891626e-01 6.64944905e-01 -1.08296846e-03 6.13321465e+01] [ 1.46063620e-03 -1.19854113e-05 9.99998933e-01 5.46592899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.49, Y:61.35, Z:0.06 [[ 6.64114982e-01 -7.47629808e-01 -9.80039727e-04 2.34489510e+02] [ 7.47629024e-01 6.64115705e-01 -1.08310842e-03 6.13530968e+01] [ 1.46062391e-03 -1.33976150e-05 9.99998933e-01 5.54120376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.51, Y:61.37, Z:0.06 [[ 6.63304292e-01 -7.48349154e-01 -9.79834014e-04 2.34508032e+02] [ 7.48348370e-01 6.63305016e-01 -1.08329449e-03 6.13740175e+01] [ 1.46061133e-03 -1.47033047e-05 9.99998933e-01 5.74390670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:234.53, Y:61.39, Z:0.06 [[ 6.63104530e-01 -7.48526167e-01 -9.79625897e-04 2.34525927e+02] [ 7.48525383e-01 6.63105253e-01 -1.08348265e-03 6.13941612e+01] [ 1.46061020e-03 -1.48125945e-05 9.99998933e-01 5.84803031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:234.54, Y:61.41, Z:0.06 [[ 6.63066740e-01 -7.48559643e-01 -9.79473074e-04 2.34543763e+02] [ 7.48558859e-01 6.63067463e-01 -1.08362079e-03 6.14144788e+01] [ 1.46061152e-03 -1.46803426e-05 9.99998933e-01 5.83457996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:234.56, Y:61.44, Z:0.06 [[ 6.63080902e-01 -7.48547099e-01 -9.79322927e-04 2.34562245e+02] [ 7.48546314e-01 6.63081625e-01 -1.08375647e-03 6.14357762e+01] [ 1.46061380e-03 -1.44503521e-05 9.99998933e-01 6.02232561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:234.58, Y:61.46, Z:0.06 [[ 6.63643650e-01 -7.48048225e-01 -9.79114495e-04 2.34579604e+02] [ 7.48047440e-01 6.63644372e-01 -1.08394474e-03 6.14560398e+01] [ 1.46062676e-03 -1.30710474e-05 9.99998933e-01 5.65429556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:234.60, Y:61.48, Z:0.06 [[ 6.64226698e-01 -7.47530558e-01 -9.78894282e-04 2.34597609e+02] [ 7.47529772e-01 6.64227419e-01 -1.08414358e-03 6.14770089e+01] [ 1.46063888e-03 -1.16355121e-05 9.99998933e-01 5.74280000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:234.61, Y:61.50, Z:0.06 [[ 6.65946300e-01 -7.45999040e-01 -9.78686919e-04 2.34614177e+02] [ 7.45998252e-01 6.65947019e-01 -1.08433074e-03 6.14982458e+01] [ 1.46066332e-03 -7.99268904e-06 9.99998933e-01 5.73121128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:234.63, Y:61.52, Z:0.06 [[ 6.66979202e-01 -7.45075692e-01 -9.78467353e-04 2.34632650e+02] [ 7.45074903e-01 6.66979920e-01 -1.08452883e-03 6.15197991e+01] [ 1.46067414e-03 -5.67329393e-06 9.99998933e-01 5.89385852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:234.65, Y:61.54, Z:0.06 [[ 6.68070743e-01 -7.44097120e-01 -9.78255233e-04 2.34650542e+02] [ 7.44096330e-01 6.68071460e-01 -1.08472013e-03 6.15402114e+01] [ 1.46068153e-03 -3.24634424e-06 9.99998933e-01 5.77041346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:234.67, Y:61.56, Z:0.06 [[ 6.69977442e-01 -7.42380813e-01 -9.78099457e-04 2.34669531e+02] [ 7.42380020e-01 6.69978156e-01 -1.08486058e-03 6.15612861e+01] [ 1.46068495e-03 7.10618612e-07 9.99998933e-01 5.96488734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91587156 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:234.69, Y:61.58, Z:0.06 [[ 6.70775853e-01 -7.41659490e-01 -9.77889728e-04 2.34686749e+02] [ 7.41658696e-01 6.70776566e-01 -1.08504959e-03 6.15829145e+01] [ 1.46068284e-03 2.56464460e-06 9.99998933e-01 6.08089981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:234.70, Y:61.60, Z:0.06 [[ 6.70676221e-01 -7.41749588e-01 -9.77680734e-04 2.34703917e+02] [ 7.41748794e-01 6.70676934e-01 -1.08523787e-03 6.16036456e+01] [ 1.46068266e-03 2.64973006e-06 9.99998933e-01 6.09154751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97587156000003 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:234.72, Y:61.62, Z:0.06 [[ 6.69581323e-01 -7.42738108e-01 -9.77527664e-04 2.34722016e+02] [ 7.42737315e-01 6.69582036e-01 -1.08537573e-03 6.16247547e+01] [ 1.46068488e-03 7.01047580e-07 9.99998933e-01 6.21147699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:234.74, Y:61.64, Z:0.06 [[ 6.68724748e-01 -7.43509419e-01 -9.77318991e-04 2.34739920e+02] [ 7.43508626e-01 6.68725463e-01 -1.08556360e-03 6.16446633e+01] [ 1.46068485e-03 -7.01855394e-07 9.99998933e-01 6.22757105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03587156000003 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:234.76, Y:61.67, Z:0.06 [[ 6.68038360e-01 -7.44126196e-01 -9.77097438e-04 2.34759053e+02] [ 7.44125404e-01 6.68039074e-01 -1.08576298e-03 6.16651255e+01] [ 1.46068394e-03 -1.75170594e-06 9.99998933e-01 6.23172583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587156 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:234.78, Y:61.68, Z:0.06 [[ 6.67251480e-01 -7.44831865e-01 -9.76892084e-04 2.34778660e+02] [ 7.44831074e-01 6.67252195e-01 -1.08594771e-03 6.16835519e+01] [ 1.46068185e-03 -3.01936239e-06 9.99998933e-01 6.14225074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09587156 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:234.80, Y:61.70, Z:0.06 [[ 6.67488076e-01 -7.44619846e-01 -9.76674407e-04 2.34797965e+02] [ 7.44619054e-01 6.67488790e-01 -1.08614345e-03 6.17033690e+01] [ 1.46068319e-03 -2.26257273e-06 9.99998933e-01 6.10439750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587156 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:234.82, Y:61.72, Z:0.06 [[ 6.68044115e-01 -7.44121030e-01 -9.76471874e-04 2.34816713e+02] [ 7.44120237e-01 6.68044829e-01 -1.08632550e-03 6.17246281e+01] [ 1.46068464e-03 -8.99125022e-07 9.99998933e-01 6.10023069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15587156 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:234.84, Y:61.75, Z:0.06 [[ 6.68637120e-01 -7.43588226e-01 -9.76268368e-04 2.34835344e+02] [ 7.43587432e-01 6.68637832e-01 -1.08650836e-03 6.17458252e+01] [ 1.46068479e-03 5.38929593e-07 9.99998933e-01 6.13590143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587156 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:234.85, Y:61.77, Z:0.06 [[ 6.70773820e-01 -7.41661331e-01 -9.76061070e-04 2.34853942e+02] [ 7.41660535e-01 6.70774530e-01 -1.08669455e-03 6.17654628e+01] [ 1.46067623e-03 5.02027973e-06 9.99998933e-01 6.09950252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21587156 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:234.87, Y:61.79, Z:0.06 [[ 6.73154847e-01 -7.39500912e-01 -9.75841302e-04 2.34872746e+02] [ 7.39500114e-01 6.73155555e-01 -1.08689187e-03 6.17855944e+01] [ 1.46065052e-03 1.00117742e-05 9.99998933e-01 6.15737182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587156 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:234.89, Y:61.81, Z:0.06 [[ 6.73942708e-01 -7.38782969e-01 -9.75641062e-04 2.34890327e+02] [ 7.38782169e-01 6.73943414e-01 -1.08707158e-03 6.18072946e+01] [ 1.46063684e-03 1.18377427e-05 9.99998933e-01 6.14843694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27587156 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:234.91, Y:61.83, Z:0.06 [[ 6.74899942e-01 -7.37908610e-01 -9.75429218e-04 2.34908166e+02] [ 7.37907809e-01 6.74900647e-01 -1.08726163e-03 6.18286521e+01] [ 1.46061753e-03 1.40159773e-05 9.99998933e-01 6.19374945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587156 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:234.93, Y:61.85, Z:0.06 [[ 6.76434838e-01 -7.36501839e-01 -9.75216905e-04 2.34925560e+02] [ 7.36501037e-01 6.76435541e-01 -1.08745203e-03 6.18497549e+01] [ 1.46058180e-03 1.73421792e-05 9.99998933e-01 6.23370951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33587156 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:234.94, Y:61.87, Z:0.06 [[ 6.77135089e-01 -7.35858084e-01 -9.74992040e-04 2.34943837e+02] [ 7.35857281e-01 6.77135791e-01 -1.08765361e-03 6.18697608e+01] [ 1.46056071e-03 1.90334314e-05 9.99998933e-01 6.34194937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587156 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:234.96, Y:61.89, Z:0.06 [[ 6.77805257e-01 -7.35240834e-01 -9.74771275e-04 2.34961900e+02] [ 7.35240029e-01 6.77805957e-01 -1.08785142e-03 6.18908767e+01] [ 1.46053857e-03 2.06605528e-05 9.99998933e-01 6.26966320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39587156 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:234.98, Y:61.91, Z:0.06 [[ 6.78032505e-01 -7.35031273e-01 -9.74561864e-04 2.34979338e+02] [ 7.35030468e-01 6.78033205e-01 -1.08803899e-03 6.19112603e+01] [ 1.46052799e-03 2.13931430e-05 9.99998933e-01 6.28853207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587156 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:235.00, Y:61.93, Z:0.06 [[ 6.77848000e-01 -7.35201428e-01 -9.74341994e-04 2.34995913e+02] [ 7.35200623e-01 6.77848700e-01 -1.08823585e-03 6.19321034e+01] [ 1.46052901e-03 2.13216557e-05 9.99998933e-01 6.15317257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45587156 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:235.01, Y:61.95, Z:0.06 [[ 6.77516236e-01 -7.35507173e-01 -9.74194060e-04 2.35013368e+02] [ 7.35506368e-01 6.77516936e-01 -1.08836827e-03 6.19533812e+01] [ 1.46053564e-03 2.08612364e-05 9.99998933e-01 6.25610747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587156 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:235.03, Y:61.98, Z:0.06 [[ 6.77301297e-01 -7.35705107e-01 -9.73988366e-04 2.35030741e+02] [ 7.35704302e-01 6.77301997e-01 -1.08855231e-03 6.19751629e+01] [ 1.46053776e-03 2.07104627e-05 9.99998933e-01 6.25011212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51587156 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:235.05, Y:62.00, Z:0.06 [[ 6.77158817e-01 -7.35836251e-01 -9.73778311e-04 2.35049577e+02] [ 7.35835446e-01 6.77159517e-01 -1.08874019e-03 6.19965079e+01] [ 1.46053775e-03 2.07094201e-05 9.99998933e-01 6.25427246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587156 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:235.07, Y:62.02, Z:0.06 [[ 6.76972911e-01 -7.36007289e-01 -9.73567443e-04 2.35067451e+02] [ 7.36006484e-01 6.76973611e-01 -1.08892872e-03 6.20172517e+01] [ 1.46053894e-03 2.06232937e-05 9.99998933e-01 6.01326471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57587156 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:235.08, Y:62.04, Z:0.06 [[ 6.76883686e-01 -7.36089348e-01 -9.73344590e-04 2.35084410e+02] [ 7.36088543e-01 6.76884385e-01 -1.08912788e-03 6.20392077e+01] [ 1.46053719e-03 2.07450923e-05 9.99998933e-01 6.10236029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587156 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:235.10, Y:62.06, Z:0.06 [[ 6.76843241e-01 -7.36126538e-01 -9.73144497e-04 2.35101780e+02] [ 7.36125732e-01 6.76843940e-01 -1.08930663e-03 6.20604977e+01] [ 1.46053448e-03 2.09331281e-05 9.99998933e-01 5.97436765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63587156 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:235.12, Y:62.08, Z:0.06 [[ 6.77200944e-01 -7.35797482e-01 -9.72933523e-04 2.35118352e+02] [ 7.35796676e-01 6.77201643e-01 -1.08949504e-03 6.20834029e+01] [ 1.46051989e-03 2.19258160e-05 9.99998933e-01 6.09181269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587156 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:235.14, Y:62.11, Z:0.06 [[ 6.77564444e-01 -7.35462765e-01 -9.72727615e-04 2.35135547e+02] [ 7.35461958e-01 6.77565142e-01 -1.08967885e-03 6.21050378e+01] [ 1.46050454e-03 2.29234849e-05 9.99998933e-01 6.11026370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69587156 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:235.15, Y:62.13, Z:0.06 [[ 6.78288888e-01 -7.34794691e-01 -9.72521859e-04 2.35152226e+02] [ 7.34793884e-01 6.78289585e-01 -1.08986245e-03 6.21277908e+01] [ 1.46047659e-03 2.46384756e-05 9.99998933e-01 6.11994154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156000003 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:235.17, Y:62.15, Z:0.06 [[ 6.78550372e-01 -7.34553230e-01 -9.72311127e-04 2.35169579e+02] [ 7.34552422e-01 6.78551068e-01 -1.09005042e-03 6.21488817e+01] [ 1.46046281e-03 2.54406234e-05 9.99998933e-01 5.81118261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75587156 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:235.19, Y:62.17, Z:0.06 [[ 6.78575875e-01 -7.34529670e-01 -9.72089087e-04 2.35186824e+02] [ 7.34528862e-01 6.78576571e-01 -1.09024839e-03 6.21715474e+01] [ 1.46045667e-03 2.57887679e-05 9.99998933e-01 5.92913638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156000003 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:235.20, Y:62.19, Z:0.06 [[ 6.78359899e-01 -7.34729136e-01 -9.71879862e-04 2.35204225e+02] [ 7.34728327e-01 6.78360594e-01 -1.09043487e-03 6.21930064e+01] [ 1.46045927e-03 2.56396244e-05 9.99998933e-01 5.96067897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81587156 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:235.22, Y:62.21, Z:0.06 [[ 6.77654358e-01 -7.35379920e-01 -9.71680335e-04 2.35220280e+02] [ 7.35379112e-01 6.77655054e-01 -1.09061264e-03 6.22146854e+01] [ 1.46047873e-03 2.45049875e-05 9.99998933e-01 5.95632716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:235.24, Y:62.24, Z:0.06 [[ 6.76910172e-01 -7.36064994e-01 -9.71453975e-04 2.35237436e+02] [ 7.36064186e-01 6.76910869e-01 -1.09081423e-03 6.22367341e+01] [ 1.46049793e-03 2.33307698e-05 9.99998933e-01 5.89311530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87587156 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:235.25, Y:62.26, Z:0.06 [[ 6.75720123e-01 -7.37157630e-01 -9.71246010e-04 2.35253757e+02] [ 7.37156823e-01 6.75720821e-01 -1.09099937e-03 6.22590436e+01] [ 1.46052966e-03 2.12496043e-05 9.99998933e-01 5.90935206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:235.27, Y:62.28, Z:0.06 [[ 6.75134928e-01 -7.37693626e-01 -9.71039259e-04 2.35271288e+02] [ 7.37692819e-01 6.75135626e-01 -1.09118336e-03 6.22809349e+01] [ 1.46054221e-03 2.03673082e-05 9.99998933e-01 6.09878106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93587156 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:235.29, Y:62.30, Z:0.06 [[ 6.73833323e-01 -7.38882744e-01 -9.70830740e-04 2.35287670e+02] [ 7.38881939e-01 6.73834022e-01 -1.09136885e-03 6.23038014e+01] [ 1.46057239e-03 1.80713973e-05 9.99998933e-01 6.10340443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:235.31, Y:62.33, Z:0.06 [[ 6.73224384e-01 -7.39437615e-01 -9.70622824e-04 2.35305318e+02] [ 7.39436810e-01 6.73225084e-01 -1.09155373e-03 6.23255823e+01] [ 1.46058352e-03 1.71463414e-05 9.99998933e-01 6.10008664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99587156 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:235.32, Y:62.35, Z:0.06 [[ 6.72630425e-01 -7.39977953e-01 -9.70414649e-04 2.35320836e+02] [ 7.39977147e-01 6.72631124e-01 -1.09173877e-03 6.23479471e+01] [ 1.46059371e-03 1.62520476e-05 9.99998933e-01 6.12104746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:235.34, Y:62.37, Z:0.06 [[ 6.71974012e-01 -7.40574092e-01 -9.70195058e-04 2.35337889e+02] [ 7.40573287e-01 6.71974712e-01 -1.09193388e-03 6.23698943e+01] [ 1.46060448e-03 1.52506445e-05 9.99998933e-01 6.20512435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05587156 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:235.36, Y:62.39, Z:0.06 [[ 6.70412387e-01 -7.41988066e-01 -9.69985510e-04 2.35355291e+02] [ 7.41987263e-01 6.70413089e-01 -1.09211999e-03 6.23922045e+01] [ 1.46063098e-03 1.24538768e-05 9.99998933e-01 6.29516026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:235.37, Y:62.41, Z:0.06 [[ 6.69082402e-01 -7.43187594e-01 -9.69773166e-04 2.35372771e+02] [ 7.43186791e-01 6.69083104e-01 -1.09230851e-03 6.24134363e+01] [ 1.46064898e-03 1.01217968e-05 9.99998933e-01 6.24610058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11587156 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:235.39, Y:62.43, Z:0.06 [[ 6.65970947e-01 -7.45977049e-01 -9.69562282e-04 2.35389312e+02] [ 7.45976249e-01 6.65971653e-01 -1.09249567e-03 6.24346579e+01] [ 1.46067769e-03 4.29993973e-06 9.99998933e-01 6.24457232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:235.41, Y:62.46, Z:0.06 [[ 6.63889117e-01 -7.47830396e-01 -9.69339927e-04 2.35407530e+02] [ 7.47829598e-01 6.63889825e-01 -1.09269292e-03 6.24557241e+01] [ 1.46068389e-03 5.25851636e-07 9.99998933e-01 6.06815858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17587156 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:235.43, Y:62.47, Z:0.06 [[ 6.59232646e-01 -7.51938415e-01 -9.69132256e-04 2.35426224e+02] [ 7.51937621e-01 6.59233358e-01 -1.09287708e-03 6.24746034e+01] [ 1.46066057e-03 -8.26675491e-06 9.99998933e-01 6.00933194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:235.45, Y:62.50, Z:0.06 [[ 6.56801153e-01 -7.54063198e-01 -9.68980559e-04 2.35445420e+02] [ 7.54062406e-01 6.56801868e-01 -1.09301156e-03 6.24951255e+01] [ 1.46062803e-03 -1.27805584e-05 9.99998933e-01 6.03483576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23587156 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:235.46, Y:62.51, Z:0.06 [[ 6.52336641e-01 -7.57928736e-01 -9.68776267e-04 2.35464663e+02] [ 7.57927948e-01 6.52337360e-01 -1.09319260e-03 6.25149656e+01] [ 1.46053104e-03 -2.11330181e-05 9.99998933e-01 6.04680664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:235.48, Y:62.53, Z:0.06 [[ 6.50182978e-01 -7.59777045e-01 -9.68573570e-04 2.35483954e+02] [ 7.59776258e-01 6.50183699e-01 -1.09337216e-03 6.25348855e+01] [ 1.46046982e-03 -2.50072335e-05 9.99998933e-01 5.97526051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29587156 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:235.50, Y:62.55, Z:0.06 [[ 6.46313987e-01 -7.63070962e-01 -9.68372120e-04 2.35504379e+02] [ 7.63070179e-01 6.46314711e-01 -1.09355055e-03 6.25534689e+01] [ 1.46032982e-03 -3.21588688e-05 9.99998933e-01 5.76221675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:235.52, Y:62.57, Z:0.06 [[ 6.44571560e-01 -7.64543371e-01 -9.68224376e-04 2.35522266e+02] [ 7.64542590e-01 6.44572286e-01 -1.09368135e-03 6.25725894e+01] [ 1.46025743e-03 -3.52928780e-05 9.99998933e-01 5.76997471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35587156 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:235.54, Y:62.59, Z:0.06 [[ 6.42342855e-01 -7.66416806e-01 -9.67994776e-04 2.35542830e+02] [ 7.66416026e-01 6.42343583e-01 -1.09388453e-03 6.25918547e+01] [ 1.46015672e-03 -3.92378006e-05 9.99998933e-01 5.89975314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:235.56, Y:62.61, Z:0.06 [[ 6.41538163e-01 -7.67090508e-01 -9.67793730e-04 2.35562879e+02] [ 7.67089729e-01 6.41538892e-01 -1.09406237e-03 6.26113171e+01] [ 1.46012218e-03 -4.05018676e-05 9.99998933e-01 6.03375861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41587156 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:235.58, Y:62.63, Z:0.06 [[ 6.41552221e-01 -7.67078752e-01 -9.67590871e-04 2.35583963e+02] [ 7.67077972e-01 6.41552950e-01 -1.09424175e-03 6.26280537e+01] [ 1.46013037e-03 -4.02044193e-05 9.99998933e-01 6.12280074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:235.60, Y:62.65, Z:0.06 [[ 6.42262448e-01 -7.66484189e-01 -9.67376624e-04 2.35603995e+02] [ 7.66483409e-01 6.42263175e-01 -1.09443112e-03 6.26477792e+01] [ 1.46017453e-03 -3.85661208e-05 9.99998933e-01 6.13007092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47587156000003 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:235.63, Y:62.67, Z:0.06 [[ 6.44620852e-01 -7.64501813e-01 -9.67173271e-04 2.35626227e+02] [ 7.64501030e-01 6.44621577e-01 -1.09461080e-03 6.26660637e+01] [ 1.46029270e-03 -3.37960140e-05 9.99998933e-01 6.04882597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:235.65, Y:62.69, Z:0.06 [[ 6.46245446e-01 -7.63129012e-01 -9.66960086e-04 2.35645550e+02] [ 7.63128227e-01 6.46246169e-01 -1.09479909e-03 6.26852792e+01] [ 1.46036720e-03 -3.04056075e-05 9.99998933e-01 5.96730100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53587156000003 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:235.67, Y:62.70, Z:0.06 [[ 6.50114703e-01 -7.59835468e-01 -9.66734198e-04 2.35665558e+02] [ 7.59834679e-01 6.50115421e-01 -1.09499852e-03 6.27039466e+01] [ 1.46050752e-03 -2.26835310e-05 9.99998933e-01 5.85012397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587156 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:235.69, Y:62.72, Z:0.06 [[ 6.52008498e-01 -7.58211042e-01 -9.66510143e-04 2.35685213e+02] [ 7.58210252e-01 6.52009214e-01 -1.09519625e-03 6.27240121e+01] [ 1.46056341e-03 -1.87406374e-05 9.99998933e-01 5.74096733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59587156 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:235.71, Y:62.74, Z:0.06 [[ 6.55841273e-01 -7.54898199e-01 -9.66312498e-04 2.35705521e+02] [ 7.54897405e-01 6.55841984e-01 -1.09537061e-03 6.27407800e+01] [ 1.46064161e-03 -1.10775440e-05 9.99998933e-01 5.61349003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587156 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:235.73, Y:62.76, Z:0.06 [[ 6.57485150e-01 -7.53466883e-01 -9.66090529e-04 2.35725798e+02] [ 7.53466087e-01 6.57485860e-01 -1.09556634e-03 6.27607127e+01] [ 1.46066382e-03 -7.59784903e-06 9.99998933e-01 5.98451763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65587156 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:235.75, Y:62.78, Z:0.06 [[ 6.60629076e-01 -7.50711856e-01 -9.65882004e-04 2.35745545e+02] [ 7.50711056e-01 6.60629782e-01 -1.09575015e-03 6.27789182e+01] [ 1.46068305e-03 -1.21388695e-06 9.99998933e-01 5.93045827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587156 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:235.76, Y:62.80, Z:0.06 [[ 6.61848725e-01 -7.49636801e-01 -9.65675204e-04 2.35763922e+02] [ 7.49635999e-01 6.61849429e-01 -1.09593238e-03 6.27980945e+01] [ 1.46068282e-03 1.43654913e-06 9.99998933e-01 5.63939803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71587156 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:235.78, Y:62.82, Z:0.05 [[ 6.62849474e-01 -7.48752057e-01 -9.65455884e-04 2.35782518e+02] [ 7.48751255e-01 6.62850177e-01 -1.09612555e-03 6.28175586e+01] [ 1.46067886e-03 3.67993944e-06 9.99998933e-01 5.48722813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587156 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:235.80, Y:62.84, Z:0.06 [[ 6.64485049e-01 -7.47300936e-01 -9.65254538e-04 2.35802121e+02] [ 7.47300132e-01 6.64485750e-01 -1.09630283e-03 6.28363364e+01] [ 1.46066601e-03 7.14199430e-06 9.99998933e-01 5.58203310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77587156 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:235.82, Y:62.86, Z:0.06 [[ 6.65079049e-01 -7.46772340e-01 -9.65035509e-04 2.35821228e+02] [ 7.46771535e-01 6.65079749e-01 -1.09649560e-03 6.28562119e+01] [ 1.46065816e-03 8.59520070e-06 9.99998933e-01 5.70674543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587156 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:235.84, Y:62.88, Z:0.06 [[ 6.66245590e-01 -7.45731777e-01 -9.64828465e-04 2.35841688e+02] [ 7.45730971e-01 6.66246288e-01 -1.09667775e-03 6.28753346e+01] [ 1.46064083e-03 1.11542456e-05 9.99998933e-01 5.85795644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83587156 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:235.86, Y:62.90, Z:0.06 [[ 6.67048968e-01 -7.45013251e-01 -9.64621303e-04 2.35860419e+02] [ 7.45012444e-01 6.67049665e-01 -1.09685994e-03 6.28956553e+01] [ 1.46062550e-03 1.30044130e-05 9.99998933e-01 5.72479974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587156 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:235.88, Y:62.91, Z:0.06 [[ 6.68635545e-01 -7.43589657e-01 -9.64413030e-04 2.35878872e+02] [ 7.43588848e-01 6.68636240e-01 -1.09704303e-03 6.29149146e+01] [ 1.46059135e-03 1.63951896e-05 9.99998933e-01 5.73314689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89587156 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:235.90, Y:62.94, Z:0.06 [[ 6.69225520e-01 -7.43058728e-01 -9.64192212e-04 2.35897647e+02] [ 7.43057918e-01 6.69226214e-01 -1.09723707e-03 6.29357415e+01] [ 1.46057429e-03 1.78483920e-05 9.99998933e-01 5.80618596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587156 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:235.92, Y:62.96, Z:0.06 [[ 6.69643889e-01 -7.42681717e-01 -9.63987941e-04 2.35916083e+02] [ 7.42680907e-01 6.69644582e-01 -1.09741651e-03 6.29566974e+01] [ 1.46056048e-03 1.89428184e-05 9.99998933e-01 6.10464493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:235.93, Y:62.98, Z:0.06 [[ 6.69586837e-01 -7.42733154e-01 -9.63782125e-04 2.35934428e+02] [ 7.42732344e-01 6.69587531e-01 -1.09759723e-03 6.29776681e+01] [ 1.46055835e-03 1.91045011e-05 9.99998933e-01 5.99902768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587156 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:235.95, Y:63.00, Z:0.06 [[ 6.68725165e-01 -7.43509062e-01 -9.63577888e-04 2.35953528e+02] [ 7.43508251e-01 6.68725859e-01 -1.09777650e-03 6.29973764e+01] [ 1.46057623e-03 1.76826610e-05 9.99998933e-01 5.98177465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01587156 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:235.97, Y:63.02, Z:0.06 [[ 6.68190914e-01 -7.43989230e-01 -9.63362117e-04 2.35971269e+02] [ 7.43988420e-01 6.68191608e-01 -1.09796582e-03 6.30166342e+01] [ 1.46058523e-03 1.69205235e-05 9.99998933e-01 5.95172980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587156 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:235.99, Y:63.04, Z:0.06 [[ 6.67168964e-01 -7.44905796e-01 -9.63121967e-04 2.35989724e+02] [ 7.44904987e-01 6.67169659e-01 -1.09817643e-03 6.30379825e+01] [ 1.46060375e-03 1.52348783e-05 9.99998933e-01 6.11311613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07587156 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:236.01, Y:63.06, Z:0.06 [[ 6.66768289e-01 -7.45264464e-01 -9.62914522e-04 2.36007699e+02] [ 7.45263655e-01 6.66768984e-01 -1.09835830e-03 6.30579988e+01] [ 1.46060895e-03 1.47252876e-05 9.99998933e-01 5.92629312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:236.03, Y:63.08, Z:0.06 [[ 6.66586514e-01 -7.45427054e-01 -9.62695421e-04 2.36025328e+02] [ 7.45426244e-01 6.66587209e-01 -1.09855030e-03 6.30772770e+01] [ 1.46060957e-03 1.46603855e-05 9.99998933e-01 5.89586491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13587156 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:236.04, Y:63.10, Z:0.06 [[ 6.66662519e-01 -7.45359081e-01 -9.62518397e-04 2.36042219e+02] [ 7.45358271e-01 6.66663213e-01 -1.09870539e-03 6.30979219e+01] [ 1.46060564e-03 1.50446515e-05 9.99998933e-01 6.12488573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587156 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:236.06, Y:63.12, Z:0.06 [[ 6.67199244e-01 -7.44878677e-01 -9.62296973e-04 2.36057967e+02] [ 7.44877867e-01 6.67199937e-01 -1.09889929e-03 6.31184169e+01] [ 1.46059113e-03 1.63910557e-05 9.99998933e-01 6.13192934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19587156 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:236.08, Y:63.14, Z:0.06 [[ 6.67600894e-01 -7.44518717e-01 -9.62064709e-04 2.36076109e+02] [ 7.44517906e-01 6.67601587e-01 -1.09910259e-03 6.31392279e+01] [ 1.46057838e-03 1.74874687e-05 9.99998933e-01 6.03139814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156000003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:236.09, Y:63.16, Z:0.06 [[ 6.68407186e-01 -7.43794937e-01 -9.61842635e-04 2.36093976e+02] [ 7.43794125e-01 6.68407878e-01 -1.09929690e-03 6.31601417e+01] [ 1.46055466e-03 1.93650434e-05 9.99998933e-01 6.09196636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:236.11, Y:63.18, Z:0.06 [[ 6.68714974e-01 -7.43518230e-01 -9.61621734e-04 2.36110212e+02] [ 7.43517418e-01 6.68715665e-01 -1.09949010e-03 6.31803853e+01] [ 1.46054245e-03 2.02629839e-05 9.99998933e-01 5.91200619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156000003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:236.13, Y:63.20, Z:0.06 [[ 6.69946357e-01 -7.42408887e-01 -9.61389225e-04 2.36125654e+02] [ 7.42408073e-01 6.69947046e-01 -1.09969336e-03 6.32028161e+01] [ 1.46050200e-03 2.29924416e-05 9.99998933e-01 6.04571825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31587156 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:236.14, Y:63.22, Z:0.06 [[ 6.70518566e-01 -7.41892128e-01 -9.61169890e-04 2.36142006e+02] [ 7.41891313e-01 6.70519254e-01 -1.09988504e-03 6.32249094e+01] [ 1.46047897e-03 2.44097466e-05 9.99998933e-01 6.09171362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:236.16, Y:63.25, Z:0.06 [[ 6.71597857e-01 -7.40915242e-01 -9.60951221e-04 2.36157969e+02] [ 7.40914425e-01 6.71598544e-01 -1.10007605e-03 6.32487559e+01] [ 1.46043655e-03 2.68260969e-05 9.99998933e-01 6.17266189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37587156 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:236.17, Y:63.27, Z:0.06 [[ 6.71725264e-01 -7.40799734e-01 -9.60741039e-04 2.36174424e+02] [ 7.40798918e-01 6.71725951e-01 -1.10025958e-03 6.32701848e+01] [ 1.46042669e-03 2.73562375e-05 9.99998933e-01 6.10158171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:236.19, Y:63.29, Z:0.06 [[ 6.71581609e-01 -7.40929970e-01 -9.60519535e-04 2.36192394e+02] [ 7.40929153e-01 6.71582295e-01 -1.10045292e-03 6.32911807e+01] [ 1.46042646e-03 2.73670168e-05 9.99998933e-01 6.10562020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43587156 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.21, Y:63.32, Z:0.06 [[ 6.71432364e-01 -7.41065218e-01 -9.60306118e-04 2.36206731e+02] [ 7.41064402e-01 6.71433050e-01 -1.10063913e-03 6.33152900e+01] [ 1.46042664e-03 2.73560520e-05 9.99998933e-01 6.06265238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:236.22, Y:63.34, Z:0.06 [[ 6.70923067e-01 -7.41526342e-01 -9.60084074e-04 2.36221970e+02] [ 7.41525525e-01 6.70923754e-01 -1.10083278e-03 6.33365809e+01] [ 1.46043972e-03 2.66472577e-05 9.99998933e-01 5.95193184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49587156 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:236.24, Y:63.36, Z:0.06 [[ 6.68709952e-01 -7.43522750e-01 -9.59851282e-04 2.36237811e+02] [ 7.43521935e-01 6.68710640e-01 -1.10103572e-03 6.33593510e+01] [ 1.46050787e-03 2.26030619e-05 9.99998933e-01 5.96789528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:236.26, Y:63.38, Z:0.06 [[ 6.67080181e-01 -7.44985310e-01 -9.59631456e-04 2.36255170e+02] [ 7.44984496e-01 6.67080871e-01 -1.10122728e-03 6.33809500e+01] [ 1.46054993e-03 1.96963372e-05 9.99998933e-01 6.14846528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:236.27, Y:63.40, Z:0.06 [[ 6.63340346e-01 -7.48317222e-01 -9.59417901e-04 2.36270309e+02] [ 7.48316412e-01 6.63341039e-01 -1.10141331e-03 6.34032836e+01] [ 1.46062781e-03 1.26637214e-05 9.99998933e-01 6.01250452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:236.29, Y:63.43, Z:0.06 [[ 6.61088690e-01 -7.50307153e-01 -9.59192947e-04 2.36287726e+02] [ 7.50306344e-01 6.61089386e-01 -1.10160918e-03 6.34254920e+01] [ 1.46065752e-03 8.57281347e-06 9.99998933e-01 6.17239114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61587156 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:236.30, Y:63.45, Z:0.06 [[ 6.56156868e-01 -7.54623910e-01 -9.58986681e-04 2.36304867e+02] [ 7.54623106e-01 6.56157568e-01 -1.10178871e-03 6.34479632e+01] [ 1.46068247e-03 -7.27279206e-07 9.99998933e-01 6.29371820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:236.32, Y:63.47, Z:0.06 [[ 6.53660878e-01 -7.56786983e-01 -9.58778228e-04 2.36322749e+02] [ 7.56786180e-01 6.53661581e-01 -1.10197008e-03 6.34694497e+01] [ 1.46067310e-03 -5.27538599e-06 9.99998933e-01 6.33862826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67587156 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:236.34, Y:63.49, Z:0.06 [[ 6.49044979e-01 -7.60749431e-01 -9.58565317e-04 2.36339973e+02] [ 7.60748633e-01 6.49045686e-01 -1.10215525e-03 6.34902519e+01] [ 1.46061666e-03 -1.38789251e-05 9.99998933e-01 6.23921196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:236.36, Y:63.51, Z:0.06 [[ 6.46723719e-01 -7.62723746e-01 -9.58340212e-04 2.36357529e+02] [ 7.62722950e-01 6.46724429e-01 -1.10235095e-03 6.35102837e+01] [ 1.46057127e-03 -1.80315707e-05 9.99998933e-01 6.19275924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:236.38, Y:63.53, Z:0.06 [[ 6.44778827e-01 -7.64368594e-01 -9.58119249e-04 2.36375882e+02] [ 7.64367799e-01 6.44779538e-01 -1.10254296e-03 6.35308168e+01] [ 1.46052490e-03 -2.14591421e-05 9.99998933e-01 6.19266335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:236.39, Y:63.55, Z:0.06 [[ 6.41266439e-01 -7.67317690e-01 -9.57911439e-04 2.36393976e+02] [ 7.67316898e-01 6.41267153e-01 -1.10272348e-03 6.35523574e+01] [ 1.46041638e-03 -2.78820722e-05 9.99998933e-01 6.32019418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79587156 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:236.41, Y:63.57, Z:0.06 [[ 6.39697120e-01 -7.68626487e-01 -9.57698545e-04 2.36412058e+02] [ 7.68625697e-01 6.39697836e-01 -1.10290835e-03 6.35725639e+01] [ 1.46036226e-03 -3.05844171e-05 9.99998933e-01 6.02824225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:236.43, Y:63.59, Z:0.06 [[ 6.37214073e-01 -7.70686258e-01 -9.57474032e-04 2.36432667e+02] [ 7.70685470e-01 6.37214791e-01 -1.10310322e-03 6.35919255e+01] [ 1.46026311e-03 -3.49984276e-05 9.99998933e-01 6.43811500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85587156 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:236.45, Y:63.61, Z:0.06 [[ 6.36185861e-01 -7.71535245e-01 -9.57265895e-04 2.36450977e+02] [ 7.71534457e-01 6.36186580e-01 -1.10328381e-03 6.36117502e+01] [ 1.46022206e-03 -3.66700605e-05 9.99998933e-01 6.42937082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:236.47, Y:63.63, Z:0.06 [[ 6.35142835e-01 -7.72394111e-01 -9.57045218e-04 2.36469636e+02] [ 7.72393324e-01 6.35143555e-01 -1.10347521e-03 6.36306232e+01] [ 1.46017885e-03 -3.83509666e-05 9.99998933e-01 6.28990134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.49, Y:63.65, Z:0.06 [[ 6.34780787e-01 -7.72691683e-01 -9.56829164e-04 2.36488587e+02] [ 7.72690896e-01 6.34781507e-01 -1.10366252e-03 6.36513127e+01] [ 1.46016830e-03 -3.87494237e-05 9.99998933e-01 6.31263411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:236.51, Y:63.67, Z:0.06 [[ 6.35000641e-01 -7.72511016e-01 -9.56622109e-04 2.36507558e+02] [ 7.72510229e-01 6.35001361e-01 -1.10384196e-03 6.36707962e+01] [ 1.46018641e-03 -3.80600144e-05 9.99998933e-01 6.21836181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97587156000003 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:236.53, Y:63.69, Z:0.07 [[ 6.35862575e-01 -7.71801704e-01 -9.56403566e-04 2.36528145e+02] [ 7.71800915e-01 6.35863294e-01 -1.10403128e-03 6.36894438e+01] [ 1.46023514e-03 -3.61409773e-05 9.99998933e-01 6.56866833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:236.55, Y:63.71, Z:0.06 [[ 6.37007482e-01 -7.70857026e-01 -9.56194758e-04 2.36548935e+02] [ 7.70856236e-01 6.37008198e-01 -1.10421209e-03 6.37090265e+01] [ 1.46029355e-03 -3.36973270e-05 9.99998933e-01 6.41775323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:236.57, Y:63.73, Z:0.06 [[ 6.37626732e-01 -7.70344882e-01 -9.55982146e-04 2.36567633e+02] [ 7.70344091e-01 6.37627448e-01 -1.10439613e-03 6.37290462e+01] [ 1.46032636e-03 -3.22426998e-05 9.99998933e-01 6.09632032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.59, Y:63.75, Z:0.06 [[ 6.38481220e-01 -7.69636809e-01 -9.55757405e-04 2.36586373e+02] [ 7.69636017e-01 6.38481935e-01 -1.10459059e-03 6.37487223e+01] [ 1.46036742e-03 -3.03249727e-05 9.99998933e-01 6.01696968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09587156 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:236.61, Y:63.77, Z:0.06 [[ 6.40107298e-01 -7.68284930e-01 -9.55540354e-04 2.36607614e+02] [ 7.68284136e-01 6.40108011e-01 -1.10477832e-03 6.37669093e+01] [ 1.46043357e-03 -2.69498287e-05 9.99998933e-01 5.85798937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.63, Y:63.78, Z:0.06 [[ 6.41518623e-01 -7.67106866e-01 -9.55348201e-04 2.36629459e+02] [ 7.67106070e-01 6.41519334e-01 -1.10494446e-03 6.37847481e+01] [ 1.46048482e-03 -2.40109547e-05 9.99998933e-01 5.80028889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:236.65, Y:63.80, Z:0.06 [[ 6.41824242e-01 -7.66851178e-01 -9.55139597e-04 2.36649259e+02] [ 7.66850382e-01 6.41824953e-01 -1.10512475e-03 6.38049787e+01] [ 1.46049865e-03 -2.31533075e-05 9.99998933e-01 6.06640917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587156 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:236.67, Y:63.83, Z:0.06 [[ 6.42244774e-01 -7.66499014e-01 -9.54930771e-04 2.36669012e+02] [ 7.66498217e-01 6.42245484e-01 -1.10530517e-03 6.38253548e+01] [ 1.46051530e-03 -2.20762651e-05 9.99998933e-01 5.93072252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21587156 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:236.69, Y:63.84, Z:0.06 [[ 6.42801793e-01 -7.66031947e-01 -9.54718587e-04 2.36690605e+02] [ 7.66031149e-01 6.42802502e-01 -1.10548842e-03 6.38439777e+01] [ 1.46053494e-03 -2.07342399e-05 9.99998933e-01 5.93645102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:236.71, Y:63.86, Z:0.06 [[ 6.43128200e-01 -7.65757930e-01 -9.54505817e-04 2.36710040e+02] [ 7.65757132e-01 6.43128908e-01 -1.10567210e-03 6.38625183e+01] [ 1.46054746e-03 -1.98307333e-05 9.99998933e-01 5.84690848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.73, Y:63.88, Z:0.06 [[ 6.43617607e-01 -7.65346631e-01 -9.54350423e-04 2.36730813e+02] [ 7.65345833e-01 6.43618314e-01 -1.10580621e-03 6.38800426e+01] [ 1.46056246e-03 -1.86917756e-05 9.99998933e-01 5.90817257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:236.75, Y:63.90, Z:0.06 [[ 6.43845786e-01 -7.65154686e-01 -9.54117612e-04 2.36750500e+02] [ 7.65153887e-01 6.43846493e-01 -1.10600705e-03 6.38995952e+01] [ 1.46057175e-03 -1.79488234e-05 9.99998933e-01 5.96319565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:236.77, Y:63.92, Z:0.06 [[ 6.44705375e-01 -7.64430552e-01 -9.53903275e-04 2.36772177e+02] [ 7.64429752e-01 6.44706081e-01 -1.10619187e-03 6.39171593e+01] [ 1.46059411e-03 -1.60241970e-05 9.99998933e-01 5.80138397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.79, Y:63.94, Z:0.06 [[ 6.44938646e-01 -7.64233756e-01 -9.53746848e-04 2.36791419e+02] [ 7.64232955e-01 6.44939351e-01 -1.10632673e-03 6.39366900e+01] [ 1.46060110e-03 -1.53719098e-05 9.99998933e-01 5.81658051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:236.81, Y:63.96, Z:0.06 [[ 6.45819928e-01 -7.63489169e-01 -9.53513091e-04 2.36811157e+02] [ 7.63488367e-01 6.45820632e-01 -1.10652816e-03 6.39552617e+01] [ 1.46062069e-03 -1.33782159e-05 9.99998933e-01 5.79244754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:236.83, Y:63.97, Z:0.06 [[ 6.46137798e-01 -7.63220176e-01 -9.53279751e-04 2.36829877e+02] [ 7.63219374e-01 6.46138501e-01 -1.10672915e-03 6.39740846e+01] [ 1.46062876e-03 -1.24620415e-05 9.99998933e-01 5.96360352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:236.85, Y:63.99, Z:0.06 [[ 6.46348658e-01 -7.63041613e-01 -9.53034885e-04 2.36849196e+02] [ 7.63040810e-01 6.46349361e-01 -1.10693997e-03 6.39933325e+01] [ 1.46063475e-03 -1.17353488e-05 9.99998933e-01 5.87006916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:236.87, Y:64.01, Z:0.06 [[ 6.46953467e-01 -7.62528887e-01 -9.52804104e-04 2.36869721e+02] [ 7.62528083e-01 6.46954169e-01 -1.10713858e-03 6.40113195e+01] [ 1.46064573e-03 -1.02727455e-05 9.99998933e-01 6.14758362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:236.89, Y:64.03, Z:0.06 [[ 6.47605195e-01 -7.61975462e-01 -9.52572255e-04 2.36890264e+02] [ 7.61974657e-01 6.47605895e-01 -1.10733802e-03 6.40308221e+01] [ 1.46065581e-03 -8.71806116e-06 9.99998933e-01 5.98205444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:236.91, Y:64.05, Z:0.06 [[ 6.47833912e-01 -7.61781016e-01 -9.52358649e-04 2.36909678e+02] [ 7.61780211e-01 6.47834612e-01 -1.10752170e-03 6.40514754e+01] [ 1.46065990e-03 -7.99785488e-06 9.99998933e-01 5.96026464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.93, Y:64.07, Z:0.06 [[ 6.48162832e-01 -7.61501173e-01 -9.52143221e-04 2.36927757e+02] [ 7.61500367e-01 6.48163532e-01 -1.10770688e-03 6.40713032e+01] [ 1.46066460e-03 -7.08298617e-06 9.99998933e-01 5.86239542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:236.95, Y:64.09, Z:0.06 [[ 6.49155750e-01 -7.60654919e-01 -9.51914806e-04 2.36945959e+02] [ 7.60654112e-01 6.49156448e-01 -1.10790313e-03 6.40902533e+01] [ 1.46067360e-03 -4.87622385e-06 9.99998933e-01 5.78115119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:236.97, Y:64.11, Z:0.06 [[ 6.50077219e-01 -7.59867556e-01 -9.51682713e-04 2.36966035e+02] [ 7.59866748e-01 6.50077916e-01 -1.10810246e-03 6.41091973e+01] [ 1.46067902e-03 -2.79988146e-06 9.99998933e-01 5.94368765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:236.99, Y:64.13, Z:0.06 [[ 6.50596021e-01 -7.59423408e-01 -9.51450578e-04 2.36985043e+02] [ 7.59422599e-01 6.50596717e-01 -1.10830174e-03 6.41292888e+01] [ 1.46068091e-03 -1.49636535e-06 9.99998933e-01 5.91242789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69587156 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:237.00, Y:64.15, Z:0.06 [[ 6.50832710e-01 -7.59220573e-01 -9.51235886e-04 2.37003977e+02] [ 7.59219764e-01 6.50833405e-01 -1.10848598e-03 6.41496563e+01] [ 1.46068145e-03 -7.58150602e-07 9.99998933e-01 6.13237184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:237.02, Y:64.17, Z:0.06 [[ 6.51279284e-01 -7.58837526e-01 -9.51020871e-04 2.37023422e+02] [ 7.58836716e-01 6.51279978e-01 -1.10867042e-03 6.41690435e+01] [ 1.46068157e-03 3.84523810e-07 9.99998933e-01 5.86364234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:237.04, Y:64.19, Z:0.06 [[ 6.51133517e-01 -7.58962608e-01 -9.50793061e-04 2.37041556e+02] [ 7.58961798e-01 6.51134211e-01 -1.10886576e-03 6.41885670e+01] [ 1.46068153e-03 4.04047987e-07 9.99998933e-01 5.79986973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.06, Y:64.21, Z:0.06 [[ 6.50552550e-01 -7.59460649e-01 -9.50542142e-04 2.37060853e+02] [ 7.59459839e-01 6.50553244e-01 -1.10908081e-03 6.42071653e+01] [ 1.46068150e-03 -3.83235094e-07 9.99998933e-01 5.85386047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:237.08, Y:64.23, Z:0.06 [[ 6.50238514e-01 -7.59729539e-01 -9.50320635e-04 2.37079237e+02] [ 7.59728729e-01 6.50239208e-01 -1.10927057e-03 6.42268261e+01] [ 1.46068136e-03 -6.95438241e-07 9.99998933e-01 5.95254057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:237.10, Y:64.25, Z:0.06 [[ 6.49459608e-01 -7.60395499e-01 -9.50080614e-04 2.37098827e+02] [ 7.60394690e-01 6.49460303e-01 -1.10947611e-03 6.42451194e+01] [ 1.46068028e-03 -1.87633308e-06 9.99998933e-01 5.92592842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:237.12, Y:64.26, Z:0.06 [[ 6.48980278e-01 -7.60804638e-01 -9.49842474e-04 2.37117494e+02] [ 7.60803828e-01 6.48980973e-01 -1.10967995e-03 6.42645565e+01] [ 1.46067935e-03 -2.48338888e-06 9.99998933e-01 5.76112313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.14, Y:64.28, Z:0.06 [[ 6.48624191e-01 -7.61108243e-01 -9.49604767e-04 2.37135989e+02] [ 7.61107433e-01 6.48624886e-01 -1.10988333e-03 6.42848357e+01] [ 1.46067863e-03 -2.85406964e-06 9.99998933e-01 5.70783462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:237.15, Y:64.30, Z:0.06 [[ 6.48269628e-01 -7.61410263e-01 -9.49368092e-04 2.37154029e+02] [ 7.61409454e-01 6.48270323e-01 -1.11008574e-03 6.43037257e+01] [ 1.46067783e-03 -3.22297119e-06 9.99998933e-01 5.57708035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:237.17, Y:64.32, Z:0.06 [[ 6.48527885e-01 -7.61190306e-01 -9.49118849e-04 2.37172947e+02] [ 7.61189496e-01 6.48528580e-01 -1.11029880e-03 6.43216676e+01] [ 1.46067938e-03 -2.39956574e-06 9.99998933e-01 5.61459610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:237.19, Y:64.34, Z:0.06 [[ 6.48756290e-01 -7.60995648e-01 -9.48872010e-04 2.37191911e+02] [ 7.60994838e-01 6.48756984e-01 -1.11050971e-03 6.43423260e+01] [ 1.46068040e-03 -1.63654072e-06 9.99998933e-01 5.80161413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.21, Y:64.36, Z:0.06 [[ 6.49263085e-01 -7.60563308e-01 -9.48652536e-04 2.37210085e+02] [ 7.60562497e-01 6.49263778e-01 -1.11069716e-03 6.43623783e+01] [ 1.46068124e-03 -3.74873739e-07 9.99998933e-01 5.84744383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:237.23, Y:64.38, Z:0.06 [[ 6.50854121e-01 -7.59202222e-01 -9.48419703e-04 2.37229540e+02] [ 7.59201409e-01 6.50854812e-01 -1.11089594e-03 6.43828290e+01] [ 1.46067820e-03 2.98962767e-06 9.99998933e-01 5.96552487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.25, Y:64.40, Z:0.06 [[ 6.51849923e-01 -7.58347400e-01 -9.48197695e-04 2.37247237e+02] [ 7.58346586e-01 6.51850613e-01 -1.11108541e-03 6.44034188e+01] [ 1.46067198e-03 5.19845198e-06 9.99998933e-01 5.93505324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.26, Y:64.42, Z:0.06 [[ 6.53683259e-01 -7.56767665e-01 -9.47962480e-04 2.37264909e+02] [ 7.56766849e-01 6.53683946e-01 -1.11128605e-03 6.44245394e+01] [ 1.46065320e-03 9.04250852e-06 9.99998933e-01 5.97605647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.28, Y:64.44, Z:0.06 [[ 6.54229875e-01 -7.56295163e-01 -9.47732623e-04 2.37281901e+02] [ 7.56294346e-01 6.54230561e-01 -1.11148204e-03 6.44447927e+01] [ 1.46064414e-03 1.03999341e-05 9.99998933e-01 5.90546398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.30, Y:64.46, Z:0.06 [[ 6.54170599e-01 -7.56346435e-01 -9.47491302e-04 2.37300219e+02] [ 7.56345618e-01 6.54171285e-01 -1.11168772e-03 6.44649182e+01] [ 1.46064265e-03 1.06025292e-05 9.99998933e-01 5.69462089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:64.48, Z:0.05 [[ 6.53450708e-01 -7.56968477e-01 -9.47251948e-04 2.37317233e+02] [ 7.56967660e-01 6.53451394e-01 -1.11189164e-03 6.44847814e+01] [ 1.46065002e-03 9.52728563e-06 9.99998933e-01 5.49311550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.33, Y:64.51, Z:0.05 [[ 6.51305577e-01 -7.58814963e-01 -9.47065903e-04 2.37333687e+02] [ 7.58814148e-01 6.51306265e-01 -1.11205008e-03 6.45050325e+01] [ 1.46067020e-03 5.63741115e-06 9.99998933e-01 5.42550326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.35, Y:64.53, Z:0.05 [[ 6.50097213e-01 -7.59850457e-01 -9.46827948e-04 2.37351398e+02] [ 7.59849643e-01 6.50097903e-01 -1.11225264e-03 6.45259046e+01] [ 1.46067654e-03 3.62546580e-06 9.99998933e-01 5.41865480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.37, Y:64.55, Z:0.05 [[ 6.47450558e-01 -7.62106868e-01 -9.46602908e-04 2.37369378e+02] [ 7.62106056e-01 6.47451250e-01 -1.11244413e-03 6.45452270e+01] [ 1.46068055e-03 -1.15923405e-06 9.99998933e-01 5.43965051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.39, Y:64.57, Z:0.05 [[ 6.47298337e-01 -7.62236163e-01 -9.46366496e-04 2.37387099e+02] [ 7.62235351e-01 6.47299029e-01 -1.11264522e-03 6.45664547e+01] [ 1.46068053e-03 -1.14060036e-06 9.99998933e-01 5.44368885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.41, Y:64.59, Z:0.06 [[ 6.45886593e-01 -7.63432782e-01 -9.46144240e-04 2.37405151e+02] [ 7.63431971e-01 6.45887286e-01 -1.11283418e-03 6.45871654e+01] [ 1.46067663e-03 -3.55208467e-06 9.99998933e-01 5.69441518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.42, Y:64.61, Z:0.06 [[ 6.44033218e-01 -7.64996941e-01 -9.45902561e-04 2.37422659e+02] [ 7.64996131e-01 6.44033912e-01 -1.11303957e-03 6.46064497e+01] [ 1.46066519e-03 -6.77734559e-06 9.99998933e-01 5.62136716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.44, Y:64.63, Z:0.06 [[ 6.43166385e-01 -7.65725870e-01 -9.45648385e-04 2.37439431e+02] [ 7.65725060e-01 6.43167080e-01 -1.11325548e-03 6.46259874e+01] [ 1.46065843e-03 -8.09816644e-06 9.99998933e-01 5.65949683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.46, Y:64.65, Z:0.06 [[ 6.42237203e-01 -7.66505369e-01 -9.45390556e-04 2.37456607e+02] [ 7.66504561e-01 6.42237899e-01 -1.11347438e-03 6.46464316e+01] [ 1.46064974e-03 -9.53149815e-06 9.99998933e-01 5.68677512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.47, Y:64.67, Z:0.06 [[ 6.40793329e-01 -7.67712848e-01 -9.45148872e-04 2.37472689e+02] [ 7.67712040e-01 6.40794026e-01 -1.11367950e-03 6.46657032e+01] [ 1.46063181e-03 -1.19637773e-05 9.99998933e-01 5.70558297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:64.68, Z:0.06 [[ 6.40044059e-01 -7.68337627e-01 -9.44895264e-04 2.37488937e+02] [ 7.68336820e-01 6.40044756e-01 -1.11389463e-03 6.46846120e+01] [ 1.46062241e-03 -1.30561846e-05 9.99998933e-01 5.74766612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:64.70, Z:0.06 [[ 6.38580924e-01 -7.69554099e-01 -9.44644016e-04 2.37507577e+02] [ 7.69553292e-01 6.38581623e-01 -1.11410766e-03 6.47034654e+01] [ 1.46059842e-03 -1.55060149e-05 9.99998933e-01 5.86915639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:64.72, Z:0.06 [[ 6.37633437e-01 -7.70339346e-01 -9.44405710e-04 2.37526218e+02] [ 7.70338541e-01 6.37634136e-01 -1.11430963e-03 6.47232618e+01] [ 1.46058187e-03 -1.69910393e-05 9.99998933e-01 5.98790575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:64.74, Z:0.06 [[ 6.36015656e-01 -7.71675575e-01 -9.44169162e-04 2.37544689e+02] [ 7.71674771e-01 6.36016357e-01 -1.11451002e-03 6.47415568e+01] [ 1.46054719e-03 -1.97456992e-05 9.99998933e-01 5.63394452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.56, Y:64.76, Z:0.06 [[ 6.35281134e-01 -7.72280383e-01 -9.43920943e-04 2.37562342e+02] [ 7.72279579e-01 6.35281835e-01 -1.11472021e-03 6.47612235e+01] [ 1.46053238e-03 -2.08101506e-05 9.99998933e-01 5.68252696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:64.78, Z:0.06 [[ 6.33764690e-01 -7.73525324e-01 -9.43685052e-04 2.37581640e+02] [ 7.73524521e-01 6.33765392e-01 -1.11491987e-03 6.47807065e+01] [ 1.46049368e-03 -2.33666827e-05 9.99998933e-01 5.91798694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:64.80, Z:0.06 [[ 6.33130973e-01 -7.74044108e-01 -9.43452854e-04 2.37600067e+02] [ 7.74043305e-01 6.33131675e-01 -1.11511632e-03 6.48008274e+01] [ 1.46047911e-03 -2.42586823e-05 9.99998933e-01 5.92706400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:237.62, Y:64.82, Z:0.06 [[ 6.32736848e-01 -7.74366316e-01 -9.43222162e-04 2.37619903e+02] [ 7.74365514e-01 6.32737550e-01 -1.11531142e-03 6.48200001e+01] [ 1.46047168e-03 -2.47000822e-05 9.99998933e-01 6.04683531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:64.84, Z:0.06 [[ 6.33106725e-01 -7.74063941e-01 -9.42991917e-04 2.37637849e+02] [ 7.74063138e-01 6.33107427e-01 -1.11550606e-03 6.48393984e+01] [ 1.46048820e-03 -2.37008953e-05 9.99998933e-01 5.97464280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.66, Y:64.86, Z:0.06 [[ 6.33797510e-01 -7.73498434e-01 -9.42750355e-04 2.37655544e+02] [ 7.73497630e-01 6.33798211e-01 -1.11571017e-03 6.48594503e+01] [ 1.46051356e-03 -2.20808370e-05 9.99998933e-01 6.09117483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:64.88, Z:0.06 [[ 6.35954160e-01 -7.71726259e-01 -9.42522583e-04 2.37673036e+02] [ 7.71725452e-01 6.35954858e-01 -1.11590255e-03 6.48791551e+01] [ 1.46057312e-03 -1.77057948e-05 9.99998933e-01 6.03824280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:64.90, Z:0.06 [[ 6.38175441e-01 -7.69890394e-01 -9.42345871e-04 2.37688948e+02] [ 7.69889585e-01 6.38176136e-01 -1.11605176e-03 6.48996664e+01] [ 1.46062018e-03 -1.32654474e-05 9.99998933e-01 5.69338453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:64.92, Z:0.06 [[ 6.38755424e-01 -7.69409267e-01 -9.42171100e-04 2.37706227e+02] [ 7.69408458e-01 6.38756119e-01 -1.11619928e-03 6.49201557e+01] [ 1.46063163e-03 -1.19360654e-05 9.99998933e-01 5.80148698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.72, Y:64.94, Z:0.06 [[ 6.39084287e-01 -7.69136130e-01 -9.41945262e-04 2.37722977e+02] [ 7.69135320e-01 6.39084981e-01 -1.11638983e-03 6.49392499e+01] [ 1.46063883e-03 -1.10161688e-05 9.99998933e-01 5.70251568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.74, Y:64.96, Z:0.06 [[ 6.39059151e-01 -7.69157016e-01 -9.41744546e-04 2.37740896e+02] [ 7.69156205e-01 6.39059845e-01 -1.11655912e-03 6.49585496e+01] [ 1.46064041e-03 -1.08013359e-05 9.99998933e-01 5.57260942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.76, Y:64.98, Z:0.06 [[ 6.38326032e-01 -7.69765542e-01 -9.41496266e-04 2.37758526e+02] [ 7.69764732e-01 6.38326726e-01 -1.11676844e-03 6.49786210e+01] [ 1.46063209e-03 -1.18682557e-05 9.99998933e-01 5.62595458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:237.78, Y:65.00, Z:0.06 [[ 6.37662187e-01 -7.70315552e-01 -9.41248317e-04 2.37775444e+02] [ 7.70314742e-01 6.37662881e-01 -1.11697738e-03 6.49990873e+01] [ 1.46062416e-03 -1.28032176e-05 9.99998933e-01 5.80902107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.79, Y:65.02, Z:0.06 [[ 6.37215038e-01 -7.70685481e-01 -9.40999221e-04 2.37792732e+02] [ 7.70684671e-01 6.37215732e-01 -1.11718719e-03 6.50193902e+01] [ 1.46061945e-03 -1.33251980e-05 9.99998933e-01 5.69001712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.81, Y:65.04, Z:0.06 [[ 6.36089772e-01 -7.71614488e-01 -9.40751721e-04 2.37810734e+02] [ 7.71613679e-01 6.36090467e-01 -1.11739556e-03 6.50372351e+01] [ 1.46060181e-03 -1.51330077e-05 9.99998933e-01 5.62927132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.83, Y:65.06, Z:0.06 [[ 6.35060956e-01 -7.72461454e-01 -9.40493027e-04 2.37828989e+02] [ 7.72460645e-01 6.35061652e-01 -1.11761326e-03 6.50563489e+01] [ 1.46058422e-03 -1.67413048e-05 9.99998933e-01 5.70124287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:65.08, Z:0.06 [[ 6.33225706e-01 -7.73966615e-01 -9.40247965e-04 2.37849178e+02] [ 7.73965808e-01 6.33226404e-01 -1.11781939e-03 6.50754331e+01] [ 1.46054473e-03 -1.98878011e-05 9.99998933e-01 6.07640872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.87, Y:65.09, Z:0.06 [[ 6.32372908e-01 -7.74663554e-01 -9.40000178e-04 2.37866994e+02] [ 7.74662748e-01 6.32373606e-01 -1.11802772e-03 6.50947953e+01] [ 1.46052663e-03 -2.11726792e-05 9.99998933e-01 5.71968186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.89, Y:65.11, Z:0.06 [[ 6.31308362e-01 -7.75531346e-01 -9.39740087e-04 2.37886068e+02] [ 7.75530540e-01 6.31309061e-01 -1.11824630e-03 6.51131421e+01] [ 1.46050149e-03 -2.28388995e-05 9.99998933e-01 5.54336084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:237.90, Y:65.13, Z:0.06 [[ 6.30723490e-01 -7.76007085e-01 -9.39499718e-04 2.37903787e+02] [ 7.76006279e-01 6.30724190e-01 -1.11844821e-03 6.51325115e+01] [ 1.46048893e-03 -2.36261245e-05 9.99998933e-01 5.70733971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.92, Y:65.15, Z:0.06 [[ 6.31391237e-01 -7.75463876e-01 -9.39260093e-04 2.37922953e+02] [ 7.75463069e-01 6.31391936e-01 -1.11864940e-03 6.51498083e+01] [ 1.46051345e-03 -2.20560827e-05 9.99998933e-01 5.80806925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:237.94, Y:65.17, Z:0.06 [[ 6.31660476e-01 -7.75244582e-01 -9.39009549e-04 2.37940572e+02] [ 7.75243775e-01 6.31661173e-01 -1.11885968e-03 6.51691842e+01] [ 1.46052577e-03 -2.12218730e-05 9.99998933e-01 6.11893176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:65.19, Z:0.06 [[ 6.32546740e-01 -7.74521620e-01 -9.38773775e-04 2.37958434e+02] [ 7.74520812e-01 6.32547437e-01 -1.11905746e-03 6.51880774e+01] [ 1.46055315e-03 -1.92436751e-05 9.99998933e-01 6.05922635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:65.21, Z:0.06 [[ 6.34653757e-01 -7.72796045e-01 -9.38537238e-04 2.37976070e+02] [ 7.72795235e-01 6.34654451e-01 -1.11925581e-03 6.52057165e+01] [ 1.46060330e-03 -1.49572004e-05 9.99998933e-01 6.05735152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.99, Y:65.23, Z:0.06 [[ 6.35697668e-01 -7.71937559e-01 -9.38288986e-04 2.37993056e+02] [ 7.71936747e-01 6.35698360e-01 -1.11946389e-03 6.52251327e+01] [ 1.46062499e-03 -1.26591663e-05 9.99998933e-01 6.02667075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:65.24, Z:0.06 [[ 6.38027294e-01 -7.70013177e-01 -9.38054407e-04 2.38011804e+02] [ 7.70012363e-01 6.38027983e-01 -1.11966042e-03 6.52442361e+01] [ 1.46065824e-03 -7.93958473e-06 9.99998933e-01 6.18106081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:65.26, Z:0.06 [[ 6.39287074e-01 -7.68967592e-01 -9.37815431e-04 2.38028940e+02] [ 7.68966777e-01 6.39287762e-01 -1.11986054e-03 6.52637862e+01] [ 1.46067039e-03 -5.23653916e-06 9.99998933e-01 5.84897116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:65.28, Z:0.06 [[ 6.42571134e-01 -7.66225462e-01 -9.37564808e-04 2.38046366e+02] [ 7.66224644e-01 6.42571818e-01 -1.12007033e-03 6.52834307e+01] [ 1.46067913e-03 1.33960091e-06 9.99998933e-01 5.73978817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:238.06, Y:65.30, Z:0.06 [[ 6.44012677e-01 -7.65014244e-01 -9.37330921e-04 2.38062451e+02] [ 7.65013424e-01 6.44013359e-01 -1.12026602e-03 6.53037068e+01] [ 1.46067310e-03 4.39478486e-06 9.99998933e-01 5.80952611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:65.32, Z:0.06 [[ 6.47823185e-01 -7.61790157e-01 -9.37097031e-04 2.38080038e+02] [ 7.61789333e-01 6.47823863e-01 -1.12046164e-03 6.53234686e+01] [ 1.46063046e-03 1.19905042e-05 9.99998933e-01 5.61463530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:65.34, Z:0.06 [[ 6.49265429e-01 -7.60561322e-01 -9.36863140e-04 2.38096388e+02] [ 7.60560496e-01 6.49266105e-01 -1.12065717e-03 6.53447342e+01] [ 1.46060198e-03 1.50628632e-05 9.99998933e-01 5.55916673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:65.37, Z:0.06 [[ 6.51872678e-01 -7.58327854e-01 -9.36629472e-04 2.38112342e+02] [ 7.58327026e-01 6.51873350e-01 -1.12085243e-03 6.53666405e+01] [ 1.46053741e-03 2.03816333e-05 9.99998933e-01 5.70796254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:65.39, Z:0.06 [[ 6.52702929e-01 -7.57613364e-01 -9.36398124e-04 2.38128932e+02] [ 7.57612535e-01 6.52703601e-01 -1.12104567e-03 6.53877564e+01] [ 1.46050961e-03 2.22828397e-05 9.99998933e-01 5.64955473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:65.41, Z:0.05 [[ 6.53324389e-01 -7.57077517e-01 -9.36167018e-04 2.38145462e+02] [ 7.57076687e-01 6.53325059e-01 -1.12123863e-03 6.54086873e+01] [ 1.46048593e-03 2.37823209e-05 9.99998933e-01 5.36205218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:65.43, Z:0.06 [[ 6.53996417e-01 -7.56497066e-01 -9.35924258e-04 2.38161677e+02] [ 7.56496235e-01 6.53997086e-01 -1.12144123e-03 6.54304993e+01] [ 1.46045874e-03 2.53953722e-05 9.99998933e-01 5.77862579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:65.45, Z:0.06 [[ 6.53655524e-01 -7.56791636e-01 -9.35695316e-04 2.38176914e+02] [ 7.56790805e-01 6.53656194e-01 -1.12163222e-03 6.54533291e+01] [ 1.46046492e-03 2.50354880e-05 9.99998933e-01 5.87053855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:65.47, Z:0.06 [[ 6.53166027e-01 -7.57214148e-01 -9.35460724e-04 2.38192668e+02] [ 7.57213318e-01 6.53166696e-01 -1.12182784e-03 6.54742419e+01] [ 1.46047571e-03 2.43965166e-05 9.99998933e-01 5.53719898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:65.50, Z:0.06 [[ 6.52447771e-01 -7.57833116e-01 -9.35214752e-04 2.38209028e+02] [ 7.57832285e-01 6.52448441e-01 -1.12203286e-03 6.54953925e+01] [ 1.46049307e-03 2.33319069e-05 9.99998933e-01 5.83993923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:65.52, Z:0.06 [[ 6.51083603e-01 -7.59005446e-01 -9.34982305e-04 2.38224687e+02] [ 7.59004617e-01 6.51084274e-01 -1.12222652e-03 6.55164037e+01] [ 1.46052832e-03 2.10074027e-05 9.99998933e-01 5.85167221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:238.24, Y:65.54, Z:0.06 [[ 6.50156229e-01 -7.59799976e-01 -9.34737540e-04 2.38240916e+02] [ 7.59799147e-01 6.50156901e-01 -1.12243036e-03 6.55384608e+01] [ 1.46054862e-03 1.95423040e-05 9.99998933e-01 6.21957580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:65.56, Z:0.06 [[ 6.49735994e-01 -7.60159368e-01 -9.34494630e-04 2.38255171e+02] [ 7.60158539e-01 6.49736666e-01 -1.12263256e-03 6.55603532e+01] [ 1.46055508e-03 1.90507109e-05 9.99998933e-01 6.05306397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:65.58, Z:0.06 [[ 6.49332869e-01 -7.60503749e-01 -9.34240228e-04 2.38271228e+02] [ 7.60502920e-01 6.49333541e-01 -1.12284423e-03 6.55825134e+01] [ 1.46056076e-03 1.86072451e-05 9.99998933e-01 6.05004868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:65.60, Z:0.06 [[ 6.48278530e-01 -7.61402703e-01 -9.34005839e-04 2.38284966e+02] [ 7.61401875e-01 6.48279202e-01 -1.12303917e-03 6.56048359e+01] [ 1.46058162e-03 1.68883833e-05 9.99998933e-01 5.77971420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:65.63, Z:0.06 [[ 6.47376479e-01 -7.62169812e-01 -9.33759473e-04 2.38301180e+02] [ 7.62168984e-01 6.47377153e-01 -1.12324397e-03 6.56273168e+01] [ 1.46059720e-03 1.54792204e-05 9.99998933e-01 5.96211478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:65.65, Z:0.06 [[ 6.45229751e-01 -7.63988022e-01 -9.33522568e-04 2.38316789e+02] [ 7.63987196e-01 6.45230426e-01 -1.12344083e-03 6.56502762e+01] [ 1.46063250e-03 1.16781581e-05 9.99998933e-01 6.15083740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.33, Y:65.67, Z:0.06 [[ 6.43523919e-01 -7.65425433e-01 -9.33303322e-04 2.38332553e+02] [ 7.65424609e-01 6.43524596e-01 -1.12362294e-03 6.56716689e+01] [ 1.46065322e-03 8.70490744e-06 9.99998933e-01 6.26364818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.35, Y:65.69, Z:0.06 [[ 6.39576384e-01 -7.68726986e-01 -9.33043196e-04 2.38349258e+02] [ 7.68726164e-01 6.39577064e-01 -1.12383890e-03 6.56936044e+01] [ 1.46067832e-03 1.52610426e-06 9.99998933e-01 6.21018090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:65.71, Z:0.06 [[ 6.37211813e-01 -7.70688157e-01 -9.32796677e-04 2.38366946e+02] [ 7.70687337e-01 6.37212496e-01 -1.12404348e-03 6.57147753e+01] [ 1.46067670e-03 -2.64080278e-06 9.99998933e-01 6.14307727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:65.73, Z:0.06 [[ 6.32463738e-01 -7.74589407e-01 -9.32572839e-04 2.38384545e+02] [ 7.74588592e-01 6.32464426e-01 -1.12422916e-03 6.57338320e+01] [ 1.46063514e-03 -1.13261061e-05 9.99998933e-01 6.09929206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.40, Y:65.75, Z:0.06 [[ 6.30043382e-01 -7.76559378e-01 -9.32307989e-04 2.38401216e+02] [ 7.76558564e-01 6.30044072e-01 -1.12444875e-03 6.57533784e+01] [ 1.46059634e-03 -1.55402581e-05 9.99998933e-01 6.12465303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:65.77, Z:0.06 [[ 6.26496463e-01 -7.79423705e-01 -9.32053128e-04 2.38419281e+02] [ 7.79422894e-01 6.26497156e-01 -1.12465997e-03 6.57731627e+01] [ 1.46051527e-03 -2.18680556e-05 9.99998933e-01 6.07029361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:65.79, Z:0.06 [[ 6.25344675e-01 -7.80348108e-01 -9.31817316e-04 2.38437367e+02] [ 7.80347298e-01 6.25345368e-01 -1.12485531e-03 6.57935185e+01] [ 1.46048636e-03 -2.37188470e-05 9.99998933e-01 6.07051321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:65.81, Z:0.06 [[ 6.24327470e-01 -7.81162174e-01 -9.31580114e-04 2.38455711e+02] [ 7.81161364e-01 6.24328165e-01 -1.12505172e-03 6.58116665e+01] [ 1.46045955e-03 -2.53136979e-05 9.99998933e-01 6.03057281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:65.83, Z:0.06 [[ 6.24164853e-01 -7.81292115e-01 -9.31329860e-04 2.38473161e+02] [ 7.81291305e-01 6.24165548e-01 -1.12525885e-03 6.58331271e+01] [ 1.46045988e-03 -2.52928988e-05 9.99998933e-01 6.03461108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:65.85, Z:0.06 [[ 6.24043876e-01 -7.81388747e-01 -9.31095590e-04 2.38490958e+02] [ 7.81387937e-01 6.24044570e-01 -1.12545266e-03 6.58530096e+01] [ 1.46046119e-03 -2.52150230e-05 9.99998933e-01 6.09093558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:65.87, Z:0.06 [[ 6.24887397e-01 -7.80714336e-01 -9.30855728e-04 2.38509645e+02] [ 7.80713525e-01 6.24888090e-01 -1.12565101e-03 6.58720811e+01] [ 1.46049254e-03 -2.33265258e-05 9.99998933e-01 6.09210572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:65.89, Z:0.06 [[ 6.25635705e-01 -7.80114799e-01 -9.30603763e-04 2.38527617e+02] [ 7.80113987e-01 6.25636396e-01 -1.12585928e-03 6.58921201e+01] [ 1.46051907e-03 -2.15992483e-05 9.99998933e-01 6.15819242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:65.91, Z:0.06 [[ 6.26518560e-01 -7.79405946e-01 -9.30361094e-04 2.38544336e+02] [ 7.79405132e-01 6.26519251e-01 -1.12605978e-03 6.59116442e+01] [ 1.46054682e-03 -1.96308618e-05 9.99998933e-01 6.15018173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:65.93, Z:0.06 [[ 6.28997674e-01 -7.77406625e-01 -9.30172679e-04 2.38562324e+02] [ 7.77405810e-01 6.28998361e-01 -1.12621539e-03 6.59325675e+01] [ 1.46060440e-03 -1.47347826e-05 9.99998933e-01 6.32333179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:65.95, Z:0.06 [[ 6.32048401e-01 -7.74928354e-01 -9.29926049e-04 2.38580159e+02] [ 7.74927535e-01 6.32049085e-01 -1.12641900e-03 6.59513368e+01] [ 1.46065293e-03 -8.67397355e-06 9.99998933e-01 6.33312393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:65.97, Z:0.06 [[ 6.33703978e-01 -7.73575080e-01 -9.29666435e-04 2.38598343e+02] [ 7.73574259e-01 6.33704660e-01 -1.12663323e-03 6.59717070e+01] [ 1.46066934e-03 -5.21406669e-06 9.99998933e-01 6.35054401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:65.99, Z:0.06 [[ 6.35295690e-01 -7.72268426e-01 -9.29420855e-04 2.38615405e+02] [ 7.72267604e-01 6.35296370e-01 -1.12683578e-03 6.59914560e+01] [ 1.46067739e-03 -1.88770168e-06 9.99998933e-01 6.21789712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:66.01, Z:0.06 [[ 6.38952922e-01 -7.69245280e-01 -9.29162819e-04 2.38632642e+02] [ 7.69244454e-01 6.38953597e-01 -1.12704851e-03 6.60123901e+01] [ 1.46066867e-03 5.37759442e-06 9.99998933e-01 6.21439896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.65, Y:66.03, Z:0.06 [[ 6.40796737e-01 -7.67710022e-01 -9.28920337e-04 2.38648573e+02] [ 7.67709195e-01 6.40797411e-01 -1.12724833e-03 6.60329486e+01] [ 1.46064959e-03 9.19636952e-06 9.99998933e-01 6.18147188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:66.05, Z:0.06 [[ 6.44159469e-01 -7.64890656e-01 -9.28666279e-04 2.38665176e+02] [ 7.64889825e-01 6.44160139e-01 -1.12745760e-03 6.60548918e+01] [ 1.46059158e-03 1.59350991e-05 9.99998933e-01 6.20233755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:66.08, Z:0.06 [[ 6.45560352e-01 -7.63708694e-01 -9.28423530e-04 2.38681308e+02] [ 7.63707862e-01 6.45561020e-01 -1.12765746e-03 6.60756819e+01] [ 1.46055584e-03 1.89265953e-05 9.99998933e-01 6.18006443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:66.10, Z:0.06 [[ 6.46807447e-01 -7.62652781e-01 -9.28169886e-04 2.38697921e+02] [ 7.62651947e-01 6.46808113e-01 -1.12786619e-03 6.60970645e+01] [ 1.46051810e-03 2.16416804e-05 9.99998933e-01 6.15442001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.71, Y:66.12, Z:0.06 [[ 6.48397662e-01 -7.61301261e-01 -9.27929074e-04 2.38713198e+02] [ 7.61300426e-01 6.48398326e-01 -1.12806428e-03 6.61187602e+01] [ 1.46046442e-03 2.50014424e-05 9.99998933e-01 6.09627507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:66.14, Z:0.06 [[ 6.48904885e-01 -7.60868970e-01 -9.27677700e-04 2.38727910e+02] [ 7.60868134e-01 6.48905547e-01 -1.12827096e-03 6.61404840e+01] [ 1.46044157e-03 2.63001371e-05 9.99998933e-01 6.03274467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.74, Y:66.16, Z:0.06 [[ 6.48784317e-01 -7.60971780e-01 -9.27428070e-04 2.38744130e+02] [ 7.60970943e-01 6.48784980e-01 -1.12847612e-03 6.61620306e+01] [ 1.46043988e-03 2.63917937e-05 9.99998933e-01 6.09369346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.76, Y:66.18, Z:0.06 [[ 6.48118281e-01 -7.61539122e-01 -9.27192801e-04 2.38760076e+02] [ 7.61538286e-01 6.48118943e-01 -1.12866939e-03 6.61836245e+01] [ 1.46045711e-03 2.54184477e-05 9.99998933e-01 6.11631406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.77, Y:66.21, Z:0.06 [[ 6.46252249e-01 -7.63123300e-01 -9.26958154e-04 2.38774710e+02] [ 7.63122466e-01 6.46252913e-01 -1.12886207e-03 6.62052626e+01] [ 1.46051035e-03 2.21470578e-05 9.99998933e-01 6.02700881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:66.23, Z:0.06 [[ 6.44987292e-01 -7.64192734e-01 -9.26711771e-04 2.38791296e+02] [ 7.64191900e-01 6.44987958e-01 -1.12906429e-03 6.62263417e+01] [ 1.46054066e-03 2.00464934e-05 9.99998933e-01 6.04536734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:66.25, Z:0.06 [[ 6.41976463e-01 -7.66723785e-01 -9.26471225e-04 2.38806996e+02] [ 7.66722953e-01 6.41977132e-01 -1.12926164e-03 6.62481845e+01] [ 1.46060510e-03 1.46126425e-05 9.99998933e-01 6.07352684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:66.27, Z:0.06 [[ 6.40595696e-01 -7.67877788e-01 -9.26231288e-04 2.38823372e+02] [ 7.67876957e-01 6.40596365e-01 -1.12945841e-03 6.62692064e+01] [ 1.46062642e-03 1.22945319e-05 9.99998933e-01 5.97682832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:66.29, Z:0.06 [[ 6.37706657e-01 -7.70278756e-01 -9.25979152e-04 2.38839913e+02] [ 7.70277927e-01 6.37707330e-01 -1.12966508e-03 6.62909638e+01] [ 1.46066071e-03 7.13364146e-06 9.99998933e-01 6.00611998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:66.31, Z:0.06 [[ 6.36210451e-01 -7.71515007e-01 -9.25750120e-04 2.38856903e+02] [ 7.71514179e-01 6.36211124e-01 -1.12985274e-03 6.63124744e+01] [ 1.46067087e-03 4.59477746e-06 9.99998933e-01 6.10808129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:66.33, Z:0.06 [[ 6.34993068e-01 -7.72517279e-01 -9.25508578e-04 2.38873689e+02] [ 7.72516453e-01 6.34993743e-01 -1.13005056e-03 6.63331588e+01] [ 1.46067574e-03 2.60367018e-06 9.99998933e-01 5.93042874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:66.35, Z:0.06 [[ 6.32932526e-01 -7.74206408e-01 -9.25255084e-04 2.38890058e+02] [ 7.74205583e-01 6.32933202e-01 -1.13025808e-03 6.63537803e+01] [ 1.46067771e-03 -9.60550856e-07 9.99998933e-01 5.90736642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:66.37, Z:0.06 [[ 6.32129385e-01 -7.74862301e-01 -9.25001687e-04 2.38906825e+02] [ 7.74861476e-01 6.32130062e-01 -1.13046542e-03 6.63746096e+01] [ 1.46067641e-03 -2.14776193e-06 9.99998933e-01 6.04136983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:66.40, Z:0.06 [[ 6.30886081e-01 -7.75874924e-01 -9.24761278e-04 2.38924364e+02] [ 7.75874100e-01 6.30886759e-01 -1.13066205e-03 6.63953094e+01] [ 1.46067198e-03 -4.17937500e-06 9.99998933e-01 6.16810490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:66.42, Z:0.06 [[ 6.30405337e-01 -7.76265584e-01 -9.24518770e-04 2.38941416e+02] [ 7.76264760e-01 6.30406015e-01 -1.13086031e-03 6.64165416e+01] [ 1.46067013e-03 -4.77096804e-06 9.99998933e-01 6.22848200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.96, Y:66.44, Z:0.06 [[ 6.30304121e-01 -7.76347770e-01 -9.24274800e-04 2.38957066e+02] [ 7.76346946e-01 6.30304799e-01 -1.13105967e-03 6.64369108e+01] [ 1.46067050e-03 -4.64634408e-06 9.99998933e-01 6.09775251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:238.97, Y:66.46, Z:0.06 [[ 6.30346808e-01 -7.76313112e-01 -9.24019373e-04 2.38972843e+02] [ 7.76312287e-01 6.30347486e-01 -1.13126831e-03 6.64576349e+01] [ 1.46067171e-03 -4.23622564e-06 9.99998933e-01 6.26241564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:66.48, Z:0.06 [[ 6.31921014e-01 -7.75032243e-01 -9.23769389e-04 2.38989785e+02] [ 7.75031417e-01 6.31921690e-01 -1.13147240e-03 6.64784157e+01] [ 1.46067751e-03 -9.49111430e-07 9.99998933e-01 6.14769928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:239.00, Y:66.50, Z:0.06 [[ 6.32916679e-01 -7.74219365e-01 -9.23519282e-04 2.39004750e+02] [ 7.74218538e-01 6.32917352e-01 -1.13167651e-03 6.64984056e+01] [ 1.46067724e-03 1.25118679e-06 9.99998933e-01 6.23802497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:66.52, Z:0.06 [[ 6.35719848e-01 -7.71919311e-01 -9.23258069e-04 2.39020165e+02] [ 7.71918481e-01 6.35720519e-01 -1.13188957e-03 6.65205416e+01] [ 1.46066152e-03 6.88470025e-06 9.99998933e-01 6.44687273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.04, Y:66.54, Z:0.07 [[ 6.36914748e-01 -7.70933689e-01 -9.23011572e-04 2.39035752e+02] [ 7.70932858e-01 6.36915416e-01 -1.13209054e-03 6.65427065e+01] [ 1.46064704e-03 9.46521454e-06 9.99998933e-01 6.50211322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:66.57, Z:0.06 [[ 6.39501263e-01 -7.68789492e-01 -9.22761426e-04 2.39050213e+02] [ 7.68788658e-01 6.39501929e-01 -1.13229440e-03 6.65650631e+01] [ 1.46060375e-03 1.46951807e-05 9.99998933e-01 6.43602559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:66.59, Z:0.06 [[ 6.40315116e-01 -7.68111777e-01 -9.22568085e-04 2.39065264e+02] [ 7.68110942e-01 6.40315780e-01 -1.13245191e-03 6.65866392e+01] [ 1.46058455e-03 1.64914341e-05 9.99998933e-01 6.43631047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:66.61, Z:0.06 [[ 6.41418582e-01 -7.67190558e-01 -9.22385439e-04 2.39078161e+02] [ 7.67189722e-01 6.41419245e-01 -1.13260065e-03 6.66092879e+01] [ 1.46055630e-03 1.88264773e-05 9.99998933e-01 6.37904047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:66.63, Z:0.07 [[ 6.41806429e-01 -7.66866127e-01 -9.22140303e-04 2.39093793e+02] [ 7.66865291e-01 6.41807091e-01 -1.13280020e-03 6.66317627e+01] [ 1.46054229e-03 1.98810620e-05 9.99998933e-01 6.58169137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.11, Y:66.66, Z:0.07 [[ 6.41542371e-01 -7.67087046e-01 -9.21901766e-04 2.39106903e+02] [ 7.67086210e-01 6.41543033e-01 -1.13299430e-03 6.66550389e+01] [ 1.46054490e-03 1.96857166e-05 9.99998933e-01 6.61723267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:66.68, Z:0.07 [[ 6.41154056e-01 -7.67411641e-01 -9.21650557e-04 2.39122277e+02] [ 7.67410805e-01 6.41154718e-01 -1.13319861e-03 6.66775031e+01] [ 1.46055041e-03 1.92702902e-05 9.99998933e-01 6.58853544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:66.70, Z:0.06 [[ 6.40340779e-01 -7.68090384e-01 -9.21404550e-04 2.39136546e+02] [ 7.68089547e-01 6.40341442e-01 -1.13339860e-03 6.66993873e+01] [ 1.46056609e-03 1.80401417e-05 9.99998933e-01 6.43641145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:66.72, Z:0.06 [[ 6.37904382e-01 -7.70115024e-01 -9.21145012e-04 2.39150255e+02] [ 7.70114190e-01 6.37905047e-01 -1.13360950e-03 6.67216821e+01] [ 1.46061276e-03 1.37476225e-05 9.99998933e-01 6.21317053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:66.74, Z:0.06 [[ 6.36377809e-01 -7.71376974e-01 -9.20892315e-04 2.39166508e+02] [ 7.71376141e-01 6.36378475e-01 -1.13381474e-03 6.67434565e+01] [ 1.46063463e-03 1.11801805e-05 9.99998933e-01 6.24305529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:66.77, Z:0.06 [[ 6.32586290e-01 -7.74489340e-01 -9.20644760e-04 2.39180389e+02] [ 7.74488510e-01 6.32586960e-01 -1.13401572e-03 6.67660339e+01] [ 1.46067095e-03 4.33400571e-06 9.99998933e-01 6.15453576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:66.79, Z:0.06 [[ 6.30478349e-01 -7.76206290e-01 -9.20383880e-04 2.39196192e+02] [ 7.76205461e-01 6.30479021e-01 -1.13422741e-03 6.67881521e+01] [ 1.46067718e-03 6.98832559e-07 9.99998933e-01 6.17697892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:66.81, Z:0.06 [[ 6.26328623e-01 -7.79558599e-01 -9.20140430e-04 2.39211119e+02] [ 7.79557774e-01 6.26329298e-01 -1.13442488e-03 6.68101556e+01] [ 1.46066158e-03 -6.77985564e-06 9.99998933e-01 6.20597654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:66.83, Z:0.06 [[ 6.24401399e-01 -7.81103096e-01 -9.19884892e-04 2.39226943e+02] [ 7.81102272e-01 6.24402077e-01 -1.13463205e-03 6.68319309e+01] [ 1.46064264e-03 -1.00583399e-05 9.99998933e-01 6.35171267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.24, Y:66.85, Z:0.06 [[ 6.21473306e-01 -7.83434799e-01 -9.19635260e-04 2.39241698e+02] [ 7.83433977e-01 6.21473986e-01 -1.13483434e-03 6.68537869e+01] [ 1.46059811e-03 -1.52042582e-05 9.99998933e-01 6.20741044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.26, Y:66.87, Z:0.06 [[ 6.20682852e-01 -7.84061192e-01 -9.19372344e-04 2.39257668e+02] [ 7.84060370e-01 6.20683533e-01 -1.13504730e-03 6.68746846e+01] [ 1.46058581e-03 -1.63390247e-05 9.99998933e-01 6.19344775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:66.90, Z:0.06 [[ 6.19938543e-01 -7.84649832e-01 -9.19118734e-04 2.39274483e+02] [ 7.84649011e-01 6.19939224e-01 -1.13525263e-03 6.68966267e+01] [ 1.46057354e-03 -1.73987453e-05 9.99998933e-01 6.17311650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.29, Y:66.92, Z:0.06 [[ 6.19078450e-01 -7.85328612e-01 -9.18880789e-04 2.39291061e+02] [ 7.85327791e-01 6.19079132e-01 -1.13544519e-03 6.69186648e+01] [ 1.46055752e-03 -1.86929718e-05 9.99998933e-01 6.25340293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:66.94, Z:0.06 [[ 6.18457313e-01 -7.85817859e-01 -9.18642037e-04 2.39307585e+02] [ 7.85817039e-01 6.18457995e-01 -1.13563832e-03 6.69400028e+01] [ 1.46054639e-03 -1.95407409e-05 9.99998933e-01 6.34354065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:66.96, Z:0.06 [[ 6.17889138e-01 -7.86264694e-01 -9.18400660e-04 2.39323023e+02] [ 7.86263874e-01 6.17889820e-01 -1.13583349e-03 6.69615765e+01] [ 1.46053619e-03 -2.02860838e-05 9.99998933e-01 6.45618576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:66.98, Z:0.07 [[ 6.17638074e-01 -7.86461930e-01 -9.18147694e-04 2.39339847e+02] [ 7.86461110e-01 6.17638756e-01 -1.13603794e-03 6.69833039e+01] [ 1.46053419e-03 -2.04271701e-05 9.99998933e-01 6.53816488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:67.00, Z:0.06 [[ 6.17804038e-01 -7.86331564e-01 -9.17899285e-04 2.39356261e+02] [ 7.86330743e-01 6.17804720e-01 -1.13623861e-03 6.70033988e+01] [ 1.46054280e-03 -1.97996229e-05 9.99998933e-01 6.41096475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:239.37, Y:67.03, Z:0.07 [[ 6.18013055e-01 -7.86167299e-01 -9.17638954e-04 2.39373227e+02] [ 7.86166478e-01 6.18013736e-01 -1.13644882e-03 6.70250947e+01] [ 1.46055238e-03 -1.90767780e-05 9.99998933e-01 6.58074881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:67.05, Z:0.06 [[ 6.18599441e-01 -7.85705982e-01 -9.17400588e-04 2.39389636e+02] [ 7.85705160e-01 6.18600121e-01 -1.13664121e-03 6.70450690e+01] [ 1.46056991e-03 -1.76807599e-05 9.99998933e-01 6.29982808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:67.07, Z:0.06 [[ 6.20201882e-01 -7.84441702e-01 -9.17215967e-04 2.39405994e+02] [ 7.84440878e-01 6.20202561e-01 -1.13679017e-03 6.70661547e+01] [ 1.46060531e-03 -1.44622947e-05 9.99998933e-01 6.33253313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:67.09, Z:0.06 [[ 6.21350670e-01 -7.83532070e-01 -9.16970401e-04 2.39421615e+02] [ 7.83531245e-01 6.21351347e-01 -1.13698822e-03 6.70867742e+01] [ 1.46062752e-03 -1.20065687e-05 9.99998933e-01 6.30770386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:67.11, Z:0.06 [[ 6.24052200e-01 -7.81382116e-01 -9.16780505e-04 2.39437591e+02] [ 7.81381289e-01 6.24052873e-01 -1.13714131e-03 6.71085952e+01] [ 1.46066139e-03 -6.71959409e-06 9.99998933e-01 6.39805089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:67.13, Z:0.06 [[ 6.25229117e-01 -7.80440716e-01 -9.16538852e-04 2.39453477e+02] [ 7.80439887e-01 6.25229789e-01 -1.13733605e-03 6.71295936e+01] [ 1.46067076e-03 -4.20786083e-06 9.99998933e-01 6.36936774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:67.15, Z:0.06 [[ 6.26457541e-01 -7.79455008e-01 -9.16284412e-04 2.39468543e+02] [ 7.79454178e-01 6.26458211e-01 -1.13754100e-03 6.71504387e+01] [ 1.46067593e-03 -1.58057245e-06 9.99998933e-01 6.30094621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.48, Y:67.17, Z:0.06 [[ 6.28594862e-01 -7.77732383e-01 -9.16097825e-04 2.39483924e+02] [ 7.77731551e-01 6.28595530e-01 -1.13769125e-03 6.71734873e+01] [ 1.46067432e-03 2.66869092e-06 9.99998933e-01 6.29709318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:67.20, Z:0.06 [[ 6.28429869e-01 -7.77865709e-01 -9.15856490e-04 2.39501070e+02] [ 7.77864876e-01 6.28430537e-01 -1.13788549e-03 6.71951778e+01] [ 1.46067429e-03 2.66863586e-06 9.99998933e-01 6.30113153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.52, Y:67.22, Z:0.06 [[ 6.29131306e-01 -7.77298503e-01 -9.15615071e-04 2.39517266e+02] [ 7.77297669e-01 6.29131972e-01 -1.13807972e-03 6.72173988e+01] [ 1.46067038e-03 4.29611976e-06 9.99998933e-01 6.38473313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:67.24, Z:0.06 [[ 6.30231615e-01 -7.76406642e-01 -9.15367046e-04 2.39532710e+02] [ 7.76405807e-01 6.30232280e-01 -1.13827918e-03 6.72388790e+01] [ 1.46066137e-03 6.68323289e-06 9.99998933e-01 6.12495378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.55, Y:67.26, Z:0.06 [[ 6.30309810e-01 -7.76343162e-01 -9.15106967e-04 2.39549095e+02] [ 7.76342328e-01 6.30310474e-01 -1.13848822e-03 6.72608433e+01] [ 1.46065906e-03 7.16402377e-06 9.99998933e-01 6.24110631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.57, Y:67.28, Z:0.06 [[ 6.30004456e-01 -7.76590979e-01 -9.14868851e-04 2.39565595e+02] [ 7.76590144e-01 6.30005120e-01 -1.13867954e-03 6.72829660e+01] [ 1.46066032e-03 6.89505046e-06 9.99998933e-01 6.36028614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:67.30, Z:0.06 [[ 6.29319307e-01 -7.77146301e-01 -9.14626304e-04 2.39582076e+02] [ 7.77145466e-01 6.29319972e-01 -1.13887433e-03 6.73049208e+01] [ 1.46066457e-03 5.91791749e-06 9.99998933e-01 6.45190881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:239.60, Y:67.33, Z:0.07 [[ 6.27852045e-01 -7.78332174e-01 -9.14381948e-04 2.39598099e+02] [ 7.78331341e-01 6.27852711e-01 -1.13907048e-03 6.73272352e+01] [ 1.46067239e-03 3.47560489e-06 9.99998933e-01 6.86118565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.62, Y:67.35, Z:0.07 [[ 6.26746507e-01 -7.79222677e-01 -9.14136026e-04 2.39615434e+02] [ 7.79221844e-01 6.26747174e-01 -1.13926781e-03 6.73487217e+01] [ 1.46067548e-03 1.71735948e-06 9.99998933e-01 6.75065474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:67.37, Z:0.07 [[ 6.24377443e-01 -7.81122253e-01 -9.13886261e-04 2.39632464e+02] [ 7.81121422e-01 6.24378112e-01 -1.13946813e-03 6.73693123e+01] [ 1.46067449e-03 -2.39794097e-06 9.99998933e-01 6.69278655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.65, Y:67.39, Z:0.07 [[ 6.23000186e-01 -7.82221154e-01 -9.13636547e-04 2.39649269e+02] [ 7.82220323e-01 6.23000856e-01 -1.13966831e-03 6.73896454e+01] [ 1.46066901e-03 -4.65150367e-06 9.99998933e-01 6.58180757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:67.41, Z:0.07 [[ 6.21476794e-01 -7.83432039e-01 -9.13374708e-04 2.39666137e+02] [ 7.83431210e-01 6.21477465e-01 -1.13987812e-03 6.74095458e+01] [ 1.46065884e-03 -7.15845081e-06 9.99998933e-01 6.55137441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.68, Y:67.43, Z:0.07 [[ 6.18759775e-01 -7.85579726e-01 -9.13123496e-04 2.39684683e+02] [ 7.85578899e-01 6.18760449e-01 -1.14007933e-03 6.74294743e+01] [ 1.46062791e-03 -1.18953222e-05 9.99998933e-01 6.52864298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:67.45, Z:0.06 [[ 6.17328525e-01 -7.86704938e-01 -9.12883211e-04 2.39701284e+02] [ 7.86704112e-01 6.17329199e-01 -1.14027169e-03 6.74492510e+01] [ 1.46060683e-03 -1.42467332e-05 9.99998933e-01 6.45573269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:67.47, Z:0.06 [[ 6.15264198e-01 -7.88320451e-01 -9.12631512e-04 2.39720349e+02] [ 7.88319626e-01 6.15264875e-01 -1.14047311e-03 6.74692117e+01] [ 1.46056839e-03 -1.77530585e-05 9.99998933e-01 6.45570271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:67.49, Z:0.06 [[ 6.14392340e-01 -7.89000140e-01 -9.12388186e-04 2.39739235e+02] [ 7.88999315e-01 6.14393017e-01 -1.14066774e-03 6.74893299e+01] [ 1.46055194e-03 -1.90561326e-05 9.99998933e-01 6.41950797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.76, Y:67.51, Z:0.06 [[ 6.13534889e-01 -7.89667087e-01 -9.12146352e-04 2.39757016e+02] [ 7.89666263e-01 6.13535567e-01 -1.14086109e-03 6.75093988e+01] [ 1.46053468e-03 -2.03331168e-05 9.99998933e-01 6.40057360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:67.53, Z:0.06 [[ 6.12714477e-01 -7.90303826e-01 -9.11904519e-04 2.39775724e+02] [ 7.90303003e-01 6.12715156e-01 -1.14105436e-03 6.75277523e+01] [ 1.46051735e-03 -2.15403549e-05 9.99998933e-01 6.34852965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:67.55, Z:0.06 [[ 6.12371046e-01 -7.90569966e-01 -9.11650619e-04 2.39794202e+02] [ 7.90569142e-01 6.12371724e-01 -1.14125718e-03 6.75473884e+01] [ 1.46051271e-03 -2.18499961e-05 9.99998933e-01 6.35755260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:239.81, Y:67.57, Z:0.06 [[ 6.11999636e-01 -7.90857519e-01 -9.11404945e-04 2.39814440e+02] [ 7.90856695e-01 6.12000314e-01 -1.14145334e-03 6.75652423e+01] [ 1.46050707e-03 -2.22216752e-05 9.99998933e-01 6.48593808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:67.59, Z:0.06 [[ 6.12108637e-01 -7.90773158e-01 -9.11213956e-04 2.39833853e+02] [ 7.90772334e-01 6.12109314e-01 -1.14160578e-03 6.75850021e+01] [ 1.46051376e-03 -2.17760268e-05 9.99998933e-01 6.25332302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:67.60, Z:0.06 [[ 6.12887895e-01 -7.90169348e-01 -9.10974592e-04 2.39854226e+02] [ 7.90168523e-01 6.12888572e-01 -1.14179676e-03 6.76032087e+01] [ 1.46053872e-03 -2.00300368e-05 9.99998933e-01 6.26344169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:67.62, Z:0.06 [[ 6.13534715e-01 -7.89667224e-01 -9.10733213e-04 2.39871819e+02] [ 7.89666398e-01 6.13535390e-01 -1.14198926e-03 6.76222491e+01] [ 1.46055854e-03 -1.85253637e-05 9.99998933e-01 6.35027299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:67.64, Z:0.07 [[ 6.15406194e-01 -7.88209609e-01 -9.10478785e-04 2.39892037e+02] [ 7.88208782e-01 6.15406867e-01 -1.14219207e-03 6.76409223e+01] [ 1.46060166e-03 -1.47352994e-05 9.99998933e-01 6.52749911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:67.66, Z:0.07 [[ 6.16273710e-01 -7.87531514e-01 -9.10237624e-04 2.39909773e+02] [ 7.87530686e-01 6.16274382e-01 -1.14238422e-03 6.76597558e+01] [ 1.46061971e-03 -1.28186965e-05 9.99998933e-01 6.58619381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:67.68, Z:0.07 [[ 6.17228167e-01 -7.86783682e-01 -9.09984288e-04 2.39928691e+02] [ 7.86782852e-01 6.17228838e-01 -1.14258599e-03 6.76796116e+01] [ 1.46063655e-03 -1.07237787e-05 9.99998933e-01 6.77008533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.95, Y:67.70, Z:0.07 [[ 6.19654603e-01 -7.84874095e-01 -9.09741435e-04 2.39949855e+02] [ 7.84873263e-01 6.19655271e-01 -1.14277932e-03 6.76978474e+01] [ 1.46066396e-03 -5.90326409e-06 9.99998933e-01 6.80070038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:67.72, Z:0.07 [[ 6.20899727e-01 -7.83889471e-01 -9.09498716e-04 2.39967946e+02] [ 7.83888638e-01 6.20900393e-01 -1.14297246e-03 6.77170151e+01] [ 1.46067218e-03 -3.27442417e-06 9.99998933e-01 6.64656457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:67.74, Z:0.07 [[ 6.23318742e-01 -7.81967339e-01 -9.09310903e-04 2.39987547e+02] [ 7.81966504e-01 6.23319405e-01 -1.14312185e-03 6.77354815e+01] [ 1.46067509e-03 1.47860885e-06 9.99998933e-01 6.50671343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:67.76, Z:0.06 [[ 6.24408111e-01 -7.81097743e-01 -9.09050347e-04 2.40006047e+02] [ 7.81096907e-01 6.24408772e-01 -1.14332902e-03 6.77560794e+01] [ 1.46067073e-03 3.84749972e-06 9.99998933e-01 6.46376404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:67.78, Z:0.07 [[ 6.25517608e-01 -7.80209521e-01 -9.08812778e-04 2.40024432e+02] [ 7.80208683e-01 6.25518268e-01 -1.14351783e-03 6.77763676e+01] [ 1.46066249e-03 6.22691673e-06 9.99998933e-01 6.52801318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.04, Y:67.80, Z:0.07 [[ 6.26568642e-01 -7.79365711e-01 -9.08558631e-04 2.40041742e+02] [ 7.79364872e-01 6.26569300e-01 -1.14371972e-03 6.77962058e+01] [ 1.46065088e-03 8.52022983e-06 9.99998933e-01 6.50877001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:67.81, Z:0.06 [[ 6.28836249e-01 -7.77537232e-01 -9.08291669e-04 2.40061104e+02] [ 7.77536391e-01 6.28836905e-01 -1.14393169e-03 6.78142352e+01] [ 1.46061680e-03 1.31158873e-05 9.99998933e-01 6.10754959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:67.83, Z:0.06 [[ 6.31262338e-01 -7.75568847e-01 -9.08038487e-04 2.40080195e+02] [ 7.75568003e-01 6.31262991e-01 -1.14413263e-03 6.78335669e+01] [ 1.46056471e-03 1.80022410e-05 9.99998933e-01 6.42191744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:67.85, Z:0.06 [[ 6.32343011e-01 -7.74687997e-01 -9.07793403e-04 2.40096785e+02] [ 7.74687152e-01 6.32343662e-01 -1.14432705e-03 6.78531578e+01] [ 1.46053384e-03 2.03513284e-05 9.99998933e-01 6.33231371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.11, Y:67.87, Z:0.07 [[ 6.33384646e-01 -7.73836589e-01 -9.07567525e-04 2.40113541e+02] [ 7.73835743e-01 6.33385295e-01 -1.14450617e-03 6.78733882e+01] [ 1.46050068e-03 2.26044433e-05 9.99998933e-01 6.60529125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:67.89, Z:0.07 [[ 6.35119921e-01 -7.72413013e-01 -9.07320949e-04 2.40131841e+02] [ 7.72412166e-01 6.35120568e-01 -1.14470161e-03 6.78939113e+01] [ 1.46044062e-03 2.61970573e-05 9.99998933e-01 6.83687095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:67.91, Z:0.07 [[ 6.35681925e-01 -7.71950560e-01 -9.07073994e-04 2.40147785e+02] [ 7.71949712e-01 6.35682572e-01 -1.14489727e-03 6.79141341e+01] [ 1.46041522e-03 2.75749913e-05 9.99998933e-01 6.81167898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:67.93, Z:0.07 [[ 6.36155669e-01 -7.71560200e-01 -9.06814833e-04 2.40165051e+02] [ 7.71559351e-01 6.36156314e-01 -1.14510250e-03 6.79345093e+01] [ 1.46039150e-03 2.88019821e-05 9.99998933e-01 6.69406409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:67.96, Z:0.07 [[ 6.36108725e-01 -7.71598904e-01 -9.06569764e-04 2.40182071e+02] [ 7.71598054e-01 6.36109370e-01 -1.14529649e-03 6.79557576e+01] [ 1.46038703e-03 2.90256220e-05 9.99998933e-01 6.64233298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:67.98, Z:0.06 [[ 6.35859477e-01 -7.71804317e-01 -9.06326640e-04 2.40198109e+02] [ 7.71803468e-01 6.35860122e-01 -1.14548885e-03 6.79758152e+01] [ 1.46039021e-03 2.88638965e-05 9.99998933e-01 6.42251714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:68.00, Z:0.07 [[ 6.35432885e-01 -7.72155572e-01 -9.06071525e-04 2.40215064e+02] [ 7.72154723e-01 6.35433530e-01 -1.14569061e-03 6.79969904e+01] [ 1.46039961e-03 2.83820803e-05 9.99998933e-01 6.51839600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.23, Y:68.02, Z:0.07 [[ 6.35006871e-01 -7.72505957e-01 -9.05830190e-04 2.40231270e+02] [ 7.72505108e-01 6.35007516e-01 -1.14588139e-03 6.80174213e+01] [ 1.46040917e-03 2.78841046e-05 9.99998933e-01 6.57350380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:68.04, Z:0.07 [[ 6.34059112e-01 -7.73284050e-01 -9.05577340e-04 2.40246933e+02] [ 7.73283201e-01 6.34059758e-01 -1.14608117e-03 6.80381966e+01] [ 1.46043644e-03 2.64154674e-05 9.99998933e-01 6.72348749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:68.06, Z:0.07 [[ 6.33399850e-01 -7.73824147e-01 -9.05325785e-04 2.40262512e+02] [ 7.73823298e-01 6.33400497e-01 -1.14627985e-03 6.80588123e+01] [ 1.46045283e-03 2.54913007e-05 9.99998933e-01 6.55744580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.28, Y:68.08, Z:0.07 [[ 6.32383664e-01 -7.74654815e-01 -9.05076824e-04 2.40279060e+02] [ 7.74653967e-01 6.32384311e-01 -1.14647639e-03 6.80802433e+01] [ 1.46047984e-03 2.38915898e-05 9.99998933e-01 6.86691245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.30, Y:68.10, Z:0.07 [[ 6.30164071e-01 -7.76461477e-01 -9.04840063e-04 2.40295389e+02] [ 7.76460631e-01 6.30164720e-01 -1.14666322e-03 6.81001995e+01] [ 1.46053810e-03 2.00132773e-05 9.99998933e-01 7.00034401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:240.31, Y:68.12, Z:0.07 [[ 6.28581580e-01 -7.77743131e-01 -9.04590716e-04 2.40311863e+02] [ 7.77742286e-01 6.28582231e-01 -1.14685990e-03 6.81221801e+01] [ 1.46057206e-03 1.73565543e-05 9.99998933e-01 7.15370672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:68.14, Z:0.07 [[ 6.25361870e-01 -7.80334360e-01 -9.04354909e-04 2.40328844e+02] [ 7.80333517e-01 6.25362524e-01 -1.14704581e-03 6.81435272e+01] [ 1.46062893e-03 1.16202651e-05 9.99998933e-01 6.92838027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.35, Y:68.17, Z:0.07 [[ 6.23657783e-01 -7.81696970e-01 -9.04116989e-04 2.40346065e+02] [ 7.81696128e-01 6.23658438e-01 -1.14723331e-03 6.81651239e+01] [ 1.46064899e-03 8.73623428e-06 9.99998933e-01 6.97576354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:68.19, Z:0.07 [[ 6.22166394e-01 -7.82884514e-01 -9.03868026e-04 2.40362863e+02] [ 7.82883673e-01 6.22167050e-01 -1.14742943e-03 6.81855456e+01] [ 1.46066163e-03 6.26850855e-06 9.99998933e-01 6.81469608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:68.21, Z:0.07 [[ 6.19799413e-01 -7.84759754e-01 -9.03606050e-04 2.40379618e+02] [ 7.84758914e-01 6.19800072e-01 -1.14763570e-03 6.82053680e+01] [ 1.46067340e-03 2.19103002e-06 9.99998933e-01 6.81121449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:68.23, Z:0.07 [[ 6.18668528e-01 -7.85651600e-01 -9.03346947e-04 2.40397415e+02] [ 7.85650762e-01 6.18669187e-01 -1.14783961e-03 6.82263425e+01] [ 1.46067495e-03 4.17025496e-07 9.99998933e-01 6.80470628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:68.25, Z:0.07 [[ 6.18540407e-01 -7.85752474e-01 -9.03100712e-04 2.40413498e+02] [ 7.85751635e-01 6.18541066e-01 -1.14803331e-03 6.82469533e+01] [ 1.46067489e-03 4.92130630e-07 9.99998933e-01 6.55974202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.43, Y:68.27, Z:0.06 [[ 6.18757811e-01 -7.85581285e-01 -9.02841924e-04 2.40428906e+02] [ 7.85580446e-01 6.18758470e-01 -1.14823679e-03 6.82676702e+01] [ 1.46067442e-03 1.22552409e-06 9.99998933e-01 6.48869019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.44, Y:68.29, Z:0.07 [[ 6.19988030e-01 -7.84610749e-01 -9.02572363e-04 2.40444555e+02] [ 7.84609909e-01 6.19988687e-01 -1.14844864e-03 6.82901212e+01] [ 1.46066980e-03 3.85719300e-06 9.99998933e-01 6.82504024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:68.31, Z:0.07 [[ 6.20770938e-01 -7.83991472e-01 -9.02328397e-04 2.40461148e+02] [ 7.83990631e-01 6.20771594e-01 -1.14864029e-03 6.83112237e+01] [ 1.46066403e-03 5.62550264e-06 9.99998933e-01 6.74972289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:68.33, Z:0.07 [[ 6.22722973e-01 -7.82441873e-01 -9.02075165e-04 2.40476347e+02] [ 7.82441030e-01 6.22723626e-01 -1.14883913e-03 6.83323216e+01] [ 1.46064336e-03 9.58789859e-06 9.99998933e-01 6.68637632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:68.35, Z:0.07 [[ 6.23573686e-01 -7.81764060e-01 -9.01809304e-04 2.40492768e+02] [ 7.81763215e-01 6.23574338e-01 -1.14904779e-03 6.83542483e+01] [ 1.46062940e-03 1.15146232e-05 9.99998933e-01 6.81247642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:68.38, Z:0.07 [[ 6.24541241e-01 -7.80991310e-01 -9.01565475e-04 2.40509088e+02] [ 7.80990464e-01 6.24541891e-01 -1.14923907e-03 6.83763204e+01] [ 1.46061113e-03 1.36331562e-05 9.99998933e-01 6.90067802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.52, Y:68.40, Z:0.07 [[ 6.26505954e-01 -7.79416113e-01 -9.01320723e-04 2.40524006e+02] [ 7.79415266e-01 6.26506602e-01 -1.14943099e-03 6.83996446e+01] [ 1.46056842e-03 1.76222281e-05 9.99998933e-01 7.00844526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.54, Y:68.42, Z:0.07 [[ 6.28130105e-01 -7.78107807e-01 -9.01076723e-04 2.40539129e+02] [ 7.78106958e-01 6.28130751e-01 -1.14962224e-03 6.84223971e+01] [ 1.46052404e-03 2.09782697e-05 9.99998933e-01 7.03425763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:68.44, Z:0.07 [[ 6.28641403e-01 -7.77694782e-01 -9.00834211e-04 2.40554223e+02] [ 7.77693933e-01 6.28642048e-01 -1.14981224e-03 6.84444425e+01] [ 1.46050524e-03 2.22462787e-05 9.99998933e-01 6.95159107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:68.47, Z:0.07 [[ 6.28986176e-01 -7.77415963e-01 -9.00593857e-04 2.40568227e+02] [ 7.77415112e-01 6.28986821e-01 -1.15000047e-03 6.84663286e+01] [ 1.46049039e-03 2.31991210e-05 9.99998933e-01 6.67937732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:68.49, Z:0.07 [[ 6.28822895e-01 -7.77548041e-01 -9.00409999e-04 2.40584515e+02] [ 7.77547191e-01 6.28823539e-01 -1.15014440e-03 6.84876459e+01] [ 1.46049153e-03 2.31258659e-05 9.99998933e-01 6.68329417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:240.60, Y:68.51, Z:0.07 [[ 6.28984830e-01 -7.77417053e-01 -9.00168414e-04 2.40597227e+02] [ 7.77416202e-01 6.28985473e-01 -1.15033345e-03 6.85115994e+01] [ 1.46048170e-03 2.37367787e-05 9.99998933e-01 7.10561026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:240.61, Y:68.53, Z:0.07 [[ 6.28675780e-01 -7.77666994e-01 -8.99924312e-04 2.40612188e+02] [ 7.77666143e-01 6.28676424e-01 -1.15052438e-03 6.85329135e+01] [ 1.46048604e-03 2.34661447e-05 9.99998933e-01 6.80517509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.63, Y:68.56, Z:0.07 [[ 6.27502208e-01 -7.78614262e-01 -8.99735427e-04 2.40625191e+02] [ 7.78613412e-01 6.27502853e-01 -1.15067208e-03 6.85553473e+01] [ 1.46051624e-03 2.15031975e-05 9.99998933e-01 6.82054288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.64, Y:68.58, Z:0.07 [[ 6.26400240e-01 -7.79501078e-01 -8.99481295e-04 2.40640410e+02] [ 7.79500229e-01 6.26400885e-01 -1.15087070e-03 6.85782941e+01] [ 1.46054083e-03 1.97598047e-05 9.99998933e-01 6.99583154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.66, Y:68.60, Z:0.07 [[ 6.23337748e-01 -7.81952200e-01 -8.99236461e-04 2.40655317e+02] [ 7.81951353e-01 6.23338397e-01 -1.15106197e-03 6.86016890e+01] [ 1.46060405e-03 1.43412067e-05 9.99998933e-01 7.28838094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.67, Y:68.62, Z:0.07 [[ 6.21611896e-01 -7.83324864e-01 -8.98987037e-04 2.40670216e+02] [ 7.83324018e-01 6.21612546e-01 -1.15125673e-03 6.86235155e+01] [ 1.46062965e-03 1.14367435e-05 9.99998933e-01 7.19001665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.68, Y:68.65, Z:0.07 [[ 6.17839103e-01 -7.86304035e-01 -8.98725436e-04 2.40684045e+02] [ 7.86303192e-01 6.17839756e-01 -1.15146092e-03 6.86473593e+01] [ 1.46066667e-03 4.74689976e-06 9.99998933e-01 7.37183127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:68.67, Z:0.07 [[ 6.15694119e-01 -7.87984737e-01 -8.98480918e-04 2.40700630e+02] [ 7.87983895e-01 6.15694774e-01 -1.15165168e-03 6.86694207e+01] [ 1.46067395e-03 1.07667327e-06 9.99998933e-01 7.33230333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:68.69, Z:0.07 [[ 6.13569681e-01 -7.89640070e-01 -8.98228347e-04 2.40718011e+02] [ 7.89639230e-01 6.13570338e-01 -1.15184864e-03 6.86908973e+01] [ 1.46067211e-03 -2.53693749e-06 9.99998933e-01 7.31583083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.73, Y:68.71, Z:0.07 [[ 6.09545139e-01 -7.92750854e-01 -8.97974314e-04 2.40734921e+02] [ 7.92750017e-01 6.09545800e-01 -1.15204665e-03 6.87105782e+01] [ 1.46064244e-03 -9.64471813e-06 9.99998933e-01 7.23825314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.75, Y:68.73, Z:0.07 [[ 6.07762435e-01 -7.94118389e-01 -8.97707959e-04 2.40751183e+02] [ 7.94117554e-01 6.07763098e-01 -1.15225416e-03 6.87312871e+01] [ 1.46061999e-03 -1.25888525e-05 9.99998933e-01 7.20131219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:68.75, Z:0.07 [[ 6.05275013e-01 -7.96015925e-01 -8.97518621e-04 2.40768424e+02] [ 7.96015091e-01 6.05275678e-01 -1.15240162e-03 6.87527177e+01] [ 1.46057624e-03 -1.69184591e-05 9.99998933e-01 7.09001078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:68.77, Z:0.07 [[ 6.04656250e-01 -7.96486041e-01 -8.97267335e-04 2.40784603e+02] [ 7.96485207e-01 6.04656916e-01 -1.15259724e-03 6.87731737e+01] [ 1.46056652e-03 -1.77350319e-05 9.99998933e-01 6.97806562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:240.80, Y:68.79, Z:0.07 [[ 6.04321473e-01 -7.96740079e-01 -8.97003159e-04 2.40800122e+02] [ 7.96739245e-01 6.04322138e-01 -1.15280280e-03 6.87937756e+01] [ 1.46056306e-03 -1.80141335e-05 9.99998933e-01 7.04903981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:240.82, Y:68.81, Z:0.07 [[ 6.05111011e-01 -7.96140603e-01 -8.96745677e-04 2.40817277e+02] [ 7.96139768e-01 6.05111675e-01 -1.15300306e-03 6.88142867e+01] [ 1.46058383e-03 -1.62400507e-05 9.99998933e-01 7.08614912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.83, Y:68.83, Z:0.07 [[ 6.06023540e-01 -7.95446205e-01 -8.96492195e-04 2.40834029e+02] [ 7.95445369e-01 6.06024203e-01 -1.15320011e-03 6.88339099e+01] [ 1.46060462e-03 -1.42441506e-05 9.99998933e-01 6.85853620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.85, Y:68.85, Z:0.07 [[ 6.08518704e-01 -7.93539025e-01 -8.96295285e-04 2.40850808e+02] [ 7.93538187e-01 6.08519364e-01 -1.15335313e-03 6.88541658e+01] [ 1.46064376e-03 -9.40758053e-06 9.99998933e-01 7.05592063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:68.87, Z:0.07 [[ 6.09673378e-01 -7.92652237e-01 -8.96031571e-04 2.40866791e+02] [ 7.92651398e-01 6.09674036e-01 -1.15355798e-03 6.88746624e+01] [ 1.46065750e-03 -6.94708919e-06 9.99998933e-01 6.88597203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.88, Y:68.90, Z:0.07 [[ 6.11022703e-01 -7.91612565e-01 -8.95771065e-04 2.40883528e+02] [ 7.91611725e-01 6.11023360e-01 -1.15376023e-03 6.88962062e+01] [ 1.46066814e-03 -4.12918237e-06 9.99998933e-01 6.78158029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.90, Y:68.92, Z:0.07 [[ 6.12254167e-01 -7.90660504e-01 -8.95538670e-04 2.40900029e+02] [ 7.90659662e-01 6.12254822e-01 -1.15394059e-03 6.89184013e+01] [ 1.46067311e-03 -1.56137003e-06 9.99998933e-01 6.77488344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.92, Y:68.94, Z:0.07 [[ 6.14765429e-01 -7.88709494e-01 -8.95290991e-04 2.40915002e+02] [ 7.88708650e-01 6.14766081e-01 -1.15413272e-03 6.89410596e+01] [ 1.46066997e-03 3.39714629e-06 9.99998933e-01 7.00775843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:68.96, Z:0.07 [[ 6.17238732e-01 -7.86775410e-01 -8.95043945e-04 2.40931467e+02] [ 7.86774563e-01 6.17239381e-01 -1.15432427e-03 6.89630908e+01] [ 1.46065032e-03 8.29584122e-06 9.99998933e-01 6.81647148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:68.98, Z:0.07 [[ 6.18297346e-01 -7.85943758e-01 -8.94795050e-04 2.40947532e+02] [ 7.85942910e-01 6.18297993e-01 -1.15451718e-03 6.89846245e+01] [ 1.46063555e-03 1.05770798e-05 9.99998933e-01 6.83483423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.96, Y:69.01, Z:0.07 [[ 6.19432785e-01 -7.85049186e-01 -8.94543722e-04 2.40963161e+02] [ 7.85048337e-01 6.19433431e-01 -1.15471188e-03 6.90056307e+01] [ 1.46061591e-03 1.30063327e-05 9.99998933e-01 6.74451630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.98, Y:69.03, Z:0.07 [[ 6.21209051e-01 -7.83644380e-01 -8.94280567e-04 2.40978404e+02] [ 7.83643529e-01 6.21209695e-01 -1.15491564e-03 6.90276906e+01] [ 1.46057891e-03 1.66468728e-05 9.99998933e-01 6.89666878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:69.05, Z:0.07 [[ 6.21693934e-01 -7.83259761e-01 -8.94029244e-04 2.40994209e+02] [ 7.83258909e-01 6.21694577e-01 -1.15511016e-03 6.90499393e+01] [ 1.46056444e-03 1.78686114e-05 9.99998933e-01 6.91957302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.01, Y:69.07, Z:0.07 [[ 6.21959539e-01 -7.83048870e-01 -8.93777973e-04 2.41009091e+02] [ 7.83048018e-01 6.21960181e-01 -1.15530455e-03 6.90728838e+01] [ 1.46055424e-03 1.86816178e-05 9.99998933e-01 7.10049161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.02, Y:69.09, Z:0.07 [[ 6.21478731e-01 -7.83430526e-01 -8.93526474e-04 2.41024611e+02] [ 7.83429674e-01 6.21479373e-01 -1.15549903e-03 6.90944651e+01] [ 1.46056149e-03 1.81029186e-05 9.99998933e-01 7.09157757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.04, Y:69.12, Z:0.07 [[ 6.20610241e-01 -7.84118696e-01 -8.93332070e-04 2.41040972e+02] [ 7.84117845e-01 6.20610884e-01 -1.15564931e-03 6.91167211e+01] [ 1.46057784e-03 1.67301793e-05 9.99998933e-01 7.06673844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:69.14, Z:0.07 [[ 6.18536826e-01 -7.85755304e-01 -8.93086663e-04 2.41056732e+02] [ 7.85754454e-01 6.18537471e-01 -1.15583893e-03 6.91371132e+01] [ 1.46061413e-03 1.31821195e-05 9.99998933e-01 6.99412137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95587156 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:241.07, Y:69.16, Z:0.07 [[ 6.17490962e-01 -7.86577469e-01 -8.92829104e-04 2.41072576e+02] [ 7.86576619e-01 6.17491607e-01 -1.15603785e-03 6.91575258e+01] [ 1.46062780e-03 1.15644248e-05 9.99998933e-01 7.19668774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.09, Y:69.18, Z:0.07 [[ 6.15499859e-01 -7.88136490e-01 -8.92573833e-04 2.41090633e+02] [ 7.88135642e-01 6.15500506e-01 -1.15623491e-03 6.91785338e+01] [ 1.46065057e-03 8.19317093e-06 9.99998933e-01 6.91670257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.11, Y:69.20, Z:0.07 [[ 6.14782892e-01 -7.88695886e-01 -8.92404414e-04 2.41107155e+02] [ 7.88695038e-01 6.14783539e-01 -1.15636565e-03 6.92001422e+01] [ 1.46065638e-03 7.07888766e-06 9.99998933e-01 6.92780383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:241.12, Y:69.22, Z:0.07 [[ 6.13668967e-01 -7.89562919e-01 -8.92156710e-04 2.41123173e+02] [ 7.89562072e-01 6.13669616e-01 -1.15655673e-03 6.92206024e+01] [ 1.46066377e-03 5.32987382e-06 9.99998933e-01 6.99317322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.14, Y:69.24, Z:0.07 [[ 6.13122759e-01 -7.89987143e-01 -8.91896001e-04 2.41139441e+02] [ 7.89986296e-01 6.13123408e-01 -1.15675775e-03 6.92406307e+01] [ 1.46066606e-03 4.64888191e-06 9.99998933e-01 6.68910110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.16, Y:69.26, Z:0.07 [[ 6.12603827e-01 -7.90389623e-01 -8.91707109e-04 2.41156171e+02] [ 7.90388776e-01 6.12604476e-01 -1.15690334e-03 6.92625277e+01] [ 1.46066816e-03 3.92812249e-06 9.99998933e-01 6.73649791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.17, Y:69.28, Z:0.07 [[ 6.11972968e-01 -7.90878177e-01 -8.91463715e-04 2.41173951e+02] [ 7.90877331e-01 6.11973618e-01 -1.15709086e-03 6.92833437e+01] [ 1.46067018e-03 3.06988238e-06 9.99998933e-01 6.89171170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:241.19, Y:69.30, Z:0.07 [[ 6.11805703e-01 -7.91007577e-01 -8.91214817e-04 2.41190455e+02] [ 7.91006731e-01 6.11806352e-01 -1.15728253e-03 6.93032316e+01] [ 1.46067014e-03 3.07513333e-06 9.99998933e-01 7.16457783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:69.32, Z:0.07 [[ 6.11313139e-01 -7.91388307e-01 -8.90953993e-04 2.41207913e+02] [ 7.91387461e-01 6.11313788e-01 -1.15748330e-03 6.93227977e+01] [ 1.46067121e-03 2.49492876e-06 9.99998933e-01 7.07123115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.22, Y:69.34, Z:0.07 [[ 6.11053355e-01 -7.91588911e-01 -8.90697357e-04 2.41224752e+02] [ 7.91588065e-01 6.11054004e-01 -1.15768075e-03 6.93442711e+01] [ 1.46067143e-03 2.33930748e-06 9.99998933e-01 7.09553234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.24, Y:69.36, Z:0.07 [[ 6.10625695e-01 -7.91918852e-01 -8.90452181e-04 2.41243007e+02] [ 7.91918006e-01 6.10626344e-01 -1.15786930e-03 6.93646942e+01] [ 1.46067209e-03 1.85962887e-06 9.99998933e-01 7.26436554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.26, Y:69.39, Z:0.07 [[ 6.10413570e-01 -7.92082370e-01 -8.90202615e-04 2.41260904e+02] [ 7.92081524e-01 6.10414219e-01 -1.15806114e-03 6.93857030e+01] [ 1.46067215e-03 1.78319108e-06 9.99998933e-01 7.17273756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:69.41, Z:0.07 [[ 6.10620742e-01 -7.91922671e-01 -8.89953598e-04 2.41278416e+02] [ 7.91921824e-01 6.10621391e-01 -1.15825247e-03 6.94057393e+01] [ 1.46067110e-03 2.47930930e-06 9.99998933e-01 7.11945469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:69.43, Z:0.07 [[ 6.10933889e-01 -7.91681117e-01 -8.89692507e-04 2.41295399e+02] [ 7.91680270e-01 6.10934537e-01 -1.15845299e-03 6.94264859e+01] [ 1.46066924e-03 3.38618867e-06 9.99998933e-01 7.18701043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.31, Y:69.45, Z:0.07 [[ 6.11306413e-01 -7.91393504e-01 -8.89443860e-04 2.41312141e+02] [ 7.91392656e-01 6.11307060e-01 -1.15864387e-03 6.94471985e+01] [ 1.46066654e-03 4.38708980e-06 9.99998933e-01 7.18904830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:69.47, Z:0.07 [[ 6.12685714e-01 -7.90326151e-01 -8.89182680e-04 2.41330734e+02] [ 7.90325302e-01 6.12686359e-01 -1.15884427e-03 6.94676466e+01] [ 1.46065503e-03 7.26375974e-06 9.99998933e-01 7.24399486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.35, Y:69.49, Z:0.07 [[ 6.13581445e-01 -7.89630939e-01 -8.88932949e-04 2.41347607e+02] [ 7.89630089e-01 6.13582089e-01 -1.15903581e-03 6.94890407e+01] [ 1.46064387e-03 9.23466084e-06 9.99998933e-01 7.42251789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:241.36, Y:69.51, Z:0.07 [[ 6.15757204e-01 -7.87935452e-01 -8.88683678e-04 2.41364460e+02] [ 7.87934599e-01 6.15757845e-01 -1.15922690e-03 6.95097065e+01] [ 1.46060992e-03 1.35776982e-05 9.99998933e-01 7.20312646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.38, Y:69.53, Z:0.07 [[ 6.16775753e-01 -7.87138413e-01 -8.88435361e-04 2.41380991e+02] [ 7.87137560e-01 6.16776392e-01 -1.15941718e-03 6.95301174e+01] [ 1.46058776e-03 1.57795621e-05 9.99998933e-01 6.91895536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.40, Y:69.55, Z:0.07 [[ 6.17909271e-01 -7.86248907e-01 -8.88177697e-04 2.41398058e+02] [ 7.86248052e-01 6.17909909e-01 -1.15961453e-03 6.95512417e+01] [ 1.46055946e-03 1.82085859e-05 9.99998933e-01 6.92618199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.42, Y:69.57, Z:0.07 [[ 6.19821796e-01 -7.84742093e-01 -8.87934733e-04 2.41415579e+02] [ 7.84741236e-01 6.19822432e-01 -1.15980054e-03 6.95722480e+01] [ 1.46050617e-03 2.20706558e-05 9.99998933e-01 7.16316679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.43, Y:69.59, Z:0.07 [[ 6.20521043e-01 -7.84189293e-01 -8.87686745e-04 2.41432495e+02] [ 7.84188436e-01 6.20521677e-01 -1.15999032e-03 6.95939722e+01] [ 1.46048085e-03 2.36847218e-05 9.99998933e-01 7.32651856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.45, Y:69.61, Z:0.07 [[ 6.21466222e-01 -7.83440456e-01 -8.87432346e-04 2.41448883e+02] [ 7.83439597e-01 6.21466855e-01 -1.16018491e-03 6.96144483e+01] [ 1.46044558e-03 2.57660931e-05 9.99998933e-01 7.33667826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.47, Y:69.64, Z:0.07 [[ 6.21574744e-01 -7.83354358e-01 -8.87235710e-04 2.41465307e+02] [ 7.83353499e-01 6.21575377e-01 -1.16033526e-03 6.96355875e+01] [ 1.46043756e-03 2.62158971e-05 9.99998933e-01 7.33023126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.48, Y:69.66, Z:0.07 [[ 6.21522084e-01 -7.83396140e-01 -8.86986297e-04 2.41481900e+02] [ 7.83395281e-01 6.21522716e-01 -1.16052589e-03 6.96567551e+01] [ 1.46043364e-03 2.64315896e-05 9.99998933e-01 7.28378014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.50, Y:69.68, Z:0.07 [[ 6.21242413e-01 -7.83617942e-01 -8.86735790e-04 2.41498354e+02] [ 7.83617082e-01 6.21243045e-01 -1.16071727e-03 6.96771356e+01] [ 1.46043732e-03 2.62254817e-05 9.99998933e-01 7.09442833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:241.51, Y:69.70, Z:0.07 [[ 6.21034446e-01 -7.83782770e-01 -8.86473143e-04 2.41514923e+02] [ 7.83781911e-01 6.21035078e-01 -1.16091782e-03 6.96986414e+01] [ 1.46043830e-03 2.61683419e-05 9.99998933e-01 7.32319921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.53, Y:69.72, Z:0.07 [[ 6.20731840e-01 -7.84022447e-01 -8.86228995e-04 2.41532772e+02] [ 7.84021588e-01 6.20732472e-01 -1.16110417e-03 6.97196018e+01] [ 1.46044285e-03 2.59116644e-05 9.99998933e-01 7.31386195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.55, Y:69.74, Z:0.07 [[ 6.20830416e-01 -7.83944392e-01 -8.85977256e-04 2.41549001e+02] [ 7.83943532e-01 6.20831047e-01 -1.16129623e-03 6.97403243e+01] [ 1.46043385e-03 2.64118803e-05 9.99998933e-01 7.30846639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.57, Y:69.76, Z:0.08 [[ 6.21303043e-01 -7.83569872e-01 -8.85713277e-04 2.41565742e+02] [ 7.83569012e-01 6.21303674e-01 -1.16149753e-03 6.97618897e+01] [ 1.46041138e-03 2.76244713e-05 9.99998933e-01 7.54798276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.58, Y:69.78, Z:0.08 [[ 6.21391322e-01 -7.83499866e-01 -8.85460384e-04 2.41581836e+02] [ 7.83499006e-01 6.21391953e-01 -1.16169029e-03 6.97830212e+01] [ 1.46040214e-03 2.81069334e-05 9.99998933e-01 7.52364966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.60, Y:69.80, Z:0.08 [[ 6.21264256e-01 -7.83600625e-01 -8.85194470e-04 2.41598634e+02] [ 7.83599765e-01 6.21264886e-01 -1.16189288e-03 6.98044024e+01] [ 1.46040023e-03 2.82043349e-05 9.99998933e-01 7.54820740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.62, Y:69.83, Z:0.08 [[ 6.20991764e-01 -7.83816590e-01 -8.84948490e-04 2.41615512e+02] [ 7.83815729e-01 6.20992394e-01 -1.16208019e-03 6.98252371e+01] [ 1.46040402e-03 2.80056838e-05 9.99998933e-01 7.56442471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.63, Y:69.85, Z:0.08 [[ 6.20826759e-01 -7.83947290e-01 -8.84703704e-04 2.41632084e+02] [ 7.83946429e-01 6.20827389e-01 -1.16226652e-03 6.98473894e+01] [ 1.46040398e-03 2.80058495e-05 9.99998933e-01 7.56846312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.65, Y:69.87, Z:0.08 [[ 6.20262459e-01 -7.84393843e-01 -8.84459011e-04 2.41648670e+02] [ 7.84392982e-01 6.20263089e-01 -1.16245270e-03 6.98684511e+01] [ 1.46041802e-03 2.72623292e-05 9.99998933e-01 7.63689953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.66, Y:69.89, Z:0.08 [[ 6.19962865e-01 -7.84630655e-01 -8.84214715e-04 2.41664925e+02] [ 7.84629794e-01 6.19963495e-01 -1.16263849e-03 6.98906748e+01] [ 1.46042265e-03 2.70114816e-05 9.99998933e-01 7.67211796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.68, Y:69.91, Z:0.08 [[ 6.19830475e-01 -7.84735243e-01 -8.83970552e-04 2.41681032e+02] [ 7.84734382e-01 6.19831105e-01 -1.16282410e-03 6.99117031e+01] [ 1.46042150e-03 2.70717323e-05 9.99998933e-01 7.79943300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.70, Y:69.93, Z:0.08 [[ 6.19593282e-01 -7.84922534e-01 -8.83714512e-04 2.41697188e+02] [ 7.84921673e-01 6.19593912e-01 -1.16301865e-03 6.99321674e+01] [ 1.46042368e-03 2.69518727e-05 9.99998933e-01 7.60963425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.71, Y:69.95, Z:0.08 [[ 6.19524948e-01 -7.84976470e-01 -8.83459691e-04 2.41713058e+02] [ 7.84975609e-01 6.19525577e-01 -1.16321219e-03 6.99537005e+01] [ 1.46042007e-03 2.71446633e-05 9.99998933e-01 7.59040479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:69.98, Z:0.08 [[ 6.19992124e-01 -7.84607536e-01 -8.83217566e-04 2.41727702e+02] [ 7.84606674e-01 6.19992752e-01 -1.16339601e-03 6.99752911e+01] [ 1.46039776e-03 2.83179637e-05 9.99998933e-01 7.51123580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:70.00, Z:0.08 [[ 6.20165761e-01 -7.84470298e-01 -8.82963156e-04 2.41742039e+02] [ 7.84469436e-01 6.20166389e-01 -1.16358906e-03 6.99958347e+01] [ 1.46038513e-03 2.89604854e-05 9.99998933e-01 7.54909235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.76, Y:70.02, Z:0.07 [[ 6.20676405e-01 -7.84066337e-01 -8.82686311e-04 2.41755704e+02] [ 7.84065474e-01 6.20677032e-01 -1.16379903e-03 7.00183284e+01] [ 1.46035876e-03 3.02587388e-05 9.99998933e-01 7.49580816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.77, Y:70.04, Z:0.07 [[ 6.20462286e-01 -7.84235789e-01 -8.82424144e-04 2.41769527e+02] [ 7.84234926e-01 6.20462913e-01 -1.16399778e-03 7.00395219e+01] [ 1.46036017e-03 3.01888903e-05 9.99998933e-01 7.39633553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:241.78, Y:70.06, Z:0.07 [[ 6.20083470e-01 -7.84535348e-01 -8.82150283e-04 2.41784401e+02] [ 7.84534484e-01 6.20084097e-01 -1.16420529e-03 7.00608932e+01] [ 1.46036757e-03 2.98271399e-05 9.99998933e-01 7.33605220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.80, Y:70.08, Z:0.07 [[ 6.19039747e-01 -7.85359163e-01 -8.81888073e-04 2.41798561e+02] [ 7.85358300e-01 6.19040374e-01 -1.16440388e-03 7.00813501e+01] [ 1.46039958e-03 2.82141677e-05 9.99998933e-01 7.19684684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:70.10, Z:0.07 [[ 6.18346343e-01 -7.85905225e-01 -8.81628138e-04 2.41813521e+02] [ 7.85904362e-01 6.18346971e-01 -1.16460066e-03 7.01040202e+01] [ 1.46041783e-03 2.72511601e-05 9.99998933e-01 7.27559408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:70.13, Z:0.07 [[ 6.17192295e-01 -7.86811854e-01 -8.81385769e-04 2.41827464e+02] [ 7.86810993e-01 6.17192924e-01 -1.16478406e-03 7.01262312e+01] [ 1.46045097e-03 2.54117349e-05 9.99998933e-01 7.02969898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.84, Y:70.15, Z:0.07 [[ 6.16823366e-01 -7.87101111e-01 -8.81131503e-04 2.41842994e+02] [ 7.87100249e-01 6.16823994e-01 -1.16497637e-03 7.01475614e+01] [ 1.46045725e-03 2.50458218e-05 9.99998933e-01 6.96615908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.86, Y:70.17, Z:0.07 [[ 6.16360574e-01 -7.87463566e-01 -8.80875120e-04 2.41857585e+02] [ 7.87462704e-01 6.16361203e-01 -1.16517020e-03 7.01690372e+01] [ 1.46046633e-03 2.45086686e-05 9.99998933e-01 6.90853333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.87, Y:70.19, Z:0.07 [[ 6.16303060e-01 -7.87508579e-01 -8.80620320e-04 2.41871482e+02] [ 7.87507718e-01 6.16303689e-01 -1.16536274e-03 7.01922037e+01] [ 1.46046271e-03 2.47213267e-05 9.99998933e-01 7.01215815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.89, Y:70.21, Z:0.07 [[ 6.16291765e-01 -7.87517419e-01 -8.80376326e-04 2.41886522e+02] [ 7.87516557e-01 6.16292393e-01 -1.16554704e-03 7.02142535e+01] [ 1.46045783e-03 2.50061090e-05 9.99998933e-01 7.02433538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.90, Y:70.24, Z:0.07 [[ 6.16715171e-01 -7.87185889e-01 -8.80120094e-04 2.41900540e+02] [ 7.87185026e-01 6.16715799e-01 -1.16574049e-03 7.02375868e+01] [ 1.46043843e-03 2.61124876e-05 9.99998933e-01 7.22159884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.91, Y:70.26, Z:0.07 [[ 6.16729112e-01 -7.87174966e-01 -8.79876671e-04 2.41914610e+02] [ 7.87174103e-01 6.16729739e-01 -1.16592419e-03 7.02599134e+01] [ 1.46043245e-03 2.64432638e-05 9.99998933e-01 7.05921088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.93, Y:70.28, Z:0.07 [[ 6.16604825e-01 -7.87272326e-01 -8.79620988e-04 2.41928397e+02] [ 7.87271463e-01 6.16605452e-01 -1.16611706e-03 7.02835952e+01] [ 1.46043079e-03 2.65329034e-05 9.99998933e-01 7.47358355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.94, Y:70.31, Z:0.08 [[ 6.16269259e-01 -7.87535032e-01 -8.79377787e-04 2.41943503e+02] [ 7.87534169e-01 6.16269886e-01 -1.16630043e-03 7.03061715e+01] [ 1.46043650e-03 2.62150477e-05 9.99998933e-01 7.58096572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.96, Y:70.33, Z:0.08 [[ 6.16058108e-01 -7.87700219e-01 -8.79133379e-04 2.41957661e+02] [ 7.87699356e-01 6.16058734e-01 -1.16648463e-03 7.03289247e+01] [ 1.46043800e-03 2.61295175e-05 9.99998933e-01 7.83444916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:70.35, Z:0.08 [[ 6.15751304e-01 -7.87940073e-01 -8.78886030e-04 2.41972918e+02] [ 7.87939210e-01 6.15751931e-01 -1.16667097e-03 7.03511287e+01] [ 1.46044258e-03 2.58704041e-05 9.99998933e-01 7.70604457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:70.37, Z:0.08 [[ 6.15723605e-01 -7.87961718e-01 -8.78635256e-04 2.41987701e+02] [ 7.87960855e-01 6.15724232e-01 -1.16685980e-03 7.03727363e+01] [ 1.46043787e-03 2.61329336e-05 9.99998933e-01 7.61296326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.00, Y:70.40, Z:0.08 [[ 6.15685518e-01 -7.87991479e-01 -8.78371606e-04 2.42001548e+02] [ 7.87990615e-01 6.15686144e-01 -1.16705823e-03 7.03969148e+01] [ 1.46043317e-03 2.63922689e-05 9.99998933e-01 7.53336289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.02, Y:70.42, Z:0.07 [[ 6.15455590e-01 -7.88171076e-01 -8.78124358e-04 2.42015865e+02] [ 7.88170212e-01 6.15456216e-01 -1.16724424e-03 7.04196747e+01] [ 1.46043524e-03 2.62755286e-05 9.99998933e-01 7.44710482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.03, Y:70.44, Z:0.07 [[ 6.15016376e-01 -7.88513847e-01 -8.77877779e-04 2.42028860e+02] [ 7.88512983e-01 6.15017002e-01 -1.16742966e-03 7.04433566e+01] [ 1.46044421e-03 2.57703297e-05 9.99998933e-01 7.48273620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.04, Y:70.47, Z:0.07 [[ 6.14534345e-01 -7.88889580e-01 -8.77624810e-04 2.42043071e+02] [ 7.88888716e-01 6.14534971e-01 -1.16761980e-03 7.04655359e+01] [ 1.46045423e-03 2.51941576e-05 9.99998933e-01 7.44423076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.06, Y:70.49, Z:0.08 [[ 6.13332953e-01 -7.89823980e-01 -8.77359542e-04 2.42056744e+02] [ 7.89823117e-01 6.13333580e-01 -1.16781909e-03 7.04897179e+01] [ 1.46048559e-03 2.33030821e-05 9.99998933e-01 7.59429471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.07, Y:70.51, Z:0.08 [[ 6.12577486e-01 -7.90410054e-01 -8.77109386e-04 2.42071293e+02] [ 7.90409192e-01 6.12578114e-01 -1.16800694e-03 7.05117891e+01] [ 1.46050244e-03 2.22194356e-05 9.99998933e-01 7.62206927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:70.53, Z:0.08 [[ 6.11771404e-01 -7.91034121e-01 -8.76845955e-04 2.42086256e+02] [ 7.91033259e-01 6.11772032e-01 -1.16820467e-03 7.05342664e+01] [ 1.46051959e-03 2.10598979e-05 9.99998933e-01 7.69224169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.10, Y:70.56, Z:0.08 [[ 6.10360096e-01 -7.92123592e-01 -8.76593238e-04 2.42098791e+02] [ 7.92122730e-01 6.10360725e-01 -1.16839427e-03 7.05571168e+01] [ 1.46055075e-03 1.87718115e-05 9.99998933e-01 7.66050473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.11, Y:70.58, Z:0.08 [[ 6.09719434e-01 -7.92616833e-01 -8.76397564e-04 2.42113186e+02] [ 7.92615971e-01 6.09720064e-01 -1.16854103e-03 7.05797947e+01] [ 1.46056247e-03 1.78354681e-05 9.99998933e-01 7.71635598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.13, Y:70.60, Z:0.08 [[ 6.08495221e-01 -7.93557054e-01 -8.76149508e-04 2.42127126e+02] [ 7.93556194e-01 6.08495852e-01 -1.16872698e-03 7.06038449e+01] [ 1.46058488e-03 1.58909161e-05 9.99998933e-01 7.85989606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.14, Y:70.63, Z:0.08 [[ 6.07782551e-01 -7.94103018e-01 -8.75892571e-04 2.42142119e+02] [ 7.94102158e-01 6.07783182e-01 -1.16891951e-03 7.06256417e+01] [ 1.46059529e-03 1.49007035e-05 9.99998933e-01 7.83458447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:242.16, Y:70.65, Z:0.08 [[ 6.05607279e-01 -7.95763192e-01 -8.75621660e-04 2.42156961e+02] [ 7.95762333e-01 6.05607911e-01 -1.16912241e-03 7.06486927e+01] [ 1.46062799e-03 1.12423082e-05 9.99998933e-01 7.90112745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.17, Y:70.67, Z:0.08 [[ 6.04098172e-01 -7.96909426e-01 -8.75365829e-04 2.42171780e+02] [ 7.96908568e-01 6.04098806e-01 -1.16931393e-03 7.06702926e+01] [ 1.46064475e-03 8.79387956e-06 9.99998933e-01 7.78875613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:70.69, Z:0.08 [[ 6.02374292e-01 -7.98213284e-01 -8.75097181e-04 2.42187056e+02] [ 7.98212427e-01 6.02374927e-01 -1.16951495e-03 7.06921767e+01] [ 1.46065897e-03 5.97229352e-06 9.99998933e-01 7.76943892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.20, Y:70.71, Z:0.08 [[ 5.98794156e-01 -8.00902487e-01 -8.74846482e-04 2.42203059e+02] [ 8.00901632e-01 5.98794795e-01 -1.16970245e-03 7.07143940e+01] [ 1.46067112e-03 -2.54982580e-07 9.99998933e-01 7.75142574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:242.22, Y:70.74, Z:0.08 [[ 5.97150140e-01 -8.02129008e-01 -8.74591754e-04 2.42218959e+02] [ 8.02128155e-01 5.97150780e-01 -1.16989288e-03 7.07353544e+01] [ 1.46066817e-03 -2.93297160e-06 9.99998933e-01 7.82515413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.24, Y:70.76, Z:0.08 [[ 5.94065331e-01 -8.04416321e-01 -8.74324160e-04 2.42235528e+02] [ 8.04415470e-01 5.94065975e-01 -1.17009284e-03 7.07565531e+01] [ 1.46064801e-03 -8.20829163e-06 9.99998933e-01 7.63383543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.25, Y:70.78, Z:0.08 [[ 5.92933870e-01 -8.05250682e-01 -8.74070752e-04 2.42252169e+02] [ 8.05249832e-01 5.92934514e-01 -1.17028210e-03 7.07784798e+01] [ 1.46063718e-03 -9.94542930e-06 9.99998933e-01 7.52329748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:70.80, Z:0.07 [[ 5.91985575e-01 -8.05948085e-01 -8.73817070e-04 2.42268619e+02] [ 8.05947235e-01 5.91986220e-01 -1.17047149e-03 7.07991948e+01] [ 1.46062692e-03 -1.13482131e-05 9.99998933e-01 7.41458556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.29, Y:70.82, Z:0.07 [[ 5.91027705e-01 -8.06650785e-01 -8.73551155e-04 2.42285387e+02] [ 8.06649935e-01 5.91028351e-01 -1.17066992e-03 7.08198114e+01] [ 1.46061530e-03 -1.27516285e-05 9.99998933e-01 7.42378247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:70.84, Z:0.07 [[ 5.90128509e-01 -8.07308851e-01 -8.73279112e-04 2.42303708e+02] [ 8.07308002e-01 5.90129155e-01 -1.17087282e-03 7.08400290e+01] [ 1.46060345e-03 -1.40397854e-05 9.99998933e-01 7.46926455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:70.86, Z:0.07 [[ 5.90294063e-01 -8.07187808e-01 -8.73032119e-04 2.42321523e+02] [ 8.07186959e-01 5.90294708e-01 -1.17105695e-03 7.08597545e+01] [ 1.46060913e-03 -1.34321760e-05 9.99998933e-01 7.39813173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:70.88, Z:0.08 [[ 5.90479215e-01 -8.07052374e-01 -8.72772890e-04 2.42338471e+02] [ 8.07051524e-01 5.90479860e-01 -1.17125012e-03 7.08806330e+01] [ 1.46061500e-03 -1.27738407e-05 9.99998933e-01 7.53583962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.36, Y:70.90, Z:0.07 [[ 5.90911879e-01 -8.06735638e-01 -8.72518157e-04 2.42355442e+02] [ 8.06734788e-01 5.90912523e-01 -1.17143985e-03 7.09009209e+01] [ 1.46062418e-03 -1.16730277e-05 9.99998933e-01 7.49139226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.37, Y:70.92, Z:0.07 [[ 5.91347701e-01 -8.06416230e-01 -8.72249568e-04 2.42372582e+02] [ 8.06415379e-01 5.91348344e-01 -1.17163981e-03 7.09215927e+01] [ 1.46063269e-03 -1.05489605e-05 9.99998933e-01 7.43618786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.39, Y:70.94, Z:0.08 [[ 5.92873666e-01 -8.05295011e-01 -8.71999187e-04 2.42390845e+02] [ 8.05294159e-01 5.92874308e-01 -1.17182612e-03 7.09413674e+01] [ 1.46065165e-03 -7.47100102e-06 9.99998933e-01 7.51903309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:70.96, Z:0.07 [[ 5.95364183e-01 -8.03455493e-01 -8.71742048e-04 2.42409237e+02] [ 8.03454639e-01 5.95364821e-01 -1.17201738e-03 7.09603775e+01] [ 1.46066835e-03 -2.62802081e-06 9.99998933e-01 7.47856777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.43, Y:70.98, Z:0.08 [[ 5.96578634e-01 -8.02554157e-01 -8.71543224e-04 2.42426913e+02] [ 8.02553301e-01 5.96579270e-01 -1.17216522e-03 7.09809975e+01] [ 1.46067069e-03 -1.71168073e-07 9.99998933e-01 7.53359895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.44, Y:71.00, Z:0.08 [[ 5.98098568e-01 -8.01422076e-01 -8.71288900e-04 2.42443727e+02] [ 8.01421218e-01 5.98099203e-01 -1.17235423e-03 7.10012459e+01] [ 1.46066776e-03 2.91397421e-06 9.99998933e-01 7.58326232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.46, Y:71.02, Z:0.08 [[ 6.01501174e-01 -7.98871441e-01 -8.71021775e-04 2.42460182e+02] [ 7.98870580e-01 6.01501804e-01 -1.17255266e-03 7.10212360e+01] [ 1.46064000e-03 9.45813024e-06 9.99998933e-01 7.67123407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:71.04, Z:0.08 [[ 6.03339181e-01 -7.97484216e-01 -8.70757989e-04 2.42477130e+02] [ 7.97483354e-01 6.03339809e-01 -1.17274852e-03 7.10427118e+01] [ 1.46061139e-03 1.31501295e-05 9.99998933e-01 7.73980672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.49, Y:71.06, Z:0.08 [[ 6.05011777e-01 -7.96216046e-01 -8.70505168e-04 2.42493010e+02] [ 7.96215182e-01 6.05012403e-01 -1.17293615e-03 7.10632099e+01] [ 1.46057701e-03 1.65307543e-05 9.99998933e-01 7.77491407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:71.08, Z:0.08 [[ 6.08170864e-01 -7.93805671e-01 -8.70239372e-04 2.42509217e+02] [ 7.93804805e-01 6.08171486e-01 -1.17313332e-03 7.10838265e+01] [ 1.46049466e-03 2.26653108e-05 9.99998933e-01 7.70054637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.53, Y:71.11, Z:0.08 [[ 6.09491290e-01 -7.92792287e-01 -8.69978709e-04 2.42525948e+02] [ 7.92791419e-01 6.09491910e-01 -1.17332659e-03 7.11057117e+01] [ 1.46044926e-03 2.54206845e-05 9.99998933e-01 7.69832358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:71.13, Z:0.08 [[ 6.11668783e-01 -7.91113483e-01 -8.69725858e-04 2.42541956e+02] [ 7.91112613e-01 6.11669401e-01 -1.17351399e-03 7.11268903e+01] [ 1.46036743e-03 2.97507782e-05 9.99998933e-01 7.62660627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.56, Y:71.15, Z:0.08 [[ 6.12510880e-01 -7.90461679e-01 -8.69459931e-04 2.42557839e+02] [ 7.90460809e-01 6.12511496e-01 -1.17371098e-03 7.11494077e+01] [ 1.46032776e-03 3.16367461e-05 9.99998933e-01 7.77640152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.57, Y:71.17, Z:0.08 [[ 6.13150500e-01 -7.89965638e-01 -8.69211362e-04 2.42571233e+02] [ 7.89964767e-01 6.13151115e-01 -1.17389504e-03 7.11715255e+01] [ 1.46029466e-03 3.31279768e-05 9.99998933e-01 7.55724560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:242.59, Y:71.19, Z:0.08 [[ 6.13031082e-01 -7.90058312e-01 -8.69019501e-04 2.42587219e+02] [ 7.90057441e-01 6.13031698e-01 -1.17403705e-03 7.11938319e+01] [ 1.46029423e-03 3.31458808e-05 9.99998933e-01 7.80589040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:242.60, Y:71.22, Z:0.08 [[ 6.12864822e-01 -7.90187291e-01 -8.68771798e-04 2.42603483e+02] [ 7.90186419e-01 6.12865437e-01 -1.17422032e-03 7.12162041e+01] [ 1.46029418e-03 3.31466512e-05 9.99998933e-01 7.80992875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.62, Y:71.24, Z:0.08 [[ 6.12066233e-01 -7.90806027e-01 -8.68524676e-04 2.42618878e+02] [ 7.90805155e-01 6.12066849e-01 -1.17440308e-03 7.12372139e+01] [ 1.46032019e-03 3.19786763e-05 9.99998933e-01 7.69079289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.64, Y:71.26, Z:0.08 [[ 6.10693274e-01 -7.91866764e-01 -8.68265169e-04 2.42635014e+02] [ 7.91865893e-01 6.10693890e-01 -1.17459491e-03 7.12586472e+01] [ 1.46036690e-03 2.97676349e-05 9.99998933e-01 8.06899415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:71.28, Z:0.08 [[ 6.09661980e-01 -7.92661035e-01 -8.68020025e-04 2.42649681e+02] [ 7.92660165e-01 6.09662597e-01 -1.17477604e-03 7.12808338e+01] [ 1.46039853e-03 2.81713877e-05 9.99998933e-01 7.99286297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.66, Y:71.30, Z:0.08 [[ 6.08481661e-01 -7.93567461e-01 -8.67761309e-04 2.42662883e+02] [ 7.93566592e-01 6.08482279e-01 -1.17496711e-03 7.13026044e+01] [ 1.46043305e-03 2.63195543e-05 9.99998933e-01 7.97043571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:71.32, Z:0.08 [[ 6.07828267e-01 -7.94068036e-01 -8.67479264e-04 2.42677196e+02] [ 7.94067166e-01 6.07828886e-01 -1.17517531e-03 7.13245938e+01] [ 1.46044810e-03 2.54679698e-05 9.99998933e-01 7.98047279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:71.35, Z:0.08 [[ 6.07176371e-01 -7.94566613e-01 -8.67211172e-04 2.42691194e+02] [ 7.94565744e-01 6.07176990e-01 -1.17537311e-03 7.13462946e+01] [ 1.46046290e-03 2.46024904e-05 9.99998933e-01 7.91026677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.71, Y:71.37, Z:0.08 [[ 6.05774987e-01 -7.95635540e-01 -8.66931127e-04 2.42706126e+02] [ 7.95634672e-01 6.05775607e-01 -1.17557963e-03 7.13684569e+01] [ 1.46049866e-03 2.23762724e-05 9.99998933e-01 7.70548435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:71.39, Z:0.08 [[ 6.05052505e-01 -7.96185101e-01 -8.66664010e-04 2.42720434e+02] [ 7.96184233e-01 6.05053125e-01 -1.17577652e-03 7.13889596e+01] [ 1.46051352e-03 2.13823099e-05 9.99998933e-01 7.61911620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.73, Y:71.41, Z:0.08 [[ 6.04247881e-01 -7.96795926e-01 -8.66384647e-04 2.42734608e+02] [ 7.96795058e-01 6.04248502e-01 -1.17598234e-03 7.14107951e+01] [ 1.46052956e-03 2.02538307e-05 9.99998933e-01 7.65168549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.75, Y:71.43, Z:0.08 [[ 6.03289182e-01 -7.97522045e-01 -8.66119690e-04 2.42748602e+02] [ 7.97521178e-01 6.03289803e-01 -1.17617745e-03 7.14321806e+01] [ 1.46054862e-03 1.88263350e-05 9.99998933e-01 7.81445852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.76, Y:71.45, Z:0.08 [[ 6.01109534e-01 -7.99166177e-01 -8.65843201e-04 2.42763462e+02] [ 7.99165311e-01 6.01110158e-01 -1.17638095e-03 7.14534908e+01] [ 1.46059101e-03 1.51819535e-05 9.99998933e-01 7.69202793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:71.48, Z:0.08 [[ 6.00012778e-01 -7.99989948e-01 -8.65580145e-04 2.42778810e+02] [ 7.99989083e-01 6.00013403e-01 -1.17657447e-03 7.14754109e+01] [ 1.46060744e-03 1.35050531e-05 9.99998933e-01 7.70553692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.79, Y:71.50, Z:0.08 [[ 5.99037930e-01 -8.00720182e-01 -8.65318831e-04 2.42792600e+02] [ 8.00719318e-01 5.99038555e-01 -1.17676663e-03 7.14972456e+01] [ 1.46062013e-03 1.20503401e-05 9.99998933e-01 7.78239603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:71.52, Z:0.08 [[ 5.98860424e-01 -8.00852948e-01 -8.65044916e-04 2.42808208e+02] [ 8.00852084e-01 5.98861048e-01 -1.17696795e-03 7.15195180e+01] [ 1.46061996e-03 1.20665016e-05 9.99998933e-01 7.83762847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:71.54, Z:0.08 [[ 5.98910913e-01 -8.00815191e-01 -8.64785926e-04 2.42823651e+02] [ 8.00814326e-01 5.98911537e-01 -1.17715821e-03 7.15408941e+01] [ 1.46061645e-03 1.24799424e-05 9.99998933e-01 7.74949185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:71.56, Z:0.07 [[ 5.99647799e-01 -8.00263562e-01 -8.64584927e-04 2.42837557e+02] [ 8.00262697e-01 5.99648422e-01 -1.17730582e-03 7.15632122e+01] [ 1.46060194e-03 1.40737805e-05 9.99998933e-01 7.27860967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.85, Y:71.59, Z:0.07 [[ 6.00157062e-01 -7.99881713e-01 -8.64317947e-04 2.42852669e+02] [ 7.99880846e-01 6.00157684e-01 -1.17750179e-03 7.15858426e+01] [ 1.46058921e-03 1.53346453e-05 9.99998933e-01 7.37475185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.87, Y:71.61, Z:0.07 [[ 6.00387294e-01 -7.99708916e-01 -8.64069290e-04 2.42867237e+02] [ 7.99708049e-01 6.00387915e-01 -1.17768423e-03 7.16082407e+01] [ 1.46058134e-03 1.60634826e-05 9.99998933e-01 7.33433250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.88, Y:71.63, Z:0.07 [[ 6.01046921e-01 -7.99213271e-01 -8.63817116e-04 2.42881290e+02] [ 7.99212403e-01 6.01047541e-01 -1.17786917e-03 7.16302611e+01] [ 1.46056383e-03 1.75812851e-05 9.99998933e-01 7.10588577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:71.65, Z:0.07 [[ 6.00904497e-01 -7.99320361e-01 -8.63552373e-04 2.42896584e+02] [ 7.99319493e-01 6.00905117e-01 -1.17806323e-03 7.16527400e+01] [ 1.46056297e-03 1.76492498e-05 9.99998933e-01 7.21652038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:71.68, Z:0.07 [[ 6.00717597e-01 -7.99460833e-01 -8.63301983e-04 2.42911735e+02] [ 7.99459965e-01 6.00718217e-01 -1.17824670e-03 7.16759046e+01] [ 1.46056331e-03 1.76181495e-05 9.99998933e-01 7.22068617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:71.70, Z:0.07 [[ 6.00823391e-01 -7.99381328e-01 -8.63052229e-04 2.42924652e+02] [ 7.99380460e-01 6.00824011e-01 -1.17842961e-03 7.16984973e+01] [ 1.46055713e-03 1.81209856e-05 9.99998933e-01 6.97213773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.94, Y:71.72, Z:0.07 [[ 6.00599510e-01 -7.99549551e-01 -8.62859111e-04 2.42939235e+02] [ 7.99548682e-01 6.00600130e-01 -1.17857099e-03 7.17214489e+01] [ 1.46055920e-03 1.79512972e-05 9.99998933e-01 7.25538069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:71.74, Z:0.07 [[ 6.00345425e-01 -7.99740349e-01 -8.62611560e-04 2.42953685e+02] [ 7.99739481e-01 6.00346045e-01 -1.17875215e-03 7.17443397e+01] [ 1.46056110e-03 1.77939410e-05 9.99998933e-01 7.24137226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.97, Y:71.77, Z:0.07 [[ 5.99370868e-01 -8.00470998e-01 -8.62438675e-04 2.42966928e+02] [ 8.00470130e-01 5.99371488e-01 -1.17887863e-03 7.17661995e+01] [ 1.46057931e-03 1.62291105e-05 9.99998933e-01 7.18315935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.98, Y:71.79, Z:0.07 [[ 5.98670326e-01 -8.00995067e-01 -8.62219970e-04 2.42982136e+02] [ 8.00994200e-01 5.98670946e-01 -1.17903857e-03 7.17879050e+01] [ 1.46059012e-03 1.52222088e-05 9.99998933e-01 7.17895255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:71.81, Z:0.07 [[ 5.96998465e-01 -8.02241915e-01 -8.61948910e-04 2.42995371e+02] [ 8.02241048e-01 5.96999087e-01 -1.17923670e-03 7.18096929e+01] [ 1.46061582e-03 1.25116992e-05 9.99998933e-01 7.05706792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.01, Y:71.83, Z:0.07 [[ 5.96160808e-01 -8.02864589e-01 -8.61665346e-04 2.43010031e+02] [ 8.02863723e-01 5.96161431e-01 -1.17944386e-03 7.18314169e+01] [ 1.46062535e-03 1.13383569e-05 9.99998933e-01 7.00232367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:71.85, Z:0.07 [[ 5.95539956e-01 -8.03325226e-01 -8.61397021e-04 2.43024212e+02] [ 8.03324360e-01 5.95540579e-01 -1.17963980e-03 7.18519490e+01] [ 1.46063129e-03 1.05414204e-05 9.99998933e-01 7.02312210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:71.87, Z:0.07 [[ 5.94981035e-01 -8.03739278e-01 -8.61116983e-04 2.43038355e+02] [ 8.03738412e-01 5.94981658e-01 -1.17984418e-03 7.18726055e+01] [ 1.46063592e-03 9.87211690e-06 9.99998933e-01 7.06888529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:71.89, Z:0.07 [[ 5.94375412e-01 -8.04187247e-01 -8.60838630e-04 2.43052665e+02] [ 8.04186381e-01 5.94376036e-01 -1.18004724e-03 7.18936689e+01] [ 1.46064079e-03 9.11636270e-06 9.99998933e-01 7.04043227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:71.91, Z:0.07 [[ 5.94109946e-01 -8.04383385e-01 -8.60627381e-04 2.43068088e+02] [ 8.04382520e-01 5.94110570e-01 -1.18020129e-03 7.19148158e+01] [ 1.46064213e-03 8.89570300e-06 9.99998933e-01 6.96682954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:71.93, Z:0.07 [[ 5.94064587e-01 -8.04416886e-01 -8.60364909e-04 2.43083746e+02] [ 8.04416020e-01 5.94065210e-01 -1.18039260e-03 7.19345077e+01] [ 1.46064060e-03 9.13812538e-06 9.99998933e-01 6.75869258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:71.96, Z:0.07 [[ 5.94121763e-01 -8.04374659e-01 -8.60090797e-04 2.43098993e+02] [ 8.04373792e-01 5.94122385e-01 -1.18059230e-03 7.19556171e+01] [ 1.46063772e-03 9.58107970e-06 9.99998933e-01 6.66111110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:71.98, Z:0.07 [[ 5.94204145e-01 -8.04313804e-01 -8.59829791e-04 2.43114055e+02] [ 8.04312937e-01 5.94204767e-01 -1.18078236e-03 7.19766893e+01] [ 1.46063451e-03 1.00535459e-05 9.99998933e-01 6.62045904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.13, Y:72.00, Z:0.07 [[ 5.94885460e-01 -8.03810022e-01 -8.59569357e-04 2.43127927e+02] [ 8.03809154e-01 5.94886081e-01 -1.18097191e-03 7.19973107e+01] [ 1.46062290e-03 1.16133020e-05 9.99998933e-01 6.61820501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.14, Y:72.02, Z:0.07 [[ 5.95380133e-01 -8.03443687e-01 -8.59362192e-04 2.43142918e+02] [ 8.03442819e-01 5.95380753e-01 -1.18112264e-03 7.20184454e+01] [ 1.46061324e-03 1.27685739e-05 9.99998933e-01 6.57677812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:72.04, Z:0.07 [[ 5.95935856e-01 -8.03031580e-01 -8.59105406e-04 2.43156872e+02] [ 8.03030711e-01 5.95936475e-01 -1.18130939e-03 7.20390372e+01] [ 1.46060099e-03 1.40965974e-05 9.99998933e-01 6.64496377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:72.06, Z:0.07 [[ 5.98176857e-01 -8.01363657e-01 -8.58900074e-04 2.43172021e+02] [ 8.01362786e-01 5.98177473e-01 -1.18145866e-03 7.20620384e+01] [ 1.46055271e-03 1.84306727e-05 9.99998933e-01 7.15021036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:72.08, Z:0.07 [[ 5.99223690e-01 -8.00581184e-01 -8.58641209e-04 2.43187402e+02] [ 8.00580312e-01 5.99224305e-01 -1.18164677e-03 7.20831930e+01] [ 1.46052285e-03 2.06594881e-05 9.99998933e-01 6.77287767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:72.11, Z:0.07 [[ 6.00403826e-01 -7.99696511e-01 -8.58368975e-04 2.43202734e+02] [ 7.99695638e-01 6.00404439e-01 -1.18184449e-03 7.21050130e+01] [ 1.46048546e-03 2.31500273e-05 9.99998933e-01 6.87191642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.22, Y:72.13, Z:0.07 [[ 6.02496904e-01 -7.98120758e-01 -8.58114820e-04 2.43215652e+02] [ 7.98119883e-01 6.02497514e-01 -1.18202900e-03 7.21285392e+01] [ 1.46041393e-03 2.72903104e-05 9.99998933e-01 7.12007828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.23, Y:72.15, Z:0.07 [[ 6.03190612e-01 -7.97596608e-01 -8.57859024e-04 2.43230601e+02] [ 7.97595733e-01 6.03191222e-01 -1.18221461e-03 7.21516652e+01] [ 1.46038340e-03 2.88760597e-05 9.99998933e-01 7.43672461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.25, Y:72.17, Z:0.08 [[ 6.04307298e-01 -7.96750873e-01 -8.57606338e-04 2.43245623e+02] [ 7.96749996e-01 6.04307906e-01 -1.18239789e-03 7.21734693e+01] [ 1.46033484e-03 3.12338261e-05 9.99998933e-01 7.69180740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:72.20, Z:0.08 [[ 6.04526390e-01 -7.96584652e-01 -8.57341297e-04 2.43259998e+02] [ 7.96583775e-01 6.04526998e-01 -1.18259003e-03 7.21959738e+01] [ 1.46031903e-03 3.19627178e-05 9.99998933e-01 7.57270627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.27, Y:72.22, Z:0.07 [[ 6.04515354e-01 -7.96593028e-01 -8.57080120e-04 2.43273262e+02] [ 7.96592151e-01 6.04515961e-01 -1.18277929e-03 7.22186432e+01] [ 1.46031235e-03 3.22649469e-05 9.99998933e-01 7.27589339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.29, Y:72.24, Z:0.07 [[ 6.04059078e-01 -7.96939079e-01 -8.56820424e-04 2.43286276e+02] [ 7.96938202e-01 6.04059685e-01 -1.18296739e-03 7.22410869e+01] [ 1.46032362e-03 3.17492621e-05 9.99998933e-01 7.14499430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:72.26, Z:0.07 [[ 6.03776738e-01 -7.97153007e-01 -8.56571022e-04 2.43300237e+02] [ 7.97152130e-01 6.03777345e-01 -1.18314795e-03 7.22621212e+01] [ 1.46032812e-03 3.15397961e-05 9.99998933e-01 7.06546957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:72.29, Z:0.07 [[ 6.03713398e-01 -7.97200979e-01 -8.56311122e-04 2.43312420e+02] [ 7.97200101e-01 6.03714004e-01 -1.18333602e-03 7.22866275e+01] [ 1.46032365e-03 3.17444997e-05 9.99998933e-01 7.33067562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:243.33, Y:72.31, Z:0.08 [[ 6.03766866e-01 -7.97160485e-01 -8.56067606e-04 2.43326434e+02] [ 7.97159607e-01 6.03767472e-01 -1.18351217e-03 7.23099130e+01] [ 1.46031491e-03 3.21429155e-05 9.99998933e-01 7.70360300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.34, Y:72.33, Z:0.07 [[ 6.03813348e-01 -7.97125278e-01 -8.55811764e-04 2.43339836e+02] [ 7.97124399e-01 6.03813954e-01 -1.18369714e-03 7.23323753e+01] [ 1.46030600e-03 3.25436951e-05 9.99998933e-01 7.09344596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:243.35, Y:72.36, Z:0.08 [[ 6.03690035e-01 -7.97218671e-01 -8.55543481e-04 2.43352971e+02] [ 7.97217793e-01 6.03690640e-01 -1.18389102e-03 7.23566112e+01] [ 1.46030361e-03 3.26487235e-05 9.99998933e-01 7.77738306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:72.38, Z:0.08 [[ 6.03036031e-01 -7.97713491e-01 -8.55285715e-04 2.43366352e+02] [ 7.97712613e-01 6.03036637e-01 -1.18407721e-03 7.23790543e+01] [ 1.46032298e-03 3.17690165e-05 9.99998933e-01 7.50728896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.38, Y:72.40, Z:0.07 [[ 6.02346540e-01 -7.98234248e-01 -8.55086322e-04 2.43380177e+02] [ 7.98233370e-01 6.02347146e-01 -1.18422118e-03 7.24014574e+01] [ 1.46034471e-03 3.07530950e-05 9.99998933e-01 7.25697848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:72.43, Z:0.08 [[ 6.00782692e-01 -7.99411925e-01 -8.54826675e-04 2.43392060e+02] [ 7.99411048e-01 6.00783299e-01 -1.18440858e-03 7.24253764e+01] [ 1.46039593e-03 2.82142846e-05 9.99998933e-01 7.61536135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.41, Y:72.45, Z:0.08 [[ 5.99867111e-01 -8.00099193e-01 -8.54560327e-04 2.43406758e+02] [ 8.00098316e-01 5.99867719e-01 -1.18460072e-03 7.24482586e+01] [ 1.46042123e-03 2.68707319e-05 9.99998933e-01 7.90872183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:72.47, Z:0.07 [[ 5.98744872e-01 -8.00939354e-01 -8.54311909e-04 2.43419804e+02] [ 8.00938478e-01 5.98745481e-01 -1.18477985e-03 7.24708714e+01] [ 1.46045220e-03 2.51295766e-05 9.99998933e-01 7.44423899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:72.49, Z:0.08 [[ 5.98403231e-01 -8.01194636e-01 -8.54119812e-04 2.43434102e+02] [ 8.01193760e-01 5.98403840e-01 -1.18491831e-03 7.24943378e+01] [ 1.46045877e-03 2.47434835e-05 9.99998933e-01 7.75254886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:72.52, Z:0.08 [[ 5.98172324e-01 -8.01367046e-01 -8.53865858e-04 2.43448000e+02] [ 8.01366170e-01 5.98172933e-01 -1.18510129e-03 7.25171207e+01] [ 1.46046056e-03 2.46355793e-05 9.99998933e-01 7.53753816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.46, Y:72.54, Z:0.08 [[ 5.97861601e-01 -8.01598888e-01 -8.53599250e-04 2.43462480e+02] [ 8.01598012e-01 5.97862210e-01 -1.18529329e-03 7.25402556e+01] [ 1.46046452e-03 2.43978802e-05 9.99998933e-01 7.72371281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:72.56, Z:0.07 [[ 5.97026350e-01 -8.02221172e-01 -8.53336465e-04 2.43475365e+02] [ 8.02220297e-01 5.97026960e-01 -1.18548245e-03 7.25625963e+01] [ 1.46048399e-03 2.32004256e-05 9.99998933e-01 7.45710472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.49, Y:72.59, Z:0.07 [[ 5.96440679e-01 -8.02656707e-01 -8.53060484e-04 2.43489911e+02] [ 8.02655831e-01 5.96441288e-01 -1.18568101e-03 7.25859344e+01] [ 1.46049531e-03 2.24744120e-05 9.99998933e-01 7.43145861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.50, Y:72.61, Z:0.07 [[ 5.94745978e-01 -8.03913238e-01 -8.52807288e-04 2.43502502e+02] [ 8.03912364e-01 5.94746589e-01 -1.18586309e-03 7.26092150e+01] [ 1.46053526e-03 1.97049809e-05 9.99998933e-01 7.39488086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.52, Y:72.63, Z:0.07 [[ 5.94576440e-01 -8.04038637e-01 -8.52540652e-04 2.43518434e+02] [ 8.04037762e-01 5.94577051e-01 -1.18605475e-03 7.26318046e+01] [ 1.46053495e-03 1.97253329e-05 9.99998933e-01 7.39891924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:72.65, Z:0.08 [[ 5.93298525e-01 -8.04982071e-01 -8.52290506e-04 2.43533304e+02] [ 8.04981197e-01 5.93299137e-01 -1.18623448e-03 7.26543646e+01] [ 1.46056071e-03 1.77133333e-05 9.99998933e-01 7.51304153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:72.68, Z:0.08 [[ 5.91950943e-01 -8.05973545e-01 -8.52031319e-04 2.43548289e+02] [ 8.05972672e-01 5.91951556e-01 -1.18642061e-03 7.26765164e+01] [ 1.46058489e-03 1.55888421e-05 9.99998933e-01 7.54249298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.56, Y:72.70, Z:0.07 [[ 5.90060345e-01 -8.07358696e-01 -8.51771320e-04 2.43561549e+02] [ 8.07357824e-01 5.90060960e-01 -1.18660724e-03 7.26986592e+01] [ 1.46061468e-03 1.24856409e-05 9.99998933e-01 7.44251153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.58, Y:72.72, Z:0.07 [[ 5.89441970e-01 -8.07810274e-01 -8.51570021e-04 2.43575732e+02] [ 8.07809402e-01 5.89442585e-01 -1.18675169e-03 7.27218018e+01] [ 1.46062184e-03 1.16149836e-05 9.99998933e-01 7.48146663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:72.74, Z:0.08 [[ 5.89243122e-01 -8.07955332e-01 -8.51319187e-04 2.43590557e+02] [ 8.07954460e-01 5.89243737e-01 -1.18693160e-03 7.27442268e+01] [ 1.46062221e-03 1.15641459e-05 9.99998933e-01 7.52334790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:72.77, Z:0.08 [[ 5.89280920e-01 -8.07927765e-01 -8.51066228e-04 2.43605025e+02] [ 8.07926893e-01 5.89281534e-01 -1.18711295e-03 7.27674159e+01] [ 1.46061912e-03 1.19437173e-05 9.99998933e-01 7.66615955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.62, Y:72.79, Z:0.08 [[ 5.89352407e-01 -8.07875619e-01 -8.50811850e-04 2.43619132e+02] [ 8.07874747e-01 5.89353021e-01 -1.18729524e-03 7.27899222e+01] [ 1.46061541e-03 1.23858978e-05 9.99998933e-01 7.62964285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:72.81, Z:0.07 [[ 5.89377381e-01 -8.07857401e-01 -8.50544699e-04 2.43632849e+02] [ 8.07856528e-01 5.89377994e-01 -1.18748658e-03 7.28137862e+01] [ 1.46061215e-03 1.27596451e-05 9.99998933e-01 7.36174019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.65, Y:72.84, Z:0.07 [[ 5.88905693e-01 -8.08201313e-01 -8.50293846e-04 2.43646856e+02] [ 8.08200440e-01 5.88906307e-01 -1.18766618e-03 7.28357431e+01] [ 1.46061677e-03 1.22155135e-05 9.99998933e-01 7.33381776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:72.86, Z:0.07 [[ 5.88311666e-01 -8.08633824e-01 -8.50029719e-04 2.43661748e+02] [ 8.08632951e-01 5.88312280e-01 -1.18785519e-03 7.28578800e+01] [ 1.46062281e-03 1.14670250e-05 9.99998933e-01 7.31513864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.68, Y:72.88, Z:0.07 [[ 5.86871004e-01 -8.09680000e-01 -8.49778427e-04 2.43676185e+02] [ 8.09679128e-01 5.86871619e-01 -1.18803493e-03 7.28803170e+01] [ 1.46063897e-03 9.17539874e-06 9.99998933e-01 7.30370328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:72.90, Z:0.07 [[ 5.85812253e-01 -8.10446347e-01 -8.49524589e-04 2.43690770e+02] [ 8.10445476e-01 5.85812869e-01 -1.18821642e-03 7.29023210e+01] [ 1.46064809e-03 7.57837657e-06 9.99998933e-01 7.31089575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.71, Y:72.92, Z:0.07 [[ 5.85046588e-01 -8.10999241e-01 -8.49257182e-04 2.43705541e+02] [ 8.10998370e-01 5.85047204e-01 -1.18840751e-03 7.29235842e+01] [ 1.46065313e-03 6.52756811e-06 9.99998933e-01 7.36203190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.72, Y:72.95, Z:0.08 [[ 5.83763311e-01 -8.11923442e-01 -8.49065007e-04 2.43721326e+02] [ 8.11922572e-01 5.83763929e-01 -1.18854480e-03 7.29459192e+01] [ 1.46066091e-03 4.45380087e-06 9.99998933e-01 7.72051747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:72.97, Z:0.08 [[ 5.83266323e-01 -8.12280540e-01 -8.48811843e-04 2.43736519e+02] [ 8.12279671e-01 5.83266940e-01 -1.18872557e-03 7.29681399e+01] [ 1.46066253e-03 3.87098632e-06 9.99998933e-01 7.62898884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.75, Y:72.99, Z:0.08 [[ 5.83009083e-01 -8.12465193e-01 -8.48559277e-04 2.43751982e+02] [ 8.12464323e-01 5.83009700e-01 -1.18890583e-03 7.29909878e+01] [ 1.46066290e-03 3.71875954e-06 9.99998933e-01 7.67097925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:73.01, Z:0.08 [[ 5.82887667e-01 -8.12552304e-01 -8.48307718e-04 2.43766462e+02] [ 8.12551434e-01 5.82888285e-01 -1.18908530e-03 7.30121877e+01] [ 1.46066263e-03 3.80950216e-06 9.99998933e-01 7.63946628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.78, Y:73.03, Z:0.08 [[ 5.82837475e-01 -8.12588308e-01 -8.48113548e-04 2.43781856e+02] [ 8.12587438e-01 5.82838092e-01 -1.18922377e-03 7.30342372e+01] [ 1.46066222e-03 3.95776436e-06 9.99998933e-01 7.64241890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:73.06, Z:0.08 [[ 5.82779968e-01 -8.12629552e-01 -8.47864074e-04 2.43797490e+02] [ 8.12628682e-01 5.82780585e-01 -1.18940161e-03 7.30567249e+01] [ 1.46066162e-03 4.16076766e-06 9.99998933e-01 7.63290502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.81, Y:73.08, Z:0.08 [[ 5.82993218e-01 -8.12476578e-01 -8.47612046e-04 2.43813903e+02] [ 8.12475707e-01 5.82993834e-01 -1.18958119e-03 7.30783914e+01] [ 1.46065945e-03 4.85356715e-06 9.99998933e-01 7.59201778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:73.10, Z:0.08 [[ 5.83230421e-01 -8.12306321e-01 -8.47358842e-04 2.43829961e+02] [ 8.12305449e-01 5.83231036e-01 -1.18976152e-03 7.30996558e+01] [ 1.46065678e-03 5.59090726e-06 9.99998933e-01 7.54210432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:73.12, Z:0.08 [[ 5.84356328e-01 -8.11496743e-01 -8.47162816e-04 2.43845170e+02] [ 8.11495871e-01 5.84356942e-01 -1.18990108e-03 7.31200405e+01] [ 1.46064633e-03 7.85710213e-06 9.99998933e-01 7.75424546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:73.14, Z:0.08 [[ 5.85356544e-01 -8.10775554e-01 -8.46876384e-04 2.43860705e+02] [ 8.10774681e-01 5.85357156e-01 -1.19010491e-03 7.31426524e+01] [ 1.46063312e-03 1.00097652e-05 9.99998933e-01 7.88825741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.87, Y:73.16, Z:0.08 [[ 5.88139033e-01 -8.08759396e-01 -8.46629101e-04 2.43874790e+02] [ 8.08758520e-01 5.88139642e-01 -1.19028080e-03 7.31641594e+01] [ 1.46058692e-03 1.53320988e-05 9.99998933e-01 8.00043865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:73.19, Z:0.08 [[ 5.89900453e-01 -8.07475535e-01 -8.46437300e-04 2.43889642e+02] [ 8.07474658e-01 5.89901060e-01 -1.19041718e-03 7.31868684e+01] [ 1.46054701e-03 1.87509620e-05 9.99998933e-01 8.10844878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.90, Y:73.21, Z:0.08 [[ 5.91690410e-01 -8.06164836e-01 -8.46190387e-04 2.43903873e+02] [ 8.06163957e-01 5.91691014e-01 -1.19059266e-03 7.32101093e+01] [ 1.46049719e-03 2.22940706e-05 9.99998933e-01 8.12238357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:73.23, Z:0.08 [[ 5.95055722e-01 -8.03684000e-01 -8.45942916e-04 2.43915861e+02] [ 8.03683118e-01 5.95056323e-01 -1.19076847e-03 7.32339390e+01] [ 1.46038525e-03 2.87035527e-05 9.99998933e-01 7.87639441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:73.26, Z:0.08 [[ 5.96021013e-01 -8.02968391e-01 -8.45751036e-04 2.43930008e+02] [ 8.02967509e-01 5.96021612e-01 -1.19090474e-03 7.32573449e+01] [ 1.46034476e-03 3.06936468e-05 9.99998933e-01 7.77853821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.94, Y:73.28, Z:0.08 [[ 5.97436291e-01 -8.01915933e-01 -8.45505795e-04 2.43941944e+02] [ 8.01915049e-01 5.97436889e-01 -1.19107883e-03 7.32826629e+01] [ 1.46028144e-03 3.35698977e-05 9.99998933e-01 7.72864561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:73.31, Z:0.08 [[ 5.97662702e-01 -8.01747205e-01 -8.45261839e-04 2.43955213e+02] [ 8.01746321e-01 5.97663298e-01 -1.19125193e-03 7.33062119e+01] [ 1.46026488e-03 3.42812770e-05 9.99998933e-01 7.70886306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:73.33, Z:0.08 [[ 5.97440957e-01 -8.01912457e-01 -8.45017932e-04 2.43968603e+02] [ 8.01911573e-01 5.97441553e-01 -1.19142492e-03 7.33295280e+01] [ 1.46026731e-03 3.41763860e-05 9.99998933e-01 7.64518754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:73.35, Z:0.08 [[ 5.96959043e-01 -8.02271268e-01 -8.44774920e-04 2.43982200e+02] [ 8.02270384e-01 5.96959640e-01 -1.19159720e-03 7.33521206e+01] [ 1.46028073e-03 3.35968270e-05 9.99998933e-01 7.55911997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:73.38, Z:0.08 [[ 5.94740353e-01 -8.03917408e-01 -8.44519025e-04 2.43993861e+02] [ 8.03916525e-01 5.94740952e-01 -1.19177853e-03 7.33762241e+01] [ 1.46036156e-03 2.98759861e-05 9.99998933e-01 7.59490937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:73.40, Z:0.08 [[ 5.92910176e-01 -8.05268161e-01 -8.44255547e-04 2.44006957e+02] [ 8.05267279e-01 5.92910776e-01 -1.19196515e-03 7.33991836e+01] [ 1.46041980e-03 2.68769007e-05 9.99998933e-01 7.61705152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:73.42, Z:0.08 [[ 5.88369901e-01 -8.08591459e-01 -8.43990508e-04 2.44019364e+02] [ 8.08590580e-01 5.88370506e-01 -1.19215279e-03 7.34236179e+01] [ 1.46054369e-03 1.89840444e-05 9.99998933e-01 7.79681352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:73.45, Z:0.08 [[ 5.85461562e-01 -8.10699727e-01 -8.43737169e-04 2.44033415e+02] [ 8.10698851e-01 5.85462170e-01 -1.19233206e-03 7.34458152e+01] [ 1.46059947e-03 1.40478373e-05 9.99998933e-01 7.65961461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:73.47, Z:0.08 [[ 5.79320929e-01 -8.15099104e-01 -8.43470094e-04 2.44046877e+02] [ 8.15098232e-01 5.79321543e-01 -1.19252096e-03 7.34679494e+01] [ 1.46066317e-03 3.34137002e-06 9.99998933e-01 7.77859921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.06, Y:73.49, Z:0.08 [[ 5.76378634e-01 -8.17182330e-01 -8.43211046e-04 2.44060729e+02] [ 8.17181459e-01 5.76379250e-01 -1.19270410e-03 7.34899590e+01] [ 1.46066607e-03 -1.60727203e-06 9.99998933e-01 7.98076550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:73.51, Z:0.08 [[ 5.73827888e-01 -8.18975485e-01 -8.42953923e-04 2.44074678e+02] [ 8.18974616e-01 5.73828507e-01 -1.19288580e-03 7.35127402e+01] [ 1.46065522e-03 -5.84672727e-06 9.99998933e-01 7.95381268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:73.54, Z:0.08 [[ 5.70438979e-01 -8.21339553e-01 -8.42706891e-04 2.44087653e+02] [ 8.21338686e-01 5.70439602e-01 -1.19306029e-03 7.35361350e+01] [ 1.46062099e-03 -1.15796769e-05 9.99998933e-01 7.78373682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:73.56, Z:0.08 [[ 5.69334620e-01 -8.22105456e-01 -8.42448091e-04 2.44101503e+02] [ 8.22104590e-01 5.69335243e-01 -1.19324300e-03 7.35574013e+01] [ 1.46060697e-03 -1.32258909e-05 9.99998933e-01 7.71724419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.12, Y:73.58, Z:0.08 [[ 5.68321965e-01 -8.22805830e-01 -8.42182365e-04 2.44116816e+02] [ 8.22804965e-01 5.68322589e-01 -1.19343052e-03 7.35802706e+01] [ 1.46059285e-03 -1.46990506e-05 9.99998933e-01 7.84734784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:73.60, Z:0.08 [[ 5.66650589e-01 -8.23957767e-01 -8.41939447e-04 2.44131885e+02] [ 8.23956902e-01 5.66651214e-01 -1.19360187e-03 7.36019529e+01] [ 1.46056354e-03 -1.73666155e-05 9.99998933e-01 7.71451965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:73.62, Z:0.08 [[ 5.65567887e-01 -8.24701314e-01 -8.41683168e-04 2.44146693e+02] [ 8.24700450e-01 5.65568513e-01 -1.19378256e-03 7.36232807e+01] [ 1.46054355e-03 -1.89714049e-05 9.99998933e-01 7.71041361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.16, Y:73.64, Z:0.08 [[ 5.64005608e-01 -8.25770529e-01 -8.41433139e-04 2.44161673e+02] [ 8.25769666e-01 5.64006235e-01 -1.19395877e-03 7.36449700e+01] [ 1.46050950e-03 -2.14305208e-05 9.99998933e-01 7.66833599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:73.67, Z:0.08 [[ 5.60474932e-01 -8.28170963e-01 -8.41184820e-04 2.44178384e+02] [ 8.28170102e-01 5.60475562e-01 -1.19413369e-03 7.36654345e+01] [ 1.46041038e-03 -2.73621185e-05 9.99998933e-01 7.70903328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:73.69, Z:0.08 [[ 5.58358280e-01 -8.29599496e-01 -8.40921044e-04 2.44194300e+02] [ 8.29598637e-01 5.58358913e-01 -1.19431942e-03 7.36860787e+01] [ 1.46034255e-03 -3.07688162e-05 9.99998933e-01 7.64404494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:73.71, Z:0.08 [[ 5.56473420e-01 -8.30864987e-01 -8.40659170e-04 2.44210778e+02] [ 8.30864129e-01 5.56474054e-01 -1.19450372e-03 7.37066593e+01] [ 1.46027633e-03 -3.37639803e-05 9.99998933e-01 7.60673422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:73.73, Z:0.08 [[ 5.53377618e-01 -8.32930072e-01 -8.40397785e-04 2.44229141e+02] [ 8.32929216e-01 5.53378255e-01 -1.19468759e-03 7.37260258e+01] [ 1.46014908e-03 -3.88784967e-05 9.99998933e-01 7.67706835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:73.75, Z:0.08 [[ 5.52286938e-01 -8.33653664e-01 -8.40128568e-04 2.44245183e+02] [ 8.33652809e-01 5.52287576e-01 -1.19487688e-03 7.37451516e+01] [ 1.46010606e-03 -4.04606482e-05 9.99998933e-01 7.67976729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:73.77, Z:0.08 [[ 5.51132493e-01 -8.34417323e-01 -8.39847925e-04 2.44264384e+02] [ 8.34416469e-01 5.51133132e-01 -1.19507410e-03 7.37650308e+01] [ 1.46005855e-03 -4.21387718e-05 9.99998933e-01 7.82230023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:73.78, Z:0.08 [[ 5.51081873e-01 -8.34450756e-01 -8.39609626e-04 2.44281603e+02] [ 8.34449901e-01 5.51082511e-01 -1.19524150e-03 7.37846146e+01] [ 1.46006435e-03 -4.19362470e-05 9.99998933e-01 7.85008237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:73.81, Z:0.08 [[ 5.51123019e-01 -8.34423581e-01 -8.39343197e-04 2.44299561e+02] [ 8.34422726e-01 5.51123657e-01 -1.19542856e-03 7.38053492e+01] [ 1.46007567e-03 -4.15388399e-05 9.99998933e-01 7.80781920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:73.82, Z:0.08 [[ 5.52214689e-01 -8.33701525e-01 -8.39090983e-04 2.44320499e+02] [ 8.33700669e-01 5.52215325e-01 -1.19560557e-03 7.38224321e+01] [ 1.46013709e-03 -3.93197551e-05 9.99998933e-01 7.63202401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:73.84, Z:0.08 [[ 5.53031812e-01 -8.33159715e-01 -8.38825898e-04 2.44338460e+02] [ 8.33158858e-01 5.53032447e-01 -1.19579152e-03 7.38430082e+01] [ 1.46018326e-03 -3.75644743e-05 9.99998933e-01 7.79648994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:244.36, Y:73.86, Z:0.08 [[ 5.54236770e-01 -8.32358636e-01 -8.38569615e-04 2.44356100e+02] [ 8.32357778e-01 5.54237404e-01 -1.19597122e-03 7.38631399e+01] [ 1.46024362e-03 -3.51387157e-05 9.99998933e-01 7.87752627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.38, Y:73.88, Z:0.08 [[ 5.56711760e-01 -8.30705311e-01 -8.38299880e-04 2.44376453e+02] [ 8.30704450e-01 5.56712390e-01 -1.19616026e-03 7.38818116e+01] [ 1.46034861e-03 -3.04629608e-05 9.99998933e-01 7.88002276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:73.90, Z:0.08 [[ 5.57882515e-01 -8.29919512e-01 -8.38046787e-04 2.44394220e+02] [ 8.29918651e-01 5.57883144e-01 -1.19633755e-03 7.39023475e+01] [ 1.46039605e-03 -2.80948572e-05 9.99998933e-01 7.73844045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.41, Y:73.92, Z:0.08 [[ 5.60874102e-01 -8.27900683e-01 -8.37788647e-04 2.44413062e+02] [ 8.27899818e-01 5.60874727e-01 -1.19651830e-03 7.39205576e+01] [ 1.46049279e-03 -2.25089441e-05 9.99998933e-01 7.96068843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:73.94, Z:0.08 [[ 5.62015399e-01 -8.27126344e-01 -8.37518934e-04 2.44430191e+02] [ 8.27125479e-01 5.62016023e-01 -1.19670706e-03 7.39406935e+01] [ 1.46052699e-03 -2.01654559e-05 9.99998933e-01 7.77007808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:73.96, Z:0.08 [[ 5.62937434e-01 -8.26499089e-01 -8.37255903e-04 2.44447979e+02] [ 8.26498223e-01 5.62938056e-01 -1.19689105e-03 7.39611337e+01] [ 1.46055258e-03 -1.82157384e-05 9.99998933e-01 7.89619792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:73.98, Z:0.08 [[ 5.64610569e-01 -8.25357017e-01 -8.37004729e-04 2.44468827e+02] [ 8.25356149e-01 5.64611189e-01 -1.19706668e-03 7.39791404e+01] [ 1.46058962e-03 -1.49505028e-05 9.99998933e-01 7.97016376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:74.00, Z:0.08 [[ 5.64437377e-01 -8.25475468e-01 -8.36754101e-04 2.44484470e+02] [ 8.25474599e-01 5.64437997e-01 -1.19724184e-03 7.40019337e+01] [ 1.46058958e-03 -1.49512120e-05 9.99998933e-01 7.97420214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:74.02, Z:0.08 [[ 5.64929563e-01 -8.25138709e-01 -8.36502854e-04 2.44501732e+02] [ 8.25137841e-01 5.64930182e-01 -1.19741736e-03 7.40211752e+01] [ 1.46060112e-03 -1.37736932e-05 9.99998933e-01 7.93820261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.52, Y:74.04, Z:0.08 [[ 5.65394343e-01 -8.24820307e-01 -8.36211146e-04 2.44519943e+02] [ 8.24819437e-01 5.65394961e-01 -1.19762104e-03 7.40417330e+01] [ 1.46061172e-03 -1.25950478e-05 9.99998933e-01 8.14774509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.54, Y:74.06, Z:0.08 [[ 5.65985948e-01 -8.24414464e-01 -8.35957471e-04 2.44539897e+02] [ 8.24413594e-01 5.65986565e-01 -1.19779808e-03 7.40597328e+01] [ 1.46062276e-03 -1.12378210e-05 9.99998933e-01 7.80265296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:74.08, Z:0.08 [[ 5.66260629e-01 -8.24225819e-01 -8.35677282e-04 2.44556419e+02] [ 8.24224949e-01 5.66261246e-01 -1.19799353e-03 7.40785341e+01] [ 1.46062886e-03 -1.04094948e-05 9.99998933e-01 7.63522600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.58, Y:74.10, Z:0.08 [[ 5.66770349e-01 -8.23875399e-01 -8.35383969e-04 2.44576367e+02] [ 8.23874528e-01 5.66770965e-01 -1.19819803e-03 7.40981016e+01] [ 1.46063726e-03 -9.14845846e-06 9.99998933e-01 7.69120766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.59, Y:74.12, Z:0.08 [[ 5.66957611e-01 -8.23746545e-01 -8.35126279e-04 2.44593746e+02] [ 8.23745673e-01 5.66958226e-01 -1.19837761e-03 7.41191138e+01] [ 1.46064113e-03 -8.50235278e-06 9.99998933e-01 7.59892528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.61, Y:74.14, Z:0.08 [[ 5.67067063e-01 -8.23671202e-01 -8.34864001e-04 2.44610937e+02] [ 8.23670330e-01 5.67067677e-01 -1.19856030e-03 7.41396677e+01] [ 1.46064399e-03 -7.98863954e-06 9.99998933e-01 7.66070631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:74.16, Z:0.07 [[ 5.67152570e-01 -8.23612327e-01 -8.34601732e-04 2.44627739e+02] [ 8.23611455e-01 5.67153184e-01 -1.19874290e-03 7.41595865e+01] [ 1.46064646e-03 -7.51743052e-06 9.99998933e-01 7.32048090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:74.18, Z:0.08 [[ 5.67953695e-01 -8.23060085e-01 -8.34399312e-04 2.44646103e+02] [ 8.23059212e-01 5.67954308e-01 -1.19888378e-03 7.41791949e+01] [ 1.46065407e-03 -5.84956820e-06 9.99998933e-01 7.51179097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.66, Y:74.20, Z:0.08 [[ 5.68483860e-01 -8.22693992e-01 -8.34116903e-04 2.44662375e+02] [ 8.22693118e-01 5.68484472e-01 -1.19908023e-03 7.42004960e+01] [ 1.46065861e-03 -4.56447711e-06 9.99998933e-01 7.58151967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.68, Y:74.22, Z:0.08 [[ 5.69464691e-01 -8.22015371e-01 -8.33858362e-04 2.44679123e+02] [ 8.22014496e-01 5.69465301e-01 -1.19926000e-03 7.42215587e+01] [ 1.46066356e-03 -2.50743740e-06 9.99998933e-01 7.89148352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:74.24, Z:0.08 [[ 5.69472935e-01 -8.22009660e-01 -8.33597057e-04 2.44694540e+02] [ 8.22008785e-01 5.69473545e-01 -1.19944160e-03 7.42426125e+01] [ 1.46066405e-03 -2.17457503e-06 9.99998933e-01 7.64571698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:74.26, Z:0.08 [[ 5.68905342e-01 -8.22402589e-01 -8.33323010e-04 2.44711427e+02] [ 8.22401714e-01 5.68905952e-01 -1.19963197e-03 7.42616036e+01] [ 1.46066286e-03 -2.84923712e-06 9.99998933e-01 7.57280362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:74.28, Z:0.08 [[ 5.67887541e-01 -8.23105732e-01 -8.33095622e-04 2.44728097e+02] [ 8.23104858e-01 5.67888152e-01 -1.19978986e-03 7.42824460e+01] [ 1.46065904e-03 -4.37934104e-06 9.99998933e-01 7.62968011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:74.30, Z:0.08 [[ 5.66972830e-01 -8.23736072e-01 -8.32811616e-04 2.44744733e+02] [ 8.23735198e-01 5.66973441e-01 -1.19998696e-03 7.43031928e+01] [ 1.46065462e-03 -5.65623700e-06 9.99998933e-01 7.72309870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:74.32, Z:0.08 [[ 5.65147114e-01 -8.24989725e-01 -8.32528788e-04 2.44761619e+02] [ 8.24988852e-01 5.65147727e-01 -1.20018315e-03 7.43248470e+01] [ 1.46064052e-03 -8.54692460e-06 9.99998933e-01 7.82374281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:74.35, Z:0.08 [[ 5.64047749e-01 -8.25741754e-01 -8.32267765e-04 2.44776565e+02] [ 8.25740882e-01 5.64048363e-01 -1.20036413e-03 7.43453652e+01] [ 1.46063005e-03 -1.01748323e-05 9.99998933e-01 7.77589035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:74.37, Z:0.08 [[ 5.62984384e-01 -8.26467114e-01 -8.32037530e-04 2.44791827e+02] [ 8.26466242e-01 5.62984999e-01 -1.20052370e-03 7.43652496e+01] [ 1.46061800e-03 -1.17748345e-05 9.99998933e-01 7.64850364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.81, Y:74.38, Z:0.07 [[ 5.61275488e-01 -8.27628621e-01 -8.31739405e-04 2.44808745e+02] [ 8.27627751e-01 5.61276104e-01 -1.20073021e-03 7.43847606e+01] [ 1.46059414e-03 -1.44301790e-05 9.99998933e-01 7.46197089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:74.40, Z:0.07 [[ 5.60634322e-01 -8.28063081e-01 -8.31444953e-04 2.44824565e+02] [ 8.28062210e-01 5.60634939e-01 -1.20093407e-03 7.44046236e+01] [ 1.46058625e-03 -1.52032880e-05 9.99998933e-01 7.37798689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:74.43, Z:0.07 [[ 5.60077051e-01 -8.28440104e-01 -8.31151759e-04 2.44841143e+02] [ 8.28439234e-01 5.60077667e-01 -1.20113695e-03 7.44250804e+01] [ 1.46057956e-03 -1.58294865e-05 9.99998933e-01 7.44337294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:74.44, Z:0.07 [[ 5.60118844e-01 -8.28411848e-01 -8.30871343e-04 2.44858029e+02] [ 8.28410977e-01 5.60119460e-01 -1.20133089e-03 7.44445646e+01] [ 1.46058395e-03 -1.54148709e-05 9.99998933e-01 7.19408666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.87, Y:74.47, Z:0.07 [[ 5.60783217e-01 -8.27962254e-01 -8.30578163e-04 2.44873879e+02] [ 8.27961382e-01 5.60783832e-01 -1.20153356e-03 7.44662077e+01] [ 1.46059924e-03 -1.38867910e-05 9.99998933e-01 7.36906833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:74.49, Z:0.07 [[ 5.62733419e-01 -8.26638016e-01 -8.30349404e-04 2.44889631e+02] [ 8.26637143e-01 5.62734031e-01 -1.20169163e-03 7.44864404e+01] [ 1.46062985e-03 -1.01656227e-05 9.99998933e-01 7.12179682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.91, Y:74.51, Z:0.07 [[ 5.64041806e-01 -8.25745816e-01 -8.30051528e-04 2.44905029e+02] [ 8.25744941e-01 5.64042416e-01 -1.20189734e-03 7.45075725e+01] [ 1.46064597e-03 -7.49050182e-06 9.99998933e-01 7.41365192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.92, Y:74.53, Z:0.07 [[ 5.65516293e-01 -8.24736705e-01 -8.29767483e-04 2.44919896e+02] [ 8.24735829e-01 5.65516902e-01 -1.20209341e-03 7.45278410e+01] [ 1.46065810e-03 -4.53556283e-06 9.99998933e-01 7.41494853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:74.55, Z:0.07 [[ 5.69335693e-01 -8.22104726e-01 -8.29470100e-04 2.44935253e+02] [ 8.22103847e-01 5.69336297e-01 -1.20229858e-03 7.45475734e+01] [ 1.46066278e-03 2.60093348e-06 9.99998933e-01 7.29379997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:74.57, Z:0.07 [[ 5.71137837e-01 -8.20853753e-01 -8.29244857e-04 2.44950015e+02] [ 8.20852872e-01 5.71138439e-01 -1.20245391e-03 7.45698677e+01] [ 1.46065242e-03 6.07890280e-06 9.99998933e-01 7.43962545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:74.59, Z:0.07 [[ 5.72913223e-01 -8.19615612e-01 -8.28961150e-04 2.44963487e+02] [ 8.19614730e-01 5.72913823e-01 -1.20264946e-03 7.45908687e+01] [ 1.46063358e-03 9.58501161e-06 9.99998933e-01 7.41408047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:74.61, Z:0.07 [[ 5.76117851e-01 -8.17366218e-01 -8.28663955e-04 2.44976805e+02] [ 8.17365333e-01 5.76118447e-01 -1.20285421e-03 7.46139436e+01] [ 1.46058098e-03 1.56645910e-05 9.99998933e-01 7.20531002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:74.64, Z:0.07 [[ 5.77311156e-01 -8.16523817e-01 -8.28395669e-04 2.44991021e+02] [ 8.16522931e-01 5.77311750e-01 -1.20303894e-03 7.46358407e+01] [ 1.46055250e-03 1.81237434e-05 9.99998933e-01 7.24493516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.01, Y:74.66, Z:0.07 [[ 5.77962065e-01 -8.16063212e-01 -8.28116304e-04 2.45005135e+02] [ 8.16062325e-01 5.77962658e-01 -1.20323121e-03 7.46574366e+01] [ 1.46053303e-03 1.96274805e-05 9.99998933e-01 7.14594300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:74.68, Z:0.07 [[ 5.78369683e-01 -8.15774371e-01 -8.27824052e-04 2.45018053e+02] [ 8.15773484e-01 5.78370275e-01 -1.20343225e-03 7.46804627e+01] [ 1.46051801e-03 2.07118183e-05 9.99998933e-01 7.14459955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:74.70, Z:0.07 [[ 5.77922441e-01 -8.16091274e-01 -8.27546371e-04 2.45031476e+02] [ 8.16090386e-01 5.77923034e-01 -1.20362317e-03 7.47026542e+01] [ 1.46052447e-03 2.02482030e-05 9.99998933e-01 7.19728712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.05, Y:74.73, Z:0.07 [[ 5.76382105e-01 -8.17179898e-01 -8.27267262e-04 2.45045803e+02] [ 8.17179011e-01 5.76382698e-01 -1.20381497e-03 7.47258812e+01] [ 1.46055593e-03 1.78319651e-05 9.99998933e-01 7.24686299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:74.75, Z:0.07 [[ 5.75165669e-01 -8.18036533e-01 -8.27004867e-04 2.45059588e+02] [ 8.18035647e-01 5.75166263e-01 -1.20399521e-03 7.47483229e+01] [ 1.46057737e-03 1.59772484e-05 9.99998933e-01 7.15150167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:74.77, Z:0.07 [[ 5.73981986e-01 -8.18867509e-01 -8.26728817e-04 2.45073710e+02] [ 8.18866623e-01 5.73982581e-01 -1.20418473e-03 7.47704793e+01] [ 1.46059569e-03 1.41997081e-05 9.99998933e-01 7.15598796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:74.79, Z:0.07 [[ 5.71003196e-01 -8.20947421e-01 -8.26443362e-04 2.45087587e+02] [ 8.20946537e-01 5.71003794e-01 -1.20438061e-03 7.47916278e+01] [ 1.46063545e-03 9.23936033e-06 9.99998933e-01 6.92068778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:74.81, Z:0.07 [[ 5.69183557e-01 -8.22210068e-01 -8.26145031e-04 2.45102649e+02] [ 8.22209186e-01 5.69184157e-01 -1.20458521e-03 7.48133089e+01] [ 1.46065075e-03 6.36606441e-06 9.99998933e-01 7.22867976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:74.84, Z:0.07 [[ 5.65477456e-01 -8.24763339e-01 -8.25859739e-04 2.45116706e+02] [ 8.24762459e-01 5.65478059e-01 -1.20478078e-03 7.48350267e+01] [ 1.46066458e-03 1.38260157e-07 9.99998933e-01 7.26774772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.13, Y:74.86, Z:0.07 [[ 5.63605295e-01 -8.26043818e-01 -8.25570631e-04 2.45130981e+02] [ 8.26042939e-01 5.63605900e-01 -1.20497886e-03 7.48559787e+01] [ 1.46066181e-03 -2.82432660e-06 9.99998933e-01 7.14581013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.15, Y:74.88, Z:0.07 [[ 5.62006083e-01 -8.27132687e-01 -8.25268731e-04 2.45146395e+02] [ 8.27131809e-01 5.62006689e-01 -1.20518559e-03 7.48771253e+01] [ 1.46065494e-03 -5.28438780e-06 9.99998933e-01 7.31431817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:74.90, Z:0.07 [[ 5.60659467e-01 -8.28046063e-01 -8.24982315e-04 2.45161601e+02] [ 8.28045185e-01 5.60660074e-01 -1.20538161e-03 7.48976246e+01] [ 1.46064614e-03 -7.31402082e-06 9.99998933e-01 7.14923867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:74.92, Z:0.07 [[ 5.59106893e-01 -8.29095170e-01 -8.24682229e-04 2.45176629e+02] [ 8.29094294e-01 5.59107501e-01 -1.20558689e-03 7.49177598e+01] [ 1.46063229e-03 -9.68739046e-06 9.99998933e-01 7.03018395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:74.94, Z:0.07 [[ 5.58716803e-01 -8.29358098e-01 -8.24399661e-04 2.45191380e+02] [ 8.29357221e-01 5.58717411e-01 -1.20578008e-03 7.49391828e+01] [ 1.46062992e-03 -1.00322198e-05 9.99998933e-01 7.09800528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:74.96, Z:0.07 [[ 5.58509191e-01 -8.29497923e-01 -8.24119162e-04 2.45207438e+02] [ 8.29497047e-01 5.58509799e-01 -1.20597176e-03 7.49601397e+01] [ 1.46062970e-03 -1.00580969e-05 9.99998933e-01 7.13050778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:74.98, Z:0.07 [[ 5.58527638e-01 -8.29485502e-01 -8.23836958e-04 2.45222613e+02] [ 8.29484626e-01 5.58528246e-01 -1.20616452e-03 7.49816291e+01] [ 1.46063219e-03 -9.68387155e-06 9.99998933e-01 7.04010633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:75.00, Z:0.07 [[ 5.58712240e-01 -8.29361172e-01 -8.23554455e-04 2.45236729e+02] [ 8.29360295e-01 5.58712847e-01 -1.20635737e-03 7.50026166e+01] [ 1.46063642e-03 -9.01673427e-06 9.99998933e-01 6.90100873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.25, Y:75.02, Z:0.07 [[ 5.59642064e-01 -8.28734024e-01 -8.23260516e-04 2.45251952e+02] [ 8.28733146e-01 5.59642669e-01 -1.20655794e-03 7.50228167e+01] [ 1.46064733e-03 -7.02270377e-06 9.99998933e-01 6.83763967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:75.04, Z:0.07 [[ 5.60522295e-01 -8.28138925e-01 -8.22968543e-04 2.45267363e+02] [ 8.28138046e-01 5.60522899e-01 -1.20675705e-03 7.50443220e+01] [ 1.46065520e-03 -5.11732796e-06 9.99998933e-01 6.77364400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:75.07, Z:0.07 [[ 5.63850515e-01 -8.25876455e-01 -8.22691266e-04 2.45281720e+02] [ 8.25875573e-01 5.63851116e-01 -1.20694605e-03 7.50662123e+01] [ 1.46066372e-03 1.09653242e-06 9.99998933e-01 6.85287832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:75.09, Z:0.07 [[ 5.65746499e-01 -8.24578815e-01 -8.22415640e-04 2.45295103e+02] [ 8.24577932e-01 5.65747097e-01 -1.20713384e-03 7.50872727e+01] [ 1.46065625e-03 4.78595380e-06 9.99998933e-01 6.75377845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.31, Y:75.11, Z:0.07 [[ 5.69602736e-01 -8.21919733e-01 -8.22127532e-04 2.45308891e+02] [ 8.21918846e-01 5.69603329e-01 -1.20733002e-03 7.51089787e+01] [ 1.46061495e-03 1.19763714e-05 9.99998933e-01 6.66876073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:75.13, Z:0.07 [[ 5.70794759e-01 -8.21092362e-01 -8.21908971e-04 2.45322796e+02] [ 8.21091474e-01 5.70795351e-01 -1.20747879e-03 7.51313838e+01] [ 1.46059343e-03 1.43601173e-05 9.99998933e-01 6.62224846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.34, Y:75.15, Z:0.07 [[ 5.71751221e-01 -8.20426637e-01 -8.21639655e-04 2.45336403e+02] [ 8.20425748e-01 5.71751811e-01 -1.20766202e-03 7.51537465e+01] [ 1.46057205e-03 1.63879069e-05 9.99998933e-01 6.62612158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.35, Y:75.18, Z:0.07 [[ 5.72209818e-01 -8.20106852e-01 -8.21371174e-04 2.45349551e+02] [ 8.20105963e-01 5.72210407e-01 -1.20784460e-03 7.51763779e+01] [ 1.46055877e-03 1.75291397e-05 9.99998933e-01 6.66247614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.36, Y:75.20, Z:0.07 [[ 5.71761085e-01 -8.20419763e-01 -8.21104774e-04 2.45364302e+02] [ 8.20418873e-01 5.71761675e-01 -1.20802567e-03 7.51985257e+01] [ 1.46056438e-03 1.70522156e-05 9.99998933e-01 6.92239476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:75.22, Z:0.07 [[ 5.70281872e-01 -8.21448667e-01 -8.20831808e-04 2.45376819e+02] [ 8.21447779e-01 5.70282463e-01 -1.20821112e-03 7.52206104e+01] [ 1.46058940e-03 1.47504335e-05 9.99998933e-01 6.84408804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.39, Y:75.24, Z:0.07 [[ 5.69314639e-01 -8.22119315e-01 -8.20546766e-04 2.45389328e+02] [ 8.22118427e-01 5.69315230e-01 -1.20840467e-03 7.52422287e+01] [ 1.46060259e-03 1.33758527e-05 9.99998933e-01 6.76512940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.40, Y:75.26, Z:0.07 [[ 5.68284048e-01 -8.22832041e-01 -8.20332458e-04 2.45403691e+02] [ 8.22831154e-01 5.68284640e-01 -1.20855014e-03 7.52644879e+01] [ 1.46061611e-03 1.18046631e-05 9.99998933e-01 6.76674841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.42, Y:75.29, Z:0.07 [[ 5.66674035e-01 -8.23941664e-01 -8.20070708e-04 2.45418359e+02] [ 8.23940777e-01 5.66674629e-01 -1.20872773e-03 7.52861044e+01] [ 1.46063440e-03 9.26492153e-06 9.99998933e-01 6.65583546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:75.31, Z:0.07 [[ 5.66030355e-01 -8.24383991e-01 -8.19788268e-04 2.45432173e+02] [ 8.24383105e-01 5.66030949e-01 -1.20891925e-03 7.53091462e+01] [ 1.46063921e-03 8.46539588e-06 9.99998933e-01 6.80927859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:75.33, Z:0.07 [[ 5.64950617e-01 -8.25124311e-01 -8.19521553e-04 2.45443948e+02] [ 8.25123425e-01 5.64951212e-01 -1.20910003e-03 7.53331084e+01] [ 1.46064752e-03 6.87537850e-06 9.99998933e-01 6.79723466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:75.36, Z:0.07 [[ 5.64752774e-01 -8.25259737e-01 -8.19241073e-04 2.45458754e+02] [ 8.25258851e-01 5.64753368e-01 -1.20929004e-03 7.53554745e+01] [ 1.46064754e-03 6.86396108e-06 9.99998933e-01 6.80115109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:75.38, Z:0.07 [[ 5.64080806e-01 -8.25719186e-01 -8.18951093e-04 2.45471940e+02] [ 8.25718300e-01 5.64081400e-01 -1.20948639e-03 7.53771199e+01] [ 1.46065120e-03 6.02515295e-06 9.99998933e-01 6.79743423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:75.40, Z:0.07 [[ 5.63373730e-01 -8.26201774e-01 -8.18648223e-04 2.45485793e+02] [ 8.26200888e-01 5.63374324e-01 -1.20969136e-03 7.53994230e+01] [ 1.46065453e-03 5.14044186e-06 9.99998933e-01 6.88489620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:75.42, Z:0.07 [[ 5.62529236e-01 -8.26776988e-01 -8.18360889e-04 2.45499824e+02] [ 8.26776103e-01 5.62529832e-01 -1.20988571e-03 7.54219530e+01] [ 1.46065807e-03 3.99485624e-06 9.99998933e-01 6.93887071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.51, Y:75.44, Z:0.07 [[ 5.61479591e-01 -8.27490181e-01 -8.18073921e-04 2.45511640e+02] [ 8.27489296e-01 5.61480187e-01 -1.21007971e-03 7.54445344e+01] [ 1.46066138e-03 2.48764847e-06 9.99998933e-01 7.02821115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.52, Y:75.47, Z:0.07 [[ 5.61223692e-01 -8.27663760e-01 -8.17845586e-04 2.45524694e+02] [ 8.27662875e-01 5.61224287e-01 -1.21023401e-03 7.54675269e+01] [ 1.46066164e-03 2.31157174e-06 9.99998933e-01 7.10833984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.54, Y:75.49, Z:0.07 [[ 5.61208254e-01 -8.27674228e-01 -8.17561623e-04 2.45536664e+02] [ 8.27673342e-01 5.61208850e-01 -1.21042581e-03 7.54912656e+01] [ 1.46066107e-03 2.62699573e-06 9.99998933e-01 6.99334796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.55, Y:75.51, Z:0.07 [[ 5.61232888e-01 -8.27657524e-01 -8.17278482e-04 2.45549532e+02] [ 8.27656639e-01 5.61233483e-01 -1.21061696e-03 7.55139861e+01] [ 1.46066028e-03 3.01209102e-06 9.99998933e-01 7.13595401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:75.54, Z:0.07 [[ 5.62101902e-01 -8.27067581e-01 -8.16992334e-04 2.45561055e+02] [ 8.27066695e-01 5.62102496e-01 -1.21081004e-03 7.55365760e+01] [ 1.46065516e-03 4.89147466e-06 9.99998933e-01 7.14848995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.57, Y:75.56, Z:0.07 [[ 5.62712249e-01 -8.26652441e-01 -8.16693814e-04 2.45574741e+02] [ 8.26651554e-01 5.62712842e-01 -1.21101136e-03 7.55605779e+01] [ 1.46064959e-03 6.32971347e-06 9.99998933e-01 7.23402407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:75.58, Z:0.07 [[ 5.63314448e-01 -8.26242196e-01 -8.16428922e-04 2.45587137e+02] [ 8.26241308e-01 5.63315040e-01 -1.21118991e-03 7.55836737e+01] [ 1.46064290e-03 7.71347655e-06 9.99998933e-01 6.99869609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:75.61, Z:0.07 [[ 5.64840241e-01 -8.25199876e-01 -8.16151579e-04 2.45596505e+02] [ 8.25198987e-01 5.64840831e-01 -1.21137677e-03 7.56085491e+01] [ 1.46062370e-03 1.07468899e-05 9.99998933e-01 6.67504109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:75.63, Z:0.07 [[ 5.65414595e-01 -8.24806444e-01 -8.15865295e-04 2.45608325e+02] [ 8.24805554e-01 5.65415184e-01 -1.21156955e-03 7.56323196e+01] [ 1.46061300e-03 1.21088800e-05 9.99998933e-01 6.52880373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:75.66, Z:0.06 [[ 5.65720749e-01 -8.24596489e-01 -8.15579181e-04 2.45619471e+02] [ 8.24595599e-01 5.65721336e-01 -1.21176212e-03 7.56554559e+01] [ 1.46060533e-03 1.29959712e-05 9.99998933e-01 6.45026889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:75.68, Z:0.06 [[ 5.65140956e-01 -8.24993961e-01 -8.15351350e-04 2.45629023e+02] [ 8.24993071e-01 5.65141544e-01 -1.21191540e-03 7.56802167e+01] [ 1.46061181e-03 1.22438131e-05 9.99998933e-01 6.32698057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.64, Y:75.70, Z:0.06 [[ 5.64376211e-01 -8.25517309e-01 -8.15065251e-04 2.45641321e+02] [ 8.25516420e-01 5.64376800e-01 -1.21210778e-03 7.57028853e+01] [ 1.46061987e-03 1.12350505e-05 9.99998933e-01 6.31408401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:75.73, Z:0.06 [[ 5.62596780e-01 -8.26731032e-01 -8.14766468e-04 2.45651614e+02] [ 8.26730143e-01 5.62597370e-01 -1.21230859e-03 7.57277810e+01] [ 1.46063860e-03 8.44890987e-06 9.99998933e-01 6.21241480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:75.75, Z:0.06 [[ 5.61343699e-01 -8.27582376e-01 -8.14481251e-04 2.45663381e+02] [ 8.27581487e-01 5.61344290e-01 -1.21250018e-03 7.57508601e+01] [ 1.46064818e-03 6.57973029e-06 9.99998933e-01 6.06948165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:75.77, Z:0.06 [[ 5.60207315e-01 -8.28352039e-01 -8.14183383e-04 2.45675789e+02] [ 8.28351152e-01 5.60207907e-01 -1.21270016e-03 7.57746345e+01] [ 1.46065462e-03 4.93375892e-06 9.99998933e-01 6.14718168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:75.80, Z:0.06 [[ 5.58835922e-01 -8.29277849e-01 -8.13905858e-04 2.45688206e+02] [ 8.29276962e-01 5.58836514e-01 -1.21288640e-03 7.57977822e+01] [ 1.46066013e-03 2.85110935e-06 9.99998933e-01 6.26059459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:75.82, Z:0.06 [[ 5.56188717e-01 -8.31055623e-01 -8.13619949e-04 2.45700472e+02] [ 8.31054738e-01 5.56189312e-01 -1.21307816e-03 7.58225683e+01] [ 1.46066214e-03 -1.46233000e-06 9.99998933e-01 6.34732692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:75.85, Z:0.06 [[ 5.54714203e-01 -8.32040559e-01 -8.13358057e-04 2.45714037e+02] [ 8.32039674e-01 5.54714800e-01 -1.21325373e-03 7.58461725e+01] [ 1.46065806e-03 -3.73709754e-06 9.99998933e-01 6.36789600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:75.87, Z:0.06 [[ 5.52151588e-01 -8.33743344e-01 -8.13097036e-04 2.45726109e+02] [ 8.33742461e-01 5.52152186e-01 -1.21342863e-03 7.58702451e+01] [ 1.46064135e-03 -7.91697744e-06 9.99998933e-01 6.36352936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:75.89, Z:0.06 [[ 5.50723379e-01 -8.34687426e-01 -8.12834923e-04 2.45739110e+02] [ 8.34686544e-01 5.50723978e-01 -1.21360419e-03 7.58935270e+01] [ 1.46062784e-03 -1.01021738e-05 9.99998933e-01 6.24184213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:75.92, Z:0.06 [[ 5.49629608e-01 -8.35408064e-01 -8.12560564e-04 2.45752272e+02] [ 8.35407183e-01 5.49630208e-01 -1.21378786e-03 7.59165633e+01] [ 1.46061600e-03 -1.16851886e-05 9.99998933e-01 6.30197131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:75.94, Z:0.06 [[ 5.47528676e-01 -8.36786525e-01 -8.12276383e-04 2.45765169e+02] [ 8.36785645e-01 5.47529279e-01 -1.21397800e-03 7.59395319e+01] [ 1.46058554e-03 -1.50134485e-05 9.99998933e-01 6.29254354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:75.96, Z:0.06 [[ 5.46497113e-01 -8.37460594e-01 -8.11993622e-04 2.45778644e+02] [ 8.37459714e-01 5.46497716e-01 -1.21416710e-03 7.59619146e+01] [ 1.46056976e-03 -1.64731293e-05 9.99998933e-01 6.31315682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:75.99, Z:0.06 [[ 5.45140833e-01 -8.38344090e-01 -8.11711976e-04 2.45791258e+02] [ 8.38343211e-01 5.45141437e-01 -1.21435536e-03 7.59859182e+01] [ 1.46054548e-03 -1.84985293e-05 9.99998933e-01 6.43283922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:76.01, Z:0.06 [[ 5.44357732e-01 -8.38852789e-01 -8.11448987e-04 2.45804887e+02] [ 8.38851910e-01 5.44358337e-01 -1.21453107e-03 7.60077998e+01] [ 1.46053180e-03 -1.95461525e-05 9.99998933e-01 6.17516395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:76.03, Z:0.06 [[ 5.43765501e-01 -8.39236809e-01 -8.11173067e-04 2.45819016e+02] [ 8.39235930e-01 5.43766106e-01 -1.21471533e-03 7.60306724e+01] [ 1.46052224e-03 -2.02452941e-05 9.99998933e-01 6.22835561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:245.83, Y:76.05, Z:0.06 [[ 5.43085010e-01 -8.39677327e-01 -8.10910194e-04 2.45833185e+02] [ 8.39676449e-01 5.43085615e-01 -1.21489079e-03 7.60542368e+01] [ 1.46050991e-03 -2.11132147e-05 9.99998933e-01 6.37724476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:76.08, Z:0.06 [[ 5.42545329e-01 -8.40026136e-01 -8.10644401e-04 2.45847034e+02] [ 8.40025257e-01 5.42545935e-01 -1.21506812e-03 7.60764225e+01] [ 1.46050080e-03 -2.17322406e-05 9.99998933e-01 5.94676664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:76.10, Z:0.06 [[ 5.42005144e-01 -8.40374778e-01 -8.10439036e-04 2.45862144e+02] [ 8.40373899e-01 5.42005749e-01 -1.21520508e-03 7.60994032e+01] [ 1.46049031e-03 -2.24244109e-05 9.99998933e-01 5.89893456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:76.12, Z:0.06 [[ 5.41725021e-01 -8.40555379e-01 -8.10180942e-04 2.45876852e+02] [ 8.40554501e-01 5.41725626e-01 -1.21537712e-03 7.61206605e+01] [ 1.46048756e-03 -2.26010392e-05 9.99998933e-01 5.66086738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:76.14, Z:0.06 [[ 5.41671132e-01 -8.40590108e-01 -8.09910704e-04 2.45891444e+02] [ 8.40589229e-01 5.41671737e-01 -1.21555718e-03 7.61428303e+01] [ 1.46049108e-03 -2.23699814e-05 9.99998933e-01 5.68221904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:76.17, Z:0.06 [[ 5.42300275e-01 -8.40184358e-01 -8.09628882e-04 2.45906420e+02] [ 8.40183479e-01 5.42300879e-01 -1.21574486e-03 7.61653301e+01] [ 1.46051227e-03 -2.09380378e-05 9.99998933e-01 5.80224820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:76.19, Z:0.06 [[ 5.42568033e-01 -8.40011473e-01 -8.09366316e-04 2.45921145e+02] [ 8.40010593e-01 5.42568636e-01 -1.21591964e-03 7.61878383e+01] [ 1.46052322e-03 -2.01571545e-05 9.99998933e-01 5.87190747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:76.21, Z:0.06 [[ 5.42915147e-01 -8.39787169e-01 -8.09101579e-04 2.45935656e+02] [ 8.39786288e-01 5.42915750e-01 -1.21609577e-03 7.62101690e+01] [ 1.46053562e-03 -1.92355971e-05 9.99998933e-01 5.82220823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:76.23, Z:0.06 [[ 5.44055329e-01 -8.39048952e-01 -8.08896041e-04 2.45949407e+02] [ 8.39048071e-01 5.44055930e-01 -1.21623247e-03 7.62309208e+01] [ 1.46056327e-03 -1.70049049e-05 9.99998933e-01 5.90012495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.96, Y:76.25, Z:0.06 [[ 5.44656666e-01 -8.38658728e-01 -8.08604042e-04 2.45964317e+02] [ 8.38657846e-01 5.44657266e-01 -1.21642657e-03 7.62524027e+01] [ 1.46057883e-03 -1.56072815e-05 9.99998933e-01 6.07641756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:76.27, Z:0.06 [[ 5.46151758e-01 -8.37685862e-01 -8.08324687e-04 2.45980753e+02] [ 8.37684979e-01 5.46152356e-01 -1.21661218e-03 7.62742288e+01] [ 1.46060726e-03 -1.26665673e-05 9.99998933e-01 5.96688455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:76.30, Z:0.06 [[ 5.46999475e-01 -8.37132559e-01 -8.08064982e-04 2.45995373e+02] [ 8.37131675e-01 5.47000072e-01 -1.21678465e-03 7.62958637e+01] [ 1.46062165e-03 -1.08762278e-05 9.99998933e-01 5.98842177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:76.32, Z:0.06 [[ 5.47686127e-01 -8.36683485e-01 -8.07863781e-04 2.46009277e+02] [ 8.36682600e-01 5.47686722e-01 -1.21691822e-03 7.63175859e+01] [ 1.46063164e-03 -9.43634339e-06 9.99998933e-01 5.86413458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.03, Y:76.34, Z:0.06 [[ 5.49352554e-01 -8.35590282e-01 -8.07578410e-04 2.46025775e+02] [ 8.35589395e-01 5.49353148e-01 -1.21710757e-03 7.63403405e+01] [ 1.46064900e-03 -6.18280380e-06 9.99998933e-01 6.36129036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:76.36, Z:0.06 [[ 5.50063797e-01 -8.35122247e-01 -8.07342472e-04 2.46040805e+02] [ 8.35121360e-01 5.50064389e-01 -1.21726405e-03 7.63614546e+01] [ 1.46065464e-03 -4.65605692e-06 9.99998933e-01 6.29788188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:76.38, Z:0.06 [[ 5.51662295e-01 -8.34067180e-01 -8.07137869e-04 2.46055690e+02] [ 8.34066292e-01 5.51662886e-01 -1.21739971e-03 7.63825449e+01] [ 1.46066115e-03 -1.61297307e-06 9.99998933e-01 6.15396518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.07, Y:76.40, Z:0.06 [[ 5.52543868e-01 -8.33483427e-01 -8.06841033e-04 2.46070915e+02] [ 8.33482537e-01 5.52544457e-01 -1.21759640e-03 7.64047089e+01] [ 1.46066196e-03 2.87516076e-07 9.99998933e-01 6.39020998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.09, Y:76.43, Z:0.06 [[ 5.53331203e-01 -8.32960941e-01 -8.06590571e-04 2.46086262e+02] [ 8.32960051e-01 5.53331791e-01 -1.21776230e-03 7.64264502e+01] [ 1.46066064e-03 1.96815479e-06 9.99998933e-01 6.43193665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.10, Y:76.45, Z:0.06 [[ 5.54973547e-01 -8.31867605e-01 -8.06310539e-04 2.46102876e+02] [ 8.31866713e-01 5.54974132e-01 -1.21794769e-03 7.64463673e+01] [ 1.46065272e-03 5.18584919e-06 9.99998933e-01 5.97901260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:76.47, Z:0.06 [[ 5.55714886e-01 -8.31372549e-01 -8.06083179e-04 2.46118793e+02] [ 8.31371657e-01 5.55715471e-01 -1.21809814e-03 7.64686646e+01] [ 1.46064625e-03 6.76056336e-06 9.99998933e-01 6.03955154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:76.49, Z:0.06 [[ 5.57382258e-01 -8.30255604e-01 -8.05821305e-04 2.46135251e+02] [ 8.30254711e-01 5.57382841e-01 -1.21827136e-03 7.64895182e+01] [ 1.46062759e-03 1.00059067e-05 9.99998933e-01 5.76608363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.15, Y:76.51, Z:0.06 [[ 5.57856712e-01 -8.29936889e-01 -8.05617839e-04 2.46150973e+02] [ 8.29935995e-01 5.57857294e-01 -1.21840589e-03 7.65103865e+01] [ 1.46061978e-03 1.10846628e-05 9.99998933e-01 5.84670639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:76.53, Z:0.06 [[ 5.58137591e-01 -8.29748023e-01 -8.05333594e-04 2.46166899e+02] [ 8.29747128e-01 5.58138172e-01 -1.21859374e-03 7.65315930e+01] [ 1.46061317e-03 1.19197380e-05 9.99998933e-01 5.84636982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.19, Y:76.55, Z:0.06 [[ 5.58873992e-01 -8.29252201e-01 -8.05049453e-04 2.46186105e+02] [ 8.29251306e-01 5.58874571e-01 -1.21878143e-03 7.65512836e+01] [ 1.46059885e-03 1.35569310e-05 9.99998933e-01 5.97892363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:76.57, Z:0.06 [[ 5.58969057e-01 -8.29188124e-01 -8.04781118e-04 2.46202630e+02] [ 8.29187228e-01 5.58969637e-01 -1.21895859e-03 7.65722370e+01] [ 1.46059419e-03 1.40459075e-05 9.99998933e-01 5.51876485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:76.59, Z:0.05 [[ 5.59237589e-01 -8.29007040e-01 -8.04498879e-04 2.46220285e+02] [ 8.29006143e-01 5.59238168e-01 -1.21914483e-03 7.65925787e+01] [ 1.46058613e-03 1.48571044e-05 9.99998933e-01 5.42073692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.24, Y:76.61, Z:0.06 [[ 5.59472663e-01 -8.28848414e-01 -8.04216777e-04 2.46235465e+02] [ 8.28847517e-01 5.59473241e-01 -1.21933090e-03 7.66138367e+01] [ 1.46057824e-03 1.56092248e-05 9.99998933e-01 5.62631590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:76.64, Z:0.05 [[ 5.59349657e-01 -8.28931430e-01 -8.03934278e-04 2.46251366e+02] [ 8.28930533e-01 5.59350234e-01 -1.21951713e-03 7.66352106e+01] [ 1.46057690e-03 1.57308160e-05 9.99998933e-01 5.33575874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.27, Y:76.66, Z:0.05 [[ 5.59881521e-01 -8.28572288e-01 -8.03651736e-04 2.46269007e+02] [ 8.28571390e-01 5.59882098e-01 -1.21970329e-03 7.66553992e+01] [ 1.46056257e-03 1.70064972e-05 9.99998933e-01 5.47254922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:76.68, Z:0.06 [[ 5.60394298e-01 -8.28225565e-01 -8.03361915e-04 2.46285537e+02] [ 8.28224666e-01 5.60394873e-01 -1.21989415e-03 7.66776179e+01] [ 1.46054742e-03 1.82575720e-05 9.99998933e-01 5.66886990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.30, Y:76.70, Z:0.06 [[ 5.61531669e-01 -8.27454857e-01 -8.02844763e-04 2.46303301e+02] [ 8.27453957e-01 5.61532243e-01 -1.22023459e-03 7.66976326e+01] [ 1.46051226e-03 2.08832901e-05 9.99998933e-01 5.52421325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:76.72, Z:0.06 [[ 5.62104403e-01 -8.27065895e-01 -8.02996301e-04 2.46319531e+02] [ 8.27064996e-01 5.62104976e-01 -1.22013486e-03 7.67199605e+01] [ 1.46050015e-03 2.17130458e-05 9.99998933e-01 5.69236350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:76.74, Z:0.05 [[ 5.62873032e-01 -8.26542985e-01 -8.02728816e-04 2.46334571e+02] [ 8.26542084e-01 5.62873604e-01 -1.22031081e-03 7.67418176e+01] [ 1.46047420e-03 2.33908996e-05 9.99998933e-01 5.37110231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.35, Y:76.76, Z:0.05 [[ 5.62684880e-01 -8.26671084e-01 -8.02521610e-04 2.46349056e+02] [ 8.26670184e-01 5.62685452e-01 -1.22044707e-03 7.67643834e+01] [ 1.46047553e-03 2.33064240e-05 9.99998933e-01 5.37501854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:76.79, Z:0.05 [[ 5.64331290e-01 -8.25548031e-01 -8.02243770e-04 2.46364170e+02] [ 8.25547129e-01 5.64331860e-01 -1.22062967e-03 7.67869795e+01] [ 1.46042014e-03 2.65494765e-05 9.99998933e-01 5.48856862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:76.81, Z:0.05 [[ 5.64781116e-01 -8.25240358e-01 -8.01980248e-04 2.46378502e+02] [ 8.25239455e-01 5.64781685e-01 -1.22080279e-03 7.68085415e+01] [ 1.46039948e-03 2.76606171e-05 9.99998933e-01 5.41403336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.39, Y:76.83, Z:0.05 [[ 5.65000982e-01 -8.25089842e-01 -8.01703003e-04 2.46393946e+02] [ 8.25088939e-01 5.65001551e-01 -1.22098483e-03 7.68309098e+01] [ 1.46038562e-03 2.83813471e-05 9.99998933e-01 5.29886315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:246.41, Y:76.85, Z:0.05 [[ 5.65260142e-01 -8.24912316e-01 -8.01442461e-04 2.46409132e+02] [ 8.24911413e-01 5.65260709e-01 -1.22115582e-03 7.68511942e+01] [ 1.46037041e-03 2.91516792e-05 9.99998933e-01 5.47334549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:76.87, Z:0.05 [[ 5.64924246e-01 -8.25142384e-01 -8.01139157e-04 2.46422763e+02] [ 8.25141481e-01 5.64924814e-01 -1.22135477e-03 7.68723728e+01] [ 1.46037498e-03 2.89197733e-05 9.99998933e-01 5.10272480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.44, Y:76.89, Z:0.05 [[ 5.64187399e-01 -8.25646376e-01 -8.00838423e-04 2.46438045e+02] [ 8.25645472e-01 5.64187967e-01 -1.22155193e-03 7.68939824e+01] [ 1.46039332e-03 2.79755878e-05 9.99998933e-01 5.20566384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:76.92, Z:0.05 [[ 5.63474128e-01 -8.26133322e-01 -8.00550050e-04 2.46452342e+02] [ 8.26132419e-01 5.63474696e-01 -1.22174089e-03 7.69165327e+01] [ 1.46041055e-03 2.70590311e-05 9.99998933e-01 5.33387746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.47, Y:76.94, Z:0.05 [[ 5.62799723e-01 -8.26592905e-01 -8.00286578e-04 2.46466248e+02] [ 8.26592002e-01 5.62800292e-01 -1.22191345e-03 7.69390761e+01] [ 1.46042651e-03 2.61820651e-05 9.99998933e-01 5.27355328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:76.96, Z:0.05 [[ 5.62093503e-01 -8.27073306e-01 -8.00009487e-04 2.46478973e+02] [ 8.27072404e-01 5.62094072e-01 -1.22209484e-03 7.69609891e+01] [ 1.46044261e-03 2.52657975e-05 9.99998933e-01 5.22868747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:76.98, Z:0.05 [[ 5.61733946e-01 -8.27317554e-01 -7.99711186e-04 2.46493375e+02] [ 8.27316651e-01 5.61734514e-01 -1.22229001e-03 7.69833029e+01] [ 1.46044735e-03 2.49874073e-05 9.99998933e-01 5.30931055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:77.00, Z:0.05 [[ 5.61408031e-01 -8.27538750e-01 -7.99423159e-04 2.46507884e+02] [ 8.27537848e-01 5.61408600e-01 -1.22247836e-03 7.70048268e+01] [ 1.46045125e-03 2.47562483e-05 9.99998933e-01 5.28965704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:77.03, Z:0.05 [[ 5.60922474e-01 -8.27867948e-01 -7.99135195e-04 2.46522216e+02] [ 8.27867046e-01 5.60923043e-01 -1.22266657e-03 7.70254271e+01] [ 1.46045981e-03 2.42434650e-05 9.99998933e-01 5.01890183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:77.05, Z:0.05 [[ 5.60585868e-01 -8.28095916e-01 -7.98834407e-04 2.46536724e+02] [ 8.28095014e-01 5.60586437e-01 -1.22286306e-03 7.70479989e+01] [ 1.46046364e-03 2.40089607e-05 9.99998933e-01 5.17104737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:77.07, Z:0.05 [[ 5.60267342e-01 -8.28311456e-01 -7.98560808e-04 2.46550663e+02] [ 8.28310553e-01 5.60267911e-01 -1.22304170e-03 7.70695206e+01] [ 1.46046745e-03 2.37739790e-05 9.99998933e-01 4.88948468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:77.09, Z:0.05 [[ 5.59792988e-01 -8.28632110e-01 -7.98331476e-04 2.46564600e+02] [ 8.28631207e-01 5.59793557e-01 -1.22319138e-03 7.70915987e+01] [ 1.46047647e-03 2.32115826e-05 9.99998933e-01 5.09599877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:77.11, Z:0.05 [[ 5.59499066e-01 -8.28830597e-01 -7.98047276e-04 2.46578257e+02] [ 8.28829695e-01 5.59499634e-01 -1.22337677e-03 7.71143346e+01] [ 1.46047926e-03 2.30328805e-05 9.99998933e-01 5.03362222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.59, Y:77.14, Z:0.05 [[ 5.59027486e-01 -8.29148740e-01 -7.97760541e-04 2.46591646e+02] [ 8.29147837e-01 5.59028055e-01 -1.22356372e-03 7.71370683e+01] [ 1.46048684e-03 2.25443245e-05 9.99998933e-01 5.02774754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:77.16, Z:0.05 [[ 5.59040176e-01 -8.29140185e-01 -7.97474381e-04 2.46604486e+02] [ 8.29139282e-01 5.59040744e-01 -1.22375020e-03 7.71595622e+01] [ 1.46048114e-03 2.29081923e-05 9.99998933e-01 5.14149323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.62, Y:77.18, Z:0.06 [[ 5.59039473e-01 -8.29140659e-01 -7.97189599e-04 2.46618711e+02] [ 8.29139756e-01 5.59040041e-01 -1.22393569e-03 7.71825784e+01] [ 1.46047575e-03 2.32467737e-05 9.99998933e-01 5.58461102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.63, Y:77.21, Z:0.05 [[ 5.58481295e-01 -8.29516732e-01 -7.96923118e-04 2.46632950e+02] [ 8.29515829e-01 5.58481863e-01 -1.22410917e-03 7.72059398e+01] [ 1.46048615e-03 2.25817362e-05 9.99998933e-01 5.37142900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:77.23, Z:0.05 [[ 5.58061461e-01 -8.29799236e-01 -7.96655907e-04 2.46647697e+02] [ 8.29798333e-01 5.58062029e-01 -1.22428305e-03 7.72285674e+01] [ 1.46049255e-03 2.21614453e-05 9.99998933e-01 5.42768052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:77.25, Z:0.05 [[ 5.56592008e-01 -8.30785594e-01 -7.96387962e-04 2.46661287e+02] [ 8.30784692e-01 5.56592577e-01 -1.22445732e-03 7.72510419e+01] [ 1.46052513e-03 1.98962322e-05 9.99998933e-01 5.39319974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:77.27, Z:0.05 [[ 5.54306790e-01 -8.32312050e-01 -7.96122446e-04 2.46674165e+02] [ 8.32311149e-01 5.54307362e-01 -1.22462993e-03 7.72726621e+01] [ 1.46057078e-03 1.61990999e-05 9.99998933e-01 5.31979049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.69, Y:77.29, Z:0.06 [[ 5.52707551e-01 -8.33374904e-01 -7.95891159e-04 2.46689452e+02] [ 8.33374004e-01 5.52708124e-01 -1.22478023e-03 7.72947710e+01] [ 1.46059661e-03 1.36702788e-05 9.99998933e-01 5.54784257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.70, Y:77.32, Z:0.06 [[ 5.50979553e-01 -8.34518364e-01 -7.95623155e-04 2.46703628e+02] [ 8.34517465e-01 5.50980127e-01 -1.22495430e-03 7.73154069e+01] [ 1.46061941e-03 1.09633551e-05 9.99998933e-01 5.70238671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:77.34, Z:0.06 [[ 5.47771012e-01 -8.36627926e-01 -7.95312225e-04 2.46716086e+02] [ 8.36627029e-01 5.47771589e-01 -1.22515614e-03 7.73370250e+01] [ 1.46064928e-03 5.72531620e-06 9.99998933e-01 5.65822893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:77.36, Z:0.06 [[ 5.46140166e-01 -8.37693432e-01 -7.95006050e-04 2.46730968e+02] [ 8.37692536e-01 5.46140745e-01 -1.22535479e-03 7.73590463e+01] [ 1.46065685e-03 3.24483310e-06 9.99998933e-01 5.59141081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.75, Y:77.38, Z:0.06 [[ 5.42993171e-01 -8.39736735e-01 -7.94716366e-04 2.46747380e+02] [ 8.39735841e-01 5.42993752e-01 -1.22554264e-03 7.73795882e+01] [ 1.46065919e-03 -1.89053454e-06 9.99998933e-01 5.63943548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:77.40, Z:0.05 [[ 5.42070666e-01 -8.40332530e-01 -7.94419122e-04 2.46761159e+02] [ 8.40331636e-01 5.42071249e-01 -1.22573528e-03 7.74004040e+01] [ 1.46065700e-03 -3.14037810e-06 9.99998933e-01 5.46445579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.77, Y:77.42, Z:0.05 [[ 5.41337285e-01 -8.40805158e-01 -7.94110618e-04 2.46774880e+02] [ 8.40804264e-01 5.41337867e-01 -1.22593512e-03 7.74224810e+01] [ 1.46065472e-03 -4.04720448e-06 9.99998933e-01 5.37709328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.79, Y:77.44, Z:0.06 [[ 5.41044162e-01 -8.40993808e-01 -7.93822413e-04 2.46791074e+02] [ 8.40992914e-01 5.41044744e-01 -1.22612171e-03 7.74437004e+01] [ 1.46065421e-03 -4.21303058e-06 9.99998933e-01 5.54462290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.81, Y:77.46, Z:0.05 [[ 5.41134866e-01 -8.40935448e-01 -7.93527104e-04 2.46805324e+02] [ 8.40934554e-01 5.41135448e-01 -1.22631280e-03 7.74641661e+01] [ 1.46065555e-03 -3.70374696e-06 9.99998933e-01 5.39940792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:77.49, Z:0.06 [[ 5.42131447e-01 -8.40293321e-01 -7.93219360e-04 2.46819315e+02] [ 8.40292426e-01 5.42132027e-01 -1.22651183e-03 7.74870716e+01] [ 1.46065932e-03 -1.60558802e-06 9.99998933e-01 5.65783192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:246.83, Y:77.51, Z:0.06 [[ 5.42888042e-01 -8.39804706e-01 -7.92949523e-04 2.46833666e+02] [ 8.39803811e-01 5.42888621e-01 -1.22668626e-03 7.75083455e+01] [ 1.46066016e-03 3.12688064e-08 9.99998933e-01 5.74529777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.85, Y:77.53, Z:0.05 [[ 5.43076704e-01 -8.39682717e-01 -7.92635251e-04 2.46847598e+02] [ 8.39681820e-01 5.43077283e-01 -1.22688929e-03 7.75298589e+01] [ 1.46065993e-03 7.33582469e-07 9.99998933e-01 5.38713490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:77.55, Z:0.05 [[ 5.44017917e-01 -8.39073226e-01 -7.92404371e-04 2.46862022e+02] [ 8.39072328e-01 5.44018494e-01 -1.22703839e-03 7.75515716e+01] [ 1.46065769e-03 2.64628936e-06 9.99998933e-01 5.31269295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.88, Y:77.57, Z:0.05 [[ 5.44536567e-01 -8.38736729e-01 -7.92114649e-04 2.46875833e+02] [ 8.38735831e-01 5.44537143e-01 -1.22722539e-03 7.75740580e+01] [ 1.46065486e-03 3.89416370e-06 9.99998933e-01 5.30037575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:246.89, Y:77.60, Z:0.06 [[ 5.45072881e-01 -8.38388291e-01 -7.91820213e-04 2.46890590e+02] [ 8.38387393e-01 5.45073457e-01 -1.22741534e-03 7.75961451e+01] [ 1.46065083e-03 5.17872997e-06 9.99998933e-01 5.52763688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.90, Y:77.62, Z:0.05 [[ 5.46586567e-01 -8.37402232e-01 -7.91525079e-04 2.46904866e+02] [ 8.37401332e-01 5.46587141e-01 -1.22760563e-03 7.76172718e+01] [ 1.46063712e-03 8.16859281e-06 9.99998933e-01 5.37869600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:77.64, Z:0.05 [[ 5.47233268e-01 -8.36979763e-01 -7.91290693e-04 2.46917919e+02] [ 8.36978863e-01 5.47233840e-01 -1.22775669e-03 7.76395038e+01] [ 1.46062855e-03 9.57572231e-06 9.99998933e-01 5.27106541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:77.66, Z:0.05 [[ 5.48359466e-01 -8.36242352e-01 -7.91058187e-04 2.46931167e+02] [ 8.36241450e-01 5.48360036e-01 -1.22790648e-03 7.76621066e+01] [ 1.46061210e-03 1.18184964e-05 9.99998933e-01 5.43065796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:77.68, Z:0.06 [[ 5.48270186e-01 -8.36300889e-01 -7.90784970e-04 2.46945428e+02] [ 8.36299988e-01 5.48270757e-01 -1.22808241e-03 7.76847316e+01] [ 1.46061069e-03 1.19875112e-05 9.99998933e-01 5.54286957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.96, Y:77.71, Z:0.05 [[ 5.47950022e-01 -8.36510699e-01 -7.90496929e-04 2.46959032e+02] [ 8.36509797e-01 5.47950592e-01 -1.22826779e-03 7.77060362e+01] [ 1.46061241e-03 1.17709366e-05 9.99998933e-01 5.48241838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:77.73, Z:0.05 [[ 5.46636669e-01 -8.37369529e-01 -7.90268255e-04 2.46973366e+02] [ 8.37368628e-01 5.46637240e-01 -1.22841490e-03 7.77268231e+01] [ 1.46062726e-03 9.75078530e-06 9.99998933e-01 5.12768366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.99, Y:77.75, Z:0.05 [[ 5.45900948e-01 -8.37849349e-01 -7.89969625e-04 2.46987458e+02] [ 8.37848448e-01 5.45901519e-01 -1.22860691e-03 7.77473752e+01] [ 1.46063312e-03 8.82285489e-06 9.99998933e-01 5.26743169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.00, Y:77.77, Z:0.06 [[ 5.44373235e-01 -8.38842749e-01 -7.89678417e-04 2.47001832e+02] [ 8.38841849e-01 5.44373807e-01 -1.22879406e-03 7.77700194e+01] [ 1.46064523e-03 6.50729195e-06 9.99998933e-01 5.81649584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.02, Y:77.79, Z:0.05 [[ 5.43570469e-01 -8.39363164e-01 -7.89403040e-04 2.47015606e+02] [ 8.39362265e-01 5.43571042e-01 -1.22897094e-03 7.77926128e+01] [ 1.46064957e-03 5.43718687e-06 9.99998933e-01 5.10714218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:77.81, Z:0.05 [[ 5.42710692e-01 -8.39919331e-01 -7.89114347e-04 2.47029377e+02] [ 8.39918431e-01 5.42711266e-01 -1.22915628e-03 7.78148080e+01] [ 1.46065337e-03 4.28457081e-06 9.99998933e-01 5.10072700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:77.84, Z:0.05 [[ 5.40899276e-01 -8.41087006e-01 -7.88832566e-04 2.47042916e+02] [ 8.41086107e-01 5.40899851e-01 -1.22933709e-03 7.78356967e+01] [ 1.46065887e-03 1.47143095e-06 9.99998933e-01 4.95641781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:77.86, Z:0.05 [[ 5.39663528e-01 -8.41880428e-01 -7.88607494e-04 2.47056685e+02] [ 8.41879530e-01 5.39664104e-01 -1.22948146e-03 7.78580599e+01] [ 1.46065953e-03 -4.06205983e-07 9.99998933e-01 4.95468142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.07, Y:77.88, Z:0.05 [[ 5.37499463e-01 -8.43263723e-01 -7.88331538e-04 2.47071666e+02] [ 8.43262826e-01 5.37500041e-01 -1.22965837e-03 7.78798666e+01] [ 1.46065453e-03 -3.82996695e-06 9.99998933e-01 5.37565141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:77.90, Z:0.05 [[ 5.36340524e-01 -8.44001316e-01 -7.88037653e-04 2.47086603e+02] [ 8.44000420e-01 5.36341102e-01 -1.22984668e-03 7.79018961e+01] [ 1.46064920e-03 -5.48749743e-06 9.99998933e-01 5.43394856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:77.92, Z:0.06 [[ 5.35496164e-01 -8.44537292e-01 -7.87742915e-04 2.47101304e+02] [ 8.44536396e-01 5.35496744e-01 -1.23003544e-03 7.79239424e+01] [ 1.46064456e-03 -6.59830397e-06 9.99998933e-01 5.52099305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:77.95, Z:0.06 [[ 5.34414521e-01 -8.45222160e-01 -7.87448503e-04 2.47116358e+02] [ 8.45221265e-01 5.34415101e-01 -1.23022389e-03 7.79463911e+01] [ 1.46063686e-03 -8.11871100e-06 9.99998933e-01 5.73463256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:247.13, Y:77.97, Z:0.06 [[ 5.33838614e-01 -8.45586018e-01 -7.87184122e-04 2.47131140e+02] [ 8.45585123e-01 5.33839194e-01 -1.23039303e-03 7.79682235e+01] [ 1.46063288e-03 -8.79987137e-06 9.99998933e-01 5.99647141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.14, Y:77.99, Z:0.06 [[ 5.33141173e-01 -8.46025928e-01 -7.86906577e-04 2.47144655e+02] [ 8.46025033e-01 5.33141754e-01 -1.23057051e-03 7.79894243e+01] [ 1.46062731e-03 -9.67485560e-06 9.99998933e-01 5.77916312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:78.01, Z:0.06 [[ 5.32478540e-01 -8.46443138e-01 -7.86604599e-04 2.47159755e+02] [ 8.46442243e-01 5.32479121e-01 -1.23076351e-03 7.80114530e+01] [ 1.46062186e-03 -1.04602029e-05 9.99998933e-01 6.08689212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.17, Y:78.03, Z:0.06 [[ 5.32452341e-01 -8.46459619e-01 -7.86304584e-04 2.47174465e+02] [ 8.46458724e-01 5.32452921e-01 -1.23095516e-03 7.80325750e+01] [ 1.46062400e-03 -1.01494210e-05 9.99998933e-01 6.12114993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:78.05, Z:0.06 [[ 5.32783244e-01 -8.46251380e-01 -7.85990620e-04 2.47189896e+02] [ 8.46250484e-01 5.32783823e-01 -1.23115560e-03 7.80537267e+01] [ 1.46063021e-03 -9.20587088e-06 9.99998933e-01 6.13624812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.20, Y:78.08, Z:0.06 [[ 5.32976721e-01 -8.46129540e-01 -7.85693723e-04 2.47203402e+02] [ 8.46128644e-01 5.32977300e-01 -1.23134504e-03 7.80751563e+01] [ 1.46063433e-03 -8.51972295e-06 9.99998933e-01 5.99190341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:247.22, Y:78.10, Z:0.06 [[ 5.33313832e-01 -8.45917100e-01 -7.85383015e-04 2.47217736e+02] [ 8.45916203e-01 5.33314410e-01 -1.23154318e-03 7.80976555e+01] [ 1.46063952e-03 -7.56920308e-06 9.99998933e-01 6.30303716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.23, Y:78.12, Z:0.06 [[ 5.34285551e-01 -8.45303693e-01 -7.85084535e-04 2.47232981e+02] [ 8.45302795e-01 5.34286128e-01 -1.23173343e-03 7.81196392e+01] [ 1.46064859e-03 -5.53677731e-06 9.99998933e-01 6.25099873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:78.14, Z:0.06 [[ 5.34957497e-01 -8.44878607e-01 -7.84785617e-04 2.47246789e+02] [ 8.44877709e-01 5.34958072e-01 -1.23192385e-03 7.81413448e+01] [ 1.46065351e-03 -4.02097400e-06 9.99998933e-01 6.00774884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.26, Y:78.16, Z:0.06 [[ 5.34764774e-01 -8.45000604e-01 -7.84473783e-04 2.47260939e+02] [ 8.44999706e-01 5.34765349e-01 -1.23212239e-03 7.81641265e+01] [ 1.46065356e-03 -3.98446317e-06 9.99998933e-01 6.01166456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:78.19, Z:0.06 [[ 5.35684724e-01 -8.44417706e-01 -7.84192706e-04 2.47275099e+02] [ 8.44416807e-01 5.35685298e-01 -1.23230126e-03 7.81861944e+01] [ 1.46065751e-03 -2.06054035e-06 9.99998933e-01 6.29754129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.29, Y:78.21, Z:0.06 [[ 5.35984298e-01 -8.44227587e-01 -7.83894755e-04 2.47288929e+02] [ 8.44226687e-01 5.35984871e-01 -1.23249076e-03 7.82088443e+01] [ 1.46065843e-03 -1.18917540e-06 9.99998933e-01 6.25076483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.30, Y:78.23, Z:0.06 [[ 5.36428272e-01 -8.43945552e-01 -7.83597308e-04 2.47302305e+02] [ 8.43944652e-01 5.36428845e-01 -1.23267985e-03 7.82308442e+01] [ 1.46065887e-03 -6.84359144e-08 9.99998933e-01 6.16432198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:78.25, Z:0.06 [[ 5.38126131e-01 -8.42863959e-01 -7.83286652e-04 2.47314276e+02] [ 8.42863057e-01 5.38126701e-01 -1.23287722e-03 7.82530317e+01] [ 1.46065523e-03 3.24006527e-06 9.99998933e-01 6.09264088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.33, Y:78.28, Z:0.06 [[ 5.38905901e-01 -8.42365607e-01 -7.83052965e-04 2.47327259e+02] [ 8.42364705e-01 5.38906470e-01 -1.23302562e-03 7.82757144e+01] [ 1.46065069e-03 4.86860587e-06 9.99998933e-01 6.20039384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:78.30, Z:0.06 [[ 5.40388142e-01 -8.41415500e-01 -7.82758107e-04 2.47337886e+02] [ 8.41414596e-01 5.40388709e-01 -1.23321278e-03 7.82988953e+01] [ 1.46063799e-03 7.78946615e-06 9.99998933e-01 6.36651468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:78.32, Z:0.06 [[ 5.40789577e-01 -8.41157548e-01 -7.82523507e-04 2.47351401e+02] [ 8.41156644e-01 5.40790143e-01 -1.23336162e-03 7.83216845e+01] [ 1.46063244e-03 8.76426394e-06 9.99998933e-01 6.45984397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.36, Y:78.34, Z:0.07 [[ 5.40710347e-01 -8.41208481e-01 -7.82248831e-04 2.47364384e+02] [ 8.41207576e-01 5.40710913e-01 -1.23353581e-03 7.83440765e+01] [ 1.46063127e-03 8.95193336e-06 9.99998933e-01 6.68201546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:78.37, Z:0.07 [[ 5.40396987e-01 -8.41409820e-01 -7.81950811e-04 2.47375978e+02] [ 8.41408915e-01 5.40397553e-01 -1.23372470e-03 7.83676173e+01] [ 1.46063238e-03 8.76072728e-06 9.99998933e-01 6.60920356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:78.39, Z:0.06 [[ 5.39752014e-01 -8.41823706e-01 -7.81648668e-04 2.47387995e+02] [ 8.41822802e-01 5.39752580e-01 -1.23391610e-03 7.83896119e+01] [ 1.46063671e-03 7.99902770e-06 9.99998933e-01 6.40852641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:78.41, Z:0.06 [[ 5.38571953e-01 -8.42579160e-01 -7.81333426e-04 2.47399734e+02] [ 8.42578256e-01 5.38572520e-01 -1.23411568e-03 7.84125818e+01] [ 1.46064487e-03 6.32553725e-06 9.99998933e-01 6.25813864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:78.44, Z:0.07 [[ 5.37512999e-01 -8.43255102e-01 -7.81029378e-04 2.47412842e+02] [ 8.43254198e-01 5.37513566e-01 -1.23430807e-03 7.84359165e+01] [ 1.46065047e-03 4.85033208e-06 9.99998933e-01 6.57862047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.42, Y:78.46, Z:0.07 [[ 5.36041373e-01 -8.44191351e-01 -7.80755681e-04 2.47424893e+02] [ 8.44190449e-01 5.36041941e-01 -1.23448118e-03 7.84582923e+01] [ 1.46065612e-03 2.62649517e-06 9.99998933e-01 6.57396347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:78.48, Z:0.07 [[ 5.32924519e-01 -8.46162424e-01 -7.80437273e-04 2.47437539e+02] [ 8.46161523e-01 5.32925091e-01 -1.23468244e-03 7.84817060e+01] [ 1.46065649e-03 -2.38344606e-06 9.99998933e-01 6.66674669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:78.50, Z:0.07 [[ 5.31051941e-01 -8.47338909e-01 -7.80152616e-04 2.47451088e+02] [ 8.47338010e-01 5.31052514e-01 -1.23486228e-03 7.85033515e+01] [ 1.46064886e-03 -5.27695545e-06 9.99998933e-01 6.71915934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:78.52, Z:0.07 [[ 5.26976615e-01 -8.49879426e-01 -7.79838592e-04 2.47464633e+02] [ 8.49878529e-01 5.26977192e-01 -1.23506056e-03 7.85246261e+01] [ 1.46060971e-03 -1.19200433e-05 9.99998933e-01 6.76688524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:78.55, Z:0.07 [[ 5.25171331e-01 -8.50996161e-01 -7.79531678e-04 2.47479282e+02] [ 8.50995264e-01 5.25171909e-01 -1.23525424e-03 7.85471805e+01] [ 1.46058476e-03 -1.46576512e-05 9.99998933e-01 6.93633427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.49, Y:78.57, Z:0.07 [[ 5.23498981e-01 -8.52025944e-01 -7.79258798e-04 2.47494214e+02] [ 8.52025049e-01 5.23499561e-01 -1.23542636e-03 7.85690358e+01] [ 1.46055695e-03 -1.72035725e-05 9.99998933e-01 7.04813881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:78.59, Z:0.07 [[ 5.21145928e-01 -8.53467231e-01 -7.78956238e-04 2.47509858e+02] [ 8.53466337e-01 5.21146510e-01 -1.23561710e-03 7.85915290e+01] [ 1.46050903e-03 -2.08761052e-05 9.99998933e-01 6.73628383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.52, Y:78.61, Z:0.07 [[ 5.20617942e-01 -8.53789407e-01 -7.78682149e-04 2.47523290e+02] [ 8.53788513e-01 5.20618524e-01 -1.23578981e-03 7.86129582e+01] [ 1.46050060e-03 -2.14555272e-05 9.99998933e-01 6.62093789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:78.64, Z:0.07 [[ 5.20375632e-01 -8.53937115e-01 -7.78364659e-04 2.47537669e+02] [ 8.53936220e-01 5.20376214e-01 -1.23598975e-03 7.86352577e+01] [ 1.46049997e-03 -2.14948277e-05 9.99998933e-01 6.64580307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:78.66, Z:0.07 [[ 5.20773677e-01 -8.53694425e-01 -7.78061227e-04 2.47554056e+02] [ 8.53693531e-01 5.20774258e-01 -1.23618073e-03 7.86564793e+01] [ 1.46051486e-03 -2.04554512e-05 9.99998933e-01 6.60222697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:78.68, Z:0.06 [[ 5.21027710e-01 -8.53539408e-01 -7.77758199e-04 2.47568327e+02] [ 8.53538513e-01 5.21028290e-01 -1.23637136e-03 7.86769747e+01] [ 1.46052570e-03 -1.96628407e-05 9.99998933e-01 6.33324612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.58, Y:78.70, Z:0.07 [[ 5.22863089e-01 -8.52416322e-01 -7.77516635e-04 2.47583669e+02] [ 8.52415425e-01 5.22863667e-01 -1.23652325e-03 7.86998924e+01] [ 1.46056780e-03 -1.62348081e-05 9.99998933e-01 6.88632680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:78.72, Z:0.07 [[ 5.24110568e-01 -8.51649874e-01 -7.77243064e-04 2.47596984e+02] [ 8.51648976e-01 5.24111144e-01 -1.23669518e-03 7.87218495e+01] [ 1.46059305e-03 -1.37732438e-05 9.99998933e-01 6.80882309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.61, Y:78.74, Z:0.07 [[ 5.25868218e-01 -8.50565702e-01 -7.76925468e-04 2.47610899e+02] [ 8.50564803e-01 5.25868792e-01 -1.23689467e-03 7.87437356e+01] [ 1.46062104e-03 -1.03818584e-05 9.99998933e-01 7.00720804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:78.77, Z:0.07 [[ 5.31352592e-01 -8.47150411e-01 -7.76621980e-04 2.47625520e+02] [ 8.47149508e-01 5.31353160e-01 -1.23708520e-03 7.87656434e+01] [ 1.46065778e-03 -5.86500953e-07 9.99998933e-01 7.12995802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.64, Y:78.79, Z:0.07 [[ 5.34373486e-01 -8.45248114e-01 -7.76336132e-04 2.47639091e+02] [ 8.45247209e-01 5.34374050e-01 -1.23726456e-03 7.87884414e+01] [ 1.46064942e-03 4.96542559e-06 9.99998933e-01 7.39259104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.65, Y:78.81, Z:0.07 [[ 5.37445457e-01 -8.43298155e-01 -7.76035826e-04 2.47652060e+02] [ 8.43297247e-01 5.37446017e-01 -1.23745289e-03 7.88107587e+01] [ 1.46061910e-03 1.06345564e-05 9.99998933e-01 7.11548583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.67, Y:78.83, Z:0.07 [[ 5.43652615e-01 -8.39309974e-01 -7.75796064e-04 2.47665976e+02] [ 8.39309062e-01 5.43653168e-01 -1.23760318e-03 7.88336963e+01] [ 1.46049668e-03 2.16935403e-05 9.99998933e-01 7.38209736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.68, Y:78.86, Z:0.07 [[ 5.46255226e-01 -8.37618425e-01 -7.75516044e-04 2.47677846e+02] [ 8.37617511e-01 5.46255776e-01 -1.23777863e-03 7.88576069e+01] [ 1.46041630e-03 2.65572257e-05 9.99998933e-01 7.22753968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:78.88, Z:0.07 [[ 5.50074133e-01 -8.35115469e-01 -7.75218748e-04 2.47687338e+02] [ 8.35114552e-01 5.50074679e-01 -1.23796479e-03 7.88828116e+01] [ 1.46027175e-03 3.35759535e-05 9.99998933e-01 7.26980990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:78.91, Z:0.07 [[ 5.51089617e-01 -8.34445704e-01 -7.74922123e-04 2.47699361e+02] [ 8.34444786e-01 5.51090161e-01 -1.23815044e-03 7.89051137e+01] [ 1.46022128e-03 3.57021289e-05 9.99998933e-01 7.21609787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.71, Y:78.93, Z:0.07 [[ 5.51490220e-01 -8.34180998e-01 -7.74687649e-04 2.47711014e+02] [ 8.34180079e-01 5.51490763e-01 -1.23829713e-03 7.89271751e+01] [ 1.46019702e-03 3.66797539e-05 9.99998933e-01 7.04407357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:78.95, Z:0.07 [[ 5.50977600e-01 -8.34519673e-01 -7.74383389e-04 2.47720272e+02] [ 8.34518755e-01 5.50978143e-01 -1.23848737e-03 7.89522619e+01] [ 1.46021040e-03 3.61413408e-05 9.99998933e-01 7.07227656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.73, Y:78.98, Z:0.07 [[ 5.49798779e-01 -8.35296776e-01 -7.74091656e-04 2.47732277e+02] [ 8.35295858e-01 5.49799322e-01 -1.23866969e-03 7.89761840e+01] [ 1.46025187e-03 3.44235286e-05 9.99998933e-01 7.04249113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.74, Y:79.00, Z:0.07 [[ 5.46070886e-01 -8.37738616e-01 -7.73800557e-04 2.47744999e+02] [ 8.37737700e-01 5.46071434e-01 -1.23885151e-03 7.90002064e+01] [ 1.46038413e-03 2.82588453e-05 9.99998933e-01 7.44587703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.76, Y:79.02, Z:0.07 [[ 5.43444669e-01 -8.39444634e-01 -7.73527240e-04 2.47757668e+02] [ 8.39443720e-01 5.43445219e-01 -1.23902215e-03 7.90231731e+01] [ 1.46046017e-03 2.40073954e-05 9.99998933e-01 7.47793559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.77, Y:79.05, Z:0.07 [[ 5.40725396e-01 -8.41198816e-01 -7.73239071e-04 2.47769323e+02] [ 8.41197903e-01 5.40725949e-01 -1.23920196e-03 7.90452265e+01] [ 1.46052565e-03 1.96208852e-05 9.99998933e-01 7.27818472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:79.07, Z:0.07 [[ 5.37556539e-01 -8.43227353e-01 -7.72932237e-04 2.47782290e+02] [ 8.43226443e-01 5.37557095e-01 -1.23939331e-03 7.90685242e+01] [ 1.46058555e-03 1.44870790e-05 9.99998933e-01 7.25082052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.79, Y:79.09, Z:0.07 [[ 5.30973222e-01 -8.47388246e-01 -7.72638540e-04 2.47794422e+02] [ 8.47387340e-01 5.30973784e-01 -1.23957638e-03 7.90918561e+01] [ 1.46065326e-03 3.45774555e-06 9.99998933e-01 7.33663081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.81, Y:79.11, Z:0.07 [[ 5.27525788e-01 -8.49538667e-01 -7.72335248e-04 2.47807767e+02] [ 8.49537762e-01 5.27526353e-01 -1.23976532e-03 7.91148551e+01] [ 1.46065577e-03 -2.11978257e-06 9.99998933e-01 7.27032926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:79.14, Z:0.07 [[ 5.21028152e-01 -8.53539143e-01 -7.72031519e-04 2.47823056e+02] [ 8.53538243e-01 5.21028724e-01 -1.23995443e-03 7.91367418e+01] [ 1.46060024e-03 -1.29072622e-05 9.99998933e-01 7.45995561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.84, Y:79.16, Z:0.08 [[ 5.18195932e-01 -8.55261586e-01 -7.71744529e-04 2.47837443e+02] [ 8.55260687e-01 5.18196507e-01 -1.24013302e-03 7.91586567e+01] [ 1.46055346e-03 -1.74108675e-05 9.99998933e-01 7.54660247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:79.18, Z:0.07 [[ 5.13236930e-01 -8.58246619e-01 -7.71442454e-04 2.47852947e+02] [ 8.58245723e-01 5.13237509e-01 -1.24032091e-03 7.91791215e+01] [ 1.46043443e-03 -2.55086929e-05 9.99998933e-01 7.43761147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.87, Y:79.20, Z:0.07 [[ 5.11335227e-01 -8.59380993e-01 -7.71127625e-04 2.47868535e+02] [ 8.59380098e-01 5.11335807e-01 -1.24051661e-03 7.92006018e+01] [ 1.46038156e-03 -2.83718930e-05 9.99998933e-01 7.44545471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.88, Y:79.22, Z:0.08 [[ 5.09848673e-01 -8.60263760e-01 -7.70839966e-04 2.47884054e+02] [ 8.60262866e-01 5.09849255e-01 -1.24069533e-03 7.92222899e+01] [ 1.46033741e-03 -3.05581301e-05 9.99998933e-01 7.68574995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.90, Y:79.24, Z:0.08 [[ 5.09274573e-01 -8.60603751e-01 -7.70550061e-04 2.47899444e+02] [ 8.60602857e-01 5.09275155e-01 -1.24087535e-03 7.92433230e+01] [ 1.46032399e-03 -3.11913174e-05 9.99998933e-01 7.58601709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:79.27, Z:0.08 [[ 5.09747004e-01 -8.60324008e-01 -7.70258553e-04 2.47914271e+02] [ 8.60323113e-01 5.09747585e-01 -1.24105628e-03 7.92652942e+01] [ 1.46034795e-03 -3.00465167e-05 9.99998933e-01 7.64437724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:79.28, Z:0.07 [[ 5.12130838e-01 -8.58907103e-01 -7.69962811e-04 2.47930006e+02] [ 8.58906206e-01 5.12131417e-01 -1.24123973e-03 7.92847763e+01] [ 1.46043177e-03 -2.56486923e-05 9.99998933e-01 7.39363304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.94, Y:79.31, Z:0.08 [[ 5.13499809e-01 -8.58089362e-01 -7.69652457e-04 2.47944544e+02] [ 8.58088465e-01 5.13500385e-01 -1.24143214e-03 7.93062051e+01] [ 1.46047655e-03 -2.29547273e-05 9.99998933e-01 7.76671749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:79.33, Z:0.08 [[ 5.15455605e-01 -8.56915939e-01 -7.69356356e-04 2.47958576e+02] [ 8.56915040e-01 5.15456179e-01 -1.24161562e-03 7.93271734e+01] [ 1.46052970e-03 -1.92753021e-05 9.99998933e-01 7.51458986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:79.35, Z:0.07 [[ 5.19684024e-01 -8.54358194e-01 -7.69047135e-04 2.47973347e+02] [ 8.54357292e-01 5.19684593e-01 -1.24180712e-03 7.93477222e+01] [ 1.46061003e-03 -1.16937076e-05 9.99998933e-01 7.47453432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:79.37, Z:0.08 [[ 5.21664364e-01 -8.53150456e-01 -7.68740485e-04 2.47987747e+02] [ 8.53149552e-01 5.21664931e-01 -1.24199692e-03 7.93700820e+01] [ 1.46063519e-03 -7.94506563e-06 9.99998933e-01 7.50827647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.00, Y:79.39, Z:0.08 [[ 5.25917280e-01 -8.50535375e-01 -7.68449854e-04 2.48001424e+02] [ 8.50534468e-01 5.25917842e-01 -1.24217671e-03 7.93928890e+01] [ 1.46065673e-03 -3.10888843e-07 9.99998933e-01 7.64135612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:79.41, Z:0.08 [[ 5.27880281e-01 -8.49318444e-01 -7.68147562e-04 2.48014353e+02] [ 8.49317535e-01 5.27880840e-01 -1.24236362e-03 7.94142167e+01] [ 1.46065272e-03 3.41806227e-06 9.99998933e-01 7.53697200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:79.44, Z:0.08 [[ 5.29538034e-01 -8.48285848e-01 -7.67830753e-04 2.48028385e+02] [ 8.48284938e-01 5.29538591e-01 -1.24255939e-03 7.94359898e+01] [ 1.46064156e-03 6.64319388e-06 9.99998933e-01 7.65103954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:79.46, Z:0.08 [[ 5.30972161e-01 -8.47388916e-01 -7.67537952e-04 2.48042333e+02] [ 8.47388005e-01 5.30972716e-01 -1.24274023e-03 7.94579172e+01] [ 1.46062601e-03 9.45801138e-06 9.99998933e-01 7.73327372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:79.48, Z:0.08 [[ 5.33330370e-01 -8.45906690e-01 -7.67242883e-04 2.48055452e+02] [ 8.45905777e-01 5.33330922e-01 -1.24292237e-03 7.94816033e+01] [ 1.46059070e-03 1.38730619e-05 9.99998933e-01 8.02482425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:79.50, Z:0.08 [[ 5.34300128e-01 -8.45294496e-01 -7.66974893e-04 2.48068330e+02] [ 8.45293582e-01 5.34300678e-01 -1.24308772e-03 7.95048468e+01] [ 1.46057041e-03 1.58629726e-05 9.99998933e-01 8.19247910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.08, Y:79.53, Z:0.08 [[ 5.35212028e-01 -8.44717407e-01 -7.66768413e-04 2.48081197e+02] [ 8.44716492e-01 5.35212577e-01 -1.24321507e-03 7.95270773e+01] [ 1.46054951e-03 1.76817344e-05 9.99998933e-01 8.46363274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:79.55, Z:0.08 [[ 5.35318729e-01 -8.44649792e-01 -7.66461140e-04 2.48094854e+02] [ 8.44648877e-01 5.35319278e-01 -1.24340448e-03 7.95500619e+01] [ 1.46054276e-03 1.82271650e-05 9.99998933e-01 8.34172100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:79.57, Z:0.08 [[ 5.35121768e-01 -8.44774589e-01 -7.66170753e-04 2.48108676e+02] [ 8.44773674e-01 5.35122316e-01 -1.24358339e-03 7.95730435e+01] [ 1.46054271e-03 1.82276580e-05 9.99998933e-01 8.34563719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:79.60, Z:0.09 [[ 5.34815222e-01 -8.44968693e-01 -7.65880745e-04 2.48121240e+02] [ 8.44967777e-01 5.34815770e-01 -1.24376197e-03 7.95967143e+01] [ 1.46054502e-03 1.80382814e-05 9.99998933e-01 8.52844383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.13, Y:79.62, Z:0.08 [[ 5.34435920e-01 -8.45208650e-01 -7.65604121e-04 2.48134577e+02] [ 8.45207734e-01 5.34436468e-01 -1.24393222e-03 7.96192865e+01] [ 1.46054903e-03 1.77075363e-05 9.99998933e-01 8.19322028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.15, Y:79.64, Z:0.08 [[ 5.34004660e-01 -8.45481187e-01 -7.65312848e-04 2.48147743e+02] [ 8.45480272e-01 5.34005208e-01 -1.24411140e-03 7.96420261e+01] [ 1.46055383e-03 1.73043688e-05 9.99998933e-01 8.24575025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.16, Y:79.66, Z:0.08 [[ 5.33868350e-01 -8.45567265e-01 -7.65020842e-04 2.48159159e+02] [ 8.45566350e-01 5.33868898e-01 -1.24429093e-03 7.96643835e+01] [ 1.46055251e-03 1.74116644e-05 9.99998933e-01 8.02898214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:79.69, Z:0.08 [[ 5.33497886e-01 -8.45801053e-01 -7.64715168e-04 2.48171903e+02] [ 8.45800137e-01 5.33498434e-01 -1.24447876e-03 7.96873006e+01] [ 1.46055579e-03 1.71305940e-05 9.99998933e-01 8.09043806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:79.71, Z:0.08 [[ 5.32926195e-01 -8.46161383e-01 -7.64421760e-04 2.48184788e+02] [ 8.46160468e-01 5.32926743e-01 -1.24465896e-03 7.97101777e+01] [ 1.46056315e-03 1.64878896e-05 9.99998933e-01 8.13977900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:79.73, Z:0.08 [[ 5.31358151e-01 -8.47146936e-01 -7.64119544e-04 2.48197152e+02] [ 8.47146022e-01 5.31358700e-01 -1.24484447e-03 7.97324102e+01] [ 1.46058775e-03 1.41374239e-05 9.99998933e-01 7.98327200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:79.76, Z:0.08 [[ 5.30295501e-01 -8.47812537e-01 -7.63803983e-04 2.48210098e+02] [ 8.47811623e-01 5.30296051e-01 -1.24503806e-03 7.97550405e+01] [ 1.46060111e-03 1.26761863e-05 9.99998933e-01 8.21344230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:79.78, Z:0.08 [[ 5.28957523e-01 -8.48647957e-01 -7.63498904e-04 2.48222659e+02] [ 8.48647044e-01 5.28958074e-01 -1.24522512e-03 7.97775624e+01] [ 1.46061666e-03 1.07301052e-05 9.99998933e-01 8.15314875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:79.80, Z:0.08 [[ 5.25795574e-01 -8.50610623e-01 -7.63181007e-04 2.48234615e+02] [ 8.50609711e-01 5.25796128e-01 -1.24541992e-03 7.97997455e+01] [ 1.46064503e-03 5.66710531e-06 9.99998933e-01 8.06786975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:79.82, Z:0.08 [[ 5.23887364e-01 -8.51787208e-01 -7.62868125e-04 2.48247898e+02] [ 8.51786297e-01 5.23887919e-01 -1.24561154e-03 7.98224608e+01] [ 1.46065337e-03 2.75953148e-06 9.99998933e-01 8.07047559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.26, Y:79.84, Z:0.08 [[ 5.22013457e-01 -8.52936908e-01 -7.62573866e-04 2.48261241e+02] [ 8.52935998e-01 5.22014014e-01 -1.24579166e-03 7.98446156e+01] [ 1.46065594e-03 -1.06687764e-07 9.99998933e-01 8.06899509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:79.87, Z:0.08 [[ 5.18892596e-01 -8.54839103e-01 -7.62277580e-04 2.48274650e+02] [ 8.54838195e-01 5.18893156e-01 -1.24597293e-03 7.98674094e+01] [ 1.46064700e-03 -5.09786221e-06 9.99998933e-01 8.20404150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:79.89, Z:0.08 [[ 5.17596008e-01 -8.55624796e-01 -7.61970258e-04 2.48287356e+02] [ 8.55623889e-01 5.17596569e-01 -1.24616084e-03 7.98892395e+01] [ 1.46063931e-03 -6.95207798e-06 9.99998933e-01 8.16577736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.30, Y:79.91, Z:0.08 [[ 5.15981862e-01 -8.56599170e-01 -7.61650468e-04 2.48301723e+02] [ 8.56598263e-01 5.15982424e-01 -1.24635627e-03 7.99106909e+01] [ 1.46062600e-03 -9.33123939e-06 9.99998933e-01 8.20659481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:248.32, Y:79.93, Z:0.09 [[ 5.15578435e-01 -8.56842049e-01 -7.61412504e-04 2.48315173e+02] [ 8.56841143e-01 5.15578997e-01 -1.24650163e-03 7.99328452e+01] [ 1.46062330e-03 -9.74020227e-06 9.99998933e-01 8.50698419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.33, Y:79.95, Z:0.08 [[ 5.15726192e-01 -8.56753124e-01 -7.61120461e-04 2.48327743e+02] [ 8.56752217e-01 5.15726753e-01 -1.24667992e-03 7.99545603e+01] [ 1.46062710e-03 -9.14615309e-06 9.99998933e-01 8.36419253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:79.98, Z:0.09 [[ 5.16497433e-01 -8.56288399e-01 -7.60814961e-04 2.48340321e+02] [ 8.56287492e-01 5.16497993e-01 -1.24686633e-03 7.99784937e+01] [ 1.46063658e-03 -7.47307450e-06 9.99998933e-01 8.64217438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.35, Y:80.00, Z:0.09 [[ 5.16806638e-01 -8.56101817e-01 -7.60552934e-04 2.48353701e+02] [ 8.56100909e-01 5.16807197e-01 -1.24702614e-03 8.00007323e+01] [ 1.46064058e-03 -6.63867030e-06 9.99998933e-01 8.71447313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:80.02, Z:0.09 [[ 5.17175532e-01 -8.55879016e-01 -7.60256579e-04 2.48369205e+02] [ 8.55878108e-01 5.17176091e-01 -1.24720679e-03 8.00226697e+01] [ 1.46064465e-03 -5.66212698e-06 9.99998933e-01 8.68193986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:80.04, Z:0.09 [[ 5.16901748e-01 -8.56044394e-01 -7.59960931e-04 2.48382428e+02] [ 8.56043486e-01 5.16902307e-01 -1.24738691e-03 8.00444013e+01] [ 1.46064413e-03 -5.78312947e-06 9.99998933e-01 8.69266336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.40, Y:80.07, Z:0.09 [[ 5.16803255e-01 -8.56103860e-01 -7.59651853e-04 2.48395405e+02] [ 8.56102951e-01 5.16803813e-01 -1.24757511e-03 8.00673387e+01] [ 1.46064484e-03 -5.58931525e-06 9.99998933e-01 8.95482256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:80.09, Z:0.09 [[ 5.17024889e-01 -8.55970027e-01 -7.59347576e-04 2.48407959e+02] [ 8.55969118e-01 5.17025447e-01 -1.24776028e-03 8.00902330e+01] [ 1.46064742e-03 -4.85495253e-06 9.99998933e-01 8.67451354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.42, Y:80.11, Z:0.09 [[ 5.17114953e-01 -8.55915620e-01 -7.59039233e-04 2.48421635e+02] [ 8.55914710e-01 5.17115510e-01 -1.24794783e-03 8.01119718e+01] [ 1.46064900e-03 -4.34036271e-06 9.99998933e-01 8.61643585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:80.13, Z:0.09 [[ 5.17472653e-01 -8.55699408e-01 -7.58715596e-04 2.48435192e+02] [ 8.55698498e-01 5.17473209e-01 -1.24814456e-03 8.01332626e+01] [ 1.46065155e-03 -3.35111997e-06 9.99998933e-01 8.64625400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.45, Y:80.16, Z:0.09 [[ 5.19455747e-01 -8.54497017e-01 -7.58401743e-04 2.48447964e+02] [ 8.54496105e-01 5.19456301e-01 -1.24833523e-03 8.01558889e+01] [ 1.46065530e-03 4.03576367e-07 9.99998933e-01 8.96274455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:80.18, Z:0.09 [[ 5.22566052e-01 -8.52598467e-01 -7.58105178e-04 2.48460081e+02] [ 8.52597553e-01 5.22566602e-01 -1.24851531e-03 8.01797969e+01] [ 1.46064269e-03 6.07309617e-06 9.99998933e-01 9.24715547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:80.20, Z:0.09 [[ 5.23950599e-01 -8.51748317e-01 -7.57795772e-04 2.48472374e+02] [ 8.51747401e-01 5.23951147e-01 -1.24870308e-03 8.02017716e+01] [ 1.46062871e-03 8.80814618e-06 9.99998933e-01 9.04292931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.49, Y:80.23, Z:0.09 [[ 5.25213491e-01 -8.50970161e-01 -7.57474000e-04 2.48485140e+02] [ 8.50969244e-01 5.25214038e-01 -1.24889824e-03 8.02250660e+01] [ 1.46061111e-03 1.13511260e-05 9.99998933e-01 8.99070101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:80.25, Z:0.09 [[ 5.26271678e-01 -8.50316146e-01 -7.57181341e-04 2.48497875e+02] [ 8.50315228e-01 5.26272223e-01 -1.24907564e-03 8.02485318e+01] [ 1.46059269e-03 1.35103110e-05 9.99998933e-01 8.97599471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.51, Y:80.27, Z:0.09 [[ 5.27794990e-01 -8.49371459e-01 -7.56885674e-04 2.48510781e+02] [ 8.49370541e-01 5.27795532e-01 -1.24925478e-03 8.02711773e+01] [ 1.46056223e-03 1.64740199e-05 9.99998933e-01 8.99479523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:80.29, Z:0.09 [[ 5.27911597e-01 -8.49298989e-01 -7.56580810e-04 2.48523787e+02] [ 8.49298071e-01 5.27912139e-01 -1.24943939e-03 8.02930796e+01] [ 1.46055580e-03 1.70309189e-05 9.99998933e-01 8.93236751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:80.32, Z:0.09 [[ 5.27945606e-01 -8.49277849e-01 -7.56262135e-04 2.48535927e+02] [ 8.49276930e-01 5.27946147e-01 -1.24963224e-03 8.03168257e+01] [ 1.46055067e-03 1.74618678e-05 9.99998933e-01 9.00616995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.55, Y:80.34, Z:0.09 [[ 5.27801819e-01 -8.49367217e-01 -7.55960611e-04 2.48548037e+02] [ 8.49366297e-01 5.27802360e-01 -1.24981462e-03 8.03392417e+01] [ 1.46054936e-03 1.75669664e-05 9.99998933e-01 8.85959879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:80.36, Z:0.09 [[ 5.27542598e-01 -8.49528243e-01 -7.55646564e-04 2.48561085e+02] [ 8.49527324e-01 5.27543139e-01 -1.25000447e-03 8.03620622e+01] [ 1.46055026e-03 1.74882024e-05 9.99998933e-01 8.82123024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.57, Y:80.39, Z:0.09 [[ 5.26746238e-01 -8.50022253e-01 -7.55346998e-04 2.48574323e+02] [ 8.50021334e-01 5.26746779e-01 -1.25018546e-03 8.03852952e+01] [ 1.46056206e-03 1.64694269e-05 9.99998933e-01 8.77903546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:80.41, Z:0.09 [[ 5.26010047e-01 -8.50478019e-01 -7.55049127e-04 2.48587143e+02] [ 8.50477100e-01 5.26010588e-01 -1.25036534e-03 8.04083733e+01] [ 1.46057207e-03 1.55527371e-05 9.99998933e-01 8.79250501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:80.43, Z:0.09 [[ 5.24303550e-01 -8.51531102e-01 -7.54746648e-04 2.48599293e+02] [ 8.51530184e-01 5.24304093e-01 -1.25054789e-03 8.04321639e+01] [ 1.46059718e-03 1.29771482e-05 9.99998933e-01 8.95399602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.61, Y:80.45, Z:0.09 [[ 5.23143577e-01 -8.52244231e-01 -7.54442273e-04 2.48611917e+02] [ 8.52243313e-01 5.23144121e-01 -1.25073149e-03 8.04540695e+01] [ 1.46061074e-03 1.13437646e-05 9.99998933e-01 8.96956676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:80.48, Z:0.09 [[ 5.21913470e-01 -8.52998101e-01 -7.54124573e-04 2.48625377e+02] [ 8.52997184e-01 5.21914015e-01 -1.25092302e-03 8.04765428e+01] [ 1.46062314e-03 9.60743701e-06 9.99998933e-01 8.97472901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.64, Y:80.50, Z:0.09 [[ 5.19991267e-01 -8.54171244e-01 -7.53821457e-04 2.48638744e+02] [ 8.54170328e-01 5.19991813e-01 -1.25110565e-03 8.04983721e+01] [ 1.46063946e-03 6.67209254e-06 9.99998933e-01 8.79887220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.65, Y:80.52, Z:0.09 [[ 5.19300333e-01 -8.54591479e-01 -7.53505704e-04 2.48651433e+02] [ 8.54590563e-01 5.19300880e-01 -1.25129579e-03 8.05210350e+01] [ 1.46064290e-03 5.85945940e-06 9.99998933e-01 8.87740034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:80.54, Z:0.09 [[ 5.18862481e-01 -8.54857391e-01 -7.53205886e-04 2.48664057e+02] [ 8.54856475e-01 5.18863028e-01 -1.25147624e-03 8.05424540e+01] [ 1.46064440e-03 5.46113870e-06 9.99998933e-01 8.80582510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.68, Y:80.57, Z:0.09 [[ 5.18209042e-01 -8.55253660e-01 -7.52967813e-04 2.48676991e+02] [ 8.55252744e-01 5.18209589e-01 -1.25161946e-03 8.05652339e+01] [ 1.46064727e-03 4.62273469e-06 9.99998933e-01 9.02614859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:80.59, Z:0.09 [[ 5.17802315e-01 -8.55499969e-01 -7.52672401e-04 2.48689792e+02] [ 8.55499053e-01 5.17802862e-01 -1.25179709e-03 8.05879792e+01] [ 1.46064829e-03 4.27290276e-06 9.99998933e-01 8.99046949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.70, Y:80.61, Z:0.09 [[ 5.16766168e-01 -8.56126253e-01 -7.52374644e-04 2.48703039e+02] [ 8.56125338e-01 5.16766716e-01 -1.25197602e-03 8.06100060e+01] [ 1.46065172e-03 2.85185694e-06 9.99998933e-01 9.02262405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:80.63, Z:0.09 [[ 5.16036614e-01 -8.56566195e-01 -7.52064927e-04 2.48716743e+02] [ 8.56565280e-01 5.16037162e-01 -1.25216204e-03 8.06330137e+01] [ 1.46065313e-03 1.96875662e-06 9.99998933e-01 9.05783568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.73, Y:80.66, Z:0.09 [[ 5.15472396e-01 -8.56905854e-01 -7.51772703e-04 2.48729990e+02] [ 8.56904939e-01 5.15472945e-01 -1.25233747e-03 8.06560234e+01] [ 1.46065379e-03 1.34765181e-06 9.99998933e-01 9.04508451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.74, Y:80.68, Z:0.09 [[ 5.14959570e-01 -8.57214137e-01 -7.51481433e-04 2.48743433e+02] [ 8.57213222e-01 5.14960118e-01 -1.25251222e-03 8.06774353e+01] [ 1.46065415e-03 8.13334434e-07 9.99998933e-01 9.03468479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.76, Y:80.70, Z:0.09 [[ 5.14767185e-01 -8.57329681e-01 -7.51178079e-04 2.48757017e+02] [ 8.57328765e-01 5.14767733e-01 -1.25269413e-03 8.06996261e+01] [ 1.46065409e-03 8.39254634e-07 9.99998933e-01 9.00159961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:80.72, Z:0.09 [[ 5.14675401e-01 -8.57384784e-01 -7.50889440e-04 2.48770711e+02] [ 8.57383868e-01 5.14675949e-01 -1.25286712e-03 8.07225633e+01] [ 1.46065394e-03 1.01939492e-06 9.99998933e-01 9.00842124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:80.74, Z:0.09 [[ 5.14526005e-01 -8.57474447e-01 -7.50599635e-04 2.48783712e+02] [ 8.57473531e-01 5.14526553e-01 -1.25304072e-03 8.07444091e+01] [ 1.46065384e-03 1.10271654e-06 9.99998933e-01 9.05702452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:80.77, Z:0.09 [[ 5.14487713e-01 -8.57497423e-01 -7.50368813e-04 2.48797093e+02] [ 8.57496507e-01 5.14488260e-01 -1.25317893e-03 8.07670109e+01] [ 1.46065365e-03 1.30652481e-06 9.99998933e-01 9.15346506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:80.79, Z:0.09 [[ 5.14494351e-01 -8.57493440e-01 -7.50085057e-04 2.48809679e+02] [ 8.57492524e-01 5.14494898e-01 -1.25334875e-03 8.07885600e+01] [ 1.46065326e-03 1.64852075e-06 9.99998933e-01 9.29629366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:80.81, Z:0.09 [[ 5.14275805e-01 -8.57624530e-01 -7.49789680e-04 2.48822817e+02] [ 8.57623613e-01 5.14276352e-01 -1.25352543e-03 8.08104570e+01] [ 1.46065325e-03 1.62046346e-06 9.99998933e-01 9.34637273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:80.83, Z:0.09 [[ 5.13900245e-01 -8.57849624e-01 -7.49481490e-04 2.48836535e+02] [ 8.57848707e-01 5.13900791e-01 -1.25370966e-03 8.08319146e+01] [ 1.46065349e-03 1.33997667e-06 9.99998933e-01 9.38204493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:80.85, Z:0.09 [[ 5.13329475e-01 -8.58191289e-01 -7.49173666e-04 2.48849415e+02] [ 8.58190373e-01 5.13330022e-01 -1.25389358e-03 8.08523006e+01] [ 1.46065388e-03 7.26906925e-07 9.99998933e-01 9.45083839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:80.87, Z:0.10 [[ 5.12562985e-01 -8.58649303e-01 -7.48854852e-04 2.48862481e+02] [ 8.58648387e-01 5.12563532e-01 -1.25408396e-03 8.08738759e+01] [ 1.46065400e-03 -2.05994780e-07 9.99998933e-01 9.57240160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:80.89, Z:0.10 [[ 5.11862995e-01 -8.59066769e-01 -7.48548910e-04 2.48875650e+02] [ 8.59065853e-01 5.11863543e-01 -1.25426654e-03 8.08947872e+01] [ 1.46065360e-03 -1.04017805e-06 9.99998933e-01 9.53636456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:80.92, Z:0.10 [[ 5.11046564e-01 -8.59552703e-01 -7.48230001e-04 2.48890249e+02] [ 8.59551788e-01 5.11047111e-01 -1.25445676e-03 8.09170550e+01] [ 1.46065248e-03 -2.05661893e-06 9.99998933e-01 9.66114341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.90, Y:80.94, Z:0.09 [[ 5.09707893e-01 -8.60347200e-01 -7.47936936e-04 2.48904140e+02] [ 8.60346285e-01 5.09708442e-01 -1.25463147e-03 8.09382949e+01] [ 1.46064844e-03 -3.98920272e-06 9.99998933e-01 9.28049578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:80.96, Z:0.09 [[ 5.08922120e-01 -8.60812243e-01 -7.47703563e-04 2.48918357e+02] [ 8.60811328e-01 5.08922669e-01 -1.25477053e-03 8.09602301e+01] [ 1.46064513e-03 -5.05121916e-06 9.99998933e-01 9.45818447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.93, Y:80.98, Z:0.09 [[ 5.07258441e-01 -8.61793662e-01 -7.47408737e-04 2.48933832e+02] [ 8.61792748e-01 5.07258991e-01 -1.25494612e-03 8.09800356e+01] [ 1.46063442e-03 -7.52941705e-06 9.99998933e-01 9.16709178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.95, Y:81.00, Z:0.09 [[ 5.07055511e-01 -8.61913076e-01 -7.47101488e-04 2.48946812e+02] [ 8.61912162e-01 5.07056062e-01 -1.25512901e-03 8.10025451e+01] [ 1.46063444e-03 -7.51577760e-06 9.99998933e-01 9.17088611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.96, Y:81.02, Z:0.09 [[ 5.06397543e-01 -8.62299815e-01 -7.46805916e-04 2.48959578e+02] [ 8.62298901e-01 5.06398094e-01 -1.25530485e-03 8.10229696e+01] [ 1.46063023e-03 -8.28662945e-06 9.99998933e-01 8.96796361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.97, Y:81.04, Z:0.09 [[ 5.05955412e-01 -8.62559310e-01 -7.46498375e-04 2.48972160e+02] [ 8.62558397e-01 5.05955962e-01 -1.25548771e-03 8.10447548e+01] [ 1.46062792e-03 -8.67763989e-06 9.99998933e-01 9.00187539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.99, Y:81.07, Z:0.09 [[ 5.05294850e-01 -8.62946439e-01 -7.46203547e-04 2.48986905e+02] [ 8.62945526e-01 5.05295401e-01 -1.25566292e-03 8.10661183e+01] [ 1.46062306e-03 -9.45300652e-06 9.99998933e-01 9.25396599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:81.09, Z:0.09 [[ 5.04832072e-01 -8.63217251e-01 -7.45892174e-04 2.49002008e+02] [ 8.63216337e-01 5.04832623e-01 -1.25584785e-03 8.10876880e+01] [ 1.46062023e-03 -9.87403594e-06 9.99998933e-01 9.46393727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:81.11, Z:0.10 [[ 5.04633036e-01 -8.63333622e-01 -7.45599090e-04 2.49016915e+02] [ 8.63332708e-01 5.04633587e-01 -1.25602183e-03 8.11095404e+01] [ 1.46062022e-03 -9.86997018e-06 9.99998933e-01 9.52872469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:249.03, Y:81.13, Z:0.10 [[ 5.04583707e-01 -8.63362454e-01 -7.45304971e-04 2.49031027e+02] [ 8.63361540e-01 5.04584257e-01 -1.25619634e-03 8.11321748e+01] [ 1.46062191e-03 -9.61144463e-06 9.99998933e-01 9.51836502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:81.15, Z:0.09 [[ 5.04784225e-01 -8.63245232e-01 -7.45011391e-04 2.49045972e+02] [ 8.63244318e-01 5.04784775e-01 -1.25637042e-03 8.11522892e+01] [ 1.46062619e-03 -8.93087945e-06 9.99998933e-01 9.26991289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:81.18, Z:0.09 [[ 5.05151340e-01 -8.63030457e-01 -7.44777487e-04 2.49059841e+02] [ 8.63029542e-01 5.05151889e-01 -1.25650907e-03 8.11752236e+01] [ 1.46063135e-03 -8.03773501e-06 9.99998933e-01 9.24899009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.07, Y:81.20, Z:0.09 [[ 5.05692687e-01 -8.62713366e-01 -7.44487203e-04 2.49073019e+02] [ 8.62712451e-01 5.05693235e-01 -1.25668104e-03 8.11980776e+01] [ 1.46063767e-03 -6.78396923e-06 9.99998933e-01 9.16409650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.09, Y:81.22, Z:0.09 [[ 5.07257963e-01 -8.61793946e-01 -7.44196826e-04 2.49086694e+02] [ 8.61793029e-01 5.07258509e-01 -1.25685297e-03 8.12203132e+01] [ 1.46064846e-03 -3.79495734e-06 9.99998933e-01 9.04584486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:81.24, Z:0.09 [[ 5.07734302e-01 -8.61513393e-01 -7.43907123e-04 2.49100540e+02] [ 8.61512475e-01 5.07734847e-01 -1.25702442e-03 8.12427195e+01] [ 1.46065094e-03 -2.65085137e-06 9.99998933e-01 9.01673689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:81.26, Z:0.09 [[ 5.08049142e-01 -8.61327764e-01 -7.43613241e-04 2.49113707e+02] [ 8.61326846e-01 5.08049686e-01 -1.25719825e-03 8.12639318e+01] [ 1.46065223e-03 -1.77555674e-06 9.99998933e-01 8.86593330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.13, Y:81.28, Z:0.09 [[ 5.07605989e-01 -8.61589002e-01 -7.43305066e-04 2.49126792e+02] [ 8.61588084e-01 5.07606533e-01 -1.25738043e-03 8.12846113e+01] [ 1.46065165e-03 -2.16895401e-06 9.99998933e-01 8.93702435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:81.31, Z:0.09 [[ 5.06593066e-01 -8.62184965e-01 -7.42979189e-04 2.49139834e+02] [ 8.62184048e-01 5.06593610e-01 -1.25757295e-03 8.13060847e+01] [ 1.46064900e-03 -3.50706690e-06 9.99998933e-01 9.05173998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.15, Y:81.33, Z:0.09 [[ 5.05502562e-01 -8.62824784e-01 -7.42668945e-04 2.49153788e+02] [ 8.62823868e-01 5.05503107e-01 -1.25775614e-03 8.13289550e+01] [ 1.46064463e-03 -4.99353834e-06 9.99998933e-01 9.22867457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.17, Y:81.35, Z:0.10 [[ 5.02932573e-01 -8.64325330e-01 -7.42379904e-04 2.49170112e+02] [ 8.64324415e-01 5.02933121e-01 -1.25792673e-03 8.13510181e+01] [ 1.46062537e-03 -9.00475157e-06 9.99998933e-01 9.70915392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:81.37, Z:0.10 [[ 5.01609596e-01 -8.65093788e-01 -7.42109079e-04 2.49184981e+02] [ 8.65092874e-01 5.01610145e-01 -1.25808648e-03 8.13725550e+01] [ 1.46061224e-03 -1.09250257e-05 9.99998933e-01 9.78019272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.20, Y:81.39, Z:0.10 [[ 5.00265509e-01 -8.65871740e-01 -7.41809928e-04 2.49200826e+02] [ 8.65870826e-01 5.00266059e-01 -1.25826284e-03 8.13926415e+01] [ 1.46059657e-03 -1.28460738e-05 9.99998933e-01 9.94757294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:81.41, Z:0.10 [[ 4.99784992e-01 -8.66149186e-01 -7.41497310e-04 2.49215037e+02] [ 8.66148272e-01 4.99785542e-01 -1.25844704e-03 8.14147429e+01] [ 1.46059252e-03 -1.32936696e-05 9.99998933e-01 9.91421384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.23, Y:81.44, Z:0.10 [[ 4.99659218e-01 -8.66221748e-01 -7.41202096e-04 2.49229689e+02] [ 8.66220834e-01 4.99659767e-01 -1.25862089e-03 8.14369732e+01] [ 1.46059366e-03 -1.31631660e-05 9.99998933e-01 9.83126208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:81.46, Z:0.10 [[ 5.00050165e-01 -8.65996122e-01 -7.40906255e-04 2.49245060e+02] [ 8.65995207e-01 5.00050714e-01 -1.25879502e-03 8.14575914e+01] [ 1.46060231e-03 -1.21606085e-05 9.99998933e-01 9.62583853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.26, Y:81.48, Z:0.10 [[ 5.00337963e-01 -8.65829876e-01 -7.40670853e-04 2.49258777e+02] [ 8.65828961e-01 5.00338511e-01 -1.25893352e-03 8.14783892e+01] [ 1.46060840e-03 -1.14020454e-05 9.99998933e-01 9.58866341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:81.50, Z:0.10 [[ 5.00542928e-01 -8.65711401e-01 -7.40364052e-04 2.49272914e+02] [ 8.65710485e-01 5.00543475e-01 -1.25911392e-03 8.15002113e+01] [ 1.46061367e-03 -1.07003569e-05 9.99998933e-01 9.59696565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.29, Y:81.52, Z:0.10 [[ 5.01321461e-01 -8.65260796e-01 -7.40073017e-04 2.49289282e+02] [ 8.65259880e-01 5.01322007e-01 -1.25928495e-03 8.15203033e+01] [ 1.46062479e-03 -9.04891670e-06 9.99998933e-01 9.69809146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:81.54, Z:0.10 [[ 5.01581402e-01 -8.65110137e-01 -7.39767600e-04 2.49306796e+02] [ 8.65109220e-01 5.01581948e-01 -1.25946435e-03 8.15409867e+01] [ 1.46062945e-03 -8.25587820e-06 9.99998933e-01 1.01069998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.32, Y:81.56, Z:0.10 [[ 5.02001258e-01 -8.64866573e-01 -7.39480358e-04 2.49321216e+02] [ 8.64865656e-01 5.02001803e-01 -1.25963298e-03 8.15626182e+01] [ 1.46063493e-03 -7.21382655e-06 9.99998933e-01 1.02112147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.34, Y:81.58, Z:0.10 [[ 5.02489028e-01 -8.64583270e-01 -7.39164775e-04 2.49335011e+02] [ 8.64582352e-01 5.02489572e-01 -1.25981814e-03 8.15844117e+01] [ 1.46064027e-03 -6.02402896e-06 9.99998933e-01 1.02283669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:81.61, Z:0.10 [[ 5.03037418e-01 -8.64264317e-01 -7.38850572e-04 2.49348886e+02] [ 8.64263399e-01 5.03037960e-01 -1.26000238e-03 8.16055170e+01] [ 1.46064498e-03 -4.73316256e-06 9.99998933e-01 1.02444942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:81.63, Z:0.10 [[ 5.05350750e-01 -8.62913712e-01 -7.38536984e-04 2.49364035e+02] [ 8.62912791e-01 5.05351290e-01 -1.26018616e-03 8.16253384e+01] [ 1.46065253e-03 -4.56988807e-07 9.99998933e-01 1.02995324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:81.65, Z:0.10 [[ 5.06654430e-01 -8.62148910e-01 -7.38210442e-04 2.49377180e+02] [ 8.62147989e-01 5.06654968e-01 -1.26037742e-03 8.16470360e+01] [ 1.46065100e-03 2.12915330e-06 9.99998933e-01 1.03242909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:81.67, Z:0.10 [[ 5.07707174e-01 -8.61529385e-01 -7.37896820e-04 2.49390297e+02] [ 8.61528462e-01 5.07707711e-01 -1.26056100e-03 8.16690809e+01] [ 1.46064625e-03 4.27675224e-06 9.99998933e-01 1.02539501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:81.69, Z:0.10 [[ 5.09899729e-01 -8.60233528e-01 -7.37580909e-04 2.49404619e+02] [ 8.60232604e-01 5.09900262e-01 -1.26074582e-03 8.16894392e+01] [ 1.46062852e-03 8.36280723e-06 9.99998933e-01 9.99303499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:81.71, Z:0.10 [[ 5.10961400e-01 -8.59603341e-01 -7.37251609e-04 2.49418075e+02] [ 8.59602417e-01 5.10961931e-01 -1.26093836e-03 8.17111398e+01] [ 1.46061433e-03 1.05475642e-05 9.99998933e-01 9.87617744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.43, Y:81.73, Z:0.10 [[ 5.13153493e-01 -8.58296540e-01 -7.36941217e-04 2.49429695e+02] [ 8.58295613e-01 5.13154022e-01 -1.26111974e-03 8.17324926e+01] [ 1.46057906e-03 1.46345841e-05 9.99998933e-01 9.64675231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:81.76, Z:0.10 [[ 5.14093517e-01 -8.57733824e-01 -7.36618203e-04 2.49442610e+02] [ 8.57732897e-01 5.14094045e-01 -1.26130838e-03 8.17550621e+01] [ 1.46055789e-03 1.66087968e-05 9.99998933e-01 9.64459408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:81.78, Z:0.10 [[ 5.14854266e-01 -8.57277401e-01 -7.36321127e-04 2.49455766e+02] [ 8.57276473e-01 5.14854792e-01 -1.26148178e-03 8.17783782e+01] [ 1.46053829e-03 1.82484989e-05 9.99998933e-01 9.93539733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.47, Y:81.80, Z:0.10 [[ 5.15987266e-01 -8.56595937e-01 -7.36012994e-04 2.49467832e+02] [ 8.56595008e-01 5.15987790e-01 -1.26166154e-03 8.18009934e+01] [ 1.46050787e-03 2.05362308e-05 9.99998933e-01 9.74143462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.48, Y:81.83, Z:0.10 [[ 5.18462485e-01 -8.55100059e-01 -7.35690305e-04 2.49478512e+02] [ 8.55099128e-01 5.18463006e-01 -1.26184967e-03 8.18255435e+01] [ 1.46043594e-03 2.51335793e-05 9.99998933e-01 9.95439676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:81.85, Z:0.09 [[ 5.19274960e-01 -8.54606913e-01 -7.35387959e-04 2.49489895e+02] [ 8.54605981e-01 5.19275480e-01 -1.26202585e-03 8.18482513e+01] [ 1.46040495e-03 2.68714751e-05 9.99998933e-01 9.48345880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:81.87, Z:0.10 [[ 5.20836140e-01 -8.53656356e-01 -7.35072411e-04 2.49500998e+02] [ 8.53655424e-01 5.20836658e-01 -1.26220962e-03 8.18718746e+01] [ 1.46034592e-03 2.99058352e-05 9.99998933e-01 9.69728334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:81.89, Z:0.10 [[ 5.21232947e-01 -8.53414129e-01 -7.34776259e-04 2.49511990e+02] [ 8.53413196e-01 5.21233464e-01 -1.26238199e-03 8.18942810e+01] [ 1.46032460e-03 3.09273316e-05 9.99998933e-01 9.63409488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:81.92, Z:0.09 [[ 5.21131207e-01 -8.53476260e-01 -7.34467464e-04 2.49522539e+02] [ 8.53475327e-01 5.21131723e-01 -1.26256163e-03 8.19169534e+01] [ 1.46032067e-03 3.11104060e-05 9.99998933e-01 9.37244456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:81.94, Z:0.10 [[ 5.20301559e-01 -8.53982288e-01 -7.34161195e-04 2.49531261e+02] [ 8.53981355e-01 5.20302076e-01 -1.26273969e-03 8.19422035e+01] [ 1.46034293e-03 3.00454589e-05 9.99998933e-01 9.98004678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.54, Y:81.97, Z:0.10 [[ 5.19530043e-01 -8.54451869e-01 -7.33857467e-04 2.49541704e+02] [ 8.54450936e-01 5.19530560e-01 -1.26291619e-03 8.19662138e+01] [ 1.46036248e-03 2.90777008e-05 9.99998933e-01 9.99430825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:81.99, Z:0.10 [[ 5.18341644e-01 -8.55173317e-01 -7.33554415e-04 2.49552198e+02] [ 8.55172385e-01 5.18342162e-01 -1.26309219e-03 8.19896471e+01] [ 1.46039492e-03 2.73978017e-05 9.99998933e-01 9.55428348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:82.01, Z:0.10 [[ 5.15305167e-01 -8.57006445e-01 -7.33312375e-04 2.49561968e+02] [ 8.57005514e-01 5.15305689e-01 -1.26323269e-03 8.20149375e+01] [ 1.46047860e-03 2.24975850e-05 9.99998933e-01 9.96532081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:82.04, Z:0.10 [[ 5.13588817e-01 -8.58036124e-01 -7.33015506e-04 2.49573290e+02] [ 8.58035194e-01 5.13589340e-01 -1.26340493e-03 8.20387596e+01] [ 1.46051602e-03 1.99175431e-05 9.99998933e-01 1.00276918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.58, Y:82.06, Z:0.10 [[ 5.09816078e-01 -8.60283110e-01 -7.32713892e-04 2.49582824e+02] [ 8.60282182e-01 5.09816605e-01 -1.26357983e-03 8.20631233e+01] [ 1.46058609e-03 1.38526071e-05 9.99998933e-01 1.01298577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:82.09, Z:0.10 [[ 5.07881577e-01 -8.61426589e-01 -7.32413003e-04 2.49593492e+02] [ 8.61425662e-01 5.07882105e-01 -1.26375421e-03 8.20863855e+01] [ 1.46061094e-03 1.09181255e-05 9.99998933e-01 1.01355985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.60, Y:82.11, Z:0.10 [[ 5.05916797e-01 -8.62581972e-01 -7.32098556e-04 2.49604369e+02] [ 8.62581046e-01 5.05917327e-01 -1.26393635e-03 8.21101191e+01] [ 1.46063005e-03 7.95228960e-06 9.99998933e-01 1.01663717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:82.14, Z:0.10 [[ 5.01896599e-01 -8.64927320e-01 -7.31799374e-04 2.49613427e+02] [ 8.64926396e-01 5.01897132e-01 -1.26410954e-03 8.21355771e+01] [ 1.46065089e-03 1.49968539e-06 9.99998933e-01 1.02652602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:82.16, Z:0.10 [[ 4.99994453e-01 -8.66028298e-01 -7.31486759e-04 2.49623924e+02] [ 8.66027375e-01 4.99994988e-01 -1.26429041e-03 8.21588062e+01] [ 1.46065099e-03 -1.34936348e-06 9.99998933e-01 1.01655482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:82.18, Z:0.10 [[ 4.97706021e-01 -8.67345480e-01 -7.31237181e-04 2.49635215e+02] [ 8.67344558e-01 4.97706559e-01 -1.26443475e-03 8.21824330e+01] [ 1.46064330e-03 -4.91780203e-06 9.99998933e-01 1.01192488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:82.21, Z:0.10 [[ 4.93134616e-01 -8.69952709e-01 -7.30937993e-04 2.49646257e+02] [ 8.69951790e-01 4.93135157e-01 -1.26460768e-03 8.22059517e+01] [ 1.46060010e-03 -1.22589946e-05 9.99998933e-01 1.01048497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:82.23, Z:0.10 [[ 4.90556155e-01 -8.71409275e-01 -7.30629732e-04 2.49657067e+02] [ 8.71408357e-01 4.90556699e-01 -1.26478575e-03 8.22284131e+01] [ 1.46056134e-03 -1.62284197e-05 9.99998933e-01 9.96862418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:249.67, Y:82.25, Z:0.10 [[ 4.86289379e-01 -8.73797520e-01 -7.30309879e-04 2.49668306e+02] [ 8.73796605e-01 4.86289927e-01 -1.26497041e-03 8.22527990e+01] [ 1.46047035e-03 -2.30006159e-05 9.99998933e-01 9.95083082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:82.27, Z:0.10 [[ 4.84319669e-01 -8.74890807e-01 -7.30004492e-04 2.49680691e+02] [ 8.74889893e-01 4.84320219e-01 -1.26514662e-03 8.22749527e+01] [ 1.46042109e-03 -2.59381567e-05 9.99998933e-01 9.80797450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:82.30, Z:0.10 [[ 4.82005307e-01 -8.76167993e-01 -7.29761168e-04 2.49694345e+02] [ 8.76167080e-01 4.82005858e-01 -1.26528696e-03 8.22979113e+01] [ 1.46035310e-03 -2.95176799e-05 9.99998933e-01 9.98504192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.71, Y:82.32, Z:0.10 [[ 4.81404205e-01 -8.76498408e-01 -7.29461293e-04 2.49707258e+02] [ 8.76497495e-01 4.81404757e-01 -1.26545982e-03 8.23213975e+01] [ 1.46033966e-03 -3.01733147e-05 9.99998933e-01 1.00300810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:249.72, Y:82.34, Z:0.10 [[ 4.81348280e-01 -8.76529122e-01 -7.29161693e-04 2.49719758e+02] [ 8.76528209e-01 4.81348831e-01 -1.26563243e-03 8.23444780e+01] [ 1.46034481e-03 -2.99207995e-05 9.99998933e-01 1.02743545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:82.37, Z:0.10 [[ 4.82719170e-01 -8.75774898e-01 -7.28854387e-04 2.49731268e+02] [ 8.75773983e-01 4.82719720e-01 -1.26580938e-03 8.23668002e+01] [ 1.46039646e-03 -2.72812571e-05 9.99998933e-01 1.01104110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.74, Y:82.39, Z:0.10 [[ 4.83729785e-01 -8.75217096e-01 -7.28532732e-04 2.49744164e+02] [ 8.75216180e-01 4.83730333e-01 -1.26599448e-03 8.23896214e+01] [ 1.46043339e-03 -2.52243987e-05 9.99998933e-01 1.01876244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:82.41, Z:0.10 [[ 4.83524486e-01 -8.75330532e-01 -7.28236809e-04 2.49757292e+02] [ 8.75329617e-01 4.83525034e-01 -1.26616468e-03 8.24130084e+01] [ 1.46043333e-03 -2.52256212e-05 9.99998933e-01 1.01915407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.77, Y:82.44, Z:0.10 [[ 4.86351251e-01 -8.73763086e-01 -7.27939785e-04 2.49769827e+02] [ 8.73762169e-01 4.86351795e-01 -1.26633542e-03 8.24355916e+01] [ 1.46051197e-03 -2.01624303e-05 9.99998933e-01 1.00643243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:82.46, Z:0.10 [[ 4.87885859e-01 -8.72907131e-01 -7.27644364e-04 2.49782513e+02] [ 8.72906212e-01 4.87886401e-01 -1.26650515e-03 8.24582988e+01] [ 1.46054916e-03 -1.72553348e-05 9.99998933e-01 1.02114119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.79, Y:82.48, Z:0.10 [[ 4.89265273e-01 -8.72134716e-01 -7.27333737e-04 2.49794530e+02] [ 8.72133797e-01 4.89265814e-01 -1.26668351e-03 8.24804938e+01] [ 1.46057820e-03 -1.45880793e-05 9.99998933e-01 1.00954453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:82.50, Z:0.10 [[ 4.92181027e-01 -8.70492567e-01 -7.27008444e-04 2.49806990e+02] [ 8.70491645e-01 4.92181564e-01 -1.26687018e-03 8.25037745e+01] [ 1.46062123e-03 -9.32530825e-06 9.99998933e-01 1.01966678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:82.53, Z:0.10 [[ 4.93574184e-01 -8.69703396e-01 -7.26698658e-04 2.49819282e+02] [ 8.69702473e-01 4.93574719e-01 -1.26704786e-03 8.25261525e+01] [ 1.46063591e-03 -6.62950758e-06 9.99998933e-01 9.96049959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:82.55, Z:0.10 [[ 4.97082369e-01 -8.67703054e-01 -7.26374290e-04 2.49830579e+02] [ 8.67702129e-01 4.97082900e-01 -1.26723378e-03 8.25499499e+01] [ 1.46065086e-03 -3.56946311e-07 9.99998933e-01 1.01239091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:82.57, Z:0.10 [[ 4.98573165e-01 -8.66847317e-01 -7.26084903e-04 2.49842381e+02] [ 8.66846391e-01 4.98573694e-01 -1.26739957e-03 8.25731890e+01] [ 1.46064875e-03 2.48733862e-06 9.99998933e-01 1.02332777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.85, Y:82.60, Z:0.10 [[ 5.00115389e-01 -8.65958469e-01 -7.25782336e-04 2.49854616e+02] [ 8.65957542e-01 5.00115916e-01 -1.26757281e-03 8.25970155e+01] [ 1.46064071e-03 5.43598397e-06 9.99998933e-01 1.02544762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:82.62, Z:0.10 [[ 5.01489665e-01 -8.65163331e-01 -7.25472957e-04 2.49865953e+02] [ 8.65162402e-01 5.01490190e-01 -1.26774986e-03 8.26200285e+01] [ 1.46062826e-03 8.11152524e-06 9.99998933e-01 1.02396973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:82.64, Z:0.10 [[ 5.03973049e-01 -8.63719075e-01 -7.25149313e-04 2.49875784e+02] [ 8.63718144e-01 5.03973571e-01 -1.26793495e-03 8.26446947e+01] [ 1.46059569e-03 1.26804258e-05 9.99998933e-01 1.02367496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.89, Y:82.67, Z:0.10 [[ 5.04649330e-01 -8.63324116e-01 -7.24840816e-04 2.49886919e+02] [ 8.63323184e-01 5.04649850e-01 -1.26811129e-03 8.26677636e+01] [ 1.46058187e-03 1.41796301e-05 9.99998933e-01 1.00621250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:82.69, Z:0.10 [[ 5.04985458e-01 -8.63127547e-01 -7.24518704e-04 2.49898536e+02] [ 8.63126615e-01 5.04985977e-01 -1.26829530e-03 8.26908815e+01] [ 1.46057239e-03 1.51193038e-05 9.99998933e-01 9.94399698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:82.71, Z:0.10 [[ 5.04627061e-01 -8.63337133e-01 -7.24220323e-04 2.49909258e+02] [ 8.63336201e-01 5.04627581e-01 -1.26846565e-03 8.27146205e+01] [ 1.46057505e-03 1.48564735e-05 9.99998933e-01 9.88873642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.92, Y:82.74, Z:0.10 [[ 5.03657000e-01 -8.63903410e-01 -7.23921207e-04 2.49920594e+02] [ 8.63902479e-01 5.03657520e-01 -1.26863634e-03 8.27378454e+01] [ 1.46058762e-03 1.35602477e-05 9.99998933e-01 9.87645355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:82.76, Z:0.10 [[ 5.02280483e-01 -8.64704454e-01 -7.23609775e-04 2.49932756e+02] [ 8.64703523e-01 5.02281004e-01 -1.26881395e-03 8.27616539e+01] [ 1.46060452e-03 1.15925626e-05 9.99998933e-01 9.85557472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:82.79, Z:0.10 [[ 4.98900504e-01 -8.66658966e-01 -7.23315557e-04 2.49944244e+02] [ 8.66658037e-01 4.98901029e-01 -1.26898165e-03 8.27854021e+01] [ 1.46063720e-03 6.22834583e-06 9.99998933e-01 9.93658593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:82.81, Z:0.10 [[ 4.96964226e-01 -8.67770727e-01 -7.23019991e-04 2.49956668e+02] [ 8.67769799e-01 4.96964752e-01 -1.26915003e-03 8.28090741e+01] [ 1.46064670e-03 3.30725135e-06 9.99998933e-01 9.99307049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:82.83, Z:0.10 [[ 4.93088183e-01 -8.69979035e-01 -7.22721677e-04 2.49967173e+02] [ 8.69978109e-01 4.93088713e-01 -1.26931989e-03 8.28320866e+01] [ 1.46064759e-03 -2.86540152e-06 9.99998933e-01 1.01671986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:82.86, Z:0.10 [[ 4.91169183e-01 -8.71063897e-01 -7.22410633e-04 2.49979905e+02] [ 8.71062971e-01 4.91169714e-01 -1.26949689e-03 8.28556224e+01] [ 1.46063913e-03 -5.72740384e-06 9.99998933e-01 1.01882069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:82.88, Z:0.10 [[ 4.89261488e-01 -8.72136844e-01 -7.22114475e-04 2.49992477e+02] [ 8.72135920e-01 4.89262021e-01 -1.26966532e-03 8.28776904e+01] [ 1.46062510e-03 -8.58362544e-06 9.99998933e-01 1.01365030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:82.90, Z:0.10 [[ 4.87522305e-01 -8.73110234e-01 -7.21804903e-04 2.50005478e+02] [ 8.73109311e-01 4.87522839e-01 -1.26984129e-03 8.29001616e+01] [ 1.46060780e-03 -1.11386271e-05 9.99998933e-01 1.01873130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.02, Y:82.92, Z:0.10 [[ 4.84319873e-01 -8.74890702e-01 -7.21507017e-04 2.50019850e+02] [ 8.74889780e-01 4.84320410e-01 -1.27001052e-03 8.29227803e+01] [ 1.46056097e-03 -1.61477798e-05 9.99998933e-01 1.02275210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:82.95, Z:0.10 [[ 4.82532342e-01 -8.75877856e-01 -7.21204700e-04 2.50032631e+02] [ 8.75876935e-01 4.82532880e-01 -1.27018218e-03 8.29451092e+01] [ 1.46052943e-03 -1.87825813e-05 9.99998933e-01 1.00266716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.05, Y:82.97, Z:0.10 [[ 4.79564461e-01 -8.77506358e-01 -7.20889408e-04 2.50045995e+02] [ 8.77505439e-01 4.79565002e-01 -1.27036110e-03 8.29680012e+01] [ 1.46046327e-03 -2.33643419e-05 9.99998933e-01 9.98157407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:82.99, Z:0.10 [[ 4.78388246e-01 -8.78148146e-01 -7.20596185e-04 2.50059311e+02] [ 8.78147228e-01 4.78388788e-01 -1.27052740e-03 8.29902990e+01] [ 1.46043642e-03 -2.49841665e-05 9.99998933e-01 9.95794900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:83.01, Z:0.10 [[ 4.77581950e-01 -8.78586912e-01 -7.20298937e-04 2.50073741e+02] [ 8.78585993e-01 4.77582493e-01 -1.27069590e-03 8.30123516e+01] [ 1.46041895e-03 -2.59831313e-05 9.99998933e-01 1.00734687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:83.03, Z:0.10 [[ 4.77063205e-01 -8.78868694e-01 -7.19992392e-04 2.50089336e+02] [ 8.78867775e-01 4.77063747e-01 -1.27086957e-03 8.30323323e+01] [ 1.46040974e-03 -2.64930031e-05 9.99998933e-01 1.00865015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:83.05, Z:0.10 [[ 4.77139279e-01 -8.78827395e-01 -7.19747743e-04 2.50102645e+02] [ 8.78826477e-01 4.77139821e-01 -1.27100811e-03 8.30535927e+01] [ 1.46041705e-03 -2.60854813e-05 9.99998933e-01 1.00896086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.12, Y:83.08, Z:0.10 [[ 4.78010574e-01 -8.78353786e-01 -7.19438312e-04 2.50116820e+02] [ 8.78352867e-01 4.78011115e-01 -1.27118323e-03 8.30763250e+01] [ 1.46044811e-03 -2.42816773e-05 9.99998933e-01 1.02127484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:83.10, Z:0.10 [[ 4.80647024e-01 -8.76913862e-01 -7.19144381e-04 2.50130820e+02] [ 8.76912941e-01 4.80647561e-01 -1.27134950e-03 8.30988777e+01] [ 1.46051899e-03 -1.95566625e-05 9.99998933e-01 1.02445327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.14, Y:83.12, Z:0.10 [[ 4.81949328e-01 -8.76198795e-01 -7.18842021e-04 2.50144584e+02] [ 8.76197873e-01 4.81949863e-01 -1.27152043e-03 8.31213426e+01] [ 1.46055048e-03 -1.70394319e-05 9.99998933e-01 1.02330712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:83.14, Z:0.10 [[ 4.84934489e-01 -8.74550185e-01 -7.18535900e-04 2.50158914e+02] [ 8.74549260e-01 4.84935021e-01 -1.27169340e-03 8.31421705e+01] [ 1.46060292e-03 -1.17070521e-05 9.99998933e-01 9.85145155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:83.16, Z:0.10 [[ 4.86405064e-01 -8.73733139e-01 -7.18216066e-04 2.50171822e+02] [ 8.73732213e-01 4.86405594e-01 -1.27187401e-03 8.31636408e+01] [ 1.46062278e-03 -8.88255700e-06 9.99998933e-01 9.76531388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.18, Y:83.18, Z:0.10 [[ 4.87901567e-01 -8.72898359e-01 -7.17911970e-04 2.50183785e+02] [ 8.72897432e-01 4.87902095e-01 -1.27204563e-03 8.31846734e+01] [ 1.46063730e-03 -6.03045873e-06 9.99998933e-01 9.71556847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:83.21, Z:0.10 [[ 4.89695353e-01 -8.71893311e-01 -7.17595057e-04 2.50197163e+02] [ 8.71892383e-01 4.89695879e-01 -1.27222438e-03 8.32075903e+01] [ 1.46064727e-03 -2.66329592e-06 9.99998933e-01 9.87870217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.21, Y:83.23, Z:0.10 [[ 4.93273023e-01 -8.69874250e-01 -7.17299842e-04 2.50209635e+02] [ 8.69873319e-01 4.93273545e-01 -1.27239081e-03 8.32293059e+01] [ 1.46064504e-03 3.67606673e-06 9.99998933e-01 9.62223738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.22, Y:83.25, Z:0.10 [[ 4.94837770e-01 -8.68985079e-01 -7.17065044e-04 2.50221940e+02] [ 8.68984147e-01 4.94838290e-01 -1.27252312e-03 8.32521753e+01] [ 1.46063484e-03 6.57434633e-06 9.99998933e-01 1.00756974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:83.27, Z:0.10 [[ 4.97690075e-01 -8.67354642e-01 -7.16754565e-04 2.50234281e+02] [ 8.67353709e-01 4.97690591e-01 -1.27269797e-03 8.32740491e+01] [ 1.46060250e-03 1.17294181e-05 9.99998933e-01 1.00779726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.25, Y:83.30, Z:0.10 [[ 4.98535410e-01 -8.66869040e-01 -7.16506601e-04 2.50247101e+02] [ 8.66868105e-01 4.98535925e-01 -1.27283756e-03 8.32964710e+01] [ 1.46058775e-03 1.34378728e-05 9.99998933e-01 1.02307797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:83.32, Z:0.10 [[ 5.00413981e-01 -8.65785963e-01 -7.16189896e-04 2.50259720e+02] [ 8.65785028e-01 5.00414494e-01 -1.27301573e-03 8.33178922e+01] [ 1.46055096e-03 1.69683824e-05 9.99998933e-01 1.03224374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:250.27, Y:83.34, Z:0.11 [[ 5.01411352e-01 -8.65208728e-01 -7.15874755e-04 2.50272173e+02] [ 8.65207792e-01 5.01411863e-01 -1.27319293e-03 8.33407822e+01] [ 1.46052573e-03 1.90129705e-05 9.99998933e-01 1.05895438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:83.36, Z:0.10 [[ 5.02233804e-01 -8.64731573e-01 -7.15562305e-04 2.50283390e+02] [ 8.64730636e-01 5.02234314e-01 -1.27336851e-03 8.33630765e+01] [ 1.46050189e-03 2.07600616e-05 9.99998933e-01 1.03959452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.30, Y:83.39, Z:0.10 [[ 5.03159510e-01 -8.64193263e-01 -7.15235841e-04 2.50295016e+02] [ 8.64192325e-01 5.03160018e-01 -1.27355185e-03 8.33852121e+01] [ 1.46047301e-03 2.26983997e-05 9.99998933e-01 1.03258737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:83.41, Z:0.10 [[ 5.05050167e-01 -8.63089693e-01 -7.14999998e-04 2.50306710e+02] [ 8.63088753e-01 5.05050673e-01 -1.27368424e-03 8.34083143e+01] [ 1.46041497e-03 2.61659836e-05 9.99998933e-01 1.04589801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.32, Y:83.43, Z:0.10 [[ 5.06648171e-01 -8.62152608e-01 -7.14699381e-04 2.50318185e+02] [ 8.62151667e-01 5.06648675e-01 -1.27385291e-03 8.34303380e+01] [ 1.46035710e-03 2.92159821e-05 9.99998933e-01 1.03992508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:83.45, Z:0.10 [[ 5.07355871e-01 -8.61736334e-01 -7.14385889e-04 2.50330322e+02] [ 8.61735393e-01 5.07356373e-01 -1.27402869e-03 8.34537600e+01] [ 1.46032505e-03 3.07743316e-05 9.99998933e-01 1.04151186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.34, Y:83.48, Z:0.10 [[ 5.08253490e-01 -8.61207222e-01 -7.14088619e-04 2.50341967e+02] [ 8.61206280e-01 5.08253991e-01 -1.27419529e-03 8.34759095e+01] [ 1.46028457e-03 3.26365979e-05 9.99998933e-01 1.02808172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.35, Y:83.50, Z:0.10 [[ 5.08914678e-01 -8.60816671e-01 -7.13779257e-04 2.50353282e+02] [ 8.60815728e-01 5.08915178e-01 -1.27436856e-03 8.34994515e+01] [ 1.46025080e-03 3.41124560e-05 9.99998933e-01 1.03544728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:83.52, Z:0.10 [[ 5.10310261e-01 -8.59990075e-01 -7.13483915e-04 2.50362817e+02] [ 8.59989131e-01 5.10310758e-01 -1.27453389e-03 8.35239177e+01] [ 1.46018502e-03 3.68193120e-05 9.99998933e-01 1.03517510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:83.55, Z:0.10 [[ 5.10570719e-01 -8.59835468e-01 -7.13186373e-04 2.50373379e+02] [ 8.59834524e-01 5.10571215e-01 -1.27470037e-03 8.35476136e+01] [ 1.46016502e-03 3.76024164e-05 9.99998933e-01 1.04050231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:83.57, Z:0.10 [[ 5.10529116e-01 -8.59860171e-01 -7.12878981e-04 2.50382150e+02] [ 8.59859227e-01 5.10529612e-01 -1.27487225e-03 8.35712263e+01] [ 1.46015770e-03 3.78838348e-05 9.99998933e-01 1.03003125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.39, Y:83.59, Z:0.10 [[ 5.09946566e-01 -8.60205785e-01 -7.12556811e-04 2.50392239e+02] [ 8.60204840e-01 5.09947063e-01 -1.27505230e-03 8.35941901e+01] [ 1.46017361e-03 3.72637220e-05 9.99998933e-01 1.02843464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:83.62, Z:0.10 [[ 5.09291677e-01 -8.60593679e-01 -7.12240597e-04 2.50403214e+02] [ 8.60592735e-01 5.09292174e-01 -1.27522891e-03 8.36186124e+01] [ 1.46019250e-03 3.65143862e-05 9.99998933e-01 1.02891453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.41, Y:83.64, Z:0.10 [[ 5.07376897e-01 -8.61723956e-01 -7.11942094e-04 2.50411984e+02] [ 8.61723013e-01 5.07377396e-01 -1.27539554e-03 8.36439694e+01] [ 1.46026221e-03 3.36093436e-05 9.99998933e-01 1.03223233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.42, Y:83.67, Z:0.10 [[ 5.06186876e-01 -8.62423527e-01 -7.11640745e-04 2.50422872e+02] [ 8.62422585e-01 5.06187375e-01 -1.27556366e-03 8.36674964e+01] [ 1.46029967e-03 3.19385329e-05 9.99998933e-01 1.02687039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.43, Y:83.69, Z:0.10 [[ 5.03870082e-01 -8.63779158e-01 -7.11338162e-04 2.50431460e+02] [ 8.63778217e-01 5.03870584e-01 -1.27573238e-03 8.36917061e+01] [ 1.46037341e-03 2.83649691e-05 9.99998933e-01 1.03067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:83.72, Z:0.10 [[ 5.02470098e-01 -8.64594295e-01 -7.11022452e-04 2.50442287e+02] [ 8.64593354e-01 5.02470601e-01 -1.27590831e-03 8.37160922e+01] [ 1.46041093e-03 2.63604893e-05 9.99998933e-01 1.03723190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:83.74, Z:0.10 [[ 5.00839442e-01 -8.65539917e-01 -7.10721796e-04 2.50452518e+02] [ 8.65538977e-01 5.00839946e-01 -1.27607577e-03 8.37399044e+01] [ 1.46045238e-03 2.39516580e-05 9.99998933e-01 1.03569838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:83.77, Z:0.10 [[ 4.97431772e-01 -8.67502811e-01 -7.10406749e-04 2.50460570e+02] [ 8.67501873e-01 4.97432279e-01 -1.27625113e-03 8.37654493e+01] [ 1.46053069e-03 1.85686768e-05 9.99998933e-01 1.02136461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:83.79, Z:0.10 [[ 4.95564989e-01 -8.68570571e-01 -7.10121980e-04 2.50471118e+02] [ 8.68569634e-01 4.95565498e-01 -1.27640956e-03 8.37900882e+01] [ 1.46056373e-03 1.57535029e-05 9.99998933e-01 1.02252346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:83.81, Z:0.10 [[ 4.93644670e-01 -8.69663404e-01 -7.09805964e-04 2.50481426e+02] [ 8.69662467e-01 4.93645180e-01 -1.27658527e-03 8.38138940e+01] [ 1.46059179e-03 1.28879096e-05 9.99998933e-01 1.00332819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.49, Y:83.84, Z:0.10 [[ 4.89631333e-01 -8.71929271e-01 -7.09491626e-04 2.50490064e+02] [ 8.71928337e-01 4.89631847e-01 -1.27675995e-03 8.38385785e+01] [ 1.46063407e-03 6.51582225e-06 9.99998933e-01 1.00611711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.50, Y:83.86, Z:0.10 [[ 4.87610459e-01 -8.73061016e-01 -7.09171628e-04 2.50500280e+02] [ 8.73060082e-01 4.87610975e-01 -1.27693767e-03 8.38623262e+01] [ 1.46064436e-03 3.49872195e-06 9.99998933e-01 1.00764142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:83.89, Z:0.10 [[ 4.85874518e-01 -8.74028289e-01 -7.08932835e-04 2.50510674e+02] [ 8.74027356e-01 4.85875035e-01 -1.27707023e-03 8.38871811e+01] [ 1.46064827e-03 8.69189337e-07 9.99998933e-01 1.01394883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.52, Y:83.91, Z:0.10 [[ 4.85669941e-01 -8.74141983e-01 -7.08632930e-04 2.50523429e+02] [ 8.74141050e-01 4.85670458e-01 -1.27723662e-03 8.39107592e+01] [ 1.46064823e-03 8.70300776e-07 9.99998933e-01 1.01434046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.53, Y:83.94, Z:0.10 [[ 4.82871590e-01 -8.75690885e-01 -7.08333957e-04 2.50531262e+02] [ 8.75689953e-01 4.82872110e-01 -1.27740240e-03 8.39360660e+01] [ 1.46064435e-03 -3.45959995e-06 9.99998933e-01 1.00551975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.54, Y:83.96, Z:0.10 [[ 4.81524351e-01 -8.76432426e-01 -7.08034946e-04 2.50542563e+02] [ 8.76431495e-01 4.81524872e-01 -1.27756812e-03 8.39596854e+01] [ 1.46063856e-03 -5.36396760e-06 9.99998933e-01 1.00200941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:83.98, Z:0.10 [[ 4.80241715e-01 -8.77135904e-01 -7.07733356e-04 2.50553899e+02] [ 8.77134973e-01 4.80242237e-01 -1.27773517e-03 8.39828483e+01] [ 1.46063084e-03 -7.15595101e-06 9.99998933e-01 9.99150855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.56, Y:84.01, Z:0.10 [[ 4.77607256e-01 -8.78573166e-01 -7.07419531e-04 2.50562649e+02] [ 8.78572237e-01 4.77607780e-01 -1.27790889e-03 8.40081856e+01] [ 1.46060553e-03 -1.11806009e-05 9.99998933e-01 1.02105134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:84.03, Z:0.10 [[ 4.76163802e-01 -8.79356318e-01 -7.07109246e-04 2.50572916e+02] [ 8.79355389e-01 4.76164327e-01 -1.27808056e-03 8.40325372e+01] [ 1.46058841e-03 -1.32246265e-05 9.99998933e-01 1.01367651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.58, Y:84.06, Z:0.10 [[ 4.75045653e-01 -8.79960867e-01 -7.06800920e-04 2.50583779e+02] [ 8.79959939e-01 4.75046179e-01 -1.27825105e-03 8.40554912e+01] [ 1.46057398e-03 -1.47288919e-05 9.99998933e-01 9.83722551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:84.08, Z:0.10 [[ 4.73081679e-01 -8.81018289e-01 -7.06478786e-04 2.50594421e+02] [ 8.81017362e-01 4.73082206e-01 -1.27842906e-03 8.40799903e+01] [ 1.46054193e-03 -1.76187097e-05 9.99998933e-01 1.01005475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.61, Y:84.10, Z:0.10 [[ 4.72281018e-01 -8.81447753e-01 -7.06174524e-04 2.50605568e+02] [ 8.81446826e-01 4.72281545e-01 -1.27859711e-03 8.41024698e+01] [ 1.46052974e-03 -1.85981498e-05 9.99998933e-01 1.00493008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.62, Y:84.13, Z:0.10 [[ 4.70708985e-01 -8.82288248e-01 -7.05932394e-04 2.50617180e+02] [ 8.82287322e-01 4.70709514e-01 -1.27873078e-03 8.41258894e+01] [ 1.46049823e-03 -2.09251353e-05 9.99998933e-01 1.01768106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:84.15, Z:0.10 [[ 4.70382184e-01 -8.82462522e-01 -7.05629769e-04 2.50629709e+02] [ 8.82461596e-01 4.70382713e-01 -1.27889775e-03 8.41492001e+01] [ 1.46049538e-03 -2.11204553e-05 9.99998933e-01 1.02649586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:84.17, Z:0.10 [[ 4.69923434e-01 -8.82706899e-01 -7.05325395e-04 2.50640908e+02] [ 8.82705972e-01 4.69923962e-01 -1.27906559e-03 8.41718808e+01] [ 1.46048933e-03 -2.15320436e-05 9.99998933e-01 1.00915326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.65, Y:84.20, Z:0.10 [[ 4.70034098e-01 -8.82647976e-01 -7.05007037e-04 2.50652055e+02] [ 8.82647049e-01 4.70034626e-01 -1.27924104e-03 8.41956920e+01] [ 1.46049724e-03 -2.09854705e-05 9.99998933e-01 1.03202794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:84.22, Z:0.10 [[ 4.70343931e-01 -8.82482912e-01 -7.04704507e-04 2.50663537e+02] [ 8.82481985e-01 4.70344459e-01 -1.27940768e-03 8.42185237e+01] [ 1.46050927e-03 -2.01273942e-05 9.99998933e-01 1.02909615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.68, Y:84.24, Z:0.10 [[ 4.70712920e-01 -8.82286150e-01 -7.04387499e-04 2.50675407e+02] [ 8.82285223e-01 4.70713446e-01 -1.27958219e-03 8.42423491e+01] [ 1.46052231e-03 -1.91548144e-05 9.99998933e-01 1.04576132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:84.27, Z:0.10 [[ 4.72867322e-01 -8.81133361e-01 -7.04074363e-04 2.50686493e+02] [ 8.81132432e-01 4.72867846e-01 -1.27975446e-03 8.42651144e+01] [ 1.46056848e-03 -1.52286900e-05 9.99998933e-01 1.03469774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:84.29, Z:0.10 [[ 4.73949073e-01 -8.80551975e-01 -7.03745826e-04 2.50698033e+02] [ 8.80551045e-01 4.73949596e-01 -1.27993510e-03 8.42881821e+01] [ 1.46058943e-03 -1.30600671e-05 9.99998933e-01 1.02850697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:84.31, Z:0.10 [[ 4.75025539e-01 -8.79971728e-01 -7.03509637e-04 2.50709866e+02] [ 8.79970797e-01 4.75026060e-01 -1.28006491e-03 8.43120013e+01] [ 1.46060634e-03 -1.10044125e-05 9.99998933e-01 1.04230517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:84.34, Z:0.10 [[ 4.77423179e-01 -8.78673212e-01 -7.03212186e-04 2.50720773e+02] [ 8.78672279e-01 4.77423697e-01 -1.28022830e-03 8.43359425e+01] [ 1.46063247e-03 -6.68239140e-06 9.99998933e-01 1.01812288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:84.36, Z:0.10 [[ 4.77918875e-01 -8.78403697e-01 -7.02915487e-04 2.50731815e+02] [ 8.78402764e-01 4.77919392e-01 -1.28039118e-03 8.43594578e+01] [ 1.46063729e-03 -5.51979398e-06 9.99998933e-01 1.00567307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.74, Y:84.38, Z:0.10 [[ 4.78315955e-01 -8.78187539e-01 -7.02618004e-04 2.50743480e+02] [ 8.78186605e-01 4.78316471e-01 -1.28055440e-03 8.43835822e+01] [ 1.46064068e-03 -4.52011819e-06 9.99998933e-01 1.01174966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.75, Y:84.41, Z:0.10 [[ 4.78681289e-01 -8.77988457e-01 -7.02314123e-04 2.50753530e+02] [ 8.77987523e-01 4.78681804e-01 -1.28072104e-03 8.44082619e+01] [ 1.46064328e-03 -3.56583815e-06 9.99998933e-01 1.02624134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.76, Y:84.43, Z:0.10 [[ 4.78206756e-01 -8.78247007e-01 -7.02003443e-04 2.50764866e+02] [ 8.78246073e-01 4.78207272e-01 -1.28089131e-03 8.44311806e+01] [ 1.46064211e-03 -4.00088688e-06 9.99998933e-01 1.02283694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:84.45, Z:0.10 [[ 4.77135642e-01 -8.78829384e-01 -7.01679583e-04 2.50776559e+02] [ 8.78828451e-01 4.77136158e-01 -1.28106870e-03 8.44539172e+01] [ 1.46063752e-03 -5.41244324e-06 9.99998933e-01 1.03645664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.79, Y:84.48, Z:0.11 [[ 4.76243035e-01 -8.79313414e-01 -7.01364939e-04 2.50788603e+02] [ 8.79312480e-01 4.76243552e-01 -1.28124094e-03 8.44771103e+01] [ 1.46063287e-03 -6.53686973e-06 9.99998933e-01 1.05021046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.80, Y:84.50, Z:0.10 [[ 4.75140434e-01 -8.79909698e-01 -7.01066686e-04 2.50799843e+02] [ 8.79908765e-01 4.75140951e-01 -1.28140412e-03 8.45011280e+01] [ 1.46062540e-03 -8.02781359e-06 9.99998933e-01 1.03950661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.81, Y:84.52, Z:0.11 [[ 4.74185306e-01 -8.80424787e-01 -7.00769868e-04 2.50811902e+02] [ 8.80423854e-01 4.74185823e-01 -1.28156642e-03 8.45249132e+01] [ 1.46061798e-03 -9.27454338e-06 9.99998933e-01 1.05078478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:84.55, Z:0.10 [[ 4.71707605e-01 -8.81754753e-01 -7.00472112e-04 2.50822701e+02] [ 8.81753822e-01 4.71708125e-01 -1.28172914e-03 8.45482741e+01] [ 1.46058915e-03 -1.30425766e-05 9.99998933e-01 1.04248029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.83, Y:84.57, Z:0.10 [[ 4.70284081e-01 -8.82514812e-01 -7.00161901e-04 2.50834788e+02] [ 8.82513881e-01 4.70284601e-01 -1.28189858e-03 8.45711312e+01] [ 1.46056984e-03 -1.50461015e-05 9.99998933e-01 1.04889760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.85, Y:84.59, Z:0.11 [[ 4.67195997e-01 -8.84153500e-01 -6.99863538e-04 2.50847510e+02] [ 8.84152570e-01 4.67196521e-01 -1.28206145e-03 8.45939582e+01] [ 1.46051293e-03 -1.98121682e-05 9.99998933e-01 1.05182142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.86, Y:84.62, Z:0.11 [[ 4.65385072e-01 -8.85108042e-01 -6.99562899e-04 2.50860962e+02] [ 8.85107113e-01 4.65385597e-01 -1.28222548e-03 8.46171073e+01] [ 1.46047458e-03 -2.24595035e-05 9.99998933e-01 1.05094761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.87, Y:84.64, Z:0.11 [[ 4.62375576e-01 -8.86683900e-01 -6.99263985e-04 2.50874432e+02] [ 8.86682973e-01 4.62376104e-01 -1.28238847e-03 8.46395328e+01] [ 1.46039617e-03 -2.70803614e-05 9.99998933e-01 1.05927077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:84.66, Z:0.10 [[ 4.61119119e-01 -8.87337968e-01 -6.98957667e-04 2.50886557e+02] [ 8.87337042e-01 4.61119648e-01 -1.28255540e-03 8.46616179e+01] [ 1.46036322e-03 -2.88002104e-05 9.99998933e-01 1.04323521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:84.68, Z:0.11 [[ 4.60068140e-01 -8.87883336e-01 -6.98640044e-04 2.50899505e+02] [ 8.87882410e-01 4.60068670e-01 -1.28272840e-03 8.46842481e+01] [ 1.46033556e-03 -3.01677374e-05 9.99998933e-01 1.05685856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.91, Y:84.71, Z:0.11 [[ 4.59199256e-01 -8.88333021e-01 -6.98338382e-04 2.50911938e+02] [ 8.88332095e-01 4.59199786e-01 -1.28289261e-03 8.47058954e+01] [ 1.46031270e-03 -3.12530676e-05 9.99998933e-01 1.05097649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.93, Y:84.73, Z:0.11 [[ 4.58693347e-01 -8.88594354e-01 -6.98023069e-04 2.50925915e+02] [ 8.88593429e-01 4.58693877e-01 -1.28306415e-03 8.47286046e+01] [ 1.46030246e-03 -3.17257249e-05 9.99998933e-01 1.07169812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:84.75, Z:0.11 [[ 4.58693301e-01 -8.88594378e-01 -6.97712851e-04 2.50938149e+02] [ 8.88593452e-01 4.58693830e-01 -1.28323282e-03 8.47506886e+01] [ 1.46031005e-03 -3.13727752e-05 9.99998933e-01 1.07106621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:84.77, Z:0.11 [[ 4.59309587e-01 -8.88275980e-01 -6.97389526e-04 2.50951490e+02] [ 8.88275053e-01 4.59310116e-01 -1.28340851e-03 8.47722541e+01] [ 1.46033901e-03 -2.99918865e-05 9.99998933e-01 1.05993768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.97, Y:84.79, Z:0.11 [[ 4.59772874e-01 -8.88036271e-01 -6.97069322e-04 2.50965217e+02] [ 8.88035344e-01 4.59773401e-01 -1.28358240e-03 8.47946880e+01] [ 1.46036166e-03 -2.88658263e-05 9.99998933e-01 1.06284587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.98, Y:84.82, Z:0.10 [[ 4.60245195e-01 -8.87791572e-01 -6.96769077e-04 2.50977793e+02] [ 8.87790644e-01 4.60245722e-01 -1.28374536e-03 8.48169820e+01] [ 1.46038330e-03 -2.77474342e-05 9.99998933e-01 1.04946680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:84.84, Z:0.10 [[ 4.61371874e-01 -8.87206576e-01 -6.96455458e-04 2.50990963e+02] [ 8.87205648e-01 4.61372399e-01 -1.28391548e-03 8.48398065e+01] [ 1.46042358e-03 -2.55367237e-05 9.99998933e-01 1.03639667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.00, Y:84.86, Z:0.10 [[ 4.61924172e-01 -8.86919148e-01 -6.96158639e-04 2.51004545e+02] [ 8.86918218e-01 4.61924696e-01 -1.28407640e-03 8.48625931e+01] [ 1.46044482e-03 -2.42898507e-05 9.99998933e-01 1.04162842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.02, Y:84.88, Z:0.10 [[ 4.62840564e-01 -8.86441272e-01 -6.95851977e-04 2.51017399e+02] [ 8.86440342e-01 4.62841086e-01 -1.28424256e-03 8.48844306e+01] [ 1.46047450e-03 -2.24317121e-05 9.99998933e-01 1.01726941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:84.91, Z:0.10 [[ 4.65331446e-01 -8.85136239e-01 -6.95531565e-04 2.51030094e+02] [ 8.85135307e-01 4.65331965e-01 -1.28441607e-03 8.49078477e+01] [ 1.46053628e-03 -1.79603581e-05 9.99998933e-01 1.03598599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.04, Y:84.93, Z:0.10 [[ 4.66713485e-01 -8.84408299e-01 -6.95225601e-04 2.51042168e+02] [ 8.84407366e-01 4.66714003e-01 -1.28458166e-03 8.49314604e+01] [ 1.46056621e-03 -1.53310585e-05 9.99998933e-01 1.03695966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:84.95, Z:0.10 [[ 4.68090032e-01 -8.83680507e-01 -6.94917412e-04 2.51054722e+02] [ 8.83679574e-01 4.68090548e-01 -1.28474836e-03 8.49545099e+01] [ 1.46059135e-03 -1.27064214e-05 9.99998933e-01 1.04040870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.07, Y:84.98, Z:0.10 [[ 4.69612274e-01 -8.82872488e-01 -6.94608499e-04 2.51067680e+02] [ 8.82871553e-01 4.69612788e-01 -1.28491535e-03 8.49773938e+01] [ 1.46061345e-03 -9.83806256e-06 9.99998933e-01 1.04283816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:85.00, Z:0.10 [[ 4.72264842e-01 -8.81456429e-01 -6.94299948e-04 2.51080799e+02] [ 8.81455493e-01 4.72265353e-01 -1.28508206e-03 8.49995693e+01] [ 1.46063765e-03 -5.09542730e-06 9.99998933e-01 1.03641409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.09, Y:85.02, Z:0.10 [[ 4.73180698e-01 -8.80965121e-01 -6.93977277e-04 2.51092492e+02] [ 8.80964184e-01 4.73181207e-01 -1.28525628e-03 8.50218046e+01] [ 1.46064296e-03 -3.21065852e-06 9.99998933e-01 1.03859829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.10, Y:85.04, Z:0.10 [[ 4.74556225e-01 -8.80224919e-01 -6.93660189e-04 2.51103943e+02] [ 8.80223981e-01 4.74556732e-01 -1.28542740e-03 8.50446587e+01] [ 1.46064634e-03 -5.68760222e-07 9.99998933e-01 1.04158390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:251.12, Y:85.07, Z:0.11 [[ 4.74417856e-01 -8.80299504e-01 -6.93420664e-04 2.51116985e+02] [ 8.80298565e-01 4.74418363e-01 -1.28555659e-03 8.50676688e+01] [ 1.46064633e-03 -5.26212113e-07 9.99998933e-01 1.07138018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.13, Y:85.09, Z:0.10 [[ 4.73550754e-01 -8.80766259e-01 -6.93103883e-04 2.51129196e+02] [ 8.80765320e-01 4.73551262e-01 -1.28572736e-03 8.50899946e+01] [ 1.46064550e-03 -1.60470099e-06 9.99998933e-01 1.02850032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:85.11, Z:0.10 [[ 4.72714124e-01 -8.81215568e-01 -6.92851503e-04 2.51141096e+02] [ 8.81214630e-01 4.72714631e-01 -1.28586335e-03 8.51129873e+01] [ 1.46064385e-03 -2.70511393e-06 9.99998933e-01 1.03328157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.15, Y:85.14, Z:0.10 [[ 4.71962372e-01 -8.81618421e-01 -6.92546800e-04 2.51153062e+02] [ 8.81617483e-01 4.71962880e-01 -1.28602744e-03 8.51353209e+01] [ 1.46064186e-03 -3.60480604e-06 9.99998933e-01 1.02191323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:85.16, Z:0.10 [[ 4.71146398e-01 -8.82054756e-01 -6.92304578e-04 2.51165804e+02] [ 8.82053818e-01 4.71146906e-01 -1.28615782e-03 8.51581850e+01] [ 1.46063878e-03 -4.68127280e-06 9.99998933e-01 1.03076173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:85.18, Z:0.10 [[ 4.69520909e-01 -8.82921082e-01 -6.92008342e-04 2.51178766e+02] [ 8.82920145e-01 4.69521419e-01 -1.28631719e-03 8.51800119e+01] [ 1.46062930e-03 -7.03528975e-06 9.99998933e-01 1.03197363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.19, Y:85.20, Z:0.10 [[ 4.68523912e-01 -8.83450545e-01 -6.91698830e-04 2.51190709e+02] [ 8.83449608e-01 4.68524423e-01 -1.28648360e-03 8.52030303e+01] [ 1.46062243e-03 -8.33272907e-06 9.99998933e-01 1.04176239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:85.23, Z:0.11 [[ 4.67612238e-01 -8.83933435e-01 -6.91397907e-04 2.51203007e+02] [ 8.83932498e-01 4.67612749e-01 -1.28664531e-03 8.52266287e+01] [ 1.46061528e-03 -9.49798735e-06 9.99998933e-01 1.05162499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.22, Y:85.25, Z:0.11 [[ 4.66414346e-01 -8.84566097e-01 -6.91087802e-04 2.51215309e+02] [ 8.84565161e-01 4.66414858e-01 -1.28681185e-03 8.52490849e+01] [ 1.46060376e-03 -1.11246850e-05 9.99998933e-01 1.05044111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:85.27, Z:0.11 [[ 4.65715449e-01 -8.84934259e-01 -6.90763512e-04 2.51228022e+02] [ 8.84933324e-01 4.65715961e-01 -1.28698591e-03 8.52725471e+01] [ 1.46059751e-03 -1.19104309e-05 9.99998933e-01 1.05054726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:85.30, Z:0.10 [[ 4.64430012e-01 -8.85609557e-01 -6.90460849e-04 2.51240779e+02] [ 8.85608621e-01 4.64430525e-01 -1.28714826e-03 8.52955117e+01] [ 1.46058190e-03 -1.36877971e-05 9.99998933e-01 1.04749724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:85.32, Z:0.10 [[ 4.63672360e-01 -8.86006471e-01 -6.90149824e-04 2.51252699e+02] [ 8.86005536e-01 4.63672873e-01 -1.28731501e-03 8.53174316e+01] [ 1.46057318e-03 -1.45841767e-05 9.99998933e-01 1.04211310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:85.34, Z:0.10 [[ 4.63462201e-01 -8.86116422e-01 -6.89902692e-04 2.51265117e+02] [ 8.86115486e-01 4.63462714e-01 -1.28744744e-03 8.53411838e+01] [ 1.46057249e-03 -1.46502363e-05 9.99998933e-01 1.04250470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.28, Y:85.36, Z:0.10 [[ 4.62406392e-01 -8.86667837e-01 -6.89597291e-04 2.51277687e+02] [ 8.86666902e-01 4.62406905e-01 -1.28761100e-03 8.53641289e+01] [ 1.46055781e-03 -1.60435378e-05 9.99998933e-01 1.04843973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.29, Y:85.39, Z:0.10 [[ 4.60731964e-01 -8.87539060e-01 -6.89291517e-04 2.51290655e+02] [ 8.87538125e-01 4.60732479e-01 -1.28777467e-03 8.53861457e+01] [ 1.46052931e-03 -1.84535487e-05 9.99998933e-01 1.02768443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:251.30, Y:85.41, Z:0.10 [[ 4.59629180e-01 -8.88110659e-01 -6.88972149e-04 2.51303469e+02] [ 8.88109725e-01 4.59629696e-01 -1.28794551e-03 8.54090496e+01] [ 1.46051020e-03 -1.99055262e-05 9.99998933e-01 1.04639264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:85.43, Z:0.11 [[ 4.57735921e-01 -8.89087933e-01 -6.88673817e-04 2.51316596e+02] [ 8.89087000e-01 4.57736438e-01 -1.28810501e-03 8.54315404e+01] [ 1.46046972e-03 -2.26790042e-05 9.99998933e-01 1.05495310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:85.46, Z:0.11 [[ 4.56762752e-01 -8.89588284e-01 -6.88364157e-04 2.51329331e+02] [ 8.89587351e-01 4.56763270e-01 -1.28827047e-03 8.54550141e+01] [ 1.46044978e-03 -2.39260805e-05 9.99998933e-01 1.05941893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.34, Y:85.48, Z:0.11 [[ 4.55750743e-01 -8.90107177e-01 -6.88051647e-04 2.51341607e+02] [ 8.90106245e-01 4.55751261e-01 -1.28843736e-03 8.54779555e+01] [ 1.46042775e-03 -2.52327846e-05 9.99998933e-01 1.06360497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.35, Y:85.50, Z:0.11 [[ 4.53928231e-01 -8.91037983e-01 -6.87738577e-04 2.51354897e+02] [ 8.91037052e-01 4.53928752e-01 -1.28860445e-03 8.54989785e+01] [ 1.46037982e-03 -2.78666157e-05 9.99998933e-01 1.05483136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:85.52, Z:0.11 [[ 4.52975191e-01 -8.91522857e-01 -6.87411442e-04 2.51368315e+02] [ 8.91521926e-01 4.52975712e-01 -1.28877894e-03 8.55216233e+01] [ 1.46035657e-03 -2.90574878e-05 9.99998933e-01 1.06239090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:251.38, Y:85.54, Z:0.11 [[ 4.52328829e-01 -8.91850973e-01 -6.87099038e-04 2.51381405e+02] [ 8.91850042e-01 4.52329350e-01 -1.28894547e-03 8.55430638e+01] [ 1.46034233e-03 -2.97621115e-05 9.99998933e-01 1.06050827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:251.40, Y:85.57, Z:0.11 [[ 4.51528361e-01 -8.92256503e-01 -6.86771269e-04 2.51395833e+02] [ 8.92255572e-01 4.51528883e-01 -1.28912009e-03 8.55651230e+01] [ 1.46032284e-03 -3.07012117e-05 9.99998933e-01 1.05714525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21587156 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:251.41, Y:85.59, Z:0.11 [[ 4.51448072e-01 -8.92297129e-01 -6.86471227e-04 2.51409035e+02] [ 8.92296199e-01 4.51448593e-01 -1.28927984e-03 8.55879546e+01] [ 1.46032717e-03 -3.04927676e-05 9.99998933e-01 1.06770597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587156 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:251.42, Y:85.61, Z:0.11 [[ 4.51776002e-01 -8.92131141e-01 -6.86164384e-04 2.51422812e+02] [ 8.92130210e-01 4.51776522e-01 -1.28944313e-03 8.56088520e+01] [ 1.46034533e-03 -2.96085165e-05 9.99998933e-01 1.06299989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27587156 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:251.44, Y:85.63, Z:0.11 [[ 4.51775001e-01 -8.92131649e-01 -6.85842383e-04 2.51435523e+02] [ 8.92130717e-01 4.51775520e-01 -1.28961437e-03 8.56313217e+01] [ 1.46035260e-03 -2.92455238e-05 9.99998933e-01 1.06106523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587156 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:251.45, Y:85.65, Z:0.11 [[ 4.51753795e-01 -8.92142387e-01 -6.85538397e-04 2.51448901e+02] [ 8.92141455e-01 4.51754314e-01 -1.28977595e-03 8.56537864e+01] [ 1.46035872e-03 -2.89360451e-05 9.99998933e-01 1.05728919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33587156 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:251.47, Y:85.67, Z:0.11 [[ 4.52046290e-01 -8.91994216e-01 -6.85238425e-04 2.51465112e+02] [ 8.91993284e-01 4.52046809e-01 -1.28993530e-03 8.56744387e+01] [ 1.46037467e-03 -2.81176075e-05 9.99998933e-01 1.06299028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587156 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:251.48, Y:85.70, Z:0.11 [[ 4.52343139e-01 -8.91843717e-01 -6.84938459e-04 2.51478118e+02] [ 8.91842784e-01 4.52343657e-01 -1.29009455e-03 8.56959515e+01] [ 1.46039029e-03 -2.72920025e-05 9.99998933e-01 1.07261561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39587156 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:251.49, Y:85.72, Z:0.11 [[ 4.52424099e-01 -8.91802650e-01 -6.84626400e-04 2.51490925e+02] [ 8.91801717e-01 4.52424616e-01 -1.29026014e-03 8.57189315e+01] [ 1.46039925e-03 -2.68062190e-05 9.99998933e-01 1.10278929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587156 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:251.51, Y:85.74, Z:0.11 [[ 4.54596293e-01 -8.90697335e-01 -6.84316625e-04 2.51505181e+02] [ 8.90696400e-01 4.54596807e-01 -1.29042441e-03 8.57410421e+01] [ 1.46046574e-03 -2.28962010e-05 9.99998933e-01 1.09404442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45587156 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:251.52, Y:85.76, Z:0.11 [[ 4.55342385e-01 -8.90316149e-01 -6.84006526e-04 2.51517977e+02] [ 8.90315214e-01 4.55342898e-01 -1.29058876e-03 8.57626663e+01] [ 1.46048953e-03 -2.13216515e-05 9.99998933e-01 1.08702769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587156 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:251.53, Y:85.78, Z:0.11 [[ 4.59093022e-01 -8.88387939e-01 -6.83682366e-04 2.51533770e+02] [ 8.88387001e-01 4.59093530e-01 -1.29076046e-03 8.57845810e+01] [ 1.46057018e-03 -1.47954067e-05 9.99998933e-01 1.07262460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51587156 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:251.55, Y:85.81, Z:0.11 [[ 4.61082418e-01 -8.87357051e-01 -6.83376953e-04 2.51546012e+02] [ 8.87356112e-01 4.61082925e-01 -1.29092214e-03 8.58065611e+01] [ 1.46060231e-03 -1.11772145e-05 9.99998933e-01 1.06959550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587156 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:251.56, Y:85.83, Z:0.11 [[ 4.62868989e-01 -8.86426440e-01 -6.83132490e-04 2.51557838e+02] [ 8.86425499e-01 4.62869493e-01 -1.29105149e-03 8.58289349e+01] [ 1.46062337e-03 -7.95836033e-06 9.99998933e-01 1.06818437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57587156 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:251.57, Y:85.85, Z:0.11 [[ 4.64462278e-01 -8.85592641e-01 -6.82813973e-04 2.51570462e+02] [ 8.85591700e-01 4.64462780e-01 -1.29121993e-03 8.58523377e+01] [ 1.46063654e-03 -4.97143741e-06 9.99998933e-01 1.06881776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587156 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:251.58, Y:85.88, Z:0.11 [[ 4.65739040e-01 -8.84921850e-01 -6.82511560e-04 2.51583023e+02] [ 8.84920908e-01 4.65739540e-01 -1.29137976e-03 8.58759906e+01] [ 1.46064278e-03 -2.52278099e-06 9.99998933e-01 1.07869270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63587156 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:251.60, Y:85.90, Z:0.11 [[ 4.68184476e-01 -8.83630483e-01 -6.82206987e-04 2.51595190e+02] [ 8.83629540e-01 4.68184973e-01 -1.29154064e-03 8.58982650e+01] [ 1.46064374e-03 1.86102980e-06 9.99998933e-01 1.06535775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587156 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:251.61, Y:85.92, Z:0.11 [[ 4.68876620e-01 -8.83263409e-01 -6.81889205e-04 2.51607614e+02] [ 8.83262465e-01 4.68877116e-01 -1.29170839e-03 8.59215641e+01] [ 1.46064100e-03 3.36472563e-06 9.99998933e-01 1.08333488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69587156 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:251.62, Y:85.94, Z:0.11 [[ 4.69800914e-01 -8.82772132e-01 -6.81575692e-04 2.51620100e+02] [ 8.82771186e-01 4.69801409e-01 -1.29187380e-03 8.59432937e+01] [ 1.46063541e-03 5.24810911e-06 9.99998933e-01 1.08000197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156000003 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:251.63, Y:85.97, Z:0.11 [[ 4.70375936e-01 -8.82465872e-01 -6.81247612e-04 2.51631970e+02] [ 8.82464926e-01 4.70376430e-01 -1.29204678e-03 8.59651809e+01] [ 1.46063001e-03 6.57059155e-06 9.99998933e-01 1.06952470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75587156 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:251.64, Y:85.99, Z:0.11 [[ 4.70601262e-01 -8.82345731e-01 -6.80922492e-04 2.51643278e+02] [ 8.82344784e-01 4.70601755e-01 -1.29221810e-03 8.59889004e+01] [ 1.46062644e-03 7.31105992e-06 9.99998933e-01 1.08665356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156000003 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:251.66, Y:86.01, Z:0.11 [[ 4.71631281e-01 -8.81795595e-01 -6.80604606e-04 2.51655280e+02] [ 8.81794648e-01 4.71631772e-01 -1.29238551e-03 8.60125145e+01] [ 1.46061460e-03 9.37593332e-06 9.99998933e-01 1.06413717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81587156 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:251.67, Y:86.03, Z:0.11 [[ 4.71975723e-01 -8.81611283e-01 -6.80287276e-04 2.51666902e+02] [ 8.81610335e-01 4.71976213e-01 -1.29255252e-03 8.60347108e+01] [ 1.46060830e-03 1.03051187e-05 9.99998933e-01 1.05950785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156000003 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:251.68, Y:86.06, Z:0.10 [[ 4.72271366e-01 -8.81452945e-01 -6.80035679e-04 2.51678442e+02] [ 8.81451997e-01 4.72271855e-01 -1.29268488e-03 8.60576986e+01] [ 1.46060261e-03 1.10792459e-05 9.99998933e-01 1.04425762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87587156 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:251.69, Y:86.08, Z:0.11 [[ 4.72106135e-01 -8.81541454e-01 -6.79712407e-04 2.51690656e+02] [ 8.81540506e-01 4.72106624e-01 -1.29285484e-03 8.60813302e+01] [ 1.46060186e-03 1.11706816e-05 9.99998933e-01 1.06040021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:251.70, Y:86.10, Z:0.10 [[ 4.71638253e-01 -8.81791867e-01 -6.79398264e-04 2.51702758e+02] [ 8.81790919e-01 4.71638742e-01 -1.29301990e-03 8.61036214e+01] [ 1.46060497e-03 1.07504263e-05 9.99998933e-01 1.04995426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93587156 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:251.72, Y:86.13, Z:0.11 [[ 4.70776621e-01 -8.82252182e-01 -6.79068850e-04 2.51715085e+02] [ 8.82251234e-01 4.70777110e-01 -1.29319288e-03 8.61272401e+01] [ 1.46061231e-03 9.69564165e-06 9.99998933e-01 1.06107020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:251.73, Y:86.15, Z:0.11 [[ 4.69664193e-01 -8.82844882e-01 -6.78763023e-04 2.51728497e+02] [ 8.82843935e-01 4.69664683e-01 -1.29335338e-03 8.61499719e+01] [ 1.46062143e-03 8.19995254e-06 9.99998933e-01 1.06027970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99587156 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:251.74, Y:86.17, Z:0.11 [[ 4.68949764e-01 -8.83224580e-01 -6.78454205e-04 2.51739894e+02] [ 8.83223633e-01 4.68950255e-01 -1.29351535e-03 8.61726361e+01] [ 1.46062583e-03 7.36693319e-06 9.99998933e-01 1.06240020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:251.75, Y:86.20, Z:0.11 [[ 4.67905102e-01 -8.83778454e-01 -6.78131898e-04 2.51751709e+02] [ 8.83777507e-01 4.67905594e-01 -1.29368430e-03 8.61959519e+01] [ 1.46063202e-03 6.00376789e-06 9.99998933e-01 1.07701800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05587156 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:251.76, Y:86.22, Z:0.11 [[ 4.67485185e-01 -8.84000646e-01 -6.77820505e-04 2.51763219e+02] [ 8.83999699e-01 4.67485676e-01 -1.29384744e-03 8.62181358e+01] [ 1.46063335e-03 5.66138574e-06 9.99998933e-01 1.07797009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:251.78, Y:86.24, Z:0.11 [[ 4.66970386e-01 -8.84272695e-01 -6.77496119e-04 2.51775577e+02] [ 8.84271749e-01 4.66970877e-01 -1.29401727e-03 8.62413252e+01] [ 1.46063510e-03 5.17706633e-06 9.99998933e-01 1.09280557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11587156 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:251.79, Y:86.26, Z:0.11 [[ 4.66421977e-01 -8.84562084e-01 -6.77179699e-04 2.51788160e+02] [ 8.84561137e-01 4.66422469e-01 -1.29418284e-03 8.62632068e+01] [ 1.46063690e-03 4.62847358e-06 9.99998933e-01 1.07582687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:251.80, Y:86.29, Z:0.11 [[ 4.66118651e-01 -8.84721959e-01 -6.76847968e-04 2.51800351e+02] [ 8.84721012e-01 4.66119142e-01 -1.29435631e-03 8.62860815e+01] [ 1.46063724e-03 4.50199607e-06 9.99998933e-01 1.07427597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17587156 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:251.81, Y:86.31, Z:0.11 [[ 4.65976459e-01 -8.84796859e-01 -6.76544878e-04 2.51812710e+02] [ 8.84795912e-01 4.65976950e-01 -1.29451471e-03 8.63095268e+01] [ 1.46063687e-03 4.60923826e-06 9.99998933e-01 1.07361527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:251.82, Y:86.33, Z:0.11 [[ 4.66039521e-01 -8.84763645e-01 -6.76241207e-04 2.51823814e+02] [ 8.84762698e-01 4.66040012e-01 -1.29467333e-03 8.63320495e+01] [ 1.46063535e-03 5.05594232e-06 9.99998933e-01 1.06143842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23587156 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:251.84, Y:86.36, Z:0.11 [[ 4.65928814e-01 -8.84821950e-01 -6.75998231e-04 2.51835926e+02] [ 8.84821003e-01 4.65929305e-01 -1.29480018e-03 8.63552979e+01] [ 1.46063501e-03 5.14727965e-06 9.99998933e-01 1.05200424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:251.85, Y:86.38, Z:0.10 [[ 4.65819854e-01 -8.84879318e-01 -6.75694221e-04 2.51847827e+02] [ 8.84878370e-01 4.65820344e-01 -1.29495881e-03 8.63776692e+01] [ 1.46063438e-03 5.31032255e-06 9.99998933e-01 1.03236492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29587156 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:251.86, Y:86.40, Z:0.10 [[ 4.65733025e-01 -8.84925021e-01 -6.75375538e-04 2.51860482e+02] [ 8.84924073e-01 4.65733515e-01 -1.29512499e-03 8.64011273e+01] [ 1.46063354e-03 5.52640944e-06 9.99998933e-01 1.04914444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:251.87, Y:86.42, Z:0.10 [[ 4.66132133e-01 -8.84714858e-01 -6.75057237e-04 2.51872277e+02] [ 8.84713909e-01 4.66132622e-01 -1.29529088e-03 8.64236520e+01] [ 1.46062929e-03 6.54417393e-06 9.99998933e-01 1.03519627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35587156 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:251.88, Y:86.45, Z:0.11 [[ 4.66604884e-01 -8.84465617e-01 -6.74725222e-04 2.51884057e+02] [ 8.84464668e-01 4.66605372e-01 -1.29546381e-03 8.64472551e+01] [ 1.46062361e-03 7.69911942e-06 9.99998933e-01 1.05628135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:251.90, Y:86.47, Z:0.11 [[ 4.67618096e-01 -8.83930349e-01 -6.74414483e-04 2.51895515e+02] [ 8.83929399e-01 4.67618582e-01 -1.29562556e-03 8.64707025e+01] [ 1.46061149e-03 9.72316599e-06 9.99998933e-01 1.06835204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41587156 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:251.91, Y:86.49, Z:0.11 [[ 4.68012420e-01 -8.83721631e-01 -6.74114632e-04 2.51906424e+02] [ 8.83720681e-01 4.68012905e-01 -1.29578155e-03 8.64930981e+01] [ 1.46060453e-03 1.07128173e-05 9.99998933e-01 1.06202895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:251.92, Y:86.52, Z:0.10 [[ 4.68523804e-01 -8.83450616e-01 -6.73783110e-04 2.51917501e+02] [ 8.83449666e-01 4.68524288e-01 -1.29595391e-03 8.65155590e+01] [ 1.46059503e-03 1.19317936e-05 9.99998933e-01 1.04906509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47587156000003 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:251.93, Y:86.54, Z:0.11 [[ 4.69595339e-01 -8.82881512e-01 -6.73537027e-04 2.51928617e+02] [ 8.82880561e-01 4.69595822e-01 -1.29608179e-03 8.65397615e+01] [ 1.46057683e-03 1.39812213e-05 9.99998933e-01 1.05142269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587156 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:251.94, Y:86.56, Z:0.10 [[ 4.69843848e-01 -8.82749288e-01 -6.73232989e-04 2.51938976e+02] [ 8.82748336e-01 4.69844331e-01 -1.29623970e-03 8.65627702e+01] [ 1.46056938e-03 1.47349503e-05 9.99998933e-01 1.03168443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53587156000003 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:251.95, Y:86.59, Z:0.10 [[ 4.70209940e-01 -8.82554338e-01 -6.72915533e-04 2.51949153e+02] [ 8.82553386e-01 4.70210421e-01 -1.29640448e-03 8.65872180e+01] [ 1.46055930e-03 1.56983922e-05 9.99998933e-01 1.03748688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587156 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:251.96, Y:86.61, Z:0.10 [[ 4.70055424e-01 -8.82636644e-01 -6.72609557e-04 2.51960341e+02] [ 8.82635692e-01 4.70055905e-01 -1.29656321e-03 8.66114359e+01] [ 1.46055830e-03 1.57873689e-05 9.99998933e-01 1.03824092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59587156000003 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:251.97, Y:86.63, Z:0.10 [[ 4.69732568e-01 -8.82808509e-01 -6.72302829e-04 2.51971208e+02] [ 8.82807556e-01 4.69733049e-01 -1.29672224e-03 8.66343020e+01] [ 1.46056028e-03 1.55986501e-05 9.99998933e-01 1.03335249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587156 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:251.98, Y:86.66, Z:0.10 [[ 4.69102455e-01 -8.83143497e-01 -6.71982400e-04 2.51982424e+02] [ 8.83142544e-01 4.69102936e-01 -1.29688827e-03 8.66584644e+01] [ 1.46056736e-03 1.49172250e-05 9.99998933e-01 1.03457451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65587156000004 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:251.99, Y:86.68, Z:0.11 [[ 4.67925674e-01 -8.83767567e-01 -6.71679912e-04 2.51992064e+02] [ 8.83766615e-01 4.67926156e-01 -1.29704492e-03 8.66826851e+01] [ 1.46058283e-03 1.33123340e-05 9.99998933e-01 1.05676622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587156 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:252.00, Y:86.71, Z:0.11 [[ 4.67102724e-01 -8.84202802e-01 -6.71366665e-04 2.52002912e+02] [ 8.84201850e-01 4.67103206e-01 -1.29720704e-03 8.67066840e+01] [ 1.46059162e-03 1.23052922e-05 9.99998933e-01 1.05665454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71587156 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:252.01, Y:86.73, Z:0.11 [[ 4.65246326e-01 -8.85181002e-01 -6.71053380e-04 2.52012979e+02] [ 8.85180051e-01 4.65246810e-01 -1.29736908e-03 8.67303435e+01] [ 1.46061191e-03 9.59313246e-06 9.99998933e-01 1.05187940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587156 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:252.02, Y:86.75, Z:0.11 [[ 4.63814099e-01 -8.85932295e-01 -6.70726259e-04 2.52023348e+02] [ 8.85931345e-01 4.63814584e-01 -1.29753818e-03 8.67540685e+01] [ 1.46062359e-03 7.59908276e-06 9.99998933e-01 1.06292562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77587156 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:252.04, Y:86.78, Z:0.10 [[ 4.62581767e-01 -8.86576370e-01 -6.70417393e-04 2.52035318e+02] [ 8.86575420e-01 4.62582253e-01 -1.29769774e-03 8.67771224e+01] [ 1.46063134e-03 5.91573268e-06 9.99998933e-01 1.04975146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587156 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:252.05, Y:86.80, Z:0.10 [[ 4.61297536e-01 -8.87245251e-01 -6.70109283e-04 2.52045939e+02] [ 8.87244301e-01 4.61298022e-01 -1.29785683e-03 8.67997623e+01] [ 1.46063739e-03 4.14751256e-06 9.99998933e-01 1.04341382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83587156 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:252.06, Y:86.82, Z:0.10 [[ 4.61087463e-01 -8.87354440e-01 -6.69787645e-04 2.52057975e+02] [ 8.87353491e-01 4.61087950e-01 -1.29802279e-03 8.68237181e+01] [ 1.46063730e-03 4.16363211e-06 9.99998933e-01 1.04380544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587156 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:252.07, Y:86.85, Z:0.11 [[ 4.58826044e-01 -8.88525865e-01 -6.69480294e-04 2.52067980e+02] [ 8.88524917e-01 4.58826532e-01 -1.29818130e-03 8.68486033e+01] [ 1.46064298e-03 7.89465626e-07 9.99998933e-01 1.06931680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89587156 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:252.08, Y:86.87, Z:0.10 [[ 4.57951148e-01 -8.88977108e-01 -6.69159863e-04 2.52079245e+02] [ 8.88976160e-01 4.57951637e-01 -1.29834644e-03 8.68713718e+01] [ 1.46064312e-03 -2.87921426e-07 9.99998933e-01 1.04685499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587156 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:252.09, Y:86.90, Z:0.11 [[ 4.57161881e-01 -8.89383251e-01 -6.68827310e-04 2.52091063e+02] [ 8.89382303e-01 4.57162370e-01 -1.29851773e-03 8.68950161e+01] [ 1.46064260e-03 -1.21036404e-06 9.99998933e-01 1.05222591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95587156 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:252.10, Y:86.92, Z:0.10 [[ 4.55085525e-01 -8.90447482e-01 -6.68519668e-04 2.52101816e+02] [ 8.90446535e-01 4.55086016e-01 -1.29867610e-03 8.69180932e+01] [ 1.46063681e-03 -4.27232924e-06 9.99998933e-01 1.04482681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587156 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:252.11, Y:86.94, Z:0.10 [[ 4.54009103e-01 -8.90996795e-01 -6.68197536e-04 2.52113428e+02] [ 8.90995848e-01 4.54009595e-01 -1.29884182e-03 8.69415604e+01] [ 1.46063199e-03 -5.67522130e-06 9.99998933e-01 1.04873620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01587156 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:252.12, Y:86.96, Z:0.10 [[ 4.53110320e-01 -8.91454201e-01 -6.67887184e-04 2.52124846e+02] [ 8.91453254e-01 4.53110812e-01 -1.29900139e-03 8.69640191e+01] [ 1.46062715e-03 -6.79927011e-06 9.99998933e-01 1.03088216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587156 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:252.14, Y:86.99, Z:0.10 [[ 4.52300656e-01 -8.91865276e-01 -6.67639400e-04 2.52137769e+02] [ 8.91864330e-01 4.52301149e-01 -1.29912873e-03 8.69864266e+01] [ 1.46062187e-03 -7.84698958e-06 9.99998933e-01 1.02535745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07587156 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:252.15, Y:87.01, Z:0.10 [[ 4.52013740e-01 -8.92010725e-01 -6.67335634e-04 2.52149611e+02] [ 8.92009779e-01 4.52014232e-01 -1.29928475e-03 8.70099846e+01] [ 1.46062113e-03 -7.97535371e-06 9.99998933e-01 1.03408178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587156 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:252.16, Y:87.03, Z:0.10 [[ 4.51948669e-01 -8.92043696e-01 -6.67030788e-04 2.52160479e+02] [ 8.92042749e-01 4.51949162e-01 -1.29944123e-03 8.70324486e+01] [ 1.46062236e-03 -7.73924254e-06 9.99998933e-01 1.02779499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13587156 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:252.17, Y:87.06, Z:0.10 [[ 4.52599552e-01 -8.91713632e-01 -6.66712427e-04 2.52172427e+02] [ 8.91712685e-01 4.52600043e-01 -1.29960455e-03 8.70562948e+01] [ 1.46062917e-03 -6.31548915e-06 9.99998933e-01 1.03843244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587156 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:252.18, Y:87.08, Z:0.10 [[ 4.52984862e-01 -8.91517959e-01 -6.66408765e-04 2.52184540e+02] [ 8.91517011e-01 4.52985352e-01 -1.29976025e-03 8.70796643e+01] [ 1.46063301e-03 -5.34303457e-06 9.99998933e-01 1.04694771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19587156 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:252.20, Y:87.10, Z:0.10 [[ 4.53105386e-01 -8.91456710e-01 -6.66105281e-04 2.52197610e+02] [ 8.91455762e-01 4.53105876e-01 -1.29991576e-03 8.71028400e+01] [ 1.46063484e-03 -4.80455861e-06 9.99998933e-01 1.04685349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156000003 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:252.21, Y:87.13, Z:0.10 [[ 4.53275680e-01 -8.91370133e-01 -6.65798971e-04 2.52209908e+02] [ 8.91369185e-01 4.53276169e-01 -1.30007263e-03 8.71258338e+01] [ 1.46063672e-03 -4.18138269e-06 9.99998933e-01 1.04262436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25587156 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:252.22, Y:87.15, Z:0.10 [[ 4.53159946e-01 -8.91428977e-01 -6.65493507e-04 2.52221452e+02] [ 8.91428028e-01 4.53160435e-01 -1.30022897e-03 8.71496599e+01] [ 1.46063711e-03 -4.02787416e-06 9.99998933e-01 1.04265028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156000003 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:252.23, Y:87.17, Z:0.10 [[ 4.53010843e-01 -8.91504758e-01 -6.65189042e-04 2.52233859e+02] [ 8.91503809e-01 4.53011332e-01 -1.30038472e-03 8.71726564e+01] [ 1.46063734e-03 -3.93018832e-06 9.99998933e-01 1.03185692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31587156 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:252.25, Y:87.20, Z:0.10 [[ 4.52671920e-01 -8.91676898e-01 -6.64884439e-04 2.52246329e+02] [ 8.91675950e-01 4.52672408e-01 -1.30054044e-03 8.71961283e+01] [ 1.46063671e-03 -4.14332573e-06 9.99998933e-01 1.02555260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156000003 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:252.26, Y:87.22, Z:0.10 [[ 4.52334668e-01 -8.91848029e-01 -6.64577048e-04 2.52259772e+02] [ 8.91847080e-01 4.52335157e-01 -1.30069750e-03 8.72171720e+01] [ 1.46063606e-03 -4.35052855e-06 9.99998933e-01 1.01190563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37587156 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:252.27, Y:87.24, Z:0.10 [[ 4.52073452e-01 -8.91980467e-01 -6.64255348e-04 2.52272199e+02] [ 8.91979518e-01 4.52073940e-01 -1.30086177e-03 8.72389143e+01] [ 1.46063582e-03 -4.41709556e-06 9.99998933e-01 1.01983383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156000004 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:252.29, Y:87.26, Z:0.10 [[ 4.52047328e-01 -8.91993706e-01 -6.63921860e-04 2.52285556e+02] [ 8.91992757e-01 4.52047816e-01 -1.30103195e-03 8.72617307e+01] [ 1.46063674e-03 -4.08547499e-06 9.99998933e-01 1.02185166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43587156 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:252.30, Y:87.28, Z:0.10 [[ 4.52130124e-01 -8.91951742e-01 -6.63618778e-04 2.52296826e+02] [ 8.91950793e-01 4.52130611e-01 -1.30118652e-03 8.72834398e+01] [ 1.46063795e-03 -3.60967152e-06 9.99998933e-01 1.01603436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:252.31, Y:87.31, Z:0.10 [[ 4.52403709e-01 -8.91813009e-01 -6.63332542e-04 2.52308768e+02] [ 8.91812060e-01 4.52404196e-01 -1.30133243e-03 8.73066793e+01] [ 1.46063961e-03 -2.84034397e-06 9.99998933e-01 1.03923633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49587156 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:252.32, Y:87.33, Z:0.10 [[ 4.53964745e-01 -8.91019400e-01 -6.63030197e-04 2.52319893e+02] [ 8.91018449e-01 4.53965229e-01 -1.30148645e-03 8.73281325e+01] [ 1.46064233e-03 5.68282966e-08 9.99998933e-01 1.03717831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:252.33, Y:87.35, Z:0.10 [[ 4.54701441e-01 -8.90643678e-01 -6.62684565e-04 2.52331561e+02] [ 8.90642726e-01 4.54701924e-01 -1.30166242e-03 8.73514934e+01] [ 1.46064135e-03 1.65258912e-06 9.99998933e-01 1.03891826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55587156 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:252.34, Y:87.37, Z:0.10 [[ 4.55308490e-01 -8.90333499e-01 -6.62370143e-04 2.52343398e+02] [ 8.90332548e-01 4.55308972e-01 -1.30182240e-03 8.73749646e+01] [ 1.46063916e-03 3.00109237e-06 9.99998933e-01 1.03148581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:252.35, Y:87.40, Z:0.10 [[ 4.56911032e-01 -8.89512153e-01 -6.62055683e-04 2.52354822e+02] [ 8.89511200e-01 4.56911511e-01 -1.30198230e-03 8.73974379e+01] [ 1.46062994e-03 5.98412907e-06 9.99998933e-01 1.01628476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61587156 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:252.37, Y:87.42, Z:0.10 [[ 4.57504862e-01 -8.89206873e-01 -6.61728664e-04 2.52365975e+02] [ 8.89205920e-01 4.57505340e-01 -1.30214848e-03 8.74216459e+01] [ 1.46062378e-03 7.32621684e-06 9.99998933e-01 1.02156493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:252.38, Y:87.44, Z:0.10 [[ 4.57981154e-01 -8.88961655e-01 -6.61414306e-04 2.52378235e+02] [ 8.88960701e-01 4.57981632e-01 -1.30230814e-03 8.74447756e+01] [ 1.46061760e-03 8.46125920e-06 9.99998933e-01 1.01343001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67587156 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:252.39, Y:87.47, Z:0.10 [[ 4.58496636e-01 -8.88695897e-01 -6.61094903e-04 2.52390201e+02] [ 8.88694943e-01 4.58497113e-01 -1.30247026e-03 8.74665784e+01] [ 1.46061008e-03 9.66653525e-06 9.99998933e-01 9.99101747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:252.40, Y:87.49, Z:0.10 [[ 4.58493042e-01 -8.88697752e-01 -6.60761670e-04 2.52401788e+02] [ 8.88696797e-01 4.58493518e-01 -1.30263929e-03 8.74885931e+01] [ 1.46060755e-03 1.00342710e-05 9.99998933e-01 9.85726952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73587156 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:252.41, Y:87.51, Z:0.10 [[ 4.58270130e-01 -8.88812721e-01 -6.60439884e-04 2.52413177e+02] [ 8.88811766e-01 4.58270605e-01 -1.30280242e-03 8.75108775e+01] [ 1.46060754e-03 1.00286918e-05 9.99998933e-01 9.83051462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:252.43, Y:87.53, Z:0.10 [[ 4.57485999e-01 -8.89216580e-01 -6.60104145e-04 2.52425241e+02] [ 8.89215625e-01 4.57486475e-01 -1.30297251e-03 8.75327091e+01] [ 1.46061347e-03 9.11675787e-06 9.99998933e-01 9.97856567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79587156 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:252.44, Y:87.56, Z:0.10 [[ 4.56585379e-01 -8.89679356e-01 -6.59785204e-04 2.52437654e+02] [ 8.89678402e-01 4.56585855e-01 -1.30313399e-03 8.75559406e+01] [ 1.46062000e-03 7.99527876e-06 9.99998933e-01 1.01475664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:252.45, Y:87.58, Z:0.10 [[ 4.54772362e-01 -8.90607469e-01 -6.59475407e-04 2.52450707e+02] [ 8.90606515e-01 4.54772840e-01 -1.30329075e-03 8.75791788e+01] [ 1.46063198e-03 5.36751767e-06 9.99998933e-01 1.04250622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85587156 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:252.46, Y:87.60, Z:0.10 [[ 4.54082707e-01 -8.90959292e-01 -6.59159548e-04 2.52462696e+02] [ 8.90958339e-01 4.54083186e-01 -1.30345048e-03 8.76011241e+01] [ 1.46063458e-03 4.59062638e-06 9.99998933e-01 1.03708803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:252.48, Y:87.62, Z:0.10 [[ 4.53330531e-01 -8.91342244e-01 -6.58846608e-04 2.52475432e+02] [ 8.91341291e-01 4.53331009e-01 -1.30360864e-03 8.76245699e+01] [ 1.46063705e-03 3.70841024e-06 9.99998933e-01 1.04303351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91587156 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:252.49, Y:87.65, Z:0.10 [[ 4.52611273e-01 -8.91707689e-01 -6.58538817e-04 2.52488041e+02] [ 8.91706736e-01 4.52611752e-01 -1.30376411e-03 8.76461075e+01] [ 1.46063888e-03 2.87483244e-06 9.99998933e-01 1.02473377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:252.50, Y:87.67, Z:0.10 [[ 4.52614976e-01 -8.91705809e-01 -6.58188076e-04 2.52499853e+02] [ 8.91704856e-01 4.52615455e-01 -1.30394115e-03 8.76687902e+01] [ 1.46063799e-03 3.27378877e-06 9.99998933e-01 1.03508754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97587156000003 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:252.51, Y:87.69, Z:0.10 [[ 4.52877948e-01 -8.91572281e-01 -6.57853799e-04 2.52511725e+02] [ 8.91571327e-01 4.52878425e-01 -1.30410977e-03 8.76909539e+01] [ 1.46063592e-03 4.07897267e-06 9.99998933e-01 1.03011153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587156 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:252.53, Y:87.71, Z:0.10 [[ 4.53686633e-01 -8.91161044e-01 -6.57520074e-04 2.52525105e+02] [ 8.91160090e-01 4.53687110e-01 -1.30427801e-03 8.77124299e+01] [ 1.46063014e-03 5.77785276e-06 9.99998933e-01 1.03253064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03587156000003 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:252.54, Y:87.74, Z:0.11 [[ 4.54312673e-01 -8.90842053e-01 -6.57186897e-04 2.52536997e+02] [ 8.90841098e-01 4.54313148e-01 -1.30444587e-03 8.77355636e+01] [ 1.46062388e-03 7.17719270e-06 9.99998933e-01 1.05338724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587156 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:252.55, Y:87.76, Z:0.10 [[ 4.55762444e-01 -8.90101210e-01 -6.56868461e-04 2.52549409e+02] [ 8.90100254e-01 4.55762917e-01 -1.30460620e-03 8.77579944e+01] [ 1.46060784e-03 9.91172608e-06 9.99998933e-01 1.02863539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09587156000003 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:252.56, Y:87.78, Z:0.10 [[ 4.56343818e-01 -8.89803287e-01 -6.56535921e-04 2.52561867e+02] [ 8.89802330e-01 4.56344290e-01 -1.30477353e-03 8.77817399e+01] [ 1.46059819e-03 1.12381417e-05 9.99998933e-01 1.04387515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587156 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:252.57, Y:87.80, Z:0.10 [[ 4.56968272e-01 -8.89482753e-01 -6.56230427e-04 2.52573913e+02] [ 8.89481796e-01 4.56968743e-01 -1.30492716e-03 8.78048704e+01] [ 1.46058699e-03 1.26052897e-05 9.99998933e-01 1.04882869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15587156000004 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:252.59, Y:87.83, Z:0.10 [[ 4.57462631e-01 -8.89228605e-01 -6.55905138e-04 2.52585629e+02] [ 8.89227647e-01 4.57463101e-01 -1.30509064e-03 8.78274477e+01] [ 1.46057633e-03 1.37812155e-05 9.99998933e-01 1.02792345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587156 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:252.60, Y:87.85, Z:0.10 [[ 4.58570567e-01 -8.88657755e-01 -6.55566119e-04 2.52598019e+02] [ 8.88656797e-01 4.58571035e-01 -1.30526091e-03 8.78511104e+01] [ 1.46055387e-03 1.59809486e-05 9.99998933e-01 1.04836969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21587156 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:252.61, Y:87.87, Z:0.10 [[ 4.59249588e-01 -8.88307034e-01 -6.55243993e-04 2.52609209e+02] [ 8.88306075e-01 4.59250055e-01 -1.30542260e-03 8.78737261e+01] [ 1.46053692e-03 1.74575720e-05 9.99998933e-01 1.03487441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587156 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:252.62, Y:87.90, Z:0.10 [[ 4.59633733e-01 -8.88108328e-01 -6.54987026e-04 2.52620685e+02] [ 8.88107369e-01 4.59634199e-01 -1.30555152e-03 8.78975193e+01] [ 1.46052561e-03 1.83767140e-05 9.99998933e-01 1.03857989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27587156 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:252.63, Y:87.92, Z:0.11 [[ 4.60459123e-01 -8.87680668e-01 -6.54679332e-04 2.52632148e+02] [ 8.87679708e-01 4.60459588e-01 -1.30570580e-03 8.79207237e+01] [ 1.46050317e-03 2.00785873e-05 9.99998933e-01 1.06213535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587156 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:252.64, Y:87.94, Z:0.11 [[ 4.60586059e-01 -8.87614812e-01 -6.54352669e-04 2.52643105e+02] [ 8.87613851e-01 4.60586524e-01 -1.30586948e-03 8.79432188e+01] [ 1.46049512e-03 2.06527863e-05 9.99998933e-01 1.05256284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33587156 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:252.65, Y:87.97, Z:0.10 [[ 4.60608558e-01 -8.87603137e-01 -6.54011583e-04 2.52654462e+02] [ 8.87602176e-01 4.60609021e-01 -1.30604028e-03 8.79669487e+01] [ 1.46048909e-03 2.10712272e-05 9.99998933e-01 1.04438536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587156 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:252.67, Y:87.99, Z:0.11 [[ 4.60328995e-01 -8.87748156e-01 -6.53694642e-04 2.52665631e+02] [ 8.87747196e-01 4.60329459e-01 -1.30619890e-03 8.79905011e+01] [ 1.46049057e-03 2.09656410e-05 9.99998933e-01 1.05178396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39587156 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:252.68, Y:88.01, Z:0.11 [[ 4.60368598e-01 -8.87727620e-01 -6.53374223e-04 2.52676428e+02] [ 8.87726659e-01 4.60369061e-01 -1.30635916e-03 8.80140824e+01] [ 1.46048438e-03 2.13890168e-05 9.99998933e-01 1.07198383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587156 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:252.69, Y:88.04, Z:0.11 [[ 4.60076794e-01 -8.87878887e-01 -6.53055382e-04 2.52687259e+02] [ 8.87877925e-01 4.60077257e-01 -1.30651853e-03 8.80366054e+01] [ 1.46048614e-03 2.12653971e-05 9.99998933e-01 1.06112492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45587156 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:252.70, Y:88.06, Z:0.11 [[ 4.59736030e-01 -8.88055379e-01 -6.52722663e-04 2.52698355e+02] [ 8.88054418e-01 4.59736493e-01 -1.30668473e-03 8.80608057e+01] [ 1.46048883e-03 2.10768050e-05 9.99998933e-01 1.06018290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587156 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:252.71, Y:88.08, Z:0.11 [[ 4.59424395e-01 -8.88216640e-01 -6.52413426e-04 2.52709199e+02] [ 8.88215679e-01 4.59424857e-01 -1.30683911e-03 8.80849227e+01] [ 1.46049119e-03 2.09099323e-05 9.99998933e-01 1.08476920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51587156 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:252.72, Y:88.11, Z:0.11 [[ 4.58949447e-01 -8.88462143e-01 -6.52089996e-04 2.52718373e+02] [ 8.88461182e-01 4.58949909e-01 -1.30700048e-03 8.81082458e+01] [ 1.46049709e-03 2.04904962e-05 9.99998933e-01 1.08432603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587156 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:252.73, Y:88.13, Z:0.11 [[ 4.58593344e-01 -8.88646004e-01 -6.51832960e-04 2.52729098e+02] [ 8.88645043e-01 4.58593807e-01 -1.30712865e-03 8.81321271e+01] [ 1.46050121e-03 2.01923715e-05 9.99998933e-01 1.08626289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57587156 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:252.74, Y:88.15, Z:0.11 [[ 4.58371521e-01 -8.88760442e-01 -6.51514871e-04 2.52739246e+02] [ 8.88759481e-01 4.58371984e-01 -1.30728718e-03 8.81548833e+01] [ 1.46050130e-03 2.01831941e-05 9.99998933e-01 1.07834890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587156 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:252.75, Y:88.18, Z:0.11 [[ 4.58095456e-01 -8.88902767e-01 -6.51182572e-04 2.52749573e+02] [ 8.88901806e-01 4.58095919e-01 -1.30745268e-03 8.81779011e+01] [ 1.46050239e-03 2.01007685e-05 9.99998933e-01 1.06340494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63587156 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:252.76, Y:88.20, Z:0.11 [[ 4.57219172e-01 -8.89353813e-01 -6.50855844e-04 2.52759196e+02] [ 8.89352852e-01 4.57219635e-01 -1.30761531e-03 8.82024065e+01] [ 1.46051673e-03 1.90262885e-05 9.99998933e-01 1.08413959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587156 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:252.77, Y:88.23, Z:0.11 [[ 4.56178943e-01 -8.89887829e-01 -6.50536808e-04 2.52769371e+02] [ 8.89886869e-01 4.56179406e-01 -1.30777401e-03 8.82253051e+01] [ 1.46053367e-03 1.76748019e-05 9.99998933e-01 1.06073464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69587156 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:252.78, Y:88.25, Z:0.11 [[ 4.55957145e-01 -8.90001494e-01 -6.50203461e-04 2.52780626e+02] [ 8.90000533e-01 4.55957609e-01 -1.30793972e-03 8.82487199e+01] [ 1.46053352e-03 1.76830357e-05 9.99998933e-01 1.06111405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156000003 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:252.79, Y:88.27, Z:0.11 [[ 4.54877161e-01 -8.90553955e-01 -6.49877447e-04 2.52790723e+02] [ 8.90552994e-01 4.54877625e-01 -1.30810169e-03 8.82726423e+01] [ 1.46054984e-03 1.62752758e-05 9.99998933e-01 1.09889177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75587156 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:252.80, Y:88.30, Z:0.11 [[ 4.53085636e-01 -8.91466760e-01 -6.49557286e-04 2.52799558e+02] [ 8.91465800e-01 4.53086102e-01 -1.30826065e-03 8.82962802e+01] [ 1.46057626e-03 1.36960039e-05 9.99998933e-01 1.09037032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156000003 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:252.81, Y:88.32, Z:0.11 [[ 4.52003595e-01 -8.92015879e-01 -6.49221322e-04 2.52809993e+02] [ 8.92014920e-01 4.52004061e-01 -1.30842735e-03 8.83198974e+01] [ 1.46058865e-03 1.22987599e-05 9.99998933e-01 1.08924212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81587156 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:252.82, Y:88.34, Z:0.11 [[ 4.50919459e-01 -8.92564407e-01 -6.48891286e-04 2.52819549e+02] [ 8.92563448e-01 4.50919925e-01 -1.30859101e-03 8.83436005e+01] [ 1.46059977e-03 1.08925047e-05 9.99998933e-01 1.08338363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156000003 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:252.83, Y:88.37, Z:0.11 [[ 4.50177040e-01 -8.92939086e-01 -6.48563015e-04 2.52829953e+02] [ 8.92938127e-01 4.50177507e-01 -1.30875368e-03 8.83678366e+01] [ 1.46060580e-03 1.00442151e-05 9.99998933e-01 1.08962312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87587156 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:252.84, Y:88.39, Z:0.11 [[ 4.49497875e-01 -8.93281165e-01 -6.48252786e-04 2.52840437e+02] [ 8.93280206e-01 4.49498342e-01 -1.30890733e-03 8.83914171e+01] [ 1.46061082e-03 9.27968015e-06 9.99998933e-01 1.08654535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156000004 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:252.85, Y:88.42, Z:0.11 [[ 4.48330574e-01 -8.93867595e-01 -6.47928641e-04 2.52850950e+02] [ 8.93866636e-01 4.48331042e-01 -1.30906777e-03 8.84157244e+01] [ 1.46061978e-03 7.73330743e-06 9.99998933e-01 1.08865540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93587156 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:252.86, Y:88.44, Z:0.11 [[ 4.46135790e-01 -8.94965048e-01 -6.47618559e-04 2.52861308e+02] [ 8.94964091e-01 4.46136260e-01 -1.30922115e-03 8.84397359e+01] [ 1.46063329e-03 4.49505636e-06 9.99998933e-01 1.09945499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:252.87, Y:88.46, Z:0.11 [[ 4.44949193e-01 -8.95555580e-01 -6.47307762e-04 2.52872856e+02] [ 8.95554623e-01 4.44949664e-01 -1.30937480e-03 8.84639280e+01] [ 1.46063728e-03 2.90580051e-06 9.99998933e-01 1.10904987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99587156 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:252.88, Y:88.49, Z:0.11 [[ 4.43088041e-01 -8.96477869e-01 -6.46997725e-04 2.52883948e+02] [ 8.96476913e-01 4.43088513e-01 -1.30952798e-03 8.84879674e+01] [ 1.46064011e-03 2.17662645e-07 9.99998933e-01 1.12763535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:252.90, Y:88.51, Z:0.11 [[ 4.40375660e-01 -8.97813377e-01 -6.46675218e-04 2.52895355e+02] [ 8.97812422e-01 4.40376135e-01 -1.30968722e-03 8.85121563e+01] [ 1.46063504e-03 -3.83866904e-06 9.99998933e-01 1.13462874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05587156 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:252.91, Y:88.54, Z:0.11 [[ 4.39079428e-01 -8.98448016e-01 -6.46354669e-04 2.52907382e+02] [ 8.98447062e-01 4.39079904e-01 -1.30984540e-03 8.85353231e+01] [ 1.46062934e-03 -5.58928525e-06 9.99998933e-01 1.13369854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:252.92, Y:88.56, Z:0.11 [[ 4.37257453e-01 -8.99336146e-01 -6.46030559e-04 2.52919237e+02] [ 8.99335191e-01 4.37257930e-01 -1.31000523e-03 8.85572405e+01] [ 1.46061704e-03 -8.18846532e-06 9.99998933e-01 1.13551300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11587156 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:252.93, Y:88.58, Z:0.11 [[ 4.36585270e-01 -8.99662651e-01 -6.45691159e-04 2.52930120e+02] [ 8.99661697e-01 4.36585748e-01 -1.31017250e-03 8.85797017e+01] [ 1.46061282e-03 -8.90158905e-06 9.99998933e-01 1.12456895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:252.94, Y:88.60, Z:0.11 [[ 4.36453650e-01 -8.99726511e-01 -6.45359659e-04 2.52940705e+02] [ 8.99725557e-01 4.36454127e-01 -1.31033577e-03 8.86014801e+01] [ 1.46061371e-03 -8.74575117e-06 9.99998933e-01 1.11154650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17587156 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:252.95, Y:88.62, Z:0.11 [[ 4.36554296e-01 -8.99677681e-01 -6.45073426e-04 2.52952357e+02] [ 8.99676727e-01 4.36554773e-01 -1.31047666e-03 8.86248909e+01] [ 1.46061649e-03 -8.26333094e-06 9.99998933e-01 1.14199418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:252.96, Y:88.65, Z:0.12 [[ 4.36666307e-01 -8.99623321e-01 -6.44761942e-04 2.52963799e+02] [ 8.99622367e-01 4.36666783e-01 -1.31062990e-03 8.86486011e+01] [ 1.46061934e-03 -7.73434746e-06 9.99998933e-01 1.16085995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23587156 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:252.98, Y:88.67, Z:0.11 [[ 4.36906529e-01 -8.99506682e-01 -6.44444722e-04 2.52975406e+02] [ 8.99505726e-01 4.36907004e-01 -1.31078586e-03 8.86715887e+01] [ 1.46062305e-03 -6.99081902e-06 9.99998933e-01 1.14464061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:252.99, Y:88.70, Z:0.11 [[ 4.38530074e-01 -8.98716284e-01 -6.44114155e-04 2.52987728e+02] [ 8.98715328e-01 4.38530547e-01 -1.31094828e-03 8.86953169e+01] [ 1.46063430e-03 -3.98501960e-06 9.99998933e-01 1.14862898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29587156 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:253.00, Y:88.72, Z:0.11 [[ 4.38932837e-01 -8.98519644e-01 -6.43802335e-04 2.52999386e+02] [ 8.98518687e-01 4.38933309e-01 -1.31110139e-03 8.87187162e+01] [ 1.46063665e-03 -2.98297589e-06 9.99998933e-01 1.14728907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:253.01, Y:88.74, Z:0.12 [[ 4.38989924e-01 -8.98491754e-01 -6.43489223e-04 2.53011814e+02] [ 8.98490798e-01 4.38990395e-01 -1.31125505e-03 8.87416737e+01] [ 1.46063744e-03 -2.54139071e-06 9.99998933e-01 1.15262267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35587156 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:253.02, Y:88.76, Z:0.11 [[ 4.38698953e-01 -8.98633860e-01 -6.43165923e-04 2.53023097e+02] [ 8.98632903e-01 4.38699424e-01 -1.31141361e-03 8.87648924e+01] [ 1.46063719e-03 -2.65428389e-06 9.99998933e-01 1.10978034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:253.03, Y:88.79, Z:0.11 [[ 4.38368622e-01 -8.98795048e-01 -6.42828452e-04 2.53034471e+02] [ 8.98794091e-01 4.38369093e-01 -1.31157901e-03 8.87871604e+01] [ 1.46063684e-03 -2.81533166e-06 9.99998933e-01 1.11227476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41587156 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:253.05, Y:88.81, Z:0.11 [[ 4.38094103e-01 -8.98928887e-01 -6.42505170e-04 2.53046532e+02] [ 8.98927930e-01 4.38094575e-01 -1.31173736e-03 8.88090881e+01] [ 1.46063663e-03 -2.90144123e-06 9.99998933e-01 1.14438908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:253.06, Y:88.83, Z:0.12 [[ 4.37484685e-01 -8.99225633e-01 -6.42149283e-04 2.53059514e+02] [ 8.99224676e-01 4.37485156e-01 -1.31191155e-03 8.88315030e+01] [ 1.46063528e-03 -3.49526763e-06 9.99998933e-01 1.16095309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47587156000003 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:253.07, Y:88.85, Z:0.12 [[ 4.36732611e-01 -8.99591138e-01 -6.41809199e-04 2.53071306e+02] [ 8.99590181e-01 4.36733082e-01 -1.31207791e-03 8.88534897e+01] [ 1.46063297e-03 -4.33804331e-06 9.99998933e-01 1.17338327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587156 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:253.08, Y:88.88, Z:0.12 [[ 4.36408020e-01 -8.99748648e-01 -6.41455275e-04 2.53083602e+02] [ 8.99747691e-01 4.36408491e-01 -1.31225091e-03 8.88771937e+01] [ 1.46063251e-03 -4.47107958e-06 9.99998933e-01 1.19849074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53587156000003 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:253.10, Y:88.90, Z:0.12 [[ 4.36721944e-01 -8.99596317e-01 -6.41139874e-04 2.53095835e+02] [ 8.99595359e-01 4.36722414e-01 -1.31240499e-03 8.89006081e+01] [ 1.46063485e-03 -3.61039531e-06 9.99998933e-01 1.20743212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587156 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:253.11, Y:88.92, Z:0.12 [[ 4.36752825e-01 -8.99581325e-01 -6.40825470e-04 2.53108582e+02] [ 8.99580367e-01 4.36753295e-01 -1.31255849e-03 8.89238988e+01] [ 1.46063574e-03 -3.21038196e-06 9.99998933e-01 1.21355463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59587156000003 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:253.12, Y:88.95, Z:0.12 [[ 4.38273995e-01 -8.98841196e-01 -6.40509585e-04 2.53121556e+02] [ 8.98840237e-01 4.38274463e-01 -1.31271262e-03 8.89471304e+01] [ 1.46063918e-03 -3.87981325e-07 9.99998933e-01 1.23974646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587156 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:253.13, Y:88.97, Z:0.12 [[ 4.39288390e-01 -8.98345869e-01 -6.40203157e-04 2.53132941e+02] [ 8.98344910e-01 4.39288857e-01 -1.31286205e-03 8.89700653e+01] [ 1.46063831e-03 1.60180967e-06 9.99998933e-01 1.22725626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65587156000004 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:253.14, Y:88.99, Z:0.12 [[ 4.41654897e-01 -8.97184787e-01 -6.39864362e-04 2.53144021e+02] [ 8.97183826e-01 4.41655361e-01 -1.31302715e-03 8.89916477e+01] [ 1.46062751e-03 5.82891453e-06 9.99998933e-01 1.21091151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587156 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:253.15, Y:89.01, Z:0.12 [[ 4.42953220e-01 -8.96544497e-01 -6.39507411e-04 2.53154939e+02] [ 8.96543536e-01 4.42953682e-01 -1.31320098e-03 8.90142329e+01] [ 1.46061528e-03 8.34036770e-06 9.99998933e-01 1.21206995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71587156 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:253.17, Y:89.04, Z:0.12 [[ 4.44444737e-01 -8.95806043e-01 -6.39166246e-04 2.53165590e+02] [ 8.95805081e-01 4.44445196e-01 -1.31336701e-03 8.90357909e+01] [ 1.46059648e-03 1.11506863e-05 9.99998933e-01 1.18802112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587156 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:253.18, Y:89.06, Z:0.12 [[ 4.47954960e-01 -8.94055896e-01 -6.38877367e-04 2.53176301e+02] [ 8.94054931e-01 4.47955416e-01 -1.31350752e-03 8.90578961e+01] [ 1.46053772e-03 1.72007493e-05 9.99998933e-01 1.19923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77587156 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:253.19, Y:89.08, Z:0.12 [[ 4.49793741e-01 -8.93132232e-01 -6.38541292e-04 2.53187507e+02] [ 8.93131266e-01 4.49794193e-01 -1.31367088e-03 8.90820873e+01] [ 1.46049397e-03 2.05797457e-05 9.99998933e-01 1.23609801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587156 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:253.20, Y:89.11, Z:0.12 [[ 4.51878254e-01 -8.92079389e-01 -6.38228423e-04 2.53198160e+02] [ 8.92078422e-01 4.51878704e-01 -1.31382286e-03 8.91059584e+01] [ 1.46043613e-03 2.43381783e-05 9.99998933e-01 1.23563319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83587156 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:253.21, Y:89.13, Z:0.13 [[ 4.54787735e-01 -8.90599634e-01 -6.37917157e-04 2.53207966e+02] [ 8.90598666e-01 4.54788182e-01 -1.31397398e-03 8.91308215e+01] [ 1.46034193e-03 2.94510818e-05 9.99998933e-01 1.25647445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587156 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:253.22, Y:89.16, Z:0.13 [[ 4.56130996e-01 -8.89912416e-01 -6.37599238e-04 2.53218249e+02] [ 8.89911446e-01 4.56131441e-01 -1.31412823e-03 8.91555431e+01] [ 1.46028809e-03 3.20077591e-05 9.99998933e-01 1.25641152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89587156 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:253.23, Y:89.18, Z:0.13 [[ 4.57010108e-01 -8.89461272e-01 -6.37282975e-04 2.53228245e+02] [ 8.89460302e-01 4.57010552e-01 -1.31428158e-03 8.91791542e+01] [ 1.46024761e-03 3.38020618e-05 9.99998933e-01 1.25308287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587156 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:253.24, Y:89.20, Z:0.13 [[ 4.57835038e-01 -8.89036935e-01 -6.36951831e-04 2.53237867e+02] [ 8.89035964e-01 4.57835480e-01 -1.31444205e-03 8.92040533e+01] [ 1.46020668e-03 3.55245408e-05 9.99998933e-01 1.26508013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95587156 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:253.25, Y:89.23, Z:0.13 [[ 4.57915017e-01 -8.88995744e-01 -6.36635674e-04 2.53247857e+02] [ 8.88994772e-01 4.57915458e-01 -1.31459516e-03 8.92273288e+01] [ 1.46019482e-03 3.60070780e-05 9.99998933e-01 1.25955662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587156 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:253.26, Y:89.25, Z:0.13 [[ 4.58026243e-01 -8.88938443e-01 -6.36306499e-04 2.53258095e+02] [ 8.88937472e-01 4.58026684e-01 -1.31475447e-03 8.92510353e+01] [ 1.46018115e-03 3.65553608e-05 9.99998933e-01 1.25675847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01587156 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:253.27, Y:89.28, Z:0.13 [[ 4.57941657e-01 -8.88982022e-01 -6.35986102e-04 2.53267728e+02] [ 8.88981050e-01 4.57942097e-01 -1.31490944e-03 8.92756112e+01] [ 1.46017566e-03 3.67722133e-05 9.99998933e-01 1.26410685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587156 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:253.27, Y:89.30, Z:0.13 [[ 4.58354399e-01 -8.88769284e-01 -6.35678866e-04 2.53274848e+02] [ 8.88768312e-01 4.58354839e-01 -1.31505795e-03 8.93016283e+01] [ 1.46014960e-03 3.77913642e-05 9.99998933e-01 1.27640624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07587156 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:253.28, Y:89.33, Z:0.13 [[ 4.58367249e-01 -8.88762657e-01 -6.35367929e-04 2.53283465e+02] [ 8.88761685e-01 4.58367688e-01 -1.31520816e-03 8.93260950e+01] [ 1.46014003e-03 3.81576762e-05 9.99998933e-01 1.26574879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587156 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:253.29, Y:89.35, Z:0.13 [[ 4.58382819e-01 -8.88754628e-01 -6.35119990e-04 2.53292482e+02] [ 8.88753655e-01 4.58383257e-01 -1.31532788e-03 8.93495361e+01] [ 1.46013211e-03 3.84584890e-05 9.99998933e-01 1.25540098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13587156 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:253.30, Y:89.37, Z:0.13 [[ 4.57460470e-01 -8.89229731e-01 -6.34799291e-04 2.53299909e+02] [ 8.89228759e-01 4.57460909e-01 -1.31548264e-03 8.93748705e+01] [ 1.46016213e-03 3.72995204e-05 9.99998933e-01 1.28832550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587156 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:253.31, Y:89.40, Z:0.13 [[ 4.56736629e-01 -8.89601736e-01 -6.34471242e-04 2.53308013e+02] [ 8.89600764e-01 4.56737069e-01 -1.31564084e-03 8.93990657e+01] [ 1.46018291e-03 3.64752617e-05 9.99998933e-01 1.27663199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19587156 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:253.32, Y:89.42, Z:0.13 [[ 4.56076852e-01 -8.89940168e-01 -6.34214676e-04 2.53316382e+02] [ 8.89939196e-01 4.56077291e-01 -1.31576451e-03 8.94235024e+01] [ 1.46020260e-03 3.56772354e-05 9.99998933e-01 1.27460740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156000003 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:253.32, Y:89.45, Z:0.13 [[ 4.53881187e-01 -8.91061988e-01 -6.33967078e-04 2.53323449e+02] [ 8.91061017e-01 4.53881628e-01 -1.31588380e-03 8.94483107e+01] [ 1.46028004e-03 3.23515493e-05 9.99998933e-01 1.27545543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25587156 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:253.33, Y:89.47, Z:0.13 [[ 4.52471462e-01 -8.91778658e-01 -6.33648886e-04 2.53332383e+02] [ 8.91777687e-01 4.52471905e-01 -1.31603700e-03 8.94725829e+01] [ 1.46032203e-03 3.03952481e-05 9.99998933e-01 1.27568506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156000003 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:253.34, Y:89.50, Z:0.13 [[ 4.50859716e-01 -8.92594597e-01 -6.33325768e-04 2.53339997e+02] [ 8.92593628e-01 4.50860160e-01 -1.31619248e-03 8.94970158e+01] [ 1.46036765e-03 2.81156224e-05 9.99998933e-01 1.26020992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31587156 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:253.35, Y:89.52, Z:0.13 [[ 4.47499429e-01 -8.94283993e-01 -6.33004043e-04 2.53347305e+02] [ 8.94283025e-01 4.47499876e-01 -1.31634719e-03 8.95231607e+01] [ 1.46045745e-03 2.29798457e-05 9.99998933e-01 1.29711442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156000003 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:253.36, Y:89.55, Z:0.13 [[ 4.45260710e-01 -8.95400748e-01 -6.32717344e-04 2.53356838e+02] [ 8.95399781e-01 4.45261159e-01 -1.31648498e-03 8.95461619e+01] [ 1.46050609e-03 1.96440649e-05 9.99998933e-01 1.28625148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37587156 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:253.36, Y:89.57, Z:0.13 [[ 4.40580058e-01 -8.97713102e-01 -6.32385166e-04 2.53364912e+02] [ 8.97712136e-01 4.40580511e-01 -1.31664453e-03 8.95708865e+01] [ 1.46058562e-03 1.23874819e-05 9.99998933e-01 1.26803547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156000004 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:253.37, Y:89.60, Z:0.13 [[ 4.38108710e-01 -8.98921776e-01 -6.32055906e-04 2.53373897e+02] [ 8.98920811e-01 4.38109166e-01 -1.31680257e-03 8.95950057e+01] [ 1.46061199e-03 8.73446655e-06 9.99998933e-01 1.27472426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43587156 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:253.38, Y:89.62, Z:0.13 [[ 4.35744721e-01 -9.00070075e-01 -6.31741755e-04 2.53383680e+02] [ 9.00069111e-01 4.35745179e-01 -1.31695327e-03 8.96194161e+01] [ 1.46062865e-03 5.24419336e-06 9.99998933e-01 1.28840061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:253.39, Y:89.64, Z:0.13 [[ 4.33607727e-01 -9.01101515e-01 -6.31431654e-04 2.53393212e+02] [ 9.01100552e-01 4.33608187e-01 -1.31710193e-03 8.96428409e+01] [ 1.46063648e-03 2.12216252e-06 9.99998933e-01 1.28535515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49587156 meters Centerline goodness : 0.987665 Centerline is valid? [True, True] Translation: X:253.40, Y:89.67, Z:0.14 [[ 4.30486528e-01 -9.02596782e-01 -6.31107587e-04 2.53403947e+02] [ 9.02595821e-01 4.30486991e-01 -1.31725719e-03 8.96667851e+01] [ 1.46063571e-03 -2.57359380e-06 9.99998933e-01 1.39916384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:253.41, Y:89.69, Z:0.11 [[ 4.29290192e-01 -9.03166392e-01 -6.31735213e-04 2.53414669e+02] [ 9.03165432e-01 4.29290657e-01 -1.31695667e-03 8.96914143e+01] [ 1.46062903e-03 -5.20482308e-06 9.99998933e-01 1.09824899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55587156 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:253.42, Y:89.72, Z:0.14 [[ 4.28150613e-01 -9.03707173e-01 -6.30491809e-04 2.53424899e+02] [ 9.03706213e-01 4.28151077e-01 -1.31755168e-03 8.97171388e+01] [ 1.46062665e-03 -5.66880514e-06 9.99998933e-01 1.36736355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters Centerline goodness : 0.978327 Centerline is valid? [True, True] Translation: X:253.43, Y:89.74, Z:0.12 [[ 4.27115930e-01 -9.04196651e-01 -6.31332608e-04 2.53433010e+02] [ 9.04195692e-01 4.27116397e-01 -1.31714928e-03 8.97418419e+01] [ 1.46061448e-03 -8.27278453e-06 9.99998933e-01 1.24825436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61587156 meters Centerline goodness : 0.980711 Centerline is valid? [True, True] Translation: X:253.44, Y:89.77, Z:0.12 [[ 4.27206376e-01 -9.04153920e-01 -6.33503229e-04 2.53443371e+02] [ 9.04152962e-01 4.27206845e-01 -1.31611092e-03 8.97665336e+01] [ 1.46060376e-03 -1.05328443e-05 9.99998933e-01 1.24177121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters Centerline goodness : 0.980711 Centerline is valid? [True, True] Translation: X:253.45, Y:89.79, Z:0.12 [[ 4.26939650e-01 -9.04279896e-01 -6.36205795e-04 2.53454160e+02] [ 9.04278940e-01 4.26940124e-01 -1.31482181e-03 8.97899718e+01] [ 1.46058871e-03 -1.39579404e-05 9.99998933e-01 1.24214674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67587156 meters Centerline goodness : 0.978094 Centerline is valid? [True, True] Translation: X:253.46, Y:89.82, Z:0.13 [[ 4.27469022e-01 -9.04029773e-01 -6.35869061e-04 2.53464079e+02] [ 9.04028817e-01 4.27469494e-01 -1.31498236e-03 8.98158671e+01] [ 1.46059783e-03 -1.27297337e-05 9.99998933e-01 1.25142562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters Centerline goodness : 0.976267 Centerline is valid? [True, True] Translation: X:253.47, Y:89.84, Z:0.12 [[ 4.27824040e-01 -9.03861817e-01 -6.38278846e-04 2.53474328e+02] [ 9.03860862e-01 4.27824516e-01 -1.31383379e-03 8.98405145e+01] [ 1.46059554e-03 -1.48255869e-05 9.99998933e-01 1.23710734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73587156 meters Centerline goodness : 0.974724 Centerline is valid? [True, True] Translation: X:253.48, Y:89.86, Z:0.12 [[ 4.28475915e-01 -9.03552977e-01 -6.38596646e-04 2.53483692e+02] [ 9.03552022e-01 4.28476391e-01 -1.31368245e-03 8.98634948e+01] [ 1.46060528e-03 -1.41239987e-05 9.99998933e-01 1.23006729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters Centerline goodness : 0.969640 Centerline is valid? [True, True] Translation: X:253.49, Y:89.89, Z:0.13 [[ 4.30199943e-01 -9.02733405e-01 -6.38591235e-04 2.53490767e+02] [ 9.02732450e-01 4.30200417e-01 -1.31368503e-03 8.98856344e+01] [ 1.46062958e-03 -1.13298022e-05 9.99998933e-01 1.29682279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79587156 meters Centerline goodness : 0.967597 Centerline is valid? [True, True] Translation: X:253.50, Y:89.91, Z:0.13 [[ 4.30751267e-01 -9.02470467e-01 -6.34442503e-04 2.53500981e+02] [ 9.02469508e-01 4.30751734e-01 -1.31566194e-03 8.99100619e+01] [ 1.46063325e-03 -5.84196602e-06 9.99998933e-01 1.28473210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters Centerline goodness : 0.131350 Centerline is valid? [True, False] Translation: X:253.31, Y:89.49, Z:0.11 [[ 4.31928830e-01 -9.01902105e-01 -3.17469195e-03 2.53307308e+02] [ 9.01855720e-01 4.31863475e-01 1.22555906e-02 8.94896688e+01] [-9.68230951e-03 -8.15665701e-03 9.99919858e-01 1.14599037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85587156 meters Centerline goodness : 0.142811 Centerline is valid? [False, False] Translation: X:253.10, Y:89.07, Z:0.11 [[ 4.32462716e-01 -9.01567384e-01 1.23390172e-02 2.53100051e+02] [ 9.01394233e-01 4.32625774e-01 1.79826558e-02 8.90743801e+01] [-2.15507528e-02 3.34549080e-03 9.99762158e-01 1.05758265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters Centerline goodness : 0.141740 Centerline is valid? [False, False] Translation: X:252.90, Y:88.71, Z:0.10 [[ 4.31162514e-01 -9.01091438e-01 4.61855795e-02 2.52904590e+02] [ 9.01603016e-01 4.32251078e-01 1.64623233e-02 8.87105205e+01] [-3.47978251e-02 3.45431210e-02 9.98797219e-01 1.00151156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91587156 meters Centerline goodness : 0.952656 Centerline is valid? [False, True] Translation: X:252.67, Y:88.24, Z:0.10 [[ 4.29914899e-01 -9.00186581e-01 6.95506941e-02 2.52666733e+02] [ 9.01430647e-01 4.32301489e-01 2.31993945e-02 8.82382294e+01] [-5.09506522e-02 5.27213618e-02 9.97308623e-01 1.00622528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters Centerline goodness : 0.151901 Centerline is valid? [True, False] Translation: X:252.43, Y:87.75, Z:0.11 [[ 4.28024630e-01 -9.00178509e-01 8.04584853e-02 2.52430153e+02] [ 9.01337199e-01 4.31702681e-01 3.49864227e-02 8.77451432e+01] [-6.62281696e-02 5.75451751e-02 9.96143756e-01 1.10248162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97587156000003 meters Centerline goodness : 0.946986 Centerline is valid? [False, False] Translation: X:252.24, Y:87.33, Z:0.12 [[ 4.25551591e-01 -9.01175137e-01 8.23966970e-02 2.52238344e+02] [ 9.01474707e-01 4.30117847e-01 4.83941053e-02 8.73336384e+01] [-7.90518544e-02 5.36843498e-02 9.95423927e-01 1.23754460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587156 meters Centerline goodness : 0.149626 Centerline is valid? [False, False] Translation: X:252.07, Y:87.03, Z:0.13 [[ 4.20450270e-01 -9.00092096e-01 1.14261927e-01 2.52074063e+02] [ 9.02504298e-01 4.27842992e-01 4.93595679e-02 8.70310265e+01] [-9.33143216e-02 8.23686364e-02 9.92223687e-01 1.34518839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03587156000003 meters Centerline goodness : 0.148651 Centerline is valid? [False, False] Translation: X:251.68, Y:86.34, Z:0.19 [[ 4.15060690e-01 -8.81443126e-01 2.25350036e-01 2.51684345e+02] [ 9.01580470e-01 4.31703804e-01 2.80085989e-02 8.63448820e+01] [-1.21972455e-01 1.91545923e-01 9.73875187e-01 1.93729919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587156 meters Centerline goodness : 0.937063 Centerline is valid? [False, False] Translation: X:251.35, Y:85.65, Z:0.26 [[ 4.08485021e-01 -8.77249516e-01 2.52137412e-01 2.51345341e+02] [ 9.01383768e-01 4.31181876e-01 3.98684340e-02 8.56501375e+01] [-1.43691647e-01 2.10986913e-01 9.66869812e-01 2.62827098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09587156000003 meters Centerline goodness : 0.086412 Centerline is valid? [False, False] Translation: X:251.12, Y:85.20, Z:0.31 [[ 4.01040178e-01 -8.73794207e-01 2.75046287e-01 2.51122133e+02] [ 9.01751685e-01 4.29422086e-01 4.94021396e-02 8.52027145e+01] [-1.61278254e-01 2.28211210e-01 9.60160908e-01 3.12244580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587156 meters Centerline goodness : 0.164124 Centerline is valid? [False, False] Translation: X:250.80, Y:84.58, Z:0.41 [[ 3.90636046e-01 -8.58252977e-01 3.32874310e-01 2.50802865e+02] [ 9.01697358e-01 4.29544011e-01 4.93337439e-02 8.45849194e+01] [-1.85324999e-01 2.80880347e-01 9.41679816e-01 4.05331387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15587156000004 meters Centerline goodness : 0.924266 Centerline is valid? [False, False] Translation: X:250.52, Y:84.01, Z:0.50 [[ 3.81283439e-01 -8.46895880e-01 3.70661986e-01 2.50521662e+02] [ 9.00878094e-01 4.30364593e-01 5.66125039e-02 8.40072483e+01] [-2.07464691e-01 3.12335854e-01 9.27040839e-01 5.04528008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587156 meters Centerline goodness : 0.088228 Centerline is valid? [False, False] Translation: X:250.25, Y:83.45, Z:0.61 [[ 3.69775038e-01 -8.32387700e-01 4.12791881e-01 2.50251042e+02] [ 8.99356129e-01 4.32217988e-01 6.59254484e-02 8.34549579e+01] [-2.33291609e-01 3.46869323e-01 9.08436403e-01 6.10109511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21587156 meters Centerline goodness : 0.084705 Centerline is valid? [False, False] Translation: X:249.95, Y:82.81, Z:0.75 [[ 3.54855629e-01 -8.14639381e-01 4.58737575e-01 2.49945744e+02] [ 8.97284332e-01 4.34573011e-01 7.76345657e-02 8.28123564e+01] [-2.62599143e-01 3.84068976e-01 8.85173831e-01 7.51570022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587156 meters Centerline goodness : 0.084231 Centerline is valid? [False, False] Translation: X:249.67, Y:82.20, Z:0.90 [[ 3.38692137e-01 -8.08727837e-01 4.80881402e-01 2.49671233e+02] [ 8.94725738e-01 4.34966520e-01 1.01340913e-01 8.21973001e+01] [-2.91124527e-01 3.95933597e-01 8.70909351e-01 8.95181884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27587156 meters Centerline goodness : 0.083960 Centerline is valid? [False, False] Translation: X:249.42, Y:81.59, Z:1.05 [[ 3.22881125e-01 -8.08372907e-01 4.92220501e-01 2.49418351e+02] [ 8.90858524e-01 4.35184682e-01 1.30327981e-01 8.15917800e+01] [-3.19560431e-01 3.96418385e-01 8.60658815e-01 1.05048570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587156 meters Centerline goodness : 0.085256 Centerline is valid? [False, False] Translation: X:249.16, Y:80.97, Z:1.23 [[ 3.04063796e-01 -8.04215795e-01 5.10668350e-01 2.49158788e+02] [ 8.85733127e-01 4.36017126e-01 1.59266740e-01 8.09650174e+01] [-3.50744974e-01 4.03888625e-01 8.44897592e-01 1.23414031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33587156 meters Centerline goodness : 0.084072 Centerline is valid? [False, False] Translation: X:248.94, Y:80.41, Z:1.41 [[ 2.84565950e-01 -8.02876752e-01 5.23842669e-01 2.48938926e+02] [ 8.79702921e-01 4.35854528e-01 1.90141003e-01 8.04100036e+01] [-3.80978990e-01 4.06718271e-01 8.30322381e-01 1.41189532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587156 meters Centerline goodness : 0.083401 Centerline is valid? [False, False] Translation: X:248.71, Y:79.84, Z:1.61 [[ 2.62501633e-01 -7.94486996e-01 5.47616020e-01 2.48712991e+02] [ 8.70826801e-01 4.39508943e-01 2.20210290e-01 7.98370409e+01] [-4.15636350e-01 4.19073146e-01 8.07232384e-01 1.61345027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39587156 meters Centerline goodness : 0.084516 Centerline is valid? [False, False] Translation: X:248.46, Y:79.15, Z:1.89 [[ 2.39152754e-01 -7.86070979e-01 5.69998575e-01 2.48462969e+02] [ 8.60286018e-01 4.43740166e-01 2.51003253e-01 7.91480906e+01] [-4.50237635e-01 4.30333685e-01 7.82367555e-01 1.89304810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587156 meters Centerline goodness : 0.084076 Centerline is valid? [False, False] Translation: X:248.28, Y:78.57, Z:2.14 [[ 2.19042959e-01 -7.86859940e-01 5.76950272e-01 2.48275376e+02] [ 8.47180498e-01 4.46723845e-01 2.87616079e-01 7.85707545e+01] [-4.84051015e-01 4.25780742e-01 7.64464110e-01 2.13715282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45587156 meters Centerline goodness : 0.085119 Centerline is valid? [False, False] Translation: X:248.09, Y:77.97, Z:2.42 [[ 1.94753230e-01 -7.89130209e-01 5.82532997e-01 2.48090846e+02] [ 8.32533877e-01 4.47011815e-01 3.27212135e-01 7.79703466e+01] [-5.18612113e-01 4.21252834e-01 7.44034627e-01 2.41712883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587156 meters Centerline goodness : 0.085469 Centerline is valid? [False, False] Translation: X:247.94, Y:77.43, Z:2.68 [[ 1.72467927e-01 -7.94894921e-01 5.81718901e-01 2.47939193e+02] [ 8.13664399e-01 4.47817153e-01 3.70688606e-01 7.74307448e+01] [-5.55162192e-01 4.09392064e-01 7.24011794e-01 2.68219966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51587156 meters Centerline goodness : 0.087336 Centerline is valid? [False, False] Translation: X:247.79, Y:76.86, Z:3.00 [[ 1.46043805e-01 -8.00788216e-01 5.80869555e-01 2.47792989e+02] [ 7.93284354e-01 4.45617415e-01 4.14879566e-01 7.68578938e+01] [-5.91076257e-01 4.00204139e-01 7.00332425e-01 2.99502086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587156 meters Centerline goodness : 0.087963 Centerline is valid? [False, False] Translation: X:247.66, Y:76.31, Z:3.32 [[ 1.18455489e-01 -8.02611829e-01 5.84621714e-01 2.47664179e+02] [ 7.70476133e-01 4.45693291e-01 4.55767505e-01 7.63141391e+01] [-6.26366366e-01 3.96448915e-01 6.71188076e-01 3.32248446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57587156 meters Centerline goodness : 0.089379 Centerline is valid? [False, False] Translation: X:247.56, Y:75.82, Z:3.64 [[ 8.93028414e-02 -8.03215591e-01 5.88956464e-01 2.47556309e+02] [ 7.44953097e-01 4.46361341e-01 4.95788701e-01 7.58226603e+01] [-6.61112612e-01 3.94469602e-01 6.38219278e-01 3.63839798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587156 meters Centerline goodness : 0.089040 Centerline is valid? [False, False] Translation: X:247.45, Y:75.28, Z:4.02 [[ 5.30995327e-02 -8.00209967e-01 5.97364585e-01 2.47447746e+02] [ 7.13911190e-01 4.48691690e-01 5.37593322e-01 7.52795340e+01] [-6.98220060e-01 3.97919308e-01 5.95104169e-01 4.02405612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63587156 meters Centerline goodness : 0.089078 Centerline is valid? [False, False] Translation: X:249.66, Y:78.07, Z:4.89 [[ 7.46271942e-01 -6.60534622e-01 -8.22933857e-02 2.49661259e+02] [ 4.29260205e-01 5.72053877e-01 -6.98920623e-01 7.80684922e+01] [ 5.08737520e-01 4.86259576e-01 7.10448985e-01 4.89445975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587156 meters Centerline goodness : 0.091077 Centerline is valid? [False, False] Translation: X:249.62, Y:78.01, Z:4.81 [[ 7.54077086e-01 -6.48131016e-01 -1.06272929e-01 2.49620078e+02] [ 4.30006838e-01 6.09505419e-01 -6.66030978e-01 7.80098599e+01] [ 4.96449260e-01 4.56540612e-01 7.38314839e-01 4.80574734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69587156 meters Centerline goodness : 0.090795 Centerline is valid? [False, False] Translation: X:249.60, Y:77.96, Z:4.74 [[ 7.61737972e-01 -6.34539915e-01 -1.30821854e-01 2.49595669e+02] [ 4.28733434e-01 6.45078282e-01 -6.32504271e-01 7.79573731e+01] [ 4.85739543e-01 4.25714818e-01 7.63429100e-01 4.73606318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156000003 meters Centerline goodness : 0.089574 Centerline is valid? [False, False] Translation: X:249.58, Y:77.92, Z:4.68 [[ 7.68430400e-01 -6.22237747e-01 -1.49448677e-01 2.49580282e+02] [ 4.28000809e-01 6.73348182e-01 -6.02841218e-01 7.79167720e+01] [ 4.75741556e-01 3.99277363e-01 7.83739471e-01 4.68051324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75587156 meters Centerline goodness : 0.089033 Centerline is valid? [False, False] Translation: X:249.56, Y:77.87, Z:4.62 [[ 7.74805924e-01 -6.09896402e-01 -1.66439653e-01 2.49559460e+02] [ 4.29240634e-01 7.00792916e-01 -5.69773435e-01 7.78716588e+01] [ 4.64142497e-01 3.70021171e-01 8.04770822e-01 4.61845728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156000003 meters Centerline goodness : 0.068187 Centerline is valid? [False, False] Translation: X:249.54, Y:77.83, Z:4.57 [[ 7.80473349e-01 -5.97829528e-01 -1.82924045e-01 2.49536882e+02] [ 4.27471781e-01 7.23801869e-01 -5.41644470e-01 7.78273472e+01] [ 4.56211823e-01 3.44544206e-01 8.20463322e-01 4.56898828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81587156 meters Centerline goodness : 0.087608 Centerline is valid? [False, False] Translation: X:249.50, Y:77.78, Z:4.51 [[ 7.87123543e-01 -5.84893198e-01 -1.95797024e-01 2.49502351e+02] [ 4.25982960e-01 7.45075231e-01 -5.13226479e-01 7.77785016e+01] [ 4.46066189e-01 3.20566449e-01 8.35620791e-01 4.50952179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156000003 meters Centerline goodness : 0.811496 Centerline is valid? [False, False] Translation: X:249.48, Y:77.74, Z:4.46 [[ 7.92564608e-01 -5.73767604e-01 -2.06475372e-01 2.49484757e+02] [ 4.25963048e-01 7.63229452e-01 -4.85835657e-01 7.77387899e+01] [ 4.36344846e-01 2.97105268e-01 8.49312448e-01 4.46413503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87587156 meters Centerline goodness : 0.807421 Centerline is valid? [False, False] Translation: X:249.44, Y:77.69, Z:4.40 [[ 7.99036403e-01 -5.62046350e-01 -2.13646268e-01 2.49440476e+02] [ 4.25601998e-01 7.79662926e-01 -4.59335020e-01 7.76884514e+01] [ 4.24739646e-01 2.76097123e-01 8.62187110e-01 4.40391372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156000004 meters Centerline goodness : 0.803437 Centerline is valid? [False, False] Translation: X:249.37, Y:77.62, Z:4.32 [[ 8.06714233e-01 -5.49591354e-01 -2.17166962e-01 2.49368420e+02] [ 4.26201329e-01 7.95672530e-01 -4.30415674e-01 7.76248758e+01] [ 4.09346519e-01 2.54665603e-01 8.76116920e-01 4.32327881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93587156 meters Centerline goodness : 0.794169 Centerline is valid? [False, False] Translation: X:249.34, Y:77.58, Z:4.27 [[ 8.12658784e-01 -5.39492562e-01 -2.20303147e-01 2.49335278e+02] [ 4.24913326e-01 8.07298047e-01 -4.09534527e-01 7.75847141e+01] [ 3.98791131e-01 2.39202088e-01 8.85295428e-01 4.27425462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters Centerline goodness : 0.785952 Centerline is valid? [False, False] Translation: X:249.29, Y:77.54, Z:4.23 [[ 8.17934092e-01 -5.29945361e-01 -2.23923503e-01 2.49293946e+02] [ 4.23734056e-01 8.18198526e-01 -3.88587984e-01 7.75418440e+01] [ 3.89144280e-01 2.22955345e-01 8.93788366e-01 4.22550481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99587156 meters Centerline goodness : 0.777219 Centerline is valid? [False, False] Translation: X:249.27, Y:77.51, Z:4.18 [[ 8.22766246e-01 -5.21550885e-01 -2.25921175e-01 2.49267914e+02] [ 4.21532329e-01 8.26552205e-01 -3.72990546e-01 7.75094973e+01] [ 3.81269195e-01 2.11650952e-01 8.99909815e-01 4.18481404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters Centerline goodness : 0.777014 Centerline is valid? [False, False] Translation: X:249.22, Y:77.47, Z:4.14 [[ 8.27918032e-01 -5.13173724e-01 -2.26284028e-01 2.49223835e+02] [ 4.20834246e-01 8.35128951e-01 -3.54200753e-01 7.74688384e+01] [ 3.70742863e-01 1.98021122e-01 9.07379394e-01 4.13577191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05587156 meters Centerline goodness : 0.773116 Centerline is valid? [False, False] Translation: X:249.17, Y:77.43, Z:4.08 [[ 8.33738590e-01 -5.04162585e-01 -2.25166720e-01 2.49174344e+02] [ 4.19739770e-01 8.43646545e-01 -3.34782067e-01 7.74257895e+01] [ 3.58745717e-01 1.84609301e-01 9.14997768e-01 4.08382760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters Centerline goodness : 0.766545 Centerline is valid? [False, False] Translation: X:249.15, Y:77.39, Z:4.05 [[ 8.38932762e-01 -4.95144918e-01 -2.25883445e-01 2.49148923e+02] [ 4.16215366e-01 8.51135852e-01 -3.19894561e-01 7.73936545e+01] [ 3.50651664e-01 1.74353867e-01 9.20132675e-01 4.04810899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11587156 meters Centerline goodness : 0.762513 Centerline is valid? [False, False] Translation: X:249.10, Y:77.35, Z:4.00 [[ 8.44802438e-01 -4.86083754e-01 -2.23677056e-01 2.49101195e+02] [ 4.14131164e-01 8.58683822e-01 -3.01922958e-01 7.73522617e+01] [ 3.38827714e-01 1.62433611e-01 9.26720617e-01 4.00014566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters Centerline goodness : 0.760210 Centerline is valid? [False, False] Translation: X:249.07, Y:77.32, Z:3.96 [[ 8.49875434e-01 -4.77184531e-01 -2.23621714e-01 2.49065710e+02] [ 4.10725991e-01 8.65657615e-01 -2.86253480e-01 7.73183306e+01] [ 3.30175572e-01 1.51432550e-01 9.31693230e-01 3.96403284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17587156 meters Centerline goodness : 0.757569 Centerline is valid? [False, False] Translation: X:249.04, Y:77.29, Z:3.93 [[ 8.54772635e-01 -4.68481758e-01 -2.23357526e-01 2.49035049e+02] [ 4.06863181e-01 8.72043397e-01 -2.72034308e-01 7.72881719e+01] [ 3.22220567e-01 1.41651529e-01 9.36006811e-01 3.93121609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters Centerline goodness : 0.468435 Centerline is valid? [False, False] Translation: X:249.01, Y:77.26, Z:3.90 [[ 8.60373057e-01 -4.58760286e-01 -2.22029736e-01 2.49010652e+02] [ 4.01560318e-01 8.78447356e-01 -2.58997210e-01 7.72612910e+01] [ 3.13859068e-01 1.33675890e-01 9.40012363e-01 3.90176095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23587156 meters Centerline goodness : 0.748652 Centerline is valid? [False, False] Translation: X:248.99, Y:77.24, Z:3.88 [[ 8.65041716e-01 -4.50912011e-01 -2.19957242e-01 2.48988606e+02] [ 3.97469090e-01 8.83475933e-01 -2.47968948e-01 7.72393333e+01] [ 3.06139106e-01 1.27077279e-01 9.43467123e-01 3.87636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters Centerline goodness : 0.742401 Centerline is valid? [False, False] Translation: X:248.96, Y:77.21, Z:3.85 [[ 8.69611399e-01 -4.42889042e-01 -2.18232242e-01 2.48956689e+02] [ 3.93584922e-01 8.88693157e-01 -2.35192224e-01 7.72118173e+01] [ 2.98105559e-01 1.18632920e-01 9.47132148e-01 3.84532151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29587156 meters Centerline goodness : 0.476614 Centerline is valid? [False, False] Translation: X:248.94, Y:77.19, Z:3.82 [[ 8.74045450e-01 -4.35349834e-01 -2.15673533e-01 2.48935275e+02] [ 3.89517783e-01 8.93241611e-01 -2.24489022e-01 7.71913823e+01] [ 2.90379832e-01 1.12204931e-01 9.50310268e-01 3.82149943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters Centerline goodness : 0.478619 Centerline is valid? [False, False] Translation: X:248.94, Y:77.18, Z:3.82 [[ 8.76769184e-01 -4.29112317e-01 -2.17113834e-01 2.48938112e+02] [ 3.84644335e-01 8.96711809e-01 -2.18990109e-01 7.71846903e+01] [ 2.88659892e-01 1.08492173e-01 9.51264903e-01 3.81847618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35587156 meters Centerline goodness : 0.500861 Centerline is valid? [False, False] Translation: X:248.91, Y:77.16, Z:3.79 [[ 8.81032351e-01 -4.21634138e-01 -2.14491609e-01 2.48907600e+02] [ 3.80801706e-01 9.01134420e-01 -2.07236139e-01 7.71589599e+01] [ 2.80663602e-01 1.00902972e-01 9.54487576e-01 3.79022451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters Centerline goodness : 0.488858 Centerline is valid? [False, False] Translation: X:248.89, Y:77.14, Z:3.77 [[ 8.84788552e-01 -4.15039224e-01 -2.11876524e-01 2.48894288e+02] [ 3.76811129e-01 9.04727899e-01 -1.98697766e-01 7.71432689e+01] [ 2.74157969e-01 9.59680766e-02 9.56884286e-01 3.77296967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41587156 meters Centerline goodness : 0.719981 Centerline is valid? [False, False] Translation: X:248.90, Y:77.14, Z:3.77 [[ 8.86972681e-01 -4.09339650e-01 -2.13823559e-01 2.48899329e+02] [ 3.72206437e-01 9.07706995e-01 -1.93727590e-01 7.71383095e+01] [ 2.73389524e-01 9.22445751e-02 9.57470160e-01 3.77107814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters Centerline goodness : 0.490137 Centerline is valid? [False, False] Translation: X:248.89, Y:77.13, Z:3.76 [[ 8.89584847e-01 -4.04396037e-01 -2.12373833e-01 2.48891527e+02] [ 3.69246566e-01 9.10364039e-01 -1.86800132e-01 7.71276057e+01] [ 2.68878734e-01 8.77562585e-02 9.59167903e-01 3.75874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47587156000003 meters Centerline goodness : 0.498822 Centerline is valid? [False, False] Translation: X:248.90, Y:77.12, Z:3.76 [[ 8.91455082e-01 -3.99227968e-01 -2.14300879e-01 2.48897165e+02] [ 3.65045381e-01 9.12971451e-01 -1.82277260e-01 7.71246514e+01] [ 2.68420764e-01 8.42624435e-02 9.59609365e-01 3.75700075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587156 meters Centerline goodness : 0.498822 Centerline is valid? [False, False] Translation: X:248.87, Y:77.11, Z:3.74 [[ 8.94178484e-01 -3.95431245e-01 -2.09949919e-01 2.48872459e+02] [ 3.63689439e-01 9.15035335e-01 -1.74471567e-01 7.71068473e+01] [ 2.61103103e-01 7.96521532e-02 9.62019077e-01 3.73520791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53587156000003 meters Centerline goodness : 0.487461 Centerline is valid? [False, False] Translation: X:248.88, Y:77.10, Z:3.73 [[ 8.95742559e-01 -3.90856738e-01 -2.11840221e-01 2.48876711e+02] [ 3.60056933e-01 9.17306880e-01 -1.70020859e-01 7.71024343e+01] [ 2.60776291e-01 7.60203793e-02 9.62401490e-01 3.73385549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587156 meters Centerline goodness : 0.507471 Centerline is valid? [False, False] Translation: X:248.86, Y:77.09, Z:3.72 [[ 8.97877789e-01 -3.87392045e-01 -2.09147984e-01 2.48862281e+02] [ 3.58731756e-01 9.19186005e-01 -1.62507278e-01 7.70888220e+01] [ 2.55199926e-01 7.08836519e-02 9.64286527e-01 3.71772733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59587156000003 meters Centerline goodness : 0.522319 Centerline is valid? [False, False] Translation: X:248.87, Y:77.08, Z:3.72 [[ 8.98465495e-01 -3.85896243e-01 -2.09389217e-01 2.48866695e+02] [ 3.57721952e-01 9.19937934e-01 -1.60465582e-01 7.70838866e+01] [ 2.54548149e-01 6.92696692e-02 9.64576048e-01 3.71565432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587156 meters Centerline goodness : 0.505167 Centerline is valid? [False, False] Translation: X:248.87, Y:77.08, Z:3.71 [[ 8.99074593e-01 -3.84001359e-01 -2.10256590e-01 2.48870085e+02] [ 3.56437224e-01 9.20907362e-01 -1.57740724e-01 7.70781237e+01] [ 2.54199494e-01 6.68774022e-02 9.64836790e-01 3.71417144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65587156000004 meters Centerline goodness : 0.502690 Centerline is valid? [False, False] Translation: X:248.87, Y:77.07, Z:3.71 [[ 8.99818016e-01 -3.81727842e-01 -2.11214093e-01 2.48872008e+02] [ 3.54909694e-01 9.22055806e-01 -1.54441573e-01 7.70718138e+01] [ 2.53705829e-01 6.40073806e-02 9.65161338e-01 3.71329840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587156 meters Centerline goodness : 0.501592 Centerline is valid? [False, False] Translation: X:248.87, Y:77.07, Z:3.71 [[ 9.00500515e-01 -3.79503220e-01 -2.12311397e-01 2.48874634e+02] [ 3.53389662e-01 9.23164695e-01 -1.51270267e-01 7.70661425e+01] [ 2.53405939e-01 6.11903004e-02 9.65422797e-01 3.71246517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71587156 meters Centerline goodness : 0.482018 Centerline is valid? [False, False] Translation: X:248.88, Y:77.06, Z:3.71 [[ 9.00782276e-01 -3.78775909e-01 -2.12414930e-01 2.48878828e+02] [ 3.52883662e-01 9.23511586e-01 -1.50331208e-01 7.70644535e+01] [ 2.53109488e-01 6.04579294e-02 9.65546698e-01 3.71086423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587156 meters Centerline goodness : 0.489211 Centerline is valid? [False, False] Translation: X:248.88, Y:77.06, Z:3.71 [[ 9.01810399e-01 -3.75694447e-01 -2.13522099e-01 2.48880237e+02] [ 3.50651160e-01 9.24972617e-01 -1.46524473e-01 7.70580591e+01] [ 2.52550526e-01 5.72655214e-02 9.65887619e-01 3.71016103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77587156 meters Centerline goodness : 0.487964 Centerline is valid? [False, False] Translation: X:248.88, Y:77.05, Z:3.70 [[ 9.03100063e-01 -3.72813718e-01 -2.13120173e-01 2.48875188e+02] [ 3.49145224e-01 9.26393303e-01 -1.41042763e-01 7.70485734e+01] [ 2.50015778e-01 5.29658382e-02 9.66791979e-01 3.70447654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587156 meters Centerline goodness : 0.475854 Centerline is valid? [False, False] Translation: X:248.88, Y:77.05, Z:3.70 [[ 9.03643795e-01 -3.71700155e-01 -2.12760163e-01 2.48883318e+02] [ 3.48347891e-01 9.26884071e-01 -1.39784355e-01 7.70497057e+01] [ 2.49161872e-01 5.22007115e-02 9.67054004e-01 3.69906776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83587156 meters Centerline goodness : 0.481580 Centerline is valid? [False, False] Translation: X:248.87, Y:77.04, Z:3.69 [[ 9.05234296e-01 -3.68673157e-01 -2.11260436e-01 2.48874267e+02] [ 3.46864402e-01 9.28329367e-01 -1.33752285e-01 7.70392224e+01] [ 2.45430144e-01 4.77984309e-02 9.68235175e-01 3.68931223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587156 meters Centerline goodness : 0.473912 Centerline is valid? [False, False] Translation: X:248.88, Y:77.04, Z:3.69 [[ 9.06012705e-01 -3.65978691e-01 -2.12604270e-01 2.48883810e+02] [ 3.44752929e-01 9.29519200e-01 -1.30917817e-01 7.70390322e+01] [ 2.45532882e-01 4.53172610e-02 9.68328431e-01 3.68602753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89587156 meters Centerline goodness : 0.463255 Centerline is valid? [False, False] Translation: X:248.89, Y:77.04, Z:3.68 [[ 9.07279204e-01 -3.61709270e-01 -2.14501399e-01 2.48888399e+02] [ 3.41382694e-01 9.31361430e-01 -1.26584924e-01 7.70350117e+01] [ 2.45565270e-01 4.16208036e-02 9.68486142e-01 3.68484648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587156 meters Centerline goodness : 0.438903 Centerline is valid? [False, False] Translation: X:248.89, Y:77.03, Z:3.68 [[ 9.07541885e-01 -3.60883230e-01 -2.14781334e-01 2.48893937e+02] [ 3.40738409e-01 9.31712692e-01 -1.25733033e-01 7.70338203e+01] [ 2.45489438e-01 4.09237434e-02 9.68535071e-01 3.68313453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95587156 meters Centerline goodness : 0.408330 Centerline is valid? [False, False] Translation: X:248.90, Y:77.03, Z:3.68 [[ 9.07568490e-01 -3.60691414e-01 -2.14991023e-01 2.48896544e+02] [ 3.40613562e-01 9.31801478e-01 -1.25412944e-01 7.70328012e+01] [ 2.45564325e-01 4.05919779e-02 9.68530048e-01 3.68202275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587156 meters Centerline goodness : 0.470419 Centerline is valid? [False, False] Translation: X:248.90, Y:77.03, Z:3.68 [[ 9.08216906e-01 -3.58449327e-01 -2.16000305e-01 2.48898702e+02] [ 3.39060294e-01 9.32782390e-01 -1.22291165e-01 7.70268991e+01] [ 2.45316466e-01 3.78297766e-02 9.68704671e-01 3.68155183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7578.18 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%| | 0/10328 [00:00